TacSushi: Tactile-Grounded World-Action Modeling for Dexterous Sushi Manipulation

arXiv:2609.19613 · cs.RO, cs.AI, cs.LG · Submitted 2026-09-17 · Read on arXiv

cs.RO, cs.AI, cs.LG

Submitted: 2026-09-17

Updated: 2026-09-24

Comments: 8 pages, 5 figures

Code: https://github.com/NVIDIA/Isaac-GR00T

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Consistency — 4× in this paper · explained in 3 episodes
• Adaptation — 3× in this paper · explained in 1 episode
• Transformer — 3× in this paper · explained in 2 episodes
• Ablation — 2× in this paper · explained in 1 episode
• Benchmark — 2× in this paper · explained in 2 episodes
• Deep Reinforcement Learning — 2× in this paper · explained in 2 episodes
• Reinforcement Learning — 2× in this paper · explained in 4 episodes
• World Model — 2× in this paper · explained in 7 episodes
• Benchmarking — 1× in this paper · explained in 4 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• Grounding — 1× in this paper · explained in 3 episodes
• Latent Dynamics — 1× in this paper · explained in 2 episodes
• Latent World Models — 1× in this paper · explained in 2 episodes
• Reconstruction Error — 1× in this paper · explained in 2 episodes
• Representation Learning — 1× in this paper · explained in 2 episodes
• Shadow Tactile Fingertip — 1× in this paper
• Temporal consistency — 1× in this paper · explained in 2 episodes
• Trace — 1× in this paper · explained in 2 episodes

Sources

• Sashimi-Bot: Autonomous Tri-manual Advanced Manipulation and Cutting of Deformable Objects
• RT-1: Robotics Transformer for Real-World Control at Scale
• Open X-Embodiment: Robotic Learning Datasets and RT-X Models
• RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control
• Octo: An Open-Source Generalist Robot Policy
• OpenVLA: An Open-Source Vision-Language-Action Model
• Visual Foresight: Model-Based Deep Reinforcement Learning for Vision-Based Robotic Control
• ViTacFormer: Learning Cross-Modal Representation for Visuo-Tactile Dexterous Manipulation
• Cosmos 3: Omnimodal World Models for Physical AI
• MediaPipe Hands: On-device Real-time Hand Tracking

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