Relative-force actions: representation and cross-sensor attention

1. The runs, and the one line each pair differs by

2. Training

3. Held-out rollout — PSNR / SSIM / LPIPS on the same 24 windows

Absolute-force reference (different window sample — not paired)

4. Paired tests over the 24 windows

5. Commanded-action probes (React probes_v1)

Paired, broken down by start frame

6. Frames — prediction on top, ground truth below

7. Caveats

8. Reproduce