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diff --git a/20d_mv1_v2_stride2_p01_cosmos_v3_contact_val_0.1301/sample_007/panel.png b/20d_mv1_v2_stride2_p01_cosmos_v3_contact_val_0.1301/sample_007/panel.png
index 9d565a89184b07a2f73aef6eb4c2921d52162e0a..9c5cd2962433c6aa6e80ea5c5bd7dd6aa5d4cf26 100644
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+++ b/20d_mv1_v2_stride2_p01_cosmos_v3_contact_val_0.1301/sample_007/panel.png
@@ -1,3 +1,3 @@
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+size 2171918
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diff --git a/20d_mv1_v2_stride2_p01_cosmos_v3_contact_val_0.1301/sample_007/tl_gt_vs_rollout.mp4 b/20d_mv1_v2_stride2_p01_cosmos_v3_contact_val_0.1301/sample_007/tl_gt_vs_rollout.mp4
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diff --git a/20d_mv1_v2_stride2_p01_cosmos_v3_contact_val_0.1301/sample_007/tr_gt.mp4 b/20d_mv1_v2_stride2_p01_cosmos_v3_contact_val_0.1301/sample_007/tr_gt.mp4
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diff --git a/20d_mv1_v2_stride2_p01_cosmos_v3_contact_val_0.1301/sample_007/tr_gt_vs_rollout.mp4 b/20d_mv1_v2_stride2_p01_cosmos_v3_contact_val_0.1301/sample_007/tr_gt_vs_rollout.mp4
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diff --git a/20d_mv1_v2_stride2_p01_cosmos_v3_contact_val_0.1301/sample_007/view_gt.mp4 b/20d_mv1_v2_stride2_p01_cosmos_v3_contact_val_0.1301/sample_007/view_gt.mp4
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diff --git a/20d_mv1_v2_stride2_p01_cosmos_v3_contact_val_0.1301/sample_007/view_gt_vs_rollout.mp4 b/20d_mv1_v2_stride2_p01_cosmos_v3_contact_val_0.1301/sample_007/view_gt_vs_rollout.mp4
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diff --git a/analysis/perceptual_metrics_ckpt_progression.json b/analysis/perceptual_metrics_ckpt_progression.json
new file mode 100644
index 0000000000000000000000000000000000000000..b921da031c3b355cecd5f4079a43947e28c9ac64
--- /dev/null
+++ b/analysis/perceptual_metrics_ckpt_progression.json
@@ -0,0 +1,82 @@
+{
+ "contact_ep9": {
+ "view": {
+ "lpips": 0.1023169368505478,
+ "ssim": 0.8125001311302185,
+ "psnr": 24.71711877787132,
+ "n_samples": 10
+ },
+ "tl": {
+ "lpips": 0.059706681920215485,
+ "ssim": 0.96558518409729,
+ "psnr": 41.705544227606296,
+ "n_samples": 10
+ },
+ "tr": {
+ "lpips": 0.08065166734158993,
+ "ssim": 0.9631775319576263,
+ "psnr": 41.627695226264294,
+ "n_samples": 10
+ }
+ },
+ "contact_ep14": {
+ "view": {
+ "lpips": 0.04601105228066445,
+ "ssim": 0.8894404709339142,
+ "psnr": 28.283837098995143,
+ "n_samples": 10
+ },
+ "tl": {
+ "lpips": 0.0429666583891958,
+ "ssim": 0.966812115907669,
+ "psnr": 42.22419044998257,
+ "n_samples": 10
+ },
+ "tr": {
+ "lpips": 0.08157727736979722,
+ "ssim": 0.959986937046051,
+ "psnr": 40.87951025169031,
+ "n_samples": 10
+ }
+ },
+ "causal_ep6": {
+ "view": {
+ "lpips": 0.0915458232164383,
+ "ssim": 0.8256996989250183,
+ "psnr": 25.453518991273747,
+ "n_samples": 10
+ },
+ "tl": {
+ "lpips": 0.05892209140583873,
+ "ssim": 0.963818246126175,
+ "psnr": 41.339023708163054,
+ "n_samples": 10
+ },
+ "tr": {
+ "lpips": 0.07676625675521791,
+ "ssim": 0.9632199048995972,
+ "psnr": 41.51248754506022,
+ "n_samples": 10
+ }
+ },
+ "causal_ep10": {
+ "view": {
+ "lpips": 0.044142899475991725,
+ "ssim": 0.9008199632167816,
+ "psnr": 29.108919761501397,
+ "n_samples": 10
+ },
+ "tl": {
+ "lpips": 0.05313002965413034,
+ "ssim": 0.9663625717163086,
+ "psnr": 41.927761767532786,
+ "n_samples": 10
+ },
+ "tr": {
+ "lpips": 0.07606301535852253,
+ "ssim": 0.962542575597763,
+ "psnr": 41.51237644158617,
+ "n_samples": 10
+ }
+ }
+}
\ No newline at end of file
diff --git a/analysis/perceptual_metrics_ckpt_progression.md b/analysis/perceptual_metrics_ckpt_progression.md
new file mode 100644
index 0000000000000000000000000000000000000000..190094e987f2e6599c52ef40df02f9fcd5c5ec4d
--- /dev/null
+++ b/analysis/perceptual_metrics_ckpt_progression.md
@@ -0,0 +1,22 @@
+# Perceptual metrics (LPIPS / SSIM / PSNR on decoded futures)
+
+Metrics computed on FUTURE half only (history skipped). Lower LPIPS = better, higher SSIM/PSNR = better.
