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	<header class="hero"><div class="wrap">
	<div class="kick">Visuo-tactile world model · Cosmos gen-7b</div>
	<h1>Overfit test & cross-architecture</h1>
	<p class="lede">Short-horizon (16-frame) Cosmos-decoded rollouts. <b>Part 1</b> compares
	the <b>train</b> vs <b>val</b> set (overfit test) for the full V+T models. <b>Part 2</b> swaps
	the diffusion backbone <b>causal ↔ noncausal</b> across three modality configs
	(V+T, vision-only, tactile-only). Vision and tactile clips are latency-corrected and play in lockstep.</p>
	<div class="reading">
	<b>Gap column (Part 1):</b>
	<span class="dot" style="background:var(--ok)"></span>≤10% generalizing
	<span class="dot" style="background:var(--warn)"></span>10–35% mild
	<span class="dot" style="background:var(--bad)"></span>>35% strong overfit.  ·
	<b>Green cell (Part 2)</b> = the winning backbone for that metric.
	</div>
	<div class="legend"><div class="chip"><b>v3 · baseline</b><span>Bidirectional temporal attention (full-window). The original Cosmos-tokenizer world model.</span></div><div class="chip"><b>v3 · causal</b><span>Causal temporal attention (per-frame tril mask) — matches the causal tokenizer and AR rollout regime.</span></div><div class="chip"><b>v3 · contact-aware</b><span>Adds the contact-aware tactile aux loss (x0-space, alpha_bar-weighted) on top of v3.</span></div></div>
	</div></header>
	<nav class="sticky"><div class="wrap"><span class="ngrp">Overfit</span><a href="#v3">v3 · baseline</a><a href="#causal">v3 · causal</a><a href="#contact">v3 · contact-aware</a><span class="ngrp">Cross-arch</span><a href="#x-vt">Full V + T</a><a href="#x-vision">Vision-only</a><a href="#x-tactile">Tactile-only</a></div></nav>
	<main class="wrap">
	<div class="band-h"><div class="t">Part 1</div><h2 class="big">Overfit test — full V + T</h2>
	<p>Same recipe, three backbones. Does the model memorize the ~30 training episodes?</p></div>
	<section class="run" id="v3">
	<div class="run-head"><h2>v3 · baseline</h2><p>Bidirectional temporal attention (full-window). The original Cosmos-tokenizer world model.</p></div>
	<div class="cols">
	<div class="col-q"><h3>Overfit test — train vs val</h3><table class="qt"><thead><tr><th>metric</th><th>train (n=10)</th><th>val (n=10)</th><th>gap</th></tr></thead><tbody><tr class="grp"><td colspan="4">Visual — middle view</td></tr><tr><td class="mname">LPIPS <span class="arrow">↓</span></td><td class="num">0.0985</td><td class="num">0.0735</td><td class="num gap-ok">-25%</td></tr><tr><td class="mname">SSIM <span class="arrow">↑</span></td><td class="num">0.8107</td><td class="num">0.8555</td><td class="num gap-ok">-6%</td></tr><tr><td class="mname">PSNR <span class="arrow">↑</span></td><td class="num">25.0741</td><td class="num">26.5707</td><td class="num gap-ok">-6%</td></tr><tr class="grp"><td colspan="4">Tactile — perceptual</td></tr><tr><td class="mname">LPIPS · left <span class="arrow">↓</span></td><td class="num">0.0618</td><td class="num">0.0457</td><td class="num gap-ok">-26%</td></tr><tr><td class="mname">LPIPS · right <span class="arrow">↓</span></td><td class="num">0.0217</td><td class="num">0.0665</td><td class="num gap-bad">+206%</td></tr><tr class="grp"><td colspan="4">Tactile — contact / physics</td></tr><tr><td class="mname">mask IoU (τ8) <span class="arrow">↑</span></td><td class="num">0.2959</td><td class="num">0.2469</td><td class="num gap-warn">+17%</td></tr><tr><td class="mname">contact MSE <span class="arrow">↓</span></td><td class="num">29.4892</td><td class="num">37.3549</td><td class="num gap-warn">+27%</td></tr><tr><td class="mname">onset err <span class="arrow">↓</span></td><td class="num">94.0515</td><td class="num">4.9556</td><td class="num gap-ok">-95%</td></tr><tr><td class="mname">intensity spearman <span class="arrow">↑</span></td><td class="num">0.5550</td><td class="num">0.7600</td><td class="num gap-ok">-37%</td></tr></tbody></table></div>
	<div class="col-v"><h3>Short-horizon rollouts</h3><div class="qual"><div class="seg"><button class="seg-b active" data-t="train">Train set</button><button class="seg-b" data-t="val">Val set</button></div><div class="pane" data-split="train"><div class="grid"><div class="scard"><div class="scard-h">sample 000</div><figure class="vid"><video src="media/v3/train/sample_000/view.mp4" muted playsinline preload="auto" data-lead="1"></video><figcaption>middle view <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/v3/train/sample_000/tl.mp4" muted playsinline preload="auto"></video><figcaption>tactile · left <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/v3/train/sample_000/tr.mp4" muted playsinline preload="auto"></video><figcaption>tactile · right <span class="gtp">GT · pred</span></figcaption></figure><div class="ctrl"><button class="pp" aria-label="play/pause">▶</button><input class="scrub" type="range" min="0" max="1000" value="0" step="1" aria-label="scrub"><span class="tlabel">0/16</span></div></div><div class="scard"><div class="scard-h">sample 001</div><figure class="vid"><video src="media/v3/train/sample_001/view.mp4" muted playsinline preload="auto" data-lead="1"></video><figcaption>middle view <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/v3/train/sample_001/tl.mp4" muted playsinline preload="auto"></video><figcaption>tactile · left <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/v3/train/sample_001/tr.mp4" muted playsinline preload="auto"></video><figcaption>tactile · right <span class="gtp">GT · pred</span></figcaption></figure><div class="ctrl"><button class="pp" aria-label="play/pause">▶</button><input class="scrub" type="range" min="0" max="1000" value="0" step="1" aria-label="scrub"><span class="tlabel">0/16</span></div></div><div class="scard"><div class="scard-h">sample 002</div><figure class="vid"><video src="media/v3/train/sample_002/view.mp4" muted playsinline preload="auto" data-lead="1"></video><figcaption>middle view <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/v3/train/sample_002/tl.mp4" muted playsinline preload="auto"></video><figcaption>tactile · left <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/v3/train/sample_002/tr.mp4" muted playsinline preload="auto"></video><figcaption>tactile · right <span class="gtp">GT · pred</span></figcaption></figure><div class="ctrl"><button class="pp" aria-label="play/pause">▶</button><input class="scrub" type="range" min="0" max="1000" value="0" step="1" aria-label="scrub"><span class="tlabel">0/16</span></div></div><div class="scard"><div class="scard-h">sample 003</div><figure class="vid"><video src="media/v3/train/sample_003/view.mp4" muted playsinline preload="auto" data-lead="1"></video><figcaption>middle view <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/v3/train/sample_003/tl.mp4" muted playsinline preload="auto"></video><figcaption>tactile · left <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/v3/train/sample_003/tr.mp4" muted playsinline preload="auto"></video><figcaption>tactile · right <span class="gtp">GT · pred</span></figcaption></figure><div class="ctrl"><button class="pp" aria-label="play/pause">▶</button><input class="scrub" type="range" min="0" max="1000" value="0" step="1" aria-label="scrub"><span class="tlabel">0/16</span></div></div></div></div><div class="pane" data-split="val"><div class="grid"><div class="scard"><div class="scard-h">sample 000</div><figure class="vid"><video src="media/v3/val/sample_000/view.mp4" muted playsinline preload="auto" data-lead="1"></video><figcaption>middle view <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/v3/val/sample_000/tl.mp4" muted playsinline preload="auto"></video><figcaption>tactile · left <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/v3/val/sample_000/tr.mp4" muted playsinline preload="auto"></video><figcaption>tactile · right <span class="gtp">GT · pred</span></figcaption></figure><div