React / bad_frames.json
yxma's picture
Audit batch 1: post-trim numbers in docs/figures.md (#3); tasks.json 2026-05-11 note + trim_offsets lookup (#5, #8); bad_frames.json trim_offsets header (#8); dataloader default which_sensors='both' (#10); new freeze_intervals.json with per-event diagnostic signals (#12)
70ded71 verified
raw
history blame
11.5 kB
{
"tau_intensity": 30.0,
"tau_velocity_mps": 5.0,
"tau_angular_rad_per_s": 15.0,
"tau_opt_gap_s": 0.1,
"freeze_threshold_s": 0.25,
"buffer_frames": 3,
"trim_offsets": {
"2026-05-11/episode_005": 2429,
"2026-05-11/episode_012": 9719,
"2026-05-11/episode_017": 19228
},
"trim_note": "Each .pt has been trimmed at the start to drop the OT-uninitialized prefix (sensor pose not yet streaming). The amount trimmed is recorded in `_contact_meta.trim_offset` inside each .pt; all frame indices in this file are in TRIMMED coordinates (0 = first frame with valid OT).",
"summary": {
"n_episodes": 27,
"total_frames": 190231,
"total_bad_frames": 1768,
"bad_fraction_overall": 0.009293963654714531,
"n_episodes_with_bad_frames": 11
},
"episodes": {
"2026-05-10/episode_000": {
"n_frames": 6890,
"duration_s": 229.667,
"intensity_spikes": [],
"pose_teleports_L": [],
"pose_teleports_R": [],
"total_bad_frames": 0,
"bad_fraction": 0.0,
"ot_loss_L": [],
"ot_loss_R": []
},
"2026-05-10/episode_001": {
"n_frames": 7621,
"duration_s": 254.033,
"intensity_spikes": [],
"pose_teleports_L": [
[
7083,
7090
],
[
7142,
7149
]
],
"pose_teleports_R": [],
"total_bad_frames": 103,
"bad_fraction": 0.0135,
"ot_loss_L": [
[
5503,
5513
],
[
7062,
7153
]
],
"ot_loss_R": []
},
"2026-05-10/episode_002": {
"n_frames": 10475,
"duration_s": 349.167,
"intensity_spikes": [],
"pose_teleports_L": [
[
10311,
10318
]
],
"pose_teleports_R": [
[
9551,
9558
],
[
9671,
9678
],
[
10311,
10318
]
],
"total_bad_frames": 24,
"bad_fraction": 0.0023,
"ot_loss_L": [],
"ot_loss_R": []
},
"2026-05-10/episode_003": {
"n_frames": 9262,
"duration_s": 308.733,
"intensity_spikes": [],
"pose_teleports_L": [],
"pose_teleports_R": [],
"total_bad_frames": 0,
"bad_fraction": 0.0,
"ot_loss_L": [],
"ot_loss_R": []
},
"2026-05-10/episode_004": {
"n_frames": 2406,
"duration_s": 80.2,
"intensity_spikes": [],
"pose_teleports_L": [],
"pose_teleports_R": [],
"total_bad_frames": 0,
"bad_fraction": 0.0,
"ot_loss_L": [],
"ot_loss_R": []
},
"2026-05-10/episode_005": {
"n_frames": 763,
"duration_s": 25.433,
"intensity_spikes": [],
"pose_teleports_L": [],
"pose_teleports_R": [],
"total_bad_frames": 0,
"bad_fraction": 0.0,
"ot_loss_L": [],
"ot_loss_R": []
},
"2026-05-10/episode_006": {
"n_frames": 3925,
"duration_s": 130.833,
"intensity_spikes": [],
"pose_teleports_L": [],
