Add 0510 ep003 tactile_right, 0511 ep003 tactile_left/right (contact-picked windows)

.gitattributes

@@ -48,3 +48,24 @@ mb_original.mp4 filter=lfs diff=lfs merge=lfs -text
 mb_recon_base.mp4 filter=lfs diff=lfs merge=lfs -text
 mb_recon_flow.mp4 filter=lfs diff=lfs merge=lfs -text
 mb_recon_fps6.mp4 filter=lfs diff=lfs merge=lfs -text
+e3r_diff_base.mp4 filter=lfs diff=lfs merge=lfs -text
+e3r_diff_flow.mp4 filter=lfs diff=lfs merge=lfs -text
+e3r_diff_fps6.mp4 filter=lfs diff=lfs merge=lfs -text
+e3r_original.mp4 filter=lfs diff=lfs merge=lfs -text
+e3r_recon_base.mp4 filter=lfs diff=lfs merge=lfs -text
+e3r_recon_flow.mp4 filter=lfs diff=lfs merge=lfs -text
+e3r_recon_fps6.mp4 filter=lfs diff=lfs merge=lfs -text
+l11_diff_base.mp4 filter=lfs diff=lfs merge=lfs -text
+l11_diff_flow.mp4 filter=lfs diff=lfs merge=lfs -text
+l11_diff_fps6.mp4 filter=lfs diff=lfs merge=lfs -text
+l11_original.mp4 filter=lfs diff=lfs merge=lfs -text
+l11_recon_base.mp4 filter=lfs diff=lfs merge=lfs -text
+l11_recon_flow.mp4 filter=lfs diff=lfs merge=lfs -text
+l11_recon_fps6.mp4 filter=lfs diff=lfs merge=lfs -text
+r11_diff_base.mp4 filter=lfs diff=lfs merge=lfs -text
+r11_diff_flow.mp4 filter=lfs diff=lfs merge=lfs -text
+r11_diff_fps6.mp4 filter=lfs diff=lfs merge=lfs -text
+r11_original.mp4 filter=lfs diff=lfs merge=lfs -text
+r11_recon_base.mp4 filter=lfs diff=lfs merge=lfs -text
+r11_recon_flow.mp4 filter=lfs diff=lfs merge=lfs -text
+r11_recon_fps6.mp4 filter=lfs diff=lfs merge=lfs -text

README.md

@@ -31,8 +31,18 @@ Caveat in the other direction: one training run per arm (seed 0), so a 0.28 dB g
 
 ## Clips
 
-- **CutTofu · tactile_left** (`*`) — 77 frames @ 256×256, 6fps
-- **motherboard ep000 · tactile_right** (`mb_*`) — 117 frames @ 256×256, 6fps, first 20s — no `*_flow.npz` sibling, so whole-frame PSNR only
+- **CutTofu · tactile_left** (`no prefix`) — 77 frames @ 256×256, 6fps, whole clip
+- **0510 ep000 · tactile_right** (`mb_`) — 117 frames @ 256×256, 6fps, first 20s — no `*_flow.npz` sibling, so whole-frame PSNR only
+- **0510 ep003 · tactile_right** (`e3r_`) — 117 frames @ 256×256, 6fps, first 20s — no `*_flow.npz` sibling, so whole-frame PSNR only
+- **0511 ep003 · tactile_left** (`l11_`) — 117 frames @ 256×256, 6fps, first 20s — no `*_flow.npz` sibling, so whole-frame PSNR only
+- **0511 ep003 · tactile_right** (`r11_`) — 117 frames @ 256×256, 6fps, 210–230s — no `*_flow.npz` sibling, so whole-frame PSNR only
+
+Windows were picked to contain actual contact. The `motherboard_*` episodes are mostly a
+static, defocused, no-contact gel view: a blank window still reconstructs at ~46 dB while
+showing nothing, because there is no texture to lose. `0511_episode_003/tactile_right` is
+blank for its first 20s, so it uses 210–230s, where the sensor is pressed against an
+object. The clips with the most texture (CutTofu, and `0511 ep003 tactile_left`) have the
+*lowest* base PSNR and gain the most from the LoRA — that is the signal to read.
 
