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

arXiv:2607.04234 · cs.RO, cs.AI, cs.CV · Submitted 2026-08-19 · Read on arXiv

Bowen Jing, Mingxin Wang, Ruiyang Hao, Chenchen Ge, Hanwen Shen, Junjie He, Yang Cui, Yiming Hou, Weitao Zhou, Jiawei Wang, Minglei Li, Dandan Zhang, Ding Zhao, Houde Liu, Xiaofan Li, Si Liu, Ping Luo, Haibao Yu

cs.RO, cs.AI, cs.CV

Submitted: 2026-08-19

Updated: 2026-08-21

Comments: Early version of SoftVTBench, Accepted by ECCVW

Code: https://github.com/TuojingAI/SoftVTBench

Project page: https://softvtbench.github.io

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Benchmark — 50× in this paper · explained in 2 episodes
• Benchmarking — 9× in this paper · explained in 3 episodes
• Calibration — 6× in this paper · explained in 7 episodes
• Generalization — 6× in this paper · explained in 13 episodes
• Finite Element Method — 5× in this paper
• Reinforcement Learning — 3× in this paper · explained in 4 episodes
• Robustness — 3× in this paper · explained in 5 episodes
• Action Space — 2× in this paper · explained in 1 episode
• Foundation Model — 2× in this paper · explained in 3 episodes
• Physical Constraints — 2× in this paper · explained in 7 episodes
• Ablation — 1× in this paper · explained in 1 episode
• Alignment — 1× in this paper · explained in 1 episode
• Core — 1× in this paper · explained in 2 episodes
• Deep Reinforcement Learning — 1× in this paper · explained in 2 episodes
• Digital Twin — 1× in this paper · explained in 4 episodes
• Fine-Tuning — 1× in this paper · explained in 5 episodes
• IEEE International Conference on Robotics and Automation — 1× in this paper
• LoRA Fine-Tuning — 1× in this paper · explained in 3 episodes
• Representation Learning — 1× in this paper · explained in 2 episodes
• Synthetic Data Generation — 1× in this paper · explained in 5 episodes
• VLA Models — 1× in this paper · explained in 3 episodes
• Verification — 1× in this paper · explained in 2 episodes
• World Model — 1× in this paper · explained in 7 episodes

Sources

• VLA-Touch: Enhancing Vision-Language-Action Models with Dual-Level Tactile Feedback
• GR00T N1: An Open Foundation Model for Generalist Humanoid Robots
• $\pi_0$: A Vision-Language-Action Flow Model for General Robot Control
• UniVTAC: A Unified Simulation Platform for Visuo-Tactile Manipulation Data Generation, Learning, and Benchmarking
• DaXBench: Benchmarking Deformable Object Manipulation with Differentiable Physics
• RoboTwin 2.0: A Scalable Data Generator and Benchmark with Strong Domain Randomization for Robust Bimanual Robotic Manipulation
• OmniVTLA: Vision-Tactile-Language-Action Models with Semantic-Aligned Tactile Sensing
• SafeVLA-Bench: A Benchmark for the Success-Safety Gap in Vision-Language-Action Models
• SoGraB: A Visual Method for Soft Grasping Benchmarking and Evaluation
• ManiSkill2: A Unified Benchmark for Generalizable Manipulation Skills
• 3D-ViTac: Learning Fine-Grained Manipulation with Visuo-Tactile Sensing
• SafeManip: A Property-Driven Benchmark for Temporal Safety Evaluation in Robotic Manipulation
• Tactile-VLA: Unlocking Vision-Language-Action Model's Physical Knowledge for Tactile Generalization
• PlasticineLab: A Soft-Body Manipulation Benchmark with Differentiable Physics
• DreamGen: Unlocking Generalization in Robot Learning through Video World Models
• OpenVLA: An Open-Source Vision-Language-Action Model
• AT-VLA: Adaptive Tactile Injection for Enhanced Feedback Reaction in Vision-Language-Action Models
• Evaluating Real-World Robot Manipulation Policies in Simulation
• SoftGym: Benchmarking Deep Reinforcement Learning for Deformable Object Manipulation
• LIBERO: Benchmarking Knowledge Transfer for Lifelong Robot Learning

Related papers

• FMT x: An Efficient and Asymptotically Optimal Extension of the Fast Marching Tree for Dynamic Replanning
• MPCFormer: A physics-informed data-driven approach for explainable socially-aware autonomous driving
• RoboLab: A High-Fidelity Simulation Benchmark for Analysis of Task Generalist Policies
• HRDexDB: A 4D Dexterous Grasping Dataset Across Human and Multiple Robot Embodiments
• APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policies
• Fine-tuning is Not Enough: A Parallel Framework for Collaborative Imitation and Reinforcement Learning in End-to-end Autonomous Driving