TouchSafeBench evaluates VLMs on collision grounding, finding best Macro-F1 below 50% and that explicit depth does not yield reliable robot-body contact inference.
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Probing Collision Grounding in Vision-Language Models for Safe Human-Robot Collaboration
TouchSafeBench evaluates VLMs on collision grounding, finding best Macro-F1 below 50% and that explicit depth does not yield reliable robot-body contact inference.