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…
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…
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…
CounterScene: Counterfactual Causal Reasoning in Generative World Models for Safety-Critical Closed-Loop Evaluation
Bowen Jing, Ruiyang Hao, Weitao Zhou +1
Generating safety-critical driving scenarios requires understanding why dangerous interactions arise, rather than merely forcing collisions. However, existing methods rely on heuri…
ReconDrive: Fast Feed-Forward 4D Gaussian Splatting for Autonomous Driving Scene Reconstruction
Haibao Yu, Kuntao Xiao, Jiahang Wang +7
High-fidelity visual reconstruction and novel-view synthesis are essential for realistic closed-loop evaluation in autonomous driving. While 4D Gaussian Splatting (4DGS) offers a p…
StyleDrive: Towards Driving-Style Aware Benchmarking of End-To-End Autonomous Driving
Ruiyang Hao, Bowen Jing, Haibao Yu +1
Personalization, while extensively studied in conventional autonomous driving pipelines, has been largely overlooked in the context of end-to-end autonomous driving (E2EAD), despit…