ResearchBenchmarksTactile Data Generation on Tactile Road Surface Dataset Dirt RoadTactile Data Generation on Tactile Road Surface Dataset Dirt RoadFollow0.092RMSEcgan0.0903080.1017290.113150.124571Feb 2, 2026Evaluation resultsMethodMethodLinksRMSEFIDFreq SSIMcgan2026.020.092893.686870.96cvae2026.020.0921,326.494338.68diffwave2026.020.1083313.600561.94vtSyn2026.020.1343223.598682.53