Complete the cross-sensor representation evaluation

Complete the pending cross-sensor representation evaluation of TACROSS and its ablations using held-out human-to-robot and robot-to-human retrieval, contact, force, phase, domain-accuracy, and downstream fixed-budget performance metrics.

Background

The paper proposes evaluating raw tactile statistics, binary contact representations, shared and dual adapters, TACROSS variants, and the full TACROSS system on cross-sensor retrieval and contact-semantic prediction. The evaluation is intended to test whether the proposed contact canonicalization, sensor-specific adaptation, shared encoding, and auxiliary physical losses improve alignment between human glove and robot tactile observations. At the stated point in the manuscript, every result in this evaluation table remains pending, so the empirical effectiveness of the alignment method is unresolved.