Contact State Regression on Contact3D (test)
0.072Depth MAE (mm)FG-CLTP
Evaluation results
| Method | Links | ||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| FG-CLTPProtocol=Frozen tactile encoder + linear probes (MLP regressor), Token Integration=true2026.03 | 0.072 | 0.098 | 0.958 | 0.078 | 0.12 | 0.964 | 6.6 | 9.2 | 0.964 | 0.067 | 0.122 | 0.959 | 0.078 | 0.117 | 0.955 | 0.072 | 0.11 | 0.96 | |
| FG-CLTP (w/o token)Protocol=Frozen tactile encoder + linear probes (MLP regressor), Token Integration=false2026.03 | 0.082 | 0.108 | 0.945 | 0.096 | 0.138 | 0.95 | 6.8 | 9.5 | 0.96 | 0.145 | 0.21 | 0.815 | 0.13 | 0.185 | 0.84 | 0.104 | 0.147 | 0.902 | |
| CLTPProtocol=Frozen tactile encoder + linear probes (MLP regressor)2026.03 | 0.093 | 0.12 | 0.938 | 0.124 | 0.162 | 0.935 | 7 | 9.8 | 0.956 | 0.249 | 0.373 | 0.626 | 0.225 | 0.323 | 0.676 | 0.152 | 0.215 | 0.826 | |
| UniTouchProtocol=Frozen tactile encoder + linear probes (MLP regressor)2026.03 | 0.192 | 0.25 | 0.729 | 0.246 | 0.346 | 0.703 | 7.5 | 10.9 | 0.946 | 0.346 | 0.468 | 0.423 | 0.24 | 0.343 | 0.63 | 0.22 | 0.303 | 0.686 | |
| AnyTouchProtocol=Frozen tactile encoder + linear probes (MLP regressor)2026.03 | 0.219 | 0.283 | 0.65 | 0.252 | 0.353 | 0.694 | 8.4 | 11.8 | 0.937 | 0.401 | 0.521 | 0.275 | 0.206 | 0.302 | 0.718 | 0.232 | 0.315 | 0.655 | |
| TVLProtocol=Frozen tactile encoder + linear probes (MLP regressor)2026.03 | 0.268 | 0.34 | 0.499 | 0.346 | 0.453 | 0.492 | 12.1 | 17.6 | 0.858 | 0.494 | 0.601 | 0.043 | 0.373 | 0.478 | 0.286 | 0.32 | 0.41 | 0.436 |