class="ctrl"><button class="pp" aria-label="play/pause">▶</button><input class="scrub" type="range" min="0" max="1000" value="0" step="1" aria-label="scrub"><span class="tlabel">0/16</span></div></div><div class="scard"><div class="scard-h">sample 001</div><figure class="vid"><video src="media/v3/val/sample_001/view.mp4" muted playsinline preload="auto" data-lead="1"></video><figcaption>middle view <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/v3/val/sample_001/tl.mp4" muted playsinline preload="auto"></video><figcaption>tactile · left <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/v3/val/sample_001/tr.mp4" muted playsinline preload="auto"></video><figcaption>tactile · right <span class="gtp">GT · pred</span></figcaption></figure><div class="ctrl"><button class="pp" aria-label="play/pause">▶</button><input class="scrub" type="range" min="0" max="1000" value="0" step="1" aria-label="scrub"><span class="tlabel">0/16</span></div></div><div class="scard"><div class="scard-h">sample 002</div><figure class="vid"><video src="media/v3/val/sample_002/view.mp4" muted playsinline preload="auto" data-lead="1"></video><figcaption>middle view <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/v3/val/sample_002/tl.mp4" muted playsinline preload="auto"></video><figcaption>tactile · left <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/v3/val/sample_002/tr.mp4" muted playsinline preload="auto"></video><figcaption>tactile · right <span class="gtp">GT · pred</span></figcaption></figure><div class="ctrl"><button class="pp" aria-label="play/pause">▶</button><input class="scrub" type="range" min="0" max="1000" value="0" step="1" aria-label="scrub"><span class="tlabel">0/16</span></div></div><div class="scard"><div class="scard-h">sample 003</div><figure class="vid"><video src="media/v3/val/sample_003/view.mp4" muted playsinline preload="auto" data-lead="1"></video><figcaption>middle view <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/v3/val/sample_003/tl.mp4" muted playsinline preload="auto"></video><figcaption>tactile · left <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/v3/val/sample_003/tr.mp4" muted playsinline preload="auto"></video><figcaption>tactile · right <span class="gtp">GT · pred</span></figcaption></figure><div class="ctrl"><button class="pp" aria-label="play/pause">▶</button><input class="scrub" type="range" min="0" max="1000" value="0" step="1" aria-label="scrub"><span class="tlabel">0/16</span></div></div></div></div></div></div>
	</div></section><section class="run" id="causal">
	<div class="run-head"><h2>v3 · causal</h2><p>Causal temporal attention (per-frame tril mask) — matches the causal tokenizer and AR rollout regime.</p></div>
	<div class="cols">
	<div class="col-q"><h3>Overfit test — train vs val</h3><table class="qt"><thead><tr><th>metric</th><th>train (n=10)</th><th>val (n=10)</th><th>gap</th></tr></thead><tbody><tr class="grp"><td colspan="4">Visual — middle view</td></tr><tr><td class="mname">LPIPS <span class="arrow">↓</span></td><td class="num">0.0531</td><td class="num">0.0441</td><td class="num gap-ok">-17%</td></tr><tr><td class="mname">SSIM <span class="arrow">↑</span></td><td class="num">0.8772</td><td class="num">0.9008</td><td class="num gap-ok">-3%</td></tr><tr><td class="mname">PSNR <span class="arrow">↑</span></td><td class="num">28.0965</td><td class="num">29.1089</td><td class="num gap-ok">-4%</td></tr><tr class="grp"><td colspan="4">Tactile — perceptual</td></tr><tr><td class="mname">LPIPS · left <span class="arrow">↓</span></td><td class="num">0.0630</td><td class="num">0.0531</td><td class="num gap-ok">-16%</td></tr><tr><td class="mname">LPIPS · right <span class="arrow">↓</span></td><td class="num">0.0203</td><td class="num">0.0761</td><td class="num gap-bad">+274%</td></tr><tr class="grp"><td colspan="4">Tactile — contact / physics</td></tr><tr><td class="mname">mask IoU (τ8) <span class="arrow">↑</span></td><td class="num">0.2870</td><td class="num">0.2067</td><td class="num gap-warn">+28%</td></tr><tr><td class="mname">contact MSE <span class="arrow">↓</span></td><td class="num">32.1382</td><td class="num">38.6478</td><td class="num gap-warn">+20%</td></tr><tr><td class="mname">onset err <span class="arrow">↓</span></td><td class="num">133.9037</td><td class="num">59.3774</td><td class="num gap-ok">-56%</td></tr><tr><td class="mname">intensity spearman <span class="arrow">↑</span></td><td class="num">0.5750</td><td class="num">0.6100</td><td class="num gap-ok">-6%</td></tr></tbody></table></div>
	<div class="col-v"><h3>Short-horizon rollouts</h3><div class="qual"><div class="seg"><button class="seg-b active" data-t="train">Train set</button><button class="seg-b" data-t="val">Val set</button></div><div class="pane" data-split="train"><div class="grid"><div class="scard"><div class="scard-h">sample 000</div><figure class="vid"><video src="media/causal/train/sample_000/view.mp4" muted playsinline preload="auto" data-lead="1"></video><figcaption>middle view <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/causal/train/sample_000/tl.mp4" muted playsinline preload="auto"></video><figcaption>tactile · left <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/causal/train/sample_000/tr.mp4" muted playsinline preload="auto"></video><figcaption>tactile · right <span class="gtp">GT · pred</span></figcaption></figure><div class="ctrl"><button class="pp" aria-label="play/pause">▶</button><input class="scrub" type="range" min="0" max="1000" value="0" step="1" aria-label="scrub"><span class="tlabel">0/16</span></div></div><div class="scard"><div class="scard-h">sample 001</div><figure class="vid"><video src="media/causal/train/sample_001/view.mp4" muted playsinline preload="auto" data-lead="1"></video><figcaption>middle view <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/causal/train/sample_001/tl.mp4" muted playsinline preload="auto"></video><figcaption>tactile · left <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/causal/train/sample_001/tr.mp4" muted playsinline preload="auto"></video><figcaption>tactile · right <span class="gtp">GT · pred</span></figcaption></figure><div class="ctrl"><button class="pp" aria-label="play/pause">▶</button><input class="scrub" type="range" min="0" max="1000" value="0" step="1" aria-label="scrub"><span class="tlabel">0/16</span></div></div><div class="scard"><div class="scard-h">sample 002</div><figure class="vid"><video src="media/causal/train/sample_002/view.mp4" muted playsinline preload="auto" data-lead="1"></video><figcaption>middle view <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/causal/train/sample_002/tl.mp4" muted playsinline preload="auto"></video><figcaption>tactile · left <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/causal/train/sample_002/tr.mp4" muted playsinline preload="auto"></video><figcaption>tactile · right <span class="gtp">GT · pred</span></figcaption></figure><div class="ctrl"><button class="pp" aria-label="play/pause">▶</button><input class="scrub" type="range" min="0" max="1000" value="0" step="1" aria-label="scrub"><span class="tlabel">0/16</span></div></div><div class="scard"><div class="scard-h">sample 003</div><figure class="vid"><video src="media/causal/train/sample_003/view.mp4" muted playsinline preload="auto" data-lead="1"></video><figcaption>middle view <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/causal/train/sample_003/tl.mp4" muted playsinline preload="auto"></video><figcaption>tactile · left <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/causal/train/sample_003/tr.mp4" muted playsinline preload="auto"></video><figcaption>tactile · right <span class="gtp">GT · pred</span></figcaption></figure><div class="ctrl"><button class="pp" aria-label="play/pause">▶</button><input class="scrub" type="range" min="0" max="1000" value="0" step="1" aria-label="scrub"><span class="tlabel">0/16</span></div></div></div></div><div