Compact Visuotactile World Models for Lifting: Prediction, Reward Alignment, and Force Constraints — Paper

Abstract

Accurate tactile forecasts need not improve force-constrained control. We study a 652,157-parameter action-conditioned visuotactile world model with matched behavior cloning, policy learning in imagination, independent reactive implicit Q-learning, and model-assisted force feedback. A fixed protocol executes 34 policies on 120 fresh MuJoCo environments spanning geometry and physical-parameter shifts, plus 324 independently replayed action branches on 12 additional ID environments. Visuotactile dynamics reduce force action-effect MAE from 0.413 N for persistence to 0.338 N. Model-assisted feedback raises ID force-budgeted success from 73.3% to 93.3%, with paired difference +20.0 [+6.7,+33.4] percentage points (95% CI), with the difference occurring during scripted lowering. Its pooled difference is +3.9 [-4.5,+11.7] points. Imagined RL achieves 11.9% pooled joint success versus 25.0% for reactive IQL. An empirical tactile-residual stress test adds 330 executions. The evidence concerns rigid-box lifting after a common approach, without physical-robot transfer or a closed-loop safety guarantee.

Authors 1

Qinzhen Ma (Rice University)

Specification

Official page: arxiv.org/abs/2609.09597
Source:arXiv (Atom API + RSS)T1observed 2 h agohigh
Arxiv announce type: cross
Source:arXiv (Atom API + RSS)T1observed 2 h agohigh
arXiv id: 2609.09597
Source:arXiv (Atom API + RSS)T1observed 2 h agohigh
Categories: cs.RO, cs.AI
Source:arXiv (Atom API + RSS)T1observed 2 h agohigh
PDF: arxiv.org/pdf/2609.09597
Source:arXiv (Atom API + RSS)T1observed 2 h agohigh
Primary category: cs.RO
Source:arXiv (Atom API + RSS)T1observed 2 h agohigh
Published: 11 Sept 2026
Source:arXiv (Atom API + RSS)T1observed 2 h agohigh

Each value shows its source, tier and observation time. Conflicting claims are kept side by side and flagged — never averaged. How AI Atlas records facts →

Provenance

Attributed facts

9

Source tiers

T19

Freshest observation

2 h ago

Conflicts

None

No models linked to this paper yet.

Authors: Qinzhen Ma (Rice University)

As of

Rewind the record: see this entity's attributes exactly as AI Atlas knew them on a given day.

Claim history · Published

1 claims · 1 propertiesShow all properties

Publishedpublished_at1

Claim history for Published
Value	Valid from → to	Status	Source	Confidence	Extractor
11 Sept 2026	11 Sept 2026 21:03 UTC → current	current	arXiv (Atom API + RSS)T1	high	deterministic

Claims are temporal and append-only: a new observation closes the previous claim (valid_to) instead of overwriting it. Conflicting claims from different sources are kept side by side and flagged — never averaged. Methodology →

11 Sept 2026
New paperPaperCompact Visuotactile World Models for Lifting: Prediction, Reward Alignment, and Force Constraints
New paper: Compact Visuotactile World Models for Lifting: Prediction, Reward Alignment, and Force Constraints
arxiv
rss.arxiv.org

Full timeline →

Source documents
Source	Document	Type	Tier	Last observed	Snapshots
arXiv (Atom API + RSS)	rss.arxiv.org/rss/cs.AI	feed	T1· Official	2 h ago	1

Tier 1 = official/primary, 2 = quality secondary, 3 = community, 4 = unverified. Every snapshot is archived; see all sources and the methodology.