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| <title>VTWM tactile-only — 40s long-horizon AR rollout</title> | |
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| <h1>VTWM tactile-only — 40s long-horizon AR rollout</h1> | |
| <p style="color:#555">Diffusion-forcing world model rollouts. Each sample is ~2.7 s (16 raw frames @ 6 fps). | |
| Side-by-side videos show <b>ground truth on the left</b>, <b>model prediction on the right</b>. | |
| First half of each clip = history (GT), second half = autoregressively sampled future. | |
| Click a sample header to expand its videos (default-collapsed to keep the page light).</p> | |
| <div class="tldr"><h3>tactile-only (val=0.0062) — 40s long-horizon AR</h3>Pure tactile prediction: num_views=0, num_tactiles=2. Loss scale ≠ multi-modal baseline; compare against baseline's tactile slice.</div> | |
| <nav class="top"><a href="#cat_Other"><b>Other</b></a></nav> | |
| <h2>Sections</h2> | |
| <h2>Setup comparison</h2><p>Click a run name to jump to its rollout videos. ✓ = feature on, ✗ = off. Lower val_loss is better.</p><table class="setup"><tr><th>run</th><th>fusion</th><th>views</th><th>tactile</th><th>shift16</th><th>delta-ref</th><th>cam-pose</th><th>gate</th><th>val_loss</th></tr><tr><td><a href="#group_13t_tactile_only_val_0.0062"><b>13t_tactile_only_val_0.0062</b></a></td><td>—</td><td>—</td><td>—</td><td>—</td><td>—</td><td>—</td><td>—</td><td>—</td></tr></table> | |
| <h2>Rollout-latent metrics (10 val samples)</h2><p>Latent-space MSE of predicted future vs ground truth. Contact/no-contact split uses tactile latent-to-reference energy (threshold 0.05).</p><table><tr><th>run</th><th>view MSE</th><th>TL MSE</th><th>TR MSE</th><th>tactile contact MSE</th><th>tactile no-contact MSE</th></tr><tr><td><b>13t_tactile_only_val_0.0062</b></td><td>n/a</td><td>1.979452</td><td>2.168195</td><td>2.061119</td><td>2.059416</td></tr></table> | |
| <h2 id="cat_Other" class="cat-header">Other</h2> | |
| <h3 id="group_13t_tactile_only_val_0.0062">13t_tactile_only_val_0.0062</h3> | |
| <div class="samples"> | |
| <details id="13t_tactile_only_val_0.0062_sample_000" class="sample"><summary><b>sample_000</b> <span style="color:#888;font-size:12px">(click to expand videos)</span></summary><div class="panel"><a href="13t_tactile_only_val_0.0062/sample_000/panel.png" target="_blank"><img loading="lazy" src="13t_tactile_only_val_0.0062/sample_000/panel.png" style="max-width:100%;max-height:240px;border:1px solid #ccc" alt="panel for 13t_tactile_only_val_0.0062/sample_000"/></a></div><div class="grid"><figure><figcaption>tactile_left — GT | rollout</figcaption><video src="13t_tactile_only_val_0.0062/sample_000/tl_gt_vs_rollout.mp4" loop muted playsinline controls preload="none" width="384"></video></figure><figure><figcaption>tactile_right — GT | rollout</figcaption><video src="13t_tactile_only_val_0.0062/sample_000/tr_gt_vs_rollout.mp4" loop muted playsinline controls preload="none" width="384"></video></figure></div></details> | |
| <details id="13t_tactile_only_val_0.0062_sample_001" class="sample"><summary><b>sample_001</b> <span style="color:#888;font-size:12px">(click to expand videos)</span></summary><div class="panel"><a href="13t_tactile_only_val_0.0062/sample_001/panel.png" target="_blank"><img loading="lazy" src="13t_tactile_only_val_0.0062/sample_001/panel.png" style="max-width:100%;max-height:240px;border:1px solid #ccc" alt="panel for 13t_tactile_only_val_0.0062/sample_001"/></a></div><div class="grid"><figure><figcaption>tactile_left — GT | rollout</figcaption><video src="13t_tactile_only_val_0.0062/sample_001/tl_gt_vs_rollout.mp4" loop muted playsinline controls preload="none" width="384"></video></figure><figure><figcaption>tactile_right — GT | rollout</figcaption><video src="13t_tactile_only_val_0.0062/sample_001/tr_gt_vs_rollout.mp4" loop muted playsinline controls preload="none" width="384"></video></figure></div></details> | |
| <details id="13t_tactile_only_val_0.0062_sample_002" class="sample"><summary><b>sample_002</b> <span style="color:#888;font-size:12px">(click to expand videos)</span></summary><div class="panel"><a href="13t_tactile_only_val_0.0062/sample_002/panel.png" target="_blank"><img loading="lazy" src="13t_tactile_only_val_0.0062/sample_002/panel.png" style="max-width:100%;max-height:240px;border:1px solid #ccc" alt="panel for 13t_tactile_only_val_0.0062/sample_002"/></a></div><div class="grid"><figure><figcaption>tactile_left — GT | rollout</figcaption><video src="13t_tactile_only_val_0.0062/sample_002/tl_gt_vs_rollout.mp4" loop muted playsinline controls preload="none" width="384"></video></figure><figure><figcaption>tactile_right — GT | rollout</figcaption><video src="13t_tactile_only_val_0.0062/sample_002/tr_gt_vs_rollout.mp4" loop muted playsinline controls preload="none" width="384"></video></figure></div></details> | |
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