ResearchBenchmarksWhiteboard Wiping on Whiteboard Wiping (test)Whiteboard Wiping on Whiteboard Wiping (test)Follow0.8Remaining Ink Length (cm)E2VLA0.721.261.82.34Feb 15, 2026Evaluation resultsMethodMethodLinksRemaining Ink Length (cm)E2VLAStiffness Level=H-AStiffness Level=H-A2026.020.8Sim Force-AwareStiffness Level=AdaptiveStiffness Level=Adaptive2026.020.8E2VLAStiffness Level=M-AStiffness Level=M-A2026.021.1π0Stiffness Level=H-AStiffness Level=H-A2026.021.3E2VLAStiffness Level=L-AStiffness Level=L-A2026.022π0Stiffness Level=L-AStiffness Level=L-A2026.022.3π0Stiffness Level=M-AStiffness Level=M-A2026.022.8