class="pane" data-split="val"><div class="grid"><div class="scard"><div class="scard-h">sample 000</div><figure class="vid"><video src="media/causal/val/sample_000/view.mp4" muted playsinline preload="auto" data-lead="1"></video><figcaption>middle view <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/causal/val/sample_000/tl.mp4" muted playsinline preload="auto"></video><figcaption>tactile · left <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/causal/val/sample_000/tr.mp4" muted playsinline preload="auto"></video><figcaption>tactile · right <span class="gtp">GT · pred</span></figcaption></figure><div class="ctrl"><button class="pp" aria-label="play/pause">▶</button><input class="scrub" type="range" min="0" max="1000" value="0" step="1" aria-label="scrub"><span class="tlabel">0/16</span></div></div><div class="scard"><div class="scard-h">sample 001</div><figure class="vid"><video src="media/causal/val/sample_001/view.mp4" muted playsinline preload="auto" data-lead="1"></video><figcaption>middle view <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/causal/val/sample_001/tl.mp4" muted playsinline preload="auto"></video><figcaption>tactile · left <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/causal/val/sample_001/tr.mp4" muted playsinline preload="auto"></video><figcaption>tactile · right <span class="gtp">GT · pred</span></figcaption></figure><div class="ctrl"><button class="pp" aria-label="play/pause">▶</button><input class="scrub" type="range" min="0" max="1000" value="0" step="1" aria-label="scrub"><span class="tlabel">0/16</span></div></div><div class="scard"><div class="scard-h">sample 002</div><figure class="vid"><video src="media/causal/val/sample_002/view.mp4" muted playsinline preload="auto" data-lead="1"></video><figcaption>middle view <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/causal/val/sample_002/tl.mp4" muted playsinline preload="auto"></video><figcaption>tactile · left <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/causal/val/sample_002/tr.mp4" muted playsinline preload="auto"></video><figcaption>tactile · right <span class="gtp">GT · pred</span></figcaption></figure><div class="ctrl"><button class="pp" aria-label="play/pause">▶</button><input class="scrub" type="range" min="0" max="1000" value="0" step="1" aria-label="scrub"><span class="tlabel">0/16</span></div></div><div class="scard"><div class="scard-h">sample 003</div><figure class="vid"><video src="media/causal/val/sample_003/view.mp4" muted playsinline preload="auto" data-lead="1"></video><figcaption>middle view <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/causal/val/sample_003/tl.mp4" muted playsinline preload="auto"></video><figcaption>tactile · left <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/causal/val/sample_003/tr.mp4" muted playsinline preload="auto"></video><figcaption>tactile · right <span class="gtp">GT · pred</span></figcaption></figure><div class="ctrl"><button class="pp" aria-label="play/pause">▶</button><input class="scrub" type="range" min="0" max="1000" value="0" step="1" aria-label="scrub"><span class="tlabel">0/16</span></div></div></div></div></div></div>
	</div></section><section class="run" id="contact">
	<div class="run-head"><h2>v3 · contact-aware</h2><p>Adds the contact-aware tactile aux loss (x0-space, alpha_bar-weighted) on top of v3.</p></div>
	<div class="cols">
	<div class="col-q"><h3>Overfit test — train vs val</h3><table class="qt"><thead><tr><th>metric</th><th>train (n=10)</th><th>val (n=10)</th><th>gap</th></tr></thead><tbody><tr class="grp"><td colspan="4">Visual — middle view</td></tr><tr><td class="mname">LPIPS <span class="arrow">↓</span></td><td class="num">0.0674</td><td class="num">0.0460</td><td class="num gap-ok">-32%</td></tr><tr><td class="mname">SSIM <span class="arrow">↑</span></td><td class="num">0.8538</td><td class="num">0.8894</td><td class="num gap-ok">-4%</td></tr><tr><td class="mname">PSNR <span class="arrow">↑</span></td><td class="num">26.9559</td><td class="num">28.2838</td><td class="num gap-ok">-5%</td></tr><tr class="grp"><td colspan="4">Tactile — perceptual</td></tr><tr><td class="mname">LPIPS · left <span class="arrow">↓</span></td><td class="num">0.0593</td><td class="num">0.0430</td><td class="num gap-ok">-28%</td></tr><tr><td class="mname">LPIPS · right <span class="arrow">↓</span></td><td class="num">0.0270</td><td class="num">0.0816</td><td class="num gap-bad">+203%</td></tr><tr class="grp"><td colspan="4">Tactile — contact / physics</td></tr><tr><td class="mname">mask IoU (τ8) <span class="arrow">↑</span></td><td class="num">0.2849</td><td class="num">0.2296</td><td class="num gap-warn">+19%</td></tr><tr><td class="mname">contact MSE <span class="arrow">↓</span></td><td class="num">30.9060</td><td class="num">38.3891</td><td class="num gap-warn">+24%</td></tr><tr><td class="mname">onset err <span class="arrow">↓</span></td><td class="num">41.5967</td><td class="num">14.6901</td><td class="num gap-ok">-65%</td></tr><tr><td class="mname">intensity spearman <span class="arrow">↑</span></td><td class="num">0.7150</td><td class="num">0.6800</td><td class="num gap-ok">+5%</td></tr></tbody></table></div>
	<div class="col-v"><h3>Short-horizon rollouts</h3><div class="qual"><div class="seg"><button class="seg-b active" data-t="train">Train set</button><button class="seg-b" data-t="val">Val set</button></div><div class="pane" data-split="train"><div class="grid"><div class="scard"><div class="scard-h">sample 000</div><figure class="vid"><video src="media/contact/train/sample_000/view.mp4" muted playsinline preload="auto" data-lead="1"></video><figcaption>middle view <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/contact/train/sample_000/tl.mp4" muted playsinline preload="auto"></video><figcaption>tactile · left <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/contact/train/sample_000/tr.mp4" muted playsinline preload="auto"></video><figcaption>tactile · right <span class="gtp">GT · pred</span></figcaption></figure><div class="ctrl"><button class="pp" aria-label="play/pause">▶</button><input class="scrub" type="range" min="0" max="1000" value="0" step="1" aria-label="scrub"><span class="tlabel">0/16</span></div></div><div class="scard"><div class="scard-h">sample 001</div><figure class="vid"><video src="media/contact/train/sample_001/view.mp4" muted playsinline preload="auto" data-lead="1"></video><figcaption>middle view <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/contact/train/sample_001/tl.mp4" muted playsinline preload="auto"></video><figcaption>tactile · left <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/contact/train/sample_001/tr.mp4" muted playsinline preload="auto"></video><figcaption>tactile · right <span class="gtp">GT · pred</span></figcaption></figure><div class="ctrl"><button class="pp" aria-label="play/pause">▶</button><input class="scrub" type="range" min="0" max="1000" value="0" step="1" aria-label="scrub"><span class="tlabel">0/16</span></div></div><div class="scard"><div class="scard-h">sample 002</div><figure class="vid"><video src="media/contact/train/sample_002/view.mp4" muted playsinline preload="auto" data-lead="1"></video><figcaption>middle view <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/contact/train/sample_002/tl.mp4" muted playsinline preload="auto"></video><figcaption>tactile · left <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/contact/train/sample_002/tr.mp4" muted playsinline preload="auto"></video><figcaption>tactile · right <span class="gtp">GT · pred</span></figcaption></figure><div class="ctrl"><button class="pp" aria-label="play/pause">▶</button><input class="scrub" type="range" min="0" max="1000" value="0" step="1" aria-label="scrub"><span class="tlabel">0/16</span></div></div><div class="scard"><div class="scard-h">sample 003</div><figure class="vid"><video