 Per clip: `original.mp4`, `recon_{base,fps6,flow}.mp4`, `diff_{base,fps6,flow}.mp4`
 (|original − recon| amplified, hot colormap), `motion_weight.mp4` (the m̂ map, where flow

e3r_diff_base.mp4

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+version https://git-lfs.github.com/spec/v1
+oid sha256:6e45b645e6186332fa953e8622a632bf97120b026d3e93d2db6737390e2ae4c2
+size 3689078

e3r_diff_flow.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c51f1344c68dbd1200086d6f6e00f71519792854205c3eab83aeadae3fa6e25f
+size 3472036

e3r_diff_fps6.mp4

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+version https://git-lfs.github.com/spec/v1
+oid sha256:29ae62fe8e30b47ab311b7db56c6bdbd7d745347a507f43d0c536af47a21b95a
+size 3481883

e3r_metrics.json

@@ -0,0 +1,43 @@
+{
+  "input": "/group2/ct/weihanx/world_model/mode1_v2_videos/motherboard_0510_episode_003/tactile_right.mp4",
+  "n_native_frames": 600,
+  "stride": 5,
+  "seconds": 20.0,
+  "start": null,
+  "num_frames": 117,
+  "fps": 6.0,
+  "src_fps": 30.0,
+  "height": 256,
+  "width": 256,
+  "diff_amp": 20.0,
+  "flow_floor": 1.5,
+  "hi": 0.5,
+  "lo": 0.1,
+  "moving_pixel_frac": null,
+  "arms": [
+    {
+      "name": "base",
+      "adapter": null,
+      "step": null,
+      "mse": 2.884106470446568e-05,
+      "psnr": 45.399887111253115,
+      "split": null
+    },
+    {
+      "name": "fps6",
+      "adapter": "./lora_out_fps6/lora_last.pt",
+      "step": 4000,
+      "mse": 2.6011546651716344e-05,
+      "psnr": 45.8483382380045,
+      "split": null
+    },
+    {
+      "name": "flow",
+      "adapter": "./lora_out_flow/lora_last.pt",
+      "step": 4000,
+      "mse": 2.591218435554765e-05,
+      "psnr": 45.864959751432856,
+      "split": null
+    }
+  ]
+}

e3r_original.mp4

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+oid sha256:bc4c2b0f5aa6279fafcf137b3f111b1e0fd956921e72b29965787bf90ddce9f1
+size 254208

e3r_recon_base.mp4

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+version https://git-lfs.github.com/spec/v1
+oid sha256:6e494376c7851c02c5f9eb72c296891d6bc528593cc6b0fe46d59cf74325b30e
+size 203087

e3r_recon_flow.mp4

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+version https://git-lfs.github.com/spec/v1
+oid sha256:b619caef804b2c5fc5ea9dbd9a13c093f7b136d7a230d2014f1cfff7f18da2bf
+size 183873

e3r_recon_fps6.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea05b371e6a836e6dd18ef684c4397a601d9119e80bffc173f4bc9bfdd63cc10
+size 183010

