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News/TacForcing: Streaming Action Generation with Execution-Time Tactile Feedback
arxiv
PublishedSeptember 30, 2026 at 4:00 AM

TacForcing: Streaming Action Generation with Execution-Time Tactile Feedback

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arXiv:2608.25798v2 Announce Type: replace-cross Abstract: Contact-rich manipulation requires adapting to contact states that can evolve substantially within an action horizon. However, chunk-based vision-language-action models predict complete action chunks from observations collected before executi

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