Wave 2: multi-cam migration complete for 2026-05-10 + 2026-05-11. All 32 episodes now ship under episodes/ and segments/ with view_left / view_middle / view_right + tactile_{left,right}. Legacy processed/mode1_v1/ and processed/mode2_v1/ removed.

README.md

@@ -24,15 +24,15 @@ configs:
   - config_name: motherboard
     data_files:
       - split: train
-        path: processed/mode1_v1/motherboard/**/episode_*.pt
+        path: episodes/motherboard/**/episode_*.pt
   - config_name: motherboard_segments
     data_files:
       - split: train
-        path: processed/mode2_v1/motherboard/**/episode_*.segment_*.pt
+        path: segments/motherboard/**/episode_*.segment_*.pt
   - config_name: all
     data_files:
       - split: train
-        path: processed/mode1_v1/**/episode_*.pt
+        path: episodes/**/episode_*.pt
 ---
 
 # React
@@ -82,7 +82,6 @@ See [`tasks.json`](tasks.json) for the machine-readable registry (per-date `acti
 **OT-uninitialized prefixes trimmed.** Three episodes had OptiTrack offline at the start of recording (1–11 min each); those prefixes have been cut from the published `.pt` files (`_contact_meta.trim_offset` per file). Future recordings use an OT watchdog that refuses to start an episode unless mocap is streaming. Full story: [`docs/caveats.md`](docs/caveats.md).
 
 
-> **Multi-cam migration in progress.** As of 2026-05-19 the per-episode .pt files under `episodes/motherboard/2026-05-19/` ship all three RealSense views (`view_left`, `view_middle`, `view_right`). The 2026-05-10 and 2026-05-11 sessions are being re-published with the same multi-cam layout; until then, those still appear under the legacy `processed/mode1_v1/` (single-cam `view`) and `processed/mode2_v1/` paths.
 
 ## Data quality
 
@@ -95,14 +94,28 @@ See [`tasks.json`](tasks.json) for the machine-readable registry (per-date `acti
 
 Every flagged interval is in [`bad_frames.json`](bad_frames.json) keyed by `episode/episode_*` with TRIMMED-pt frame indices. A richer per-event view (with cross-modal motion + OT-gap + angular-velocity stats) lives in [`freeze_intervals.json`](freeze_intervals.json). Skip-list usage is shown below and in [`docs/quality.md`](docs/quality.md). Long start-of-episode OT-uninitialized prefixes (the dominant problem in the raw recordings) have already been trimmed from the published `.pt` files — see [`docs/caveats.md`](docs/caveats.md).
 
-## Two schemas: mode1_v1 vs mode2_v1
-
-The same recordings are shipped two ways depending on what your code wants to do:
-
-- **`processed/mode1_v1/<task>/<date>/episode_*.pt`** — one file per recording. Includes bad intervals (LED flicker, pose teleport, OT track loss) inside; downstream code is expected to filter them out using `bad_frames.json`. This is what the example `ReactWindowDataset` consumes.
-- **`processed/mode2_v1/<task>/<date>/episode_*.segment_*.pt`** — same recordings, but **pre-sliced into contiguous clean segments at every bad-frames boundary**. No `bad_frames.json` lookup needed; the data is clean by construction. Index lookup via [`segments.json`](segments.json). Each segment's `_contact_meta.source_h5_frame_range` maps it back to the original recording. The example `ReactSegmentDataset` ([`examples/react_segment_dataset.py`](examples/react_segment_dataset.py)) consumes these.
-
-Both schemas have identical content (same source recordings, same frame data); only the file boundaries differ. `mode2_v1` produces 73 segments from 27 source episodes; **104.7 min total** (vs. mode1_v1's 105.7 min — the 1-min delta is the bad frames cut at segment boundaries).
+## Two layouts: `episodes/` vs `segments/`
+
+The same recordings are shipped two ways depending on what your code
+wants to do:
+
+- **`episodes/<task>/<date>/episode_*.pt`** — one file per recording.
+  Includes bad intervals (LED flicker, pose teleport, OT track loss)
+  inside; downstream code is expected to filter them out using
+  `bad_frames.json`. Each file carries all three RealSense views
+  (`view_left`, `view_middle`, `view_right`) plus both GelSights.
+- **`segments/<task>/<date>/episode_*.segment_*.pt`** — same
+  recordings, but **pre-sliced into contiguous clean segments at
+  every bad-frames boundary**. No `bad_frames.json` lookup needed;
+  the data is clean by construction. Index lookup via
+  [`segments.json`](segments.json). Each segment's
+  `_contact_meta.source_h5_frame_range` maps it back to the
+  original recording. The example `ReactSegmentDataset`
+  ([`examples/react_segment_dataset.py`](examples/react_segment_dataset.py))
+  consumes these.
+
+Both layouts have identical content (same source recordings, same
+frame data); only the file boundaries differ.
 
