N_0-TWAM: Scaling Tactile-Native World-Action Model for Contact-Rich Manipulation
Summary
Nβ-TWAM is a tactile-native world-action model for contact-rich manipulation, trained at scale on visuo-tactile data from 6 embodiments and 450 tasks. The authors release code and pretrained checkpoints, positioning it as the first tactile world-action model trained at scale.
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Paper page - N_0-TWAM: Scaling Tactile-Native World-Action Model for Contact-Rich Manipulation
Source: https://huggingface.co/papers/2607.23783 Hi everyone β author here! π
Excited to share Nβ-TWAM, a tactile-native world-action model for contact-rich manipulation. Code and pretrained checkpoints are already out:
Code:https://github.com/neoteai/N0-TWAM Project page:https://research.neoteai.com/n0-twam/
Instead of treating touch as an auxiliary input channel, we make the model predict future contact together with future vision, under the same objective and at the same causal step, and read actions off that jointly predicted future.
Tactile-native world model! To our knowledge the first tactile world-action model trained at scale β visuo-tactile joint pre-training on tactile-rich demos spanning 6 embodiments and 450 tasks.
Happy to answer questions here or at github, and feedback or criticism is very welcome, especially from people working on tactile sensing, VLA, or world models. π
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