"pose_teleports_R": [],
"total_bad_frames": 0,
"bad_fraction": 0.0,
"ot_loss_L": [],
"ot_loss_R": []
},
"2026-05-10/episode_007": {
"n_frames": 1927,
"duration_s": 64.233,
"intensity_spikes": [],
"pose_teleports_L": [],
"pose_teleports_R": [],
"total_bad_frames": 0,
"bad_fraction": 0.0,
"ot_loss_L": [],
"ot_loss_R": []
},
"2026-05-10/episode_008": {
"n_frames": 1305,
"duration_s": 43.5,
"intensity_spikes": [],
"pose_teleports_L": [],
"pose_teleports_R": [],
"total_bad_frames": 0,
"bad_fraction": 0.0,
"ot_loss_L": [],
"ot_loss_R": []
},
"2026-05-10/episode_009": {
"n_frames": 1823,
"duration_s": 60.767,
"intensity_spikes": [],
"pose_teleports_L": [],
"pose_teleports_R": [],
"total_bad_frames": 0,
"bad_fraction": 0.0,
"ot_loss_L": [],
"ot_loss_R": []
},
"2026-05-10/episode_010": {
"n_frames": 1035,
"duration_s": 34.5,
"intensity_spikes": [],
"pose_teleports_L": [],
"pose_teleports_R": [],
"total_bad_frames": 0,
"bad_fraction": 0.0,
"ot_loss_L": [],
"ot_loss_R": []
},
"2026-05-10/episode_011": {
"n_frames": 2201,
"duration_s": 73.367,
"intensity_spikes": [],
"pose_teleports_L": [],
"pose_teleports_R": [],
"total_bad_frames": 0,
"bad_fraction": 0.0,
"ot_loss_L": [],
"ot_loss_R": []
},
"2026-05-11/episode_003": {
"n_frames": 10032,
"duration_s": 334.4,
"intensity_spikes": [
[
262,
270
],
[
8598,
8607
]
],
"pose_teleports_L": [],
"pose_teleports_R": [],
"total_bad_frames": 19,
"bad_fraction": 0.0019,
"ot_loss_L": [],
"ot_loss_R": []
},
"2026-05-11/episode_004": {
"n_frames": 2638,
"duration_s": 87.933,
"intensity_spikes": [],
"pose_teleports_L": [],
"pose_teleports_R": [],
"total_bad_frames": 0,
"bad_fraction": 0.0,
"ot_loss_L": [],
"ot_loss_R": []
},
"2026-05-11/episode_005": {
"n_frames": 14498,
"duration_s": 483.267,
"intensity_spikes": [],
"pose_teleports_L": [],
"pose_teleports_R": [],
"total_bad_frames": 42,
"bad_fraction": 0.0029,
"ot_loss_L": [
[
12818,
12834
]
],
"ot_loss_R": [
[
2594,
2618
]
]
},
"2026-05-11/episode_006": {
"n_frames": 11990,
"duration_s": 399.667,
"intensity_spikes": [],
"pose_teleports_L": [],
"pose_teleports_R": [],
"total_bad_frames": 0,
"bad_fraction": 0.0,
"ot_loss_L": [],
"ot_loss_R": []
},
"2026-05-11/episode_007": {
"n_frames": 6908,
"duration_s": 230.267,
"intensity_spikes": [
[
5588,
5596
]
],
"pose_teleports_L": [],
"pose_teleports_R": [],
"total_bad_frames": 9,
"bad_fraction": 0.0013,
"ot_loss_L": [],
"ot_loss_R": []
},
"2026-05-11/episode_008": {
"n_frames": 13705,
"duration_s": 456.833,
"intensity_spikes": [
[
2181,
2190
],
[
11674,
11682
]
],
"pose_teleports_L": [],
"pose_teleports_R": [],
"total_bad_frames": 19,
"bad_fraction": 0.0014,
"ot_loss_L": [],
"ot_loss_R": []