index.html

@@ -73,7 +73,7 @@
   </header>
 
   <div class="bar">
-    <div class="tabs"><button class="tab active" data-clip="clip0">CutTofu · tactile_left</button><button class="tab" data-clip="clip1">motherboard ep000 · tactile_right</button></div>
+    <div class="tabs"><button class="tab active" data-clip="clip0">CutTofu · tactile_left</button><button class="tab" data-clip="clip1">0510 ep000 · tactile_right</button><button class="tab" data-clip="clip2">0510 ep003 · tactile_right</button><button class="tab" data-clip="clip3">0511 ep003 · tactile_left</button><button class="tab" data-clip="clip4">0511 ep003 · tactile_right</button></div>
     <div class="spacer"></div>
     <button class="action" id="toggle">⏯ Play / pause visible</button>
   </div>
@@ -126,6 +126,72 @@
     these adapters is on the CutTofu tab and, at population scale, in the val table below.</p>
   </section>
   </div>
+  <div class="clip" id="clip2">
+    <div class="meta">
+      Source: <code>tactile_right.mp4</code> ·
+      Clip: <code>117 frames · 256×256 · 6fps · first 20s (stride 5 from 600 native
+      @ 30fps)</code> ·
+      Adapters: <code>lora_last.pt · r32 α32 targets=all · step 4000</code>
+    </div>
+    <section>
+      <h2>Reconstruction</h2>
+      <div class="grid"><div class="card"><div class="head"><span class="name">original</span><span class="desc">resized + subsampled input</span></div><video src="e3r_original.mp4" muted loop playsinline controls preload="metadata"></video><div class="metric">reference · 117 frames @ 256×256</div></div><div class="card"><div class="head"><span class="name">base Wan2.2</span><span class="desc">frozen VAE, no adapter</span></div><video src="e3r_recon_base.mp4" muted loop playsinline controls preload="metadata"></video><div class="metric">PSNR <b>45.40 dB</b> · MSE <b>2.88e-05</b></div></div><div class="card"><div class="head"><span class="name">control · flow_weight 0</span><span class="desc">6fps, edge+LPIPS only</span></div><video src="e3r_recon_fps6.mp4" muted loop playsinline controls preload="metadata"></video><div class="metric">PSNR <b>45.85 dB</b> · MSE <b>2.60e-05</b> · <span class="delta up">+0.45 dB vs base</span></div></div><div class="card"><div class="head"><span class="name">treatment · flow_weight 1</span><span class="desc">6fps, L1 weighted by motion</span></div><video src="e3r_recon_flow.mp4" muted loop playsinline controls preload="metadata"></video><div class="metric">PSNR <b>45.86 dB</b> · MSE <b>2.59e-05</b> · <span class="delta up">+0.47 dB vs base</span></div></div></div>
+    </section>
+    <section>
+      <h2>Error maps</h2>
+      <div class="grid"><div class="card"><div class="head"><span class="name">diff ×20</span><span class="desc">|original − base Wan2.2|</span></div><video src="e3r_diff_base.mp4" muted loop playsinline controls preload="metadata"></video><div class="metric">brighter = larger error</div></div><div class="card"><div class="head"><span class="name">diff ×20</span><span class="desc">|original − control · flow_weight 0|</span></div><video src="e3r_diff_fps6.mp4" muted loop playsinline controls preload="metadata"></video><div class="metric">brighter = larger error</div></div><div class="card"><div class="head"><span class="name">diff ×20</span><span class="desc">|original − treatment · flow_weight 1|</span></div><video src="e3r_diff_flow.mp4" muted loop playsinline controls preload="metadata"></video><div class="metric">brighter = larger error</div></div></div>
+    </section>
+  <section>
+    <h2>PSNR split by motion · this clip</h2>
+    <p class="note">No <code>*_flow.npz</code> exists beside this clip, so there is no
+    motion map to split on — only whole-frame PSNR is available here. The motion split for
+    these adapters is on the CutTofu tab and, at population scale, in the val table below.</p>
+  </section>
+  </div>
+  <div class="clip" id="clip3">
+    <div class="meta">
+      Source: <code>tactile_left.mp4</code> ·
+      Clip: <code>117 frames · 256×256 · 6fps · first 20s (stride 5 from 600 native
+      @ 30fps)</code> ·
+      Adapters: <code>lora_last.pt · r32 α32 targets=all · step 4000</code>
+    </div>
+    <section>
+      <h2>Reconstruction</h2>
+      <div class="grid"><div class="card"><div class="head"><span class="name">original</span><span class="desc">resized + subsampled input</span></div><video src="l11_original.mp4" muted loop playsinline controls preload="metadata"></video><div class="metric">reference · 117 frames @ 256×256</div></div><div class="card"><div class="head"><span class="name">base Wan2.2</span><span class="desc">frozen VAE, no adapter</span></div><video src="l11_recon_base.mp4" muted loop playsinline controls preload="metadata"></video><div class="metric">PSNR <b>42.83 dB</b> · MSE <b>5.21e-05</b></div></div><div class="card"><div class="head"><span class="name">control · flow_weight 0</span><span class="desc">6fps, edge+LPIPS only</span></div><video src="l11_recon_fps6.mp4" muted loop playsinline controls preload="metadata"></video><div class="metric">PSNR <b>43.55 dB</b> · MSE <b>4.41e-05</b> · <span class="delta up">+0.73 dB vs base</span></div></div><div class="card"><div class="head"><span class="name">treatment · flow_weight 1</span><span class="desc">6fps, L1 weighted by motion</span></div><video src="l11_recon_flow.mp4" muted loop playsinline controls preload="metadata"></video><div class="metric">PSNR <b>43.59 dB</b> · MSE <b>4.37e-05</b> · <span class="delta up">+0.77 dB vs base</span></div></div></div>
