HapticWorld: an Interactive World Simulator with Real-time Torque Feedback

arXiv:2609.31924 · cs.RO · Submitted 2026-09-25 · Read on arXiv

cs.RO

Submitted: 2026-09-25

Updated: 2026-09-25

Project page: https://haptic-world.github.io

Terminology

• World Model — 16× in this paper · explained in 7 episodes
• Interactive World Simulator — 10× in this paper
• Consistency — 7× in this paper · explained in 3 episodes
• Foundation Model — 2× in this paper · explained in 3 episodes
• Generalization — 2× in this paper · explained in 13 episodes
• System Identification — 2× in this paper · explained in 3 episodes
• Trace — 2× in this paper · explained in 2 episodes
• VLA Models — 2× in this paper · explained in 3 episodes
• Accuracy — 1× in this paper · explained in 1 episode
• Conference on Robot Learning — 1× in this paper
• Decode — 1× in this paper · explained in 2 episodes
• Failure Modes — 1× in this paper · explained in 3 episodes
• Fidelity — 1× in this paper · explained in 2 episodes
• Fine-Tuning — 1× in this paper · explained in 5 episodes
• Foundation Models — 1× in this paper · explained in 7 episodes
• IEEE International Conference on Robotics and Automation — 1× in this paper
• Latent Dynamics — 1× in this paper · explained in 2 episodes
• Multimodal Fusion — 1× in this paper · explained in 3 episodes
• Sim-to-Real Gap — 1× in this paper · explained in 6 episodes

Sources

• See, Hear, and Feel: Smart Sensory Fusion for Robotic Manipulation
• 3D-ViTac: Learning Fine-Grained Manipulation with Visuo-Tactile Sensing
• Reactive Diffusion Policy: Slow-Fast Visual-Tactile Policy Learning for Contact-Rich Manipulation
• FACTR: Force-Attending Curriculum Training for Contact-Rich Policy Learning
• ForceMimic: Force-Centric Imitation Learning with Force-Motion Capture System for Contact-Rich Manipulation
• Universal Manipulation Exoskeleton: Learning Compliant Whole-body Policies with Real-time Torque Feedback
• MimicGen: A Data Generation System for Scalable Robot Learning using Human Demonstrations
• Validating Robotics Simulators on Real-World Impacts
• Ctrl-World: A Controllable Generative World Model for Robot Manipulation
• Evaluating Gemini Robotics Policies in a Veo World Simulator
• Interactive World Simulator for Robot Policy Training and Evaluation
• Dream-Tac: A Unified Tactile World Action Model for Contact-Rich Robot Manipulation
• Visuo-Tactile World Models
• ViTacWorld: Scaling Visuo-Tactile World Models for Contact-Rich Robot Manipulation
• Cosmos World Foundation Model Platform for Physical AI
• Unified Video Action Model
• World Action Models are Zero-shot Policies
• DINO-WM: World Models on Pre-trained Visual Features enable Zero-shot Planning
• Training Agents Inside of Scalable World Models
• DreamGen: Unlocking Generalization in Robot Learning through Video World Models

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