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simmediummanipulation-datametric · varies
OmniVTA: Visuo-Tactile World Modeling for Contact-Rich Robotic Manipulation
Description
Contact-rich manipulation tasks, such as wiping and assembly, require accurate perception of contact forces, friction changes, and state transitions that cannot be reliably inferred from vision alone. Despite growing interest in visuo-tactile manipulation, progress is constrained by two persistent limitations: existing datasets are small in scale and narrow in task coverage, and current methods treat tactile signals as passive observations rather than using them to model contact dynamics or enab