Dream-Tac: A Unified Tactile World Action Model for Contact-Rich Robot Manipulation
- Published
- Source
- arXiv
- Paper number
- 386
- Field
- Robotics
- arXiv ID
- 2606.08737
Key points
- It is the first unified Tactile World Action Model that jointly predicts vision and touch.
- Contact-gated fusion is a gate mechanism that emphasizes tactile signals only when the amount of touch change is large.
- A contact-aware attention bias controls cross-modal interaction among vision, touch, and action.
- FlashAttention-based gate optimization speeds training by 2.94x, and diffusion-step caching speeds inference by 1.8x.
- It improves average accuracy by 31.7% across six contact-intensive tasks and exceeds Cosmos Policy by 31.6%.
- It is robust under out-of-distribution changes in table height, space, object identity, and background.
Paper links
External research summaries. These are not HDATF publications or measured product results.