Tactile Recognition on Tactile Cross-Domain OF Real to X Unseen target domains
58.6Average ACCOmniVaT
Evaluation results
| Method | Links | ||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| OmniVaTBackbone=ViT-B / 16, Pre-trained weights=CLIP [31], Source Domain=OF 2.0 A2026.01 | 58.6 | 51 | — | — | — | — | — | 64.8 | — | 65.1 | — | 62.7 | — | 56.4 | — | — | 45.5 | 51.8 | 43 | 66.5 | 68.2 | 65.6 | 60.7 | 58.2 | |
| OmniVaTBackbone=ViT-B / 16, Pre-training weights=CLIP [31]2026.01 | 58.4 | 67.9 | 66.1 | 51.8 | 34.9 | 47.3 | 40.2 | 61.6 | 64.5 | 62.9 | 62.6 | 56.3 | 58.9 | 60.7 | 68.1 | 56.5 | — | — | — | — | — | — | — | — | |
| ViTaPEsEvaluation Protocol=Zero-Shot2025.05 | 53.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ViTaPEsEvaluation Protocol=Linear Probe2025.05 | 53.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LDCBackbone=ViT-B / 16, Pre-trained weights=CLIP [31], Source Domain=OF 2.0 A2026.01 | 52.2 | 49.2 | — | — | — | — | — | 51.9 | — | 61.4 | — | 54.5 | — | 46.1 | — | — | 42.5 | 50.2 | 40.9 | 47.1 | 54.3 | 44.5 | 33.8 | 43.9 | |
| SigLIP2Evaluation Protocol=Linear Probe2025.05 | 51.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SPGBackbone=ViT-B / 16, Pre-training weights=CLIP [31]2026.01 | 49.8 | 54.7 | 39.9 | 49.8 | 34.9 | 33.4 | 26.6 | 47.1 | 41.4 | 61.3 | 51.1 | 43.8 | 48.1 | 58.3 | 52.3 | 42 | — | — | — | — | — | — | — | — | |
| VTTEvaluation Protocol=Linear Probe2025.05 | 49.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LDCBackbone=ViT-B / 16, Pre-training weights=CLIP [31]2026.01 | 49.5 | 41.5 | 39.1 | 52.8 | 39.3 | 46.7 | 40 | 42.3 | 32.9 | 50.9 | 33.1 | 57.8 | 39.7 | 54.7 | 39.2 | 37.6 | — | — | — | — | — | — | — | — | |
| SPGBackbone=ViT-B / 16, Pre-trained weights=CLIP [31], Source Domain=OF 2.0 A2026.01 | 49.1 | 41.3 | — | — | — | — | — | 57.8 | — | 60.4 | — | 52.1 | — | 42.3 | — | — | 36 | 40.7 | 36.4 | 46.8 | 53.3 | 42.6 | 41.7 | 42.8 | |
| PromptStylerBackbone=ViT-B / 16, Pre-trained weights=CLIP [31], Source Domain=OF 2.0 A2026.01 | 48.9 | 49.4 | — | — | — | — | — | 40.4 | — | 55 | — | 51.8 | — | 48.1 | — | — | 43 | 48.6 | 37 | 29.4 | 50.7 | 47.5 | 39.3 | 41.2 | |
| MViTacEvaluation Protocol=Linear Probe2025.05 | 48.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CLIPBackbone=ViT-B / 16, Pre-training weights=CLIP [31]2026.01 | 48.2 | 51.4 | 49.8 | 51.6 | 37.5 | 48.1 | 46 | 37.3 | 32.6 | 47.5 | 31.8 | 44.4 | 31.8 | 56.9 | 51.5 | 40.1 | — | — | — | — | — | — | — | — | |
| CLIPBackbone=ViT-B / 16, Pre-trained weights=CLIP [31], Source Domain=OF 2.0 A2026.01 | 47.8 | 51.4 | — | — | — | — | — | 37.3 | — | 47.5 | — | 44.4 | — | 56.9 | — | — | 49.8 | 49 | 48.8 | 32.6 | 31.8 | 31.8 | 51.5 | 41.1 | |
| SigLIP2Evaluation Protocol=Zero-Shot2025.05 | 47.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RoPEEvaluation Protocol=Linear Probe2025.05 | 47.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MMRLBackbone=ViT-B / 16, Pre-training weights=CLIP [31]2026.01 | 45.9 | 44.4 | 37.9 | 36.9 | 32.4 | 32.7 | 34 | 44.3 | 43.7 | 53.7 | 60.8 | 49.5 | 42.5 | 59.5 | 66.5 | 45.4 | — | — | — | — | — | — | — | — | |
| MMRLBackbone=ViT-B / 16, Pre-trained weights=CLIP [31], Source Domain=OF 2.0 A2026.01 | 42.9 | 39.9 | — | — | — | — | — | 43.5 | — | 42.8 | — | 46.4 | — | 43.8 | — | — | 27.6 | 40.9 | 23.6 | 34.1 | 39.2 | 25.4 | 30.5 | 30.1 | |
| PromptStylerBackbone=ViT-B / 16, Pre-training weights=CLIP [31]2026.01 | 42.3 | 38.7 | 34 | 45.1 | 34.3 | 39.6 | 32 | 47 | 26.8 | 42.1 | 25.4 | 42 | 24.1 | 41.8 | 34.4 | 30.1 | — | — | — | — | — | — | — | — | |
| VTTEvaluation Protocol=Zero-Shot2025.05 | 41.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RoPEEvaluation Protocol=Zero-Shot2025.05 | 40 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MViTacEvaluation Protocol=Zero-Shot2025.05 | 39.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — |