Tao, Z., Li, X., & Wang, X. (2026). ForeTac-VLA: A Forecasting-Based Tactile-Vision-Language-Action Model for Contact-Rich Robotic Manipulation. https://omanscience.com/ar/articles/foretac-vla-a-forecasting-based-tactile-vision-language-action-model-for-contact-rich-robotic-manipulation