Success-only metrics overstate deformable-manipulation performance; tactile sensing raises Safety Success (e.g. 21.4%→35.6% on Object-Soft) while Goal Success stays comparable.
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SoftVTBench: A Safety-Aware Visuo-Tactile Benchmark for Physically Constrained Robotic Manipulation of Deformable Objects
Success-only metrics overstate deformable-manipulation performance; tactile sensing raises Safety Success (e.g. 21.4%→35.6% on Object-Soft) while Goal Success stays comparable.