Paper Citation Record · LEDGER

SoftVTBench: A Safety-Aware Visuo-Tactile Benchmark for Physically Constrained Robotic Manipulation of Deformable Objects

As of 6 August 2026, this Paper Citation Record lists 35 of 35 outbound references and 0 inbound Pith citation observations for arXiv:2607.04234.

A citation records a reference. It does not transfer a finding from one paper to another.

pith.paper-citation-record.v1
2607.04234 v1

Coverage vector

measured 35 of 35 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links, observed 2026-07-11T20:46:04.923901Z

measured 35 of 35 standing notices

One-hop event checks from named stored sources.

Source: scholarly_work_events, retraction_status_cache, observed 2026-08-05T06:32:48.257954+00:00

measured 0 of 0 inbound itemization

Pith citing papers itemized under the disclosed page cap.

Source: paper_references, paper_reference_links

measured 0 of 1 external citation measurements

A source-named dated measurement, never combined with another source.

Source: cited_works

Reference resolution

35 of 35 outbound references displayed

verified exact1
verified fuzzy0
unresolved34
parse uncertain0
malformed identifier0
metadata mismatch0

External citation measurements

No source-named external measurement is stored.

Outbound references

Observation efe218ac-bc64-45db-b982-4c5acdbac694 · outbound

This paper cites Rika Antonova, Peiyang Shi, Hang Yin, Zehang Weng, and Danica Kragic Jensfelt.

SoftVTBench: A Safety-Aware Visuo-Tactile Benchmark for Physically Constrained Robotic Manipulation of Deformable Objects Rika Antonova, Peiyang Shi, Hang Yin, Zehang Weng, and Danica Kragic Jensfelt

Reference 1

Resolution: unresolved; no resolver link, observed 2026-07-11T20:46:04.923901Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 723343fa-4cb3-45c7-a184-ce3378226b55 · outbound

This paper cites VLA-Touch: Enhancing Vision-Language-Action Models with Dual-Level Tactile Feedback.

SoftVTBench: A Safety-Aware Visuo-Tactile Benchmark for Physically Constrained Robotic Manipulation of Deformable Objects VLA-Touch: Enhancing Vision-Language-Action Models with Dual-Level Tactile Feedback

Reference 2

Resolution: unresolved; no resolver link, observed 2026-07-11T20:46:04.923901Z

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Observation 9409d578-7749-4410-8fec-24a05abc18b4 · outbound

This paper cites GR00T N1: An Open Foundation Model for Generalist Humanoid Robots.

SoftVTBench: A Safety-Aware Visuo-Tactile Benchmark for Physically Constrained Robotic Manipulation of Deformable Objects GR00T N1: An Open Foundation Model for Generalist Humanoid Robots

Reference 3

Resolution: unresolved; no resolver link, observed 2026-07-11T20:46:04.923901Z

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Unavailable: canonical work link unavailable.

Observation 6d68f7ab-4e34-43cc-ae25-44b2a77687a3 · outbound

This paper cites $\pi_0$: A Vision-Language-Action Flow Model for General Robot Control.

SoftVTBench: A Safety-Aware Visuo-Tactile Benchmark for Physically Constrained Robotic Manipulation of Deformable Objects $\pi_0$: A Vision-Language-Action Flow Model for General Robot Control

Reference 4

Resolution: unresolved; no resolver link, observed 2026-07-11T20:46:04.923901Z

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Unavailable: canonical work link unavailable.

Observation 289a83b4-2dd5-4715-8895-97da17930411 · outbound

This paper cites Univtac: A unified simulation platform for visuo-tactile manipulation data generation, learning, and benchmarking.arXiv preprint arXiv:2602.10093,.

SoftVTBench: A Safety-Aware Visuo-Tactile Benchmark for Physically Constrained Robotic Manipulation of Deformable Objects Univtac: A unified simulation platform for visuo-tactile manipulation data generation, learning, and benchmarking.arXiv preprint arXiv:2602.10093,

Reference 5

Resolution: unresolved; no resolver link, observed 2026-07-11T20:46:04.923901Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation fcdfd7d8-8b72-44d1-896c-aaddde7d31cb · outbound

This paper cites DaXBench: Benchmarking Deformable Object Manipulation with Differentiable Physics.

