Houde Liu — Papers on Cortexa

arxivcs.ROcs.AIcs.CV2026-07-05

SoftVTBench: A Safety-Aware Visuo-Tactile Benchmark for Physically Constrained Robotic Manipulation of Deformable Objects

Bowen Jing, Mingxin Wang, Ruiyang Hao, Chenchen Ge, Hanwen Shen, Junjie He, et al.

Deformable object manipulation poses challenges beyond task completion: successful execution must also maintain safe physical interaction, holding the object stably without slip or drop while avoiding excessive deformation. However, existing manipulation benchmarks are predominan…

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arxivcs.ROcs.AI2026-06-30

Stage-Transition Dense Reward Modeling for Reinforcement Learning

Yang Yang, Bingjie Chen, Zihan Wang, Yizhe Li, Guoping Pan, Yi Cheng, et al.

Reinforcement learning for long-horizon robotic manipulation is often limited by sparse and delayed rewards, while manually designing dense shaping signals is costly and brittle to changes in environments and object configurations. This work proposes Stage-Transition Dense Reward…

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