Preprint
Oct 2026
ForeTac: Predictive Contact Guidance for Generative Robot Policies
In contact-rich manipulation, actions that appear equally plausible from vision can produce different contact outcomes, while reactive control based on current tactile feedback may respond too late to prevent failure. We present ForeTac, a predictive contact-guidance framework organized as a represent-predict-evaluate-...
Zhi-Yuan Chen, Shuai Chen, Hao-Ran Zhou et al.
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