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    "story_id": "mp-2026-10-22-006",
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    "headline": "The Robot Predicts Force Alongside Motion",
    "slug": "the-robot-predicts-force-alongside-motion",
    "dek": "CW-WAM jointly forecasts video, movement and contact wrench, then feeds force references to a faster controller.",
    "summary": "CW-WAM jointly forecasts video, movement and contact wrench, then feeds force references to a faster controller.",
    "body_text": "Vision alone cannot say how hard a robot is pressing. CW-WAM predicts aligned motion and wrench chunks and keeps a fixed history of earlier forces. A 20-hertz admittance controller follows those references between slower model queries. Compared with a version without wrench input, reported insertion success rose from 25 to 70 percent for square pegs and from 40 to 95 percent for power adapters, while force-reference error also fell on tested tasks. The gains are benchmark and hardware results under the authors' setup.",
    "why_it_matters": "CW-WAM jointly forecasts video, movement and contact wrench, then feeds force references to a faster controller.",
    "limitations": [
      "Vision alone cannot say how hard a robot is pressing."
    ],
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    "first_published_at": "2026-10-22T09:00:00.000-04:00",
    "modified_at": "2026-10-22T09:00:00.000-04:00",
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        "qualification": "Vision alone cannot say how hard a robot is pressing."
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    "tags": [
      "robotics",
      "force control",
      "world models"
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  "sources": [
    {
      "source_id": "source-2026-10-22-006",
      "title": "arXiv preprint 2610.30117, original v1",
      "publisher": "arXiv",
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      "published_at": "2026-10-21T13:55:53.000-04:00",
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    "title": "The Robot Predicts Force Alongside Motion",
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