SimpleTouch: Can Vision-Language-Action Models Master Contact-Rich Manipulation Without Tactile Policy Pretraining?
cs.RO
Submitted: 2026-10-02
Updated: 2026-10-02
Comments: 27 pages, 11 figures
Project page: https://simpletouch-robot.github.io
License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
Sources
- PaliGemma: A versatile 3B VLM for transfer
- Motus: A Unified Latent Action World Model
- VLA-Touch: Enhancing Vision-Language-Action Models with Dual-Level Tactile Feedback
- Xiaomi-Robotics-0: An Open-Sourced Vision-Language-Action Model with Real-Time Execution
- InternVLA-M1: A Spatially Guided Vision-Language-Action Framework for Generalist Robot Policy
- OmniVTLA: Vision-Tactile-Language-Action Models with Semantic-Aligned Tactile Sensing
- AnyTouch: Learning Unified Static-Dynamic Representation across Multiple Visuo-tactile Sensors
- AnyTouch 2: General Optical Tactile Representation Learning For Dynamic Tactile Perception
- VITaL Pretraining: Visuo-Tactile Pretraining for Tactile and Non-Tactile Manipulation Policies
- ViTacFormer: Learning Cross-Modal Representation for Visuo-Tactile Dexterous Manipulation
- Sparsh: Self-supervised touch representations for vision-based tactile sensing
- 3D-ViTac: Learning Fine-Grained Manipulation with Visuo-Tactile Sensing
- Tactile-VLA: Unlocking Vision-Language-Action Model's Physical Knowledge for Tactile Generalization
- DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset
- Fine-Tuning Vision-Language-Action Models: Optimizing Speed and Success
- Causal World Modeling for Robot Control
- AT-VLA: Adaptive Tactile Injection for Enhanced Feedback Reaction in Vision-Language-Action Models
- ViTaMIn: Learning Contact-Rich Tasks Through Robot-Free Visuo-Tactile Manipulation Interface
- Dream-Tac: A Unified Tactile World Action Model for Contact-Rich Robot Manipulation
- Tactile Modality Fusion for Vision-Language-Action Models
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