Audit batch 2: regen contact_intensity hero + F1/F2/F8 + freeze_diagnose summary with post-trim numbers (#1, #2, #6). 3302 contact events post-trim (was 4136 pre-trim).

figures/dataset_figures/F8_per_episode_summary.csv

@@ -1,28 +1,28 @@
-Date,Episode,Frames,Dur (s),Contact %,Max I_L,Max I_R,Drift L,Drift R
-2026-05-10,episode_000,6891,235.9,62.9,9.95,8.56,1.73,1.34
-2026-05-10,episode_001,7621,258.2,59.6,9.15,10.84,1.44,1.33
-2026-05-10,episode_002,10476,371.5,56.9,9.29,10.83,1.63,1.44
-2026-05-10,episode_003,9262,311.7,71.1,7.36,5.11,1.37,2.30
-2026-05-10,episode_004,2407,81.0,90.1,6.22,5.02,4.44,2.12
-2026-05-10,episode_005,764,25.8,91.0,6.18,5.68,1.76,3.99
-2026-05-10,episode_006,3926,136.1,89.7,6.13,5.76,1.32,1.31
-2026-05-10,episode_007,1928,65.1,79.5,4.43,6.60,3.67,1.28
-2026-05-10,episode_008,1305,44.0,71.6,4.36,5.17,1.31,3.35
-2026-05-10,episode_009,1824,61.6,90.0,8.73,9.88,2.19,1.29
-2026-05-10,episode_010,1035,35.7,74.0,7.34,5.85,1.37,5.44
-2026-05-10,episode_011,2202,74.3,87.1,9.85,4.63,1.36,1.27
-2026-05-11,episode_003,10032,338.2,55.4,82.94,23.81,1.84,1.73
-2026-05-11,episode_004,2639,89.1,56.0,11.38,8.94,1.35,1.81
-2026-05-11,episode_005,16927,571.1,73.3,17.03,11.07,1.64,1.52
-2026-05-11,episode_006,11990,404.7,70.0,11.88,11.24,1.58,1.54
-2026-05-11,episode_007,6909,238.5,68.8,9.08,62.96,1.63,1.56
-2026-05-11,episode_008,13705,462.3,69.1,87.35,12.33,1.62,1.62
-2026-05-11,episode_009,4366,147.5,73.0,12.53,10.27,1.44,1.43
-2026-05-11,episode_010,6829,230.5,64.5,6.84,10.26,1.47,1.59
-2026-05-11,episode_011,7300,261.2,57.7,41.30,9.54,1.36,1.43
-2026-05-11,episode_012,24547,827.8,66.6,9.84,11.97,1.54,1.63
-2026-05-11,episode_013,12724,434.5,33.5,3.96,4.79,1.37,1.47
-2026-05-11,episode_014,2417,81.9,42.9,2.95,4.26,1.41,1.76
-2026-05-11,episode_015,5960,202.3,38.7,4.01,6.45,1.37,1.36
-2026-05-11,episode_016,11896,413.5,41.8,4.92,6.04,1.44,1.90
-2026-05-11,episode_017,33739,1157.5,86.1,82.50,23.14,1.69,2.15
+Date,Episode,Frames,Dur (s),Contact %,Max I_L,Max I_R,L drift?,R drift?
+2026-05-10,episode_000,6890,229.7,62.9,9.95,8.56,—,—
+2026-05-10,episode_001,7621,254.0,59.6,9.15,10.84,—,—
+2026-05-10,episode_002,10475,349.2,56.9,9.29,10.83,—,—
+2026-05-10,episode_003,9262,308.7,71.1,7.36,5.11,—,—
+2026-05-10,episode_004,2406,80.2,90.1,6.22,5.02,—,—
+2026-05-10,episode_005,763,25.4,91.0,6.18,5.68,—,—
+2026-05-10,episode_006,3925,130.8,89.7,6.13,5.76,—,—
+2026-05-10,episode_007,1927,64.2,79.4,4.43,6.6,—,—
+2026-05-10,episode_008,1305,43.5,71.6,4.36,5.17,—,—
+2026-05-10,episode_009,1823,60.8,90.1,8.73,9.88,—,—
+2026-05-10,episode_010,1035,34.5,74.0,7.34,5.85,—,—
+2026-05-10,episode_011,2201,73.4,87.1,9.85,4.63,—,—
+2026-05-11,episode_003,10032,334.4,55.4,82.94,23.81,—,—
+2026-05-11,episode_004,2638,87.9,56.1,11.38,8.94,—,—
+2026-05-11,episode_005,14498,483.3,74.9,17.03,11.07,—,—
+2026-05-11,episode_006,11990,399.7,70.0,11.88,11.24,—,—
+2026-05-11,episode_007,6908,230.3,68.8,9.08,62.96,—,—
+2026-05-11,episode_008,13705,456.8,69.1,87.35,12.33,—,—
+2026-05-11,episode_009,4366,145.5,73.0,12.53,10.27,—,—
+2026-05-11,episode_010,6828,227.6,64.5,6.84,10.26,—,—
+2026-05-11,episode_011,7299,243.3,57.7,41.3,9.54,—,—
+2026-05-11,episode_012,14828,494.3,67.6,9.34,10.63,—,—
+2026-05-11,episode_013,12724,424.1,33.5,3.96,4.79,—,—
+2026-05-11,episode_014,2416,80.5,42.9,2.95,4.26,—,—
+2026-05-11,episode_015,5959,198.6,38.7,4.01,6.45,—,—
+2026-05-11,episode_016,11896,396.5,41.8,4.92,6.04,—,—
+2026-05-11,episode_017,14511,483.7,88.7,17.57,23.14,—,—

