Visuotactile Paper Artifacts
Small trained artifacts and feature caches for this paper's visuotactile training pipeline.
Model source
- Kind
- Checkpoint, LoRA
- File size
- 578 KB–420 MB
- Version
- vRevision 0cde066
- Updated
- Oct 2, 2026
- Publisher
- @wy891
- Downloads
- 0
- Source
- Hugging Face
Source description
Visuotactile Paper Artifacts
Small trained artifacts and feature caches for this paper's visuotactile training pipeline.
Source
These artifacts come from the training pipeline in https://github.com/howard-lynn-ye/vr-teleop-isaacsim. Paper draft: https://github.com/howard-lynn-ye/vr-teleop-isaacsim/blob/main/paper/main.tex.
Pinned source commit for these uploaded artifacts: 8084ec32d37f07d57bd71e424d6144aae9e4f8b9.
Contents
phase1/seed_42/best.pt,phase1/seed_42/last.pt: Phase 1 alignment encoder checkpoints.phase1/features_cache/: canonical Phase 1 DINOv2 feature caches and split manifest.phase3_3/seed_42/best.pt,phase3_3/seed_42/last.pt,phase3_3/seed_42/train.log: Phase 3.3 sim alignment artifacts.
Reproducibility
- Canonical Phase 1 data split:
DATA_SEED=42. - Phase 1 training script:
https://github.com/howard-lynn-ye/vr-teleop-isaacsim/blob/8084ec32d37f07d57bd71e424d6144aae9e4f8b9/path_d/code/train/phase1_5_5seed.py. - Phase 3.3 training script:
https://github.com/howard-lynn-ye/vr-teleop-isaacsim/blob/8084ec32d37f07d57bd71e424d6144aae9e4f8b9/path_d/code/train/phase3_3_alignment.py. - Phase 1 feature cache manifests record
cache_version=2,n_rows=4583,top_n=30, and the sharedsample_ids_sha256.
Critical Caveats
- Phase 1 checkpoint:
best_ep=67,val_loss=2.5115,top5=0.6876. This post-restore retrain matches the original within epsilon. - Phase 3.3 uses the held-out-scale split required by gamma_gates compliance: train on s15+s20 and validate on s25.
- These are paper artifacts, not a turnkey production model package. Preserve the split and script commit when comparing numbers.
Related Repositories
- SSVTP source corpus: https://huggingface.co/datasets/mlfu7/Touch-Vision-Language-Dataset
- Imputed force sidecars: https://huggingface.co/datasets/wy891/ssvtp-claude-imputed-force
- Unified v2t generator: https://huggingface.co/wy891/v2t-unified-ssvtp-diffusion
Sources
1 source
Sources
1 sourceVerified Oct 2
Model artifacts
61 artifacts
Model artifacts
61 artifactsgenerator_rescue/round91_pix2pix_v2_regularized/main_checkpoint/pix2pix_step_1000.pt
pt · 53.4 MB · SHA-256 71a8c3d4f160…ede5 · Hugging Face
Downloadgenerator_rescue/round93_deformation_amp_rescue/main_checkpoint/pix2pix_step_1000.pt
pt · 53.4 MB · SHA-256 59d8888aa666…58da · Hugging Face
Downloadgenerator_rescue/round95_r93_finetune_rescue/main_checkpoint/pix2pix_r95c_ft_deformmean_step100.pt
pt · 53.4 MB · SHA-256 9ead671430b2…7112 · Hugging Face
Downloadgenerator_rescue/round96_early_finetune_grid/main_checkpoint/pix2pix_r96c_mildcontact_lr2e5_step150.pt
pt · 53.4 MB · SHA-256 fbb397e514f0…8f05 · Hugging Face
Downloadpaper/nips2026/round126b_full_grid_artifacts/N1000_seed42/best.pt
pt · 1.70 MB · SHA-256 0d0694d344a4…4f90 · Hugging Face
Downloadpaper/nips2026/round126b_full_grid_artifacts/N1000_seed42/last.pt
