Cosmos3-Nano world model: short-horizon evals

React motherboard · nano_lora_mb_v1 vs nano_lora_mixed_v2 (e0, e1) and a vm_diffusion MoT (epoch 5) · short horizon only; the long-horizon runs were stopped

What this page shows. Every short-horizon evaluation of the Cosmos3-Nano world model run nano_lora_mb_v1, in two views. The contact tabs use epoch 4 on 25 random windows per contact class. The per epoch tabs compare checkpoints on a fixed set of 32 windows. Each window gives the model 8 context frames of all five image streams plus actions, and it predicts the next 8 frames (0.53 s at 15 fps) and the next 8 actions. Every number sits next to the copy-last floor, which repeats the last context frame for all 8 predicted frames. A model that does not beat the floor is not predicting motion.

Comparison with v2. nano_lora_mixed_v2 checkpoints v2 e0, v2 e1 were run on exactly the same windows. It differs from mb_v1 in more than the checkpoint, so read the gap with these in mind:

Data. v2 trains on 49 mixed motherboard episodes, including 28 without wrist cameras and older May recordings. mb_v1 trains on the 25 September segments only.
Held-out windows. 4 of mb_v1's 25 train episodes are v2 validation or test episodes. Tables mark them and add a v2 trained on block without them. val0909 is held out for both runs.
Training amount. v2 runs 5,091 steps per epoch at global batch 32, so epoch 0 has seen about 163k samples and epoch 1 about 326k. mb_v1 epoch 0 has seen about 84k and epoch 4 about 420k, at global batch 8.
Action heads. v2 initializes its action heads from Nano and normalizes actions by quantiles, so its action errors are not only a training-amount effect.
Coverage. v2 e1 was run on the full, onset and release contact classes only; its none rows are empty. The per-epoch tabs cover all 32 windows for every checkpoint.

Comparison with the MoT world model. MoT e5 is epoch 5 of the vm_diffusion run mot_df_vt_a9dfilm_dforce_isolate_adaln_wrist_mixed_wan5b: a Wan2.2-5B mixture-of-transformers with diffusion forcing, trained on the same mixed split as v2. It was run on the val0909 windows only (the full, onset and release contact classes and the 32 fixed windows). Its predicted latents are decoded and scored with exactly the same VAE, anchor and metric code as every other row, and its inputs were checked to be the same GT latents. It samples with its own 100-step DDIM schedule and the true actions. It does not predict actions, so its action rows are empty.

Contact classes. A frame is in contact when the larger of the two recorded GelSight normal forces exceeds 0.5 N. Each 16-frame window is labelled:

none: no contact in any of the 16 frames
full: in contact for at least 80% of the 16 frames
onset: no contact at the end of the context, contact at the end of the prediction
release: contact at the start of the context, no contact at the end of the prediction

Windows that fit none of these are mixed. The contact tabs skip them; the per-epoch tabs keep them and show the label.

Read the two splits differently.

train is 25 motherboard segments recorded on 2026-09-11 and 09-12. Its gap to the floor is the evidence for whether the model learned the dynamics.
val0909 is 3 episodes recorded on 2026-09-09 with different wrist cameras and a different calibration. The split file lists the same three episodes as val and as test, so there is no separate test column. A previous wrist world model scored below the floor on every stream here, so a gap on this split first reflects the domain shift.

Setup. Cosmos3-Nano generator frozen, LoRA rank 16 on attention and MLP. mb_v1 trained 5 epochs (checkpoints epoch 0 to 4). Sampling uses UniPC with 35 steps and seed 0. Images are decoded with the Wan2.2 VAE, and the tactile streams use its tactile LoRA. PSNR is computed over the 8 predicted frames as one block.

contact · train — 100 windows

25 episodes, 84,107 windows in total. Class sizes before sampling: none 7,603, full 42,149, onset 5,842, release 7,214, mixed 21,299. 25 windows drawn per class with seed 0.

PSNR (dB) on the 8 predicted frames, higher is better

class	model	n	view			wrist L			wrist R			tactile L			tactile R
class	model	n	model	floor	Δ	model	floor	Δ	model	floor	Δ	model	floor	Δ	model	floor	Δ
none all windows	mb_v1 e4	25	26.59	25.76	+0.83	18.15	18.09	+0.06	19.08	18.37	+0.72	49.53	43.26	+6.27	49.13	42.66	+6.48
	v2 e0	25	26.82	25.76	+1.06	18.11	18.09	+0.02	18.98	18.37	+0.62	48.02	43.26	+4.77	48.26	42.66	+5.60
	v2 e1	0	–	25.76	–	–	18.09	–	–	18.37	–	–	43.26	–	–	42.66	–
full all windows	mb_v1 e4	25	24.90	24.30	+0.60	14.49	14.37	+0.13	16.77	16.64	+0.13	35.49	34.03	+1.46	42.10	39.18	+2.92
	v2 e0	25	25.01	24.30	+0.70	14.41	14.37	+0.04	16.64	16.64	-0.01	34.98	34.03	+0.94	41.33	39.18	+2.15
	v2 e1	25	24.80	24.30	+0.50	14.43	14.37	+0.06	16.52	16.64	-0.12	35.16	34.03	+1.13	41.77	39.18	+2.59
onset all windows	mb_v1 e4	25	26.01	26.44	-0.43	15.76	15.77	-0.02	15.66	15.67	-0.01	41.16	38.84	+2.32	45.15	40.26	+4.90
	v2 e0	25	26.44	26.44	+0.00	15.41	15.77	-0.37	15.64	15.67	-0.04	40.09	38.84	+1.24	44.53	40.26	+4.27
	v2 e1	25	26.25	26.44	-0.19	15.68	15.77	-0.09	15.63	15.67	-0.04	40.97	38.84	+2.13	44.86	40.26	+4.60
release all windows	mb_v1 e4	25	24.25	23.97	+0.28	13.90	13.87	+0.04	14.80	14.53	+0.27	43.42	38.57	+4.85	44.78	39.76	+5.02
	v2 e0	25	24.36	23.97	+0.39	13.57	13.87	-0.30	14.80	14.53	+0.27	42.12	38.57	+3.55	43.82	39.76	+4.06
	v2 e1	25	24.27	23.97	+0.30	13.85	13.87	-0.02	14.64	14.53	+0.11	43.11	38.57	+4.54	44.81	39.76	+5.05
none v2 trained on	mb_v1 e4	22	26.75	25.92	+0.83	18.60	18.53	+0.06	19.60	18.77	+0.83	49.63	43.28	+6.35	49.09	42.65	+6.44
	v2 e0	22	27.08	25.92	+1.16	18.57	18.53	+0.03	19.49	18.77	+0.72	48.04	43.28	+4.76	48.19	42.65	+5.54
	v2 e1	0	–	25.92	–	–	18.53	–	–	18.77	–	–	43.28	–	–	42.65	–
full v2 trained on	mb_v1 e4	21	25.30	24.53	+0.77	14.53	14.29	+0.24	17.17	17.22	-0.05	35.52	33.74	+1.78	41.83	39.14	+2.70
	v2 e0	21	25.42	24.53	+0.89	14.40	14.29	+0.12	17.09	17.22	-0.13	34.75	33.74	+1.01	41.07	39.14	+1.94
	v2 e1	21	25.18	24.53	+0.66	14.47	14.29	+0.19	16.91	17.22	-0.31	35.07	33.74	+1.33	41.50	39.14	+2.37
onset v2 trained on	mb_v1 e4	19	26.40	27.00	-0.60	15.95	15.95	-0.00	16.26	16.33	-0.07	40.90	38.54	+2.36	44.84	40.11	+4.73
	v2 e0	19	26.90	27.00	-0.10	15.52	15.95	-0.43	16.27	16.33	-0.07	39.86	38.54	+1.32	44.25	40.11	+4.14
	v2 e1	19	26.73	27.00	-0.27	15.78	15.95	-0.16	16.16	16.33	-0.17	40.84	38.54	+2.30	44.53	40.11	+4.42
release v2 trained on	mb_v1 e4	23	24.25	23.79	+0.45	13.89	13.90	-0.01	14.35	13.94	+0.41	43.90	38.74	+5.16	44.40	39.50	+4.90
	v2 e0	23	24.27	23.79	+0.47	13.57	13.90	-0.33	14.38	13.94	+0.44	42.43	38.74	+3.70	43.45	39.50	+3.95
	v2 e1	23	24.22	23.79	+0.43	13.85	13.90	-0.05	14.28	13.94	+0.34	43.55	38.74	+4.81	44.49	39.50	+4.99

Δ is model minus floor. Green means the model beats repeating the last context frame. The v2 trained on rows drop the 15 windows from the 4 episodes v2 holds out, so both models are compared on windows they were trained on.

SSIM, higher is better

class	model	n	view			wrist L			wrist R			tactile L			tactile R
class	model	n	model	floor	Δ	model	floor	Δ	model	floor	Δ	model	floor	Δ	model	floor	Δ
none	mb_v1 e4	25	0.866	0.825	+0.041	0.598	0.596	+0.002	0.584	0.574	+0.010	0.993	0.988	+0.005	0.993	0.990	+0.003
	v2 e0	25	0.868	0.825	+0.043	0.593	0.596	-0.003	0.583	0.574	+0.009	0.992	0.988	+0.004	0.993	0.990	+0.003
	v2 e1	0	–	0.825	–	–	0.596	–	–	0.574	–	–	0.988	–	–	0.990	–
full	mb_v1 e4	25	0.839	0.790	+0.048	0.419	0.405	+0.014	0.492	0.490	+0.001	0.954	0.951	+0.003	0.982	0.979	+0.002
	v2 e0	25	0.838	0.790	+0.047	0.414	0.405	+0.009	0.486	0.490	-0.005	0.952	0.951	+0.001	0.981	0.979	+0.001
	v2 e1	25	0.836	0.790	+0.046	0.414	0.405	+0.009	0.484	0.490	-0.006	0.953	0.951	+0.003	0.981	0.979	+0.002
onset	mb_v1 e4	25	0.864	0.837	+0.026	0.484	0.480	+0.005	0.460	0.472	-0.012	0.980	0.977	+0.003	0.986	0.983	+0.003
	v2 e0	25	0.869	0.837	+0.032	0.472	0.480	-0.007	0.463	0.472	-0.009	0.978	0.977	+0.001	0.986	0.983	+0.003
	v2 e1	25	0.867	0.837	+0.029	0.481	0.480	+0.002	0.462	0.472	-0.010	0.980	0.977	+0.003	0.986	0.983	+0.003
release	mb_v1 e4	25	0.827	0.788	+0.038	0.424	0.428	-0.004	0.432	0.427	+0.005	0.981	0.974	+0.008	0.985	0.981	+0.004
	v2 e0	25	0.828	0.788	+0.040	0.415	0.428	-0.013	0.427	0.427	+0.001	0.978	0.974	+0.005	0.984	0.981	+0.002
	v2 e1	25	0.828	0.788	+0.040	0.429	0.428	+0.000	0.428	0.427	+0.002	0.981	0.974	+0.008	0.986	0.981	+0.005

LPIPS, lower is better

class	model	n	view			wrist L			wrist R			tactile L			tactile R
class	model	n	model	floor	Δ	model	floor	Δ	model	floor	Δ	model	floor	Δ	model	floor	Δ
none	mb_v1 e4	25	0.064	0.091	-0.027	0.247	0.253	-0.007	0.273	0.294	-0.021	0.005	0.014	-0.008	0.008	0.015	-0.007
	v2 e0	25	0.066	0.091	-0.025	0.248	0.253	-0.006	0.276	0.294	-0.018	0.008	0.014	-0.006	0.009	0.015	-0.007
	v2 e1	0	–	0.091	–	–	0.253	–	–	0.294	–	–	0.014	–	–	0.015	–
full	mb_v1 e4	25	0.066	0.092	-0.027	0.289	0.292	-0.003	0.231	0.246	-0.015	0.073	0.080	-0.007	0.038	0.043	-0.005
	v2 e0	25	0.067	0.092	-0.026	0.290	0.292	-0.002	0.230	0.246	-0.017	0.078	0.080	-0.003	0.037	0.043	-0.006
	v2 e1	25	0.068	0.092	-0.024	0.291	0.292	-0.001	0.234	0.246	-0.012	0.078	0.080	-0.002	0.037	0.043	-0.006
onset	mb_v1 e4	25	0.055	0.071	-0.016	0.284	0.315	-0.031	0.304	0.320	-0.016	0.052	0.057	-0.005	0.045	0.053	-0.008
	v2 e0	25	0.052	0.071	-0.019	0.304	0.315	-0.012	0.300	0.320	-0.020	0.058	0.057	+0.001	0.046	0.053	-0.007
	v2 e1	25	0.053	0.071	-0.018	0.288	0.315	-0.027	0.301	0.320	-0.018	0.053	0.057	-0.004	0.045	0.053	-0.008
release	mb_v1 e4	25	0.084	0.107	-0.023	0.356	0.362	-0.006	0.341	0.374	-0.033	0.034	0.063	-0.029	0.040	0.062	-0.021
	v2 e0	25	0.082	0.107	-0.025	0.373	0.362	+0.011	0.341	0.374	-0.032	0.041	0.063	-0.021	0.045	0.062	-0.017
	v2 e1	25	0.081	0.107	-0.026	0.364	0.362	+0.002	0.347	0.374	-0.027	0.034	0.063	-0.029	0.035	0.062	-0.027

For LPIPS, green means the model is lower than the floor.

Predicted actions (8 future steps), lower is better

class	model	n	left trans (mm)			left rot (°)			right trans (mm)			right rot (°)
class	model	n	model	floor	Δ	model	floor	Δ	model	floor	Δ	model	floor	Δ
none all windows	mb_v1 e4	25	4.67	6.37	-1.70	1.56	1.81	-0.25	5.47	7.36	-1.88	1.55	2.11	-0.56
	v2 e0	25	5.46	6.37	-0.91	1.78	1.81	-0.03	5.53	7.36	-1.82	1.61	2.11	-0.50
	v2 e1	0	–	6.37	–	–	1.81	–	–	7.36	–	–	2.11	–
full all windows	mb_v1 e4	25	3.48	4.62	-1.14	1.38	1.51	-0.13	2.77	4.72	-1.95	0.98	1.38	-0.40
	v2 e0	25	4.21	4.62	-0.40	1.53	1.51	+0.02	3.06	4.72	-1.66	1.07	1.38	-0.31
	v2 e1	25	4.02	4.62	-0.60	1.43	1.51	-0.08	2.95	4.72	-1.76	1.02	1.38	-0.36
onset all windows	mb_v1 e4	25	2.87	6.60	-3.74	1.44	2.37	-0.94	3.73	7.11	-3.38	1.40	2.35	-0.95
	v2 e0	25	4.10	6.60	-2.51	1.87	2.37	-0.50	3.73	7.11	-3.39	1.45	2.35	-0.90
	v2 e1	25	3.46	6.60	-3.14	1.67	2.37	-0.71	3.81	7.11	-3.30	1.42	2.35	-0.93
release all windows	mb_v1 e4	25	6.50	8.68	-2.17	2.17	2.70	-0.53	6.06	9.35	-3.29	1.77	3.02	-1.25
	v2 e0	25	7.70	8.68	-0.97	2.65	2.70	-0.05	6.28	9.35	-3.08	1.94	3.02	-1.08
	v2 e1	25	7.02	8.68	-1.65	2.40	2.70	-0.30	6.26	9.35	-3.09	1.88	3.02	-1.14
none v2 trained on	mb_v1 e4	22	4.30	6.14	-1.84	1.58	1.78	-0.20	5.52	7.58	-2.07	1.51	2.07	-0.56
	v2 e0	22	5.16	6.14	-0.99	1.78	1.78	-0.00	5.61	7.58	-1.98	1.58	2.07	-0.49
	v2 e1	0	–	6.14	–	–	1.78	–	–	7.58	–	–	2.07	–
full v2 trained on	mb_v1 e4	21	3.26	4.59	-1.33	1.30	1.47	-0.18	2.00	3.06	-1.07	0.79	1.01	-0.22
	v2 e0	21	3.86	4.59	-0.73	1.46	1.47	-0.02	2.20	3.06	-0.86	0.85	1.01	-0.15
	v2 e1	21	3.65	4.59	-0.94	1.37	1.47	-0.11	2.15	3.06	-0.92	0.80	1.01	-0.21
onset v2 trained on	mb_v1 e4	19	2.74	5.72	-2.98	1.42	2.31	-0.89	2.53	5.80	-3.27	1.13	2.09	-0.96
	v2 e0	19	3.76	5.72	-1.96	1.77	2.31	-0.54	2.35	5.80	-3.45	1.14	2.09	-0.95
	v2 e1	19	3.28	5.72	-2.44	1.63	2.31	-0.68	2.36	5.80	-3.44	1.10	2.09	-0.99
release v2 trained on	mb_v1 e4	23	6.66	8.94	-2.28	2.14	2.70	-0.56	6.48	9.98	-3.51	1.90	3.23	-1.33
	v2 e0	23	7.85	8.94	-1.09	2.58	2.70	-0.13	6.69	9.98	-3.30	2.08	3.23	-1.15
	v2 e1	23	7.15	8.94	-1.78	2.36	2.70	-0.35	6.67	9.98	-3.31	2.02	3.23	-1.21

The action floor repeats the last context action for all 8 future steps.

