Wan2.2 tactile VAE · reference-flow LoRA

Reconstruction on held-out motherboard clips

Each GelSight tactile clip is encoded and decoded through the reference-flow LoRA adapter (lora_out_refflow/lora_last.pt, r32 α32, trained at 6fps with the L1 loss weighted by reference optical-flow magnitude). Every tab shows the original, the reconstruction, and their amplified difference. Reconstruction runs at 6fps — the rate the adapter trained at.

Source: episode_002/tactile_right.mp4 · 117 frames · 6fps · 10–30s (stride 5 from 600 native @ 30fps)

originalresized + 6fps input

reference · 117 frames @ 256×256

reconstructedreference-flow VAE

PSNR 42.60 dB · MSE 5.50e-05 · base 42.19

difference|original − recon| ×20

hot colormap · brighter = larger error

Source: episode_002/tactile_left.mp4 · 117 frames · 6fps · 6–26s (stride 5 from 600 native @ 30fps)

originalresized + 6fps input

reference · 117 frames @ 256×256

reconstructedreference-flow VAE

PSNR 42.24 dB · MSE 5.97e-05 · base 41.78

difference|original − recon| ×20

hot colormap · brighter = larger error

Source: episode_003/tactile_left.mp4 · 21 frames · 6fps · first 4s (stride 5 from 120 native @ 30fps)

originalresized + 6fps input

reference · 21 frames @ 256×256

reconstructedreference-flow VAE

PSNR 38.27 dB · MSE 1.49e-04 · base 37.55

difference|original − recon| ×20

hot colormap · brighter = larger error