+    </section>
+    <section>
+      <h2>Error maps</h2>
+      <div class="grid"><div class="card"><div class="head"><span class="name">diff ×20</span><span class="desc">|original − base Wan2.2|</span></div><video src="l11_diff_base.mp4" muted loop playsinline controls preload="metadata"></video><div class="metric">brighter = larger error</div></div><div class="card"><div class="head"><span class="name">diff ×20</span><span class="desc">|original − control · flow_weight 0|</span></div><video src="l11_diff_fps6.mp4" muted loop playsinline controls preload="metadata"></video><div class="metric">brighter = larger error</div></div><div class="card"><div class="head"><span class="name">diff ×20</span><span class="desc">|original − treatment · flow_weight 1|</span></div><video src="l11_diff_flow.mp4" muted loop playsinline controls preload="metadata"></video><div class="metric">brighter = larger error</div></div></div>
+    </section>
+  <section>
+    <h2>PSNR split by motion · this clip</h2>
+    <p class="note">No <code>*_flow.npz</code> exists beside this clip, so there is no
+    motion map to split on — only whole-frame PSNR is available here. The motion split for
+    these adapters is on the CutTofu tab and, at population scale, in the val table below.</p>
+  </section>
+  </div>
+  <div class="clip" id="clip4">
+    <div class="meta">
+      Source: <code>tactile_right.mp4</code> ·
+      Clip: <code>117 frames · 256×256 · 6fps · 210–230s (stride 5 from 600 native
+      @ 30fps)</code> ·
+      Adapters: <code>lora_last.pt · r32 α32 targets=all · step 4000</code>
+    </div>
+    <section>
+      <h2>Reconstruction</h2>
+      <div class="grid"><div class="card"><div class="head"><span class="name">original</span><span class="desc">resized + subsampled input</span></div><video src="r11_original.mp4" muted loop playsinline controls preload="metadata"></video><div class="metric">reference · 117 frames @ 256×256</div></div><div class="card"><div class="head"><span class="name">base Wan2.2</span><span class="desc">frozen VAE, no adapter</span></div><video src="r11_recon_base.mp4" muted loop playsinline controls preload="metadata"></video><div class="metric">PSNR <b>43.27 dB</b> · MSE <b>4.71e-05</b></div></div><div class="card"><div class="head"><span class="name">control · flow_weight 0</span><span class="desc">6fps, edge+LPIPS only</span></div><video src="r11_recon_fps6.mp4" muted loop playsinline controls preload="metadata"></video><div class="metric">PSNR <b>43.38 dB</b> · MSE <b>4.59e-05</b> · <span class="delta up">+0.12 dB vs base</span></div></div><div class="card"><div class="head"><span class="name">treatment · flow_weight 1</span><span class="desc">6fps, L1 weighted by motion</span></div><video src="r11_recon_flow.mp4" muted loop playsinline controls preload="metadata"></video><div class="metric">PSNR <b>43.39 dB</b> · MSE <b>4.58e-05</b> · <span class="delta up">+0.13 dB vs base</span></div></div></div>
+    </section>
+    <section>
+      <h2>Error maps</h2>
+      <div class="grid"><div class="card"><div class="head"><span class="name">diff ×20</span><span class="desc">|original − base Wan2.2|</span></div><video src="r11_diff_base.mp4" muted loop playsinline controls preload="metadata"></video><div class="metric">brighter = larger error</div></div><div class="card"><div class="head"><span class="name">diff ×20</span><span class="desc">|original − control · flow_weight 0|</span></div><video src="r11_diff_fps6.mp4" muted loop playsinline controls preload="metadata"></video><div class="metric">brighter = larger error</div></div><div class="card"><div class="head"><span class="name">diff ×20</span><span class="desc">|original − treatment · flow_weight 1|</span></div><video src="r11_diff_flow.mp4" muted loop playsinline controls preload="metadata"></video><div class="metric">brighter = larger error</div></div></div>
+    </section>
+  <section>
+    <h2>PSNR split by motion · this clip</h2>
+    <p class="note">No <code>*_flow.npz</code> exists beside this clip, so there is no
+    motion map to split on — only whole-frame PSNR is available here. The motion split for
+    these adapters is on the CutTofu tab and, at population scale, in the val table below.</p>
+  </section>
+  </div>
 
