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SoftVTBench presents a synchronized visuo-tactile dataset and deformation-aware benchmark for evaluating physical interaction quality in deformable-object manipulation, including 4,000 demonstrations and a new success metric.
Presents Splash, a mask-isolated tactile alignment learning framework that enables multimodal LLMs to acquire tactile sensing without sacrificing vision-language reasoning by selectively updating only dormant parameters, preventing catastrophic forgetting.