},
"2026-05-11/episode_009": {
"n_frames": 4366,
"duration_s": 145.533,
"intensity_spikes": [],
"pose_teleports_L": [],
"pose_teleports_R": [],
"total_bad_frames": 0,
"bad_fraction": 0.0,
"ot_loss_L": [],
"ot_loss_R": []
},
"2026-05-11/episode_010": {
"n_frames": 6828,
"duration_s": 227.6,
"intensity_spikes": [],
"pose_teleports_L": [],
"pose_teleports_R": [],
"total_bad_frames": 0,
"bad_fraction": 0.0,
"ot_loss_L": [],
"ot_loss_R": []
},
"2026-05-11/episode_011": {
"n_frames": 7299,
"duration_s": 243.3,
"intensity_spikes": [
[
4264,
4272
]
],
"pose_teleports_L": [],
"pose_teleports_R": [],
"total_bad_frames": 9,
"bad_fraction": 0.0012,
"ot_loss_L": [],
"ot_loss_R": []
},
"2026-05-11/episode_012": {
"n_frames": 14828,
"duration_s": 494.267,
"intensity_spikes": [],
"pose_teleports_L": [],
"pose_teleports_R": [],
"total_bad_frames": 0,
"bad_fraction": 0.0,
"ot_loss_L": [],
"ot_loss_R": []
},
"2026-05-11/episode_013": {
"n_frames": 12724,
"duration_s": 424.133,
"intensity_spikes": [],
"pose_teleports_L": [],
"pose_teleports_R": [],
"total_bad_frames": 686,
"bad_fraction": 0.0539,
"ot_loss_L": [
[
5765,
5794
],
[
5869,
5884
],
[
5905,
5985
],
[
7680,
7716
],
[
7765,
7790
],
[
7797,
7815
],
[
8179,
8186
],
[
9633,
9693
],
[
9712,
9848
],
[
11361,
11407
],
[
11454,
11515
],
[
11518,
11539
],
[
11585,
11636
]
],
"ot_loss_R": [
[
6145,
6164
],
[
6269,
6287
],
[
10170,
10191
],
[
11756,
11782
]
]
},
"2026-05-11/episode_014": {
"n_frames": 2416,
"duration_s": 80.533,
"intensity_spikes": [],
"pose_teleports_L": [],
"pose_teleports_R": [],
"total_bad_frames": 174,
"bad_fraction": 0.072,
"ot_loss_L": [
[
921,
979
],
[
2024,
2111
]
],
"ot_loss_R": [
[
1693,
1719
]
]
},
"2026-05-11/episode_015": {
"n_frames": 5959,
"duration_s": 198.633,
"intensity_spikes": [],
"pose_teleports_L": [],
"pose_teleports_R": [
[
5376,
5383
],
[
5392,
5399
]
],
"total_bad_frames": 455,
"bad_fraction": 0.0764,
"ot_loss_L": [
[
2149,
2193
],
[
2201,
2227
],
[
2230,
2321
],
[
3589,
3704
],
[
4828,
4898
]
],
"ot_loss_R": [
[
1490,
1515
],
[
2709,
2726
],
[
4146,
4181
],
[
5372,
5387
]
]
},
"2026-05-11/episode_016": {
"n_frames": 11896,
"duration_s": 396.533,
"intensity_spikes": [],
"pose_teleports_L": [],
"pose_teleports_R": [],
"total_bad_frames": 228,
"bad_fraction": 0.0192,
"ot_loss_L": [
[
939,
1017
],
[
1052,
1083
],
[
1144,
1151
],
[
1184,
1191
],
[
3738,
3745
],
[
4921,
4950
],
[
5103,
5142
],
[
7926,
7948
]
],
"ot_loss_R": []
},
"2026-05-11/episode_017": {
"n_frames": 14511,
"duration_s": 483.7,
"intensity_spikes": [],
"pose_teleports_L": [],
"pose_teleports_R": [],
"total_bad_frames": 0,
"bad_fraction": 0.0,
"ot_loss_L": [],
"ot_loss_R": []
}
}
}