RCT dataset with sequence-preserving splits demonstrates that tactile-to-text models achieve only 25.1% Recall@1 on held-out materials, exposing generalization as the core challenge.
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RCT: A Robot-Collected Touch-Vision-Language Dataset for Tactile Generalization
RCT dataset with sequence-preserving splits demonstrates that tactile-to-text models achieve only 25.1% Recall@1 on held-out materials, exposing generalization as the core challenge.