{"id":"https://openalex.org/W7140282542","doi":"https://doi.org/10.48550/arxiv.2603.23481","title":"VTAM: Video-Tactile-Action Models for Complex Physical Interaction Beyond VLAs","display_name":"VTAM: Video-Tactile-Action Models for Complex Physical Interaction Beyond VLAs","publication_year":2026,"publication_date":"2026-03-24","ids":{"openalex":"https://openalex.org/W7140282542","doi":"https://doi.org/10.48550/arxiv.2603.23481"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.23481","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.23481","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.23481","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5122726111","display_name":"Haoran Yuan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yuan, Haoran","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052688573","display_name":"Weigang Yi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yi, Weigang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130548197","display_name":"Zhenyu Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Zhenyu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060498865","display_name":"Wendi Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Wendi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072117878","display_name":"Yuchen Mo","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mo, Yuchen","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027546874","display_name":"Jiashi Yin","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yin, Jiashi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130555446","display_name":"Xinzhuo Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Xinzhuo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130612271","display_name":"Xiangyu Zeng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zeng, Xiangyu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130544576","display_name":"Chuan Wen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wen, Chuan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130599359","display_name":"Cewu Lu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lu, Cewu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130575933","display_name":"Katherine Driggs-Campbell","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Driggs-Campbell, Katherine","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5043962698","display_name":"Ismini Lourentzou","orcid":"https://orcid.org/0000-0002-1238-772X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lourentzou, Ismini","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.24160000681877136,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.24160000681877136,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.12020000070333481,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.094200000166893,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.49470001459121704},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.4666999876499176},{"id":"https://openalex.org/keywords/embodied-cognition","display_name":"Embodied cognition","score":0.4544000029563904},{"id":"https://openalex.org/keywords/transformer","display_name":"Transformer","score":0.4359000027179718},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.427700012922287},{"id":"https://openalex.org/keywords/embedding","display_name":"Embedding","score":0.41200000047683716},{"id":"https://openalex.org/keywords/visual-perception","display_name":"Visual perception","score":0.3871000111103058},{"id":"https://openalex.org/keywords/multimodal-learning","display_name":"Multimodal learning","score":0.3490000069141388}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.661300003528595},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5464000105857849},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.49470001459121704},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.4666999876499176},{"id":"https://openalex.org/C100609095","wikidata":"https://www.wikidata.org/wiki/Q1335050","display_name":"Embodied cognition","level":2,"score":0.4544000029563904},{"id":"https://openalex.org/C66322947","wikidata":"https://www.wikidata.org/wiki/Q11658","display_name":"Transformer","level":3,"score":0.4359000027179718},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.427700012922287},{"id":"https://openalex.org/C41608201","wikidata":"https://www.wikidata.org/wiki/Q980509","display_name":"Embedding","level":2,"score":0.41200000047683716},{"id":"https://openalex.org/C178253425","wikidata":"https://www.wikidata.org/wiki/Q162668","display_name":"Visual perception","level":3,"score":0.3871000111103058},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3564000129699707},{"id":"https://openalex.org/C2780660688","wikidata":"https://www.wikidata.org/wiki/Q25052564","display_name":"Multimodal