TacSushi: Tactile-Grounded World-Action Modeling for Dexterous Sushi Manipulation
Dexterous food manipulation requires control under deformation, occlusion, and uncertain contact.
Why am I seeing this Ranked on source trust — arXiv
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| Factor | Weight | Score | Contribution | Where it came from |
|---|---|---|---|---|
| Corroboration | 0.35 | 0.39 | +0.135 26% | 1 independent org on the story. Tier-3 aggregators never corroborate — they can show something is circulating, never that it is true. |
| Source trustleads | 0.25 | 0.85 | +0.212 41% | arXiv is the highest-trust source on this story and is first-party — the organisation announcing its own news. Trust is taken from the best source, not averaged. |
| Pickup rate | 0.20 | 0.00 | +0.000 0% | One counted organisation, so there is no spread to measure — nothing has picked this up to set a rate. |
| Freshness | 0.20 | 0.85 | +0.171 33% | Halves every 10 hours from the newest item on the story. This is the only factor that rewards a story for nothing more than being recent. |
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What happened
Dexterous food manipulation requires control under deformation, occlusion, and uncertain contact. We present TacSushi, a tactile-grounded, Cosmos3-based world-action policy that learns from recorded future consequences while acting on current observations. The backbone encodes current RGB, language, and hand state, and feature-wise gated fusion incorporates fingertip tactile features into the action representation. During training, a decoder conditioned on demonstrated action chunks predicts logged future visual observations, task progress, relative contact risk, and tactile summaries; this decoder is removed at deployment. Failed trials provide consequence supervision, but their actions are excluded from imitation.
How this story arrived
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- 01 Arxivfirst-party first seen TacSushi: Tactile-Grounded World-Action Modeling for Dexterous Sushi Manipulation
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