AI 服务暂时不可用，以下为来源正文，待恢复后补全翻译。
[Submitted on 9 Sep 2026] Title:Compact Visuotactile World Models for Lifting: Prediction, Reward Alignment, and Force Constraints View a PDF of the paper titled Compact Visuotactile World Models for Lifting: Prediction, Reward Alignment, and Force Constraints, by Qinzhen Ma (Rice University) and 1 other authors View PDF HTML (experimental) Abstract:Accurate contact prediction is useful for robotic manipulation only if it supports effective decisions. We investigate this connection using a compact, randomly initialized visuotactile world model, trajectory-level uncertainty calibration, and behavior-initialized actor-critic learning in imagination. On 160 MuJoCo Lift episodes, adding touch reduces endpoint-force prediction error from 1.058 to 0.228 N and interval-peak error from 2.724 to 0.523 N across three training seeds. However, tactile persistence achieves lower errors of 0.095 and 0.498 N, respectively. Two exploratory control rounds comprise 680 executions on 40 independent test initial conditions. A matched reward revision on fresh test environments increases in-distribution 10 cm lifting success from 20.0% to 93.3%, while success within an 8 N per-finger budget reaches only 33.3%, compared with 70.0% for force feedback. Calibration margins reduce force violations at the cost of task completion. In a separate study of public GelSight recordings, a force regressor achieves 0.04234 N error, but frame-level calibration covers only 15.80% of complete trajectories; trajectory-level calibration raises this to 87.36% at nominal 90% coverage. Together, these findings distinguish improvements in sensing and task reward from improvements in force-constrained control. The evidence is limited to public sensing records and simulator execution, without a demonstrated transfer between them. Comments: 8 pages, 2 figures. Code and tabulated results included as ancillary material Subjects: Robotics (cs.RO); Artificial Intelligence (cs.AI) Cite as: arXiv:2609.09597 [cs.RO] (or arXiv:2609.09597v1 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2609.09597 arXiv-issued DOI via DataCite (pending registration) Submission history From: Qinzhen Ma [view email] [v1] Wed, 9 Sep 2026 01:50:54 UTC (1,108 KB) Full-text links: Access Paper: View a PDF of the paper titled Compact Visuotactile World Models for Lifting: Prediction, Reward Alignment, and Force Constraints, by Qinzhen Ma (Rice University) and 1 other authors View PDF HTML (experimental) TeX Source view license Ancillary-file links: Ancillary files (details): ENVIRONMENT.json FILES_SHA256.json PACKAGING_CHANGES.md README.md SOURCE_MANIFEST.json THIRD_PARTY_NOTICES.md outputs/research/analyze_force_envelopes.py outputs/research/data_download_manifest.json outputs/research/download_public_data.py outputs/research/prepare_public_force_data.py outputs/research/train_force_envelopes.py outputs/simulation/audit_control_pairing.py outputs/simulation/audit_dataset.py outputs/simulation/evaluate_controller.py outputs/simulation/generate_dataset.py outputs/simulation/run_goal_aligned_matrix.py outputs/simulation/run_policy_matrix.py outputs/simulation/sim_adapter.py outputs/world_model/LICENSE_TDMPC2.txt outputs/world_model/analyze_results.py outputs/world_model/controller_server.py outputs/world_model/data.py outputs/world_model/evaluate_executed_forecasts.py outputs/world_model/model.py outputs/world_model/run_goal_aligned_matrix.py outputs/world_model/run_pilot_matrix.py outputs/world_model/tdmpc2_layers.py outputs/world_model/train.py outputs/world_model/train_imagination_rl.py recorded/outputs/research/data_download_manifest.json recorded/outputs/research/real_force_alignment_sensitivity.csv recorded/outputs/research/real_force_analysis_audit.json recorded/outputs/research/real_force_bootstrap_intervals.csv recorded/outputs/research/real_force_calibration.csv recorded/outputs/research/real_force_data_audit.json