src="media/contact/train/sample_003/view.mp4" muted playsinline preload="auto" data-lead="1"></video><figcaption>middle view <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/contact/train/sample_003/tl.mp4" muted playsinline preload="auto"></video><figcaption>tactile · left <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/contact/train/sample_003/tr.mp4" muted playsinline preload="auto"></video><figcaption>tactile · right <span class="gtp">GT · pred</span></figcaption></figure><div class="ctrl"><button class="pp" aria-label="play/pause">▶</button><input class="scrub" type="range" min="0" max="1000" value="0" step="1" aria-label="scrub"><span class="tlabel">0/16</span></div></div></div></div><div class="pane" data-split="val"><div class="grid"><div class="scard"><div class="scard-h">sample 000</div><figure class="vid"><video src="media/contact/val/sample_000/view.mp4" muted playsinline preload="auto" data-lead="1"></video><figcaption>middle view <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/contact/val/sample_000/tl.mp4" muted playsinline preload="auto"></video><figcaption>tactile · left <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/contact/val/sample_000/tr.mp4" muted playsinline preload="auto"></video><figcaption>tactile · right <span class="gtp">GT · pred</span></figcaption></figure><div class="ctrl"><button class="pp" aria-label="play/pause">▶</button><input class="scrub" type="range" min="0" max="1000" value="0" step="1" aria-label="scrub"><span class="tlabel">0/16</span></div></div><div class="scard"><div class="scard-h">sample 001</div><figure class="vid"><video src="media/contact/val/sample_001/view.mp4" muted playsinline preload="auto" data-lead="1"></video><figcaption>middle view <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/contact/val/sample_001/tl.mp4" muted playsinline preload="auto"></video><figcaption>tactile · left <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/contact/val/sample_001/tr.mp4" muted playsinline preload="auto"></video><figcaption>tactile · right <span class="gtp">GT · pred</span></figcaption></figure><div class="ctrl"><button class="pp" aria-label="play/pause">▶</button><input class="scrub" type="range" min="0" max="1000" value="0" step="1" aria-label="scrub"><span class="tlabel">0/16</span></div></div><div class="scard"><div class="scard-h">sample 002</div><figure class="vid"><video src="media/contact/val/sample_002/view.mp4" muted playsinline preload="auto" data-lead="1"></video><figcaption>middle view <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/contact/val/sample_002/tl.mp4" muted playsinline preload="auto"></video><figcaption>tactile · left <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/contact/val/sample_002/tr.mp4" muted playsinline preload="auto"></video><figcaption>tactile · right <span class="gtp">GT · pred</span></figcaption></figure><div class="ctrl"><button class="pp" aria-label="play/pause">▶</button><input class="scrub" type="range" min="0" max="1000" value="0" step="1" aria-label="scrub"><span class="tlabel">0/16</span></div></div><div class="scard"><div class="scard-h">sample 003</div><figure class="vid"><video src="media/contact/val/sample_003/view.mp4" muted playsinline preload="auto" data-lead="1"></video><figcaption>middle view <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/contact/val/sample_003/tl.mp4" muted playsinline preload="auto"></video><figcaption>tactile · left <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/contact/val/sample_003/tr.mp4" muted playsinline preload="auto"></video><figcaption>tactile · right <span class="gtp">GT · pred</span></figcaption></figure><div class="ctrl"><button class="pp" aria-label="play/pause">▶</button><input class="scrub" type="range" min="0" max="1000" value="0" step="1" aria-label="scrub"><span class="tlabel">0/16</span></div></div></div></div></div></div>
	</div></section>
	<div class="band band-h"><div class="t">Part 2</div><h2 class="big">Cross-architecture — causal vs noncausal</h2>
	<p>The same causal-backbone swap under three modality configurations. Val metrics; the winning backbone per metric is highlighted.</p></div>
	<section class="run xa" id="x-vt">
	<div class="run-head"><h2>Full V + T — causal vs noncausal</h2><p>Three views + two tactile sensors. Swapping the backbone from bidirectional (v3) to causal.</p></div>
	<div class="xwrap">
	<div class="xtab"><h3>noncausal vs causal (val)</h3><table class="qt"><thead><tr><th>metric (val)</th><th>noncausal</th><th>causal</th></tr></thead><tbody><tr class="grp"><td colspan="3">Visual — middle view</td></tr><tr><td class="mname">LPIPS <span class="arrow">↓</span></td><td class="num ">0.0735</td><td class="num win">0.0441</td></tr><tr><td class="mname">SSIM <span class="arrow">↑</span></td><td class="num ">0.8555</td><td class="num win">0.9008</td></tr><tr><td class="mname">PSNR <span class="arrow">↑</span></td><td class="num ">26.5707</td><td class="num win">29.1089</td></tr><tr class="grp"><td colspan="3">Tactile</td></tr><tr><td class="mname">LPIPS · left <span class="arrow">↓</span></td><td class="num win">0.0457</td><td class="num ">0.0531</td></tr><tr><td class="mname">LPIPS · right <span class="arrow">↓</span></td><td class="num win">0.0665</td><td class="num ">0.0761</td></tr><tr><td class="mname">mask IoU (τ8) <span class="arrow">↑</span></td><td class="num win">0.2469</td><td class="num ">0.2067</td></tr><tr><td class="mname">contact MSE <span class="arrow">↓</span></td><td class="num win">37.3549</td><td class="num ">38.6478</td></tr><tr><td class="mname">onset err ms <span class="arrow">↓</span></td><td class="num win">4.9556</td><td class="num ">59.3774</td></tr></tbody></table></div>
	<div class="xvid"><h3>Rollouts — noncausal \| causal</h3><div class="qual"><div class="seg"><button class="seg-b active" data-t="val">Val set</button><button class="seg-b" data-t="train">Train set</button></div><div class="xgal"><div class="xcol"><div class="xcol-h">noncausal · val_loss 0.1234</div><div class="pane show" data-split="val"><div class="cgrid"><div class="scard"><div class="scard-h">sample 000</div><figure class="vid"><video src="media/v3/val/sample_000/view.mp4" muted playsinline preload="auto" data-lead="1"></video><figcaption>middle view <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/v3/val/sample_000/tl.mp4" muted playsinline preload="auto"></video><figcaption>tactile · left <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/v3/val/sample_000/tr.mp4" muted playsinline preload="auto"></video><figcaption>tactile · right <span class="gtp">GT · pred</span></figcaption></figure><div class="ctrl"><button class="pp" aria-label="play/pause">▶</button><input class="scrub" type="range" min="0" max="1000" value="0" step="1" aria-label="scrub"><span class="tlabel">0/16</span></div></div><div class="scard"><div class="scard-h">sample 001</div><figure class="vid"><video src="media/v3/val/sample_001/view.mp4" muted playsinline preload="auto" data-lead="1"></video><figcaption>middle view <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/v3/val/sample_001/tl.mp4" muted playsinline preload="auto"></video><figcaption>tactile · left <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/v3/val/sample_001/tr.mp4" muted playsinline preload="auto"></video><figcaption>tactile · right <span class="gtp">GT · pred</span></figcaption></figure><div class="ctrl"><button class="pp" aria-label="play/pause">▶</button><input class="scrub" type="range" min="0" max="1000" value="0" step="1" aria-label="scrub"><span class="tlabel">0/16</span></div></div><div class="scard"><div class="scard-h">sample 002</div><figure class="vid"><video src="media/v3/val/sample_002/view.mp4" muted playsinline preload="auto" data-lead="1"></video><figcaption>middle view <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/v3/val/sample_002/tl.mp4" muted playsinline preload="auto"></video><figcaption>tactile · left <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/v3/val/sample_002/tr.mp4" muted playsinline preload="auto"></video><figcaption>tactile · right <span class="gtp">GT · pred</span></figcaption></figure><div class="ctrl"><button class="pp" aria-label="play/pause">▶</button><input class="scrub" type="range" min="0" max="1000" value="0" step="1" aria-label="scrub"><span class="tlabel">0/16</span></div></div><div class="scard"><div class="scard-h">sample 003</div><figure class="vid"><video src="media/v3/val/sample_003/view.mp4" muted playsinline preload="auto" data-lead="1"></video><figcaption>middle view <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/v3/val/sample_003/tl.mp4" muted playsinline preload="auto"></video><figcaption>tactile · left <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/v3/val/sample_003/tr.mp4" muted playsinline preload="auto"></video><figcaption>tactile · right <span class="gtp">GT · pred</span></figcaption></figure><div class="ctrl"><button class="pp" aria-label="play/pause">▶</button><input class="scrub" type="range" min="0" max="1000" value="0" step="1" aria-label="scrub"><span class="tlabel">0/16</span></div></div></div></div><div class="pane" data-split="train"><div class="cgrid"><div class="scard"><div class="scard-h">sample 000</div><figure class="vid"><video src="media/v3/train/sample_000/view.mp4" muted playsinline preload="auto" data-lead="1"></video><figcaption>middle view <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/v3/train/sample_000/tl.mp4" muted playsinline preload="auto"></video><figcaption>tactile · left <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/v3/train/sample_000/tr.mp4" muted playsinline preload="auto"></video><figcaption>tactile · right <span class="gtp">GT · pred</span></figcaption></figure><div class="ctrl"><button class="pp" aria-label="play/pause">▶</button><input class="scrub" type="range" min="0" max="1000" value="0" step="1" aria-label="scrub"><span class="tlabel">0/16</span></div></div><div class="scard"><div class="scard-h">sample 001</div><figure class="vid"><video src="media/v3/train/sample_001/view.mp4" muted playsinline preload="auto" data-lead="1"></video><figcaption>middle view <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/v3/train/sample_001/tl.mp4" muted playsinline preload="auto"></video><figcaption>tactile · left <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/v3/train/sample_001/tr.mp4" muted playsinline preload="auto"></video><figcaption>tactile · right <span class="gtp">GT · pred</span></figcaption></figure><div class="ctrl"><button class="pp" aria-label="play/pause">▶</button><input class="scrub" type="range" min="0" max="1000" value="0" step="1" aria-label="scrub"><span class="tlabel">0/16</span></div></div><div class="scard"><div class="scard-h">sample 002</div><figure class="vid"><video src="media/v3/train/sample_002/view.mp4" muted playsinline preload="auto" data-lead="1"></video><figcaption>middle view <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/v3/train/sample_002/tl.mp4" muted playsinline preload="auto"></video><figcaption>tactile · left <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/v3/train/sample_002/tr.mp4" muted playsinline preload="auto"></video><figcaption>tactile · right <span class="gtp">GT · pred</span></figcaption></figure><div class="ctrl"><button class="pp" aria-label="play/pause">▶</button><input class="scrub" type="range" min="0" max="1000" value="0" step="1" aria-label="scrub"><span class="tlabel">0/16</span></div></div><div class="scard"><div class="scard-h">sample 003</div><figure class="vid"><video src="media/v3/train/sample_003/view.mp4" muted playsinline preload="auto" data-lead="1"></video><figcaption>middle view <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/v3/train/sample_003/tl.mp4" muted playsinline preload="auto"></video><figcaption>tactile · left <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/v3/train/sample_003/tr.mp4" muted playsinline preload="auto"></video><figcaption>tactile · right <span class="gtp">GT · pred</span></figcaption></figure><div class="ctrl"><button class="pp" aria-label="play/pause">▶</button><input class="scrub" type="range" min="0" max="1000" value="0" step="1" aria-label="scrub"><span class="tlabel">0/16</span></div></div></div></div></div><div class="xcol"><div class="xcol-h">causal · val_loss 0.1647</div><div class="pane show" data-split="val"><div class="cgrid"><div class="scard"><div class="scard-h">sample 000</div><figure class="vid"><video src="media/causal/val/sample_000/view.mp4" muted playsinline preload="auto" data-lead="1"></video><figcaption>middle view <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/causal/val/sample_000/tl.mp4" muted playsinline preload="auto"></video><figcaption>tactile · left <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/causal/val/sample_000/tr.mp4" muted playsinline preload="auto"></video><figcaption>tactile · right <span class="gtp">GT · pred</span></figcaption></figure><div class="ctrl"><button class="pp" aria-label="play/pause">▶</button><input class="scrub" type="range" min="0" max="1000" value="0" step="1" aria-label="scrub"><span class="tlabel">0/16</span></div></div><div class="scard"><div class="scard-h">sample 001</div><figure class="vid"><video src="media/causal/val/sample_001/view.mp4" muted playsinline preload="auto" data-lead="1"></video><figcaption>middle view <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/causal/val/sample_001/tl.mp4" muted playsinline preload="auto"></video><figcaption>tactile · left <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/causal/val/sample_001/tr.mp4" muted playsinline preload="auto"></video><figcaption>tactile · right <span class="gtp">GT · pred</span></figcaption></figure><div class="ctrl"><button class="pp" aria-label="play/pause">▶</button><input class="scrub" type="range" min="0" max="1000" value="0" step="1" aria-label="scrub"><span class="tlabel">0/16</span></div></div><div class="scard"><div class="scard-h">sample 002</div><figure class="vid"><video src="media/causal/val/sample_002/view.mp4" muted playsinline preload="auto" data-lead="1"></video><figcaption>middle view <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/causal/val/sample_002/tl.mp4" muted playsinline preload="auto"></video><figcaption>tactile · left <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/causal/val/sample_002/tr.mp4" muted playsinline preload="auto"></video><figcaption>tactile · right <span class="gtp">GT · pred</span></figcaption></figure><div class="ctrl"><button class="pp" aria-label="play/pause">▶</button><input class="scrub" type="range" min="0" max="1000" value="0" step="1" aria-label="scrub"><span class="tlabel">0/16</span></div></div><div class="scard"><div class="scard-h">sample 003</div><figure class="vid"><video src="media/causal/val/sample_003/view.mp4" muted playsinline preload="auto" data-lead="1"></video><figcaption>middle view <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/causal/val/sample_003/tl.mp4" muted playsinline preload="auto"></video><figcaption>tactile · left <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/causal/val/sample_003/tr.mp4" muted playsinline preload="auto"></video><figcaption>tactile · right <span class="gtp">GT · pred</span></figcaption></figure><div class="ctrl"><button class="pp" aria-label="play/pause">▶</button><input class="scrub" type="range" min="0" max="1000" value="0" step="1" aria-label="scrub"><span class="tlabel">0/16</span></div></div></div></div><div class="pane" data-split="train"><div class="cgrid"><div class="scard"><div class="scard-h">sample 000</div><figure class="vid"><video src="media/causal/train/sample_000/view.mp4" muted playsinline preload="auto" data-lead="1"></video><figcaption>middle view <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/causal/train/sample_000/tl.mp4" muted