{"id":10680,"date":"2026-08-03T18:24:46","date_gmt":"2026-08-03T10:24:46","guid":{"rendered":"https:\/\/infernews.com\/blog\/n-twam-a-tactile-native-world-action-model-for-contact-rich-manipulation\/"},"modified":"2026-08-03T18:24:46","modified_gmt":"2026-08-03T10:24:46","slug":"n-twam-a-tactile-native-world-action-model-for-contact-rich-manipulation","status":"publish","type":"post","link":"https:\/\/infernews.com\/blog\/n-twam-a-tactile-native-world-action-model-for-contact-rich-manipulation\/","title":{"rendered":"N0-TWAM \u628a\u89f8\u89ba\u5e36\u9032\u6a5f\u68b0\u4eba\u6c7a\u7b56"},"content":{"rendered":"\n<figure class=\"wp-block-image size-large\"><img decoding=\"async\" src=\"https:\/\/infernews.com\/blog\/wp-content\/uploads\/2026\/08\/pasted-46d4ce5faef8.jpg\" alt=\"teaser\"><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">\u63d2\u982d\u6709\u5187\u5361\u4f4f\u3001\u593e\u722a\u6709\u5187\u771f\u4fc2\u53d7\u529b\uff0c\u55ae\u9760\u756b\u9762\u5f80\u5f80\u5224\u65b7\u5514\u5b8c\u6574\u3002N0-TWAM\u653e\u55ba\u5462\u500b\u7a7a\u7f3a\u4e0a\u8655\u7406\u554f\u984c\uff1a\u5b83\u5c6c\u65bc\u4e16\u754c\u52d5\u4f5c\u6a21\u578b\uff0c\u5c07 vision\u3001tactile \u540c action \u4e00\u9f4a\u5efa\u6a21\uff0c\u5148\u63a8\u9032\u672a\u4f86\u6703\u898b\u5230\u4e5c\u3001\u6478\u5230\u4e5c\uff0c\u518d\u8f38\u51fa\u4f4e\u5c64\u52d5\u4f5c\uff0c\u76ee\u6a19\u76f4\u6307 contact-rich manipulation\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u5b83\u5438\u5f15\u4e4b\u8655\u4e0d\u53ea\u662f\u591a\u52a0\u4e00\u7a2e\u611f\u6e2c\uff0c\u800c\u4fc2\u628a\u89f8\u89ba\u7576\u6210\u672a\u4f86\u72c0\u614b\u7684\u4e00\u90e8\u5206\uff0c\u800c\u5514\u4fc2\u4e8b\u5f8c\u88dc\u5145\u8a0a\u865f\u3002\u76f8\u6bd4\u53ea\u9810\u6e2c\u5f71\u7247\u7684 world-action model\uff0c\u6216\u8005\u76f4\u63a5\u7531\u7576\u524d\u89c0\u5bdf\u56de\u6b78\u52d5\u4f5c\u7684 VLA policy\uff0cN0-TWAM\u66f4\u8457\u91cd\u300c\u9810\u6e2c\u4e4b\u5f8c\u518d\u884c\u52d5\u300d\uff1b\u4ee3\u50f9\u662f\u7cfb\u7d71\u66f4\u91cd\uff0c\u5132\u5b58\u5eab\u4ea6\u53ea\u91cb\u51fa pretrained checkpoint\u3001inference server \u540c post-training toolkit\uff0c\u672a\u5305\u542b\u5927\u898f\u6a21\u9810\u8a13\u7df4\u6d41\u7a0b\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u53ef\u76f4\u63a5\u8f09\u5165 pretrained checkpoint\uff0c\u518d\u7528\u81ea\u5bb6 demonstrations \u505a post-training<\/li>\n<li>\u53ef\u7d93 websocket \u90e8\u7f72\uff0c\u7531 observation \u6301\u7e8c\u53d6\u56de\u52d5\u4f5c\uff0c\u4e5f\u53ef\u63a5\u5230\u81ea\u5bb6 robot \u6216 simulator \u505a closed-loop \u63a7\u5236<\/li>\n<li>\u652f\u63f4 NeoSim \u7684 closed-loop benchmark\uff0c\u65b9\u4fbf\u7528 vision\u2013tactile \u5834\u666f\u9a57\u8b49\u8868\u73fe<\/li>\n<li>\u6838\u5fc3\u505a\u6cd5\u662f Mixture-of-Transformers (MoT)\uff0c\u5206\u958b video\u3001tactile\u3001action \u4e09\u500b experts\uff0c\u518d\u5171\u4eab\u6ce8\u610f\u529b\u4ea4\u63db\u8cc7\u8a0a<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\">\u6a21\u578b\u80cc\u5f8c\u6cbf\u7528 WAN2.2 