README: embed inspection figures inline (intensity overview, teleport reports, data-quality summary)

README.md

@@ -224,6 +224,25 @@ should not straddle a glitch.
 
 **Modes 1+2 (real corruption) together: 202 / 239,759 frames = 0.084 % of the dataset.** Mode 3 is tracked separately because it's healthy data, just not informative for dynamics learning. `bad_frames.json` (below) covers modes 1 and 2 only; if you want to also skip rest periods, intersect with the velocity track from `sensor_*_pose`.
 
+### Inspection figures (rendered inline)
+
+**Mode 1 — GelSight LED flicker** (overview across all 5 affected episodes):
+
+![Intensity spike overview](figures/dataset_figures/intensity_spike_samples/intensity_spike_overview.png)
+
+Per-episode close-ups (reference frame, ±1 s neighbors, peak frame): `figures/dataset_figures/intensity_spike_samples/2026-05-11_episode_{003,007,008,011,017}_*.png`.
+
+**Mode 2 — OptiTrack pose teleport** (2 examples for the dates without raw camera streams; the other 4 affected episodes have GIFs in the same folder):
+
+![Teleport 2026-03-23 ep001](figures/dataset_figures/pose_teleport_samples/2026-03-23/episode_001_teleport.png)
+![Teleport 2026-03-23 ep002](figures/dataset_figures/pose_teleport_samples/2026-03-23/episode_002_teleport.png)
+
+GIFs (10 s playback at 2× speed) for the other 4: `figures/dataset_figures/pose_teleport_samples/2026-05-{10,11}/episode_*_teleport.gif`.
+
+**Modes 1+2+3 — top-6 worst-offenders chart** (tactile intensity + sensor velocity time-series):
+
+![Data quality report](figures/dataset_figures/data_quality_report.png)
+
 ### `bad_frames.json` schema
 
 The file lives at the repo root. Frame indices are inclusive on both ends and
@@ -308,3 +327,4 @@ Detailed per-episode evidence is published alongside the data:
 If you use this dataset, please cite (TODO: add bibtex).
 
 
+