React, motherboard episode 000 — the three strongest contacts.
Difference image, depth, surface.SimTactileMNIST: exact mesh ground truth beside both
reconstructions. The only dataset here with per-pixel depth
truth.Marker gel: the dots occlude the surface, so the depth path
inpaints them. The force path does not — it costs ρ 0.775 → 0.737 pooled while
every group ties or improves.
