Tactile-Vision-Language-Action Models

Latest papers

19 papers1 paper in the last four weeks, down 80% on the four weeks before. 0.0% of all new papers.

Physical Words: A Vocabulary for Structuring Latent Reasoning in Robot Manipulation
Oct 19, 2026Jiaming Liu, Xinghao Zhu, Yiming Zhang +8Robot Foundation Models Robotic Manipulation
NVIDIA · Peking University · UC Berkeley
SimpleTouch: Can Vision-Language-Action Models Master Contact-Rich Manipulation Without Tactile Policy Pretraining?
Oct 2, 2026Chen Yang, Linzhe Shi, Changjie Wu +7Tactile-Vision-Language-Action Models Contact-Rich Robotic Manipulation
Tsinghua University · Amap, Alibaba Group · Hong Kong Polytechnic University
VT-Bridge: Bridging Pretrained Foundation VLAs to VTLAs via Lightweight Residual Adaptation
Sep 18, 2026Yansong Wu, Tuo Yang, Rongping Zhao +5Tactile-Vision-Language-Action Models Contact-Rich Robotic Manipulation
Technical University of Munich, Germany · Mohamed Bin Zayed University of Artificial Intelligence, Abu Dhabi, UAE · Shanghai University, China
ForeTac-VLA: A Forecasting-Based Tactile-Vision-Language-Action Model for Contact-Rich Robotic Manipulation
Sep 17, 2026Zhengyu Tao, Xin Li, Xin WangTactile-Vision-Language-Action Models Contact-Rich Robotic Manipulation
Texas A&M University, College Station, TX 77843, USA
STAR: Sparse Tactile Representation Learning in Vision-Tactile-Language-Action Models for Dexterous Manipulation
Sep 11, 2026Xiangcheng Liu, Tianhao Wu, Le Zheng +6Representation Learning Tactile-Vision-Language-Action Models
Shanghai Innovation Institute · Agibot
DeCAL: Towards Physically-Grounded Dexterous Vision-Language-Action Models via Contact-Aware Latent Co-Imagination
Sep 8, 2026Yankai Fu, Ning Chen, Junkai Zhao +5Contact-Rich Robotic Manipulation Visuo-Tactile Representation Learning
State Key Laboratory of Multimedia Information Processing, School of Computer Science, Peking University · Beijing Academy of Artificial Intelligence
TacForcing: Streaming Action Generation with Execution-Time Tactile Feedback
Aug 26, 2026Jianbo Zhou, Boyuan Zhao, Yuzheng Zhang +9Contact-Rich Robotic Manipulation Tactile Sensing for Robotic Manipulation
School of Computer Science, SJTU · SCUT · ECUST +5
ViTaR: Visuo-Tactile Residual Adaptation for Foundation VLA Manipulation
Aug 16, 2026Yi Wang, Renjun Wu, Jinyan Liu +1Contact-Rich Robotic Manipulation Tactile-Vision-Language-Action Models
Beijing Institute of Technology
τ: Learning Touch-Augmented Vision-Language-Action Models from Future Visual Supervision
Jul 27, 2026Ning Cheng, Jinan Xu, Wanlin Li +5Visuo-Tactile Representation Learning Vision-Language-Action Models
Beijing Jiaotong University · Beijing Institute for General Artificial Intelligence
$N_0$ -VTLA: Scaling Vision-Tactile-Language-Action Model with Latent Tactile Tokens
Jul 26, 2026NeoteAI Team, Fudan TEAI TeamTactile-Vision-Language-Action Models Long-Horizon Robotic Manipulation
NeoteAI Team · Fudan TEAI Team
Representation-Aligned Tactile Grounding for Contact-Rich Robotic Manipulation
Jul 16, 2026Ruilin Chen, Jingkai Jia, Tong Yang +8Contact-Rich Robotic Manipulation Visuo-Tactile Representation Learning
Shanghai Key Lab of Intelligent Information Processing, College of Computer Science and Artificial Intelligence, Fudan University · College of Intelligent Robotics and Advanced Manufacturing, Fudan University · TeleAl, China Telecom +2
UniTacVLA: Unified Tactile Understanding and Prediction in Vision Language Action Models
Jun 30, 2026Xidong Zhang, Yichi Zhang, Jiaxin Shi +5Visual-to-Tactile Prediction Contact-Rich Robotic Manipulation
Harbin Institute of Technology · Great Bay University · Daimon Robotics +3
TAP-VLA: Tactile Annotation Prompting for Vision Language Action Models
Jun 27, 2026Mark Van der Merwe, Mohamad Louai Shehab, Jayjun Lee +4Vision-Language-Action Models Tactile Sensing for Robotic Manipulation
Robotics Department, University of Michigan · Computer Science and Engineering Department, University of Michigan
T-Rex: Tactile-Reactive Dexterous Manipulation
Jun 15, 2026Dantong Niu, Zhuoyang Liu, Zekai Wang +31Visuo-Tactile Representation Learning Tactile Sensing for Robotic Manipulation
UC Berkeley · NVIDIA · La Sapienza University +3
TacCoRL: Integrating Tactile Feedback into VLA via Simulation
Jun 10, 2026Siyu Ma, Yuqi Liang, Chang Yu +5RL for Robotics Tactile-Vision-Language-Action Models
University of California, Los Angeles · University of California, San Diego · 4Peking University +1
VitaTouch: Property-Aware Vision-Tactile-Language Model for Robotic Quality Inspection in Manufacturing
Apr 2, 2026Junyi Zong, Qingxuan Jia, Meixian Shi +5Tactile-Vision-Language-Action Models Robotic Anomaly Detection
School of Intelligent Engineering and Automation, Beijing University of Posts and Telecommunications, Beijing 100876, China. · Zhongguancun Academy, Beijing 100094, China. · School of Automation, Beijing Institute of Technology, Beijing 100081, China. +2
HapticVLA: Contact-Rich Manipulation via Vision-Language-Action Model without Inference-Time Tactile Sensing
Mar 16, 2026Konstantin Gubernatorov, Mikhail Sannikov, Ilya Mikhalchuk +7Robotic Manipulation Tactile-Vision-Language-Action Models
Intelligent Space Robotics Laboratory, Skolkovo Institute of Science and Technology, Moscow, Russia.
Tactile Modality Fusion for Vision-Language-Action Models
Mar 15, 2026Charlotte Morissette, Amin Abyaneh, Wei-Di Chang +5Contact-Rich Robotic Manipulation Vision-Language-Action Models
McGill University, CAN · Mila - Québec AI Institute, CAN · NVIDIA, USA
TacVLA: Contact-Aware Tactile Fusion for Robust Vision-Language-Action Manipulation
Mar 13, 2026Kaidi Zhang, Heng Zhang, Zhengtong Xu +7Tactile-Vision-Language-Action Models Contact-Rich Robotic Manipulation
Kaidi, Heng, Zhengtong, Zhiyuan, Prince, Xiang, Xiaojing, Yuhao, and Yu are with the Edwardson School of Industrial Engineering, Purdue University, West Lafayette, IN 47907, USA · Human-Robot Interfaces and Interaction Lab, Istituto Italiano di Tecnologia, Genova, Italy. · Ph.D. program of national interest in Robotics and Intelligent Machines (DRIM) and Università di Genova, Genoa, Italy. +1

