{"id":"https://openalex.org/W7166692036","doi":"https://doi.org/10.48550/arxiv.2606.29089","title":"TAP-VLA: Tactile Annotation Prompting for Vision Language Action Models","display_name":"TAP-VLA: Tactile Annotation Prompting for Vision Language Action Models","publication_year":2026,"publication_date":"2026-06-27","ids":{"openalex":"https://openalex.org/W7166692036","doi":"https://doi.org/10.48550/arxiv.2606.29089"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.29089","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.29089","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.2606.29089","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5042652043","display_name":"Mark Van der Merwe","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Van der Merwe, Mark","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049956526","display_name":"Mohamad Louai Shehab","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shehab, Mohamad Louai","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109464699","display_name":"Jayjun Lee","orcid":"https://orcid.org/0009-0000-9096-8805"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lee, Jayjun","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089082417","display_name":"Youngsun Wi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wi, Youngsun","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086383656","display_name":"Yinpei Dai","orcid":"https://orcid.org/0000-0002-5715-1833"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dai, Yinpei","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083082888","display_name":"Dmitry Berenson","orcid":"https://orcid.org/0000-0002-9712-109X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Berenson, Dmitry","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5139697060","display_name":"Nima Fazeli","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fazeli, Nima","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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.7935000061988831,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.7935000061988831,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.036400001496076584,"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/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.022099999710917473,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/modality","display_name":"Modality (human\u2013computer interaction)","score":0.6383000016212463},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6195999979972839},{"id":"https://openalex.org/keywords/annotation","display_name":"Annotation","score":0.5462999939918518},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.41339999437332153},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.3912000060081482},{"id":"https://openalex.org/keywords/language-understanding","display_name":"Language understanding","score":0.385699987411499},{"id":"https://openalex.org/keywords/action-recognition","display_name":"Action recognition","score":0.3783999979496002},{"id":"https://openalex.org/keywords/overlay","display_name":"Overlay","score":0.3662000000476837}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6758000254631042},{"id":"https://openalex.org/C2780226545","wikidata":"https://www.wikidata.org/wiki/Q6888030","display_name":"Modality (human\u2013computer interaction)","level":2,"score":0.6383000016212463},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6370000243186951},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6195999979972839},{"id":"https://openalex.org/C2776321320","wikidata":"https://www.wikidata.org/wiki/Q857525","display_name":"Annotation","level":2,"score":0.5462999939918518},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4691999852657318},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.41339999437332153},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.39910000562667847},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.3912000060081482},{"id":"https://openalex.org/C2983448237","wikidata":"https://www.wikidata.org/wiki/Q1078276","display_name":"Language understanding","level":2,"score":0.385699987411499},{"id":"https://openalex.org/C2987834672","wikidata":"https://www.wikidata.org/wiki/Q4677630","display_name":"Action recognition","level":3,"score":0.3783999979496002},{"id":"https://openalex.org/C136085584","wikidata":"https://www.wikidata.org/wiki/Q910289","display_name":"Overlay","level":2,"score":0.3662000000476837},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.357699990272522},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.35569998621940613},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.33730000257492065},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.33640000224113464},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.3312000036239624},{"id":"https://openalex.org/C137293760","wikidata":"https://www.wikidata.org/wiki/Q3621696","display_name":"Language model","level":2,"score":0.32839998602867126},{"id":"https://openalex.org/C204321447","wikidata":"https://www.wikidata.org/wiki/Q30642","display_name":"Natural language processing","level":1,"score":0.32019999623298645},{"id":"https://openalex.org/C2777601683","wikidata":"https://www.wikidata.org/wiki/Q6499736","display_name":"Vocabulary","level":2,"score":0.3061000108718872},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.305400013923645},{"id":"https://openalex.org/C2987654038","wikidata":"https://www.wikidata.org/wiki/Q859031","display_name":"Tactile stimuli","level":3,"score":0.30090001225471497},{"id":"https://openalex.org/C2776502983","wikidata":"https://www.wikidata.org/wiki/Q690182","display_name":"Contrast (vision)","level":2,"score":0.2874999940395355}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.29089","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.29089","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.2606.29089","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.29089","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":[{"display_name":"Quality Education","id":"https://metadata.un.org/sdg/4","score":0.5869635343551636}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Vision-Language-Action":[0,93],"(VLA)":[1],"models":[2,94],"demonstrate":[3],"impressive":[4],"reasoning":[5],"over":[6],"visual,":[7],"semantic,":[8],"and":[9,17,117,158,182],"spatial":[10],"task":[11],"variations":[12],"by":[13],"leveraging":[14],"large-scale":[15,60],"vision":[16],"language":[18],"pre-training.":[19],"They":[20],"remain,":[21],"however,":[22],"largely":[23],"blind":[24],"to":[25,38,63,161,176],"contact":[26],"forces,":[27],"which":[28],"seldom":[29],"manifest":[30],"clearly":[31],"in":[32,138],"visual":[33,104],"feedback":[34,102],"but":[35,47],"are":[36],"central":[37],"contact-rich":[39,167],"manipulation.":[40],"Tactile":[41,89],"sensing":[42],"measures":[43],"these":[44],"forces":[45],"directly,":[46],"integrating":[48],"it":[49,68],"into":[50],"VLAs":[51,85],"is":[52,56,147],"difficult:":[53],"tactile":[54,101,136,153],"data":[55],"absent":[57],"from":[58,114],"the":[59,80,124,128,139,145,149,162,190],"corpora":[61],"used":[62],"pre-train":[64],"VLAs,":[65],"so":[66],"adding":[67],"as":[69,120],"a":[70,75,96,133],"new":[71],"input":[72],"modality":[73],"induces":[74],"distribution":[76],"shift":[77],"that":[78,83,99],"erodes":[79],"very":[81],"pre-training":[82,163],"makes":[84],"effective.":[86],"We":[87],"propose":[88],"Annotation":[90],"Prompting":[91],"for":[92,179],"(TAP-VLA),":[95],"simple":[97],"framework":[98],"supplies":[100],"through":[103],"augmentation":[105],"rather":[106],"than":[107,195],"architectural":[108],"change.":[109],"TAP-VLA":[110,169],"extracts":[111],"shear":[112],"fields":[113],"visuo-tactile":[115],"sensors":[116],"overlays":[118],"them":[119],"spatially-grounded":[121],"vectors":[122],"onto":[123],"multi-view":[125],"RGB":[126],"images":[127],"policy":[129],"already":[130],"consumes,":[131],"yielding":[132],"clear,":[134],"interpretable":[135],"cue":[137],"VLA's":[140],"native":[141],"observation":[142],"space.":[143],"Because":[144],"architecture":[146],"untouched,":[148],"approach":[150],"requires":[151],"no":[152,193],"pre-training,":[154],"adds":[155],"negligible":[156],"compute,":[157],"stays":[159],"close":[160],"distribution.":[164],"Across":[165],"four":[166],"tasks,":[168],"succeeds":[170],"on":[171],"78%":[172],"of":[173],"trials,":[174],"compared":[175],"under":[177],"50%":[178],"vision-only":[180],"fine-tuning":[181],"alternative":[183],"tactile-fusion":[184],"baselines":[185,191],"--":[186],"including":[187],"tasks":[188],"where":[189],"perform":[192],"better":[194],"chance.":[196]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-07-01T00:00:00"}