Every window

class	episode	t	v2	view PSNR				wrist L PSNR				wrist R PSNR				tactile L PSNR				tactile R PSNR
class	episode	t	v2	mb_v1 e4	v2 e0	v2 e1	floor	mb_v1 e4	v2 e0	v2 e1	floor	mb_v1 e4	v2 e0	v2 e1	floor	mb_v1 e4	v2 e0	v2 e1	floor	mb_v1 e4	v2 e0	v2 e1	floor
none	motherboard_0911_episode_000	2181		26.6	26.7	–	26.7	18.2	18.0	–	18.2	17.2	17.1	–	17.1	50.6	48.9	–	43.3	47.8	45.1	–	42.1
none	motherboard_0911_episode_000	2835		22.3	21.9	–	22.0	15.4	15.7	–	15.7	17.5	17.1	–	17.1	50.8	48.5	–	43.3	48.9	48.1	–	42.2
none	motherboard_0911_episode_000	3211		24.1	23.8	–	23.3	14.6	11.6	–	10.4	17.1	17.0	–	16.5	48.9	48.1	–	43.5	51.2	49.3	–	43.0
none	motherboard_0911_episode_002_seg00	269	held out	29.5	28.1	–	27.2	18.5	18.3	–	18.9	16.0	16.5	–	16.2	50.9	48.9	–	43.3	49.8	48.9	–	42.8
none	motherboard_0911_episode_003_seg00	2850		25.7	25.6	–	24.8	22.9	20.6	–	21.7	13.2	13.4	–	12.1	50.1	48.6	–	43.2	50.0	49.3	–	43.0
none	motherboard_0911_episode_004_seg00	2843		27.6	28.1	–	26.9	12.7	12.9	–	12.7	13.6	13.4	–	13.1	50.0	48.2	–	43.1	45.4	45.6	–	41.9
none	motherboard_0911_episode_005_seg00	47		34.5	34.3	–	31.5	34.3	34.0	–	31.6	34.4	33.9	–	31.3	50.1	49.2	–	43.4	51.1	49.6	–	43.1
none	motherboard_0911_episode_005_seg05	2945		34.0	34.1	–	31.1	28.9	28.6	–	31.8	34.7	34.6	–	31.1	49.4	48.1	–	43.0	49.5	49.3	–	42.2
none	motherboard_0911_episode_006_seg01	2748		34.8	34.7	–	31.4	35.4	35.5	–	32.5	35.1	35.0	–	31.9	49.4	48.4	–	43.1	51.2	49.7	–	43.0
none	motherboard_0911_episode_007_seg01	2		22.9	23.5	–	23.5	11.5	11.5	–	13.2	18.3	18.0	–	17.9	48.6	39.6	–	43.4	51.1	49.3	–	43.1
none	motherboard_0911_episode_007_seg01	117		23.1	23.6	–	22.7	20.5	24.3	–	22.5	13.0	12.9	–	13.7	49.8	48.2	–	43.1	50.0	49.1	–	43.3
none	motherboard_0911_episode_007_seg02	4535		24.1	22.6	–	22.2	18.1	18.1	–	15.4	17.3	17.2	–	16.6	50.2	48.3	–	43.2	46.7	45.9	–	43.4
none	motherboard_0911_episode_007_seg03	2003		28.5	28.0	–	27.1	19.4	21.1	–	23.0	25.4	25.7	–	25.0	50.5	49.0	–	43.4	43.6	43.8	–	40.6
none	motherboard_0911_episode_007_seg04	104		22.1	22.1	–	22.2	21.8	21.9	–	21.9	11.8	11.8	–	12.3	50.3	49.1	–	43.4	49.1	49.4	–	43.2
none	motherboard_0911_episode_007_seg04	1478		26.1	25.8	–	26.0	16.1	16.3	–	17.2	18.9	18.9	–	18.4	49.2	46.6	–	43.2	47.3	46.8	–	41.5
none	motherboard_0911_episode_007_seg04	1618		23.8	25.1	–	22.7	13.7	13.4	–	10.7	14.2	14.0	–	14.7	50.2	48.3	–	43.2	47.7	47.9	–	42.9
none	motherboard_0912_episode_000_seg00	39		27.9	31.9	–	30.1	21.7	22.3	–	25.9	32.7	33.1	–	31.7	50.5	48.9	–	43.7	50.6	49.2	–	42.9
none	motherboard_0912_episode_000_seg00	318		27.3	27.3	–	26.7	14.6	14.7	–	14.0	17.2	17.4	–	18.0	49.9	48.4	–	43.3	49.7	48.8	–	42.8
none	motherboard_0912_episode_000_seg00	346		29.0	29.1	–	27.4	13.3	12.9	–	12.7	18.3	17.3	–	16.7	48.8	48.2	–	43.3	50.3	49.5	–	42.8
none	motherboard_0912_episode_000_seg00	351		27.3	28.8	–	27.6	14.9	13.7	–	13.8	19.9	20.1	–	19.7	46.5	48.0	–	43.3	50.7	49.5	–	42.9
none	motherboard_0912_episode_000_seg00	2308		24.1	25.9	–	24.3	12.4	12.0	–	13.0	15.9	16.1	–	15.2	47.6	48.7	–	43.2	50.4	48.7	–	43.0
none	motherboard_0912_episode_000_seg00	2804		25.7	25.6	–	24.6	13.6	13.3	–	14.3	11.8	11.5	–	11.2	50.1	48.9	–	43.4	47.1	46.5	–	42.4
none	motherboard_0912_episode_000_seg00	7985		27.0	27.3	–	25.5	15.2	15.9	–	15.5	13.5	12.9	–	11.7	50.2	48.8	–	43.3	50.6	49.7	–	42.9
none	motherboard_0912_episode_003	3765	held out	22.3	22.3	–	22.2	14.6	14.7	–	14.7	14.9	14.7	–	14.7	46.9	46.8	–	42.8	50.7	50.2	–	42.8
none	motherboard_0912_episode_003	3914	held out	24.4	24.4	–	24.5	11.6	11.2	–	10.9	15.0	14.7	–	15.4	48.5	47.9	–	43.1	47.8	47.3	–	42.5
full	motherboard_0911_episode_003_seg00	3642		24.0	26.0	25.7	25.9	14.4	14.4	14.6	14.5	22.7	22.7	22.7	22.8	36.6	37.4	36.6	35.9	51.0	49.5	50.8	42.9
full	motherboard_0911_episode_004_seg00	5071		24.3	24.3	24.1	24.3	17.6	15.0	16.4	17.4	20.0	20.3	20.5	18.9	32.4	31.7	31.2	32.7	47.3	46.1	46.5	41.9
full	motherboard_0911_episode_004_seg01	33		30.5	30.6	30.9	28.1	17.8	17.3	17.7	17.8	19.4	19.3	19.2	18.5	36.9	37.3	37.0	35.6	43.1	42.0	41.4	40.0
full	motherboard_0911_episode_004_seg01	152		26.3	25.4	25.5	24.8	15.0	15.4	16.0	15.0	15.9	15.5	15.5	14.6	31.7	29.7	32.9	33.5	40.1	39.9	39.9	38.6
full	motherboard_0911_episode_005_seg01	735		23.1	23.1	23.1	22.9	13.7	13.7	13.7	13.8	12.8	12.3	12.3	11.4	29.8	29.5	29.6	28.5	46.5	44.9	45.7	39.2
full	motherboard_0911_episode_005_seg01	2206		25.3	26.2	25.3	23.6	11.4	11.6	12.3	12.9	15.3	15.0	15.0	18.5	28.1	28.0	28.1	33.2	38.0	37.9	37.5	39.2
full	motherboard_0911_episode_005_seg02	1704		26.3	24.9	24.3	22.8	16.9	17.1	16.0	16.9	19.5	19.1	18.3	19.6	35.4	33.2	34.2	34.0	41.5	39.8	40.3	40.0
full	motherboard_0911_episode_005_seg02	1807		26.0	25.2	25.5	25.7	15.4	15.4	15.1	15.3	16.9	16.8	17.1	18.2	27.6	29.1	28.9	30.3	38.6	42.7	42.0	39.2
full	motherboard_0911_episode_005_seg05	1291		26.9	28.5	27.8	27.1	15.0	15.8	15.5	14.5	16.3	16.1	16.0	16.4	32.5	31.4	30.2	29.7	33.4	33.6	33.3	33.2
full	motherboard_0911_episode_005_seg05	1904		25.4	25.8	25.7	26.7	17.7	16.6	16.6	16.4	16.3	15.7	15.7	16.8	35.9	36.8	36.4	33.7	38.6	37.9	37.0	37.8
full	motherboard_0911_episode_005_seg05	2063		24.1	24.5	23.7	22.2	14.4	15.5	14.5	13.8	15.8	16.2	16.2	15.0	31.2	31.6	30.6	28.7	44.1	43.4	43.6	40.8
full	motherboard_0911_episode_005_seg05	2459		25.7	26.2	25.9	22.8	15.4	15.5	15.3	12.9	14.6	14.9	15.3	14.1	33.5	30.7	30.2	32.2	46.1	45.4	45.7	41.2
full	motherboard_0911_episode_006_seg00	796		26.4	26.6	26.0	27.1	12.4	12.4	12.0	12.7	16.9	16.8	15.5	18.3	38.0	37.4	38.0	25.6	36.9	36.1	36.9	35.5
full	motherboard_0911_episode_006_seg00	1543		25.7	26.3	25.3	23.4	12.1	11.8	12.3	11.1	19.6	17.3	17.5	18.6	45.4	43.3	44.3	41.9	40.6	36.3	41.5	40.7
full	motherboard_0911_episode_006_seg00	2817		26.4	25.0	24.2	26.9	13.5	11.9	11.8	11.7	14.3	18.2	16.0	20.0	40.7	38.4	36.7	31.2	35.2	32.7	36.1	32.4
full	motherboard_0911_episode_006_seg01	1518		22.5	22.7	23.7	23.5	11.6	11.6	11.7	11.9	15.8	15.6	15.8	15.6	32.5	33.6	32.5	34.4	33.7	34.1	33.4	33.9
full	motherboard_0912_episode_000_seg00	10933		22.9	24.2	23.8	21.5	14.9	14.8	15.0	13.4	18.2	16.8	16.3	14.9	44.7	44.2	45.5	42.4	42.2	42.3	41.8	40.5
full	motherboard_0912_episode_000_seg00	12956		22.7	22.0	21.9	20.7	15.1	15.5	15.6	17.0	17.5	17.2	17.3	18.0	37.1	38.8	38.8	38.7	42.6	42.1	42.2	40.0
full	motherboard_0912_episode_000_seg00	16108		27.7	28.4	28.7	28.4	14.6	15.2	15.4	15.3	17.1	17.2	17.2	16.7	37.3	37.1	36.3	34.7	51.3	49.4	49.3	43.0
full	motherboard_0912_episode_000_seg01	169		25.1	24.8	24.9	24.2	12.0	11.5	12.2	11.4	18.8	19.0	19.1	17.8	45.5	36.9	45.1	38.6	44.7	43.8	43.9	42.0
full	motherboard_0912_episode_000_seg01	1124		23.8	23.0	22.7	22.6	14.4	14.4	14.4	14.6	17.2	16.8	16.7	16.9	33.2	33.6	33.6	33.1	42.9	42.4	42.8	39.8
full	motherboard_0912_episode_002	1975	held out	22.4	23.5	23.5	22.8	15.4	15.3	15.3	15.2	16.2	16.5	16.6	14.8	36.0	37.2	37.8	34.9	45.8	45.8	45.8	42.1
full	motherboard_0912_episode_002	5356	held out	23.8	23.8	23.8	24.3	15.0	14.6	14.5	15.2	11.2	10.1	11.1	10.4	34.3	35.5	34.7	34.8	46.4	45.3	45.7	39.1
full	motherboard_0912_episode_003	506	held out	21.1	20.5	20.8	22.7	14.0	14.7	14.8	15.8	16.7	16.5	16.4	16.0	33.1	33.8	33.6	34.3	36.3	35.0	35.8	35.0
full	motherboard_0912_episode_003	2803	held out	23.9	23.6	23.1	22.7	12.8	13.2	12.2	13.0	14.7	13.9	14.0	13.3	37.9	38.2	36.5	38.2	45.5	44.7	45.4	41.4
onset	motherboard_0911_episode_002_seg00	763	held out	28.4	28.3	28.3	27.8	20.3	21.1	21.3	21.1	15.5	14.9	15.9	16.6	50.2	48.9	49.3	43.4	33.1	33.1	33.1	32.7
onset	motherboard_0911_episode_003_seg00	878		27.2	26.5	26.6	28.6	14.3	12.3	14.9	11.9	18.2	18.2	18.0	19.7	36.0	35.3	36.0	35.4	50.9	49.3	48.7	43.0
onset	motherboard_0911_episode_003_seg00	1020		27.4	27.0	27.0	27.6	15.5	12.5	13.6	14.6	16.8	17.5	17.0	16.8	29.6	29.6	29.5	29.3	50.8	49.4	50.0	43.0
onset	motherboard_0911_episode_003_seg00	3922		27.2	27.2	27.2	26.6	16.7	16.2	16.9	15.2	18.0	18.4	18.3	19.2	38.7	36.6	38.6	38.0	51.1	49.4	49.6	43.1
onset	motherboard_0911_episode_004_seg00	1871		26.5	27.3	26.4	28.6	14.8	14.7	14.9	15.3	16.4	14.9	15.1	14.6	49.9	48.2	48.2	43.3	39.5	40.0	40.0	38.8
onset	motherboard_0911_episode_004_seg00	2514		27.1	26.3	26.8	27.6	15.1	15.3	14.4	16.2	15.8	15.3	16.0	15.0	31.5	31.6	31.6	31.5	34.0	33.9	33.9	33.6
onset	motherboard_0911_episode_007_seg01	203		25.5	28.2	29.1	28.6	19.3	18.9	18.2	20.3	13.8	12.6	12.3	15.0	50.5	48.6	49.7	43.4	39.0	38.9	39.1	37.8
onset	motherboard_0911_episode_007_seg01	708		24.2	25.8	25.6	27.8	21.8	24.4	22.8	27.6	14.1	14.1	14.1	13.4	50.2	47.7	49.8	43.2	35.4	35.4	35.4	34.9
onset	motherboard_0911_episode_007_seg02	91		25.1	27.9	26.9	26.9	20.3	20.3	20.5	21.3	14.7	14.3	14.2	14.0	50.3	48.6	49.1	43.3	36.8	36.8	36.8	36.1
onset	motherboard_0911_episode_007_seg02	2337		23.5	23.7	24.4	25.3	14.8	14.4	15.6	12.9	17.3	16.9	18.0	18.1	37.7	37.7	37.7	37.1	32.4	33.1	33.7	33.7
onset	motherboard_0911_episode_007_seg02	5043		26.5	26.8	26.4	24.1	14.8	14.8	14.8	14.8	17.1	16.8	17.2	16.3	37.7	37.6	37.7	37.0	50.5	49.5	49.6	42.8
onset	motherboard_0911_episode_007_seg03	897		26.0	27.7	26.9	27.0	14.4	13.7	14.3	15.2	15.3	17.9	15.8	17.1	35.8	33.9	35.7	35.8	50.7	50.0	50.1	42.8
onset	motherboard_0911_episode_007_seg03	3237		29.3	28.8	28.9	28.3	15.0	14.8	15.1	14.5	15.6	15.4	14.7	16.1	35.7	35.7	35.7	35.1	50.9	49.7	50.4	42.8
onset	motherboard_0911_episode_007_seg04	877		23.9	23.8	23.9	23.7	15.4	15.3	15.4	14.8	12.4	12.3	12.6	11.4	50.1	48.8	49.7	43.1	36.1	36.3	36.1	35.6
onset	motherboard_0911_episode_007_seg04	2975		27.4	28.4	28.5	28.0	15.2	14.8	14.8	15.3	23.0	23.7	23.3	23.7	40.5	40.0	40.3	38.5	51.2	49.9	50.5	42.8
onset	motherboard_0912_episode_000_seg00	488		27.7	29.1	27.8	28.1	12.4	11.1	11.0	14.6	19.5	20.1	19.3	22.9	41.4	41.3	41.4	39.5	49.4	48.3	49.4	42.8
onset	motherboard_0912_episode_000_seg00	1339		25.7	25.2	25.8	24.7	16.6	16.6	16.8	15.8	15.7	15.9	15.9	14.7	38.3	39.2	39.4	38.3	49.7	48.7	49.8	42.5
onset	motherboard_0912_episode_000_seg00	10426		29.0	29.5	29.1	28.7	17.3	17.0	16.8	16.1	15.4	15.5	15.5	15.8	43.5	40.2	44.2	41.2	47.5	47.0	46.9	42.3
onset	motherboard_0912_episode_000_seg00	14828		25.5	25.5	25.3	26.7	14.2	13.6	14.0	12.9	14.0	13.2	13.4	13.7	42.4	38.8	42.4	40.9	47.3	47.5	47.7	41.8
onset	motherboard_0912_episode_000_seg00	17920		26.8	26.4	25.3	26.0	15.0	14.0	14.9	13.9	15.7	16.2	16.4	12.9	37.4	37.9	39.3	38.3	48.4	47.7	48.3	42.0
onset	motherboard_0912_episode_002	2247	held out	22.9	23.0	22.8	21.5	15.1	14.0	15.1	13.8	12.7	13.1	12.9	12.4	39.5	39.4	39.4	38.6	48.7	48.2	49.0	42.5
onset	motherboard_0912_episode_002	3900	held out	24.6	25.2	24.8	24.8	12.9	12.7	12.9	13.9	13.2	12.7	13.4	12.4	40.2	39.3	39.5	39.0	48.2	47.3	47.9	42.0
onset	motherboard_0912_episode_003	210	held out	23.8	24.5	23.6	24.7	14.5	13.8	14.5	13.2	13.4	13.0	13.3	12.7	38.2	36.6	37.1	36.7	49.3	48.4	48.7	42.6
onset	motherboard_0912_episode_003	326	held out	25.9	26.2	25.8	26.8	13.2	13.4	13.1	13.1	13.9	15.4	14.8	15.5	43.3	41.9	44.6	41.8	50.8	49.4	50.4	42.9
onset	motherboard_0912_episode_003	2260	held out	23.1	22.7	23.0	22.3	15.0	15.3	15.2	16.2	13.9	12.7	13.4	12.0	40.6	38.8	38.3	39.4	46.8	46.2	46.4	41.6
release	motherboard_0911_episode_000	930		20.6	21.0	21.1	20.1	14.3	11.6	13.8	10.6	13.7	14.7	14.9	14.1	49.8	48.4	49.1	43.4	37.2	37.7	37.8	35.8
release	motherboard_0911_episode_000	3324		22.0	21.8	21.7	21.4	12.6	12.5	12.5	12.6	15.2	15.0	15.2	15.8	30.8	30.2	30.6	28.1	51.0	48.6	50.4	42.9
release	motherboard_0911_episode_002_seg00	941	held out	24.9	25.6	24.9	25.5	13.9	13.0	13.2	12.5	22.6	21.7	20.6	23.9	42.5	42.1	42.3	40.5	47.1	46.4	46.8	42.6
release	motherboard_0911_episode_004_seg00	992		24.3	23.7	23.6	24.0	12.6	11.6	11.5	12.3	16.0	14.2	14.8	15.3	42.9	44.6	45.4	41.8	48.5	47.9	47.7	42.2
release	motherboard_0911_episode_004_seg00	1516		25.3	25.1	24.8	24.9	13.0	12.7	13.1	13.4	13.4	14.4	13.6	12.8	40.1	39.0	38.3	30.3	43.5	42.1	42.2	39.7
release	motherboard_0911_episode_004_seg00	2502		26.4	25.7	25.8	25.9	13.1	11.9	12.5	12.1	15.6	15.1	14.9	14.7	43.5	42.7	43.5	38.2	46.0	44.6	45.1	36.2
release	motherboard_0911_episode_004_seg00	4136		24.6	24.4	24.4	23.2	14.0	12.9	14.2	12.6	14.8	14.9	15.0	13.2	49.2	39.0	43.2	43.1	38.8	39.2	39.1	37.2
release	motherboard_0911_episode_004_seg00	4833		26.8	26.7	26.4	25.8	12.7	12.3	12.6	13.1	16.7	16.7	15.5	16.1	47.0	45.7	46.1	42.3	47.9	47.8	48.3	42.5
release	motherboard_0911_episode_004_seg00	5672		26.9	27.3	27.4	25.9	12.6	12.4	12.6	12.2	15.1	14.8	15.2	14.9	45.1	44.3	44.9	41.1	48.3	47.0	47.4	42.2
release	motherboard_0911_episode_005_seg01	1128		22.9	23.6	23.6	22.8	11.0	11.9	12.5	12.4	16.7	17.2	16.4	13.1	43.0	41.7	41.7	33.9	46.1	45.1	45.6	40.6
release	motherboard_0911_episode_005_seg02	1519		24.9	24.9	24.7	24.2	13.8	13.4	13.4	14.9	14.1	14.3	14.3	13.6	43.6	42.6	43.0	38.4	48.3	46.7	47.6	42.2
release	motherboard_0911_episode_006_seg00	2609		24.3	24.4	24.1	24.2	14.3	14.3	14.3	13.6	13.7	13.8	13.9	14.0	31.0	31.8	37.0	28.9	33.2	32.5	32.3	30.6
release	motherboard_0911_episode_007_seg01	315		22.7	22.5	23.3	22.5	12.6	12.4	12.4	12.5	13.4	13.4	13.5	13.6	42.2	41.1	43.1	37.4	36.6	35.9	39.6	34.3
release	motherboard_0911_episode_007_seg01	1356		23.8	24.3	23.6	23.7	13.9	14.6	13.9	14.7	13.2	13.1	13.2	12.9	47.1	46.5	47.1	42.5	50.8	49.1	50.2	42.9
release	motherboard_0911_episode_007_seg01	1481		23.6	23.5	23.4	24.1	11.9	12.3	12.9	14.1	12.2	12.8	12.0	10.8	46.3	44.7	45.5	41.1	47.3	46.1	46.9	40.2
release	motherboard_0911_episode_007_seg03	1137		28.4	28.9	28.7	28.0	19.6	19.9	19.8	19.6	13.5	13.5	13.3	13.4	50.7	48.5	49.8	43.3	46.7	43.5	45.8	39.4
release	motherboard_0911_episode_007_seg03	1470		26.5	26.4	26.4	25.7	16.7	16.5	17.1	16.2	14.4	12.6	14.1	13.9	50.2	48.4	49.3	43.3	44.9	44.9	45.0	41.6
release	motherboard_0911_episode_007_seg03	2700		24.1	24.2	24.0	23.6	14.7	15.0	15.2	14.9	15.8	16.8	16.1	17.5	32.9	32.1	33.1	33.2	50.8	49.8	50.7	43.0
release	motherboard_0911_episode_007_seg04	393		21.5	21.7	21.9	20.5	23.1	21.6	21.4	22.8	14.7	14.5	14.9	14.4	49.9	48.8	49.6	43.4	40.0	39.9	41.6	38.0
release	motherboard_0911_episode_007_seg04	507		21.3	22.2	22.9	22.0	12.6	11.9	12.1	12.3	13.4	13.6	13.6	13.4	45.1	43.6	44.2	34.0	35.3	33.2	35.6	32.7
release	motherboard_0911_episode_007_seg04	662		22.5	22.2	22.3	21.5	12.0	11.8	11.9	14.2	14.4	14.2	14.4	13.9	46.3	41.5	46.0	42.2	41.9	41.4	41.4	39.5
release	motherboard_0912_episode_000_seg00	7697		25.8	25.9	25.8	25.2	15.1	15.2	15.2	15.6	12.2	12.3	12.0	11.0	50.4	48.9	49.5	43.4	49.1	48.3	49.3	42.7
release	motherboard_0912_episode_000_seg00	9049		23.4	23.6	23.5	22.9	11.0	11.1	11.3	10.2	13.1	13.3	13.1	12.7	46.1	45.1	45.4	41.6	51.2	49.8	50.0	43.0
release	motherboard_0912_episode_000_seg00	15306		25.0	24.2	23.7	25.3	12.2	12.3	12.2	12.5	14.8	15.5	14.5	15.8	36.5	36.8	36.3	36.2	37.8	38.1	43.8	39.0
release	motherboard_0912_episode_003	1684	held out	23.6	25.2	24.9	26.4	14.2	14.2	14.5	14.5	17.3	17.5	16.9	18.6	33.4	34.9	33.9	32.8	51.2	49.7	50.2	42.8

Green cells beat that window's copy-last floor. A dash means that checkpoint was not run on the window (v2 e1 skips the none class).

Strips

Each image stacks view, wrist L, wrist R, tactile L and tactile R. Within each stream the top row is ground truth and the bottom row is the prediction, as labelled on the left (pred rows in blue). The first 8 frames are context and the red bar marks the first predicted frame. The band at the bottom is the recorded GelSight normal force per frame, blue for the left gel and orange for the right, with the dashed line at the 0.5 N contact threshold. Actions are the ground-truth inputs, drawn on frame k for the move from frame k to k+1, on GT and pred rows alike (blue = left hand, orange = right hand). View: the ring is the gel centre projected into the middle camera, the white dashes point along the gel normal (the press direction), and the thick arrow is the 3D direction the gel centre moves, drawn at a fixed 150 mm and projected, labelled with the true step length. A cross in the ring means the move is mostly away from the camera, a dot mostly toward it. Tactile: the GelSight camera looks along the gel normal, so the symbol at the gel centre shows press toward the object (circled cross, into the page) or lift (circled dot), sized by the step along the normal. Wrist: these cameras have no extrinsic calibration, so only the press value is shown. The bottom band shows the tactile action between consecutive frames along the gel normal, in mm per frame; positive moves toward the object, and it includes the 0.5 mm/N force-change term. The buttons on each window switch between models.

nonemotherboard_0911_episode_000t=2181 (frames 2181–2196)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 26.6 / 26.7 / – / 26.7 · wrist L 18.2 / 18.0 / – / 18.2 · wrist R 17.2 / 17.1 / – / 17.1 · tactile L 50.6 / 48.9 / – / 43.3 · tactile R 47.8 / 45.1 / – / 42.1

nonemotherboard_0911_episode_000t=2835 (frames 2835–2850)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 22.3 / 21.9 / – / 22.0 · wrist L 15.4 / 15.7 / – / 15.7 · wrist R 17.5 / 17.1 / – / 17.1 · tactile L 50.8 / 48.5 / – / 43.3 · tactile R 48.9 / 48.1 / – / 42.2

nonemotherboard_0911_episode_000t=3211 (frames 3211–3226)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 24.1 / 23.8 / – / 23.3 · wrist L 14.6 / 11.6 / – / 10.4 · wrist R 17.1 / 17.0 / – / 16.5 · tactile L 48.9 / 48.1 / – / 43.5 · tactile R 51.2 / 49.3 / – / 43.0

nonemotherboard_0911_episode_002_seg00t=269 (frames 269–284) · v2 held outPSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 29.5 / 28.1 / – / 27.2 · wrist L 18.5 / 18.3 / – / 18.9 · wrist R 16.0 / 16.5 / – / 16.2 · tactile L 50.9 / 48.9 / – / 43.3 · tactile R 49.8 / 48.9 / – / 42.8

nonemotherboard_0911_episode_003_seg00t=2850 (frames 2850–2865)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 25.7 / 25.6 / – / 24.8 · wrist L 22.9 / 20.6 / – / 21.7 · wrist R 13.2 / 13.4 / – / 12.1 · tactile L 50.1 / 48.6 / – / 43.2 · tactile R 50.0 / 49.3 / – / 43.0

nonemotherboard_0911_episode_004_seg00t=2843 (frames 2843–2858)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 27.6 / 28.1 / – / 26.9 · wrist L 12.7 / 12.9 / – / 12.7 · wrist R 13.6 / 13.4 / – / 13.1 · tactile L 50.0 / 48.2 / – / 43.1 · tactile R 45.4 / 45.6 / – / 41.9

nonemotherboard_0911_episode_005_seg00t=47 (frames 47–62)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 34.5 / 34.3 / – / 31.5 · wrist L 34.3 / 34.0 / – / 31.6 · wrist R 34.4 / 33.9 / – / 31.3 · tactile L 50.1 / 49.2 / – / 43.4 · tactile R 51.1 / 49.6 / – / 43.1

nonemotherboard_0911_episode_005_seg05t=2945 (frames 2945–2960)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 34.0 / 34.1 / – / 31.1 · wrist L 28.9 / 28.6 / – / 31.8 · wrist R 34.7 / 34.6 / – / 31.1 · tactile L 49.4 / 48.1 / – / 43.0 · tactile R 49.5 / 49.3 / – / 42.2

nonemotherboard_0911_episode_006_seg01t=2748 (frames 2748–2763)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 34.8 / 34.7 / – / 31.4 · wrist L 35.4 / 35.5 / – / 32.5 · wrist R 35.1 / 35.0 / – / 31.9 · tactile L 49.4 / 48.4 / – / 43.1 · tactile R 51.2 / 49.7 / – / 43.0

nonemotherboard_0911_episode_007_seg01t=2 (frames 2–17)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 22.9 / 23.5 / – / 23.5 · wrist L 11.5 / 11.5 / – / 13.2 · wrist R 18.3 / 18.0 / – / 17.9 · tactile L 48.6 / 39.6 / – / 43.4 · tactile R 51.1 / 49.3 / – / 43.1

nonemotherboard_0911_episode_007_seg01t=117 (frames 117–132)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 23.1 / 23.6 / – / 22.7 · wrist L 20.5 / 24.3 / – / 22.5 · wrist R 13.0 / 12.9 / – / 13.7 · tactile L 49.8 / 48.2 / – / 43.1 · tactile R 50.0 / 49.1 / – / 43.3

nonemotherboard_0911_episode_007_seg02t=4535 (frames 4535–4550)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 24.1 / 22.6 / – / 22.2 · wrist L 18.1 / 18.1 / – / 15.4 · wrist R 17.3 / 17.2 / – / 16.6 · tactile L 50.2 / 48.3 / – / 43.2 · tactile R 46.7 / 45.9 / – / 43.4

nonemotherboard_0911_episode_007_seg03t=2003 (frames 2003–2018)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 28.5 / 28.0 / – / 27.1 · wrist L 19.4 / 21.1 / – / 23.0 · wrist R 25.4 / 25.7 / – / 25.0 · tactile L 50.5 / 49.0 / – / 43.4 · tactile R 43.6 / 43.8 / – / 40.6

nonemotherboard_0911_episode_007_seg04t=104 (frames 104–119)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 22.1 / 22.1 / – / 22.2 · wrist L 21.8 / 21.9 / – / 21.9 · wrist R 11.8 / 11.8 / – / 12.3 · tactile L 50.3 / 49.1 / – / 43.4 · tactile R 49.1 / 49.4 / – / 43.2

nonemotherboard_0911_episode_007_seg04t=1478 (frames 1478–1493)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 26.1 / 25.8 / – / 26.0 · wrist L 16.1 / 16.3 / – / 17.2 · wrist R 18.9 / 18.9 / – / 18.4 · tactile L 49.2 / 46.6 / – / 43.2 · tactile R 47.3 / 46.8 / – / 41.5

nonemotherboard_0911_episode_007_seg04t=1618 (frames 1618–1633)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 23.8 / 25.1 / – / 22.7 · wrist L 13.7 / 13.4 / – / 10.7 · wrist R 14.2 / 14.0 / – / 14.7 · tactile L 50.2 / 48.3 / – / 43.2 · tactile R 47.7 / 47.9 / – / 42.9

nonemotherboard_0912_episode_000_seg00t=39 (frames 39–54)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 27.9 / 31.9 / – / 30.1 · wrist L 21.7 / 22.3 / – / 25.9 · wrist R 32.7 / 33.1 / – / 31.7 · tactile L 50.5 / 48.9 / – / 43.7 · tactile R 50.6 / 49.2 / – / 42.9

nonemotherboard_0912_episode_000_seg00t=318 (frames 318–333)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 27.3 / 27.3 / – / 26.7 · wrist L 14.6 / 14.7 / – / 14.0 · wrist R 17.2 / 17.4 / – / 18.0 · tactile L 49.9 / 48.4 / – / 43.3 · tactile R 49.7 / 48.8 / – / 42.8

nonemotherboard_0912_episode_000_seg00t=346 (frames 346–361)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 29.0 / 29.1 / – / 27.4 · wrist L 13.3 / 12.9 / – / 12.7 · wrist R 18.3 / 17.3 / – / 16.7 · tactile L 48.8 / 48.2 / – / 43.3 · tactile R 50.3 / 49.5 / – / 42.8

nonemotherboard_0912_episode_000_seg00t=351 (frames 351–366)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 27.3 / 28.8 / – / 27.6 · wrist L 14.9 / 13.7 / – / 13.8 · wrist R 19.9 / 20.1 / – / 19.7 · tactile L 46.5 / 48.0 / – / 43.3 · tactile R 50.7 / 49.5 / – / 42.9

nonemotherboard_0912_episode_000_seg00t=2308 (frames 2308–2323)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 24.1 / 25.9 / – / 24.3 · wrist L 12.4 / 12.0 / – / 13.0 · wrist R 15.9 / 16.1 / – / 15.2 · tactile L 47.6 / 48.7 / – / 43.2 · tactile R 50.4 / 48.7 / – / 43.0

nonemotherboard_0912_episode_000_seg00t=2804 (frames 2804–2819)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 25.7 / 25.6 / – / 24.6 · wrist L 13.6 / 13.3 / – / 14.3 · wrist R 11.8 / 11.5 / – / 11.2 · tactile L 50.1 / 48.9 / – / 43.4 · tactile R 47.1 / 46.5 / – / 42.4

nonemotherboard_0912_episode_000_seg00t=7985 (frames 7985–8000)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 27.0 / 27.3 / – / 25.5 · wrist L 15.2 / 15.9 / – / 15.5 · wrist R 13.5 / 12.9 / – / 11.7 · tactile L 50.2 / 48.8 / – / 43.3 · tactile R 50.6 / 49.7 / – / 42.9

