Author

Ruiyang Hao

King's College London

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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

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