TacWAM: Anchor-Guided World Action Model with Mechanics-Aware Tactile Prediction

arXiv:2607.28391v1 Announce Type: new Abstract: World Action Models (WAMs) combine future-state prediction with robot action generation, but existing approaches largely rely on visual futures. Visual prediction captures scene structure and object motion, yet provides limited supervision for force, deformation, shear, and slip during contact-rich manipulation. This creates two design requirements: tactile futures should carry meaningful physical information, and they should not become privileged ...