nonemotherboard_0912_episode_003t=3765 (frames 3765–3780) · v2 held outPSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 22.3 / 22.3 / – / 22.2 · wrist L 14.6 / 14.7 / – / 14.7 · wrist R 14.9 / 14.7 / – / 14.7 · tactile L 46.9 / 46.8 / – / 42.8 · tactile R 50.7 / 50.2 / – / 42.8

nonemotherboard_0912_episode_003t=3914 (frames 3914–3929) · v2 held outPSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 24.4 / 24.4 / – / 24.5 · wrist L 11.6 / 11.2 / – / 10.9 · wrist R 15.0 / 14.7 / – / 15.4 · tactile L 48.5 / 47.9 / – / 43.1 · tactile R 47.8 / 47.3 / – / 42.5

fullmotherboard_0911_episode_003_seg00t=3642 (frames 3642–3657)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 24.0 / 26.0 / 25.7 / 25.9 · wrist L 14.4 / 14.4 / 14.6 / 14.5 · wrist R 22.7 / 22.7 / 22.7 / 22.8 · tactile L 36.6 / 37.4 / 36.6 / 35.9 · tactile R 51.0 / 49.5 / 50.8 / 42.9

fullmotherboard_0911_episode_004_seg00t=5071 (frames 5071–5086)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 24.3 / 24.3 / 24.1 / 24.3 · wrist L 17.6 / 15.0 / 16.4 / 17.4 · wrist R 20.0 / 20.3 / 20.5 / 18.9 · tactile L 32.4 / 31.7 / 31.2 / 32.7 · tactile R 47.3 / 46.1 / 46.5 / 41.9

fullmotherboard_0911_episode_004_seg01t=33 (frames 33–48)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 30.5 / 30.6 / 30.9 / 28.1 · wrist L 17.8 / 17.3 / 17.7 / 17.8 · wrist R 19.4 / 19.3 / 19.2 / 18.5 · tactile L 36.9 / 37.3 / 37.0 / 35.6 · tactile R 43.1 / 42.0 / 41.4 / 40.0

fullmotherboard_0911_episode_004_seg01t=152 (frames 152–167)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 26.3 / 25.4 / 25.5 / 24.8 · wrist L 15.0 / 15.4 / 16.0 / 15.0 · wrist R 15.9 / 15.5 / 15.5 / 14.6 · tactile L 31.7 / 29.7 / 32.9 / 33.5 · tactile R 40.1 / 39.9 / 39.9 / 38.6

fullmotherboard_0911_episode_005_seg01t=735 (frames 735–750)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 23.1 / 23.1 / 23.1 / 22.9 · wrist L 13.7 / 13.7 / 13.7 / 13.8 · wrist R 12.8 / 12.3 / 12.3 / 11.4 · tactile L 29.8 / 29.5 / 29.6 / 28.5 · tactile R 46.5 / 44.9 / 45.7 / 39.2

fullmotherboard_0911_episode_005_seg01t=2206 (frames 2206–2221)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 25.3 / 26.2 / 25.3 / 23.6 · wrist L 11.4 / 11.6 / 12.3 / 12.9 · wrist R 15.3 / 15.0 / 15.0 / 18.5 · tactile L 28.1 / 28.0 / 28.1 / 33.2 · tactile R 38.0 / 37.9 / 37.5 / 39.2

fullmotherboard_0911_episode_005_seg02t=1704 (frames 1704–1719)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 26.3 / 24.9 / 24.3 / 22.8 · wrist L 16.9 / 17.1 / 16.0 / 16.9 · wrist R 19.5 / 19.1 / 18.3 / 19.6 · tactile L 35.4 / 33.2 / 34.2 / 34.0 · tactile R 41.5 / 39.8 / 40.3 / 40.0

fullmotherboard_0911_episode_005_seg02t=1807 (frames 1807–1822)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 26.0 / 25.2 / 25.5 / 25.7 · wrist L 15.4 / 15.4 / 15.1 / 15.3 · wrist R 16.9 / 16.8 / 17.1 / 18.2 · tactile L 27.6 / 29.1 / 28.9 / 30.3 · tactile R 38.6 / 42.7 / 42.0 / 39.2

fullmotherboard_0911_episode_005_seg05t=1291 (frames 1291–1306)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 26.9 / 28.5 / 27.8 / 27.1 · wrist L 15.0 / 15.8 / 15.5 / 14.5 · wrist R 16.3 / 16.1 / 16.0 / 16.4 · tactile L 32.5 / 31.4 / 30.2 / 29.7 · tactile R 33.4 / 33.6 / 33.3 / 33.2

fullmotherboard_0911_episode_005_seg05t=1904 (frames 1904–1919)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 25.4 / 25.8 / 25.7 / 26.7 · wrist L 17.7 / 16.6 / 16.6 / 16.4 · wrist R 16.3 / 15.7 / 15.7 / 16.8 · tactile L 35.9 / 36.8 / 36.4 / 33.7 · tactile R 38.6 / 37.9 / 37.0 / 37.8

fullmotherboard_0911_episode_005_seg05t=2063 (frames 2063–2078)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 24.1 / 24.5 / 23.7 / 22.2 · wrist L 14.4 / 15.5 / 14.5 / 13.8 · wrist R 15.8 / 16.2 / 16.2 / 15.0 · tactile L 31.2 / 31.6 / 30.6 / 28.7 · tactile R 44.1 / 43.4 / 43.6 / 40.8

fullmotherboard_0911_episode_005_seg05t=2459 (frames 2459–2474)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 25.7 / 26.2 / 25.9 / 22.8 · wrist L 15.4 / 15.5 / 15.3 / 12.9 · wrist R 14.6 / 14.9 / 15.3 / 14.1 · tactile L 33.5 / 30.7 / 30.2 / 32.2 · tactile R 46.1 / 45.4 / 45.7 / 41.2

fullmotherboard_0911_episode_006_seg00t=796 (frames 796–811)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 26.4 / 26.6 / 26.0 / 27.1 · wrist L 12.4 / 12.4 / 12.0 / 12.7 · wrist R 16.9 / 16.8 / 15.5 / 18.3 · tactile L 38.0 / 37.4 / 38.0 / 25.6 · tactile R 36.9 / 36.1 / 36.9 / 35.5

fullmotherboard_0911_episode_006_seg00t=1543 (frames 1543–1558)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 25.7 / 26.3 / 25.3 / 23.4 · wrist L 12.1 / 11.8 / 12.3 / 11.1 · wrist R 19.6 / 17.3 / 17.5 / 18.6 · tactile L 45.4 / 43.3 / 44.3 / 41.9 · tactile R 40.6 / 36.3 / 41.5 / 40.7

fullmotherboard_0911_episode_006_seg00t=2817 (frames 2817–2832)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 26.4 / 25.0 / 24.2 / 26.9 · wrist L 13.5 / 11.9 / 11.8 / 11.7 · wrist R 14.3 / 18.2 / 16.0 / 20.0 · tactile L 40.7 / 38.4 / 36.7 / 31.2 · tactile R 35.2 / 32.7 / 36.1 / 32.4

fullmotherboard_0911_episode_006_seg01t=1518 (frames 1518–1533)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 22.5 / 22.7 / 23.7 / 23.5 · wrist L 11.6 / 11.6 / 11.7 / 11.9 · wrist R 15.8 / 15.6 / 15.8 / 15.6 · tactile L 32.5 / 33.6 / 32.5 / 34.4 · tactile R 33.7 / 34.1 / 33.4 / 33.9

fullmotherboard_0912_episode_000_seg00t=10933 (frames 10933–10948)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 22.9 / 24.2 / 23.8 / 21.5 · wrist L 14.9 / 14.8 / 15.0 / 13.4 · wrist R 18.2 / 16.8 / 16.3 / 14.9 · tactile L 44.7 / 44.2 / 45.5 / 42.4 · tactile R 42.2 / 42.3 / 41.8 / 40.5

fullmotherboard_0912_episode_000_seg00t=12956 (frames 12956–12971)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 22.7 / 22.0 / 21.9 / 20.7 · wrist L 15.1 / 15.5 / 15.6 / 17.0 · wrist R 17.5 / 17.2 / 17.3 / 18.0 · tactile L 37.1 / 38.8 / 38.8 / 38.7 · tactile R 42.6 / 42.1 / 42.2 / 40.0

fullmotherboard_0912_episode_000_seg00t=16108 (frames 16108–16123)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 27.7 / 28.4 / 28.7 / 28.4 · wrist L 14.6 / 15.2 / 15.4 / 15.3 · wrist R 17.1 / 17.2 / 17.2 / 16.7 · tactile L 37.3 / 37.1 / 36.3 / 34.7 · tactile R 51.3 / 49.4 / 49.3 / 43.0

fullmotherboard_0912_episode_000_seg01t=169 (frames 169–184)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 25.1 / 24.8 / 24.9 / 24.2 · wrist L 12.0 / 11.5 / 12.2 / 11.4 · wrist R 18.8 / 19.0 / 19.1 / 17.8 · tactile L 45.5 / 36.9 / 45.1 / 38.6 · tactile R 44.7 / 43.8 / 43.9 / 42.0

fullmotherboard_0912_episode_000_seg01t=1124 (frames 1124–1139)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 23.8 / 23.0 / 22.7 / 22.6 · wrist L 14.4 / 14.4 / 14.4 / 14.6 · wrist R 17.2 / 16.8 / 16.7 / 16.9 · tactile L 33.2 / 33.6 / 33.6 / 33.1 · tactile R 42.9 / 42.4 / 42.8 / 39.8

fullmotherboard_0912_episode_002t=1975 (frames 1975–1990) · v2 held outPSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 22.4 / 23.5 / 23.5 / 22.8 · wrist L 15.4 / 15.3 / 15.3 / 15.2 · wrist R 16.2 / 16.5 / 16.6 / 14.8 · tactile L 36.0 / 37.2 / 37.8 / 34.9 · tactile R 45.8 / 45.8 / 45.8 / 42.1

fullmotherboard_0912_episode_002t=5356 (frames 5356–5371) · v2 held outPSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 23.8 / 23.8 / 23.8 / 24.3 · wrist L 15.0 / 14.6 / 14.5 / 15.2 · wrist R 11.2 / 10.1 / 11.1 / 10.4 · tactile L 34.3 / 35.5 / 34.7 / 34.8 · tactile R 46.4 / 45.3 / 45.7 / 39.1

fullmotherboard_0912_episode_003t=506 (frames 506–521) · v2 held outPSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 21.1 / 20.5 / 20.8 / 22.7 · wrist L 14.0 / 14.7 / 14.8 / 15.8 · wrist R 16.7 / 16.5 / 16.4 / 16.0 · tactile L 33.1 / 33.8 / 33.6 / 34.3 · tactile R 36.3 / 35.0 / 35.8 / 35.0

fullmotherboard_0912_episode_003t=2803 (frames 2803–2818) · v2 held outPSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 23.9 / 23.6 / 23.1 / 22.7 · wrist L 12.8 / 13.2 / 12.2 / 13.0 · wrist R 14.7 / 13.9 / 14.0 / 13.3 · tactile L 37.9 / 38.2 / 36.5 / 38.2 · tactile R 45.5 / 44.7 / 45.4 / 41.4

onsetmotherboard_0911_episode_002_seg00t=763 (frames 763–778) · v2 held outPSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 28.4 / 28.3 / 28.3 / 27.8 · wrist L 20.3 / 21.1 / 21.3 / 21.1 · wrist R 15.5 / 14.9 / 15.9 / 16.6 · tactile L 50.2 / 48.9 / 49.3 / 43.4 · tactile R 33.1 / 33.1 / 33.1 / 32.7

onsetmotherboard_0911_episode_003_seg00t=878 (frames 878–893)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 27.2 / 26.5 / 26.6 / 28.6 · wrist L 14.3 / 12.3 / 14.9 / 11.9 · wrist R 18.2 / 18.2 / 18.0 / 19.7 · tactile L 36.0 / 35.3 / 36.0 / 35.4 · tactile R 50.9 / 49.3 / 48.7 / 43.0

onsetmotherboard_0911_episode_003_seg00t=1020 (frames 1020–1035)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 27.4 / 27.0 / 27.0 / 27.6 · wrist L 15.5 / 12.5 / 13.6 / 14.6 · wrist R 16.8 / 17.5 / 17.0 / 16.8 · tactile L 29.6 / 29.6 / 29.5 / 29.3 · tactile R 50.8 / 49.4 / 50.0 / 43.0

onsetmotherboard_0911_episode_003_seg00t=3922 (frames 3922–3937)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 27.2 / 27.2 / 27.2 / 26.6 · wrist L 16.7 / 16.2 / 16.9 / 15.2 · wrist R 18.0 / 18.4 / 18.3 / 19.2 · tactile L 38.7 / 36.6 / 38.6 / 38.0 · tactile R 51.1 / 49.4 / 49.6 / 43.1

onsetmotherboard_0911_episode_004_seg00t=1871 (frames 1871–1886)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 26.5 / 27.3 / 26.4 / 28.6 · wrist L 14.8 / 14.7 / 14.9 / 15.3 · wrist R 16.4 / 14.9 / 15.1 / 14.6 · tactile L 49.9 / 48.2 / 48.2 / 43.3 · tactile R 39.5 / 40.0 / 40.0 / 38.8

onsetmotherboard_0911_episode_004_seg00t=2514 (frames 2514–2529)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 27.1 / 26.3 / 26.8 / 27.6 · wrist L 15.1 / 15.3 / 14.4 / 16.2 · wrist R 15.8 / 15.3 / 16.0 / 15.0 · tactile L 31.5 / 31.6 / 31.6 / 31.5 · tactile R 34.0 / 33.9 / 33.9 / 33.6

onsetmotherboard_0911_episode_007_seg01t=203 (frames 203–218)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 25.5 / 28.2 / 29.1 / 28.6 · wrist L 19.3 / 18.9 / 18.2 / 20.3 · wrist R 13.8 / 12.6 / 12.3 / 15.0 · tactile L 50.5 / 48.6 / 49.7 / 43.4 · tactile R 39.0 / 38.9 / 39.1 / 37.8

onsetmotherboard_0911_episode_007_seg01t=708 (frames 708–723)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 24.2 / 25.8 / 25.6 / 27.8 · wrist L 21.8 / 24.4 / 22.8 / 27.6 · wrist R 14.1 / 14.1 / 14.1 / 13.4 · tactile L 50.2 / 47.7 / 49.8 / 43.2 · tactile R 35.4 / 35.4 / 35.4 / 34.9

onsetmotherboard_0911_episode_007_seg02t=91 (frames 91–106)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 25.1 / 27.9 / 26.9 / 26.9 · wrist L 20.3 / 20.3 / 20.5 / 21.3 · wrist R 14.7 / 14.3 / 14.2 / 14.0 · tactile L 50.3 / 48.6 / 49.1 / 43.3 · tactile R 36.8 / 36.8 / 36.8 / 36.1

onsetmotherboard_0911_episode_007_seg02t=2337 (frames 2337–2352)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 23.5 / 23.7 / 24.4 / 25.3 · wrist L 14.8 / 14.4 / 15.6 / 12.9 · wrist R 17.3 / 16.9 / 18.0 / 18.1 · tactile L 37.7 / 37.7 / 37.7 / 37.1 · tactile R 32.4 / 33.1 / 33.7 / 33.7

onsetmotherboard_0911_episode_007_seg02t=5043 (frames 5043–5058)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 26.5 / 26.8 / 26.4 / 24.1 · wrist L 14.8 / 14.8 / 14.8 / 14.8 · wrist R 17.1 / 16.8 / 17.2 / 16.3 · tactile L 37.7 / 37.6 / 37.7 / 37.0 · tactile R 50.5 / 49.5 / 49.6 / 42.8

onsetmotherboard_0911_episode_007_seg03t=897 (frames 897–912)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 26.0 / 27.7 / 26.9 / 27.0 · wrist L 14.4 / 13.7 / 14.3 / 15.2 · wrist R 15.3 / 17.9 / 15.8 / 17.1 · tactile L 35.8 / 33.9 / 35.7 / 35.8 · tactile R 50.7 / 50.0 / 50.1 / 42.8

onsetmotherboard_0911_episode_007_seg03t=3237 (frames 3237–3252)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 29.3 / 28.8 / 28.9 / 28.3 · wrist L 15.0 / 14.8 / 15.1 / 14.5 · wrist R 15.6 / 15.4 / 14.7 / 16.1 · tactile L 35.7 / 35.7 / 35.7 / 35.1 · tactile R 50.9 / 49.7 / 50.4 / 42.8

onsetmotherboard_0911_episode_007_seg04t=877 (frames 877–892)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 23.9 / 23.8 / 23.9 / 23.7 · wrist L 15.4 / 15.3 / 15.4 / 14.8 · wrist R 12.4 / 12.3 / 12.6 / 11.4 · tactile L 50.1 / 48.8 / 49.7 / 43.1 · tactile R 36.1 / 36.3 / 36.1 / 35.6

onsetmotherboard_0911_episode_007_seg04t=2975 (frames 2975–2990)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 27.4 / 28.4 / 28.5 / 28.0 · wrist L 15.2 / 14.8 / 14.8 / 15.3 · wrist R 23.0 / 23.7 / 23.3 / 23.7 · tactile L 40.5 / 40.0 / 40.3 / 38.5 · tactile R 51.2 / 49.9 / 50.5 / 42.8

onsetmotherboard_0912_episode_000_seg00t=488 (frames 488–503)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 27.7 / 29.1 / 27.8 / 28.1 · wrist L 12.4 / 11.1 / 11.0 / 14.6 · wrist R 19.5 / 20.1 / 19.3 / 22.9 · tactile L 41.4 / 41.3 / 41.4 / 39.5 · tactile R 49.4 / 48.3 / 49.4 / 42.8

onsetmotherboard_0912_episode_000_seg00t=1339 (frames 1339–1354)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 25.7 / 25.2 / 25.8 / 24.7 · wrist L 16.6 / 16.6 / 16.8 / 15.8 · wrist R 15.7 / 15.9 / 15.9 / 14.7 · tactile L 38.3 / 39.2 / 39.4 / 38.3 · tactile R 49.7 / 48.7 / 49.8 / 42.5

onsetmotherboard_0912_episode_000_seg00t=10426 (frames 10426–10441)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 29.0 / 29.5 / 29.1 / 28.7 · wrist L 17.3 / 17.0 / 16.8 / 16.1 · wrist R 15.4 / 15.5 / 15.5 / 15.8 · tactile L 43.5 / 40.2 / 44.2 / 41.2 · tactile R 47.5 / 47.0 / 46.9 / 42.3

onsetmotherboard_0912_episode_000_seg00t=14828 (frames 14828–14843)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 25.5 / 25.5 / 25.3 / 26.7 · wrist L 14.2 / 13.6 / 14.0 / 12.9 · wrist R 14.0 / 13.2 / 13.4 / 13.7 · tactile L 42.4 / 38.8 / 42.4 / 40.9 · tactile R 47.3 / 47.5 / 47.7 / 41.8

onsetmotherboard_0912_episode_000_seg00t=17920 (frames 17920–17935)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 26.8 / 26.4 / 25.3 / 26.0 · wrist L 15.0 / 14.0 / 14.9 / 13.9 · wrist R 15.7 / 16.2 / 16.4 / 12.9 · tactile L 37.4 / 37.9 / 39.3 / 38.3 · tactile R 48.4 / 47.7 / 48.3 / 42.0

onsetmotherboard_0912_episode_002t=2247 (frames 2247–2262) · v2 held outPSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 22.9 / 23.0 / 22.8 / 21.5 · wrist L 15.1 / 14.0 / 15.1 / 13.8 · wrist R 12.7 / 13.1 / 12.9 / 12.4 · tactile L 39.5 / 39.4 / 39.4 / 38.6 · tactile R 48.7 / 48.2 / 49.0 / 42.5

onsetmotherboard_0912_episode_002t=3900 (frames 3900–3915) · v2 held outPSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 24.6 / 25.2 / 24.8 / 24.8 · wrist L 12.9 / 12.7 / 12.9 / 13.9 · wrist R 13.2 / 12.7 / 13.4 / 12.4 · tactile L 40.2 / 39.3 / 39.5 / 39.0 · tactile R 48.2 / 47.3 / 47.9 / 42.0

onsetmotherboard_0912_episode_003t=210 (frames 210–225) · v2 held outPSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 23.8 / 24.5 / 23.6 / 24.7 · wrist L 14.5 / 13.8 / 14.5 / 13.2 · wrist R 13.4 / 13.0 / 13.3 / 12.7 · tactile L 38.2 / 36.6 / 37.1 / 36.7 · tactile R 49.3 / 48.4 / 48.7 / 42.6

onsetmotherboard_0912_episode_003t=326 (frames 326–341) · v2 held outPSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 25.9 / 26.2 / 25.8 / 26.8 · wrist L 13.2 / 13.4 / 13.1 / 13.1 · wrist R 13.9 / 15.4 / 14.8 / 15.5 · tactile L 43.3 / 41.9 / 44.6 / 41.8 · tactile R 50.8 / 49.4 / 50.4 / 42.9

onsetmotherboard_0912_episode_003t=2260 (frames 2260–2275) · v2 held outPSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 23.1 / 22.7 / 23.0 / 22.3 · wrist L 15.0 / 15.3 / 15.2 / 16.2 · wrist R 13.9 / 12.7 / 13.4 / 12.0 · tactile L 40.6 / 38.8 / 38.3 / 39.4 · tactile R 46.8 / 46.2 / 46.4 / 41.6

releasemotherboard_0911_episode_000t=930 (frames 930–945)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 20.6 / 21.0 / 21.1 / 20.1 · wrist L 14.3 / 11.6 / 13.8 / 10.6 · wrist R 13.7 / 14.7 / 14.9 / 14.1 · tactile L 49.8 / 48.4 / 49.1 / 43.4 · tactile R 37.2 / 37.7 / 37.8 / 35.8

releasemotherboard_0911_episode_000t=3324 (frames 3324–3339)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 22.0 / 21.8 / 21.7 / 21.4 · wrist L 12.6 / 12.5 / 12.5 / 12.6 · wrist R 15.2 / 15.0 / 15.2 / 15.8 · tactile L 30.8 / 30.2 / 30.6 / 28.1 · tactile R 51.0 / 48.6 / 50.4 / 42.9

releasemotherboard_0911_episode_002_seg00t=941 (frames 941–956) · v2 held outPSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 24.9 / 25.6 / 24.9 / 25.5 · wrist L 13.9 / 13.0 / 13.2 / 12.5 · wrist R 22.6 / 21.7 / 20.6 / 23.9 · tactile L 42.5 / 42.1 / 42.3 / 40.5 · tactile R 47.1 / 46.4 / 46.8 / 42.6

releasemotherboard_0911_episode_004_seg00t=992 (frames 992–1007)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 24.3 / 23.7 / 23.6 / 24.0 · wrist L 12.6 / 11.6 / 11.5 / 12.3 · wrist R 16.0 / 14.2 / 14.8 / 15.3 · tactile L 42.9 / 44.6 / 45.4 / 41.8 · tactile R 48.5 / 47.9 / 47.7 / 42.2

releasemotherboard_0911_episode_004_seg00t=1516 (frames 1516–1531)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 25.3 / 25.1 / 24.8 / 24.9 · wrist L 13.0 / 12.7 / 13.1 / 13.4 · wrist R 13.4 / 14.4 / 13.6 / 12.8 · tactile L 40.1 / 39.0 / 38.3 / 30.3 · tactile R 43.5 / 42.1 / 42.2 / 39.7

releasemotherboard_0911_episode_004_seg00t=2502 (frames 2502–2517)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 26.4 / 25.7 / 25.8 / 25.9 · wrist L 13.1 / 11.9 / 12.5 / 12.1 · wrist R 15.6 / 15.1 / 14.9 / 14.7 · tactile L 43.5 / 42.7 / 43.5 / 38.2 · tactile R 46.0 / 44.6 / 45.1 / 36.2

releasemotherboard_0911_episode_004_seg00t=4136 (frames 4136–4151)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 24.6 / 24.4 / 24.4 / 23.2 · wrist L 14.0 / 12.9 / 14.2 / 12.6 · wrist R 14.8 / 14.9 / 15.0 / 13.2 · tactile L 49.2 / 39.0 / 43.2 / 43.1 · tactile R 38.8 / 39.2 / 39.1 / 37.2

releasemotherboard_0911_episode_004_seg00t=4833 (frames 4833–4848)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 26.8 / 26.7 / 26.4 / 25.8 · wrist L 12.7 / 12.3 / 12.6 / 13.1 · wrist R 16.7 / 16.7 / 15.5 / 16.1 · tactile L 47.0 / 45.7 / 46.1 / 42.3 · tactile R 47.9 / 47.8 / 48.3 / 42.5

releasemotherboard_0911_episode_004_seg00t=5672 (frames 5672–5687)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 26.9 / 27.3 / 27.4 / 25.9 · wrist L 12.6 / 12.4 / 12.6 / 12.2 · wrist R 15.1 / 14.8 / 15.2 / 14.9 · tactile L 45.1 / 44.3 / 44.9 / 41.1 · tactile R 48.3 / 47.0 / 47.4 / 42.2

releasemotherboard_0911_episode_005_seg01t=1128 (frames 1128–1143)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 22.9 / 23.6 / 23.6 / 22.8 · wrist L 11.0 / 11.9 / 12.5 / 12.4 · wrist R 16.7 / 17.2 / 16.4 / 13.1 · tactile L 43.0 / 41.7 / 41.7 / 33.9 · tactile R 46.1 / 45.1 / 45.6 / 40.6

