{ "schema_version": "paper_public_manifest_v1", "paper_id": "dextouch-wm_2026_09", "slug": "dextouch-wm", "title": "DexTouch-WM：人类触觉预训练", "authors": [], "source": { "arxiv_id": "2609.20649v1", "pdf_url": "https://arxiv.org/pdf/2609.20649v1", "project_url": "", "github_url": "", "huggingface_url": "", "original_source": "https://arxiv.org/abs/2609.20649v1" }, "site": { "post_url": "/posts/dextouch-wm", "canonical_url": "https://haiguangboy.com/posts/dextouch-wm", "cover_image": "https://static.haiguangboy.com/papers/dextouch-wm/cover.webp" }, "taxonomy": { "domain": "embodied_ai", "track": "world_model", "tasks": [ "embodied_ai", "world_model", "vla", "action_generation", "robotics", "state_prediction", "具身智能", "机器人", "世界模型", "触觉", "灵巧手", "人类数据" ], "related_topics": [ { "paper_id": "an_open_foundation_model_towards_2026_07", "title": "An_Open_Foundation_Model_Towards", "url": "https://haiguangboy.com/posts/an_open_foundation_model_towards", "relation": "contrast", "summary": "作者主张：共享接触接口和动作空间后，人类触觉可成为机器人预测的扩量轴 contradicts 联合co-training异构人机数据是结构性次优方案", "strength": "strong" }, { "paper_id": "deng_video2robo_3dgs_based_synthetic_data_from_one_video_enables_scalable_robot_2026_08", "title": "闭的是运动学的环，不是物理的环", "url": "https://haiguangboy.com/posts/video2robo", "relation": "contrast", "summary": "策略评估可信度与合成训练数据价值必须分开验证 contradicts 路线赌注:用运动学一致性 + 3DGS 光真实性,绕开物理仿真", "strength": "strong" }, { "paper_id": "agile_wam_an_agile_tactile_world_action_model_for_contact_rich_robot_control_2026_09", "title": "Agile-WAM：轻量视触觉联合预测", "url": "https://haiguangboy.com/posts/agile-wam", "relation": "same_track", "summary": "视频与触觉专家联合预测，触觉预测相对初始状态的变化 validates 作者主张：多模态预测时距应匹配各自变化速度", "strength": "strong" }, { "paper_id": "mathcaln_0_foundation_towards_the_age_of_tactile_intelligence_2026_09", "title": "N0-Foundation:开启触觉新时代", "url": "https://haiguangboy.com/posts/mathcaln_0_foundation_towards_the_age_of_tactile_intelligence", "relation": "same_track", "summary": "N0-Foundation:开启触觉新时代", "strength": "strong" }, { "paper_id": "openwam_an_open_modular_exploration_towards_systematic_world_action_model_pretra_2026_09", "title": "OpenWAM:正确答案会随规模变", "url": "https://haiguangboy.com/posts/openwam_an_open_modular_exploration_towards_systematic_world_action_model_pretra", "relation": "same_track", "summary": "OpenWAM:正确答案会随规模变", "strength": "strong" }, { "paper_id": "prism_precision_and_contact_rich_real_world_industrial_skill_dataset_with_multim_2026_08", "title": "PRISM:规模能否替代显式建模?", "url": "https://haiguangboy.com/posts/prism_precision_and_contact_rich_real_world_industrial_skill_dataset_with_multim", "relation": "same_track", "summary": "PRISM:规模能否替代显式建模?", "strength": "strong" } ] }, "analyst_take": { "type": "author_opinion", "text": "💡 与其他路线的联系和分歧\n· Dyna-2也报告增加人类视频有利于跨具身迁移；DexTouch-WM补充了触觉方向的证据，但依赖专用手套、动作跟踪与对齐，不能等同于普通视频扩量。\n· Video2Robo从物体相对运动提取技能、绕开人手重定向；DexTouch-WM显式对齐手部动作与接触。两者代表不同的信息取舍，任务不同，尚不能互相证伪。" }, "ruling": { "importance_score": 3.0, "one_sentence": "DexTouch-WM：人类触觉预训练" }, "asset_base_url": "https://static.haiguangboy.com/papers/dextouch-wm", "assets": [ { "type": "pdf_screenshot", "object_key": "papers/dextouch-wm/page_01.webp", "content_type": "image/webp", "upload_status": "uploaded", "bucket": "paper-assets", "url": "https://static.haiguangboy.com/papers/dextouch-wm/page_01.webp", "role": "paper_first_page", "size_bytes": 217884 }, { "type": "pdf_screenshot", "object_key": "papers/dextouch-wm/key_figure.webp", "content_type": "image/webp", "upload_status": "uploaded", "bucket": "paper-assets", "url": "https://static.haiguangboy.com/papers/dextouch-wm/key_figure.webp", "role": "method_figure", "size_bytes": 202130 }, { "type": "cover_image", "object_key": "papers/dextouch-wm/cover.webp", "content_type": "image/webp", "upload_status": "uploaded", "bucket": "paper-assets", "url": "https://static.haiguangboy.com/papers/dextouch-wm/cover.webp", "role": "post_cover", "size_bytes": 63882 }, { "type": "public_brief", "object_key": "papers/dextouch-wm/public_brief.md", "content_type": "text/markdown; charset=utf-8", "upload_status": "uploaded", "bucket": "paper-assets", "url": "https://static.haiguangboy.com/papers/dextouch-wm/public_brief.md", "role": "public_brief", "size_bytes": 3682 }, { "type": "public_brief", "object_key": "papers/dextouch-wm/public_brief.en.md", "content_type": "text/markdown; charset=utf-8", "upload_status": "uploaded", "bucket": "paper-assets", "url": "https://static.haiguangboy.com/papers/dextouch-wm/public_brief.en.md", "role": "public_brief_en", "size_bytes": 4577 }, { "type": "public_manifest", "object_key": "papers/dextouch-wm/public_manifest.en.json", "content_type": "application/json; charset=utf-8", "upload_status": "uploaded", "bucket": "paper-assets", "url": "https://static.haiguangboy.com/papers/dextouch-wm/public_manifest.en.json", "role": "public_manifest_en", "size_bytes": 6416 }, { "type": "public_manifest", "object_key": "papers/dextouch-wm/public_manifest.json", "content_type": "application/json; charset=utf-8", "upload_status": "uploaded", "bucket": "paper-assets", "url": "https://static.haiguangboy.com/papers/dextouch-wm/public_manifest.json", "role": "public_manifest", "size_bytes": 7046 } ], "published_at": "2026-09-22T09:06:36+08:00", "created_at": "2026-09-22T09:06:36+08:00", "updated_at": "2026-09-22T09:06:49+08:00" }