+
+
+## Visual streams
+
+| Run | view_left LPIPS | view_middle LPIPS | view_right LPIPS | mean view LPIPS | mean view SSIM | mean view PSNR |
+|---|---|---|---|---|---|---|
+| contact_ep9 | — | — | — | 0.1023 | 0.8125 | 24.7171 |
+| contact_ep14 | — | — | — | 0.0460 | 0.8894 | 28.2838 |
+| causal_ep6 | — | — | — | 0.0915 | 0.8257 | 25.4535 |
+| causal_ep10 | — | — | — | 0.0441 | 0.9008 | 29.1089 |
+
+## Tactile streams
+
+| Run | tl LPIPS | tr LPIPS | tl SSIM | tr SSIM |
+|---|---|---|---|---|
+| contact_ep9 | 0.0597 | 0.0807 | 0.9656 | 0.9632 |
+| contact_ep14 | 0.0430 | 0.0816 | 0.9668 | 0.9600 |
+| causal_ep6 | 0.0589 | 0.0768 | 0.9638 | 0.9632 |
+| causal_ep10 | 0.0531 | 0.0761 | 0.9664 | 0.9625 |
\ No newline at end of file
diff --git a/analysis/perceptual_metrics_cosmos_causal_contact.json b/analysis/perceptual_metrics_cosmos_causal_contact.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c92ecf349abd2f9e497d407a513b75753541c10
--- /dev/null
+++ b/analysis/perceptual_metrics_cosmos_causal_contact.json
@@ -0,0 +1,62 @@
+{
+ "cosmos_v3": {
+ "view": {
+ "lpips": 0.07002272177487612,
+ "ssim": 0.8602472096681595,
+ "psnr": 26.840578450339404,
+ "n_samples": 8
+ },
+ "tl": {
+ "lpips": 0.056701967667322606,
+ "ssim": 0.9606792256236076,
+ "psnr": 40.913056442427205,
+ "n_samples": 8
+ },
+ "tr": {
+ "lpips": 0.04522996622836217,
+ "ssim": 0.9699053689837456,
+ "psnr": 42.53160020234027,
+ "n_samples": 8
+ }
+ },
+ "cosmos_v3_causal": {
+ "view": {
+ "lpips": 0.044142899475991725,
+ "ssim": 0.9008199632167816,
+ "psnr": 29.108919761501397,
+ "n_samples": 10
+ },
+ "tl": {
+ "lpips": 0.05313002965413034,
+ "ssim": 0.9663625717163086,
+ "psnr": 41.927761767532786,
+ "n_samples": 10
+ },
+ "tr": {
+ "lpips": 0.07606301535852253,
+ "ssim": 0.962542575597763,
+ "psnr": 41.51237644158617,
+ "n_samples": 10
+ }
+ },
+ "cosmos_v3_contact": {
+ "view": {
+ "lpips": 0.04601105228066445,
+ "ssim": 0.8894404709339142,
+ "psnr": 28.283837098995143,
+ "n_samples": 10
+ },
+ "tl": {
+ "lpips": 0.0429666583891958,
+ "ssim": 0.966812115907669,
+ "psnr": 42.22419044998257,
+ "n_samples": 10
+ },
+ "tr": {
+ "lpips": 0.08157727736979722,
+ "ssim": 0.959986937046051,
+ "psnr": 40.87951025169031,
+ "n_samples": 10
+ }
+ }
+}
\ No newline at end of file
diff --git a/analysis/perceptual_metrics_cosmos_causal_contact.md b/analysis/perceptual_metrics_cosmos_causal_contact.md
new file mode 100644
index 0000000000000000000000000000000000000000..170a22d5766b253d914858740bb9313cdce03a33
--- /dev/null
+++ b/analysis/perceptual_metrics_cosmos_causal_contact.md
@@ -0,0 +1,20 @@
+# Perceptual metrics (LPIPS / SSIM / PSNR on decoded futures)
+
+Metrics computed on FUTURE half only (history skipped). Lower LPIPS = better, higher SSIM/PSNR = better.
