11 papers
GaussianDream++: Efficient 3D Gaussian World Modeling for Robotic Manipulation
Yuqing Jiang, Zijian Zhang, Weitao Zhou +8
Vision-Language-Action (VLA) policies have advanced language-conditioned robotic manipulation, yet action-imitation objectives provide only weak supervision for metric 3D structure…
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…
GaussianDream: A Feed-Forward 3D Gaussian World Model for Robotic Manipulation
Zijian Zhang, Yuqing Jiang, Qian Cheng +6
Vision-language-action (VLA) policies have advanced language-conditioned robotic manipulation by transferring semantic priors from pretrained vision-language models to action gener…
WorldString: Actionable World Representation
Kunqi Xu, Jitao Li, Jianglong Ye +4
Inspired by the emergent behaviors in large language models that generalized human intelligence, the research community is pursuing similar emergent capabilities within world model…
ManiSoft: Towards Vision-Language Manipulation for Soft Continuum Robotics
Ziyu Wei, Luting Wang, Chen Gao +2
Most existing vision-language manipulation research targets rigid robotic arms, whose fixed morphology limits adaptability in cluttered or confined spaces. Soft robotic arms offer…
OmniVTA: Visuo-Tactile World Modeling for Contact-Rich Robotic Manipulation
Yuhang Zheng, Songen Gu, Yupeng Zheng +11
Contact-rich manipulation tasks, such as wiping and assembly, require accurate perception of contact forces, friction changes, and state transitions that cannot be reliably inferre…
Genie Envisioner: A Unified World Foundation Platform for Robotic Manipulation
Yue Liao, Pengfei Zhou, Siyuan Huang +11
We introduce Genie Envisioner (GE), a unified world foundation platform for robotic manipulation that integrates policy learning, evaluation, and simulation within a single video-g…
Reinforcement Learning Tuning for VideoLLMs: Reward Design and Data Efficiency
Hongyu Li, Songhao Han, Yue Liao +4
Understanding real-world videos with complex semantics and long temporal dependencies remains a fundamental challenge in computer vision. Recent progress in multimodal large langua…
RoboCerebra: A Large-scale Benchmark for Long-horizon Robotic Manipulation Evaluation
Songhao Han, Boxiang Qiu, Yue Liao +4
Recent advances in vision-language models (VLMs) have enabled instruction-conditioned robotic systems with improved generalization. However, most existing work focuses on reactive…
Data Augmentation in Human-Centric Vision
Wentao Jiang, Yige Zhang, Shaozhong Zheng +2
This survey presents a comprehensive analysis of data augmentation techniques in human-centric vision tasks, a first of its kind in the field. It delves into a wide range of resear…