Touch Needed a Faster Clock Than Vision

Adjacent camera frames often change gradually while tactile readings can jump at first contact. Agile-WAM encodes both streams into one latent space but supervises visual prediction at a longer offset and tactile prediction at the next frame, then generates future latents and action chunks together. Across nine simulated and five physical contact-rich tasks, the compact model beat the strongest reported baseline while keeping inference latency to 11.9 milliseconds. The five real-world experiments showed a 29.4% relative gain in overall success rate.