TouchWorld: A Predictive and Reactive Tactile Foundation Model for Dexterous Manipulation

arXiv:2607.07287v1 Announce Type: new Abstract: Dexterous manipulation in everyday environments requires both anticipation and reaction: a robot must predict how contact should evolve while rapidly correcting local errors caused by slip, misalignment, unstable grasping, or force mismatch. Vision and language provide semantic and geometric guidance, but they cannot reliably reveal hidden contact states such as force, slip, and contact stability. Although tactile sensing exposes these physical cue...