Wan2.2-5B wrist MoT — held-out val rollouts
Run mot_df_vt_a9dfilm_dforce_isolate_adaln_wrist_mixed_wan5b, checkpoint epoch=001.ckpt. Three experts
(camera view, tactile L/R, wrist L/R) share one frozen Wan2.2-TI2V-5B DiT trunk with a
per-expert LoRA (r=32); mixed wrist-availability training with per-clip wrist dropout p=0.2.
Short rollouts predict one 4-latent window (8 predicted raw frames) from 8 GT context frames;
long rollouts are 16 s (60 latent frames) keep-1 autoregressive sliding windows driven
by the episode's recorded actions, from 2–3 start offsets per episode. All pixel metrics use the pad-latent-restored Wan2.2 decode.
This is epoch 1 of 30 — an early snapshot of a run that is still training, not a converged result.
All four episodes below are the run's val episodes — held out of every gradient update, but they are also the set the run selects its best checkpoint on, so these numbers are not a clean test score. The held-out test split (7 episodes, 19707 windows) is scored separately.
No-wrist val episodes
Recorded without wrist cameras (mode1_v2 session); the model runs its 3-stream path (camera view + tactile L/R).
motherboard_0510_episode_005 val motherboard_0510_episode_006 val
Short horizon — one 4-latent window (8 GT context frames → 8 predicted)
| stream | 0510_episode_005 | 0510_episode_006 |
|---|---|---|
| camera view | 22.20 dB SSIM 0.79 · LPIPS 0.091 | 22.64 dB SSIM 0.80 · LPIPS 0.082 |
| tactile left | 41.47 dB SSIM 0.96 · LPIPS 0.068 | 43.04 dB SSIM 0.98 · LPIPS 0.049 |
| tactile right | 43.93 dB SSIM 0.98 · LPIPS 0.060 | 42.28 dB SSIM 0.98 · LPIPS 0.082 |
Long horizon — 16 s autoregressive keep-1 rollout
| stream | 0510_episode_005 t0=0 | 0510_episode_006 t0=0 |
|---|---|---|
| camera view | 15.69 dB SSIM 0.55 · LPIPS 0.404 | 17.14 dB SSIM 0.60 · LPIPS 0.326 |
| tactile left | 28.68 dB SSIM 0.91 · LPIPS 0.204 | 28.55 dB SSIM 0.92 · LPIPS 0.179 |
| tactile right | 30.09 dB SSIM 0.96 · LPIPS 0.163 | 29.91 dB SSIM 0.95 · LPIPS 0.175 |
motherboard_0510_episode_005 · t0=0 · 16s keep-1 @ 15.0 fps
motherboard_0510_episode_006 · t0=0 · 16s keep-1 @ 15.0 fps
Short-rollout samples
motherboard_0510_episode_005
t_start=197
t_start=207
t_start=258
t_start=361
t_start=350
t_start=222
motherboard_0510_episode_006
t_start=788
t_start=1047
t_start=621
t_start=1033
t_start=1266
t_start=1659
Wrist val episodes
React v3 motherboard sessions with both wrist cameras; the model runs the full 5-stream path.
motherboard_0911_episode_002_seg00 val motherboard_0912_episode_003 val
Short horizon — one 4-latent window (8 GT context frames → 8 predicted)
| stream | 0911_episode_002_seg00 | 0912_episode_003 |
|---|---|---|
| camera view | 25.02 dB SSIM 0.85 · LPIPS 0.064 | 23.55 dB SSIM 0.80 · LPIPS 0.099 |
| wrist left | 15.94 dB SSIM 0.54 · LPIPS 0.259 | 14.23 dB SSIM 0.43 · LPIPS 0.346 |
| wrist right | 16.57 dB SSIM 0.48 · LPIPS 0.297 | 16.22 dB SSIM 0.48 · LPIPS 0.292 |
| tactile left | 45.02 dB SSIM 0.99 · LPIPS 0.040 | 41.83 dB SSIM 0.98 · LPIPS 0.058 |
| tactile right | 44.76 dB SSIM 0.99 · LPIPS 0.039 | 45.13 dB SSIM 0.99 · LPIPS 0.037 |
Long horizon — 16 s autoregressive keep-1 rollout
| stream | 0911_episode_002_seg00 t0=0 | 0912_episode_003 t0=0 |
|---|---|---|
| camera view | 18.63 dB SSIM 0.64 · LPIPS 0.271 | 17.12 dB SSIM 0.59 · LPIPS 0.355 |
| wrist left | 11.35 dB SSIM 0.41 · LPIPS 0.560 | 11.04 dB SSIM 0.44 · LPIPS 0.566 |
| wrist right | 10.41 dB SSIM 0.45 · LPIPS 0.556 | 10.58 dB SSIM 0.43 · LPIPS 0.575 |
| tactile left | 28.58 dB SSIM 0.92 · LPIPS 0.206 | 27.35 dB SSIM 0.89 · LPIPS 0.265 |
| tactile right | 28.20 dB SSIM 0.94 · LPIPS 0.198 | 27.83 dB SSIM 0.91 · LPIPS 0.238 |
motherboard_0911_episode_002_seg00 · t0=0 · 16s keep-1 @ 15.0 fps
motherboard_0912_episode_003 · t0=0 · 16s keep-1 @ 15.0 fps
Short-rollout samples
motherboard_0911_episode_002_seg00
t_start=788
t_start=829
t_start=1033
t_start=1090
t_start=676
t_start=647
motherboard_0912_episode_003
t_start=1577
t_start=3954
t_start=3399
t_start=3719
t_start=3095
t_start=2181