SoftVTBench: A Safety-Aware Visuo-Tactile Benchmark for Physically Constrained Robotic Manipulation of Deformable Objects DaXBench: Benchmarking Deformable Object Manipulation with Differentiable Physics

Reference 6

Resolution: unresolved; no resolver link, observed 2026-07-11T20:46:04.923901Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 1227d092-8c1f-4c91-b84d-f05cf5d3409f · outbound

This paper cites RoboTwin 2.0: A Scalable Data Generator and Benchmark with Strong Domain Randomization for Robust Bimanual Robotic Manipulation.

SoftVTBench: A Safety-Aware Visuo-Tactile Benchmark for Physically Constrained Robotic Manipulation of Deformable Objects RoboTwin 2.0: A Scalable Data Generator and Benchmark with Strong Domain Randomization for Robust Bimanual Robotic Manipulation

Reference 7

Resolution: unresolved; no resolver link, observed 2026-07-11T20:46:04.923901Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation e214d9cb-c749-4e62-9d2e-0adeb445bb21 · outbound

This paper cites Om- nivtla: Vision-tactile-language-action models with semantic-aligned tactile sensing.arXiv preprint arXiv:2508.08706,.

SoftVTBench: A Safety-Aware Visuo-Tactile Benchmark for Physically Constrained Robotic Manipulation of Deformable Objects Om- nivtla: Vision-tactile-language-action models with semantic-aligned tactile sensing.arXiv preprint arXiv:2508.08706,

Reference 8

Resolution: unresolved; no resolver link, observed 2026-07-11T20:46:04.923901Z

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Observation 6c558600-61a4-4a5d-86f3-87795cfd8d38 · outbound

This paper cites SafeVLA-Bench: A Benchmark for the Success-Safety Gap in Vision-Language-Action Models.

SoftVTBench: A Safety-Aware Visuo-Tactile Benchmark for Physically Constrained Robotic Manipulation of Deformable Objects SafeVLA-Bench: A Benchmark for the Success-Safety Gap in Vision-Language-Action Models

Reference 9

Resolution: unresolved; no resolver link, observed 2026-07-11T20:46:04.923901Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation ea423da4-45db-4cfa-917b-68a54e1d3e2f · outbound

This paper cites SoGraB: A Visual Method for Soft Grasping Benchmarking and Evaluation.

SoftVTBench: A Safety-Aware Visuo-Tactile Benchmark for Physically Constrained Robotic Manipulation of Deformable Objects SoGraB: A Visual Method for Soft Grasping Benchmarking and Evaluation

Reference 10

Resolution: unresolved; no resolver link, observed 2026-07-11T20:46:04.923901Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation f64038a3-babf-46e3-b2af-4579bc2ffa76 · outbound

This paper cites ManiSkill2: A Unified Benchmark for Generalizable Manipulation Skills.

SoftVTBench: A Safety-Aware Visuo-Tactile Benchmark for Physically Constrained Robotic Manipulation of Deformable Objects ManiSkill2: A Unified Benchmark for Generalizable Manipulation Skills

Reference 11

Resolution: unresolved; no resolver link, observed 2026-07-11T20:46:04.923901Z

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Unavailable: canonical work link unavailable.

Observation fb9719ea-5474-40d1-97bd-d4aacf4ca548 · outbound

This paper cites 3D-ViTac: Learning Fine-Grained Manipulation with Visuo-Tactile Sensing.

SoftVTBench: A Safety-Aware Visuo-Tactile Benchmark for Physically Constrained Robotic Manipulation of Deformable Objects 3D-ViTac: Learning Fine-Grained Manipulation with Visuo-Tactile Sensing

Reference 12

Resolution: unresolved; no resolver link, observed 2026-07-11T20:46:04.923901Z

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Unavailable: canonical work link unavailable.

Observation 8d6634d0-ccb7-4673-958b-1ecba734123d · outbound

This paper cites SafeManip: A Property-Driven Benchmark for Temporal Safety Evaluation in Robotic Manipulation.

