Latent Tactile World Model Simulator

🤖 Dual-Finger Gripper Simulation & Multimodal Latent Space STABLE GRIP

PHYSICS ENGINE + LATENT MANIFOLD PROJECTION

LEFT FINGER (8x8)

RIGHT FINGER (8x8)

⏱️ World Action Rollout Forecast ($z_{t+k}$) Horizon: Step 0 / 50 (+0.0s)

Scrub Future Rollout vs Ground Truth Physics: t = 0.00s

t_0 (Current Observation) z_{t+25} (Mid Forecast) z_{t+50} (+1.0s Horizon)

🎛️ Object Material & Gripper Controls

Material Preset

Fingertip Grip Force ($F_N$) 12.5 N

Lift Speed ($v_{lift}$) 0.80 m/s

Surface Friction ($\mu$) 0.45

External Shear Perturbation ($F_{ext}$) 0.0 N

📊 Tactile Latent Model Telemetry

Peak Pressure 18.2 kPa

Micro-Slip Prob 0.04

Latent Drift ($\Delta z$) 0.020

Contact State stable_grip

Being-H0.8 Latent Tactile Dynamics:

Fingertip 8x8 tactile arrays measure shear/normal stress distributions. When combined with visual bounding frames and robot joint actions, they project into a 3D latent state $z_t$. The latent world model autoregressively forecasts $z_{t+k}$ to detect micro-slips before macro movement occurs.

✅ Latent Tactile World Model Active: Runnable manifold forecasting with live 8x8 contact sensor feedback.