# UC Davis and ADI open-source Agile-WAM tactile world action model: 29.4% relative improvement in real-robot success rate

- Source: 3D视觉工坊 · 微信公众号
- Published: 2026-10-18T23:00:00.000Z
- RoboHot: https://robohot.news/en/items/f3v7yivvojagf2e5cnxofuj50
- Original: https://mp.weixin.qq.com/s?__biz=MzU1MjY4MTA1MQ==&mid=2247752299&idx=2&sn=a3f9561219b07f883eb957d2d92058e6&chksm=fa0db599e72a40d79a9feda553cb6eb7e3235824da33907a10f4714a0b89bf0e69311092d838&scene=126&sessionid=1792406071#rd

## Summary

UC Davis and ADI have open-sourced Agile-WAM, a tactile world action model for contact-rich manipulation. Through multi-scale, multimodal prediction, it lets vision be supervised over long spans and touch over next-frame spans, achieving a 29.4% relative improvement in overall success rate across five real-robot tasks. On a single RTX 4090, inference latency is 10.35 ms with a control frequency of 96.62 Hz, about 40 times higher than the diffusion policy DP; it achieves best or near-best results on multiple of 9 ManiFeel simulation tasks and Flexiv Rizon 4 real-robot tasks.