PSR: Predictive Sensorimotor Representation Learning for Contact-Rich Manipulation

arXiv:2609.21753 · cs.RO · Submitted 2026-09-18 · Read on arXiv

cs.RO

Submitted: 2026-09-18

Updated: 2026-09-18

Comments: 7 pages, 5 figures

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

Terminology

• Alignment — 12× in this paper · explained in 1 episode
• Transformer — 8× in this paper · explained in 2 episodes
• Predictive Sensorimotor Representation — 6× in this paper
• Ablation — 5× in this paper · explained in 1 episode
• Representation Learning — 4× in this paper · explained in 2 episodes
• Ablation study — 2× in this paper · explained in 1 episode
• Action Space — 2× in this paper · explained in 1 episode
• Embeddings — 2× in this paper · explained in 2 episodes
• Generalization — 2× in this paper · explained in 13 episodes
• Multimodal Fusion — 2× in this paper · explained in 3 episodes
• Trace — 2× in this paper · explained in 2 episodes
• VLA Models — 2× in this paper · explained in 3 episodes
• Vision-Language-Action (VLA) Models — 2× in this paper · explained in 2 episodes
• Accuracy — 1× in this paper · explained in 1 episode
• Although Vision-Language-Action — 1× in this paper
• Computer Vision and Pattern Recognition — 1× in this paper
• Grounding — 1× in this paper · explained in 3 episodes
• Mixture-of-Experts (MoE) — 1× in this paper · explained in 7 episodes
• Multimodal Inputs — 1× in this paper · explained in 2 episodes
• Predictive Modeling — 1× in this paper · explained in 2 episodes
• Reasoning Traces — 1× in this paper · explained in 3 episodes
• Robustness — 1× in this paper · explained in 5 episodes
• Semantic Understanding — 1× in this paper · explained in 2 episodes
• World Model — 1× in this paper · explained in 7 episodes

Sources

• ForceVLA2: Unleashing Hybrid Force-Position Control with Force Awareness for Contact-Rich Manipulation
• AT-VLA: Adaptive Tactile Injection for Enhanced Feedback Reaction in Vision-Language-Action Models
• FAVLA: A Force-Adaptive Fast-Slow VLA model for Contact-Rich Robotic Manipulation
• CoT-VLA: Visual Chain-of-Thought Reasoning for Vision-Language-Action Models
• JEPA-VLA: Video Predictive Embedding is Needed for VLA Models
• Making Sense of Vision and Touch: Learning Multimodal Representations for Contact-Rich Tasks
• Learning to Feel the Future: DreamTacVLA for Contact-Rich Manipulation
• UniTacVLA: Unified Tactile Understanding and Prediction in Vision Language Action Models
• FAWAM: Force-Aware World Action Models for Closed-Loop Contact-Rich Manipulation
• Dream-Tac: A Unified Tactile World Action Model for Contact-Rich Robot Manipulation
• GShard: Scaling Giant Models with Conditional Computation and Automatic Sharding
• Attention Bottlenecks for Multimodal Fusion
• ST-MoE: Designing Stable and Transferable Sparse Expert Models

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