SoftVTBench: A Safety-Aware Visuo-Tactile Benchmark for Physically Constrained Robotic Manipulation of Deformable Objects SafeManip: A Property-Driven Benchmark for Temporal Safety Evaluation in Robotic Manipulation

Reference 13

Resolution: unresolved; no resolver link, observed 2026-07-11T20:46:04.923901Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation b6a96b4a-5edf-4cd4-940e-6381490b4894 · outbound

This paper cites Tactile-VLA: Unlocking Vision-Language-Action Model's Physical Knowledge for Tactile Generalization.

SoftVTBench: A Safety-Aware Visuo-Tactile Benchmark for Physically Constrained Robotic Manipulation of Deformable Objects Tactile-VLA: Unlocking Vision-Language-Action Model's Physical Knowledge for Tactile Generalization

Reference 14

Resolution: unresolved; no resolver link, observed 2026-07-11T20:46:04.923901Z

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Unavailable: canonical work link unavailable.

Observation 6a6b5efc-e885-47ed-b20c-8fa1b8182d95 · outbound

This paper cites PlasticineLab: A Soft-Body Manipulation Benchmark with Differentiable Physics.

SoftVTBench: A Safety-Aware Visuo-Tactile Benchmark for Physically Constrained Robotic Manipulation of Deformable Objects PlasticineLab: A Soft-Body Manipulation Benchmark with Differentiable Physics

Reference 15

Resolution: unresolved; no resolver link, observed 2026-07-11T20:46:04.923901Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation c6d34235-f5bb-435b-9b96-519900d714b4 · outbound

This paper cites DreamGen: Unlocking Generalization in Robot Learning through Video World Models.

SoftVTBench: A Safety-Aware Visuo-Tactile Benchmark for Physically Constrained Robotic Manipulation of Deformable Objects DreamGen: Unlocking Generalization in Robot Learning through Video World Models

Reference 16

Resolution: unresolved; no resolver link, observed 2026-07-11T20:46:04.923901Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 3b5e6f4f-0c56-4e09-9456-944a05c385a8 · outbound

This paper cites OpenVLA: An Open-Source Vision-Language-Action Model.

SoftVTBench: A Safety-Aware Visuo-Tactile Benchmark for Physically Constrained Robotic Manipulation of Deformable Objects OpenVLA: An Open-Source Vision-Language-Action Model

Reference 17

Resolution: unresolved; no resolver link, observed 2026-07-11T20:46:04.923901Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation e37bffa9-1ad7-4b10-a3b8-cf32ed83d0a9 · outbound

This paper cites AT-VLA: Adaptive Tactile Injection for Enhanced Feedback Reaction in Vision-Language-Action Models.

SoftVTBench: A Safety-Aware Visuo-Tactile Benchmark for Physically Constrained Robotic Manipulation of Deformable Objects AT-VLA: Adaptive Tactile Injection for Enhanced Feedback Reaction in Vision-Language-Action Models

Reference 18

Resolution: unresolved; no resolver link, observed 2026-07-11T20:46:04.923901Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 90e3222c-8992-4894-8360-546863e5f8af · outbound

This paper cites Evaluating Real-World Robot Manipulation Policies in Simulation.

SoftVTBench: A Safety-Aware Visuo-Tactile Benchmark for Physically Constrained Robotic Manipulation of Deformable Objects Evaluating Real-World Robot Manipulation Policies in Simulation

Reference 19

Resolution: unresolved; no resolver link, observed 2026-07-11T20:46:04.923901Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 39d46dc5-fcb3-4556-89c4-d08af659fe35 · outbound

This paper cites SoftGym: Benchmarking Deep Reinforcement Learning for Deformable Object Manipulation.

SoftVTBench: A Safety-Aware Visuo-Tactile Benchmark for Physically Constrained Robotic Manipulation of Deformable Objects SoftGym: Benchmarking Deep Reinforcement Learning for Deformable Object Manipulation

Reference 20

Resolution: unresolved; no resolver link, observed 2026-07-11T20:46:04.923901Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation e2185dec-9d6f-44f6-b3b4-1ee3f6d873b5 · outbound

This paper cites LIBERO: Benchmarking Knowledge Transfer for Lifelong Robot Learning.