playsinline preload="auto"></video><figcaption>tactile · left <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/causal/train/sample_000/tr.mp4" muted playsinline preload="auto"></video><figcaption>tactile · right <span class="gtp">GT · pred</span></figcaption></figure><div class="ctrl"><button class="pp" aria-label="play/pause">▶</button><input class="scrub" type="range" min="0" max="1000" value="0" step="1" aria-label="scrub"><span class="tlabel">0/16</span></div></div><div class="scard"><div class="scard-h">sample 001</div><figure class="vid"><video src="media/causal/train/sample_001/view.mp4" muted playsinline preload="auto" data-lead="1"></video><figcaption>middle view <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/causal/train/sample_001/tl.mp4" muted playsinline preload="auto"></video><figcaption>tactile · left <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/causal/train/sample_001/tr.mp4" muted playsinline preload="auto"></video><figcaption>tactile · right <span class="gtp">GT · pred</span></figcaption></figure><div class="ctrl"><button class="pp" aria-label="play/pause">▶</button><input class="scrub" type="range" min="0" max="1000" value="0" step="1" aria-label="scrub"><span class="tlabel">0/16</span></div></div><div class="scard"><div class="scard-h">sample 002</div><figure class="vid"><video src="media/causal/train/sample_002/view.mp4" muted playsinline preload="auto" data-lead="1"></video><figcaption>middle view <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/causal/train/sample_002/tl.mp4" muted playsinline preload="auto"></video><figcaption>tactile · left <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/causal/train/sample_002/tr.mp4" muted playsinline preload="auto"></video><figcaption>tactile · right <span class="gtp">GT · pred</span></figcaption></figure><div class="ctrl"><button class="pp" aria-label="play/pause">▶</button><input class="scrub" type="range" min="0" max="1000" value="0" step="1" aria-label="scrub"><span class="tlabel">0/16</span></div></div><div class="scard"><div class="scard-h">sample 003</div><figure class="vid"><video src="media/causal/train/sample_003/view.mp4" muted playsinline preload="auto" data-lead="1"></video><figcaption>middle view <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/causal/train/sample_003/tl.mp4" muted playsinline preload="auto"></video><figcaption>tactile · left <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/causal/train/sample_003/tr.mp4" muted playsinline preload="auto"></video><figcaption>tactile · right <span class="gtp">GT · pred</span></figcaption></figure><div class="ctrl"><button class="pp" aria-label="play/pause">▶</button><input class="scrub" type="range" min="0" max="1000" value="0" step="1" aria-label="scrub"><span class="tlabel">0/16</span></div></div></div></div></div></div></div></div>
	</div></section><section class="run xa" id="x-vision">
	<div class="run-head"><h2>Vision-only — causal vs noncausal</h2><p>Tactile stream removed — isolates how the causal backbone affects pure visual prediction.</p></div>
	<div class="xwrap">
	<div class="xtab"><h3>noncausal vs causal (val)</h3><table class="qt"><thead><tr><th>metric (val)</th><th>noncausal</th><th>causal</th></tr></thead><tbody><tr class="grp"><td colspan="3">Visual — middle view</td></tr><tr><td class="mname">LPIPS <span class="arrow">↓</span></td><td class="num ">0.0498</td><td class="num win">0.0343</td></tr><tr><td class="mname">SSIM <span class="arrow">↑</span></td><td class="num ">0.8870</td><td class="num win">0.9162</td></tr><tr><td class="mname">PSNR <span class="arrow">↑</span></td><td class="num ">28.3848</td><td class="num win">30.1398</td></tr></tbody></table></div>
	<div class="xvid"><h3>Rollouts — noncausal \| causal</h3><div class="qual"><div class="seg"><button class="seg-b active" data-t="val">Val set</button><button class="seg-b" data-t="train">Train set</button></div><div class="xgal"><div class="xcol"><div class="xcol-h">noncausal · val_loss 0.0297</div><div class="pane show" data-split="val"><div class="cgrid"><div class="scard"><div class="scard-h">sample 000</div><figure class="vid"><video src="media/vo_noncausal/val/sample_000/view.mp4" muted playsinline preload="auto" data-lead="1"></video><figcaption>middle view <span class="gtp">GT · pred</span></figcaption></figure><div class="ctrl"><button class="pp" aria-label="play/pause">▶</button><input class="scrub" type="range" min="0" max="1000" value="0" step="1" aria-label="scrub"><span class="tlabel">0/16</span></div></div><div class="scard"><div class="scard-h">sample 001</div><figure class="vid"><video src="media/vo_noncausal/val/sample_001/view.mp4" muted playsinline preload="auto" data-lead="1"></video><figcaption>middle view <span class="gtp">GT · pred</span></figcaption></figure><div class="ctrl"><button class="pp" aria-label="play/pause">▶</button><input class="scrub" type="range" min="0" max="1000" value="0" step="1" aria-label="scrub"><span class="tlabel">0/16</span></div></div><div class="scard"><div class="scard-h">sample 002</div><figure class="vid"><video src="media/vo_noncausal/val/sample_002/view.mp4" muted playsinline preload="auto" data-lead="1"></video><figcaption>middle view <span class="gtp">GT · pred</span></figcaption></figure><div class="ctrl"><button class="pp" aria-label="play/pause">▶</button><input class="scrub" type="range" min="0" max="1000" value="0" step="1" aria-label="scrub"><span class="tlabel">0/16</span></div></div><div class="scard"><div class="scard-h">sample 003</div><figure class="vid"><video src="media/vo_noncausal/val/sample_003/view.mp4" muted playsinline preload="auto" data-lead="1"></video><figcaption>middle view <span class="gtp">GT · pred</span></figcaption></figure><div class="ctrl"><button class="pp" aria-label="play/pause">▶</button><input class="scrub" type="range" min="0" max="1000" value="0" step="1" aria-label="scrub"><span class="tlabel">0/16</span></div></div></div></div><div class="pane" data-split="train"><div class="cgrid"><div class="scard"><div class="scard-h">sample 000</div><figure class="vid"><video src="media/vo_noncausal/train/sample_000/view.mp4" muted playsinline preload="auto" data-lead="1"></video><figcaption>middle view <span class="gtp">GT · pred</span></figcaption></figure><div class="ctrl"><button class="pp" aria-label="play/pause">▶</button><input class="scrub" type="range" min="0" max="1000" value="0" step="1" aria-label="scrub"><span class="tlabel">0/16</span></div></div><div class="scard"><div class="scard-h">sample 001</div><figure class="vid"><video src="media/vo_noncausal/train/sample_001/view.mp4" muted playsinline preload="auto" data-lead="1"></video><figcaption>middle view <span class="gtp">GT · pred</span></figcaption></figure><div class="ctrl"><button class="pp" aria-label="play/pause">▶</button><input class="scrub" type="range" min="0" max="1000" value="0" step="1" aria-label="scrub"><span class="tlabel">0/16</span></div></div><div class="scard"><div class="scard-h">sample 002</div><figure class="vid"><video src="media/vo_noncausal/train/sample_002/view.mp4" muted playsinline preload="auto" data-lead="1"></video><figcaption>middle view <span class="gtp">GT · pred</span></figcaption></figure><div class="ctrl"><button class="pp" aria-label="play/pause">▶</button><input class="scrub" type="range" min="0" max="1000" value="0" step="1" aria-label="scrub"><span class="tlabel">0/16</span></div></div><div class="scard"><div class="scard-h">sample 003</div><figure class="vid"><video src="media/vo_noncausal/train/sample_003/view.mp4" muted playsinline preload="auto" data-lead="1"></video><figcaption>middle view <span class="gtp">GT · pred</span></figcaption></figure><div class="ctrl"><button class="pp" aria-label="play/pause">▶</button><input class="scrub" type="range" min="0" max="1000" value="0" step="1" aria-label="scrub"><span