recorded/outputs/research/real_force_envelope_metrics.csv recorded/outputs/research/real_force_predictor_metrics.csv recorded/outputs/research/real_force_run_metadata.json recorded/outputs/research/real_force_selective_metrics.csv recorded/outputs/research/real_force_splits.json recorded/outputs/research/real_force_summary_alpha10.csv recorded/outputs/research/real_force_training_log.csv recorded/outputs/simulation/dataset_audit.json recorded/outputs/simulation/evaluation_goal_aligned/force_feedback/episodes.jsonl recorded/outputs/simulation/evaluation_goal_aligned/force_feedback/summary.json recorded/outputs/simulation/evaluation_goal_aligned/goal_aligned_evaluation_plan.json recorded/outputs/simulation/evaluation_goal_aligned/pairing_audit.json recorded/outputs/simulation/evaluation_goal_aligned/script/episodes.jsonl recorded/outputs/simulation/evaluation_goal_aligned/script/summary.json recorded/outputs/simulation/evaluation_goal_aligned/visuotactile_height_seed0_rl/episodes.jsonl recorded/outputs/simulation/evaluation_goal_aligned/visuotactile_height_seed0_rl/summary.json recorded/outputs/simulation/evaluation_goal_aligned/visuotactile_height_seed1_rl/episodes.jsonl recorded/outputs/simulation/evaluation_goal_aligned/visuotactile_height_seed1_rl/summary.json recorded/outputs/simulation/evaluation_goal_aligned/visuotactile_height_seed2_rl/episodes.jsonl recorded/outputs/simulation/evaluation_goal_aligned/visuotactile_height_seed2_rl/summary.json recorded/outputs/simulation/evaluation_goal_aligned/visuotactile_margin_height_seed0_rl/episodes.jsonl recorded/outputs/simulation/evaluation_goal_aligned/visuotactile_margin_height_seed0_rl/summary.json recorded/outputs/simulation/evaluation_goal_aligned/visuotactile_margin_height_seed1_rl/episodes.jsonl recorded/outputs/simulation/evaluation_goal_aligned/visuotactile_margin_height_seed1_rl/summary.json recorded/outputs/simulation/evaluation_goal_aligned/visuotactile_margin_height_seed2_rl/episodes.jsonl recorded/outputs/simulation/evaluation_goal_aligned/visuotactile_margin_height_seed2_rl/summary.json recorded/outputs/simulation/evaluation_goal_aligned/visuotactile_margin_native_seed0_rl/episodes.jsonl recorded/outputs/simulation/evaluation_goal_aligned/visuotactile_margin_native_seed0_rl/summary.json recorded/outputs/simulation/evaluation_goal_aligned/visuotactile_margin_native_seed1_rl/episodes.jsonl recorded/outputs/simulation/evaluation_goal_aligned/visuotactile_margin_native_seed1_rl/summary.json recorded/outputs/simulation/evaluation_goal_aligned/visuotactile_margin_native_seed2_rl/episodes.jsonl recorded/outputs/simulation/evaluation_goal_aligned/visuotactile_margin_native_seed2_rl/summary.json recorded/outputs/simulation/evaluation_goal_aligned/visuotactile_native_seed0_rl/episodes.jsonl recorded/outputs/simulation/evaluation_goal_aligned/visuotactile_native_seed0_rl/summary.json recorded/outputs/simulation/evaluation_goal_aligned/visuotactile_native_seed1_rl/episodes.jsonl recorded/outputs/simulation/evaluation_goal_aligned/visuotactile_native_seed1_rl/summary.json recorded/outputs/simulation/evaluation_goal_aligned/visuotactile_native_seed2_rl/episodes.jsonl recorded/outputs/simulation/evaluation_goal_aligned/visuotactile_native_seed2_rl/summary.json recorded/outputs/simulation/evaluation_goal_aligned/visuotactile_seed0_bc/episodes.jsonl recorded/outputs/simulation/evaluation_goal_aligned/visuotactile_seed0_bc/summary.json recorded/outputs/simulation/evaluation_goal_aligned/visuotactile_seed1_bc/episodes.jsonl recorded/outputs/simulation/evaluation_goal_aligned/visuotactile_seed1_bc/summary.json recorded/outputs/simulation/evaluation_goal_aligned/visuotactile_seed2_bc/episodes.jsonl recorded/outputs/simulation/evaluation_goal_aligned/visuotactile_seed2_bc/summary.json recorded/outputs/simulation/evaluation_main/force_feedback/episodes.jsonl recorded/outputs/simulation/evaluation_main/force_feedback/summary.json