+
+
+## Visual streams
+
+| Run | view_left LPIPS | view_middle LPIPS | view_right LPIPS | mean view LPIPS | mean view SSIM | mean view PSNR |
+|---|---|---|---|---|---|---|
+| cosmos_v3 | — | — | — | 0.0700 | 0.8602 | 26.8406 |
+| cosmos_v3_causal | — | — | — | 0.0441 | 0.9008 | 29.1089 |
+| cosmos_v3_contact | — | — | — | 0.0460 | 0.8894 | 28.2838 |
+
+## Tactile streams
+
+| Run | tl LPIPS | tr LPIPS | tl SSIM | tr SSIM |
+|---|---|---|---|---|
+| cosmos_v3 | 0.0567 | 0.0452 | 0.9607 | 0.9699 |
+| cosmos_v3_causal | 0.0531 | 0.0761 | 0.9664 | 0.9625 |
+| cosmos_v3_contact | 0.0430 | 0.0816 | 0.9668 | 0.9600 |
\ No newline at end of file
diff --git a/analysis/perceptual_metrics_cosmos_long40s.json b/analysis/perceptual_metrics_cosmos_long40s.json
new file mode 100644
index 0000000000000000000000000000000000000000..81622e6859c3aad463ec7c571dd5421e63e59e38
--- /dev/null
+++ b/analysis/perceptual_metrics_cosmos_long40s.json
@@ -0,0 +1,116 @@
+{
+ "cosmos_v3": {
+ "view_left": {
+ "lpips": 0.18138018250465393,
+ "ssim": 0.7466908097267151,
+ "psnr": 20.193939389810076,
+ "n_samples": 3
+ },
+ "view_middle": {
+ "lpips": 0.27747610211372375,
+ "ssim": 0.6361053188641866,
+ "psnr": 18.453526693413767,
+ "n_samples": 3
+ },
+ "view_right": {
+ "lpips": 0.1626217911640803,
+ "ssim": 0.7346143325169882,
+ "psnr": 20.054039626763373,
+ "n_samples": 3
+ },
+ "view": {
+ "lpips": 0.1812336097160975,
+ "ssim": 0.7463446855545044,
+ "psnr": 20.19452273352194,
+ "n_samples": 3
+ },
+ "tl": {
+ "lpips": 0.11756440500418346,
+ "ssim": 0.9433381756146749,
+ "psnr": 38.280462607356604,
+ "n_samples": 3
+ },
+ "tr": {
+ "lpips": 0.030289646858970325,
+ "ssim": 0.9716508785883585,
+ "psnr": 43.0853990876357,
+ "n_samples": 3
+ }
+ },
+ "cosmos_v3_causal": {
+ "view_left": {
+ "lpips": 0.15897314747174582,
+ "ssim": 0.7624022960662842,
+ "psnr": 20.828898766226686,
+ "n_samples": 3
+ },
+ "view_middle": {
+ "lpips": 0.25403925279776257,
+ "ssim": 0.6653306086858114,
+ "psnr": 19.2467091195202,
+ "n_samples": 3
+ },
+ "view_right": {
+ "lpips": 0.1541381279627482,
+ "ssim": 0.7503952582677206,
+ "psnr": 20.60220281929905,
+ "n_samples": 3
+ },
+ "view": {
+ "lpips": 0.1592115511496862,
+ "ssim": 0.7623583674430847,
+ "psnr": 20.82749912683804,
+ "n_samples": 3
+ },
+ "tl": {
+ "lpips": 0.12456024686495464,
+ "ssim": 0.9422272245089213,
+ "psnr": 38.16266686144917,
+ "n_samples": 3
+ },
+ "tr": {
+ "lpips": 0.02438630846639474,
+ "ssim": 0.9727783600489298,
+ "psnr": 43.36296596735002,
+ "n_samples": 3
+ }
+ },
+ "cosmos_v3_contact": {
+ "view_left": {
+ "lpips": 0.16159456968307495,
+ "ssim": 0.7593086759249369,
+ "psnr": 21.00070169791809,
+ "n_samples": 3
+ },
+ "view_middle": {
+ "lpips": 0.2375614494085312,
+ "ssim": 0.6589041749636332,
+ "psnr": 19.37334140397333,
+ "n_samples": 3
+ },
+ "view_right": {
+ "lpips": 0.1514091193675995,
+ "ssim": 0.7512715458869934,
+ "psnr": 20.906491768540302,
+ "n_samples": 3
+ },
+ "view": {
+ "lpips": 0.16180087625980377,
+ "ssim": 0.7594119111696879,
+ "psnr": 21.00152758688026,
+ "n_samples": 3
+ },
+ "tl": {
+ "lpips": 0.11629834522803624,
+ "ssim": 0.9436418016751608,
+ "psnr": 38.41104816762713,
+ "n_samples": 3
+ },
+ "tr": {
+ "lpips": 0.029681794345378876,
+ "ssim": 0.9705091118812561,
+ "psnr": 42.72148705946415,
+ "n_samples": 3
+ }
+ }
+}
\ No newline at end of file
diff --git a/analysis/perceptual_metrics_cosmos_long40s.md b/analysis/perceptual_metrics_cosmos_long40s.md
new file mode 100644
index 0000000000000000000000000000000000000000..caa21746764ec4d9baef8cb6623efba57bace520
--- /dev/null
+++ b/analysis/perceptual_metrics_cosmos_long40s.md
@@ -0,0 +1,20 @@
+# Perceptual metrics (LPIPS / SSIM / PSNR on decoded futures)
+
+Metrics computed on FUTURE half only (history skipped). Lower LPIPS = better, higher SSIM/PSNR = better.
