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

arXiv · AI, language, vision and robotics · article · Sep 17, 2026 · UTC

Vision-language-action (VLA) models have demonstrated strong capabilities in robotic manipulation, yet their reliance on visual perception limits robustness in contact-rich environments, where critical physical interaction states may not be visually observable. Existing tactile-enhanced VLA methods improve physical grounding using observed tactile feedback, but most remain largely reactive rather than explicitly modeling how contact may evolve. Therefore, we propose ForeTac-VLA, a forecasting-based tactile-vision-language fusion model that predicts future tactile states to guide action generat

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