VLA-Touch: Enhancing Vision-Language-Action Models with Dual-Level Tactile Feedback

• URL: http://arxiv.org/abs/2507.17294v2
• Date: Tue, 29 Jul 2025 12:31:26 GMT
• Title: VLA-Touch: Enhancing Vision-Language-Action Models with Dual-Level Tactile Feedback
• Abstract summary: We present VLA-Touch, an approach that enhances generalist robot policies with tactile sensing.<n>Our method introduces two key innovations: (1) a pipeline that leverages a pretrained tactile-language model that provides semantic tactile feedback for high-level task planning, and (2) a diffusion-based controller that refines VLA-generated actions with tactile signals for contact-rich manipulation.
• Score: 21.08021535027628
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Tactile feedback is generally recognized to be crucial for effective interaction with the physical world. However, state-of-the-art Vision-Language-Action (VLA) models lack the ability to interpret and use tactile signals, limiting their effectiveness in contact-rich tasks. Incorporating tactile feedback into these systems is challenging due to the absence of large multi-modal datasets. We present VLA-Touch, an approach that enhances generalist robot policies with tactile sensing \emph{without fine-tuning} the base VLA. Our method introduces two key innovations: (1) a pipeline that leverages a pretrained tactile-language model that provides semantic tactile feedback for high-level task planning, and (2) a diffusion-based controller that refines VLA-generated actions with tactile signals for contact-rich manipulation. Through real-world experiments, we demonstrate that our dual-level integration of tactile feedback improves task planning efficiency while enhancing execution precision. Code is open-sourced at \href{https://github.com/jxbi1010/VLA-Touch}{this URL}.

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