@article{feelingtheunexpectedrestacvlaforcontactr,
  title = {Feeling the Unexpected: ResTacVLA for Contact-Rich Manipulation via Residual Tactile Representation},
  author = {Pengwei Zhang and Bin Xie and Ce Hao and Xinpan Meng and Xinyu Guo and Fang Deng and Long Cheng and Tiancai Wang},
  year = {2026},
  eprint = {2607.03387},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2607.03387},
}