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…