class="tlabel">0/16</span></div></div></div></div></div><div class="xcol"><div class="xcol-h">causal · val_loss 0.0347</div><div class="pane show" data-split="val"><div class="cgrid"><div class="scard"><div class="scard-h">sample 000</div><figure class="vid"><video src="media/vo_causal/val/sample_000/view.mp4" muted playsinline preload="auto" data-lead="1"></video><figcaption>middle view <span class="gtp">GT · pred</span></figcaption></figure><div class="ctrl"><button class="pp" aria-label="play/pause">▶</button><input class="scrub" type="range" min="0" max="1000" value="0" step="1" aria-label="scrub"><span class="tlabel">0/16</span></div></div><div class="scard"><div class="scard-h">sample 001</div><figure class="vid"><video src="media/vo_causal/val/sample_001/view.mp4" muted playsinline preload="auto" data-lead="1"></video><figcaption>middle view <span class="gtp">GT · pred</span></figcaption></figure><div class="ctrl"><button class="pp" aria-label="play/pause">▶</button><input class="scrub" type="range" min="0" max="1000" value="0" step="1" aria-label="scrub"><span class="tlabel">0/16</span></div></div><div class="scard"><div class="scard-h">sample 002</div><figure class="vid"><video src="media/vo_causal/val/sample_002/view.mp4" muted playsinline preload="auto" data-lead="1"></video><figcaption>middle view <span class="gtp">GT · pred</span></figcaption></figure><div class="ctrl"><button class="pp" aria-label="play/pause">▶</button><input class="scrub" type="range" min="0" max="1000" value="0" step="1" aria-label="scrub"><span class="tlabel">0/16</span></div></div><div class="scard"><div class="scard-h">sample 003</div><figure class="vid"><video src="media/vo_causal/val/sample_003/view.mp4" muted playsinline preload="auto" data-lead="1"></video><figcaption>middle view <span class="gtp">GT · pred</span></figcaption></figure><div class="ctrl"><button class="pp" aria-label="play/pause">▶</button><input class="scrub" type="range" min="0" max="1000" value="0" step="1" aria-label="scrub"><span class="tlabel">0/16</span></div></div></div></div><div class="pane" data-split="train"><div class="cgrid"><div class="scard"><div class="scard-h">sample 000</div><figure class="vid"><video src="media/vo_causal/train/sample_000/view.mp4" muted playsinline preload="auto" data-lead="1"></video><figcaption>middle view <span class="gtp">GT · pred</span></figcaption></figure><div class="ctrl"><button class="pp" aria-label="play/pause">▶</button><input class="scrub" type="range" min="0" max="1000" value="0" step="1" aria-label="scrub"><span class="tlabel">0/16</span></div></div><div class="scard"><div class="scard-h">sample 001</div><figure class="vid"><video src="media/vo_causal/train/sample_001/view.mp4" muted playsinline preload="auto" data-lead="1"></video><figcaption>middle view <span class="gtp">GT · pred</span></figcaption></figure><div class="ctrl"><button class="pp" aria-label="play/pause">▶</button><input class="scrub" type="range" min="0" max="1000" value="0" step="1" aria-label="scrub"><span class="tlabel">0/16</span></div></div><div class="scard"><div class="scard-h">sample 002</div><figure class="vid"><video src="media/vo_causal/train/sample_002/view.mp4" muted playsinline preload="auto" data-lead="1"></video><figcaption>middle view <span class="gtp">GT · pred</span></figcaption></figure><div class="ctrl"><button class="pp" aria-label="play/pause">▶</button><input class="scrub" type="range" min="0" max="1000" value="0" step="1" aria-label="scrub"><span class="tlabel">0/16</span></div></div><div class="scard"><div class="scard-h">sample 003</div><figure class="vid"><video src="media/vo_causal/train/sample_003/view.mp4" muted playsinline preload="auto" data-lead="1"></video><figcaption>middle view <span class="gtp">GT · pred</span></figcaption></figure><div class="ctrl"><button class="pp" aria-label="play/pause">▶</button><input class="scrub" type="range" min="0" max="1000" value="0" step="1" aria-label="scrub"><span class="tlabel">0/16</span></div></div></div></div></div></div></div></div>
	</div></section><section class="run xa" id="x-tactile">
	<div class="run-head"><h2>Tactile-only — causal vs noncausal</h2><p>Visual stream removed — isolates the causal backbone's effect on tactile / contact prediction.</p></div>
	<div class="xwrap">
	<div class="xtab"><h3>noncausal vs causal (val)</h3><table class="qt"><thead><tr><th>metric (val)</th><th>noncausal</th><th>causal</th></tr></thead><tbody><tr class="grp"><td colspan="3">Tactile</td></tr><tr><td class="mname">LPIPS · left <span class="arrow">↓</span></td><td class="num ">0.0514</td><td class="num win">0.0499</td></tr><tr><td class="mname">LPIPS · right <span class="arrow">↓</span></td><td class="num win">0.0698</td><td class="num ">0.0713</td></tr><tr><td class="mname">mask IoU (τ8) <span class="arrow">↑</span></td><td class="num win">0.2448</td><td class="num ">0.2183</td></tr><tr><td class="mname">contact MSE <span class="arrow">↓</span></td><td class="num win">38.4460</td><td class="num ">38.8099</td></tr><tr><td class="mname">onset err ms <span class="arrow">↓</span></td><td class="num ">0.0000</td><td class="num win">0.0000</td></tr></tbody></table></div>
	<div class="xvid"><h3>Rollouts — noncausal \| causal</h3><div class="qual"><div class="seg"><button class="seg-b active" data-t="val">Val set</button><button class="seg-b" data-t="train">Train set</button></div><div class="xgal"><div class="xcol"><div class="xcol-h">noncausal · val_loss 0.1084</div><div class="pane show" data-split="val"><div class="cgrid"><div class="scard"><div class="scard-h">sample 000</div><figure class="vid"><video src="media/to_noncausal/val/sample_000/tl.mp4" muted playsinline preload="auto"></video><figcaption>tactile · left <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/to_noncausal/val/sample_000/tr.mp4" muted playsinline preload="auto"></video><figcaption>tactile · right <span class="gtp">GT · pred</span></figcaption></figure><div class="ctrl"><button class="pp" aria-label="play/pause">▶</button><input class="scrub" type="range" min="0" max="1000" value="0" step="1" aria-label="scrub"><span class="tlabel">0/16</span></div></div><div class="scard"><div class="scard-h">sample 001</div><figure class="vid"><video src="media/to_noncausal/val/sample_001/tl.mp4" muted playsinline preload="auto"></video><figcaption>tactile · left <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/to_noncausal/val/sample_001/tr.mp4" muted playsinline preload="auto"></video><figcaption>tactile · right <span class="gtp">GT · pred</span></figcaption></figure><div class="ctrl"><button class="pp" aria-label="play/pause">▶</button><input class="scrub" type="range" min="0" max="1000" value="0" step="1" aria-label="scrub"><span class="tlabel">0/16</span></div></div><div class="scard"><div class="scard-h">sample 002</div><figure class="vid"><video src="media/to_noncausal/val/sample_002/tl.mp4" muted playsinline preload="auto"></video><figcaption>tactile · left <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/to_noncausal/val/sample_002/tr.mp4" muted playsinline preload="auto"></video><figcaption>tactile · right <span class="gtp">GT · pred</span></figcaption></figure><div class="ctrl"><button class="pp" aria-label="play/pause">▶</button><input class="scrub" type="range" min="0" max="1000" value="0" step="1" aria-label="scrub"><span class="tlabel">0/16</span></div></div><div class="scard"><div class="scard-h">sample 003</div><figure class="vid"><video src="media/to_noncausal/val/sample_003/tl.mp4" muted playsinline preload="auto"></video><figcaption>tactile · left <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/to_noncausal/val/sample_003/tr.mp4" muted playsinline preload="auto"></video><figcaption>tactile · right <span class="gtp">GT · pred</span></figcaption></figure><div class="ctrl"><button class="pp" aria-label="play/pause">▶</button><input