Oct 19, 2026J/K move · Enter open · S save

Physical Words: A Vocabulary for Structuring Latent Reasoning in Robot Manipulation

Jiaming Liu, Xinghao Zhu, Yiming Zhang, Shanghang Zhang+7

NVIDIA · Peking University · UC Berkeley

Robot Foundation Models Robotic Manipulation Reasoning for VLA Models Tactile-Vision-Language-Action Models Long-Horizon Robotic Manipulation Generalization in Robotic Manipulation

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Multimodal reasoning provides robotic foundation models with predictive context needed for reliable action generation. However, language-based reasoning captures task semantics but struggles to express fine-grained physical dynamics, while latent reasoning models future state evolution but offers limited structure for organizing these dynamics into reusable reasoning primitives. To bridge this gap, we introduce PhysWord, a reasoning-before-acting foundation model built on Physical Words, which use atomic action verbs as shared semantic anchors for continuous representations of physical dynamics. Specifically, PhysWord predicts upcoming atomic action words and directly aligns their contextual hidden states with latent targets derived from the corresponding future observations. Building on these primitives, we construct a temporally structured PhysWord space with visual and optional tactile variants of each action word. Autoregressively predicting Physical Words across future timesteps captures transitions between execution stages, providing structured multimodal context for action generation. PhysWord achieves state-of-the-art success rates of 90.3% on visuotactile UniVTAC and 99.6% on vision-based LIBERO-Long, and outperforms competing methods on real-world tasks using bimanual grippers and dexterous hands. Further evaluations demonstrate that our structured latent reasoning framework generalizes to unseen scenarios and enables long-horizon manipulation.