figures/dataset_figures/freeze_diagnose/summary.json

@@ -13,7 +13,7 @@
     "ot_teleport": 0,
     "real_still": 0,
     "ambiguous": 0,
-    "ot_loss": 47
+    "ot_loss": 41
   },
   "events": [
     {
@@ -57,27 +57,8 @@
     {
       "episode": "2026-05-11/episode_005",
       "side": "left",
-      "a": 0,
-      "b": 2428,
-      "length_s": 80.967,
-      "view_motion": 3.776,
-      "cam0_motion": 3.276,
-      "cam1_motion": 3.554,
-      "tac_motion": 0.391,
-      "cam0_dup": 0.0,
-      "cam1_dup": 0.0,
-      "cam2_dup": 0.0,
-      "tac_dup": 0.812,
-      "trans_vel_near_mps": 0.588,
-      "ang_vel_near_rad_s": 3.852,
-      "opt_gap_s": 0.0106,
-      "verdict": "ot_loss"
-    },
-    {
-      "episode": "2026-05-11/episode_005",
-      "side": "left",
-      "a": 15247,
-      "b": 15263,
+      "a": 12818,
+      "b": 12834,
       "length_s": 0.567,
       "view_motion": 3.613,
       "cam0_motion": 3.323,
@@ -95,27 +76,8 @@
     {
       "episode": "2026-05-11/episode_005",
       "side": "right",
-      "a": 0,
-      "b": 2413,
-      "length_s": 80.467,
-      "view_motion": 3.663,
-      "cam0_motion": 3.144,
-      "cam1_motion": 3.475,
-      "tac_motion": 0.698,
-      "cam0_dup": 0.0,
-      "cam1_dup": 0.0,
-      "cam2_dup": 0.0,
-      "tac_dup": 0.688,
-      "trans_vel_near_mps": 1.206,
-      "ang_vel_near_rad_s": 10.66,
-      "opt_gap_s": 0.0179,
-      "verdict": "ot_loss"
-    },
-    {
-      "episode": "2026-05-11/episode_005",
-      "side": "right",
-      "a": 5023,
-      "b": 5047,
+      "a": 2594,
+      "b": 2618,
       "length_s": 0.833,
       "view_motion": 2.993,
       "cam0_motion": 2.999,
@@ -130,44 +92,6 @@
       "opt_gap_s": 0.8199,
       "verdict": "ot_loss"
     },
-    {
-      "episode": "2026-05-11/episode_012",
-      "side": "left",
-      "a": 0,
-      "b": 9718,
-      "length_s": 323.967,
-      "view_motion": 3.115,
-      "cam0_motion": 2.708,
-      "cam1_motion": 3.036,
-      "tac_motion": 0.693,
-      "cam0_dup": 0.062,
-      "cam1_dup": 0.0,
-      "cam2_dup": 0.031,
-      "tac_dup": 0.688,
-      "trans_vel_near_mps": 8.383,
-      "ang_vel_near_rad_s": 226.474,
-      "opt_gap_s": 0.0201,
-      "verdict": "ot_loss"
-    },
-    {
-      "episode": "2026-05-11/episode_012",
-      "side": "right",
-      "a": 0,
-      "b": 9717,
-      "length_s": 323.933,
-      "view_motion": 3.087,
-      "cam0_motion": 2.95,
-      "cam1_motion": 3.035,
-      "tac_motion": 0.757,
-      "cam0_dup": 0.0,
-      "cam1_dup": 0.0,
-      "cam2_dup": 0.031,
-      "tac_dup": 0.719,
-      "trans_vel_near_mps": 23.148,
-      "ang_vel_near_rad_s": 132.229,
-      "opt_gap_s": 0.0201,
-      "verdict": "ot_loss"
-    },
     {
       "episode": "2026-05-11/episode_013",
       "side": "left",
@@ -870,44 +794,8 @@
       "ang_vel_near_rad_s": 306.111,
       "opt_gap_s": 0.7798,
       "verdict": "ot_loss"
-    },
-    {
-      "episode": "2026-05-11/episode_017",
-      "side": "left",
-      "a": 0,
-      "b": 19225,
-      "length_s": 640.867,
-      "view_motion": 2.618,
-      "cam0_motion": 2.196,
-      "cam1_motion": 2.61,
-      "tac_motion": 0.672,
-      "cam0_dup": 0.031,
-      "cam1_dup": 0.0,
-      "cam2_dup": 0.0,
-      "tac_dup": 0.781,
-      "trans_vel_near_mps": 0.395,
-      "ang_vel_near_rad_s": 1.538,
-      "opt_gap_s": 0.0121,
-      "verdict": "ot_loss"
-    },
-    {
-      "episode": "2026-05-11/episode_017",
-      "side": "right",
-      "a": 0,
-      "b": 19227,
-      "length_s": 640.933,
-      "view_motion": 2.623,
-      "cam0_motion": 2.149,
-      "cam1_motion": 2.614,
-      "tac_motion": 1.423,
-      "cam0_dup": 0.062,
-      "cam1_dup": 0.0,
-      "cam2_dup": 0.0,
-      "tac_dup": 0.531,
-      "trans_vel_near_mps": 0.042,
-      "ang_vel_near_rad_s": 0.856,
-      "opt_gap_s": 0.0121,
-      "verdict": "ot_loss"
     }
-  ]
+  ],
+  "coordinates": "TRIMMED-pt frame indices",
+  "note": "After trim, the long start-of-episode prefixes (ep_005/012/017) are removed entirely. What remains is real mid-episode mocap dropout."
 }