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Zang, Zheng, Nie, Zheng, Tian, Gu, Gao, Wang, Yan, Ding: TacForeSight: Force-Guided Tactile World Model for Contact-Rich Manipulation https://arxiv.org/abs/2606.11184 https://arxiv.org/pdf/2606.11184 https://arxiv.org/html/2606.11184