@article{compactvisuotactileworldmodelsforlifting,
  title = {Compact Visuotactile World Models for Lifting: Prediction, Reward Alignment, and Force Constraints},
  author = {Qinzhen Ma and Sida Peng},
  year = {2026},
  eprint = {2609.09597},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2609.09597},
}