SoftVTBench

SoftVTBench research team

Visuo-tactile simulation demonstrations for rigid and deformable-object manipulation, with benchmark code and assets.

What you can explore

Explore tactile observations and deformation-aware evaluation in the documented Franka and GelSight setup.

Before you use it

This uses a gripper rather than an anthropomorphic hand. The repository and dataset card describe different release sizes; pin the actual files and version. Reference checkpoints are listed as planned.

Original contributors

Bowen Jing, Mingxin Wang and SoftVTBench collaborators

License / access: Hosted dataset card and code: Apache 2.0 · inspect per-asset and upstream terms

Original data & access

Benchmark code and release notes

Editorial reference · checked 2026-09-22