4 papers
How High Can GPT-6 Astra Climb in Contact-Rich Manipulation? PhysLadder: A Hierarchical, Matched Sim-Real Benchmark for Physical Interaction
Haibao Yu, Jiaqi Meng, Zijian Zhang +16
We introduce PhysLadder, a hierarchical Sim-Real benchmark for evaluating physical interaction capabilities in contact-rich manipulation. Its 16 household tasks span three cumulati…
KnockGS:interaction-Grounded Calibrationof Physical Gaussian Representations
Chenchen Ge, Hanwen Shen, Bowen Jing +6
Physics-integrated 3D Gaussian representations now allow reconstructed deformable objects to be simulated and rendered under explicit material models. Existing pipelines, however,…
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…