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TacPAC: Tactile Prediction and Real-Time Action Correction in World-Action Models for Contact-Rich Manipulation

arXiv · AI, language, vision and robotics · article · Sep 4, 2026 · UTC

World-action models guide action generation with predicted future observations, but vision-centric predictions miss the local contact cues that decide contact-rich manipulation. However, naively predicting future tactile observations as additional views recovers only a third of the achievable gain in our experiments. This gap reflects a timing mismatch: predictions precede execution, while tactile feedback arrives during it. We introduce TacPAC, which turns tactile prediction into real-time action correction. Once the base model has planned an action chunk, TacPAC caches the predicted contact

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