recorded/outputs/simulation/evaluation_main/pairing_audit.json recorded/outputs/simulation/evaluation_main/policy_evaluation_plan.json recorded/outputs/simulation/evaluation_main/script/episodes.jsonl recorded/outputs/simulation/evaluation_main/script/summary.json recorded/outputs/simulation/evaluation_main/vision_seed0_bc/episodes.jsonl recorded/outputs/simulation/evaluation_main/vision_seed0_bc/summary.json recorded/outputs/simulation/evaluation_main/vision_seed0_rl/episodes.jsonl recorded/outputs/simulation/evaluation_main/vision_seed0_rl/summary.json recorded/outputs/simulation/evaluation_main/vision_seed1_bc/episodes.jsonl recorded/outputs/simulation/evaluation_main/vision_seed1_bc/summary.json recorded/outputs/simulation/evaluation_main/vision_seed1_rl/episodes.jsonl recorded/outputs/simulation/evaluation_main/vision_seed1_rl/summary.json recorded/outputs/simulation/evaluation_main/vision_seed2_bc/episodes.jsonl recorded/outputs/simulation/evaluation_main/vision_seed2_bc/summary.json recorded/outputs/simulation/evaluation_main/vision_seed2_rl/episodes.jsonl recorded/outputs/simulation/evaluation_main/vision_seed2_rl/summary.json recorded/outputs/simulation/evaluation_main/visuotactile_margin_seed0_rl/episodes.jsonl recorded/outputs/simulation/evaluation_main/visuotactile_margin_seed0_rl/summary.json recorded/outputs/simulation/evaluation_main/visuotactile_margin_seed1_rl/episodes.jsonl recorded/outputs/simulation/evaluation_main/visuotactile_margin_seed1_rl/summary.json recorded/outputs/simulation/evaluation_main/visuotactile_margin_seed2_rl/episodes.jsonl recorded/outputs/simulation/evaluation_main/visuotactile_margin_seed2_rl/summary.json recorded/outputs/simulation/evaluation_main/visuotactile_seed0_bc/episodes.jsonl recorded/outputs/simulation/evaluation_main/visuotactile_seed0_bc/summary.json recorded/outputs/simulation/evaluation_main/visuotactile_seed0_rl/episodes.jsonl recorded/outputs/simulation/evaluation_main/visuotactile_seed0_rl/summary.json recorded/outputs/simulation/evaluation_main/visuotactile_seed1_bc/episodes.jsonl recorded/outputs/simulation/evaluation_main/visuotactile_seed1_bc/summary.json recorded/outputs/simulation/evaluation_main/visuotactile_seed1_rl/episodes.jsonl recorded/outputs/simulation/evaluation_main/visuotactile_seed1_rl/summary.json recorded/outputs/simulation/evaluation_main/visuotactile_seed2_bc/episodes.jsonl recorded/outputs/simulation/evaluation_main/visuotactile_seed2_bc/summary.json recorded/outputs/simulation/evaluation_main/visuotactile_seed2_rl/episodes.jsonl recorded/outputs/simulation/evaluation_main/visuotactile_seed2_rl/summary.json recorded/outputs/simulation/generation_log.jsonl recorded/outputs/simulation/manifest.json recorded/outputs/simulation/reproducibility_check.json recorded/outputs/world_model/analysis/analysis_metadata.json recorded/outputs/world_model/analysis/control_analysis.json recorded/outputs/world_model/analysis/controller_method_metrics.csv recorded/outputs/world_model/analysis/controller_method_paired_differences.csv recorded/outputs/world_model/analysis/controller_metrics.csv recorded/outputs/world_model/analysis/controller_paired_differences.csv recorded/outputs/world_model/analysis/executed_forecast_analysis.json recorded/outputs/world_model/analysis/world_model_analysis.json recorded/outputs/world_model/analysis/world_model_calibration.csv recorded/outputs/world_model/analysis/world_model_paired_modality.csv recorded/outputs/world_model/analysis/world_model_run_metrics.csv recorded/outputs/world_model/analysis_goal_aligned/analysis_metadata.json recorded/outputs/world_model/analysis_goal_aligned/control_analysis.json recorded/outputs/world_model/analysis_goal_aligned/controller_method_metrics.csv recorded/outputs/world_model/analysis_goal_aligned/controller_method_paired_differences.csv recorded/outputs/world_model/analysis_goal_aligned/controller_metrics.csv recorded/outputs/world_model/anal [truncated for AI cost control]