+
+
+## Visual streams
+
+| Run | view_left LPIPS | view_middle LPIPS | view_right LPIPS | mean view LPIPS | mean view SSIM | mean view PSNR |
+|---|---|---|---|---|---|---|
+| cosmos_v3 | 0.1814 | 0.2775 | 0.1626 | 0.2072 | 0.7058 | 19.5672 |
+| cosmos_v3_causal | 0.1590 | 0.2540 | 0.1541 | 0.1891 | 0.7260 | 20.2259 |
+| cosmos_v3_contact | 0.1616 | 0.2376 | 0.1514 | 0.1835 | 0.7232 | 20.4268 |
+
+## Tactile streams
+
+| Run | tl LPIPS | tr LPIPS | tl SSIM | tr SSIM |
+|---|---|---|---|---|
+| cosmos_v3 | 0.1176 | 0.0303 | 0.9433 | 0.9717 |
+| cosmos_v3_causal | 0.1246 | 0.0244 | 0.9422 | 0.9728 |
+| cosmos_v3_contact | 0.1163 | 0.0297 | 0.9436 | 0.9705 |
\ No newline at end of file
diff --git a/analysis/perceptual_metrics_final_long40s.json b/analysis/perceptual_metrics_final_long40s.json
new file mode 100644
index 0000000000000000000000000000000000000000..00620d60e22116c0e6d3a2a5f37c424f16e11b37
--- /dev/null
+++ b/analysis/perceptual_metrics_final_long40s.json
@@ -0,0 +1,116 @@
+{
+ "cosmos_v3_final": {
+ "view_left": {
+ "lpips": 0.18741977711518606,
+ "ssim": 0.7372740109761556,
+ "psnr": 19.977560398497864,
+ "n_samples": 3
+ },
+ "view_middle": {
+ "lpips": 0.2838636686404546,
+ "ssim": 0.6267016331354777,
+ "psnr": 18.34560750641415,
+ "n_samples": 3
+ },
+ "view_right": {
+ "lpips": 0.16462855537732443,
+ "ssim": 0.7254175543785095,
+ "psnr": 19.765882095654174,
+ "n_samples": 3
+ },
+ "view": {
+ "lpips": 0.1871398538351059,
+ "ssim": 0.7368413011233012,
+ "psnr": 19.975707290478073,
+ "n_samples": 3
+ },
+ "tl": {
+ "lpips": 0.11431415627400081,
+ "ssim": 0.9452088475227356,
+ "psnr": 38.679250768788066,
+ "n_samples": 3
+ },
+ "tr": {
+ "lpips": 0.02892722561955452,
+ "ssim": 0.9715403318405151,
+ "psnr": 43.105919764031704,
+ "n_samples": 3
+ }
+ },
+ "cosmos_v3_causal": {
+ "view_left": {
+ "lpips": 0.15897314747174582,
+ "ssim": 0.7624022960662842,
+ "psnr": 20.828898766226686,
+ "n_samples": 3
+ },
+ "view_middle": {
+ "lpips": 0.25403925279776257,
+ "ssim": 0.6653306086858114,
+ "psnr": 19.2467091195202,
+ "n_samples": 3
+ },
+ "view_right": {
+ "lpips": 0.1541381279627482,
+ "ssim": 0.7503952582677206,
+ "psnr": 20.60220281929905,
+ "n_samples": 3
+ },
+ "view": {
+ "lpips": 0.1592115511496862,
+ "ssim": 0.7623583674430847,
+ "psnr": 20.82749912683804,
+ "n_samples": 3
+ },
+ "tl": {
+ "lpips": 0.12456024686495464,
+ "ssim": 0.9422272245089213,
+ "psnr": 38.16266686144917,
+ "n_samples": 3
+ },
+ "tr": {
+ "lpips": 0.02438630846639474,
+ "ssim": 0.9727783600489298,
+ "psnr": 43.36296596735002,
+ "n_samples": 3
+ }
+ },
+ "cosmos_v3_contact": {
+ "view_left": {
+ "lpips": 0.16159456968307495,
+ "ssim": 0.7593086759249369,
+ "psnr": 21.00070169791809,
+ "n_samples": 3
+ },
+ "view_middle": {
+ "lpips": 0.2375614494085312,
+ "ssim": 0.6589041749636332,
+ "psnr": 19.37334140397333,
+ "n_samples": 3
+ },
+ "view_right": {
+ "lpips": 0.1514091193675995,
+ "ssim": 0.7512715458869934,
+ "psnr": 20.906491768540302,
+ "n_samples": 3
+ },
+ "view": {
+ "lpips": 0.16180087625980377,
+ "ssim": 0.7594119111696879,
+ "psnr": 21.00152758688026,
+ "n_samples": 3
+ },
+ "tl": {
+ "lpips": 0.11629834522803624,
+ "ssim": 0.9436418016751608,
+ "psnr": 38.41104816762713,
+ "n_samples": 3
+ },
+ "tr": {
+ "lpips": 0.029681794345378876,
+ "ssim": 0.9705091118812561,
+ "psnr": 42.72148705946415,
+ "n_samples": 3
+ }
+ }
+}
\ No newline at end of file
diff --git a/analysis/perceptual_metrics_final_long40s.md b/analysis/perceptual_metrics_final_long40s.md
new file mode 100644
index 0000000000000000000000000000000000000000..ac3ad190c1c5106dedef14fdf959a12197da607b
--- /dev/null
+++ b/analysis/perceptual_metrics_final_long40s.md
@@ -0,0 +1,20 @@
+# Perceptual metrics (LPIPS / SSIM / PSNR on decoded futures)
+
+Metrics computed on FUTURE half only (history skipped). Lower LPIPS = better, higher SSIM/PSNR = better.
