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Jonathan Tremblay

Alumni

Publications

Tactile Modality Fusion for Vision-Language-Action Models
Charlotte Morissette
Amin Abyaneh
Wei-Di Chang
Anas Houssaini
David Meger
Hsiu-Chin Lin
Jonathan Tremblay
Gregory Dudek
We propose TacFiLM, a lightweight modality-fusion approach that integrates visual-tactile signals into vision-language-action (VLA) models. … (see more)While recent advances in VLA models have introduced robot policies that are both generalizable and semantically grounded, these models mainly rely on vision-based perception. Vision alone, however, cannot capture the complex interaction dynamics that occur during contact-rich manipulation, including contact forces, surface friction, compliance, and shear. While recent attempts to integrate tactile signals into VLA models often increase complexity through token concatenation or large-scale pretraining, the heavy computational demands of behavioural models necessitate more lightweight fusion strategies. To address these challenges, TacFiLM outlines a post-training finetuning approach that conditions intermediate visual features on pretrained tactile representations using feature-wise linear modulation (FiLM). Experimental results on insertion tasks demonstrate consistent improvements in success rate, direct insertion performance, completion time, and force stability across both in-distribution and out-of-distribution tasks. Together, these results support our method as an effective approach to integrating tactile signals into VLA models, improving contact-rich manipulation behaviours.
2026-03-14
arXiv (preprint)
doi.org
arxiv.org