Author

Bowen Jing

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Preprint Aug 2026

SoftVTBench: A Deformation-Aware Visuo-Tactile Dataset and Benchmark for Deformable-Object Manipulation

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 causing excessive compression. A primary bottleneck is the absence of visuo-tactile datasets that pair policy-visible contact observations wit...

Bowen Jing, Ming-Xin Wang, Ruiyang Hao et al. · 0 citations

Preprint Aug 2026

KnockGS:interaction-Grounded Calibrationof Physical Gaussian Representations

This work proposes KnockGS, an interaction-response PhysicalGS framework that estimates the elasticity and density scales of a 3D Gaussian object from its dynamics under a known applied force, and recovers the scales substantially more accurately than response retrieval, global regression, or a fixed default material.

Chenchen Ge, Hanwen Shen, Bowen Jing et al. · 0 citations

Jul 2026

ST-WAM: Semantic-Temporal World Action Model for Robust Manipulation under Visual Distribution Shifts

Semantic-Temporal WAM (ST-WAM) is proposed to improve action robustness by using DINOv3 as a shared semantic representation for future prediction and history retrieval while retaining fine-grained VAE dynamics, demonstrating that semantic-temporal modeling effectively complements pixel-generative dynamics for robust ma...

Mingxin Wang, Bin Hu, Bin Qian et al. · arXiv.org · 5 citations · ⚡1