releasemotherboard_0911_episode_005_seg02t=1519 (frames 1519–1534)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 24.9 / 24.9 / 24.7 / 24.2 · wrist L 13.8 / 13.4 / 13.4 / 14.9 · wrist R 14.1 / 14.3 / 14.3 / 13.6 · tactile L 43.6 / 42.6 / 43.0 / 38.4 · tactile R 48.3 / 46.7 / 47.6 / 42.2

releasemotherboard_0911_episode_006_seg00t=2609 (frames 2609–2624)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 24.3 / 24.4 / 24.1 / 24.2 · wrist L 14.3 / 14.3 / 14.3 / 13.6 · wrist R 13.7 / 13.8 / 13.9 / 14.0 · tactile L 31.0 / 31.8 / 37.0 / 28.9 · tactile R 33.2 / 32.5 / 32.3 / 30.6

releasemotherboard_0911_episode_007_seg01t=315 (frames 315–330)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 22.7 / 22.5 / 23.3 / 22.5 · wrist L 12.6 / 12.4 / 12.4 / 12.5 · wrist R 13.4 / 13.4 / 13.5 / 13.6 · tactile L 42.2 / 41.1 / 43.1 / 37.4 · tactile R 36.6 / 35.9 / 39.6 / 34.3

releasemotherboard_0911_episode_007_seg01t=1356 (frames 1356–1371)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 23.8 / 24.3 / 23.6 / 23.7 · wrist L 13.9 / 14.6 / 13.9 / 14.7 · wrist R 13.2 / 13.1 / 13.2 / 12.9 · tactile L 47.1 / 46.5 / 47.1 / 42.5 · tactile R 50.8 / 49.1 / 50.2 / 42.9

releasemotherboard_0911_episode_007_seg01t=1481 (frames 1481–1496)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 23.6 / 23.5 / 23.4 / 24.1 · wrist L 11.9 / 12.3 / 12.9 / 14.1 · wrist R 12.2 / 12.8 / 12.0 / 10.8 · tactile L 46.3 / 44.7 / 45.5 / 41.1 · tactile R 47.3 / 46.1 / 46.9 / 40.2

releasemotherboard_0911_episode_007_seg03t=1137 (frames 1137–1152)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 28.4 / 28.9 / 28.7 / 28.0 · wrist L 19.6 / 19.9 / 19.8 / 19.6 · wrist R 13.5 / 13.5 / 13.3 / 13.4 · tactile L 50.7 / 48.5 / 49.8 / 43.3 · tactile R 46.7 / 43.5 / 45.8 / 39.4

releasemotherboard_0911_episode_007_seg03t=1470 (frames 1470–1485)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 26.5 / 26.4 / 26.4 / 25.7 · wrist L 16.7 / 16.5 / 17.1 / 16.2 · wrist R 14.4 / 12.6 / 14.1 / 13.9 · tactile L 50.2 / 48.4 / 49.3 / 43.3 · tactile R 44.9 / 44.9 / 45.0 / 41.6

releasemotherboard_0911_episode_007_seg03t=2700 (frames 2700–2715)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 24.1 / 24.2 / 24.0 / 23.6 · wrist L 14.7 / 15.0 / 15.2 / 14.9 · wrist R 15.8 / 16.8 / 16.1 / 17.5 · tactile L 32.9 / 32.1 / 33.1 / 33.2 · tactile R 50.8 / 49.8 / 50.7 / 43.0

releasemotherboard_0911_episode_007_seg04t=393 (frames 393–408)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 21.5 / 21.7 / 21.9 / 20.5 · wrist L 23.1 / 21.6 / 21.4 / 22.8 · wrist R 14.7 / 14.5 / 14.9 / 14.4 · tactile L 49.9 / 48.8 / 49.6 / 43.4 · tactile R 40.0 / 39.9 / 41.6 / 38.0

releasemotherboard_0911_episode_007_seg04t=507 (frames 507–522)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 21.3 / 22.2 / 22.9 / 22.0 · wrist L 12.6 / 11.9 / 12.1 / 12.3 · wrist R 13.4 / 13.6 / 13.6 / 13.4 · tactile L 45.1 / 43.6 / 44.2 / 34.0 · tactile R 35.3 / 33.2 / 35.6 / 32.7

releasemotherboard_0911_episode_007_seg04t=662 (frames 662–677)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 22.5 / 22.2 / 22.3 / 21.5 · wrist L 12.0 / 11.8 / 11.9 / 14.2 · wrist R 14.4 / 14.2 / 14.4 / 13.9 · tactile L 46.3 / 41.5 / 46.0 / 42.2 · tactile R 41.9 / 41.4 / 41.4 / 39.5

releasemotherboard_0912_episode_000_seg00t=7697 (frames 7697–7712)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 25.8 / 25.9 / 25.8 / 25.2 · wrist L 15.1 / 15.2 / 15.2 / 15.6 · wrist R 12.2 / 12.3 / 12.0 / 11.0 · tactile L 50.4 / 48.9 / 49.5 / 43.4 · tactile R 49.1 / 48.3 / 49.3 / 42.7

releasemotherboard_0912_episode_000_seg00t=9049 (frames 9049–9064)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 23.4 / 23.6 / 23.5 / 22.9 · wrist L 11.0 / 11.1 / 11.3 / 10.2 · wrist R 13.1 / 13.3 / 13.1 / 12.7 · tactile L 46.1 / 45.1 / 45.4 / 41.6 · tactile R 51.2 / 49.8 / 50.0 / 43.0

releasemotherboard_0912_episode_000_seg00t=15306 (frames 15306–15321)PSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 25.0 / 24.2 / 23.7 / 25.3 · wrist L 12.2 / 12.3 / 12.2 / 12.5 · wrist R 14.8 / 15.5 / 14.5 / 15.8 · tactile L 36.5 / 36.8 / 36.3 / 36.2 · tactile R 37.8 / 38.1 / 43.8 / 39.0

releasemotherboard_0912_episode_003t=1684 (frames 1684–1699) · v2 held outPSNR mb_v1 e4 / v2 e0 / v2 e1 / floor: view 23.6 / 25.2 / 24.9 / 26.4 · wrist L 14.2 / 14.2 / 14.5 / 14.5 · wrist R 17.3 / 17.5 / 16.9 / 18.6 · tactile L 33.4 / 34.9 / 33.9 / 32.8 · tactile R 51.2 / 49.7 / 50.2 / 42.8

contact · val0909 — 100 windows

3 episodes, 9,488 windows in total. Class sizes before sampling: none 903, full 4,077, onset 953, release 1,412, mixed 2,143. 25 windows drawn per class with seed 0.

PSNR (dB) on the 8 predicted frames, higher is better

class	model	n	view			wrist L			wrist R			tactile L			tactile R
class	model	n	model	floor	Δ	model	floor	Δ	model	floor	Δ	model	floor	Δ	model	floor	Δ
none	mb_v1 e4	25	28.26	27.34	+0.92	24.10	24.32	-0.23	24.09	24.27	-0.19	48.13	43.59	+4.54	48.08	43.71	+4.37
	v2 e0	25	28.27	27.34	+0.93	24.35	24.32	+0.03	24.05	24.27	-0.22	46.33	43.59	+2.74	47.28	43.71	+3.57
	v2 e1	0	–	27.34	–	–	24.32	–	–	24.27	–	–	43.59	–	–	43.71	–
	MoT e5	0	–	27.34	–	–	24.32	–	–	24.27	–	–	43.59	–	–	43.71	–
full	mb_v1 e4	25	23.56	22.53	+1.03	16.75	17.18	-0.43	16.53	16.55	-0.01	43.29	40.73	+2.56	38.20	36.85	+1.34
	v2 e0	25	23.58	22.53	+1.05	16.53	17.18	-0.64	16.57	16.55	+0.02	43.08	40.73	+2.35	37.98	36.85	+1.12
	v2 e1	25	23.53	22.53	+1.00	16.26	17.18	-0.92	16.50	16.55	-0.05	43.19	40.73	+2.46	37.90	36.85	+1.05
	MoT e5	25	22.87	22.53	+0.34	15.38	17.18	-1.80	15.31	16.55	-1.24	34.08	40.73	-6.65	36.10	36.85	-0.75
onset	mb_v1 e4	25	24.52	24.47	+0.05	19.53	20.56	-1.03	14.34	14.04	+0.30	46.81	42.76	+4.05	36.73	35.78	+0.95
	v2 e0	25	25.01	24.47	+0.54	19.49	20.56	-1.08	14.00	14.04	-0.04	45.82	42.76	+3.05	36.57	35.78	+0.79
	v2 e1	25	24.68	24.47	+0.21	19.25	20.56	-1.32	13.98	14.04	-0.06	46.11	42.76	+3.35	36.64	35.78	+0.86
	MoT e5	25	23.47	24.47	-1.01	16.38	20.56	-4.18	13.25	14.04	-0.79	34.34	42.76	-8.43	34.92	35.78	-0.86
release	mb_v1 e4	25	23.40	22.93	+0.47	16.40	17.31	-0.90	12.61	12.40	+0.21	45.57	41.72	+3.85	41.25	37.78	+3.47
	v2 e0	25	23.24	22.93	+0.31	16.69	17.31	-0.62	12.67	12.40	+0.27	45.03	41.72	+3.32	41.34	37.78	+3.57
	v2 e1	25	23.37	22.93	+0.44	16.07	17.31	-1.23	12.48	12.40	+0.08	45.34	41.72	+3.62	41.81	37.78	+4.03
	MoT e5	25	23.03	22.93	+0.10	14.71	17.31	-2.60	12.18	12.40	-0.22	34.57	41.72	-7.15	38.74	37.78	+0.96

Δ is model minus floor. Green means the model beats repeating the last context frame.

SSIM, higher is better

class	model	n	view			wrist L			wrist R			tactile L			tactile R
class	model	n	model	floor	Δ	model	floor	Δ	model	floor	Δ	model	floor	Δ	model	floor	Δ
none	mb_v1 e4	25	0.900	0.857	+0.043	0.721	0.733	-0.012	0.722	0.740	-0.017	0.992	0.988	+0.004	0.992	0.989	+0.003
	v2 e0	25	0.901	0.857	+0.044	0.728	0.733	-0.004	0.730	0.740	-0.010	0.990	0.988	+0.002	0.991	0.989	+0.003
	v2 e1	0	–	0.857	–	–	0.733	–	–	0.740	–	–	0.988	–	–	0.989	–
	MoT e5	0	–	0.857	–	–	0.733	–	–	0.740	–	–	0.988	–	–	0.989	–
full	mb_v1 e4	25	0.797	0.739	+0.058	0.590	0.617	-0.027	0.569	0.579	-0.010	0.979	0.976	+0.003	0.960	0.960	+0.000
	v2 e0	25	0.798	0.739	+0.059	0.587	0.617	-0.030	0.577	0.579	-0.003	0.980	0.976	+0.004	0.958	0.960	-0.002
	v2 e1	25	0.796	0.739	+0.057	0.582	0.617	-0.035	0.568	0.579	-0.011	0.981	0.976	+0.005	0.960	0.960	-0.000
	MoT e5	25	0.786	0.739	+0.046	0.516	0.617	-0.101	0.483	0.579	-0.097	0.966	0.976	-0.010	0.955	0.960	-0.005
onset	mb_v1 e4	25	0.839	0.803	+0.036	0.666	0.699	-0.033	0.455	0.456	-0.002	0.989	0.985	+0.004	0.969	0.967	+0.002
	v2 e0	25	0.846	0.803	+0.043	0.678	0.699	-0.021	0.449	0.456	-0.008	0.988	0.985	+0.002	0.969	0.967	+0.002
	v2 e1	25	0.842	0.803	+0.039	0.666	0.699	-0.034	0.443	0.456	-0.013	0.989	0.985	+0.004	0.969	0.967	+0.002
	MoT e5	25	0.818	0.803	+0.015	0.561	0.699	-0.139	0.365	0.456	-0.091	0.973	0.985	-0.013	0.959	0.967	-0.007
release	mb_v1 e4	25	0.809	0.765	+0.044	0.581	0.608	-0.026	0.437	0.448	-0.011	0.984	0.979	+0.005	0.975	0.970	+0.005
	v2 e0	25	0.805	0.765	+0.040	0.599	0.608	-0.009	0.447	0.448	-0.001	0.983	0.979	+0.004	0.976	0.970	+0.006
	v2 e1	25	0.809	0.765	+0.044	0.584	0.608	-0.024	0.433	0.448	-0.015	0.984	0.979	+0.005	0.978	0.970	+0.008
	MoT e5	25	0.799	0.765	+0.034	0.501	0.608	-0.107	0.365	0.448	-0.083	0.972	0.979	-0.007	0.969	0.970	-0.001

LPIPS, lower is better

class	model	n	view			wrist L			wrist R			tactile L			tactile R
class	model	n	model	floor	Δ	model	floor	Δ	model	floor	Δ	model	floor	Δ	model	floor	Δ
none	mb_v1 e4	25	0.038	0.056	-0.018	0.189	0.177	+0.012	0.174	0.165	+0.008	0.008	0.012	-0.004	0.011	0.014	-0.003
	v2 e0	25	0.038	0.056	-0.019	0.181	0.177	+0.005	0.163	0.165	-0.002	0.015	0.012	+0.003	0.010	0.014	-0.004
	v2 e1	0	–	0.056	–	–	0.177	–	–	0.165	–	–	0.012	–	–	0.014	–
	MoT e5	0	–	0.056	–	–	0.177	–	–	0.165	–	–	0.012	–	–	0.014	–
full	mb_v1 e4	25	0.091	0.137	-0.046	0.220	0.211	+0.009	0.209	0.206	+0.002	0.037	0.034	+0.002	0.068	0.062	+0.006
	v2 e0	25	0.089	0.137	-0.048	0.227	0.211	+0.016	0.204	0.206	-0.002	0.037	0.034	+0.002	0.064	0.062	+0.002
	v2 e1	25	0.094	0.137	-0.043	0.236	0.211	+0.025	0.219	0.206	+0.012	0.034	0.034	-0.000	0.071	0.062	+0.009
	MoT e5	25	0.113	0.137	-0.024	0.288	0.211	+0.077	0.286	0.206	+0.080	0.106	0.034	+0.072	0.114	0.062	+0.052
onset	mb_v1 e4	25	0.066	0.081	-0.015	0.210	0.163	+0.047	0.349	0.373	-0.024	0.019	0.023	-0.004	0.106	0.112	-0.006
	v2 e0	25	0.060	0.081	-0.021	0.199	0.163	+0.036	0.358	0.373	-0.015	0.025	0.023	+0.001	0.105	0.112	-0.007
	v2 e1	25	0.062	0.081	-0.019	0.206	0.163	+0.043	0.365	0.373	-0.008	0.019	0.023	-0.004	0.105	0.112	-0.007
	MoT e5	25	0.093	0.081	+0.012	0.300	0.163	+0.137	0.456	0.373	+0.083	0.110	0.023	+0.087	0.167	0.112	+0.055
release	mb_v1 e4	25	0.097	0.129	-0.032	0.273	0.235	+0.038	0.400	0.412	-0.012	0.028	0.039	-0.012	0.056	0.079	-0.023
	v2 e0	25	0.099	0.129	-0.030	0.256	0.235	+0.021	0.395	0.412	-0.017	0.029	0.039	-0.010	0.052	0.079	-0.027
	v2 e1	25	0.096	0.129	-0.032	0.273	0.235	+0.038	0.406	0.412	-0.006	0.026	0.039	-0.013	0.046	0.079	-0.033
	MoT e5	25	0.112	0.129	-0.017	0.335	0.235	+0.100	0.467	0.412	+0.055	0.110	0.039	+0.071	0.124	0.079	+0.045

For LPIPS, green means the model is lower than the floor.

Predicted actions (8 future steps), lower is better

class	model	n	left trans (mm)			left rot (°)			right trans (mm)			right rot (°)
class	model	n	model	floor	Δ	model	floor	Δ	model	floor	Δ	model	floor	Δ
none	mb_v1 e4	25	2.95	4.01	-1.06	1.33	1.49	-0.16	2.50	3.04	-0.54	1.30	1.21	+0.09
	v2 e0	25	3.70	4.01	-0.31	1.43	1.49	-0.06	2.58	3.04	-0.46	1.21	1.21	+0.00
	v2 e1	0	–	4.01	–	–	1.49	–	–	3.04	–	–	1.21	–
	MoT e5	0	–	4.01	–	–	1.49	–	–	3.04	–	–	1.21	–
full	mb_v1 e4	25	4.17	3.31	+0.86	1.46	1.12	+0.34	3.89	3.83	+0.07	1.22	1.23	-0.01
	v2 e0	25	4.45	3.31	+1.13	1.39	1.12	+0.27	3.99	3.83	+0.16	1.21	1.23	-0.03
	v2 e1	25	4.45	3.31	+1.14	1.43	1.12	+0.31	4.01	3.83	+0.18	1.20	1.23	-0.03
	MoT e5	25	–	3.31	–	–	1.12	–	–	3.83	–	–	1.23	–
onset	mb_v1 e4	25	3.77	3.98	-0.20	1.48	1.19	+0.29	4.91	8.59	-3.68	1.79	2.67	-0.87
	v2 e0	25	3.92	3.98	-0.06	1.37	1.19	+0.18	5.02	8.59	-3.57	1.92	2.67	-0.75
	v2 e1	25	3.81	3.98	-0.17	1.42	1.19	+0.23	5.49	8.59	-3.10	2.02	2.67	-0.65
	MoT e5	25	–	3.98	–	–	1.19	–	–	8.59	–	–	2.67	–
release	mb_v1 e4	25	7.69	7.40	+0.29	2.28	2.07	+0.21	11.51	14.54	-3.03	3.54	11.17	-7.63
	v2 e0	25	7.77	7.40	+0.37	2.19	2.07	+0.12	11.23	14.54	-3.31	3.54	11.17	-7.63
	v2 e1	25	7.59	7.40	+0.20	2.19	2.07	+0.12	11.31	14.54	-3.23	3.55	11.17	-7.62
	MoT e5	25	–	7.40	–	–	2.07	–	–	14.54	–	–	11.17	–

The action floor repeats the last context action for all 8 future steps.