   <section>
     <h2>Val set · 32 held-out clips · the population read</h2>

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l11_metrics.json

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+{
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+  "n_native_frames": 600,
+  "stride": 5,
+  "seconds": 20.0,
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+  "num_frames": 117,
+  "fps": 6.0,
+  "src_fps": 30.0,
+  "height": 256,
+  "width": 256,
+  "diff_amp": 20.0,
+  "flow_floor": 1.5,
+  "hi": 0.5,
+  "lo": 0.1,
+  "moving_pixel_frac": null,
+  "arms": [
+    {
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+      "adapter": null,
+      "step": null,
+      "mse": 5.213857002672739e-05,
+      "psnr": 42.82840884138495,
+      "split": null
+    },
+    {
+      "name": "fps6",
+      "adapter": "./lora_out_fps6/lora_last.pt",
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+      "mse": 4.410687324707396e-05,
+      "psnr": 43.554937284304586,
+      "split": null
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+    {
+      "name": "flow",
+      "adapter": "./lora_out_flow/lora_last.pt",
+      "step": 4000,
+      "mse": 4.370337046566419e-05,
+      "psnr": 43.59485068334068,
+      "split": null
+    }
+  ]
+}

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r11_metrics.json

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+{
+  "input": "/group2/ct/weihanx/world_model/mode1_v2_videos/motherboard_0511_episode_003/tactile_right.mp4",
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+  "stride": 5,
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+  "fps": 6.0,
+  "src_fps": 30.0,
+  "height": 256,
+  "width": 256,
+  "diff_amp": 20.0,
+  "flow_floor": 1.5,
+  "hi": 0.5,
+  "lo": 0.1,
+  "moving_pixel_frac": null,
+  "arms": [
+    {
+      "name": "base",
+      "adapter": null,
+      "step": null,
+      "mse": 4.712601366918534e-05,
+      "psnr": 43.267392951161455,
+      "split": null
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+    {
+      "name": "fps6",
+      "adapter": "./lora_out_fps6/lora_last.pt",
+      "step": 4000,
+      "mse": 4.5883636630605906e-05,
+      "psnr": 43.38342168233397,
+      "split": null
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+    {
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+      "mse": 4.577119761961512e-05,
+      "psnr": 43.39407723954923,
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+  ]
+}

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