ResearchBenchmarksVision-to-tactile synthesis (RGB→Tac) on HT-Bench (OOD)Follow0.081F-RMSEVQ-VAE0.080880.081690.08250.08331Jun 17, 2026Evaluation ResultsMethodMethodLinksF-RMSEF-cIoUVQ-VAE2026.060.08140.8HandTouch2026.060.08245.9CNN-based2026.060.08344.7ViT-based2026.060.08344.6ResNet-182026.060.08444.5