SoftVTBench: A Safety-Aware Visuo-Tactile Benchmark for Physically Constrained Robotic Manipulation of Deformable Objects LIBERO: Benchmarking Knowledge Transfer for Lifelong Robot Learning

Reference 21

Resolution: unresolved; no resolver link, observed 2026-07-11T20:46:04.923901Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 926aa9a9-3874-4723-99c4-c799706ee1cf · outbound

This paper cites Manifeel: Benchmarking and understanding visuotactile manipulation policy learning.arXiv preprint arXiv:2505.18472,.

SoftVTBench: A Safety-Aware Visuo-Tactile Benchmark for Physically Constrained Robotic Manipulation of Deformable Objects Manifeel: Benchmarking and understanding visuotactile manipulation policy learning.arXiv preprint arXiv:2505.18472,

Reference 22

Resolution: unresolved; no resolver link, observed 2026-07-11T20:46:04.923901Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation c99a70e2-644e-4403-86b7-e4d86b0651b2 · outbound

This paper cites Masoud Moghani, Mahdi Azizian, Animesh Garg, Yuke Zhu, Sean Huver, and Ajay Mandlekar.

SoftVTBench: A Safety-Aware Visuo-Tactile Benchmark for Physically Constrained Robotic Manipulation of Deformable Objects Masoud Moghani, Mahdi Azizian, Animesh Garg, Yuke Zhu, Sean Huver, and Ajay Mandlekar

Reference 23

Resolution: unresolved; no resolver link, observed 2026-07-11T20:46:04.923901Z

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Unavailable: canonical work link unavailable.

Observation f41246f7-1ecb-46dd-a820-79f48afd9253 · outbound

This paper cites RoboTwin: Dual-Arm Robot Benchmark with Generative Digital Twins.

SoftVTBench: A Safety-Aware Visuo-Tactile Benchmark for Physically Constrained Robotic Manipulation of Deformable Objects RoboTwin: Dual-Arm Robot Benchmark with Generative Digital Twins

Reference 24

Resolution: unresolved; no resolver link, observed 2026-07-11T20:46:04.923901Z

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Unavailable: canonical work link unavailable.

Observation fa2d5dd0-38d0-462d-b487-c81e715c58c3 · outbound

This paper cites RoboCasa: Large-Scale Simulation of Everyday Tasks for Generalist Robots.

SoftVTBench: A Safety-Aware Visuo-Tactile Benchmark for Physically Constrained Robotic Manipulation of Deformable Objects RoboCasa: Large-Scale Simulation of Everyday Tasks for Generalist Robots

Reference 25

Resolution: unresolved; no resolver link, observed 2026-07-11T20:46:04.923901Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation a65c5392-753d-4758-a12d-42da4bb744ba · outbound

This paper cites TacEx: GelSight Tactile Simulation in Isaac Sim -- Combining Soft-Body and Visuotactile Simulators.

SoftVTBench: A Safety-Aware Visuo-Tactile Benchmark for Physically Constrained Robotic Manipulation of Deformable Objects TacEx: GelSight Tactile Simulation in Isaac Sim -- Combining Soft-Body and Visuotactile Simulators

Reference 26

Resolution: unresolved; no resolver link, observed 2026-07-11T20:46:04.923901Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 47951e88-132a-4d9d-9ffd-f2b6073f4f2d · outbound

This paper cites $\pi_{0.5}$: a Vision-Language-Action Model with Open-World Generalization.

SoftVTBench: A Safety-Aware Visuo-Tactile Benchmark for Physically Constrained Robotic Manipulation of Deformable Objects $\pi_{0.5}$: a Vision-Language-Action Model with Open-World Generalization

Reference 27

Resolution: unresolved; no resolver link, observed 2026-07-11T20:46:04.923901Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 3d048813-7fb8-45fe-930f-a6085dd5b38a · outbound

This paper cites THE COLOSSEUM: A Benchmark for Evaluating Generalization for Robotic Manipulation.

SoftVTBench: A Safety-Aware Visuo-Tactile Benchmark for Physically Constrained Robotic Manipulation of Deformable Objects THE COLOSSEUM: A Benchmark for Evaluating Generalization for Robotic Manipulation

Reference 28

Resolution: unresolved; no resolver link, observed 2026-07-11T20:46:04.923901Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 11162f3a-7776-4721-9c5b-1e495543e319 · outbound

This paper cites Zilin Si, Gu Zhang, Qingwei Ben, Branden Romero, Zhou Xian, Chao Liu, and Chuang Gan.