pt · 1.70 MB · SHA-256 814794236515…d107 · Hugging Face
Downloadpaper/nips2026/round126b_full_grid_artifacts/N1000_seed43/best.pt
pt · 1.70 MB · SHA-256 ad9e4dda4152…b7f9 · Hugging Face
Downloadpaper/nips2026/round126b_full_grid_artifacts/N1000_seed43/last.pt
pt · 1.70 MB · SHA-256 27f9a6e6ecd9…f960 · Hugging Face
Downloadpaper/nips2026/round126b_full_grid_artifacts/N1000_seed44/best.pt
pt · 1.70 MB · SHA-256 243096e915d1…7442 · Hugging Face
Downloadpaper/nips2026/round126b_full_grid_artifacts/N1000_seed44/last.pt
pt · 1.70 MB · SHA-256 17198bf2bf69…0a11 · Hugging Face
Downloadpaper/nips2026/round126b_full_grid_artifacts/N1000_seed45/best.pt
pt · 1.70 MB · SHA-256 c300c5729521…8d1b · Hugging Face
Downloadpaper/nips2026/round126b_full_grid_artifacts/N1000_seed45/last.pt
pt · 1.70 MB · SHA-256 e8a70abac324…81fc · Hugging Face
Downloadpaper/nips2026/round126b_full_grid_artifacts/N1000_seed46/best.pt
pt · 1.70 MB · SHA-256 479e8a1e6c89…fc24 · Hugging Face
Downloadpaper/nips2026/round126b_full_grid_artifacts/N1000_seed46/last.pt
pt · 1.70 MB · SHA-256 5468577b7fff…37f7 · Hugging Face
Downloadpaper/nips2026/round126b_full_grid_artifacts/N2000_seed42/best.pt
pt · 1.70 MB · SHA-256 9db415982b2f…0af1 · Hugging Face
Downloadpaper/nips2026/round126b_full_grid_artifacts/N2000_seed42/last.pt
pt · 1.70 MB · SHA-256 db9a502b64fc…d2bc · Hugging Face
Downloadpaper/nips2026/round126b_full_grid_artifacts/N2000_seed43/best.pt
pt · 1.70 MB · SHA-256 278a381f0f6a…2e74 · Hugging Face
Downloadpaper/nips2026/round126b_full_grid_artifacts/N2000_seed43/last.pt
pt · 1.70 MB · SHA-256 dffe6d6d5d79…9171 · Hugging Face
Downloadpaper/nips2026/round126b_full_grid_artifacts/N2000_seed44/best.pt
pt · 1.70 MB · SHA-256 afb742960e5d…211d · Hugging Face
Downloadpaper/nips2026/round126b_full_grid_artifacts/N2000_seed44/last.pt
pt · 1.70 MB · SHA-256 dbafba600395…aaa4 · Hugging Face
Downloadpaper/nips2026/round126b_full_grid_artifacts/N2000_seed45/best.pt
pt · 1.70 MB · SHA-256 b5ea8eced430…cb9f · Hugging Face
Downloadpaper/nips2026/round126b_full_grid_artifacts/N2000_seed45/last.pt
pt · 1.70 MB · SHA-256 eee986f73ce0…767c · Hugging Face
Downloadpaper/nips2026/round126b_full_grid_artifacts/N2000_seed46/best.pt
pt · 1.70 MB · SHA-256 89b482241044…6137 · Hugging Face
Downloadpaper/nips2026/round126b_full_grid_artifacts/N2000_seed46/last.pt
pt · 1.70 MB · SHA-256 5a20c454d773…2c38 · Hugging Face
Downloadpaper/nips2026/round126b_full_grid_artifacts/N4124_seed44/best.pt
pt · 1.70 MB · SHA-256 9177f63fe35c…06ae · Hugging Face
Downloadpaper/nips2026/round126b_full_grid_artifacts/N4124_seed44/last.pt
pt · 1.70 MB · SHA-256 1c2ca74cc93f…b7f0 · Hugging Face
Downloadpaper/nips2026/round126b_full_grid_artifacts/N4124_seed45/best.pt
pt · 1.70 MB · SHA-256 a6578c2f51b1…c8cc · Hugging Face
Downloadpaper/nips2026/round126b_full_grid_artifacts/N4124_seed45/last.pt
pt · 1.70 MB · SHA-256 576325bf77dd…881b · Hugging Face
Downloadpaper/nips2026/round126b_full_grid_artifacts/N4124_seed46/best.pt
pt · 1.70 MB · SHA-256 22d2a705ec7a…35f9 · Hugging Face
Downloadpaper/nips2026/round126b_full_grid_artifacts/N4124_seed46/last.pt
pt · 1.70 MB · SHA-256 544442d7fc77…da43 · Hugging Face
