cross_modal_generation (sound -> tactile): 1332 train / 668 test real samples
epoch  10 | train MSE 0.3711 | test MAE 0.4400 | corr 0.788
epoch  20 | train MSE 0.2841 | test MAE 0.4252 | corr 0.799
epoch  30 | train MSE 0.2446 | test MAE 0.4365 | corr 0.781
epoch  40 | train MSE 0.2123 | test MAE 0.4328 | corr 0.789
epoch  50 | train MSE 0.2041 | test MAE 0.4406 | corr 0.795
epoch  60 | train MSE 0.1818 | test MAE 0.4325 | corr 0.801

Test MAE=0.4325 (z-normalized force), correlation=0.801
Saved weights + demo GIF + report.