Learning to Feel the Future: DreamTacVLA for Contact-Rich Manipulation

Vision-Language-Action (VLA) models have shown remarkable generalization by mapping web-scale knowledge to robotic control, yet they remain blind to physical contact. Consequently, they struggle with contact-rich manipulation tasks that require reasoning about force, texture, and slip. While some approaches incorporate low-dimensional tactile signals, they fail to capture the high-resolution dynamics essential for such interactions. To address this limitation, we introduce DreamTacVLA, a framework that grounds VLA models in contact physics by learning to feel the future. Our model adopts a hierarchical perception scheme in which high-resolution tactile images serve as micro-vision inputs coupled with wrist-camera local vision and third-person macro vision. To reconcile these multi-scale sensory streams, we first train a unified policy with a Hierarchical Spatial Alignment (HSA) loss that aligns tactile tokens with their spatial counterparts in the wrist and third-person views. To further deepen the model's understanding of fine-grained contact dynamics, we finetune the system with a tactile world model that predicts future tactile signals. To mitigate tactile data scarcity and the wear-prone nature of tactile sensors, we construct a hybrid large-scale dataset sourced from both high-fidelity digital twin and real-world experiments. By anticipating upcoming tactile states, DreamTacVLA acquires a rich model of contact physics and conditions its actions on both real observations and imagined consequences. Across contact-rich manipulation tasks, it outperforms state-of-the-art VLA baselines, achieving up to 95% success, highlighting the importance of understanding physical contact for robust, touch-aware robotic agents.

Relative Contrastive Learning for Sequential Recommendation with Similarity-based Positive Pair Selection

Contrastive Learning (CL) enhances the training of sequential recommendation (SR) models through informative self-supervision signals. Existing methods often rely on data augmentation strategies to create positive samples and promote representation invariance. Some strategies such as item reordering and item substitution may inadvertently alter user intent. Supervised Contrastive Learning (SCL) based methods find an alternative to augmentation-based CL methods by selecting same-target sequences (interaction sequences with the same target item) to form positive samples. However, SCL-based methods suffer from the scarcity of same-target sequences and consequently lack enough signals for contrastive learning. In this work, we propose to use similar sequences (with different target items) as additional positive samples and introduce a Relative Contrastive Learning (RCL) framework for sequential recommendation. RCL comprises a dual-tiered positive sample selection module and a relative contrastive learning module. The former module selects same-target sequences as strong positive samples and selects similar sequences as weak positive samples. The latter module employs a weighted relative contrastive loss, ensuring that each sequence is represented closer to its strong positive samples than its weak positive samples. We apply RCL on two mainstream deep learning-based SR models, and our empirical results reveal that RCL can achieve 4.88% improvement averagely than the state-of-the-art SR methods on five public datasets and one private dataset.