Author

Hanwen Shen

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Preprint Aug 2026

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

Results show that making touch available does not by itself ensure effective multimodal fusion, and SoftVTBench provides a common visuo-tactile resource for studying not only whether a policy succeeds, but how it physically interacts with deformable objects and when touch improves that interaction.

Bowen Jing, Ming-Xin Wang, Ruiyang Hao et al. · 2 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