SoftVTBench: A Safety-Aware Visuo-Tactile Benchmark for Physically Constrained Robotic Manipulation of Deformable Objects Zilin Si, Gu Zhang, Qingwei Ben, Branden Romero, Zhou Xian, Chao Liu, and Chuang Gan

Reference 29

Resolution: unresolved; no resolver link, observed 2026-07-11T20:46:04.923901Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation a8523749-3fbd-4682-9e55-639488fd01b0 · outbound

This paper cites DeMaVLA: A Vision-Language-Action Foundation Model for Generalizable Deformable Manipulation.

SoftVTBench: A Safety-Aware Visuo-Tactile Benchmark for Physically Constrained Robotic Manipulation of Deformable Objects DeMaVLA: A Vision-Language-Action Foundation Model for Generalizable Deformable Manipulation

Reference 30

Resolution: unresolved; no resolver link, observed 2026-07-11T20:46:04.923901Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation a19d7f9a-d5e8-4eb3-aeb3-f38cf7351511 · outbound

This paper cites Tabero: Learning Gentle Manipulation with Closed-Loop Force Feedback from Vision, Touch, and Language.

SoftVTBench: A Safety-Aware Visuo-Tactile Benchmark for Physically Constrained Robotic Manipulation of Deformable Objects Tabero: Learning Gentle Manipulation with Closed-Loop Force Feedback from Vision, Touch, and Language

Reference 31

Resolution: unresolved; no resolver link, observed 2026-07-11T20:46:04.923901Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 86468231-dc2d-4628-ac08-96c85388bd7b · outbound

This paper cites VTLA: Vision-Tactile-Language-Action Model with Preference Learning for Insertion Manipulation.

SoftVTBench: A Safety-Aware Visuo-Tactile Benchmark for Physically Constrained Robotic Manipulation of Deformable Objects VTLA: Vision-Tactile-Language-Action Model with Preference Learning for Insertion Manipulation

Reference 32

Resolution: unresolved; no resolver link, observed 2026-07-11T20:46:04.923901Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 46c82280-4c9d-40b1-b77d-ef52f968d6b8 · outbound

This paper cites 13 Yuhang Zheng, Songen Gu, Weize Li, Yupeng Zheng, Yujie Zang, Shuai Tian, Xiang Li, Ce Hao, Chen Gao, Si Liu, et al.

SoftVTBench: A Safety-Aware Visuo-Tactile Benchmark for Physically Constrained Robotic Manipulation of Deformable Objects 13 Yuhang Zheng, Songen Gu, Weize Li, Yupeng Zheng, Yujie Zang, Shuai Tian, Xiang Li, Ce Hao, Chen Gao, Si Liu, et al

Reference 33

Resolution: verified exact; arxiv_id, observed 2026-07-11T20:48:15.650896Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-05T06:32:48.257954+00:00.

Observation cf2057ed-0a98-48cc-a928-61582083389d · outbound

This paper cites TacO: Benchmarking Tactile Sensors for Object Manipulation.

SoftVTBench: A Safety-Aware Visuo-Tactile Benchmark for Physically Constrained Robotic Manipulation of Deformable Objects TacO: Benchmarking Tactile Sensors for Object Manipulation

Reference 34

Resolution: unresolved; no resolver link, observed 2026-07-11T20:46:04.923901Z

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Unavailable: canonical work link unavailable.

Observation eb8a3072-38dc-4aae-9a17-176410473c7e · outbound

This paper cites The simulator runs physics at 60Hz with a control decimation of 3, resulting in a 20Hz control and logging rate.

SoftVTBench: A Safety-Aware Visuo-Tactile Benchmark for Physically Constrained Robotic Manipulation of Deformable Objects The simulator runs physics at 60Hz with a control decimation of 3, resulting in a 20Hz control and logging rate

Reference 35

Resolution: unresolved; no resolver link, observed 2026-07-11T20:46:04.923901Z

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Unavailable: canonical work link unavailable.

Pith citing papers

No inbound Pith citation observations are available.