ResearchBenchmarksTactile attribute description on TVL BenchmarksTactile attribute description on TVL BenchmarksFollow6.24SSVTPMPM3.44244.16874.8955.6213May 20, 2026Evaluation resultsMethodMethodLinksSSVTPHCTTVLMPM2026.056.245.095.22TVL-LLaMABackbone=ViT-BaseBackbone=ViT-Base2026.056.164.895.03Qwen3-Omni2026.055.34.284.4GPT-4V2026.055.024.424.49ViP-LLaVAModel Size=13BModel Size=13B2026.054.13.763.8LLaVA-1.5Model Size=13BModel Size=13B2026.053.553.633.62