---
license: apache-2.0
task_categories:
  - robotics
tags:
  - manipulation
  - tactile
  - deformable-objects
  - archive
pretty_name: SoftVTBench (archive)
---

# SoftVTBench — archive

Frozen snapshot of everything that lived in `Arthur12137/SoftVTBench` before the
2026-08-13 re-release: the evaluation USD assets, the soft-body assets, and the
first partial data drops.

**This repo is not maintained.** The current dataset is at
[`Arthur12137/SoftVTBench`](https://huggingface.co/datasets/Arthur12137/SoftVTBench).

Contents: `eval-assets/`, `soft-assets/`, `object-rigid/`, `object-soft/`,
`spatial-rigid/`, `spatial-soft/` (9319 files, 2.3 GB).

---

<details>
<summary>Original dataset card (kept verbatim)</summary>



# SoftVTBench dataset card

This is the canonical dataset card for both Hugging Face and ModelScope. Retain
`license: other` until the final asset terms and written redistribution
permission described below are attached; do not replace it with the code
repository's Apache-2.0 license.

## Download

Until the asset permissions described below are complete, download only the
trajectory/observation data:

```bash
pip install -U huggingface_hub
huggingface-cli download Arthur12137/SoftVTBench \
  --repo-type dataset \
  --include 'object-soft/*' --include 'spatial-soft/*' \
  --include 'object-rigid/*' --include 'spatial-rigid/*' \
  --local-dir ./SoftVTBench_data
```

Mainland-China mirror:

```python
from modelscope import dataset_snapshot_download

dataset_snapshot_download(
    "Arthur12137/SoftVTBench",
    local_dir="./SoftVTBench_data",
    allow_patterns=[
        "object-soft/**",
        "spatial-soft/**",
        "object-rigid/**",
        "spatial-rigid/**",
    ],
)
```

Selective download for object-soft training data:

```bash
huggingface-cli download Arthur12137/SoftVTBench --repo-type dataset \
  --include 'object-soft/*' \
  --local-dir ./SoftVTBench_data
```

## Contents

| Folder | Role | Contents |
| --- | --- | --- |
| `object-soft/` | train/eval | 10 object-centric deformable tasks × 50 demonstrations |
| `spatial-soft/` | train/eval | 10 spatial deformable tasks × 50 demonstrations |
| `object-rigid/` | train/eval | matched rigid LIBERO-object baseline |
| `spatial-rigid/` | train/eval | matched rigid LIBERO-spatial baseline |
| `eval-assets/` | eval | USD scene/deformable assets required to reconstruct closed-loop scenes |
| `soft-assets/` | authoring | source asset bundle; not needed by the public evaluator |

Soft suites use nested task directories:

```text
object-soft/libero_object/libero_object_task0/{replayed_demos,video_datasets}
spatial-soft/libero_spatial/libero_spatial_task0/{replayed_demos,video_datasets}
```

Rigid suites use top-level `replayed_demos/` and `video_datasets/`. Each soft
suite has one canonical 500-row `manifest.jsonl` whose HDF5/video paths are
relative to the suite root. The current rigid folders do not contain manifest
files. Detailed schemas live in the code repository under `datasets/schemas/`.

## Supported use

The public code supports π0.5 vision-only and visuo-tactile fine-tuning plus
closed-loop evaluation. SoftVTBench v1 reports:

- Goal Success: the simulator task predicate is satisfied for the terminal
  success horizon.
- Safe Success: Goal Success and peak canonical FEM deformation does not exceed
  the compression-sweep threshold for that object.

No separate NoDrop number is reported. See `configs/benchmark_protocol_v1.json`
in the code repository for the machine-readable protocol.

## Limitations

- Rollouts are simulated in Isaac Sim and do not measure sim-to-real transfer.
- The safety metric uses privileged FEM state and is intended for evaluation,
  not as a policy input.
- Thresholds are object-specific; results are invalid if thresholds and online
  rollouts use different deformation metric IDs.
- Rigid suites report Goal Success only.

## Licensing and third-party assets

SoftVTBench-authored metadata and code do not relicense third-party scene,
texture, tactile, LIBERO, Tabero, or NVIDIA assets. Publication of this metadata
does not establish permission to redistribute `eval-assets/` or `soft-assets/`.
The maintainers must attach the applicable terms and written redistribution
permission for every file in those folders. Until that evidence is present,
do not download, mirror, or redistribute those asset folders. See
`docs/asset_licensing.md` and `THIRD_PARTY_NOTICES.md` in the code release.

## Citation

```bibtex
@article{jing2026softvtbench,
  title   = {SoftVTBench: A Safety-Aware Visuo-Tactile Benchmark for Physically Constrained Robotic Manipulation of Deformable Objects},
  author  = {Jing, Bowen and Wang, Mingxin and Hao, Ruiyang and Ge, Chenchen and Shen, Hanwen and He, Junjie and Cui, Yang and Hou, Yiming and Zhou, Weitao and Wang, Jiawei and Li, Minglei and Zhang, Dandan and Zhao, Ding and Liu, Houde and Li, Xiaofan and Liu, Si and Luo, Ping and Yu, Haibao},
  journal = {arXiv preprint arXiv:2607.04234},
  year    = {2026}
}
```


</details>