learning","level":2,"score":0.3490000069141388},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3416999876499176},{"id":"https://openalex.org/C2776010242","wikidata":"https://www.wikidata.org/wiki/Q4677575","display_name":"Active perception","level":3,"score":0.3407999873161316},{"id":"https://openalex.org/C59404180","wikidata":"https://www.wikidata.org/wiki/Q17013334","display_name":"Feature learning","level":2,"score":0.3345000147819519},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.33149999380111694},{"id":"https://openalex.org/C2776135515","wikidata":"https://www.wikidata.org/wiki/Q17143721","display_name":"Regularization (linguistics)","level":2,"score":0.3147999942302704},{"id":"https://openalex.org/C2780695315","wikidata":"https://www.wikidata.org/wiki/Q3799040","display_name":"Unobservable","level":2,"score":0.3147999942302704},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.2863999903202057},{"id":"https://openalex.org/C2780226545","wikidata":"https://www.wikidata.org/wiki/Q6888030","display_name":"Modality (human\u2013computer interaction)","level":2,"score":0.2784999907016754},{"id":"https://openalex.org/C32848918","wikidata":"https://www.wikidata.org/wiki/Q845789","display_name":"Observable","level":2,"score":0.2759999930858612},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.27230000495910645},{"id":"https://openalex.org/C2987834672","wikidata":"https://www.wikidata.org/wiki/Q4677630","display_name":"Action recognition","level":3,"score":0.27129998803138733},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.26820001006126404},{"id":"https://openalex.org/C177774035","wikidata":"https://www.wikidata.org/wiki/Q1246948","display_name":"Granularity","level":2,"score":0.26589998602867126}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.23481","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.23481","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.23481","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.23481","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Video-Action":[0],"Models":[1],"(VAMs)":[2],"have":[3],"emerged":[4],"as":[5,96,173],"a":[6,87,97,103,111,135,160,209],"promising":[7],"framework":[8,91],"for":[9,199],"embodied":[10,215],"intelligence,":[11],"learning":[12,120],"implicit":[13],"world":[14,89,205],"dynamics":[15],"from":[16,52],"raw":[17],"video":[18,105],"streams":[19,109],"to":[20,71,212],"produce":[21],"temporally":[22],"consistent":[23],"action":[24,150,206],"predictions.":[25],"Although":[26],"such":[27,172],"models":[28],"demonstrate":[29,192],"strong":[30],"performance":[31,155],"on":[32,167],"long-horizon":[33],"tasks":[34],"through":[35],"visual":[36,68,145,201],"reasoning,":[37],"they":[38],"remain":[39],"limited":[40],"in":[41,67,148,156,204],"contact-rich":[42,157],"scenarios":[43,171],"where":[44],"critical":[45],"interaction":[46],"states":[47],"are":[48,63],"only":[49],"partially":[50],"observable":[51],"vision":[53],"alone.":[54],"In":[55,169],"particular,":[56],"fine-grained":[57],"force":[58,179],"modulation":[59],"and":[60],"contact":[61],"transitions":[62],"not":[64],"reliably":[65],"encoded":[66],"tokens,":[69],"leading":[70],"unstable":[72],"or":[73,125],"imprecise":[74],"behaviors.":[75],"To":[76,129],"bridge":[77],"this":[78],"gap,":[79],"we":[80,133],"introduce":[81,134],"the":[82,149,183],"Video-Tactile":[83],"Action":[84],"Model":[85],"(VTAM),":[86],"multimodal":[88,131],"modeling":[90],"that":[92,139,193],"incorporates":[93],"tactile":[94,108,127,136,195],"perception":[95],"complementary":[98],"grounding":[99],"signal.":[100],"VTAM":[101,152,181],"augments":[102],"pretrained":[104],"transformer":[106],"with":[107],"via":[110],"lightweight":[112],"modality":[113],"transfer":[114],"finetuning,":[115],"enabling":[116],"efficient":[117],"cross-modal":[118,142],"representation":[119],"without":[121],"tactile-language":[122],"paired":[123],"data":[124],"independent":[126],"pretraining.":[128],"stabilize":[130],"fusion,":[132],"regularization":[137],"loss":[138],"enforces":[140],"balanced":[141],"attention,":[143],"preventing":[144],"latent":[146],"dominance":[147],"model.":[151],"demonstrates":[153],"superior":[154],"manipulation,":[158],"maintaining":[159],"robust":[161],"success":[162],"rate":[163],"of":[164],"90":[165],"percent":[166],"average.":[168],"challenging":[170],"potato":[174],"chip":[175],"pick-and-place":[176],"requiring":[177],"high-fidelity":[178],"awareness,":[180],"outperforms":[182],"pi":[184],"0.5":[185],"baseline":[186],"by":[187],"80":[188],"percent.":[189],"Our":[190],"findings":[191],"integrating":[194],"feedback":[196],"is":[197],"essential":[198],"correcting":[200],"estimation":[202],"errors":[203],"models,":[207],"providing":[208],"scalable":[210],"approach":[211],"physically":[213],"grounded":[214],"foundation":[216],"models.":[217]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-03-26T00:00:00"}