Every window

class	episode	t	view PSNR					wrist L PSNR					wrist R PSNR					tactile L PSNR					tactile R PSNR
class	episode	t	mb_v1 e4	v2 e0	v2 e1	MoT e5	floor	mb_v1 e4	v2 e0	v2 e1	MoT e5	floor	mb_v1 e4	v2 e0	v2 e1	MoT e5	floor	mb_v1 e4	v2 e0	v2 e1	MoT e5	floor	mb_v1 e4	v2 e0	v2 e1	MoT e5	floor
none	motherboard_0909_episode_000	14	34.0	34.3	–	–	31.1	40.4	40.6	–	–	37.4	38.9	39.5	–	–	36.6	49.2	47.3	–	–	44.0	49.9	48.0	–	–	44.2
none	motherboard_0909_episode_000	55	28.0	28.1	–	–	27.1	40.3	40.6	–	–	37.3	37.0	36.9	–	–	35.2	49.3	47.7	–	–	44.0	49.9	48.2	–	–	44.2
none	motherboard_0909_episode_000	65	28.5	25.0	–	–	27.5	24.2	24.3	–	–	24.0	22.7	22.6	–	–	22.2	49.1	47.4	–	–	43.7	47.9	47.0	–	–	43.9
none	motherboard_0909_episode_000	77	21.7	21.6	–	–	21.2	14.3	14.8	–	–	15.4	16.5	16.6	–	–	16.7	48.3	46.0	–	–	43.9	47.5	47.4	–	–	43.9
none	motherboard_0909_episode_000	193	28.0	28.2	–	–	28.1	23.7	24.3	–	–	25.3	12.4	12.8	–	–	12.6	49.2	48.2	–	–	43.9	48.1	47.9	–	–	43.1
none	motherboard_0909_episode_000	1213	26.1	25.9	–	–	25.8	31.2	30.6	–	–	29.9	12.9	13.0	–	–	12.7	48.8	48.1	–	–	43.9	47.2	46.6	–	–	43.4
none	motherboard_0909_episode_000	1293	27.2	26.6	–	–	26.3	27.2	26.6	–	–	26.6	14.5	14.5	–	–	13.2	48.8	47.9	–	–	43.8	47.5	46.9	–	–	43.2
none	motherboard_0909_episode_000	1365	28.0	28.0	–	–	26.4	14.1	13.4	–	–	11.8	18.2	18.8	–	–	19.8	47.7	45.5	–	–	43.1	48.3	48.0	–	–	43.2
none	motherboard_0909_episode_000	2018	25.0	24.8	–	–	21.7	12.1	13.0	–	–	11.1	12.5	12.3	–	–	14.3	48.3	43.9	–	–	43.1	49.2	46.8	–	–	44.1
none	motherboard_0909_episode_000	2956	28.1	27.2	–	–	28.1	13.5	13.4	–	–	15.1	17.0	17.2	–	–	17.0	46.7	42.3	–	–	43.8	35.9	38.4	–	–	42.1
none	motherboard_0909_episode_001	37	33.9	34.3	–	–	31.3	36.4	37.3	–	–	36.8	39.8	39.6	–	–	37.9	49.3	48.2	–	–	44.0	49.1	48.0	–	–	43.9
none	motherboard_0909_episode_001	62	34.1	34.3	–	–	31.3	36.5	37.8	–	–	36.7	39.8	36.8	–	–	38.2	49.3	48.0	–	–	43.9	49.1	48.2	–	–	44.1
none	motherboard_0909_episode_001	67	34.0	34.3	–	–	31.3	35.9	38.2	–	–	36.8	39.6	38.5	–	–	38.2	49.2	48.1	–	–	43.8	49.0	48.2	–	–	44.2
none	motherboard_0909_episode_001	81	33.9	34.4	–	–	31.3	36.7	36.7	–	–	36.7	39.3	39.0	–	–	38.1	48.9	48.0	–	–	43.7	49.0	48.2	–	–	44.0
none	motherboard_0909_episode_001	107	34.0	34.3	–	–	31.3	35.3	37.5	–	–	36.8	39.9	39.0	–	–	38.1	48.9	47.6	–	–	43.9	49.2	47.9	–	–	44.0
none	motherboard_0909_episode_001	132	28.4	28.7	–	–	28.8	27.5	27.0	–	–	31.3	23.6	23.3	–	–	26.5	48.7	47.7	–	–	43.8	44.6	41.8	–	–	43.2
none	motherboard_0909_episode_001	1371	27.2	27.4	–	–	27.0	20.7	21.1	–	–	20.8	13.2	12.7	–	–	12.2	48.9	48.2	–	–	43.8	48.0	48.3	–	–	44.0
none	motherboard_0909_episode_001	1375	26.7	26.1	–	–	26.7	20.5	21.0	–	–	20.6	12.6	12.2	–	–	12.6	48.4	48.1	–	–	43.8	49.0	48.3	–	–	44.0
none	motherboard_0909_episode_001	1379	26.6	26.2	–	–	25.5	21.4	22.2	–	–	23.2	12.0	11.8	–	–	11.7	49.1	48.0	–	–	43.8	48.8	48.3	–	–	43.7
none	motherboard_0909_episode_001	2366	26.9	26.6	–	–	26.0	13.1	11.1	–	–	12.1	31.6	31.9	–	–	32.1	46.5	46.7	–	–	43.4	49.5	48.7	–	–	43.9
none	motherboard_0909_episode_001	3188	26.2	28.9	–	–	27.8	10.7	10.3	–	–	10.2	22.9	22.8	–	–	23.8	47.9	47.1	–	–	43.7	50.1	48.8	–	–	43.9
none	motherboard_0909_episode_002	26	28.7	28.6	–	–	27.6	34.9	34.7	–	–	36.4	34.3	34.4	–	–	33.7	49.2	48.3	–	–	43.9	49.6	48.6	–	–	44.0
none	motherboard_0909_episode_002	57	22.2	22.7	–	–	21.7	12.6	12.7	–	–	14.6	14.3	14.3	–	–	14.3	49.2	48.3	–	–	44.0	48.9	46.7	–	–	44.1
none	motherboard_0909_episode_002	710	24.5	24.7	–	–	27.1	10.3	10.4	–	–	11.4	19.4	19.6	–	–	22.8	44.0	36.7	–	–	42.8	49.2	49.3	–	–	43.9
none	motherboard_0909_episode_002	2608	24.6	25.6	–	–	25.7	9.0	9.4	–	–	9.8	17.3	20.9	–	–	26.3	40.4	34.9	–	–	40.0	47.6	47.7	–	–	42.6
full	motherboard_0909_episode_000	424	29.7	28.6	30.1	26.7	30.1	12.6	12.5	13.1	12.3	11.9	21.9	21.8	22.4	18.6	23.4	31.8	34.1	34.9	30.3	31.2	44.5	44.4	44.4	41.6	41.5
full	motherboard_0909_episode_000	516	23.3	23.8	24.3	22.3	21.1	11.5	11.4	11.5	11.0	11.3	15.4	15.2	15.4	14.9	14.8	49.0	48.3	48.6	34.5	44.0	29.0	29.1	28.8	29.4	30.1
full	motherboard_0909_episode_000	697	24.4	26.0	23.9	24.8	22.3	14.1	14.1	13.8	14.2	13.4	15.5	15.3	15.5	14.4	14.9	32.2	32.0	32.3	32.2	32.2	32.8	32.6	32.7	30.3	31.5
full	motherboard_0909_episode_000	1011	24.0	24.2	24.0	23.2	21.8	16.3	16.2	16.3	16.4	15.9	14.2	14.1	14.1	13.8	13.2	47.7	47.3	47.8	34.9	44.0	35.4	35.1	35.4	35.0	34.7
full	motherboard_0909_episode_000	1042	19.6	21.0	21.0	20.2	18.5	22.7	17.9	21.1	16.6	20.0	14.1	13.2	13.6	12.8	13.5	48.9	47.8	48.8	34.6	43.9	33.3	34.1	32.9	34.1	34.7
full	motherboard_0909_episode_000	1982	22.1	22.1	22.1	21.3	21.9	18.9	19.1	18.6	16.7	18.4	13.9	13.3	13.0	13.6	13.6	48.8	47.3	48.7	33.4	43.9	32.7	30.9	29.6	32.8	33.2
full	motherboard_0909_episode_000	2706	20.6	20.5	21.1	18.1	20.2	24.9	27.9	25.2	17.9	29.2	14.6	14.6	14.7	13.0	14.2	48.5	47.9	46.2	34.7	43.8	31.2	33.3	31.6	32.6	33.2
full	motherboard_0909_episode_000	2924	31.4	29.1	31.4	28.2	31.6	15.4	13.9	15.4	14.9	20.2	15.5	15.7	15.0	15.3	17.9	41.6	41.1	41.6	33.2	41.5	43.1	43.4	42.8	37.3	41.2
full	motherboard_0909_episode_000	3029	24.0	23.8	23.4	25.2	23.3	16.7	15.6	15.3	16.5	17.6	14.9	14.9	14.5	14.9	14.6	46.5	45.9	46.4	34.5	43.2	33.7	33.9	33.7	34.8	34.4
full	motherboard_0909_episode_000	3041	23.2	22.9	23.0	23.6	23.4	13.9	15.0	13.8	12.8	15.7	15.2	14.5	13.3	12.9	14.6	45.7	45.6	45.3	33.3	43.1	34.7	34.6	34.9	35.0	36.0
full	motherboard_0909_episode_000	3068	28.0	27.2	28.0	24.9	30.1	17.0	17.0	16.2	17.6	18.2	17.0	17.1	17.2	18.0	17.5	44.7	44.5	44.0	34.9	42.5	38.7	36.2	39.5	36.0	36.4
full	motherboard_0909_episode_000	3137	22.6	21.6	21.0	20.2	21.9	14.8	13.2	13.7	11.7	13.8	11.7	12.0	11.5	12.0	13.2	32.8	33.9	33.5	30.6	34.8	40.4	40.7	40.6	37.2	40.6
full	motherboard_0909_episode_001	709	22.2	22.1	20.5	23.4	20.0	16.0	15.1	15.1	15.7	15.8	14.0	14.0	13.3	13.8	13.5	44.8	43.9	44.7	36.2	42.3	42.4	41.6	41.7	37.4	38.7
full	motherboard_0909_episode_001	1264	23.8	23.4	23.6	22.8	22.1	18.0	18.5	17.8	16.8	19.2	22.7	21.9	22.1	17.5	21.4	49.3	48.3	48.4	34.7	43.7	40.5	40.2	39.1	39.0	40.5
full	motherboard_0909_episode_001	1472	20.2	21.2	20.9	20.4	19.6	18.5	20.1	19.4	17.9	18.4	15.6	15.6	15.6	15.0	16.3	48.3	48.3	47.8	35.2	43.9	36.2	36.0	36.4	36.4	36.1
full	motherboard_0909_episode_001	1640	22.5	21.2	20.6	20.7	20.3	19.9	16.4	16.2	16.0	17.9	20.6	21.2	21.2	19.5	21.9	48.4	46.8	44.9	36.1	43.2	32.8	32.8	33.1	31.9	33.6
full	motherboard_0909_episode_001	1976	19.2	20.1	19.1	20.2	18.2	17.8	15.7	15.4	17.6	17.9	15.3	15.4	15.3	14.2	14.6	35.3	36.0	36.2	33.6	37.6	49.6	49.1	49.0	43.4	43.9
full	motherboard_0909_episode_001	2297	20.7	22.4	21.5	21.0	20.0	14.0	14.3	13.8	14.0	14.6	23.3	23.9	23.5	19.7	23.8	42.8	43.2	43.2	36.0	42.3	48.9	48.5	49.5	43.3	43.9
full	motherboard_0909_episode_001	2925	22.7	23.2	23.1	22.4	20.6	10.7	10.9	10.8	11.1	10.9	17.3	18.5	17.5	14.4	17.1	37.5	37.6	36.9	34.1	35.5	49.4	49.0	48.1	41.7	43.9
full	motherboard_0909_episode_001	3222	22.3	21.5	22.0	22.2	21.6	12.7	12.5	12.4	14.3	12.8	20.2	20.4	20.3	17.6	19.3	31.7	31.2	31.2	30.6	30.9	49.5	49.2	48.5	43.3	44.0
full	motherboard_0909_episode_001	3267	21.9	21.9	22.0	21.9	20.6	21.9	24.4	24.3	16.7	22.5	12.5	12.6	12.6	12.0	11.7	48.6	47.9	47.1	35.7	43.8	29.9	28.9	29.6	30.2	28.5
full	motherboard_0909_episode_002	908	21.5	21.6	21.2	22.6	21.1	21.5	20.9	18.1	19.7	20.7	15.3	15.4	15.3	15.5	15.4	47.8	48.2	47.8	34.8	43.8	29.5	29.4	29.4	29.0	30.1
full	motherboard_0909_episode_002	1277	23.5	23.4	23.9	23.2	20.1	14.5	14.0	14.2	13.2	14.4	19.6	19.6	19.2	18.2	17.5	46.1	44.5	46.5	34.5	42.2	32.8	32.5	32.3	32.9	31.1
full	motherboard_0909_episode_002	1733	33.3	34.5	34.5	29.5	31.4	20.8	22.7	21.2	19.4	24.9	17.1	18.4	19.9	17.1	19.9	48.9	48.1	48.9	36.4	43.8	34.5	34.8	34.7	34.1	35.6
full	motherboard_0909_episode_002	2025	22.2	22.1	22.3	22.9	21.4	13.8	13.9	14.0	13.5	14.1	16.1	15.8	16.3	14.1	15.8	34.7	37.5	38.0	32.9	37.1	49.4	49.1	49.1	43.5	43.8
onset	motherboard_0909_episode_000	284	27.2	28.2	26.7	23.2	26.1	26.0	25.1	19.9	15.7	27.5	13.3	14.6	16.1	12.2	11.6	49.1	48.1	47.8	33.1	43.9	34.5	34.4	34.4	33.8	34.2
onset	motherboard_0909_episode_000	1895	24.1	24.3	23.8	22.3	22.7	18.3	15.8	19.0	14.0	20.1	10.2	10.6	10.8	11.0	9.6	49.3	48.2	48.6	34.9	43.9	40.4	40.3	40.0	38.4	39.7
onset	motherboard_0909_episode_000	1997	24.0	24.3	24.1	22.8	23.8	24.1	23.0	20.4	14.9	23.7	13.9	13.9	13.7	13.5	12.9	49.0	48.1	47.3	33.4	43.9	31.0	31.0	30.9	31.0	30.8
onset	motherboard_0909_episode_000	2766	25.9	24.2	25.4	24.3	24.9	28.2	28.9	28.7	25.3	30.0	16.0	15.6	16.0	15.1	15.2	48.7	48.3	48.2	35.8	43.8	34.2	34.2	34.2	31.4	33.9
onset	motherboard_0909_episode_000	2866	27.3	27.4	27.4	25.1	26.1	20.4	20.4	20.5	17.2	20.1	15.1	14.3	15.0	13.1	15.2	49.2	48.1	47.6	33.5	43.8	34.6	34.5	34.5	34.1	34.3
onset	motherboard_0909_episode_000	3164	25.2	27.9	26.7	25.4	26.3	15.6	15.7	15.8	16.4	18.6	13.1	12.2	12.2	12.3	13.6	49.3	48.3	48.3	35.0	43.9	35.4	35.9	35.9	35.7	35.4
onset	motherboard_0909_episode_000	3304	22.2	23.4	22.2	22.1	21.5	13.8	13.7	13.8	13.4	12.1	12.7	12.8	12.4	12.2	12.9	41.6	38.1	42.0	33.3	40.6	46.8	47.2	47.2	42.6	43.1
onset	motherboard_0909_episode_001	920	23.1	22.8	22.9	22.4	22.0	13.4	12.9	12.8	13.1	13.1	13.6	13.4	13.2	12.4	13.0	45.7	40.7	46.2	35.9	43.4	34.5	34.7	34.6	34.1	34.3
onset	motherboard_0909_episode_001	1319	28.5	28.8	28.6	26.8	28.7	22.6	22.2	22.3	17.7	23.2	19.6	20.4	19.8	17.0	21.6	48.4	47.7	48.3	34.4	43.0	35.3	35.0	35.2	34.5	34.9
onset	motherboard_0909_episode_001	1507	22.2	22.4	22.7	22.0	22.2	23.0	23.1	22.6	15.9	23.3	13.9	14.0	13.8	12.0	11.5	48.9	48.2	46.7	35.6	43.9	36.4	36.3	36.4	35.3	35.8
onset	motherboard_0909_episode_001	1535	23.4	23.9	23.2	23.5	23.6	22.2	22.3	22.6	20.3	22.5	15.9	15.7	15.7	17.1	14.7	47.0	46.7	47.6	37.2	42.6	36.8	36.7	36.1	36.0	37.0
onset	motherboard_0909_episode_001	1713	25.6	28.5	26.5	25.5	27.9	24.4	25.3	24.5	22.7	25.0	13.2	13.2	13.5	12.5	13.8	49.0	48.1	47.9	34.9	43.8	36.4	36.3	36.3	32.6	35.8
onset	motherboard_0909_episode_001	1741	24.1	25.0	24.7	23.1	24.5	19.3	19.3	19.4	18.6	19.7	14.1	13.5	14.1	11.6	14.2	48.6	48.0	48.3	33.8	43.7	38.5	38.5	38.5	36.4	38.0
onset	motherboard_0909_episode_001	1938	22.9	23.7	24.6	23.1	24.1	13.1	13.6	13.3	13.0	12.5	19.7	19.4	19.2	19.9	21.2	38.9	36.3	37.0	31.2	38.9	49.8	49.1	49.2	43.5	43.8
onset	motherboard_0909_episode_001	1993	22.4	23.1	22.6	21.4	22.6	11.0	12.0	11.5	11.7	12.8	14.6	13.6	13.6	11.0	14.8	47.4	46.7	47.7	35.8	43.4	35.5	35.5	35.4	31.2	35.1
onset	motherboard_0909_episode_001	2073	21.8	22.0	22.1	22.0	22.1	17.5	17.7	17.9	16.1	19.5	13.4	13.5	13.5	12.3	13.1	48.9	48.6	48.0	34.9	43.9	28.9	28.8	28.9	28.9	28.8
onset	motherboard_0909_episode_001	2522	24.7	25.8	25.7	23.4	23.5	10.9	10.5	10.3	11.3	10.0	14.6	13.6	12.7	14.6	14.8	35.7	35.7	36.0	32.1	35.7	49.1	46.6	47.3	43.5	44.2
onset	motherboard_0909_episode_001	2686	29.4	29.3	27.3	23.9	28.1	18.8	19.3	18.0	14.8	25.9	17.3	15.9	14.4	15.2	17.6	49.4	48.4	47.8	35.1	43.9	37.3	37.0	37.1	36.2	36.3
onset	motherboard_0909_episode_001	3350	24.2	25.2	25.3	23.4	24.8	25.0	23.7	25.1	12.0	21.2	10.4	10.2	10.5	11.6	10.7	47.9	48.4	47.7	31.6	43.9	34.1	34.0	34.2	33.8	33.9
onset	motherboard_0909_episode_002	218	24.1	22.7	22.2	23.0	24.0	22.3	18.5	16.0	21.9	25.4	18.4	15.8	15.0	14.3	15.9	48.5	47.7	46.3	35.5	43.7	33.6	33.6	33.7	30.2	33.4
onset	motherboard_0909_episode_002	860	22.0	22.8	22.3	21.5	22.7	13.9	13.3	13.6	13.3	12.9	10.7	10.2	10.4	10.3	9.7	36.2	35.8	36.9	30.9	36.5	44.4	44.0	45.2	41.1	42.3
onset	motherboard_0909_episode_002	1104	23.5	24.9	25.6	24.8	27.0	23.6	28.4	27.6	19.4	28.4	11.4	10.3	10.2	12.0	11.7	48.1	47.6	46.2	34.5	43.8	31.7	31.8	31.7	31.7	31.6
onset	motherboard_0909_episode_002	1107	24.1	24.2	24.2	22.9	24.1	27.5	29.4	29.3	18.6	29.0	12.9	12.7	13.1	12.4	12.7	48.7	47.9	47.0	36.6	43.8	29.9	29.9	29.9	29.8	29.9
onset	motherboard_0909_episode_002	1657	27.6	27.1	27.6	25.9	26.5	20.2	19.0	19.7	18.1	20.8	13.5	13.3	13.7	11.9	13.4	48.8	48.2	49.0	34.8	43.8	33.7	33.6	33.6	33.1	33.3
onset	motherboard_0909_episode_002	2431	23.1	23.5	22.6	23.0	22.1	13.2	14.1	16.4	14.3	16.7	17.0	17.1	16.9	13.8	15.6	47.8	47.5	48.4	34.8	43.6	35.3	35.4	35.8	34.2	34.7
release	motherboard_0909_episode_000	382	26.7	26.7	26.8	25.8	26.2	22.6	22.8	22.1	18.9	21.3	12.0	12.1	11.9	12.1	12.0	49.2	48.2	48.9	35.7	43.9	39.1	39.4	38.5	37.1	37.8
release	motherboard_0909_episode_000	903	20.7	20.6	20.7	21.8	20.9	9.7	9.9	9.8	8.9	9.5	10.8	11.3	10.9	12.1	11.4	45.3	44.6	44.2	32.6	38.9	44.6	44.9	44.3	40.1	43.5
release	motherboard_0909_episode_000	1958	27.1	25.6	27.2	25.3	26.3	19.8	20.6	20.0	18.7	21.5	12.1	12.0	12.1	12.3	12.4	49.1	48.3	48.0	34.6	44.0	31.6	33.4	32.9	33.2	31.4
release	motherboard_0909_episode_000	2749	28.1	28.0	27.8	25.1	27.3	31.7	31.8	25.1	27.8	32.9	15.0	15.1	15.1	14.8	15.6	48.0	46.7	48.3	34.6	43.9	43.6	42.3	43.4	39.4	41.0
release	motherboard_0909_episode_000	2822	24.3	23.5	24.4	23.6	25.0	9.4	9.5	9.4	9.3	9.8	12.7	12.7	12.7	12.5	12.6	34.8	34.9	35.7	32.4	33.4	32.6	31.2	31.9	37.3	30.1
release	motherboard_0909_episode_000	2846	21.7	21.8	21.4	21.6	21.9	15.3	14.2	13.4	12.9	15.8	9.4	9.5	9.5	8.9	9.4	48.3	47.7	48.4	34.6	43.8	38.1	38.8	41.2	38.0	36.4
release	motherboard_0909_episode_000	2941	24.6	24.7	24.7	24.7	24.1	10.6	10.3	10.8	10.7	9.7	11.7	11.9	11.6	12.4	11.4	47.2	45.6	46.8	34.8	43.2	48.4	47.3	48.2	42.2	43.7
release	motherboard_0909_episode_001	753	23.3	23.4	21.9	22.8	21.8	9.9	9.8	10.0	11.5	11.2	11.8	11.6	11.7	10.2	10.8	43.1	42.6	43.5	35.6	39.2	45.1	45.0	45.5	40.5	40.4
release	motherboard_0909_episode_001	1282	26.1	27.5	26.5	24.8	26.5	18.8	19.1	18.0	14.6	17.5	13.6	13.7	13.9	15.3	13.9	49.1	48.0	47.9	34.0	43.7	37.5	37.7	39.1	39.4	35.3
release	motherboard_0909_episode_001	1774	24.6	23.0	23.4	23.1	23.2	22.9	21.5	21.0	17.1	21.4	12.6	12.2	12.2	12.6	12.4	48.6	48.4	48.3	33.8	43.9	31.8	37.6	40.8	37.3	28.7
release	motherboard_0909_episode_001	2720	22.1	21.2	22.1	23.4	21.8	19.3	17.1	17.0	19.7	21.9	9.4	9.1	10.3	10.1	8.3	48.0	47.4	47.9	35.3	43.9	44.4	44.2	44.5	40.6	39.2
release	motherboard_0909_episode_001	2780	21.8	21.6	22.2	21.6	20.3	11.6	11.4	11.5	11.5	12.0	15.9	15.9	15.3	13.6	14.3	34.7	34.1	34.6	33.3	35.4	49.2	48.8	47.3	43.1	43.7
release	motherboard_0909_episode_001	3229	21.1	21.2	20.8	21.2	21.5	10.4	10.6	10.7	11.3	10.4	15.6	15.6	15.2	17.1	16.5	32.5	32.2	31.7	31.9	31.6	49.3	49.1	48.9	43.6	44.0
release	motherboard_0909_episode_002	276	22.9	22.2	23.0	20.7	20.9	24.4	23.9	23.7	15.9	24.2	12.9	13.3	12.8	13.2	13.6	48.0	47.6	46.8	36.8	43.9	31.6	30.1	31.3	30.0	29.9
release	motherboard_0909_episode_002	307	21.8	21.8	21.5	22.0	21.6	15.6	16.0	15.6	13.2	16.0	12.1	12.2	12.8	12.5	12.2	47.7	47.5	46.5	35.2	43.7	32.3	35.1	36.7	33.3	29.6
release	motherboard_0909_episode_002	346	23.4	22.1	23.4	23.0	21.4	9.0	8.8	8.8	10.4	9.1	13.9	13.8	13.5	12.7	12.8	40.1	38.0	41.0	35.3	39.5	49.0	48.8	48.7	42.6	43.7
release	motherboard_0909_episode_002	388	23.6	23.2	23.9	22.2	24.1	19.3	19.3	20.3	13.7	20.0	14.1	15.0	11.1	9.8	13.9	48.9	47.7	47.0	35.8	43.8	43.9	43.7	44.4	40.3	39.7
release	motherboard_0909_episode_002	390	25.0	23.9	24.6	24.1	25.1	18.8	18.8	19.0	18.1	21.9	11.7	13.3	11.8	9.6	11.5	49.2	48.4	47.6	36.3	43.7	43.7	43.8	44.1	40.8	41.0
release	motherboard_0909_episode_002	944	20.3	20.7	20.2	22.2	21.2	17.8	19.3	19.4	16.4	22.8	10.4	10.3	9.9	8.9	9.4	48.0	48.4	49.1	34.7	43.7	42.7	42.6	43.1	39.0	37.9
release	motherboard_0909_episode_002	1002	19.4	19.9	19.8	20.4	17.9	8.7	8.8	8.2	8.7	8.7	14.0	13.9	14.0	14.1	13.7	38.5	39.8	39.4	31.0	36.8	49.7	49.0	47.1	40.2	43.7
release	motherboard_0909_episode_002	1445	20.0	20.1	20.4	20.9	20.8	12.3	14.0	14.0	10.8	15.4	11.7	11.5	11.8	11.6	11.6	48.1	47.4	49.1	34.8	43.7	44.1	44.5	44.9	40.1	38.8
release	motherboard_0909_episode_002	1511	24.4	25.2	24.4	23.4	22.4	18.7	20.7	19.6	17.0	19.6	12.7	12.5	13.0	12.2	11.9	47.7	48.0	48.3	36.2	44.0	34.8	33.1	33.9	31.6	32.4
release	motherboard_0909_episode_002	1620	26.1	26.7	27.2	26.8	27.5	19.2	19.7	19.7	19.4	21.8	13.9	13.7	13.6	13.2	14.5	48.8	48.2	48.1	36.2	44.0	39.6	38.5	38.6	38.1	37.1
release	motherboard_0909_episode_002	2060	24.9	24.7	25.0	23.3	24.4	16.5	20.5	16.6	16.6	20.9	11.5	11.3	11.6	10.8	10.9	47.9	48.3	47.8	34.1	43.8	44.1	44.7	45.4	41.4	37.5
release	motherboard_0909_episode_002	2674	21.0	21.7	20.9	21.9	19.1	17.8	18.5	18.3	14.4	17.2	13.6	13.2	13.6	12.0	12.9	48.4	47.7	48.7	34.6	43.7	40.6	40.1	40.4	39.2	38.3

Green cells beat that window's copy-last floor. A dash means that checkpoint was not run on the window (v2 e1 skips the none class).

Strips

nonemotherboard_0909_episode_000t=14 (frames 14–29)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 34.0 / 34.3 / – / – / 31.1 · wrist L 40.4 / 40.6 / – / – / 37.4 · wrist R 38.9 / 39.5 / – / – / 36.6 · tactile L 49.2 / 47.3 / – / – / 44.0 · tactile R 49.9 / 48.0 / – / – / 44.2

nonemotherboard_0909_episode_000t=55 (frames 55–70)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 28.0 / 28.1 / – / – / 27.1 · wrist L 40.3 / 40.6 / – / – / 37.3 · wrist R 37.0 / 36.9 / – / – / 35.2 · tactile L 49.3 / 47.7 / – / – / 44.0 · tactile R 49.9 / 48.2 / – / – / 44.2

nonemotherboard_0909_episode_000t=65 (frames 65–80)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 28.5 / 25.0 / – / – / 27.5 · wrist L 24.2 / 24.3 / – / – / 24.0 · wrist R 22.7 / 22.6 / – / – / 22.2 · tactile L 49.1 / 47.4 / – / – / 43.7 · tactile R 47.9 / 47.0 / – / – / 43.9

nonemotherboard_0909_episode_000t=77 (frames 77–92)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 21.7 / 21.6 / – / – / 21.2 · wrist L 14.3 / 14.8 / – / – / 15.4 · wrist R 16.5 / 16.6 / – / – / 16.7 · tactile L 48.3 / 46.0 / – / – / 43.9 · tactile R 47.5 / 47.4 / – / – / 43.9

nonemotherboard_0909_episode_000t=193 (frames 193–208)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 28.0 / 28.2 / – / – / 28.1 · wrist L 23.7 / 24.3 / – / – / 25.3 · wrist R 12.4 / 12.8 / – / – / 12.6 · tactile L 49.2 / 48.2 / – / – / 43.9 · tactile R 48.1 / 47.9 / – / – / 43.1

nonemotherboard_0909_episode_000t=1213 (frames 1213–1228)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 26.1 / 25.9 / – / – / 25.8 · wrist L 31.2 / 30.6 / – / – / 29.9 · wrist R 12.9 / 13.0 / – / – / 12.7 · tactile L 48.8 / 48.1 / – / – / 43.9 · tactile R 47.2 / 46.6 / – / – / 43.4

nonemotherboard_0909_episode_000t=1293 (frames 1293–1308)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 27.2 / 26.6 / – / – / 26.3 · wrist L 27.2 / 26.6 / – / – / 26.6 · wrist R 14.5 / 14.5 / – / – / 13.2 · tactile L 48.8 / 47.9 / – / – / 43.8 · tactile R 47.5 / 46.9 / – / – / 43.2

nonemotherboard_0909_episode_000t=1365 (frames 1365–1380)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 28.0 / 28.0 / – / – / 26.4 · wrist L 14.1 / 13.4 / – / – / 11.8 · wrist R 18.2 / 18.8 / – / – / 19.8 · tactile L 47.7 / 45.5 / – / – / 43.1 · tactile R 48.3 / 48.0 / – / – / 43.2

nonemotherboard_0909_episode_000t=2018 (frames 2018–2033)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 25.0 / 24.8 / – / – / 21.7 · wrist L 12.1 / 13.0 / – / – / 11.1 · wrist R 12.5 / 12.3 / – / – / 14.3 · tactile L 48.3 / 43.9 / – / – / 43.1 · tactile R 49.2 / 46.8 / – / – / 44.1

nonemotherboard_0909_episode_000t=2956 (frames 2956–2971)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 28.1 / 27.2 / – / – / 28.1 · wrist L 13.5 / 13.4 / – / – / 15.1 · wrist R 17.0 / 17.2 / – / – / 17.0 · tactile L 46.7 / 42.3 / – / – / 43.8 · tactile R 35.9 / 38.4 / – / – / 42.1

nonemotherboard_0909_episode_001t=37 (frames 37–52)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 33.9 / 34.3 / – / – / 31.3 · wrist L 36.4 / 37.3 / – / – / 36.8 · wrist R 39.8 / 39.6 / – / – / 37.9 · tactile L 49.3 / 48.2 / – / – / 44.0 · tactile R 49.1 / 48.0 / – / – / 43.9

nonemotherboard_0909_episode_001t=62 (frames 62–77)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 34.1 / 34.3 / – / – / 31.3 · wrist L 36.5 / 37.8 / – / – / 36.7 · wrist R 39.8 / 36.8 / – / – / 38.2 · tactile L 49.3 / 48.0 / – / – / 43.9 · tactile R 49.1 / 48.2 / – / – / 44.1

nonemotherboard_0909_episode_001t=67 (frames 67–82)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 34.0 / 34.3 / – / – / 31.3 · wrist L 35.9 / 38.2 / – / – / 36.8 · wrist R 39.6 / 38.5 / – / – / 38.2 · tactile L 49.2 / 48.1 / – / – / 43.8 · tactile R 49.0 / 48.2 / – / – / 44.2

nonemotherboard_0909_episode_001t=81 (frames 81–96)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 33.9 / 34.4 / – / – / 31.3 · wrist L 36.7 / 36.7 / – / – / 36.7 · wrist R 39.3 / 39.0 / – / – / 38.1 · tactile L 48.9 / 48.0 / – / – / 43.7 · tactile R 49.0 / 48.2 / – / – / 44.0