class="scrub" type="range" min="0" max="1000" value="0" step="1" aria-label="scrub"><span class="tlabel">0/16</span></div></div></div></div><div class="pane" data-split="train"><div class="cgrid"><div class="scard"><div class="scard-h">sample 000</div><figure class="vid"><video src="media/to_noncausal/train/sample_000/tl.mp4" muted playsinline preload="auto"></video><figcaption>tactile · left <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/to_noncausal/train/sample_000/tr.mp4" muted playsinline preload="auto"></video><figcaption>tactile · right <span class="gtp">GT · pred</span></figcaption></figure><div class="ctrl"><button class="pp" aria-label="play/pause">▶</button><input class="scrub" type="range" min="0" max="1000" value="0" step="1" aria-label="scrub"><span class="tlabel">0/16</span></div></div><div class="scard"><div class="scard-h">sample 001</div><figure class="vid"><video src="media/to_noncausal/train/sample_001/tl.mp4" muted playsinline preload="auto"></video><figcaption>tactile · left <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/to_noncausal/train/sample_001/tr.mp4" muted playsinline preload="auto"></video><figcaption>tactile · right <span class="gtp">GT · pred</span></figcaption></figure><div class="ctrl"><button class="pp" aria-label="play/pause">▶</button><input class="scrub" type="range" min="0" max="1000" value="0" step="1" aria-label="scrub"><span class="tlabel">0/16</span></div></div><div class="scard"><div class="scard-h">sample 002</div><figure class="vid"><video src="media/to_noncausal/train/sample_002/tl.mp4" muted playsinline preload="auto"></video><figcaption>tactile · left <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/to_noncausal/train/sample_002/tr.mp4" muted playsinline preload="auto"></video><figcaption>tactile · right <span class="gtp">GT · pred</span></figcaption></figure><div class="ctrl"><button class="pp" aria-label="play/pause">▶</button><input class="scrub" type="range" min="0" max="1000" value="0" step="1" aria-label="scrub"><span class="tlabel">0/16</span></div></div><div class="scard"><div class="scard-h">sample 003</div><figure class="vid"><video src="media/to_noncausal/train/sample_003/tl.mp4" muted playsinline preload="auto"></video><figcaption>tactile · left <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/to_noncausal/train/sample_003/tr.mp4" muted playsinline preload="auto"></video><figcaption>tactile · right <span class="gtp">GT · pred</span></figcaption></figure><div class="ctrl"><button class="pp" aria-label="play/pause">▶</button><input class="scrub" type="range" min="0" max="1000" value="0" step="1" aria-label="scrub"><span class="tlabel">0/16</span></div></div></div></div></div><div class="xcol"><div class="xcol-h">causal · val_loss 0.1208</div><div class="pane show" data-split="val"><div class="cgrid"><div class="scard"><div class="scard-h">sample 000</div><figure class="vid"><video src="media/to_causal/val/sample_000/tl.mp4" muted playsinline preload="auto"></video><figcaption>tactile · left <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/to_causal/val/sample_000/tr.mp4" muted playsinline preload="auto"></video><figcaption>tactile · right <span class="gtp">GT · pred</span></figcaption></figure><div class="ctrl"><button class="pp" aria-label="play/pause">▶</button><input class="scrub" type="range" min="0" max="1000" value="0" step="1" aria-label="scrub"><span class="tlabel">0/16</span></div></div><div class="scard"><div class="scard-h">sample 001</div><figure class="vid"><video src="media/to_causal/val/sample_001/tl.mp4" muted playsinline preload="auto"></video><figcaption>tactile · left <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/to_causal/val/sample_001/tr.mp4" muted playsinline preload="auto"></video><figcaption>tactile · right <span class="gtp">GT · pred</span></figcaption></figure><div class="ctrl"><button class="pp" aria-label="play/pause">▶</button><input class="scrub" type="range" min="0" max="1000" value="0" step="1" aria-label="scrub"><span class="tlabel">0/16</span></div></div><div class="scard"><div class="scard-h">sample 002</div><figure class="vid"><video src="media/to_causal/val/sample_002/tl.mp4" muted playsinline preload="auto"></video><figcaption>tactile · left <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/to_causal/val/sample_002/tr.mp4" muted playsinline preload="auto"></video><figcaption>tactile · right <span class="gtp">GT · pred</span></figcaption></figure><div class="ctrl"><button class="pp" aria-label="play/pause">▶</button><input class="scrub" type="range" min="0" max="1000" value="0" step="1" aria-label="scrub"><span class="tlabel">0/16</span></div></div><div class="scard"><div class="scard-h">sample 003</div><figure class="vid"><video src="media/to_causal/val/sample_003/tl.mp4" muted playsinline preload="auto"></video><figcaption>tactile · left <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/to_causal/val/sample_003/tr.mp4" muted playsinline preload="auto"></video><figcaption>tactile · right <span class="gtp">GT · pred</span></figcaption></figure><div class="ctrl"><button class="pp" aria-label="play/pause">▶</button><input class="scrub" type="range" min="0" max="1000" value="0" step="1" aria-label="scrub"><span class="tlabel">0/16</span></div></div></div></div><div class="pane" data-split="train"><div class="cgrid"><div class="scard"><div class="scard-h">sample 000</div><figure class="vid"><video src="media/to_causal/train/sample_000/tl.mp4" muted playsinline preload="auto"></video><figcaption>tactile · left <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/to_causal/train/sample_000/tr.mp4" muted playsinline preload="auto"></video><figcaption>tactile · right <span class="gtp">GT · pred</span></figcaption></figure><div class="ctrl"><button class="pp" aria-label="play/pause">▶</button><input class="scrub" type="range" min="0" max="1000" value="0" step="1" aria-label="scrub"><span class="tlabel">0/16</span></div></div><div class="scard"><div class="scard-h">sample 001</div><figure class="vid"><video src="media/to_causal/train/sample_001/tl.mp4" muted playsinline preload="auto"></video><figcaption>tactile · left <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/to_causal/train/sample_001/tr.mp4" muted playsinline preload="auto"></video><figcaption>tactile · right <span class="gtp">GT · pred</span></figcaption></figure><div class="ctrl"><button class="pp" aria-label="play/pause">▶</button><input class="scrub" type="range" min="0" max="1000" value="0" step="1" aria-label="scrub"><span class="tlabel">0/16</span></div></div><div class="scard"><div class="scard-h">sample 002</div><figure class="vid"><video src="media/to_causal/train/sample_002/tl.mp4" muted playsinline preload="auto"></video><figcaption>tactile · left <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/to_causal/train/sample_002/tr.mp4" muted playsinline preload="auto"></video><figcaption>tactile · right <span class="gtp">GT · pred</span></figcaption></figure><div class="ctrl"><button class="pp" aria-label="play/pause">▶</button><input class="scrub" type="range" min="0" max="1000" value="0" step="1" aria-label="scrub"><span class="tlabel">0/16</span></div></div><div class="scard"><div class="scard-h">sample 003</div><figure class="vid"><video src="media/to_causal/train/sample_003/tl.mp4" muted playsinline preload="auto"></video><figcaption>tactile · left <span class="gtp">GT · pred</span></figcaption></figure><figure class="vid"><video src="media/to_causal/train/sample_003/tr.mp4" muted playsinline preload="auto"></video><figcaption>tactile · right <span class="gtp">GT · pred</span></figcaption></figure><div class="ctrl"><button class="pp" aria-label="play/pause">▶</button><input class="scrub" type="range" min="0" max="1000" value="0" step="1" aria-label="scrub"><span class="tlabel">0/16</span></div></div></div></div></div></div></div></div>
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