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DexTacWAM: A Visuo-Tactile World-Action Model for Dexterous Manipulation

arXiv · AI, language, vision and robotics · article · Sep 21, 2026 · UTC

Dexterous manipulation depends on contact dynamics that are often only partially observable from vision. Recent World-Action Models (WAMs) couple predictive video world modeling with action generation, but remain largely vision-centric and therefore cannot directly model these contact dynamics. We present DexTacWAM, a visuo-tactile WAM that encodes each fingertip independently, aggregates the resulting features through a finger- and pose-aware tactile compressor, and injects the tactile latent into a video diffusion world model for joint visuo-tactile world modeling. Across six contact-rich de

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