{"id":"https://openalex.org/W7164186133","doi":"https://doi.org/10.48550/arxiv.2606.11184","title":"TacForeSight: Force-Guided Tactile World Model for Contact-Rich Manipulation","display_name":"TacForeSight: Force-Guided Tactile World Model for Contact-Rich Manipulation","publication_year":2026,"publication_date":"2026-06-09","ids":{"openalex":"https://openalex.org/W7164186133","doi":"https://doi.org/10.48550/arxiv.2606.11184"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.11184","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.11184","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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.2606.11184","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5130251612","display_name":"Yujie Zang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zang, Yujie","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138364677","display_name":"Yuhang Zheng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zheng, Yuhang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051917669","display_name":"\u8042\u663e","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Nie, Xian","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138297949","display_name":"Yupeng Zheng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zheng, Yupeng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138347624","display_name":"Shuai Tian","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tian, Shuai","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138320740","display_name":"Songen Gu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gu, Songen","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138350821","display_name":"Chen Gao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gao, Chen","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138304493","display_name":"Zining Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Zining","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138344550","display_name":"Shuicheng Yan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yan, Shuicheng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5138358324","display_name":"Wenchao Ding","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ding, Wenchao","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/T10653","display_name":"Robot Manipulation and Learning","score":0.3628999888896942,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.3628999888896942,"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"}},{"id":"https://openalex.org/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.29100000858306885,"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/T10914","display_name":"Tactile and Sensory Interactions","score":0.1289999932050705,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.5831999778747559},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.524399995803833},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.47119998931884766},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.38659998774528503},{"id":"https://openalex.org/keywords/kinesthetic-learning","display_name":"Kinesthetic learning","score":0.38589999079704285},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.37040001153945923},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.36079999804496765}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5952000021934509},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.585099995136261},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.5831999778747559},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.524399995803833},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.47119998931884766},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.38659998774528503},{"id":"https://openalex.org/C55457006","wikidata":"https://www.wikidata.org/wiki/Q3647098","display_name":"Kinesthetic learning","level":2,"score":0.38589999079704285},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3781000077724457},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3736000061035156},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.37040001153945923},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.36079999804496765},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.33000001311302185},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.2973000109195709},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.27799999713897705},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.27709999680519104},{"id":"https://openalex.org/C3017819093","wikidata":"https://www.wikidata.org/wiki/Q328835","display_name":"Tactile perception","level":3,"score":0.27619999647140503},{"id":"https://openalex.org/C64848388","wikidata":"https://www.wikidata.org/wiki/Q188867","display_name":"Futures studies","level":2,"score":0.26739999651908875},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.26570001244544983},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.2624000012874603},{"id":"https://openalex.org/C160234255","wikidata":"https://www.wikidata.org/wiki/Q812535","display_name":"Bayesian inference","level":3,"score":0.26089999079704285}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.11184","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.11184","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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.2606.11184","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.11184","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":{"Contact-rich":[0],"manipulation":[1,142],"requires":[2],"robots":[3],"to":[4],"continuously":[5],"perceive":[6],"and":[7,44,87,112,150,169],"regulate":[8],"evolving":[9],"physical":[10],"interactions":[11],"under":[12,163],"dynamic":[13,164],"contact":[14,103,133,165],"transitions":[15],"or":[16,30],"complex":[17],"surface":[18],"geometries.":[19],"Recent":[20],"imitation":[21],"learning":[22],"methods":[23],"improve":[24],"contact-aware":[25],"control":[26],"by":[27],"incorporating":[28],"tactile":[29,46,57,69,75,80,108],"force":[31,43,86],"feedback,":[32],"but":[33],"they":[34],"rarely":[35],"model":[36,71],"the":[37,93,98,106,177],"asymmetric":[38],"spatiotemporal":[39],"roles":[40],"of":[41],"global":[42],"local":[45],"sensing.":[47],"To":[48],"address":[49],"this,":[50],"we":[51],"propose":[52],"TacForeSight,":[53],"a":[54,68,118,126],"lightweight":[55],"force-conditioned":[56],"foresight":[58],"framework":[59],"for":[60,140],"real-time":[61,137],"manipulation.":[62],"The":[63],"core":[64],"component":[65],"is":[66],"TacForceWM,":[67],"world":[70],"that":[72,156],"predicts":[73],"short-horizon":[74],"latent":[76,128],"dynamics":[77],"from":[78],"dual-finger":[79],"observations":[81],"conditioned":[82],"on":[83,146,176],"high-frequency":[84,141],"wrist":[85],"torque":[88],"signals.":[89],"Another":[90],"key":[91],"component,":[92],"Predictive":[94],"Tactile-Conditioned":[95],"Policy,":[96],"leverages":[97],"predicted":[99],"latents":[100],"as":[101],"anticipatory":[102],"priors,":[104],"models":[105,168],"current-to-future":[107],"evolution":[109],"via":[110],"cross-attention,":[111],"adaptively":[113],"fuses":[114],"visuo-tactile":[115],"features":[116],"through":[117],"tactile-guided":[119],"gating":[120],"module.":[121],"By":[122],"forecasting":[123],"purely":[124],"within":[125],"compact":[127],"space,":[129],"TacForeSight":[130,157],"enables":[131],"proactive":[132],"reasoning":[134],"with":[135],"efficient":[136],"inference":[138],"suitable":[139],"control.":[143],"Real-robot":[144],"experiments":[145],"five":[147],"representative":[148],"tasks":[149],"three":[151],"in-process":[152],"perturbation":[153],"settings":[154],"show":[155],"consistently":[158],"outperforms":[159],"existing":[160],"baselines,":[161],"particularly":[162],"disturbances.":[166],"All":[167],"datasets":[170],"will":[171],"be":[172],"made":[173],"publicly":[174],"available":[175],"project":[178],"website":[179],"at":[180],"https://tacforesight.github.io/ProjectPage.":[181]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-06-11T00:00:00"}
