@article{tubediffusionpolicyreactivevisualtactile,
  title = {Tube Diffusion Policy: Reactive Visual-Tactile Policy Learning for Contact-rich Manipulation},
  author = {Teng Xue and Alberto Rigo and Bingjian Huang and Jiayi Shen and Zhengtong Xu and Nick Colonnese and Amirhossein H. Memar},
  year = {2026},
  eprint = {2604.23609},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2604.23609},
}