Agile-WAM: An Agile Tactile World Action Model for Contact-Rich Robot Control

Agile-WAM is a tactile World Action Model that jointly predicts future visual and tactile states and robot actions for contact‑rich manipulation. It encodes visual and tactile observations into a shared latent space and uses a vision‑tactile‑to‑action flow‑matching process to generate action chunks and future latents. The model introduces multi‑horizon multimodal prediction, leveraging the different timescales of vision and touch, and achieves a 29.4 % improvement in real‑world success rates with 11.9 ms inference latency across nine simulated and five real‑world tasks.

Machine-generated by The Flow from the publisher's headline and feed description — not written or checked by a human. The full article lives at arXiv Machine Learning.

• robotics
• efficiency
• multimodal