nonemotherboard_0909_episode_001t=107 (frames 107–122)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 34.0 / 34.3 / – / – / 31.3 · wrist L 35.3 / 37.5 / – / – / 36.8 · wrist R 39.9 / 39.0 / – / – / 38.1 · tactile L 48.9 / 47.6 / – / – / 43.9 · tactile R 49.2 / 47.9 / – / – / 44.0

nonemotherboard_0909_episode_001t=132 (frames 132–147)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 28.4 / 28.7 / – / – / 28.8 · wrist L 27.5 / 27.0 / – / – / 31.3 · wrist R 23.6 / 23.3 / – / – / 26.5 · tactile L 48.7 / 47.7 / – / – / 43.8 · tactile R 44.6 / 41.8 / – / – / 43.2

nonemotherboard_0909_episode_001t=1371 (frames 1371–1386)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 27.2 / 27.4 / – / – / 27.0 · wrist L 20.7 / 21.1 / – / – / 20.8 · wrist R 13.2 / 12.7 / – / – / 12.2 · tactile L 48.9 / 48.2 / – / – / 43.8 · tactile R 48.0 / 48.3 / – / – / 44.0

nonemotherboard_0909_episode_001t=1375 (frames 1375–1390)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 26.7 / 26.1 / – / – / 26.7 · wrist L 20.5 / 21.0 / – / – / 20.6 · wrist R 12.6 / 12.2 / – / – / 12.6 · tactile L 48.4 / 48.1 / – / – / 43.8 · tactile R 49.0 / 48.3 / – / – / 44.0

nonemotherboard_0909_episode_001t=1379 (frames 1379–1394)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 26.6 / 26.2 / – / – / 25.5 · wrist L 21.4 / 22.2 / – / – / 23.2 · wrist R 12.0 / 11.8 / – / – / 11.7 · tactile L 49.1 / 48.0 / – / – / 43.8 · tactile R 48.8 / 48.3 / – / – / 43.7

nonemotherboard_0909_episode_001t=2366 (frames 2366–2381)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 26.9 / 26.6 / – / – / 26.0 · wrist L 13.1 / 11.1 / – / – / 12.1 · wrist R 31.6 / 31.9 / – / – / 32.1 · tactile L 46.5 / 46.7 / – / – / 43.4 · tactile R 49.5 / 48.7 / – / – / 43.9

nonemotherboard_0909_episode_001t=3188 (frames 3188–3203)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 26.2 / 28.9 / – / – / 27.8 · wrist L 10.7 / 10.3 / – / – / 10.2 · wrist R 22.9 / 22.8 / – / – / 23.8 · tactile L 47.9 / 47.1 / – / – / 43.7 · tactile R 50.1 / 48.8 / – / – / 43.9

nonemotherboard_0909_episode_002t=26 (frames 26–41)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 28.7 / 28.6 / – / – / 27.6 · wrist L 34.9 / 34.7 / – / – / 36.4 · wrist R 34.3 / 34.4 / – / – / 33.7 · tactile L 49.2 / 48.3 / – / – / 43.9 · tactile R 49.6 / 48.6 / – / – / 44.0

nonemotherboard_0909_episode_002t=57 (frames 57–72)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 22.2 / 22.7 / – / – / 21.7 · wrist L 12.6 / 12.7 / – / – / 14.6 · wrist R 14.3 / 14.3 / – / – / 14.3 · tactile L 49.2 / 48.3 / – / – / 44.0 · tactile R 48.9 / 46.7 / – / – / 44.1

nonemotherboard_0909_episode_002t=710 (frames 710–725)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 24.5 / 24.7 / – / – / 27.1 · wrist L 10.3 / 10.4 / – / – / 11.4 · wrist R 19.4 / 19.6 / – / – / 22.8 · tactile L 44.0 / 36.7 / – / – / 42.8 · tactile R 49.2 / 49.3 / – / – / 43.9

nonemotherboard_0909_episode_002t=2608 (frames 2608–2623)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 24.6 / 25.6 / – / – / 25.7 · wrist L 9.0 / 9.4 / – / – / 9.8 · wrist R 17.3 / 20.9 / – / – / 26.3 · tactile L 40.4 / 34.9 / – / – / 40.0 · tactile R 47.6 / 47.7 / – / – / 42.6

fullmotherboard_0909_episode_000t=424 (frames 424–439)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 29.7 / 28.6 / 30.1 / 26.7 / 30.1 · wrist L 12.6 / 12.5 / 13.1 / 12.3 / 11.9 · wrist R 21.9 / 21.8 / 22.4 / 18.6 / 23.4 · tactile L 31.8 / 34.1 / 34.9 / 30.3 / 31.2 · tactile R 44.5 / 44.4 / 44.4 / 41.6 / 41.5

fullmotherboard_0909_episode_000t=516 (frames 516–531)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 23.3 / 23.8 / 24.3 / 22.3 / 21.1 · wrist L 11.5 / 11.4 / 11.5 / 11.0 / 11.3 · wrist R 15.4 / 15.2 / 15.4 / 14.9 / 14.8 · tactile L 49.0 / 48.3 / 48.6 / 34.5 / 44.0 · tactile R 29.0 / 29.1 / 28.8 / 29.4 / 30.1

fullmotherboard_0909_episode_000t=697 (frames 697–712)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 24.4 / 26.0 / 23.9 / 24.8 / 22.3 · wrist L 14.1 / 14.1 / 13.8 / 14.2 / 13.4 · wrist R 15.5 / 15.3 / 15.5 / 14.4 / 14.9 · tactile L 32.2 / 32.0 / 32.3 / 32.2 / 32.2 · tactile R 32.8 / 32.6 / 32.7 / 30.3 / 31.5

fullmotherboard_0909_episode_000t=1011 (frames 1011–1026)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 24.0 / 24.2 / 24.0 / 23.2 / 21.8 · wrist L 16.3 / 16.2 / 16.3 / 16.4 / 15.9 · wrist R 14.2 / 14.1 / 14.1 / 13.8 / 13.2 · tactile L 47.7 / 47.3 / 47.8 / 34.9 / 44.0 · tactile R 35.4 / 35.1 / 35.4 / 35.0 / 34.7

fullmotherboard_0909_episode_000t=1042 (frames 1042–1057)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 19.6 / 21.0 / 21.0 / 20.2 / 18.5 · wrist L 22.7 / 17.9 / 21.1 / 16.6 / 20.0 · wrist R 14.1 / 13.2 / 13.6 / 12.8 / 13.5 · tactile L 48.9 / 47.8 / 48.8 / 34.6 / 43.9 · tactile R 33.3 / 34.1 / 32.9 / 34.1 / 34.7

fullmotherboard_0909_episode_000t=1982 (frames 1982–1997)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 22.1 / 22.1 / 22.1 / 21.3 / 21.9 · wrist L 18.9 / 19.1 / 18.6 / 16.7 / 18.4 · wrist R 13.9 / 13.3 / 13.0 / 13.6 / 13.6 · tactile L 48.8 / 47.3 / 48.7 / 33.4 / 43.9 · tactile R 32.7 / 30.9 / 29.6 / 32.8 / 33.2

fullmotherboard_0909_episode_000t=2706 (frames 2706–2721)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 20.6 / 20.5 / 21.1 / 18.1 / 20.2 · wrist L 24.9 / 27.9 / 25.2 / 17.9 / 29.2 · wrist R 14.6 / 14.6 / 14.7 / 13.0 / 14.2 · tactile L 48.5 / 47.9 / 46.2 / 34.7 / 43.8 · tactile R 31.2 / 33.3 / 31.6 / 32.6 / 33.2

fullmotherboard_0909_episode_000t=2924 (frames 2924–2939)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 31.4 / 29.1 / 31.4 / 28.2 / 31.6 · wrist L 15.4 / 13.9 / 15.4 / 14.9 / 20.2 · wrist R 15.5 / 15.7 / 15.0 / 15.3 / 17.9 · tactile L 41.6 / 41.1 / 41.6 / 33.2 / 41.5 · tactile R 43.1 / 43.4 / 42.8 / 37.3 / 41.2

fullmotherboard_0909_episode_000t=3029 (frames 3029–3044)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 24.0 / 23.8 / 23.4 / 25.2 / 23.3 · wrist L 16.7 / 15.6 / 15.3 / 16.5 / 17.6 · wrist R 14.9 / 14.9 / 14.5 / 14.9 / 14.6 · tactile L 46.5 / 45.9 / 46.4 / 34.5 / 43.2 · tactile R 33.7 / 33.9 / 33.7 / 34.8 / 34.4

fullmotherboard_0909_episode_000t=3041 (frames 3041–3056)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 23.2 / 22.9 / 23.0 / 23.6 / 23.4 · wrist L 13.9 / 15.0 / 13.8 / 12.8 / 15.7 · wrist R 15.2 / 14.5 / 13.3 / 12.9 / 14.6 · tactile L 45.7 / 45.6 / 45.3 / 33.3 / 43.1 · tactile R 34.7 / 34.6 / 34.9 / 35.0 / 36.0

fullmotherboard_0909_episode_000t=3068 (frames 3068–3083)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 28.0 / 27.2 / 28.0 / 24.9 / 30.1 · wrist L 17.0 / 17.0 / 16.2 / 17.6 / 18.2 · wrist R 17.0 / 17.1 / 17.2 / 18.0 / 17.5 · tactile L 44.7 / 44.5 / 44.0 / 34.9 / 42.5 · tactile R 38.7 / 36.2 / 39.5 / 36.0 / 36.4

fullmotherboard_0909_episode_000t=3137 (frames 3137–3152)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 22.6 / 21.6 / 21.0 / 20.2 / 21.9 · wrist L 14.8 / 13.2 / 13.7 / 11.7 / 13.8 · wrist R 11.7 / 12.0 / 11.5 / 12.0 / 13.2 · tactile L 32.8 / 33.9 / 33.5 / 30.6 / 34.8 · tactile R 40.4 / 40.7 / 40.6 / 37.2 / 40.6

fullmotherboard_0909_episode_001t=709 (frames 709–724)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 22.2 / 22.1 / 20.5 / 23.4 / 20.0 · wrist L 16.0 / 15.1 / 15.1 / 15.7 / 15.8 · wrist R 14.0 / 14.0 / 13.3 / 13.8 / 13.5 · tactile L 44.8 / 43.9 / 44.7 / 36.2 / 42.3 · tactile R 42.4 / 41.6 / 41.7 / 37.4 / 38.7

fullmotherboard_0909_episode_001t=1264 (frames 1264–1279)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 23.8 / 23.4 / 23.6 / 22.8 / 22.1 · wrist L 18.0 / 18.5 / 17.8 / 16.8 / 19.2 · wrist R 22.7 / 21.9 / 22.1 / 17.5 / 21.4 · tactile L 49.3 / 48.3 / 48.4 / 34.7 / 43.7 · tactile R 40.5 / 40.2 / 39.1 / 39.0 / 40.5

fullmotherboard_0909_episode_001t=1472 (frames 1472–1487)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 20.2 / 21.2 / 20.9 / 20.4 / 19.6 · wrist L 18.5 / 20.1 / 19.4 / 17.9 / 18.4 · wrist R 15.6 / 15.6 / 15.6 / 15.0 / 16.3 · tactile L 48.3 / 48.3 / 47.8 / 35.2 / 43.9 · tactile R 36.2 / 36.0 / 36.4 / 36.4 / 36.1

fullmotherboard_0909_episode_001t=1640 (frames 1640–1655)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 22.5 / 21.2 / 20.6 / 20.7 / 20.3 · wrist L 19.9 / 16.4 / 16.2 / 16.0 / 17.9 · wrist R 20.6 / 21.2 / 21.2 / 19.5 / 21.9 · tactile L 48.4 / 46.8 / 44.9 / 36.1 / 43.2 · tactile R 32.8 / 32.8 / 33.1 / 31.9 / 33.6

fullmotherboard_0909_episode_001t=1976 (frames 1976–1991)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 19.2 / 20.1 / 19.1 / 20.2 / 18.2 · wrist L 17.8 / 15.7 / 15.4 / 17.6 / 17.9 · wrist R 15.3 / 15.4 / 15.3 / 14.2 / 14.6 · tactile L 35.3 / 36.0 / 36.2 / 33.6 / 37.6 · tactile R 49.6 / 49.1 / 49.0 / 43.4 / 43.9

fullmotherboard_0909_episode_001t=2297 (frames 2297–2312)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 20.7 / 22.4 / 21.5 / 21.0 / 20.0 · wrist L 14.0 / 14.3 / 13.8 / 14.0 / 14.6 · wrist R 23.3 / 23.9 / 23.5 / 19.7 / 23.8 · tactile L 42.8 / 43.2 / 43.2 / 36.0 / 42.3 · tactile R 48.9 / 48.5 / 49.5 / 43.3 / 43.9

fullmotherboard_0909_episode_001t=2925 (frames 2925–2940)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 22.7 / 23.2 / 23.1 / 22.4 / 20.6 · wrist L 10.7 / 10.9 / 10.8 / 11.1 / 10.9 · wrist R 17.3 / 18.5 / 17.5 / 14.4 / 17.1 · tactile L 37.5 / 37.6 / 36.9 / 34.1 / 35.5 · tactile R 49.4 / 49.0 / 48.1 / 41.7 / 43.9

fullmotherboard_0909_episode_001t=3222 (frames 3222–3237)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 22.3 / 21.5 / 22.0 / 22.2 / 21.6 · wrist L 12.7 / 12.5 / 12.4 / 14.3 / 12.8 · wrist R 20.2 / 20.4 / 20.3 / 17.6 / 19.3 · tactile L 31.7 / 31.2 / 31.2 / 30.6 / 30.9 · tactile R 49.5 / 49.2 / 48.5 / 43.3 / 44.0

fullmotherboard_0909_episode_001t=3267 (frames 3267–3282)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 21.9 / 21.9 / 22.0 / 21.9 / 20.6 · wrist L 21.9 / 24.4 / 24.3 / 16.7 / 22.5 · wrist R 12.5 / 12.6 / 12.6 / 12.0 / 11.7 · tactile L 48.6 / 47.9 / 47.1 / 35.7 / 43.8 · tactile R 29.9 / 28.9 / 29.6 / 30.2 / 28.5

fullmotherboard_0909_episode_002t=908 (frames 908–923)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 21.5 / 21.6 / 21.2 / 22.6 / 21.1 · wrist L 21.5 / 20.9 / 18.1 / 19.7 / 20.7 · wrist R 15.3 / 15.4 / 15.3 / 15.5 / 15.4 · tactile L 47.8 / 48.2 / 47.8 / 34.8 / 43.8 · tactile R 29.5 / 29.4 / 29.4 / 29.0 / 30.1

fullmotherboard_0909_episode_002t=1277 (frames 1277–1292)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 23.5 / 23.4 / 23.9 / 23.2 / 20.1 · wrist L 14.5 / 14.0 / 14.2 / 13.2 / 14.4 · wrist R 19.6 / 19.6 / 19.2 / 18.2 / 17.5 · tactile L 46.1 / 44.5 / 46.5 / 34.5 / 42.2 · tactile R 32.8 / 32.5 / 32.3 / 32.9 / 31.1

fullmotherboard_0909_episode_002t=1733 (frames 1733–1748)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 33.3 / 34.5 / 34.5 / 29.5 / 31.4 · wrist L 20.8 / 22.7 / 21.2 / 19.4 / 24.9 · wrist R 17.1 / 18.4 / 19.9 / 17.1 / 19.9 · tactile L 48.9 / 48.1 / 48.9 / 36.4 / 43.8 · tactile R 34.5 / 34.8 / 34.7 / 34.1 / 35.6

fullmotherboard_0909_episode_002t=2025 (frames 2025–2040)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 22.2 / 22.1 / 22.3 / 22.9 / 21.4 · wrist L 13.8 / 13.9 / 14.0 / 13.5 / 14.1 · wrist R 16.1 / 15.8 / 16.3 / 14.1 / 15.8 · tactile L 34.7 / 37.5 / 38.0 / 32.9 / 37.1 · tactile R 49.4 / 49.1 / 49.1 / 43.5 / 43.8

onsetmotherboard_0909_episode_000t=284 (frames 284–299)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 27.2 / 28.2 / 26.7 / 23.2 / 26.1 · wrist L 26.0 / 25.1 / 19.9 / 15.7 / 27.5 · wrist R 13.3 / 14.6 / 16.1 / 12.2 / 11.6 · tactile L 49.1 / 48.1 / 47.8 / 33.1 / 43.9 · tactile R 34.5 / 34.4 / 34.4 / 33.8 / 34.2

onsetmotherboard_0909_episode_000t=1895 (frames 1895–1910)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 24.1 / 24.3 / 23.8 / 22.3 / 22.7 · wrist L 18.3 / 15.8 / 19.0 / 14.0 / 20.1 · wrist R 10.2 / 10.6 / 10.8 / 11.0 / 9.6 · tactile L 49.3 / 48.2 / 48.6 / 34.9 / 43.9 · tactile R 40.4 / 40.3 / 40.0 / 38.4 / 39.7

onsetmotherboard_0909_episode_000t=1997 (frames 1997–2012)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 24.0 / 24.3 / 24.1 / 22.8 / 23.8 · wrist L 24.1 / 23.0 / 20.4 / 14.9 / 23.7 · wrist R 13.9 / 13.9 / 13.7 / 13.5 / 12.9 · tactile L 49.0 / 48.1 / 47.3 / 33.4 / 43.9 · tactile R 31.0 / 31.0 / 30.9 / 31.0 / 30.8

onsetmotherboard_0909_episode_000t=2766 (frames 2766–2781)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 25.9 / 24.2 / 25.4 / 24.3 / 24.9 · wrist L 28.2 / 28.9 / 28.7 / 25.3 / 30.0 · wrist R 16.0 / 15.6 / 16.0 / 15.1 / 15.2 · tactile L 48.7 / 48.3 / 48.2 / 35.8 / 43.8 · tactile R 34.2 / 34.2 / 34.2 / 31.4 / 33.9

onsetmotherboard_0909_episode_000t=2866 (frames 2866–2881)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 27.3 / 27.4 / 27.4 / 25.1 / 26.1 · wrist L 20.4 / 20.4 / 20.5 / 17.2 / 20.1 · wrist R 15.1 / 14.3 / 15.0 / 13.1 / 15.2 · tactile L 49.2 / 48.1 / 47.6 / 33.5 / 43.8 · tactile R 34.6 / 34.5 / 34.5 / 34.1 / 34.3

onsetmotherboard_0909_episode_000t=3164 (frames 3164–3179)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 25.2 / 27.9 / 26.7 / 25.4 / 26.3 · wrist L 15.6 / 15.7 / 15.8 / 16.4 / 18.6 · wrist R 13.1 / 12.2 / 12.2 / 12.3 / 13.6 · tactile L 49.3 / 48.3 / 48.3 / 35.0 / 43.9 · tactile R 35.4 / 35.9 / 35.9 / 35.7 / 35.4

onsetmotherboard_0909_episode_000t=3304 (frames 3304–3319)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 22.2 / 23.4 / 22.2 / 22.1 / 21.5 · wrist L 13.8 / 13.7 / 13.8 / 13.4 / 12.1 · wrist R 12.7 / 12.8 / 12.4 / 12.2 / 12.9 · tactile L 41.6 / 38.1 / 42.0 / 33.3 / 40.6 · tactile R 46.8 / 47.2 / 47.2 / 42.6 / 43.1

onsetmotherboard_0909_episode_001t=920 (frames 920–935)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 23.1 / 22.8 / 22.9 / 22.4 / 22.0 · wrist L 13.4 / 12.9 / 12.8 / 13.1 / 13.1 · wrist R 13.6 / 13.4 / 13.2 / 12.4 / 13.0 · tactile L 45.7 / 40.7 / 46.2 / 35.9 / 43.4 · tactile R 34.5 / 34.7 / 34.6 / 34.1 / 34.3

onsetmotherboard_0909_episode_001t=1319 (frames 1319–1334)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 28.5 / 28.8 / 28.6 / 26.8 / 28.7 · wrist L 22.6 / 22.2 / 22.3 / 17.7 / 23.2 · wrist R 19.6 / 20.4 / 19.8 / 17.0 / 21.6 · tactile L 48.4 / 47.7 / 48.3 / 34.4 / 43.0 · tactile R 35.3 / 35.0 / 35.2 / 34.5 / 34.9

onsetmotherboard_0909_episode_001t=1507 (frames 1507–1522)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 22.2 / 22.4 / 22.7 / 22.0 / 22.2 · wrist L 23.0 / 23.1 / 22.6 / 15.9 / 23.3 · wrist R 13.9 / 14.0 / 13.8 / 12.0 / 11.5 · tactile L 48.9 / 48.2 / 46.7 / 35.6 / 43.9 · tactile R 36.4 / 36.3 / 36.4 / 35.3 / 35.8

onsetmotherboard_0909_episode_001t=1535 (frames 1535–1550)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 23.4 / 23.9 / 23.2 / 23.5 / 23.6 · wrist L 22.2 / 22.3 / 22.6 / 20.3 / 22.5 · wrist R 15.9 / 15.7 / 15.7 / 17.1 / 14.7 · tactile L 47.0 / 46.7 / 47.6 / 37.2 / 42.6 · tactile R 36.8 / 36.7 / 36.1 / 36.0 / 37.0

onsetmotherboard_0909_episode_001t=1713 (frames 1713–1728)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 25.6 / 28.5 / 26.5 / 25.5 / 27.9 · wrist L 24.4 / 25.3 / 24.5 / 22.7 / 25.0 · wrist R 13.2 / 13.2 / 13.5 / 12.5 / 13.8 · tactile L 49.0 / 48.1 / 47.9 / 34.9 / 43.8 · tactile R 36.4 / 36.3 / 36.3 / 32.6 / 35.8

onsetmotherboard_0909_episode_001t=1741 (frames 1741–1756)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 24.1 / 25.0 / 24.7 / 23.1 / 24.5 · wrist L 19.3 / 19.3 / 19.4 / 18.6 / 19.7 · wrist R 14.1 / 13.5 / 14.1 / 11.6 / 14.2 · tactile L 48.6 / 48.0 / 48.3 / 33.8 / 43.7 · tactile R 38.5 / 38.5 / 38.5 / 36.4 / 38.0

onsetmotherboard_0909_episode_001t=1938 (frames 1938–1953)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 22.9 / 23.7 / 24.6 / 23.1 / 24.1 · wrist L 13.1 / 13.6 / 13.3 / 13.0 / 12.5 · wrist R 19.7 / 19.4 / 19.2 / 19.9 / 21.2 · tactile L 38.9 / 36.3 / 37.0 / 31.2 / 38.9 · tactile R 49.8 / 49.1 / 49.2 / 43.5 / 43.8

onsetmotherboard_0909_episode_001t=1993 (frames 1993–2008)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 22.4 / 23.1 / 22.6 / 21.4 / 22.6 · wrist L 11.0 / 12.0 / 11.5 / 11.7 / 12.8 · wrist R 14.6 / 13.6 / 13.6 / 11.0 / 14.8 · tactile L 47.4 / 46.7 / 47.7 / 35.8 / 43.4 · tactile R 35.5 / 35.5 / 35.4 / 31.2 / 35.1

onsetmotherboard_0909_episode_001t=2073 (frames 2073–2088)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 21.8 / 22.0 / 22.1 / 22.0 / 22.1 · wrist L 17.5 / 17.7 / 17.9 / 16.1 / 19.5 · wrist R 13.4 / 13.5 / 13.5 / 12.3 / 13.1 · tactile L 48.9 / 48.6 / 48.0 / 34.9 / 43.9 · tactile R 28.9 / 28.8 / 28.9 / 28.9 / 28.8

onsetmotherboard_0909_episode_001t=2522 (frames 2522–2537)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 24.7 / 25.8 / 25.7 / 23.4 / 23.5 · wrist L 10.9 / 10.5 / 10.3 / 11.3 / 10.0 · wrist R 14.6 / 13.6 / 12.7 / 14.6 / 14.8 · tactile L 35.7 / 35.7 / 36.0 / 32.1 / 35.7 · tactile R 49.1 / 46.6 / 47.3 / 43.5 / 44.2

onsetmotherboard_0909_episode_001t=2686 (frames 2686–2701)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 29.4 / 29.3 / 27.3 / 23.9 / 28.1 · wrist L 18.8 / 19.3 / 18.0 / 14.8 / 25.9 · wrist R 17.3 / 15.9 / 14.4 / 15.2 / 17.6 · tactile L 49.4 / 48.4 / 47.8 / 35.1 / 43.9 · tactile R 37.3 / 37.0 / 37.1 / 36.2 / 36.3

onsetmotherboard_0909_episode_001t=3350 (frames 3350–3365)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 24.2 / 25.2 / 25.3 / 23.4 / 24.8 · wrist L 25.0 / 23.7 / 25.1 / 12.0 / 21.2 · wrist R 10.4 / 10.2 / 10.5 / 11.6 / 10.7 · tactile L 47.9 / 48.4 / 47.7 / 31.6 / 43.9 · tactile R 34.1 / 34.0 / 34.2 / 33.8 / 33.9

onsetmotherboard_0909_episode_002t=218 (frames 218–233)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 24.1 / 22.7 / 22.2 / 23.0 / 24.0 · wrist L 22.3 / 18.5 / 16.0 / 21.9 / 25.4 · wrist R 18.4 / 15.8 / 15.0 / 14.3 / 15.9 · tactile L 48.5 / 47.7 / 46.3 / 35.5 / 43.7 · tactile R 33.6 / 33.6 / 33.7 / 30.2 / 33.4

