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Tactile and Visual reconstruction errors from each sample in all test sets inferred by the MultiPredNet, JMVAE-zero and JMVAE-kl models with the tactile (and visual respectively) sensory input obscured. Note the systematic offset in tactile reconstruction error from the MultiPredNet and JMVAE-zero model as indicated by the mean of the Mean Squared Error (MSE) across all samples (horizontal coloured lines).
