SoftVTBench: A Safety-Aware Visuo-Tactile Benchmark for Physically Constrained Robotic Manipulation of Deformable Objects (Early Version)
Research
Source: arXiv cs.ROPublish time unverified
arXiv:2607.04234v2 Announce Type: replace Abstract: 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 predominantly success-oriented and rarely evaluate whether a policy remains physically safe throughout execution.