Texture gate met: gradient-domain loss 0.72->0.84 (pin dots recovered) + English training-paradigm cards

Texture fidelity: VAE ceiling (86%) + scheduled-sampling results (0.66->0.72, chip structure recovered)

Best-of-N seed selection: short-horizon texture rescue + honest long-horizon null

Add Stage-1 qualitative figure: action vs tactile-state contributions to flow prediction

Add pusht_0618_ep001 high-motion window (sample 005) to test-set section

Stage-3 inference on 5 first-frame-contact test-set windows (clips + metrics)

Staged training results: Stage-1 ablation (D wins), Stage-2 frozen-Gphi, Stage-3 joint final model + drift check

Three-experiment comparison (tac18 / vt36 / flow-supervised) + pixel-to-latent bridge figure + staged roadmap

initial commit