--- 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
