# 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 |