Author

Junjie He

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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

GaussianDream++: Efficient 3D Gaussian World Modeling for Robotic Manipulation

GaussianDream demonstrates that training-time current Gaussian reconstruction and future Gaussian prediction provide effective 3D supervision, but its dense VGGT/TGE-based prefix jointly carries state, dynamics, and action-conditioning information.

Yu-Qing Jiang, Zi-Jian Zhang, Wei-Tao Zhou et al. · 1 citation