onsetmotherboard_0909_episode_002t=860 (frames 860–875)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 22.0 / 22.8 / 22.3 / 21.5 / 22.7 · wrist L 13.9 / 13.3 / 13.6 / 13.3 / 12.9 · wrist R 10.7 / 10.2 / 10.4 / 10.3 / 9.7 · tactile L 36.2 / 35.8 / 36.9 / 30.9 / 36.5 · tactile R 44.4 / 44.0 / 45.2 / 41.1 / 42.3

onsetmotherboard_0909_episode_002t=1104 (frames 1104–1119)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 23.5 / 24.9 / 25.6 / 24.8 / 27.0 · wrist L 23.6 / 28.4 / 27.6 / 19.4 / 28.4 · wrist R 11.4 / 10.3 / 10.2 / 12.0 / 11.7 · tactile L 48.1 / 47.6 / 46.2 / 34.5 / 43.8 · tactile R 31.7 / 31.8 / 31.7 / 31.7 / 31.6

onsetmotherboard_0909_episode_002t=1107 (frames 1107–1122)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 24.1 / 24.2 / 24.2 / 22.9 / 24.1 · wrist L 27.5 / 29.4 / 29.3 / 18.6 / 29.0 · wrist R 12.9 / 12.7 / 13.1 / 12.4 / 12.7 · tactile L 48.7 / 47.9 / 47.0 / 36.6 / 43.8 · tactile R 29.9 / 29.9 / 29.9 / 29.8 / 29.9

onsetmotherboard_0909_episode_002t=1657 (frames 1657–1672)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 27.6 / 27.1 / 27.6 / 25.9 / 26.5 · wrist L 20.2 / 19.0 / 19.7 / 18.1 / 20.8 · wrist R 13.5 / 13.3 / 13.7 / 11.9 / 13.4 · tactile L 48.8 / 48.2 / 49.0 / 34.8 / 43.8 · tactile R 33.7 / 33.6 / 33.6 / 33.1 / 33.3

onsetmotherboard_0909_episode_002t=2431 (frames 2431–2446)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 23.1 / 23.5 / 22.6 / 23.0 / 22.1 · wrist L 13.2 / 14.1 / 16.4 / 14.3 / 16.7 · wrist R 17.0 / 17.1 / 16.9 / 13.8 / 15.6 · tactile L 47.8 / 47.5 / 48.4 / 34.8 / 43.6 · tactile R 35.3 / 35.4 / 35.8 / 34.2 / 34.7

releasemotherboard_0909_episode_000t=382 (frames 382–397)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 26.7 / 26.7 / 26.8 / 25.8 / 26.2 · wrist L 22.6 / 22.8 / 22.1 / 18.9 / 21.3 · wrist R 12.0 / 12.1 / 11.9 / 12.1 / 12.0 · tactile L 49.2 / 48.2 / 48.9 / 35.7 / 43.9 · tactile R 39.1 / 39.4 / 38.5 / 37.1 / 37.8

releasemotherboard_0909_episode_000t=903 (frames 903–918)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 20.7 / 20.6 / 20.7 / 21.8 / 20.9 · wrist L 9.7 / 9.9 / 9.8 / 8.9 / 9.5 · wrist R 10.8 / 11.3 / 10.9 / 12.1 / 11.4 · tactile L 45.3 / 44.6 / 44.2 / 32.6 / 38.9 · tactile R 44.6 / 44.9 / 44.3 / 40.1 / 43.5

releasemotherboard_0909_episode_000t=1958 (frames 1958–1973)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 27.1 / 25.6 / 27.2 / 25.3 / 26.3 · wrist L 19.8 / 20.6 / 20.0 / 18.7 / 21.5 · wrist R 12.1 / 12.0 / 12.1 / 12.3 / 12.4 · tactile L 49.1 / 48.3 / 48.0 / 34.6 / 44.0 · tactile R 31.6 / 33.4 / 32.9 / 33.2 / 31.4

releasemotherboard_0909_episode_000t=2749 (frames 2749–2764)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 28.1 / 28.0 / 27.8 / 25.1 / 27.3 · wrist L 31.7 / 31.8 / 25.1 / 27.8 / 32.9 · wrist R 15.0 / 15.1 / 15.1 / 14.8 / 15.6 · tactile L 48.0 / 46.7 / 48.3 / 34.6 / 43.9 · tactile R 43.6 / 42.3 / 43.4 / 39.4 / 41.0

releasemotherboard_0909_episode_000t=2822 (frames 2822–2837)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 24.3 / 23.5 / 24.4 / 23.6 / 25.0 · wrist L 9.4 / 9.5 / 9.4 / 9.3 / 9.8 · wrist R 12.7 / 12.7 / 12.7 / 12.5 / 12.6 · tactile L 34.8 / 34.9 / 35.7 / 32.4 / 33.4 · tactile R 32.6 / 31.2 / 31.9 / 37.3 / 30.1

releasemotherboard_0909_episode_000t=2846 (frames 2846–2861)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 21.7 / 21.8 / 21.4 / 21.6 / 21.9 · wrist L 15.3 / 14.2 / 13.4 / 12.9 / 15.8 · wrist R 9.4 / 9.5 / 9.5 / 8.9 / 9.4 · tactile L 48.3 / 47.7 / 48.4 / 34.6 / 43.8 · tactile R 38.1 / 38.8 / 41.2 / 38.0 / 36.4

releasemotherboard_0909_episode_000t=2941 (frames 2941–2956)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 24.6 / 24.7 / 24.7 / 24.7 / 24.1 · wrist L 10.6 / 10.3 / 10.8 / 10.7 / 9.7 · wrist R 11.7 / 11.9 / 11.6 / 12.4 / 11.4 · tactile L 47.2 / 45.6 / 46.8 / 34.8 / 43.2 · tactile R 48.4 / 47.3 / 48.2 / 42.2 / 43.7

releasemotherboard_0909_episode_001t=753 (frames 753–768)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 23.3 / 23.4 / 21.9 / 22.8 / 21.8 · wrist L 9.9 / 9.8 / 10.0 / 11.5 / 11.2 · wrist R 11.8 / 11.6 / 11.7 / 10.2 / 10.8 · tactile L 43.1 / 42.6 / 43.5 / 35.6 / 39.2 · tactile R 45.1 / 45.0 / 45.5 / 40.5 / 40.4

releasemotherboard_0909_episode_001t=1282 (frames 1282–1297)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 26.1 / 27.5 / 26.5 / 24.8 / 26.5 · wrist L 18.8 / 19.1 / 18.0 / 14.6 / 17.5 · wrist R 13.6 / 13.7 / 13.9 / 15.3 / 13.9 · tactile L 49.1 / 48.0 / 47.9 / 34.0 / 43.7 · tactile R 37.5 / 37.7 / 39.1 / 39.4 / 35.3

releasemotherboard_0909_episode_001t=1774 (frames 1774–1789)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 24.6 / 23.0 / 23.4 / 23.1 / 23.2 · wrist L 22.9 / 21.5 / 21.0 / 17.1 / 21.4 · wrist R 12.6 / 12.2 / 12.2 / 12.6 / 12.4 · tactile L 48.6 / 48.4 / 48.3 / 33.8 / 43.9 · tactile R 31.8 / 37.6 / 40.8 / 37.3 / 28.7

releasemotherboard_0909_episode_001t=2720 (frames 2720–2735)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 22.1 / 21.2 / 22.1 / 23.4 / 21.8 · wrist L 19.3 / 17.1 / 17.0 / 19.7 / 21.9 · wrist R 9.4 / 9.1 / 10.3 / 10.1 / 8.3 · tactile L 48.0 / 47.4 / 47.9 / 35.3 / 43.9 · tactile R 44.4 / 44.2 / 44.5 / 40.6 / 39.2

releasemotherboard_0909_episode_001t=2780 (frames 2780–2795)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 21.8 / 21.6 / 22.2 / 21.6 / 20.3 · wrist L 11.6 / 11.4 / 11.5 / 11.5 / 12.0 · wrist R 15.9 / 15.9 / 15.3 / 13.6 / 14.3 · tactile L 34.7 / 34.1 / 34.6 / 33.3 / 35.4 · tactile R 49.2 / 48.8 / 47.3 / 43.1 / 43.7

releasemotherboard_0909_episode_001t=3229 (frames 3229–3244)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 21.1 / 21.2 / 20.8 / 21.2 / 21.5 · wrist L 10.4 / 10.6 / 10.7 / 11.3 / 10.4 · wrist R 15.6 / 15.6 / 15.2 / 17.1 / 16.5 · tactile L 32.5 / 32.2 / 31.7 / 31.9 / 31.6 · tactile R 49.3 / 49.1 / 48.9 / 43.6 / 44.0

releasemotherboard_0909_episode_002t=276 (frames 276–291)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 22.9 / 22.2 / 23.0 / 20.7 / 20.9 · wrist L 24.4 / 23.9 / 23.7 / 15.9 / 24.2 · wrist R 12.9 / 13.3 / 12.8 / 13.2 / 13.6 · tactile L 48.0 / 47.6 / 46.8 / 36.8 / 43.9 · tactile R 31.6 / 30.1 / 31.3 / 30.0 / 29.9

releasemotherboard_0909_episode_002t=307 (frames 307–322)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 21.8 / 21.8 / 21.5 / 22.0 / 21.6 · wrist L 15.6 / 16.0 / 15.6 / 13.2 / 16.0 · wrist R 12.1 / 12.2 / 12.8 / 12.5 / 12.2 · tactile L 47.7 / 47.5 / 46.5 / 35.2 / 43.7 · tactile R 32.3 / 35.1 / 36.7 / 33.3 / 29.6

releasemotherboard_0909_episode_002t=346 (frames 346–361)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 23.4 / 22.1 / 23.4 / 23.0 / 21.4 · wrist L 9.0 / 8.8 / 8.8 / 10.4 / 9.1 · wrist R 13.9 / 13.8 / 13.5 / 12.7 / 12.8 · tactile L 40.1 / 38.0 / 41.0 / 35.3 / 39.5 · tactile R 49.0 / 48.8 / 48.7 / 42.6 / 43.7

releasemotherboard_0909_episode_002t=388 (frames 388–403)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 23.6 / 23.2 / 23.9 / 22.2 / 24.1 · wrist L 19.3 / 19.3 / 20.3 / 13.7 / 20.0 · wrist R 14.1 / 15.0 / 11.1 / 9.8 / 13.9 · tactile L 48.9 / 47.7 / 47.0 / 35.8 / 43.8 · tactile R 43.9 / 43.7 / 44.4 / 40.3 / 39.7

releasemotherboard_0909_episode_002t=390 (frames 390–405)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 25.0 / 23.9 / 24.6 / 24.1 / 25.1 · wrist L 18.8 / 18.8 / 19.0 / 18.1 / 21.9 · wrist R 11.7 / 13.3 / 11.8 / 9.6 / 11.5 · tactile L 49.2 / 48.4 / 47.6 / 36.3 / 43.7 · tactile R 43.7 / 43.8 / 44.1 / 40.8 / 41.0

releasemotherboard_0909_episode_002t=944 (frames 944–959)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 20.3 / 20.7 / 20.2 / 22.2 / 21.2 · wrist L 17.8 / 19.3 / 19.4 / 16.4 / 22.8 · wrist R 10.4 / 10.3 / 9.9 / 8.9 / 9.4 · tactile L 48.0 / 48.4 / 49.1 / 34.7 / 43.7 · tactile R 42.7 / 42.6 / 43.1 / 39.0 / 37.9

releasemotherboard_0909_episode_002t=1002 (frames 1002–1017)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 19.4 / 19.9 / 19.8 / 20.4 / 17.9 · wrist L 8.7 / 8.8 / 8.2 / 8.7 / 8.7 · wrist R 14.0 / 13.9 / 14.0 / 14.1 / 13.7 · tactile L 38.5 / 39.8 / 39.4 / 31.0 / 36.8 · tactile R 49.7 / 49.0 / 47.1 / 40.2 / 43.7

releasemotherboard_0909_episode_002t=1445 (frames 1445–1460)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 20.0 / 20.1 / 20.4 / 20.9 / 20.8 · wrist L 12.3 / 14.0 / 14.0 / 10.8 / 15.4 · wrist R 11.7 / 11.5 / 11.8 / 11.6 / 11.6 · tactile L 48.1 / 47.4 / 49.1 / 34.8 / 43.7 · tactile R 44.1 / 44.5 / 44.9 / 40.1 / 38.8

releasemotherboard_0909_episode_002t=1511 (frames 1511–1526)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 24.4 / 25.2 / 24.4 / 23.4 / 22.4 · wrist L 18.7 / 20.7 / 19.6 / 17.0 / 19.6 · wrist R 12.7 / 12.5 / 13.0 / 12.2 / 11.9 · tactile L 47.7 / 48.0 / 48.3 / 36.2 / 44.0 · tactile R 34.8 / 33.1 / 33.9 / 31.6 / 32.4

releasemotherboard_0909_episode_002t=1620 (frames 1620–1635)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 26.1 / 26.7 / 27.2 / 26.8 / 27.5 · wrist L 19.2 / 19.7 / 19.7 / 19.4 / 21.8 · wrist R 13.9 / 13.7 / 13.6 / 13.2 / 14.5 · tactile L 48.8 / 48.2 / 48.1 / 36.2 / 44.0 · tactile R 39.6 / 38.5 / 38.6 / 38.1 / 37.1

releasemotherboard_0909_episode_002t=2060 (frames 2060–2075)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 24.9 / 24.7 / 25.0 / 23.3 / 24.4 · wrist L 16.5 / 20.5 / 16.6 / 16.6 / 20.9 · wrist R 11.5 / 11.3 / 11.6 / 10.8 / 10.9 · tactile L 47.9 / 48.3 / 47.8 / 34.1 / 43.8 · tactile R 44.1 / 44.7 / 45.4 / 41.4 / 37.5

releasemotherboard_0909_episode_002t=2674 (frames 2674–2689)PSNR mb_v1 e4 / v2 e0 / v2 e1 / MoT e5 / floor: view 21.0 / 21.7 / 20.9 / 21.9 / 19.1 · wrist L 17.8 / 18.5 / 18.3 / 14.4 / 17.2 · wrist R 13.6 / 13.2 / 13.6 / 12.0 / 12.9 · tactile L 48.4 / 47.7 / 48.7 / 34.6 / 43.7 · tactile R 40.6 / 40.1 / 40.4 / 39.2 / 38.3

Per-epoch checkpoints on val0909 (= test) — 32 fixed windows

These are the routine checkpoint evals: every 300th window from the start of each episode, the same windows for every checkpoint, so the rows compare checkpoints directly. They are front-loaded and not stratified. Contact classes of these windows: none 4, full 13, onset 4, release 4, mixed 7.

PSNR (dB), higher is better

checkpoint	view		wrist L		wrist R		tactile L		tactile R
checkpoint	model	Δ floor	model	Δ floor	model	Δ floor	model	Δ floor	model	Δ floor
mb_v1 e0	24.65	+0.69	18.87	-0.43	17.78	+0.14	43.08	+1.83	37.95	-0.10
mb_v1 e1	24.71	+0.75	19.19	-0.11	17.87	+0.23	44.01	+2.76	39.59	+1.54
mb_v1 e2	24.74	+0.78	19.37	+0.07	17.85	+0.21	44.68	+3.42	39.77	+1.72
mb_v1 e3	24.90	+0.94	19.53	+0.23	17.91	+0.27	44.62	+3.37	39.91	+1.86
mb_v1 e4	24.63	+0.67	19.04	-0.27	17.81	+0.17	44.74	+3.49	40.11	+2.06
v2 e0	24.89	+0.93	19.19	-0.11	17.77	+0.13	43.86	+2.60	39.86	+1.81
v2 e1	24.81	+0.85	19.11	-0.20	17.78	+0.14	44.13	+2.87	39.91	+1.86
MoT e5	23.53	-0.43	16.94	-2.37	16.22	-1.42	34.41	-6.84	37.07	-0.98
copy-last floor	23.96		19.30		17.64		41.26		38.05

Green means the checkpoint beats repeating the last context frame.

SSIM, higher is better

checkpoint	view		wrist L		wrist R		tactile L		tactile R
checkpoint	model	Δ floor	model	Δ floor	model	Δ floor	model	Δ floor	model	Δ floor
mb_v1 e0	0.818	+0.043	0.604	-0.031	0.594	-0.004	0.984	+0.003	0.967	+0.002
mb_v1 e1	0.821	+0.046	0.627	-0.008	0.601	+0.004	0.984	+0.003	0.967	+0.002
mb_v1 e2	0.824	+0.049	0.623	-0.011	0.597	-0.000	0.984	+0.003	0.968	+0.002
mb_v1 e3	0.827	+0.052	0.631	-0.003	0.594	-0.003	0.983	+0.002	0.966	+0.001
mb_v1 e4	0.822	+0.047	0.607	-0.027	0.591	-0.006	0.985	+0.004	0.968	+0.003
v2 e0	0.826	+0.051	0.621	-0.013	0.598	+0.001	0.983	+0.002	0.968	+0.003
v2 e1	0.825	+0.050	0.609	-0.025	0.593	-0.004	0.985	+0.004	0.969	+0.003
MoT e5	0.806	+0.031	0.543	-0.091	0.529	-0.068	0.971	-0.010	0.960	-0.005
copy-last floor	0.775		0.634		0.597		0.981		0.966

LPIPS, lower is better

checkpoint	view		wrist L		wrist R		tactile L		tactile R
checkpoint	model	Δ floor	model	Δ floor	model	Δ floor	model	Δ floor	model	Δ floor
mb_v1 e0	0.078	-0.028	0.240	+0.037	0.249	-0.004	0.029	-0.007	0.060	-0.002
mb_v1 e1	0.076	-0.029	0.217	+0.014	0.246	-0.007	0.030	-0.006	0.059	-0.003
mb_v1 e2	0.074	-0.031	0.211	+0.009	0.245	-0.008	0.028	-0.007	0.057	-0.004
mb_v1 e3	0.071	-0.034	0.202	-0.001	0.250	-0.002	0.030	-0.006	0.058	-0.003
mb_v1 e4	0.076	-0.029	0.228	+0.025	0.250	-0.002	0.029	-0.007	0.058	-0.003
v2 e0	0.072	-0.033	0.219	+0.016	0.244	-0.008	0.032	-0.004	0.057	-0.004
v2 e1	0.074	-0.032	0.231	+0.028	0.249	-0.004	0.028	-0.008	0.056	-0.005
MoT e5	0.102	-0.003	0.284	+0.081	0.318	+0.065	0.104	+0.068	0.123	+0.062
copy-last floor	0.105		0.203		0.253		0.036		0.061

For LPIPS, green means lower than the floor.

Predicted actions, lower is better

checkpoint	left trans (mm)	left rot (°)	right trans (mm)	right rot (°)
mb_v1 e0	4.68	1.49	5.23	1.57
mb_v1 e1	4.45	1.49	5.32	1.57
mb_v1 e2	4.55	1.47	5.28	1.53
mb_v1 e3	4.26	1.45	5.21	1.57
mb_v1 e4	4.65	1.53	5.37	1.60
v2 e0	4.70	1.51	5.37	1.61
v2 e1	4.61	1.47	5.46	1.63
MoT e5	–	–	–	–
copy-last floor	4.67	1.23	6.25	1.71

Every window, PSNR (dB)