TI2V-5B video diffusion transformer \u4f5c backbone\uff0c\u91cd\u7d44\u6210\u4e09\u500b experts\uff0c\u4e26\u7528 rectified-flow \/ flow-matching \u76ee\u6a19\u806f\u5408\u5b78\u7fd2\u3002readme \u4ea6\u4ea4\u4ee3 action space \u662f 20-dim dual-arm end-effector\uff0c\u914d\u5408 tactile-aware execution\uff0c\u660e\u986f\u4e0d\u662f\u804a\u5929\u5f0f agent\uff0c\u800c\u662f\u9762\u5411\u6a5f\u68b0\u81c2\u64cd\u4f5c\u8207\u63a5\u89f8\u63a7\u5236\u7684\u7814\u7a76\u6a21\u578b\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u5b83\u5728 UniVTAC\u3001NeoSim \u8207\u516b\u500b real-robot tasks \u7684\u5e73\u5747\u6210\u529f\u7387\u5206\u5225\u9054\u5230 84.5%\u300149.4% \u548c 46.3%\u3002\u9019\u4e9b\u7d50\u679c\u8aaa\u660e\u89f8\u89ba\u5c0d\u9ad8\u63a5\u89f8\u64cd\u4f5c\u6709\u5be6\u8cea\u5e6b\u52a9\uff1b\u540c\u6642\u4e5f\u8981\u7559\u610f\uff0c\u90e8\u7f72\u9580\u6abb\u4ecd\u7136\u504f\u7814\u7a76\u5c0e\u5411\uff0c\u8f03\u9069\u5408\u6a5f\u68b0\u4eba\u5718\u968a\u3001\u6a21\u64ec\u74b0\u5883\u958b\u767c\u8005\uff0c\u4ee5\u53ca\u5df2\u7d93\u6709 demonstrations \u8207\u611f\u6e2c\u8cc7\u6599\u6d41\u7684\u9805\u76ee\u76f4\u63a5\u63a5\u5165\u6e2c\u8a66\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><a href=\"https:\/\/research.neoteai.com\/n0-twam\/\" rel=\"noopener noreferrer\"><strong>\u9805\u76ee\u4e3b\u9801<\/strong><\/a> \u00b7 <a href=\"https:\/\/github.com\/neoteai\/N0-TWAM\" rel=\"noopener noreferrer\"><strong>GitHub<\/strong><\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u93e1\u982d\u7747\u5230\u5605\u756b\u9762\u672a\u5fc5\u8db3\u5920\uff0cN0-TWAM\u9023\u89f8\u89ba\u4e00\u9f4a\u9810\u6e2c\uff0c\u518d\u751f\u6210\u52d5\u4f5c\u3002\u5c0d\u63a5\u89f8\u5bc6\u96c6\u64cd\u4f5c\u4f86\u8aaa\uff0c\u9019\u500b\u65b9\u5411\u6bd4\u53ea\u770b\u5f71\u50cf\u66f4\u8cbc\u8fd1\u73fe\u5834\u9700\u8981\u3002<\/p>\n","protected":false},"author":8,"featured_media":10679,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"ai_generated_summary":"","footnotes":""},"categories":[133,116,31,119,127,184,199,204],"tags":[],"class_list":["post-10680","post","type-post","status-publish","format-standard","hentry","category-133","category-agentic","category-video","category-119","category-127","category-robotic","category-dataset-","category-visionlanguageaction"],"_links":{"self":[{"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/posts\/10680","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/users\/8"}],"replies":[{"embeddable":true,"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/comments?post=10680"}],"version-history":[{"count":0,"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/posts\/10680\/revisions"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/media\/10679"}],"wp:attachment":[{"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/media?parent=10680"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/categories?post=10680"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/tags?post=10680"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}