Tactile Modality Fusion for Vision-Language-Action Models
We propose TacFiLM, a lightweight modality-fusion approach that integrates visual-tactile signals into vision-language-action (VLA) models. While advances in VLAs have introduced robot policies that are both generalizable and semantically grounded, these models mainly rely on vision-based perception. Vision alone, however, cannot capture the complex interaction dynamics that occur during contact-rich manipulation, including contact forces, surface friction, compliance, and shear. While recent attempts to integrate tactile signals into VLA models often increase complexity through token concatenation or large-scale pretraining, the heavy computational demands of behaviour models necessitate...
| Authors | Charlotte Morissette, Amin Abyaneh, Wei-Di Chang et al. |
|---|---|
| Primary category | cs.RO |
| Published | 15 March 2026 |
| Last updated at source | 15 July 2026 |
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