Add WAM paper: Dream-Tac: A Unified Tactile World Action Model for Contact-Rich Robot Manipulation

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Paper

• Title: Dream-Tac: A Unified Tactile World Action Model for Contact-Rich Robot Manipulation
• Short name: Dream-Tac
• arXiv ID: 2606.08737v1
• Paper: https://arxiv.org/pdf/2606.08737
• Authors: Yunfan Lou, Yifan Ye, Yankai Fu, Jun Cen, Xiaowei Chi, Yaoxu Lyu, Peidong Jia, Sirui Han, Zhihe Lu, Shanghang Zhang
• Published: 2026-06-07
• arXiv categories: cs.RO
• Matched keywords: world action model, world action models

README Entry

- **Dream-Tac**: "Dream-Tac: A Unified Tactile World Action Model for Contact-Rich Robot Manipulation", arXiv 2026. ![](https://img.shields.io/badge/Unified--DiT-be123c) ![](https://img.shields.io/badge/Explicit-f43f5e)
  [[📄 Paper](https://arxiv.org/pdf/2606.08737)]

Robot Decision

• Decision: accept
• Confidence: high
• Taxonomy: joint_diffusion_unified_explicit
• Taxonomy confidence: high
• README heading: ### Diffusion-based Generation
• Badges: https://img.shields.io/badge/Unified--DiT-be123c, https://img.shields.io/badge/Explicit-f43f5e

Reason

The paper explicitly proposes and evaluates a tactile world action model for robot manipulation, jointly modeling actions and future visuotactile dynamics for control.

Evidence

• title says Unified Tactile World Action Model
• jointly models actions, future visual observations, and tactile dynamics
• experiments on six contact-rich robot manipulation tasks

Taxonomy Evidence

• jointly models actions, future visual observations, and tactile dynamics
• built upon a pretrained video generative backbone / Diffusion Transformer
• jointly predicts future visual observations, tactile signals, and robot actions

Human Review Checklist

• This paper belongs in the WAM survey
• README section is correct
• Badges are correct
• Short name is correct
• Paper link is correct
• Merge this PR if accepted