DeCAL: Towards Physically-Grounded Dexterous Vision-Language-Action Models via Contact-Aware Latent Co-Imagination
Dexterous manipulation involves contact-rich and fine-grained interactions with the physical world, posing significant challenges for existing vision-language-action (VLA) models due to severe visual occlusions and complex contact dynamics. While recent works have incorporated tactile sensing into robotic manipulation, most approaches still rely on homogeneous multimodal fusion, lacking adaptive…
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