5 papers
Deform360: A Massive Multi-view Visuotactile Dataset for Deformable World Models
Hongyu Li, Wanjia Fu, Xiaoyan Cong +11
Predicting object dynamics (i.e., world modeling) is a fundamental challenge for robotic manipulation, and modeling deformable objects presents a particularly difficult case due to…
PointAction: 3D Points as Universal Action Representations for Robot Control
Mutian Tong, Han Jiang, Qiao Feng +2
Video-Action Models (VAMs) leverage the broad visual dynamics captured by pre-trained video diffusion models, offering a promising path toward generalizable robot manipulation. How…
Real-to-Sim Robot Policy Evaluation with Gaussian Splatting Simulation of Soft-Body Interactions
Kaifeng Zhang, Shuo Sha, Hanxiao Jiang +7
Robotic manipulation policies are advancing rapidly, but their direct evaluation in the real world remains costly, time-consuming, and difficult to reproduce, particularly for task…
PhysGen3D: Crafting a Miniature Interactive World from a Single Image
Boyuan Chen, Hanxiao Jiang, Shaowei Liu +4
Envisioning physically plausible outcomes from a single image requires a deep understanding of the world's dynamics. To address this, we introduce PhysGen3D, a novel framework that…
PhysTwin: Physics-Informed Reconstruction and Simulation of Deformable Objects from Videos
Hanxiao Jiang, Hao-Yu Hsu, Kaifeng Zhang +3
Creating a physical digital twin of a real-world object has immense potential in robotics, content creation, and XR. In this paper, we present PhysTwin, a novel framework that uses…