class	episode	t	view									wrist L									wrist R									tactile L									tactile R
class	episode	t	e0	e1	e2	e3	e4	v2e0	v2e1	MoTe5	floor	e0	e1	e2	e3	e4	v2e0	v2e1	MoTe5	floor	e0	e1	e2	e3	e4	v2e0	v2e1	MoTe5	floor	e0	e1	e2	e3	e4	v2e0	v2e1	MoTe5	floor	e0	e1	e2	e3	e4	v2e0	v2e1	MoTe5	floor
none	motherboard_0909_episode_000	0	33.6	33.9	34.3	34.0	34.1	34.3	34.6	29.1	31.2	39.5	39.2	40.3	40.2	40.5	40.8	40.9	33.3	37.4	38.9	39.5	39.0	39.5	39.5	39.6	40.1	26.3	36.7	45.0	46.3	47.2	48.6	49.0	47.2	47.1	37.8	44.1	45.4	47.2	47.1	49.0	49.5	47.7	48.0	42.0	44.3
full	motherboard_0909_episode_000	300	26.9	26.3	26.7	26.7	27.1	26.0	26.7	25.0	28.5	23.6	23.0	23.1	23.3	22.1	23.3	23.4	16.3	23.8	15.7	15.0	15.3	15.7	16.0	14.7	15.8	13.7	15.7	45.7	47.8	49.6	49.7	48.9	48.3	47.6	33.3	44.0	33.2	32.3	32.4	32.7	32.1	31.7	31.8	29.0	35.1
full	motherboard_0909_episode_000	600	26.2	25.9	26.7	25.7	24.8	26.5	25.7	24.9	25.7	14.2	14.1	14.2	14.1	13.8	14.5	14.3	13.5	14.1	13.6	14.0	13.9	13.6	13.8	13.6	13.5	13.9	13.5	42.5	42.4	41.7	42.3	43.3	42.5	43.0	35.2	41.1	30.4	30.5	30.1	30.2	30.4	29.9	29.6	31.0	30.4
release	motherboard_0909_episode_000	900	20.4	20.1	20.2	20.4	20.2	20.4	20.1	20.6	20.9	10.7	11.2	11.0	10.9	10.8	11.0	11.1	11.1	11.1	11.1	11.5	11.5	11.5	11.5	11.7	11.4	11.7	12.0	40.1	37.5	39.5	36.4	40.1	38.9	39.6	32.0	32.8	39.3	39.3	39.3	39.2	39.5	39.6	39.3	38.6	38.3
none	motherboard_0909_episode_000	1200	25.9	26.2	25.9	27.4	25.7	24.9	25.6	23.5	26.2	27.6	27.0	26.8	27.8	25.8	27.4	26.6	19.3	27.0	16.7	17.1	16.7	17.8	17.1	17.0	15.8	15.2	17.9	45.3	47.4	48.9	49.4	48.7	48.3	47.9	35.0	43.9	44.7	45.2	45.4	45.4	46.4	45.6	45.0	38.3	42.9
mixed	motherboard_0909_episode_000	1500	24.2	24.9	24.5	25.3	25.2	25.0	24.8	25.5	24.3	23.0	23.4	23.4	23.8	23.3	23.3	23.7	18.6	23.2	12.1	12.7	12.1	12.1	12.3	12.1	12.1	11.0	11.3	46.0	48.0	49.2	49.1	48.7	48.4	48.5	33.0	43.8	39.3	46.7	47.2	46.7	47.3	46.1	47.2	42.0	44.0
full	motherboard_0909_episode_000	1800	21.8	22.2	21.8	22.3	22.1	21.6	21.3	21.5	20.4	11.3	13.2	12.2	13.1	11.8	12.4	12.7	13.4	13.4	13.1	13.3	13.1	13.1	13.2	13.3	13.4	13.0	12.3	47.7	48.7	48.9	49.5	48.7	47.1	48.6	34.2	44.0	34.9	35.1	35.0	35.1	35.2	34.2	34.3	32.3	33.3
mixed	motherboard_0909_episode_000	2100	25.2	25.4	24.9	25.8	24.5	24.7	25.4	24.1	24.1	17.7	18.1	18.1	18.4	17.7	16.8	19.4	16.2	18.7	16.0	15.1	15.4	15.3	15.0	15.7	15.5	13.4	14.3	37.5	38.3	38.1	37.2	37.0	37.2	36.7	32.8	37.2	32.1	32.1	32.1	32.1	32.1	32.1	32.1	31.0	32.0
mixed	motherboard_0909_episode_000	2400	22.6	23.0	23.5	23.3	23.3	23.6	22.9	24.3	22.9	10.1	10.2	10.2	10.0	10.1	9.7	9.9	10.0	9.3	11.3	11.2	11.2	11.2	11.2	11.2	11.2	11.5	11.8	41.6	41.5	41.8	41.9	42.2	41.5	41.7	34.5	37.5	30.2	35.6	36.1	35.4	35.3	35.2	35.4	35.4	35.3
full	motherboard_0909_episode_000	2700	23.5	23.6	23.5	23.6	23.7	23.2	23.1	19.6	21.3	27.1	29.0	28.6	27.6	28.7	29.3	27.8	21.2	27.7	14.9	14.7	14.5	14.0	14.4	14.9	14.6	13.5	14.5	45.5	48.0	49.1	49.5	48.9	47.9	46.9	35.1	43.8	31.0	31.7	31.7	31.7	31.6	31.6	31.6	31.6	31.5
full	motherboard_0909_episode_000	3000	23.3	23.0	23.5	23.4	23.5	23.0	23.5	22.3	20.8	13.4	15.3	16.7	16.2	14.8	15.0	16.7	14.0	17.3	15.5	14.8	14.5	15.0	14.7	15.4	15.3	14.9	15.4	43.4	43.4	44.6	43.9	45.4	44.6	44.3	35.6	43.1	38.2	38.6	38.6	38.7	38.3	38.5	38.6	37.2	38.9
mixed	motherboard_0909_episode_000	3300	21.1	21.1	21.0	21.9	21.2	21.5	21.5	21.5	20.5	13.1	12.6	12.8	13.6	13.1	13.0	13.1	10.9	11.7	10.1	10.7	10.7	10.5	9.9	10.2	10.2	12.3	9.8	44.6	46.4	46.7	47.7	46.2	44.2	44.6	32.0	43.1	40.2	42.1	42.9	42.3	43.5	42.8	42.9	41.3	40.1
none	motherboard_0909_episode_001	0	33.8	34.0	34.3	34.0	34.0	34.3	34.6	29.0	31.4	38.7	37.9	38.8	39.3	38.1	38.5	39.7	34.4	36.8	39.4	39.1	39.2	39.9	39.7	36.4	36.2	33.5	38.2	45.1	47.0	47.8	48.9	49.1	47.7	48.1	38.3	44.1	45.1	46.1	46.6	48.5	48.8	47.9	47.3	43.2	44.3
full	motherboard_0909_episode_001	300	29.2	28.3	27.6	28.1	26.7	28.9	29.6	28.2	30.8	13.2	13.0	13.7	14.0	12.9	13.4	12.6	13.2	15.3	17.9	19.8	19.0	19.9	19.9	19.6	20.3	17.3	19.3	43.0	43.3	43.2	43.2	43.4	43.0	42.8	30.8	41.5	28.8	40.5	39.3	40.1	40.0	42.5	41.9	39.4	40.9
mixed	motherboard_0909_episode_001	600	23.7	23.4	23.5	23.8	24.1	23.9	23.7	24.1	22.9	13.6	13.5	13.4	14.5	13.3	13.2	13.2	14.4	13.3	18.6	17.7	18.8	18.2	18.5	18.9	18.4	18.8	18.5	39.1	39.0	39.6	39.4	38.6	38.4	38.6	34.5	38.9	41.8	48.8	48.9	49.5	49.6	47.8	49.1	43.8	43.9
onset	motherboard_0909_episode_001	900	25.8	25.6	25.0	26.0	25.9	25.8	25.3	23.7	24.2	14.0	13.9	14.2	14.4	13.9	13.8	13.8	14.5	12.4	14.5	15.1	15.1	14.3	15.1	15.1	14.1	13.9	13.9	34.5	34.1	34.0	33.0	33.9	33.1	34.5	31.7	34.3	46.7	46.4	46.9	46.8	45.8	47.0	46.9	42.7	43.1
onset	motherboard_0909_episode_001	1200	22.2	22.3	22.1	22.2	22.4	22.2	22.5	21.2	22.8	12.4	12.5	12.6	12.3	12.4	12.4	12.2	12.6	12.8	24.5	24.5	24.6	24.2	24.3	24.5	24.4	14.1	25.6	40.6	40.9	41.1	41.1	41.4	39.3	40.7	34.3	40.9	37.6	49.0	49.5	49.9	49.7	49.2	48.9	43.4	43.9
mixed	motherboard_0909_episode_001	1500	22.2	22.4	22.3	22.4	22.1	22.8	22.8	20.9	20.9	27.5	27.1	26.7	26.9	26.7	26.8	27.3	20.6	26.7	10.2	10.4	10.4	10.3	10.3	10.3	10.5	10.4	10.2	46.8	48.8	49.6	49.3	48.5	48.3	46.8	34.1	43.9	34.5	30.9	32.4	30.9	34.4	33.5	36.6	29.8	31.3
full	motherboard_0909_episode_001	1800	22.4	22.7	22.1	22.6	22.1	22.5	22.3	21.4	21.0	19.2	19.0	18.9	18.9	20.2	20.0	19.0	15.5	19.7	19.7	19.7	19.7	18.6	18.5	18.7	19.0	16.6	19.9	45.6	47.6	48.9	48.5	48.4	48.1	48.0	36.4	43.9	31.2	31.4	31.4	31.0	31.8	31.3	31.5	30.5	31.4
release	motherboard_0909_episode_001	2100	23.7	22.8	23.6	22.9	23.8	23.8	23.0	24.4	23.5	16.3	18.4	17.6	18.0	17.2	16.3	16.7	18.6	18.3	14.3	14.7	15.0	14.9	15.0	14.9	14.8	18.4	16.1	41.6	41.1	40.6	39.2	42.0	41.9	42.2	34.7	38.7	48.0	48.7	49.1	49.4	49.3	49.1	49.0	43.2	44.0
release	motherboard_0909_episode_001	2400	22.7	23.9	23.9	23.5	24.0	24.0	23.9	23.6	23.6	12.5	12.2	12.1	10.6	12.2	12.0	12.1	12.0	10.6	16.2	15.9	16.0	16.0	16.0	15.8	16.1	14.9	16.0	41.1	41.0	41.6	39.2	41.4	41.8	41.6	32.0	39.1	46.7	48.1	48.9	49.8	48.7	48.6	48.6	41.5	43.8
release	motherboard_0909_episode_001	2700	23.0	23.0	22.9	22.9	23.0	23.1	23.1	22.0	22.8	21.7	20.6	22.0	21.9	21.0	21.8	21.8	16.4	20.9	12.2	12.1	11.9	12.1	12.1	12.0	11.9	13.5	12.5	45.4	48.3	49.3	49.8	49.2	47.9	47.4	34.1	43.9	40.2	40.8	39.0	40.1	41.1	40.1	41.0	36.0	38.2
full	motherboard_0909_episode_001	3000	21.8	22.3	22.5	22.4	22.1	23.9	22.7	19.6	17.7	9.3	14.2	13.7	14.2	10.9	14.2	10.5	11.9	16.0	19.2	19.0	18.7	20.3	18.4	20.6	20.9	15.8	16.1	34.2	35.0	35.1	34.9	35.1	36.5	35.8	33.0	34.4	46.3	47.4	48.1	48.4	47.5	48.1	47.8	43.4	43.1
full	motherboard_0909_episode_001	3300	23.2	23.1	24.1	23.3	22.8	24.1	23.3	22.4	22.1	22.6	20.2	22.1	21.6	20.4	22.7	20.8	19.0	22.5	14.8	14.8	14.7	14.6	14.7	14.6	14.6	13.1	14.2	46.1	48.2	49.3	50.0	48.4	48.2	47.4	34.4	43.7	34.5	32.6	34.1	33.5	32.2	34.1	32.2	34.5	34.3
none	motherboard_0909_episode_002	0	33.3	33.7	33.8	33.6	33.7	33.8	34.0	28.0	30.8	37.5	37.3	38.8	38.7	37.2	36.5	35.6	33.1	36.2	39.2	40.0	39.7	40.2	39.8	40.0	40.4	33.6	38.0	44.7	46.8	48.0	49.0	49.0	47.8	48.0	38.7	44.1	44.9	46.1	46.6	49.0	49.3	48.5	48.1	43.3	44.1
full	motherboard_0909_episode_002	300	23.0	23.1	23.4	23.0	23.1	23.2	23.1	22.7	22.8	22.4	23.1	22.7	22.8	22.5	22.4	22.7	19.3	22.5	19.2	19.4	20.1	19.6	19.0	19.1	18.7	17.2	19.7	46.5	47.8	49.1	49.5	49.3	48.2	47.4	34.6	43.8	32.9	33.0	32.8	32.8	32.8	33.0	32.6	30.9	34.0
onset	motherboard_0909_episode_002	600	21.9	21.6	22.0	22.0	22.1	21.9	21.8	22.2	21.7	12.0	14.1	15.8	15.2	16.0	15.7	14.1	14.3	16.2	13.3	13.4	13.3	13.2	13.3	13.2	13.5	14.0	12.6	47.4	48.5	49.1	49.1	48.6	46.0	48.4	36.4	43.8	34.5	34.6	34.6	34.6	34.7	34.5	34.5	34.5	34.2
mixed	motherboard_0909_episode_002	900	22.0	22.0	22.3	22.5	21.8	22.2	22.3	21.7	22.4	21.0	21.4	21.7	21.8	21.9	21.8	20.5	14.8	22.4	14.8	14.1	14.4	14.4	14.4	14.0	14.3	14.2	15.7	48.1	47.7	49.0	49.5	48.9	46.6	49.2	35.4	43.7	31.5	31.5	32.1	30.0	31.8	31.3	31.4	29.5	31.9
onset	motherboard_0909_episode_002	1200	29.6	29.3	28.9	29.3	28.5	29.8	29.4	26.2	28.7	12.0	12.0	11.8	12.2	13.3	11.2	12.3	12.0	11.7	27.2	27.6	27.6	28.0	27.3	26.9	27.0	24.7	29.0	40.2	40.0	40.4	40.4	40.3	38.1	40.6	35.3	39.2	47.4	48.8	49.0	49.9	49.6	48.6	48.4	43.6	43.9
full	motherboard_0909_episode_002	1500	21.6	21.8	21.8	22.0	21.7	22.2	21.9	22.2	20.6	14.6	14.5	14.5	15.5	14.4	14.4	14.3	13.7	13.1	12.0	11.8	11.8	11.7	11.8	11.7	11.9	12.0	11.5	46.8	47.7	48.3	48.5	48.2	47.7	48.3	34.6	43.2	33.2	33.6	33.2	32.8	33.3	33.9	33.4	33.2	32.1
full	motherboard_0909_episode_002	1800	27.1	27.4	27.1	28.1	26.5	27.3	27.1	26.2	27.6	13.8	15.0	13.9	15.8	15.0	13.9	14.7	15.7	15.9	16.1	16.2	16.2	16.3	16.3	16.5	16.3	16.1	15.1	29.9	31.2	30.8	30.9	31.8	30.6	31.8	30.5	32.7	36.8	38.7	38.9	38.8	38.5	38.3	38.5	37.7	36.9
full	motherboard_0909_episode_002	2100	21.9	22.2	22.0	22.0	22.1	22.0	22.0	21.4	21.9	18.1	18.1	17.5	17.5	17.1	16.5	17.9	18.3	19.7	16.7	17.0	17.0	17.0	16.8	16.8	16.7	16.6	17.1	47.0	48.8	49.4	49.5	49.0	48.4	48.3	36.7	43.9	32.8	33.6	33.2	32.9	33.5	33.2	33.5	32.6	32.7

Green cells beat that window's copy-last floor.

Strips

Same layout as the contact tabs. The buttons on each window switch between checkpoints; the copy-last strip shows what the floor predicts.

nonemotherboard_0909_episode_000t=0 (frames 0–15)

fullmotherboard_0909_episode_000t=300 (frames 300–315)

fullmotherboard_0909_episode_000t=600 (frames 600–615)

releasemotherboard_0909_episode_000t=900 (frames 900–915)

nonemotherboard_0909_episode_000t=1200 (frames 1200–1215)

mixedmotherboard_0909_episode_000t=1500 (frames 1500–1515)

fullmotherboard_0909_episode_000t=1800 (frames 1800–1815)

mixedmotherboard_0909_episode_000t=2100 (frames 2100–2115)

mixedmotherboard_0909_episode_000t=2400 (frames 2400–2415)

fullmotherboard_0909_episode_000t=2700 (frames 2700–2715)

fullmotherboard_0909_episode_000t=3000 (frames 3000–3015)

mixedmotherboard_0909_episode_000t=3300 (frames 3300–3315)

nonemotherboard_0909_episode_001t=0 (frames 0–15)

fullmotherboard_0909_episode_001t=300 (frames 300–315)

mixedmotherboard_0909_episode_001t=600 (frames 600–615)

onsetmotherboard_0909_episode_001t=900 (frames 900–915)

onsetmotherboard_0909_episode_001t=1200 (frames 1200–1215)

mixedmotherboard_0909_episode_001t=1500 (frames 1500–1515)

fullmotherboard_0909_episode_001t=1800 (frames 1800–1815)

releasemotherboard_0909_episode_001t=2100 (frames 2100–2115)

releasemotherboard_0909_episode_001t=2400 (frames 2400–2415)

releasemotherboard_0909_episode_001t=2700 (frames 2700–2715)

fullmotherboard_0909_episode_001t=3000 (frames 3000–3015)

fullmotherboard_0909_episode_001t=3300 (frames 3300–3315)

nonemotherboard_0909_episode_002t=0 (frames 0–15)

fullmotherboard_0909_episode_002t=300 (frames 300–315)

onsetmotherboard_0909_episode_002t=600 (frames 600–615)

mixedmotherboard_0909_episode_002t=900 (frames 900–915)

onsetmotherboard_0909_episode_002t=1200 (frames 1200–1215)

fullmotherboard_0909_episode_002t=1500 (frames 1500–1515)

fullmotherboard_0909_episode_002t=1800 (frames 1800–1815)

fullmotherboard_0909_episode_002t=2100 (frames 2100–2115)

Per-epoch checkpoints on train — 32 fixed windows

PSNR (dB), higher is better

checkpoint	view		wrist L		wrist R		tactile L		tactile R
checkpoint	model	Δ floor	model	Δ floor	model	Δ floor	model	Δ floor	model	Δ floor
mb_v1 e0	25.48	+0.07	18.19	-0.65	18.82	-0.12	42.64	+2.52	41.60	+0.48
v2 e0	25.82	+0.40	18.41	-0.44	19.07	+0.13	42.72	+2.59	44.95	+3.83
v2 e1	25.91	+0.50	18.76	-0.09	19.17	+0.24	43.06	+2.93	45.36	+4.24
copy-last floor	25.42		18.85		18.94		40.13		41.12
mb_v1 e0 v2 trained on	25.27	-0.08	18.28	-0.60	18.56	-0.11	42.23	+2.33	40.68	-0.12
v2 e0	25.60	+0.25	18.33	-0.56	18.79	+0.12	42.30	+2.40	44.33	+3.53
v2 e1	25.69	+0.34	18.77	-0.11	18.92	+0.26	42.60	+2.70	44.75	+3.95
copy-last floor	25.35		18.88		18.67		39.91		40.80

Green means the checkpoint beats repeating the last context frame. The v2 trained on block drops the 5 windows from episodes v2 holds out.

SSIM, higher is better

checkpoint	view		wrist L		wrist R		tactile L		tactile R
checkpoint	model	Δ floor	model	Δ floor	model	Δ floor	model	Δ floor	model	Δ floor
mb_v1 e0	0.847	+0.027	0.578	-0.022	0.582	-0.004	0.981	+0.002	0.985	-0.000
v2 e0	0.856	+0.036	0.590	-0.010	0.587	+0.000	0.981	+0.002	0.987	+0.001
v2 e1	0.859	+0.039	0.598	-0.001	0.592	+0.005	0.982	+0.003	0.987	+0.002
copy-last floor	0.820		0.600		0.586		0.979		0.986

LPIPS, lower is better

checkpoint	view		wrist L		wrist R		tactile L		tactile R
checkpoint	model	Δ floor	model	Δ floor	model	Δ floor	model	Δ floor	model	Δ floor
mb_v1 e0	0.062	-0.015	0.251	+0.037	0.220	+0.009	0.040	-0.000	0.032	-0.002
v2 e0	0.058	-0.020	0.236	+0.022	0.212	+0.001	0.042	+0.002	0.028	-0.005
v2 e1	0.057	-0.021	0.227	+0.013	0.209	-0.002	0.040	+0.000	0.026	-0.007
copy-last floor	0.077		0.214		0.211		0.040		0.033

For LPIPS, green means lower than the floor.

Predicted actions, lower is better

checkpoint	left trans (mm)	left rot (°)	right trans (mm)	right rot (°)
mb_v1 e0	3.66	1.41	3.12	1.09
v2 e0	4.10	1.51	3.21	1.10
v2 e1	3.39	1.30	3.19	1.06
copy-last floor	4.61	1.37	4.69	1.81

Every window, PSNR (dB)

class	episode	t	view				wrist L				wrist R				tactile L				tactile R
class	episode	t	e0	v2e0	v2e1	floor	e0	v2e0	v2e1	floor	e0	v2e0	v2e1	floor	e0	v2e0	v2e1	floor	e0	v2e0	v2e1	floor
none	motherboard_0911_episode_000	0	33.6	33.7	33.9	31.1	31.8	33.2	34.7	31.6	35.9	36.5	36.9	32.5	46.8	48.3	48.9	43.8	37.7	49.5	50.1	43.2
mixed	motherboard_0911_episode_000	300	26.7	27.1	26.8	26.6	27.9	26.9	26.2	26.6	15.7	15.7	15.6	16.6	48.8	49.1	49.4	43.4	37.4	38.3	38.1	36.3
full	motherboard_0911_episode_000	600	24.7	24.3	24.8	24.5	16.9	14.4	15.7	19.1	14.7	14.3	14.5	14.5	35.8	36.6	37.2	38.7	48.7	49.5	50.0	43.0
onset	motherboard_0911_episode_000	900	25.6	26.0	26.3	26.5	15.2	14.9	15.8	16.0	17.2	17.3	17.2	17.8	36.8	36.7	36.8	36.2	48.5	49.2	49.7	43.0
mixed	motherboard_0911_episode_000	1200	21.0	21.6	21.7	21.3	17.2	23.0	22.8	19.9	14.6	14.2	14.2	14.5	48.9	49.0	49.6	43.5	36.1	33.9	32.7	35.3
mixed	motherboard_0911_episode_000	1500	25.2	25.3	25.3	25.5	15.4	15.7	15.7	17.1	15.7	15.5	15.2	16.6	48.9	49.0	49.2	43.3	47.6	47.8	47.0	42.9
mixed	motherboard_0911_episode_000	1800	24.5	25.2	24.9	22.9	20.1	20.8	20.0	19.2	16.3	16.2	16.3	16.3	48.9	48.6	49.7	43.4	39.6	38.3	39.7	36.8
mixed	motherboard_0911_episode_000	2100	23.9	25.4	26.5	29.0	17.2	17.5	18.2	17.8	20.9	23.5	23.0	22.2	30.8	30.7	30.7	30.4	39.3	49.7	50.7	43.0
full	motherboard_0911_episode_000	2400	21.7	21.8	21.7	21.3	16.6	17.1	16.5	15.3	17.7	17.6	18.3	17.2	49.1	48.7	48.8	43.3	40.9	41.5	41.1	40.4
mixed	motherboard_0911_episode_000	2700	23.2	23.2	22.9	23.0	14.8	14.6	14.7	15.6	16.8	16.8	16.8	15.6	40.8	40.7	40.9	36.5	44.0	43.9	44.5	41.1
none	motherboard_0911_episode_000	3000	24.3	25.4	25.1	24.7	14.0	15.0	13.8	14.8	17.2	19.3	18.9	18.5	47.5	48.1	48.7	43.6	48.4	48.9	50.6	43.0
full	motherboard_0911_episode_000	3300	28.0	28.9	29.1	28.0	15.6	15.5	15.7	14.6	21.5	22.4	22.5	22.2	41.4	41.2	40.9	39.8	39.1	40.4	42.1	41.0
full	motherboard_0911_episode_000	3600	23.8	24.0	24.1	23.2	19.4	19.7	18.8	20.2	23.0	23.8	24.0	22.0	31.9	32.6	32.4	34.0	36.8	49.8	50.4	43.1
none	motherboard_0911_episode_001_seg00	0	29.3	29.2	29.3	28.4	25.8	25.4	26.3	25.7	31.6	31.4	31.8	29.9	47.1	47.8	48.8	43.9	48.4	48.8	49.5	43.2
release	motherboard_0911_episode_001_seg00	300	23.6	24.5	24.5	22.9	22.0	20.3	20.9	20.3	17.1	17.1	17.0	17.3	48.8	49.0	49.4	43.5	45.1	41.8	42.3	39.9
onset	motherboard_0911_episode_001_seg01	0	24.5	24.7	25.0	25.8	17.3	16.7	17.5	16.3	21.8	21.5	22.7	20.6	31.5	31.5	31.5	31.3	49.2	49.7	50.7	43.0
mixed	motherboard_0911_episode_001_seg01	300	28.3	28.1	28.0	27.8	22.1	21.5	23.7	22.9	17.8	17.6	17.8	16.9	48.9	49.0	48.6	43.6	43.7	46.1	46.0	41.3
mixed	motherboard_0911_episode_001_seg01	600	25.9	25.9	25.9	25.8	20.5	20.8	22.6	22.4	13.2	13.2	13.0	13.7	49.2	49.2	49.4	43.5	43.9	45.1	45.1	41.5
full	motherboard_0911_episode_001_seg01	900	27.2	27.1	26.0	25.3	16.9	17.5	17.6	19.8	14.7	14.8	14.8	20.5	39.5	41.5	40.7	40.2	43.6	44.8	44.7	42.8
none	motherboard_0911_episode_002_seg00 v2 held out	0	33.5	33.6	33.8	31.0	32.4	33.1	32.8	30.9	34.6	34.9	35.4	31.2	47.3	48.5	49.3	43.8	48.6	49.0	49.6	43.3
none	motherboard_0911_episode_002_seg00 v2 held out	300	25.2	25.3	25.3	24.2	14.9	17.4	17.7	16.9	14.6	14.9	14.6	17.8	48.6	48.1	48.5	43.4	39.9	47.5	47.3	42.9
mixed	motherboard_0911_episode_002_seg00 v2 held out	600	24.6	25.7	25.1	23.3	12.5	12.9	12.2	13.9	21.3	22.4	22.4	21.3	40.0	40.2	40.1	39.0	49.7	49.7	50.2	43.0
mixed	motherboard_0911_episode_002_seg00 v2 held out	900	25.7	25.3	25.7	24.9	12.1	12.5	13.1	12.3	16.5	16.5	16.3	16.8	39.1	39.0	39.9	36.9	49.0	49.6	49.8	43.1
mixed	motherboard_0911_episode_002_seg00 v2 held out	1200	24.2	25.1	25.6	25.4	16.7	18.3	17.9	19.3	14.1	14.1	14.0	14.8	49.2	48.9	49.9	43.4	45.6	45.6	46.3	42.0
full	motherboard_0911_episode_003_seg00	0	23.8	23.7	24.0	24.0	14.0	14.0	14.9	18.0	15.3	15.3	15.4	15.2	33.0	33.1	33.2	37.1	35.1	49.8	50.5	43.0
full	motherboard_0911_episode_003_seg00	300	26.3	26.4	26.2	26.1	19.9	19.6	19.2	19.0	16.7	17.1	16.6	17.9	34.9	34.1	35.9	35.0	48.9	50.0	50.4	43.0
full	motherboard_0911_episode_003_seg00	600	23.7	23.1	23.9	22.9	14.0	13.6	14.3	13.4	18.0	17.4	18.3	17.4	38.7	38.8	38.9	37.8	34.3	44.2	44.3	42.2
onset	motherboard_0911_episode_003_seg00	900	26.7	28.9	29.7	28.8	10.8	10.7	13.1	14.0	19.8	19.7	19.9	18.9	39.4	39.7	39.9	38.5	33.3	47.8	47.8	43.2
mixed	motherboard_0911_episode_003_seg00	1200	22.5	23.3	23.3	23.3	19.8	19.5	19.8	19.4	14.7	14.6	14.6	16.2	48.9	48.8	49.6	43.4	28.4	34.4	34.2	35.2
full	motherboard_0911_episode_003_seg00	1500	25.7	25.6	25.7	27.4	18.2	17.7	18.2	19.4	17.8	17.6	17.9	18.8	37.6	36.8	36.8	38.5	28.6	35.5	37.3	35.6
mixed	motherboard_0911_episode_003_seg00	1800	24.3	24.1	24.1	24.4	15.5	14.8	15.3	16.6	18.0	19.6	19.6	19.9	48.1	48.5	49.4	43.4	41.1	40.9	41.4	39.0
onset	motherboard_0911_episode_003_seg00	2100	24.3	24.6	24.4	23.9	14.6	14.7	14.9	14.9	17.4	17.5	18.2	14.5	38.4	35.0	34.9	37.8	30.9	37.4	37.3	36.7

Green cells beat that window's copy-last floor.

Strips

Same layout as the contact tabs. The buttons on each window switch between checkpoints; the copy-last strip shows what the floor predicts.

nonemotherboard_0911_episode_000t=0 (frames 0–15)

mixedmotherboard_0911_episode_000t=300 (frames 300–315)

fullmotherboard_0911_episode_000t=600 (frames 600–615)

onsetmotherboard_0911_episode_000t=900 (frames 900–915)

mixedmotherboard_0911_episode_000t=1200 (frames 1200–1215)

mixedmotherboard_0911_episode_000t=1500 (frames 1500–1515)

mixedmotherboard_0911_episode_000t=1800 (frames 1800–1815)

mixedmotherboard_0911_episode_000t=2100 (frames 2100–2115)

fullmotherboard_0911_episode_000t=2400 (frames 2400–2415)

mixedmotherboard_0911_episode_000t=2700 (frames 2700–2715)

nonemotherboard_0911_episode_000t=3000 (frames 3000–3015)

fullmotherboard_0911_episode_000t=3300 (frames 3300–3315)

fullmotherboard_0911_episode_000t=3600 (frames 3600–3615)

nonemotherboard_0911_episode_001_seg00t=0 (frames 0–15)

releasemotherboard_0911_episode_001_seg00t=300 (frames 300–315)

onsetmotherboard_0911_episode_001_seg01t=0 (frames 0–15)

mixedmotherboard_0911_episode_001_seg01t=300 (frames 300–315)

mixedmotherboard_0911_episode_001_seg01t=600 (frames 600–615)

fullmotherboard_0911_episode_001_seg01t=900 (frames 900–915)

nonemotherboard_0911_episode_002_seg00t=0 (frames 0–15) · v2 held out

nonemotherboard_0911_episode_002_seg00t=300 (frames 300–315) · v2 held out

mixedmotherboard_0911_episode_002_seg00t=600 (frames 600–615) · v2 held out

mixedmotherboard_0911_episode_002_seg00t=900 (frames 900–915) · v2 held out

mixedmotherboard_0911_episode_002_seg00t=1200 (frames 1200–1215) · v2 held out

fullmotherboard_0911_episode_003_seg00t=0 (frames 0–15)

fullmotherboard_0911_episode_003_seg00t=300 (frames 300–315)

fullmotherboard_0911_episode_003_seg00t=600 (frames 600–615)

onsetmotherboard_0911_episode_003_seg00t=900 (frames 900–915)

mixedmotherboard_0911_episode_003_seg00t=1200 (frames 1200–1215)

fullmotherboard_0911_episode_003_seg00t=1500 (frames 1500–1515)

mixedmotherboard_0911_episode_003_seg00t=1800 (frames 1800–1815)

onsetmotherboard_0911_episode_003_seg00t=2100 (frames 2100–2115)