sinew · plots · v2f_122

v2f_122 — production-winner force tracking

Visual evaluation of the current production checkpoint (3-shape no-bias subset: shapes 3, 5, 9) against actual_clean on the fmb_real_no_bias/val split.
v2f_122 = current production winner (3-shape subset). Promoted 2026-05-24, supersedes the R8 baseline (v2f_109).
Headline metrics: cosτ = 0.954 · F1c = 0.379 · v2 = 0.719. Gaps to user targets: cosτ → 0.98 = 0.026; F1c → 0.70 = 0.321. Path C (sinew-127 gate-head MLP + focal loss) is in flight and may close the F1c gap.
Reading the plots. Time-series traces compare predicted (orange) vs ground-truth actual_clean (blue) wrench components Fx, Fy, Fz over the episode timeline. The per-shape MAE bar aggregates over the val split; the scatter shows direction-cosine accuracy as a function of force magnitude.

Summary

checkpoint
v2f_122_nobias_3shape_optY_seed7
val split
fmb_real_no_bias/val
temporal window
K=1 (single-frame)
shapes shown
3 · 5 · 9 · 10 episodes
cosτ
0.954
target 0.98 · gap −0.026
F1c
0.379
target 0.70 · gap −0.321
v2 score
0.719
composite

Per-shape MAE (mean over val)

shape Fx MAE (N) Fy MAE (N) Fz MAE (N) episodes shown
33.2292.3553.2994
52.1642.4153.8903
92.8372.5793.8303

Aggregate plots

Per-shape MAE bar — F_x, F_y, F_z across shapes 3, 5, 9
Per-shape MAE bar. Mean absolute error per force component, shapes 3 / 5 / 9, val split.
Scatter: direction-cosine accuracy vs force magnitude
Direction-cosine vs ‖F‖. Predicted-to-ground-truth direction agreement plotted against ground-truth force magnitude. The cosτ = 0.954 headline reflects the high-‖F‖ tail; the low-‖F‖ region is where the F1c gap concentrates.

Episode time-series

Shape 3

4 episodes · Fx 3.229 · Fy 2.355 · Fz 3.299 N MAE
Shape 3 episode 1 — pred vs actual_clean
Shape 3 · episode 1. Fx / Fy / Fz predicted vs actual_clean.
Shape 3 episode 3
Shape 3 · episode 3.
Shape 3 episode 6
Shape 3 · episode 6.
Shape 3 episode 7
Shape 3 · episode 7.

Shape 5

3 episodes · Fx 2.164 · Fy 2.415 · Fz 3.890 N MAE
Shape 5 episode 2
Shape 5 · episode 2.
Shape 5 episode 5
Shape 5 · episode 5.
Shape 5 episode 12
Shape 5 · episode 12.

Shape 9

3 episodes · Fx 2.837 · Fy 2.579 · Fz 3.830 N MAE
Shape 9 episode 0
Shape 9 · episode 0.
Shape 9 episode 4
Shape 9 · episode 4.
Shape 9 episode 9
Shape 9 · episode 9.

Source data

artifactpath
index manifestindex.json (this directory)
checkpointoutputs/v2f_122_nobias_3shape_optY_seed7/checkpoints/predictor_final.pt
val data/home/dom_iva/fmb_real_no_bias/val (DL_A6000)
NAS FTP archiveftp://143.248.121.169:7002/IntelligentManipulationTeam/DomrachevIvan/ · path under v2f_122_force_comparison/
previous baselineR8 — v2f_109 (single-shape)
follow-upsinew-127 — Path C gate-head MLP + focal loss (F1c gap)