+
+
+## Visual streams
+
+| Run | view_left LPIPS | view_middle LPIPS | view_right LPIPS | mean view LPIPS | mean view SSIM | mean view PSNR |
+|---|---|---|---|---|---|---|
+| cosmos_v3_final | 0.1874 | 0.2839 | 0.1646 | 0.2120 | 0.6965 | 19.3630 |
+| cosmos_v3_causal | 0.1590 | 0.2540 | 0.1541 | 0.1891 | 0.7260 | 20.2259 |
+| cosmos_v3_contact | 0.1616 | 0.2376 | 0.1514 | 0.1835 | 0.7232 | 20.4268 |
+
+## Tactile streams
+
+| Run | tl LPIPS | tr LPIPS | tl SSIM | tr SSIM |
+|---|---|---|---|---|
+| cosmos_v3_final | 0.1143 | 0.0289 | 0.9452 | 0.9715 |
+| cosmos_v3_causal | 0.1246 | 0.0244 | 0.9422 | 0.9728 |
+| cosmos_v3_contact | 0.1163 | 0.0297 | 0.9436 | 0.9705 |
\ No newline at end of file
diff --git a/analysis/perceptual_metrics_final_three_way.json b/analysis/perceptual_metrics_final_three_way.json
new file mode 100644
index 0000000000000000000000000000000000000000..27a532202ed6d78e235ccc8a18caf2855601ee65
--- /dev/null
+++ b/analysis/perceptual_metrics_final_three_way.json
@@ -0,0 +1,62 @@
+{
+ "cosmos_v3_final": {
+ "view": {
+ "lpips": 0.07350407280027867,
+ "ssim": 0.8555185735225678,
+ "psnr": 26.570729753561228,
+ "n_samples": 10
+ },
+ "tl": {
+ "lpips": 0.0457393491640687,
+ "ssim": 0.9665461361408234,
+ "psnr": 42.15257903481203,
+ "n_samples": 10
+ },
+ "tr": {
+ "lpips": 0.06654137908481061,
+ "ssim": 0.962137508392334,
+ "psnr": 41.302061947938,
+ "n_samples": 10
+ }
+ },
+ "cosmos_v3_causal": {
+ "view": {
+ "lpips": 0.044142899475991725,
+ "ssim": 0.9008199632167816,
+ "psnr": 29.108919761501397,
+ "n_samples": 10
+ },
+ "tl": {
+ "lpips": 0.05313002965413034,
+ "ssim": 0.9663625717163086,
+ "psnr": 41.927761767532786,
+ "n_samples": 10
+ },
+ "tr": {
+ "lpips": 0.07606301535852253,
+ "ssim": 0.962542575597763,
+ "psnr": 41.51237644158617,
+ "n_samples": 10
+ }
+ },
+ "cosmos_v3_contact": {
+ "view": {
+ "lpips": 0.04601105228066445,
+ "ssim": 0.8894404709339142,
+ "psnr": 28.283837098995143,
+ "n_samples": 10
+ },
+ "tl": {
+ "lpips": 0.0429666583891958,
+ "ssim": 0.966812115907669,
+ "psnr": 42.22419044998257,
+ "n_samples": 10
+ },
+ "tr": {
+ "lpips": 0.08157727736979722,
+ "ssim": 0.959986937046051,
+ "psnr": 40.87951025169031,
+ "n_samples": 10
+ }
+ }
+}
\ No newline at end of file
diff --git a/analysis/perceptual_metrics_final_three_way.md b/analysis/perceptual_metrics_final_three_way.md
new file mode 100644
index 0000000000000000000000000000000000000000..b97394b53a91dd045d379ebefbc9a9e940c44231
--- /dev/null
+++ b/analysis/perceptual_metrics_final_three_way.md
@@ -0,0 +1,20 @@
+# Perceptual metrics (LPIPS / SSIM / PSNR on decoded futures)
+
+Metrics computed on FUTURE half only (history skipped). Lower LPIPS = better, higher SSIM/PSNR = better.
