sinew · plots

plots

Visual evaluations of v2f checkpoints + R-cycle force tracking.

Contact-threshold picker — clean 2026-05-24 · action needed

Pose-aware bias compensation (sinew-137 Phase B point-mass, A-vs-B bench-off winner +11.9% RMSE, fmb_real_clean/val). Same 10 episodes as raw — user picks threshold here; Researcher rec τ = 13 N stands as starting point.

Contact-threshold picker — raw 2026-05-24 · reference

No-bias variant (fmb_real_no_bias/val). 10 episodes × image strip + ‖F‖ + axis triplet (3/5/8/12/16/20 N candidates). Kept for side-by-side comparison with the clean variant.

v2f_122 — production winner 2026-05-24 · current

3-shape subset (3 / 5 / 9). cos_τ 0.954 · F1_c 0.379 · v2 0.719. 10 episode timeseries + aggregate plots.

R8 — v2f_109 force tracking 2026-05-24 · baseline

Per-episode time-series (shape 3), direction-cosine scatter, per-shape MAE bar.