 ## Quick start
 
@@ -120,7 +133,7 @@ from huggingface_hub import hf_hub_download
 
 path = hf_hub_download(
     repo_id="yxma/React", repo_type="dataset",
-    filename="processed/mode1_v1/motherboard/2026-05-11/episode_003.pt",
+    filename="episodes/motherboard/2026-05-11/episode_003.pt",
 )
 ep = torch.load(path, weights_only=False)
 # ep["view"]                                 (T, 3, 128, 128) uint8 — overhead cam
@@ -159,7 +172,7 @@ from examples.react_window_dataset import ReactWindowDataset
 from torch.utils.data import DataLoader
 
 ds = ReactWindowDataset(
-    data_root="processed/mode1_v1/motherboard",
+    data_root="episodes/motherboard",
     bad_frames_path="bad_frames.json",
     tasks_json_path="tasks.json",
     window_length=16,            # frames per window
@@ -200,7 +213,7 @@ Per-file previews live under [`figures/episode_previews/`](figures/episode_previ
 README.md                                        # this file
 tasks.json                                       # task / session registry
 bad_frames.json                                  # data-quality skip-list
-processed/mode1_v1/<task>/<date>/episode_*.pt    # per-file tensors
+episodes/<task>/<date>/episode_*.pt    # per-file tensors
 figures/                                         # previews + analysis figures
 docs/                                            # extended documentation
 ```

docs/schema.md

@@ -1,6 +1,6 @@
 # Schema
 
-Layout of each per-episode `.pt` file in the published `processed/mode1_v1/` slice. Hardware/recording details are in [`recording.md`](recording.md).
+Layout of each per-episode `.pt` file in the published `episodes/` slice (and analogously each per-segment `.pt` in `segments/`). Hardware/recording details are in [`recording.md`](recording.md).
 
 ## `.pt` fields
 
@@ -8,7 +8,6 @@ Each `episode_*.pt` is a Python dict loadable with `torch.load(..., weights_only
 
 | Key | Shape | dtype | Description |
 |---|---|---|---|
-| `view` | `(T, 3, 128, 128)` | uint8 | Overhead camera (`realsense/cam0/color`), center-cropped to square then bilinear-resized to 128×128 |
 | `tactile_left` | `(T, 3, 128, 128)` | uint8 | Left GelSight, same crop/resize |
 | `tactile_right` | `(T, 3, 128, 128)` | uint8 | Right GelSight, same crop/resize |
 | `timestamps` | `(T,)` | float64 | Camera timestamps (seconds, monotonic clock) |
@@ -40,7 +39,7 @@ For each tactile sensor independently:
 - Position is in **meters** in OptiTrack room coordinates.
 - Quaternion follows `(qx, qy, qz, qw)` ordering (scalar last).
 - To project sensor positions into a camera image, compose `sensor_pose → T_mocap_to_cam → camera intrinsics`. The recording-side calibration files (`T_mocap_to_cam_*.json` and `T_gel_to_rigid_*.json`) are referenced in [`recording.md`](recording.md).
-## Multi-cam fields (sessions from 2026-05-19 onward)
+## Multi-cam fields (all sessions)
 
 Newer sessions ship all three RealSense views per episode/segment in BGR channel order (matching what `cv2.imshow` expects). Each is built from the raw 480×640 H5 stream by center-cropping columns to 480×480 and `cv2.resize`-ing to 128×128 with `INTER_AREA` — verified bit-for-bit against the legacy single-cam `view` recipe.
 
@@ -50,4 +49,4 @@ Newer sessions ship all three RealSense views per episode/segment in BGR channel
 | `view_middle` | `(T, 3, 128, 128)` | uint8 (BGR) | `realsense/cam2/color` | Middle RealSense (serial 217222066989) |
 | `view_right`  | `(T, 3, 128, 128)` | uint8 (BGR) | `realsense/cam0/color` | Right RealSense (serial 143322063538) — historical `view` |
 
-The legacy single-cam `view` field is equivalent to `view_right`. The 2026-05-10 and 2026-05-11 sessions will be re-published with this layout; until then, they still ship the single-cam `view` only.
+The legacy single-cam `view` field is equivalent to `view_right`. All published sessions ship this multi-cam layout.

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-{
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processed/mode1_v1/motherboard/2026-05-10/episode_001.contact.json

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processed/mode1_v1/motherboard/2026-05-10/episode_002.contact.json

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processed/mode1_v1/motherboard/2026-05-10/episode_003.contact.json

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processed/mode1_v1/motherboard/2026-05-10/episode_004.contact.json

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processed/mode1_v1/motherboard/2026-05-10/episode_005.contact.json

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processed/mode1_v1/motherboard/2026-05-10/episode_006.contact.json

@@ -1,182 +0,0 @@
-{
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