arXiv subjects

Wanjia Fu

Publications and source records attributed to Wanjia Fu.

5 recordsLinked to original sources

arXiv2026

Deform360: A Massive Multi-view Visuotactile Dataset for Deformable World Models

Predicting object dynamics (i.e., world modeling) is a fundamental challenge for robotic manipulation, and modeling deformable objects presents a particularly difficult case due to their high-dimensional state spaces and complex material properties. While current world models approach this through two distinct paradigms: learning the dynamics over the 2D pixel space or more explicit 3D geometric space. A systematic understanding of their relative strengths and limitations remains elusive due to the lack of diverse, large-scale real-world data. To address this, we present Deform360, a large-scale visuotactile dataset featuring 198 daily-life objects, 1,980 interaction sequences, and over 215 hours of observations from 41 surround-view cameras and bimanual tactile grippers to capture both global motion and contact-induced local deformations. Leveraging a novel markerless visuotactile 3D tracking pipeline to extract dense geometry and motion, we systematically evaluate current state-of-the-art world models, comparing 2D video models against 3D particle models. Finally, we provide a preliminary demonstration indicating the real-world applicability of our dataset by performing robot planning tasks on deformable objects. Our analysis reveals key insights into the trade-offs between structural priors and scalability, providing a solid benchmark for future research in generalizable deformable object-centric world modeling. Project website: https://deform360.lhy.xyz

cs.RO↗

arXiv2025

Design-based theory for causal inference

Causal inference, as a major research area in statistics and data science, plays a central role across diverse fields such as medicine, economics, education, and the social sciences. Design-based causal inference begins with randomized experiments and emphasizes conducting statistical inference by leveraging the known randomization mechanism, thereby enabling identification and estimation of causal effects under weak model dependence. Grounded in the seminal works of Fisher and Neyman, this paradigm has evolved to include various design strategies, such as stratified randomization and rerandomization, and analytical methods including Fisher randomization tests, Neyman-style asymptotic inference, and regression adjustment. In recent years, with the emergence of complex settings involving high-dimensional data, individual noncompliance, and network interference, design-based causal inference has witnessed remarkable theoretical and methodological advances. This paper provides a systematic review of recent progress in this field, focusing on covariate-balanced randomization designs, design-based statistical inference methods, and their extensions to high-dimensional, noncompliance, and network interference scenarios. It concludes with a comprehensive perspective on future directions for the theoretical development and practical applications of causal inference.

stat.ME↗

arXiv2025

Regression adjustment in covariate-adaptive randomized experiments with missing covariates

Covariate-adaptive randomization is widely used in clinical trials to balance prognostic factors, and regression adjustments are often adopted to further enhance the estimation and inference efficiency. In practice, the covariates may contain missing values. Various methods have been proposed to handle the covariate missing problem under simple randomization. However, the statistical properties of the resulting average treatment effect estimators under stratified randomization, or more generally, covariate-adaptive randomization, remain unclear. To address this issue, we investigate the asymptotic properties of several average treatment effect estimators obtained by combining commonly used missingness processing procedures and regression adjustment methods. Moreover, we derive consistent variance estimators to enable valid inferences. Finally, we conduct a numerical study to evaluate the finite-sample performance of the considered estimators under various sample sizes and numbers of covariates and provide recommendations accordingly. Our analysis is model-free, meaning that the conclusions remain asymptotically valid even in cases of misspecification of the regression model.

stat.ME↗

arXiv2025

UniTac: Whole-Robot Touch Sensing Without Tactile Sensors

Robots can better interact with humans and unstructured environments through touch sensing. However, most commercial robots are not equipped with tactile skins, making it challenging to achieve even basic touch-sensing functions, such as contact localization. We present UniTac, a data-driven whole-body touch-sensing approach that uses only proprioceptive joint sensors and does not require the installation of additional sensors. Our approach enables a robot equipped solely with joint sensors to localize contacts. Our goal is to democratize touch sensing and provide an off-the-shelf tool for HRI researchers to provide their robots with touch-sensing capabilities. We validate our approach on two platforms: the Franka robot arm and the Spot quadruped. On Franka, we can localize contact to within 8.0 centimeters, and on Spot, we can localize to within 7.2 centimeters at around 2,000 Hz on an RTX 3090 GPU without adding any additional sensors to the robot. Project website: https://ivl.cs.brown.edu/research/unitac.

cs.RO↗

arXiv2024

GigaHands: A Massive Annotated Dataset of Bimanual Hand Activities

Understanding bimanual human hand activities is a critical problem in AI and robotics. We cannot build large models of bimanual activities because existing datasets lack the scale, coverage of diverse hand activities, and detailed annotations. We introduce GigaHands, a massive annotated dataset capturing 34 hours of bimanual hand activities from 56 subjects and 417 objects, totaling 14k motion clips derived from 183 million frames paired with 84k text annotations. Our markerless capture setup and data acquisition protocol enable fully automatic 3D hand and object estimation while minimizing the effort required for text annotation. The scale and diversity of GigaHands enable broad applications, including text-driven action synthesis, hand motion captioning, and dynamic radiance field reconstruction. Our website are avaliable at https://ivl.cs.brown.edu/research/gigahands.html .

cs.CV↗