Downloadpaper/nips2026/round126b_full_grid_artifacts/N500_seed44/best.pt
pt · 1.70 MB · SHA-256 ff73c9618873…370f · Hugging Face
Downloadpaper/nips2026/round126b_full_grid_artifacts/N500_seed44/last.pt
pt · 1.70 MB · SHA-256 9b9589108622…771e · Hugging Face
Downloadpaper/nips2026/round126b_full_grid_artifacts/N500_seed45/best.pt
pt · 1.70 MB · SHA-256 f3a02c72ed2e…5af2 · Hugging Face
Downloadpaper/nips2026/round126b_full_grid_artifacts/N500_seed45/last.pt
pt · 1.70 MB · SHA-256 a5b4758a94b3…9314 · Hugging Face
Downloadpaper/nips2026/round126b_full_grid_artifacts/N500_seed46/best.pt
pt · 1.70 MB · SHA-256 238027492ae7…5beb · Hugging Face
Downloadpaper/nips2026/round126b_full_grid_artifacts/N500_seed46/last.pt
pt · 1.70 MB · SHA-256 055fb62117b1…ba28 · Hugging Face
Downloadround121_text_film_generator/checkpoints/best_text_pix2pix.pt
pt · 56.8 MB · SHA-256 f96d3b7b88f3…a6e7 · Hugging Face
Downloadround121_text_film_generator/checkpoints/final_text_pix2pix.pt
pt · 56.8 MB · SHA-256 1676d8b30296…5116 · Hugging Face
Downloadround124_cliptext_bgsub/checkpoints/cliptext_pix2pix_step_12000.pt
pt · 68.0 MB · SHA-256 18b85172f97c…fb38 · Hugging Face
Downloadround126_cliptext_strong/checkpoints/cliptext_pix2pix_step_12000.pt
pt · 68.0 MB · SHA-256 91a0a21e21eb…9eb1 · Hugging Face
Downloadround126_cliptext_strong/checkpoints/cliptext_pix2pix_step_3000.pt
pt · 68.0 MB · SHA-256 5a32d2d2833b…5d85 · Hugging Face
Downloadround127_cliptext_textdominant/checkpoints/cliptext_pix2pix_step_11000.pt
pt · 68.0 MB · SHA-256 a51f5a461d99…875c · Hugging Face
Downloadround127_cliptext_textdominant/checkpoints/cliptext_pix2pix_step_12000.pt
pt · 68.0 MB · SHA-256 ff4ac7558da6…c096 · Hugging Face
Downloadround127_cliptext_textdominant/checkpoints/cliptext_pix2pix_step_3000.pt
pt · 68.0 MB · SHA-256 44ee5d9f95e0…1c9f · Hugging Face
Downloadround127_cliptext_textdominant/checkpoints/cliptext_pix2pix_step_8000.pt
pt · 68.0 MB · SHA-256 33d16da54401…9184 · Hugging Face
Downloadround130_vtl_aligned_generator/checkpoints/r130b_cliptext_step1000.pt
pt · 68.0 MB · SHA-256 7c6c5daf54ba…f887 · Hugging Face
Downloadround134_135_trainable_qwen_prefix/r134_prefix_ce_r131e_realgen_e12_lr2e3/trainable_qwen_tactile_prefix.pt
pt · 66.1 MB · SHA-256 b1f630c3c65e…ab25 · Hugging Face
Downloadround134_135_trainable_qwen_prefix/r134_prefix_margin_r131a_realgen_e20_lr1e3/trainable_qwen_tactile_prefix.pt
pt · 66.1 MB · SHA-256 f82265bd9771…c260 · Hugging Face
Downloadround134_135_trainable_qwen_prefix/r134_prefix_margin_r131e_real_e20_lr1e3/trainable_qwen_tactile_prefix.pt
pt · 66.1 MB · SHA-256 327fada8d3a0…5403 · Hugging Face
Downloadround134_135_trainable_qwen_prefix/r134_prefix_margin_r131e_realgen_e20_lr1e3/trainable_qwen_tactile_prefix.pt
pt · 66.1 MB · SHA-256 f079d7425787…e12c · Hugging Face
Downloadround134_135_trainable_qwen_prefix/r135_lora_margin_r131c_realgen_e3_lr2e4/qwen_lora_adapter/adapter_model.safetensors
safetensors · 35.5 MB · SHA-256 650797ee5925…9d2f · Hugging Face
Downloadround134_135_trainable_qwen_prefix/r135_lora_margin_r131c_realgen_e3_lr2e4/trainable_qwen_tactile_prefix.pt
pt · 66.1 MB · SHA-256 273d36eb7fee…83a8 · Hugging Face
