analysis/tactile_metrics_v2.md

Tactile prediction metrics v2

All metrics aggregated over (samples × L+R sensors), future frames only.

Higher is better: mask_iou, event_f1, match_rate, spearman. Lower is better: contact_region_mse/l1, onset_err_ms, duration_err, wasserstein.

Run	n	iou τ=8	iou multi	ctct MSE	ctct L1	F1@k10 frame	F1 event @iou0.5	onset err ms	dur err frames	match_rate	spearman	wasserstein
01_vo_right	10	0.0815	0.1666	3211.4608	50.1417	1.0000	1.0000	502.4315	0.0000	1.0000	0.7968	86.3841
02_p3_mv2t	10	0.2381	0.3699	26.1262	3.2782	1.0000	1.0000	97.0607	0.0000	1.0000	0.7176	0.3812
03_p4_mv2t_extr	10	0.1619	0.2554	29.9939	3.7668	1.0000	1.0000	817.3094	0.0000	1.0000	0.6605	0.6600
04_p4_gate	10	0.2048	0.3336	28.1037	3.4461	1.0000	1.0000	90.8363	0.0000	1.0000	0.6817	0.4581
05_vtwm_s1	0	—	—	—	—	—	—	—	—	—	—	—
06_vtwm_s2	0	—	—	—	—	—	—	—	—	—	—	—
06b_vtwm_p0	0	—	—	—	—	—	—	—	—	—	—	—
07_mv2	10	0.3056	0.3844	25.9340	3.2115	1.0000	1.0000	186.1521	0.0000	1.0000	0.6971	0.5052
08_mv1_SOTA	10	0.3351	0.3924	30.6453	3.2118	1.0000	1.0000	169.0778	0.0000	1.0000	0.7910	0.7961
08c_mv1_p01	10	0.1996	0.3210	40.7225	3.8995	1.0000	1.0000	268.1269	0.0000	1.0000	0.7907	0.5967