Contrastive Action-Image Pre-training for Visuomotor Control

Existing vision encoders for robotics face a fundamental bottleneck: robotic datasets lack the scale necessary for large-scale pre-training. Prior work circumvents this data scarcity by turning to internet-scale image and language data or egocentric human video. While these models show promise, neither paradigm learns from paired vision and action data, which downstream visuomotor control policies require. However, robot trajectories, the most direct source of this paired signal, are not available at pre-training scale, motivating us to extract action signals from abundant human video instead. To this end, we introduce CAIP (Contrastive Action-Image Pre-training), a vision encoder that treats human hand poses from large-scale egocentric video as a proxy for end-effector actions. By extracting 3D hand keypoints, a representation that aligns naturally with downstream robot action spaces, CAIP learns a unified action-image representation through a contrastive objective. Leveraging 32,041 hours of egocentric human video and only 88 hours of robotic manipulation data, CAIP outperforms state-of-the-art vision encoders including DINOv2, SigLIP, MVP, and R3M. Evaluated on a challenging real-world dexterous manipulation setup using Dexmate Vega and Sharpa Wave hands, CAIP yields performance gains of more than 30% on tasks involving folding, pouring, and fine-grained manipulation. Our results show that our method of contrastive action-centric pre-training yields a scalable path to achieving robust visual representations better suited for physical interaction.

T-Rex: Tactile-Reactive Dexterous Manipulation

The ability to react dynamically to tactile signals has long been considered crucial to agile human-level dexterity. Yet contemporary learning-based Vision-Language-Action (VLA) models for robotic manipulation generally either overlook the tactile modality or are limited to encoders with static cues, due in part to the scarcity of diverse training data and standardized evaluation, architectural constraints in current VLA models, and limitations of static tactile encoders. In this paper, we push the frontier of tactile-reactive manipulation by addressing all of these limitations. We propose a large-scale, 100-hour tactile-rich dataset collected via a novel, data-efficient recipe that prioritizes elementary motor primitives. To effectively exploit naturally high-frequency touch signals without sacrificing the existing capabilities of existing VLAs, we introduce a variable-rate Mixture-of-Transformers (MoT) architecture equipped with a novel temporal tactile VQ-VAE encoder. We demonstrate the effectiveness of tactile-reactive policies on 12 manipulation tasks requiring delicate force control and deformable object manipulation, achieving over 30% higher average success rate than the strongest baseline.