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description=TAP-VLA: Tactile Annotation Prompting for Vision Language Action Models;
keywords=Tactile Sensing, VLA Models, Manipulation;

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Text of the page (random words):
tap vla tap vla tactile annotation prompting for vision language action models abstract vision language action vla models demonstrate impressive reasoning over visual semantic and spatial task variations by leveraging large scale vision and language pre training they remain however largely blind to contact forces which seldom manifest clearly in visual feedback but are central to contact rich manipulation tactile sensing measures these forces directly but integrating it into vlas is difficult tactile data is absent from the large scale corpora used to pre train vlas so adding it as a new input modality induces a distribution shift that erodes the very pre training that makes vlas effective we propose tactile annotation prompting for vision language action models tap vla a simple framework that supplies tactile feedback through visual augmentation rather than architectural change tap vla extracts shear fields from visuo tactile sensors and overlays them as spatially grounded vectors onto the multi view rgb images the policy already consumes yielding a clear interpretable tactile cue in the vla s native observation space because the architecture is untouched the approach requires no tactile pre training adds negligible compute and stays close to the pre training distribution across four contact rich tasks tap vla succeeds on 78 of trials compared to under 50 for vision only fine tuning and alternative tactile fusion baselines including tasks where the baselines perform no better than chance tap vla rollouts medicine goal if bottle is empty place in blue bin if full place in orange bin successfully places empty bottle in blue bin successfully places full bottle in orange bin balance goal balance the white object with adjustable com on the blue platform successfully balances object with com far from camera perspective successfully balances object with com near from camera perspective gear goal place the gear onto a peg mounted on the tabletop plug goal insert cordless plug end into socket mounted on the tabletop baseline rollouts medicine goal bottle is full should be placed in orange bin π 0 5 π 0 5 tactile π 0 5 encoder balance goal balance the white object with adjustable com on the blue platform π 0 5 π 0 5 tactile π 0 5 encoder gear goal place the gear onto a peg mounted on the tabletop π 0 5 π 0 5 tactile π 0 5 encoder plug goal insert cordless plug end into socket mounted on the tabletop π 0 5 π 0 5 tactile π 0 5 encoder this website is licensed under a creative commons attribution sharealike 4 0 international license this website is based on the nerfies website