ForeTac-VLA: A Forecasting-Based Tactile-Vision-Language-Action Model for Contact-Rich Robotic Manipulation

arXiv:2609.20980 · cs.RO · Submitted 2026-09-17 · Read on arXiv

cs.RO

Submitted: 2026-09-17

Updated: 2026-09-17

Comments: 8 pages, 7 figures

Project page: https://foretac-vla.github.io

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Robustness — 11× in this paper · explained in 5 episodes
• VLA Models — 10× in this paper · explained in 3 episodes
• Generalization — 9× in this paper · explained in 13 episodes
• Transformer — 7× in this paper · explained in 2 episodes
• Ablation — 5× in this paper · explained in 1 episode
• Ablation study — 4× in this paper · explained in 1 episode
• Multimodal Fusion — 4× in this paper · explained in 3 episodes
• Reinforcement Learning — 4× in this paper · explained in 4 episodes
• Failure Modes — 2× in this paper · explained in 3 episodes
• Grounding — 2× in this paper · explained in 3 episodes
• Representation Learning — 2× in this paper · explained in 2 episodes
• Ablation Studies — 1× in this paper · explained in 1 episode
• Adaptation — 1× in this paper · explained in 1 episode
• Alignment — 1× in this paper · explained in 1 episode
• Core — 1× in this paper · explained in 2 episodes
• Deep Reinforcement Learning — 1× in this paper · explained in 2 episodes
• Diffusion Model — 1× in this paper · explained in 8 episodes
• Diffusion Models — 1× in this paper · explained in 6 episodes
• Distribution Shift — 1× in this paper · explained in 5 episodes
• Low-Rank Adaptation (LoRA) — 1× in this paper · explained in 9 episodes
• Multimodal Integration — 1× in this paper · explained in 2 episodes
• Semantic Understanding — 1× in this paper · explained in 2 episodes
• Vision-Language-Action (VLA) Models — 1× in this paper · explained in 2 episodes

Sources

• $\pi_0$: A Vision-Language-Action Flow Model for General Robot Control
• TacCoRL: Integrating Tactile Feedback into VLA via Simulation
• TORL-VLA: Tactile Guided Online Reinforcement Learning for Contact-Rich Manipulation
• Tactile-VLA: Unlocking Vision-Language-Action Model's Physical Knowledge for Tactile Generalization
• ViTaMIn: Learning Contact-Rich Tasks Through Robot-Free Visuo-Tactile Manipulation Interface
• UniTacVLA: Unified Tactile Understanding and Prediction in Vision Language Action Models
• PaliGemma: A versatile 3B VLM for transfer

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