Downloadround134_135_trainable_qwen_prefix/r135_lora_margin_r131e_realgen_e3_lr2e4/qwen_lora_adapter/adapter_model.safetensors
safetensors · 35.5 MB · SHA-256 fbaba6aba89c…bfd3 · Hugging Face
Downloadround134_135_trainable_qwen_prefix/r135_lora_margin_r131e_realgen_e3_lr2e4/trainable_qwen_tactile_prefix.pt
pt · 66.1 MB · SHA-256 5423e03637fb…d472 · Hugging Face
Downloadround134_135_trainable_qwen_prefix/r135b_qformer_ce_r131e_realgen_e10_lr3e4/trainable_qwen_tactile_prefix.pt
pt · 228 MB · SHA-256 34973a38bcee…f659 · Hugging Face
Downloadround134_135_trainable_qwen_prefix/r135b_qformer_margin_r131e_realgen_e16_lr1e4/trainable_qwen_tactile_prefix.pt
pt · 228 MB · SHA-256 65e5219398d4…ea8f · Hugging Face
Downloadround134_135_trainable_qwen_prefix/r135b_qformer_margin_r131e_realgen_e20_lr8e4/trainable_qwen_tactile_prefix.pt
pt · 420 MB · SHA-256 674882b6fbae…0b87 · Hugging Face
DownloadSource excerpts
3 excerpts
Source excerpts
3 excerpts--- license: cc-by-4.0 tags: - tactile - vision-tactile - visuotactile - physical-property - ssvtp - dinov2 --- # Visuotactile Paper Artifacts Small trained artifacts and feature caches for this paper's visuotactile training pipeline. ## Source These artifacts come from the training pipeline in `https://github.com/howard-lynn-ye/vr-teleop-isaacsim`. Paper draft: `https://github.com/howard-lynn-ye/vr-teleop-isaacsim/blob/main/paper/main.tex`. Pinned source commit for these uploaded artifacts: `8084ec32d37f07d57bd71e424d6144aae9e4f8b9`. ## Contents - `phase1/seed_42/best.pt`, `phase1/seed_42/last.pt`: Phase 1 alignment encoder checkpoints. - `phase1/features_cache/`: canonical Phase 1 DINOv2 feature caches and split manifest. - `phase3_3/seed_42/best.pt`, `phase3_3/seed_42/last.pt`, `phase3_3/seed_42/train.log`: Phase 3.3 sim alignment artifacts. ## Reproducibility - Canonical Phase 1 data split: `DATA_SEED=42`. - Phase 1 training script: `https://github.com/howard-lynn-ye/vr-teleop-isaacsim/blob/8084ec32d37f07d57bd71e424d6144aae9e4f8b9/path_d/code/train/phase1_5_5seed.py`. - Phase 3.3 training script: `https://github.com/howard-lynn-ye/vr-teleop-isaacsim/blob/8084ec32d37f07d57bd71e424d6144aae9e4f8b9/path_d/code/train/phase3_3_alignment.py`. - Phase 1 feature cache manifests record `cache_version=2`, `n_rows=4583`, `top_n=30`, and the shared `sample_ids_sha256`. ## Critical Caveats - Phase 1 checkpoint: `best_ep=67`, `val_loss=2.5115`, `top5=0.6876`. This post-restore retrain matches the original within epsilon. - Phase 3.3 uses the held-out-scale split required by gamma_gates compliance: train on s15+s20 and validate on s25. - These are paper artifacts, not a turnkey production model package. Preserve the split and script commit when comparing numbers. ## Related Repositories - SSVTP source corpus: https://huggingface.co/datasets/mlfu7/Touch-Vision-Language-Dataset - Imputed force sidecars: https://huggingface.co/datasets/wy891/ssvtp-claude-imputed-force - Unified v2t generator: https://huggingface.co/wy891/v2t-unified-ssvtp-diffusion
Source context: 0 downloads · 0 likes · Repo wy891/visuotactile-paper-artifacts
Source context: 0 downloads · 0 likes · Repo wy891/visuotactile-paper-artifacts
