ResearchBenchmarksVision-to-tactile synthesis (RGB→Tac) on HT-Bench (test)Vision-to-tactile synthesis (RGB→Tac) on HT-Bench (test)Follow0.031F-RMSEHandTouch0.029840.037670.04550.05333Jun 17, 2026Evaluation resultsMethodMethodLinksF-RMSEF-cIoUHandTouch2026.060.03170.5CNN-based2026.060.03664.2ResNet-182026.060.03862.4ViT-based2026.060.03862.8VQ-VAE2026.060.0645.6