CraftNet
Sharpa's Tactile-based Vision-Tactile-Language-Action (VTLA) Model
Author’s Note
- CraftNet is the first commercial model to fully integrate tactile sensing into a VLA.
- The System 0/1/2 hierarchy is similar to Figure Helix 02, but differentiated by its specialization in tactile feedback.
- The key innovation is 100Hz high-frequency tactile control for solving the “last millimeter” problem.
Key Significance
- First Commercial VTLA: Vision-Tactile-Language-Action, integrating tactile as a core modality
- Three-Layer Hierarchical Architecture: System 2 (~1Hz) + System 1 (~10Hz) + System 0 (~100Hz)
- Solves “The Last Millimeter”: High-frequency tactile feedback loop for post-contact fine manipulation
- Synthetic Tactile Data: Enriches simulation, teleoperation, and internet video with tactile information
- SharpaWave Integration: Combined with tactile hand featuring 1,000+ tactile pixels and 0.005N sensitivity
Sharpa CES 2026 Demo - North Humanoid with CraftNet
Overview
| Item | Details |
|---|
| Announced | 2025 |
| Company | Sharpa (Singapore) |
| Blog | sharpa.com/blogs/news |
| Robot | North Humanoid |
| Hardware | SharpaWave Tactile Hand |
CraftNet is a hierarchical Vision-Tactile-Language-Action (VTLA) model developed by Sharpa, designed for fine manipulation tasks.
Architecture: System 0/1/2
CraftNet is a hierarchical system operating across three frequency bands.
CraftNet Architecture: System 0/1/2 Hierarchical Structure
System 2 (Reasoning Brain) - ~1 Hz
| Item | Details |
|---|
| Role | Task decomposition, long-horizon planning |
| Base | Vision-Language Model |
| Feature | Open-source VLM interface |
- Decomposes human instructions into sequential sub-tasks
- High-level reasoning and decision-making
- Leverages open-source VLMs pre-trained on internet-scale data
System 1 (Motion Brain) - ~10 Hz
| Item | Details |
|---|
| Role | Motion planning, coarse action control |
| Base | Foundation Model |
| Feature | Pre-contact approach optimization |
- Plans trajectories for object approach
- Trained on public/private domain data
- Transforms System 2 goals into executable motions
System 0 (Interaction Brain) - ~100 Hz
| Item | Details |
|---|
| Role | Super high-frequency fine-motor control |
| Base | Tactile feedback model |
| Feature | Real-time contact adjustment |
- Key Differentiator: Real-time tactile feedback processing
- Continuously adjusts hand/finger positions during contact
- Handles grasping, sliding, and complex assembly tasks
Core Technology: Tactile Integration
Limitations of Existing VLAs
Existing VLAs focus on vision-based trajectory generation with three limitations:
- No Tactile: Using only vision without force and tactile feedback
- No Post-Contact Control: Unable to handle “the last millimeter” of manipulation
- Unrealistic Simulation: Force/compliance patterns in simulated data don’t match reality
CraftNet’s Solutions
| Problem | Solution |
|---|
| No Tactile | Integrates force/tactile feedback alongside vision |
| No Post-Contact Control | System 0’s 100Hz high-frequency feedback loop |
| Data Scarcity | Enriches existing data with synthetic tactile information |
Data Strategy
Synthetic Tactile Data
CraftNet enriches data from various sources with tactile information:
| Data Source | Processing Method |
|---|
| Simulation | Corrects unrealistic force/compliance patterns |
| Teleoperation | Joint training of System 0/1 with high-quality data |
| Internet Video | Adds synthetic tactile information |
Asynchronous Multi-Frequency Inference
- Three systems operate independently at different frequencies
- Temporal decoupling enables efficient computation
Hardware: SharpaWave
CraftNet is designed to work with Sharpa’s SharpaWave tactile hand.
Specifications
| Item | Spec |
|---|
| DoF | 22 DoF (active) |
| Tactile Technology | Dynamic Tactile Array (DTA) |
| Tactile Pixels | 1,000+ per fingertip |
| Pressure Sensitivity | 0.005 N |
| Force Sensing | 6-axis |
| Durability | 1 million grip cycles |
| Feature | Modular finger replacement |
Dynamic Tactile Array (DTA)
- “Feel by Seeing” vision-tactile fusion technology
- Miniature camera in each fingertip
- Handles feather-light contact to heavy load manipulation
Hardware: North Humanoid
Sharpa’s humanoid robot equipped with CraftNet.
- Unveiled at CES 2026
- Demonstrated fully autonomous ping-pong rallies
- Equipped with SharpaWave hands
Company: Sharpa
| Item | Details |
|---|
| Founded | 2024 |
| Headquarters | Singapore |
| R&D | Shanghai |
| Business | Mountain View, USA |
| Award | CES 2026 Innovation Award (Robotics) |
Milestones
| Date | Event |
|---|
| 2024 | Sharpa founded |
| 2025.10 | SharpaWave demonstrated at IROS 2025 |
| 2025.10 | SharpaWave mass production and shipping begins |
| 2025.11 | CES 2026 Innovation Award received |
| 2026.01 | North humanoid unveiled at CES 2026 |
Comparison with Other Hierarchical VLAs
| Model | System 2 | System 1 | System 0 | Tactile |
|---|
| CraftNet | ~1Hz (VLM) | ~10Hz (Motion) | ~100Hz (Tactile) | Yes |
| Figure Helix 02 | Semantic Reasoning | 200Hz (Visuomotor) | 1kHz (Balance) | Yes |
| GR00T N1 | 10Hz (Eagle VLM) | 120Hz (DiT) | - | No |
References
See Also