+
+
+## Visual streams
+
+| Run | view_left LPIPS | view_middle LPIPS | view_right LPIPS | mean view LPIPS | mean view SSIM | mean view PSNR |
+|---|---|---|---|---|---|---|
+| cosmos_v3_final | — | — | — | 0.0735 | 0.8555 | 26.5707 |
+| cosmos_v3_causal | — | — | — | 0.0441 | 0.9008 | 29.1089 |
+| cosmos_v3_contact | — | — | — | 0.0460 | 0.8894 | 28.2838 |
+
+## Tactile streams
+
+| Run | tl LPIPS | tr LPIPS | tl SSIM | tr SSIM |
+|---|---|---|---|---|
+| cosmos_v3_final | 0.0457 | 0.0665 | 0.9665 | 0.9621 |
+| cosmos_v3_causal | 0.0531 | 0.0761 | 0.9664 | 0.9625 |
+| cosmos_v3_contact | 0.0430 | 0.0816 | 0.9668 | 0.9600 |
\ No newline at end of file
diff --git a/analysis/tactile_metrics_v2_ckpt_progression.json b/analysis/tactile_metrics_v2_ckpt_progression.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf765564c8705bcca709f616861ab6702ca6ff32
--- /dev/null
+++ b/analysis/tactile_metrics_v2_ckpt_progression.json
@@ -0,0 +1,66 @@
+{
+ "contact_ep9": {
+ "aggregate": {
+ "mask_iou_tau8": 0.1855062682820255,
+ "mask_iou_multi": 0.34270514242920413,
+ "contact_region_mse": 38.14121449374261,
+ "contact_region_l1": 3.778260004642175,
+ "event_f1_perframe@k10": 1.0,
+ "event_f1_event@iou0.5": 1.0,
+ "onset_err_ms_median": 0.0,
+ "duration_err_median": 0.0,
+ "match_rate": 1.0,
+ "intensity_spearman_lag": 0.67,
+ "intensity_wasserstein": 0.6923794269561767
+ },
+ "n_samples": 10
+ },
+ "contact_ep14": {
+ "aggregate": {
+ "mask_iou_tau8": 0.22963245114810765,
+ "mask_iou_multi": 0.35025778299109245,
+ "contact_region_mse": 38.389073475399336,
+ "contact_region_l1": 3.769573284195849,
+ "event_f1_perframe@k10": 1.0,
+ "event_f1_event@iou0.5": 1.0,
+ "onset_err_ms_median": 14.690118278085466,
+ "duration_err_median": 0.0,
+ "match_rate": 1.0,
+ "intensity_spearman_lag": 0.68,
+ "intensity_wasserstein": 0.6683819580078124
+ },
+ "n_samples": 10
+ },
+ "causal_ep6": {
+ "aggregate": {
+ "mask_iou_tau8": 0.18042990553500404,
+ "mask_iou_multi": 0.33257519834401433,
+ "contact_region_mse": 38.0050888588533,
+ "contact_region_l1": 3.745334534002274,
+ "event_f1_perframe@k10": 1.0,
+ "event_f1_event@iou0.5": 1.0,
+ "onset_err_ms_median": 0.0,
+ "duration_err_median": 0.0,
+ "match_rate": 1.0,
+ "intensity_spearman_lag": 0.635,
+ "intensity_wasserstein": 0.6783155918121337
+ },
+ "n_samples": 10
+ },
+ "causal_ep10": {
+ "aggregate": {
+ "mask_iou_tau8": 0.20671849190184943,
+ "mask_iou_multi": 0.3326488012168304,
+ "contact_region_mse": 38.64781687573456,
+ "contact_region_l1": 3.758766970987824,
+ "event_f1_perframe@k10": 1.0,
+ "event_f1_event@iou0.5": 1.0,
+ "onset_err_ms_median": 59.37739769960657,
+ "duration_err_median": 0.0,
+ "match_rate": 1.0,
+ "intensity_spearman_lag": 0.61,
+ "intensity_wasserstein": 0.6896918249130248
+ },
+ "n_samples": 10
+ }
+}
\ No newline at end of file
diff --git a/analysis/tactile_metrics_v2_ckpt_progression.md b/analysis/tactile_metrics_v2_ckpt_progression.md
new file mode 100644
index 0000000000000000000000000000000000000000..6b9fc5afab3387609531e7ac38e95fb4d2c16ba3
--- /dev/null
+++ b/analysis/tactile_metrics_v2_ckpt_progression.md
@@ -0,0 +1,13 @@
+# 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 |
+|---|---|---|---|---|---|---|---|---|---|---|---|---|
