Hardness and shape are not both held constant. The source lacks pre-contact frames and action sequences; unavailable static-leakage tests are not approximated.
Full result record
Measurements and comparisons.
Reported results are kept with their own populations and conditions. Development, held-out and sealed comparisons remain separate.
01 / Study Table 19
Relation-selective tactile organization
Held-out grasps from 6 known configurations; 3 frozen source seeds
BBold marks hardness accuracy under hardness-sharing and shape accuracy under shape-sharing.
R_H (same hardness)Confirmation holds out grasps from six known configurations; it does not hold out all object configurations.
Frozen confirmation means ± sample SD across three sources. Hardness accuracy transfers across shape; shape balanced accuracy leaves out one hardness level. Confirmation holds out grasps from six known configurations, rather than all object configurations.
02 / Study Table D.3
Input recoverability and registered selectivity contrasts
Six known hardness × shape configurations; validation/confirmation contrasts positive in every source
Input recoverability and registered selectivity contrasts
Measurement
Input/condition
Reported value
Hardness accuracy
Eight input samples
0.954 ± 0.003
Hardness accuracy
Full peak
1.000 ± 0.000
Shape accuracy
Both input lengths
1.000
Registered hardness contrast C_H
Validation and confirmation
0.667
Registered shape contrast C_S
Validation and confirmation
0.500
BBold marks the two registered relation-selectivity contrasts.
The dashed rule separates input recoverability from representation selectivity.
Registered hardness contrast C_H · Validation and confirmationInput accuracy and relation contrasts are different measurements; their numerical scales are not a shared ranking.
Input recoverability and registered relation-selectivity contrasts are distinct measurements. Both contrasts are positive in every source on validation and confirmation within six known configurations. Forty-sample files are alternate windows from the same acquisitions.