Dynamic Embedded Topic Models (D-ETM) provide an interpretable framework for modeling temporal semantic evolution, but cross-corpus comparison remains difficult because topics are often learned independently and aligned only after training, a process that does not guarantee stable topic correspondence across corpora and time. To address this problem, we propose a D-ETM framework that first learns a common dynamic topic space over a merged multi-corpus collection, which we call the shared backbone, then introduces corpus-specific residual adaptation around the frozen backbone without creating separate latent topic spaces. This design preserves a shared topic index for cross-corpus comparison while allowing each corpus to specialize lexically. We evaluate the framework on three temporally structured corpora spanning 97 years: the Corpus of Historical American English, Harvard Business Review, and International Labour Review. Residual adaptation improves corpus-specific fit relative to the shared backbone while preserving the same-index cross-corpus topic trajectories, achieving substantially stronger alignment than full fine-tuning from the same backbone, with $97.5 \pm 0.7\%$ versus $17.9 \pm 1.1\%$ trajectory Retrieval@1, as well as stronger alignment than independent training with post-hoc Hungarian matching. These results suggest that incorporating topic alignment into the model can support more stable over-time cross-corpus comparisons while retaining corpus-specific lexical variation.
Visual policies learned from human videos, teleoperation, and robot demonstrations offer scalable motion priors, but often fail in contact-rich manipulation, where success significantly depends on local force and contact geometry. Tactile sensing provides these complementary signals, yet tactile data remain costly to collect and hard to generalize across sensors, robots, and tasks. We introduce OmniTacTune, a policy-agnostic real-world RL pipeline that adapts tactile feedback to pretrained visual policies through residual correction. OmniTacTune uses a two-stage design: it first bootstraps tactile-aware learning from autonomous base-policy rollouts, then learns a lightweight tactile residual policy through online interaction. Extensive experiments show that OmniTacTune generalizes across diverse contact-rich tasks, visual base policies, and tactile representations. Across four real-world contact-rich tasks, it improves visual base policies from 5-40% success to 85-100% within 40-80 minutes, demonstrating an efficient path for adapting tactile feedback to scalable visual robot policies. Project page: https://colinyu1.github.io/omnitactune-site/