+| contact_ep9 | 10 | 0.1855 | 0.3427 | 38.1412 | 3.7783 | 1.0000 | 1.0000 | 0.0000 | 0.0000 | 1.0000 | 0.6700 | 0.6924 |
+| contact_ep14 | 10 | 0.2296 | 0.3503 | 38.3891 | 3.7696 | 1.0000 | 1.0000 | 14.6901 | 0.0000 | 1.0000 | 0.6800 | 0.6684 |
+| causal_ep6 | 10 | 0.1804 | 0.3326 | 38.0051 | 3.7453 | 1.0000 | 1.0000 | 0.0000 | 0.0000 | 1.0000 | 0.6350 | 0.6783 |
+| causal_ep10 | 10 | 0.2067 | 0.3326 | 38.6478 | 3.7588 | 1.0000 | 1.0000 | 59.3774 | 0.0000 | 1.0000 | 0.6100 | 0.6897 |
\ No newline at end of file
diff --git a/analysis/tactile_metrics_v2_cosmos_causal_contact.json b/analysis/tactile_metrics_v2_cosmos_causal_contact.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d8d515eb5cf1147f1ed470c9db057b72b2b6a8d
--- /dev/null
+++ b/analysis/tactile_metrics_v2_cosmos_causal_contact.json
@@ -0,0 +1,50 @@
+{
+ "cosmos_v3": {
+ "aggregate": {
+ "mask_iou_tau8": 0.21451078994724965,
+ "mask_iou_multi": 0.3395530227702505,
+ "contact_region_mse": 31.981871998564714,
+ "contact_region_l1": 3.5882821528670803,
+ "event_f1_perframe@k10": 1.0,
+ "event_f1_event@iou0.5": 1.0,
+ "onset_err_ms_median": 0.0,
+ "duration_err_median": 0.0,
+ "match_rate": 1.0,
+ "intensity_spearman_lag": 0.7,
+ "intensity_wasserstein": 0.5489143073558808
+ },
+ "n_samples": 8
+ },
+ "cosmos_v3_causal": {
+ "aggregate": {
+ "mask_iou_tau8": 0.20671849190184943,
+ "mask_iou_multi": 0.3326488012168304,
+ "contact_region_mse": 38.64781687573456,
+ "contact_region_l1": 3.758766970987824,
+ "event_f1_perframe@k10": 1.0,
+ "event_f1_event@iou0.5": 1.0,
+ "onset_err_ms_median": 59.37739769960657,
+ "duration_err_median": 0.0,
+ "match_rate": 1.0,
+ "intensity_spearman_lag": 0.61,
+ "intensity_wasserstein": 0.6896918249130248
+ },
+ "n_samples": 10
+ },
+ "cosmos_v3_contact": {
+ "aggregate": {
+ "mask_iou_tau8": 0.22963245114810765,
+ "mask_iou_multi": 0.35025778299109245,
+ "contact_region_mse": 38.389073475399336,
+ "contact_region_l1": 3.769573284195849,
+ "event_f1_perframe@k10": 1.0,
+ "event_f1_event@iou0.5": 1.0,
+ "onset_err_ms_median": 14.690118278085466,
+ "duration_err_median": 0.0,
+ "match_rate": 1.0,
+ "intensity_spearman_lag": 0.68,
+ "intensity_wasserstein": 0.6683819580078124
+ },
+ "n_samples": 10
+ }
+}
\ No newline at end of file
diff --git a/analysis/tactile_metrics_v2_cosmos_causal_contact.md b/analysis/tactile_metrics_v2_cosmos_causal_contact.md
new file mode 100644
index 0000000000000000000000000000000000000000..2fa287cd974a40c66455d3f539a0df4097f8ac18
--- /dev/null
+++ b/analysis/tactile_metrics_v2_cosmos_causal_contact.md
@@ -0,0 +1,12 @@
+# 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 |
+|---|---|---|---|---|---|---|---|---|---|---|---|---|
+| cosmos_v3 | 8 | 0.2145 | 0.3396 | 31.9819 | 3.5883 | 1.0000 | 1.0000 | 0.0000 | 0.0000 | 1.0000 | 0.7000 | 0.5489 |
+| cosmos_v3_causal | 10 | 0.2067 | 0.3326 | 38.6478 | 3.7588 | 1.0000 | 1.0000 | 59.3774 | 0.0000 | 1.0000 | 0.6100 | 0.6897 |
+| cosmos_v3_contact | 10 | 0.2296 | 0.3503 | 38.3891 | 3.7696 | 1.0000 | 1.0000 | 14.6901 | 0.0000 | 1.0000 | 0.6800 | 0.6684 |
\ No newline at end of file
diff --git a/analysis/tactile_metrics_v2_final_three_way.json b/analysis/tactile_metrics_v2_final_three_way.json
new file mode 100644
index 0000000000000000000000000000000000000000..19b6803f330e48c9f79293ab20fe238d2bff9138
--- /dev/null
