8 papers
SoftVTBench: A Deformation-Aware Visuo-Tactile Dataset and Benchmark for Deformable-Object Manipulation
Bowen Jing, Mingxin Wang, Ruiyang Hao +15
Physical interaction quality is central to deformable-object manipulation, yet most benchmarks evaluate task success alone. A policy may complete the task while allowing slip or ca…
SoftVTBench: A Safety-Aware Visuo-Tactile Benchmark for Physically Constrained Robotic Manipulation of Deformable Objects (Early Version)
Bowen Jing, Mingxin Wang, Ruiyang Hao +15
Deformable object manipulation poses challenges beyond task completion: successful execution must also maintain safe physical interaction, holding the object stably without slip or…
Push-Wiper: Toward General-Purpose Robotic Cleaning across Varied Stains and Surfaces with Segmented Pushing Trajectories
Renhao Lu, Mingxin Wang, Chenyang Cao +5
Viscous stains, characterized by high viscosity and complex rheological properties, remain a major challenge for robotic surface cleaning. Conventional wiping often spreads the sta…
ST-WAM: Semantic-Temporal World Action Model for Robust Manipulation under Visual Distribution Shifts
Mingxin Wang, Bin Hu, Bin Qian +12
World Action Models (WAMs) have emerged as a promising paradigm by jointly modeling robot actions and future visual dynamics. However, their reliance on pixel-generative future sup…
MASTE: A Multi-Agent Pipeline for Zero-Shot Aspect Sentiment Triplet Extraction
Ao Hong, Lehang Wang, Zhirun Yue +3
Aspect Sentiment Triplet Extraction (ASTE) requires jointly identifying (aspect, opinion, sentiment) triples from a given review sentence. While large language models (LLMs) achiev…
ABot-M0.5: Unified Mobility-and-Manipulation World Action Model
Ronghan Chen, Yandan Yang, Zuojin Tang +18
Mobile manipulation is a key capability for general-purpose robots, yet remains challenging for current embodied learning methods. VLA policies are typically reactive and lack expl…