+++ b/analysis/tactile_metrics_v2_final_three_way.json
@@ -0,0 +1,50 @@
+{
+ "cosmos_v3_final": {
+ "aggregate": {
+ "mask_iou_tau8": 0.24688172921634016,
+ "mask_iou_multi": 0.33180140124987073,
+ "contact_region_mse": 37.354889197753764,
+ "contact_region_l1": 3.6301991382766596,
+ "event_f1_perframe@k10": 1.0,
+ "event_f1_event@iou0.5": 1.0,
+ "onset_err_ms_median": 4.955572537384998,
+ "duration_err_median": 0.0,
+ "match_rate": 1.0,
+ "intensity_spearman_lag": 0.76,
+ "intensity_wasserstein": 0.6428473067283631
+ },
+ "n_samples": 10
+ },
+ "cosmos_v3_causal": {
+ "aggregate": {
+ "mask_iou_tau8": 0.20671849190184943,
+ "mask_iou_multi": 0.3326488012168304,
+ "contact_region_mse": 38.64781687573456,
+ "contact_region_l1": 3.758766970987824,
+ "event_f1_perframe@k10": 1.0,
+ "event_f1_event@iou0.5": 1.0,
+ "onset_err_ms_median": 59.37739769960657,
+ "duration_err_median": 0.0,
+ "match_rate": 1.0,
+ "intensity_spearman_lag": 0.61,
+ "intensity_wasserstein": 0.6896918249130248
+ },
+ "n_samples": 10
+ },
+ "cosmos_v3_contact": {
+ "aggregate": {
+ "mask_iou_tau8": 0.22963245114810765,
+ "mask_iou_multi": 0.35025778299109245,
+ "contact_region_mse": 38.389073475399336,
+ "contact_region_l1": 3.769573284195849,
+ "event_f1_perframe@k10": 1.0,
+ "event_f1_event@iou0.5": 1.0,
+ "onset_err_ms_median": 14.690118278085466,
+ "duration_err_median": 0.0,
+ "match_rate": 1.0,
+ "intensity_spearman_lag": 0.68,
+ "intensity_wasserstein": 0.6683819580078124
+ },
+ "n_samples": 10
+ }
+}
\ No newline at end of file
diff --git a/analysis/tactile_metrics_v2_final_three_way.md b/analysis/tactile_metrics_v2_final_three_way.md
new file mode 100644
index 0000000000000000000000000000000000000000..d4d0e0da01fc0e0904cab76e8553c95d2d03a2bf
--- /dev/null
+++ b/analysis/tactile_metrics_v2_final_three_way.md
@@ -0,0 +1,12 @@
+# 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 |
+|---|---|---|---|---|---|---|---|---|---|---|---|---|
+| cosmos_v3_final | 10 | 0.2469 | 0.3318 | 37.3549 | 3.6302 | 1.0000 | 1.0000 | 4.9556 | 0.0000 | 1.0000 | 0.7600 | 0.6428 |
+| cosmos_v3_causal | 10 | 0.2067 | 0.3326 | 38.6478 | 3.7588 | 1.0000 | 1.0000 | 59.3774 | 0.0000 | 1.0000 | 0.6100 | 0.6897 |
+| cosmos_v3_contact | 10 | 0.2296 | 0.3503 | 38.3891 | 3.7696 | 1.0000 | 1.0000 | 14.6901 | 0.0000 | 1.0000 | 0.6800 | 0.6684 |
\ No newline at end of file
diff --git a/index.html b/index.html
index 55c5338f0c1bccf4775ed8641665fd9c9346aa93..67e192cc32823d0b17a673104948d79f10b6a904 100644
--- a/index.html
+++ b/index.html
@@ -191,7 +191,7 @@ _Not on wandb yet (curve omitted): mv1_v2_h4f12, mv1_v2_stride2_p01, p4_mv2t_ext
v3 + additive x0-space contact-aware tactile aux losses (contact-patch reconstruction 0.25 + false-contact suppression 0.10, alpha_bar-weighted; docs/CONTACT_AWARE_TACTILE_LOSS.md). Thresholds calibrated for Cosmos delta units (0.35/0.076/0.11 = P95/P70/P80 pixel energy). Single-variable vs v3 (full_window backbone, anchor 0.5). Judge by tactile contact MSE + false-contact rate + view LPIPS, not val_loss.
- Showing 8 of 10 samples.
+ Showing 8 of 16 samples.
sample_000 (click to expand videos)
view — GT | rollouttactile_left — GT | rollouttactile_right — GT | rollout
sample_001 (click to expand videos)
view — GT | rollouttactile_left — GT | rollouttactile_right — GT | rollout
