Re-label freeze classifier: events are OptiTrack track losses (ot_loss), not recorder-pipeline stalls. GelSight stream is healthy throughout; tac_dup was misread (gel only changes under contact deformation).

docs/curation_pipeline.md

@@ -186,16 +186,29 @@ is then diagnosed by combining:
 - max OT timestamp gap during the interval
 - per-stream consecutive-frame duplicate fraction (cam0/1/2 + affected GS)
 
-Each event is then labelled as `pipeline_stall` (≥ 30 % frame duplication
-on any stream — recorder genuinely stuck), `ot_dropout` (OT timestamp gap
-≥ 100 ms), `ot_teleport` (solver glitch — > 5 m/s translation or > 15 rad/s
-angular), `real_still` (all signals quiet — operator paused), or `ambiguous`.
-
-Empirically across the bimanual set, **every freeze event in this dataset
-classifies as `pipeline_stall`** — the GelSight stream duplicates 53–86 %
-of its frames while RealSense keeps going. So the right cut is "drop any
-window overlapping a pipeline_stall interval"; this is materially
-different from a benign "operator at rest" interpretation.
+Each event is then labelled:
+
+- `ot_loss` — the OptiTrack solver lost the rigid body. Signaled by any
+  of: OT timestamp gap ≥ 100 ms, translation velocity ≥ 5 m/s near the
+  event, or angular velocity ≥ 15 rad/s near the event (solver flip on
+  re-acquire). A bitwise-frozen pose with no contradicting evidence also
+  defaults to this class. **GelSight is unaffected** — the gel pad just
+  isn't deforming during the freeze (sensor moved in air or set down),
+  which mimics a frozen stream but isn't one.
+- `pipeline_stall` — ALL three RealSense streams duplicate ≥ 30 % of
+  frames in the window. Indicates the recorder itself stalled. Not
+  observed in the current React dataset.
+- `real_still` — no OT-loss signals and cross-modal motion at noise
+  floor. Operator deliberately paused.
+- `ambiguous` — none of the above.
+
+Empirically across the bimanual set, **every freeze event in React
+classifies as `ot_loss`** — the OptiTrack rig is the bottleneck, not the
+camera/GelSight capture stack. The right cut is "drop any window
+overlapping an ot_loss interval"; this is materially different from a
+benign "operator at rest" interpretation. Fixing it requires improving
+mocap coverage (camera placement, marker count on each rigid body), not
+changes to the recorder.
 
 Current scripts:
 - intensity spikes + pose teleports: the original detector that produced

figures/dataset_figures/freeze_diagnose/summary.json

@@ -9,11 +9,11 @@
     "tac_still": 3.0
   },
   "counts": {
-    "pipeline_stall": 47,
     "ot_dropout": 0,
     "ot_teleport": 0,
     "real_still": 0,
-    "ambiguous": 0
+    "ambiguous": 0,
+    "ot_loss": 47
   },
   "events": [
     {
@@ -33,7 +33,7 @@
       "trans_vel_near_mps": 0.587,
       "ang_vel_near_rad_s": 18.229,
       "opt_gap_s": 0.4999,
-      "verdict": "pipeline_stall"
+      "verdict": "ot_loss"
     },
     {
       "episode": "2026-05-10/episode_001",
@@ -52,7 +52,7 @@
       "trans_vel_near_mps": 107.787,
       "ang_vel_near_rad_s": 4404.345,
       "opt_gap_s": 1.6301,
-      "verdict": "pipeline_stall"
+      "verdict": "ot_loss"
     },
     {
       "episode": "2026-05-11/episode_005",
@@ -71,7 +71,7 @@
       "trans_vel_near_mps": 0.588,
       "ang_vel_near_rad_s": 3.852,
       "opt_gap_s": 0.0106,
-      "verdict": "pipeline_stall"
+      "verdict": "ot_loss"
     },
     {
       "episode": "2026-05-11/episode_005",
@@ -90,7 +90,7 @@
       "trans_vel_near_mps": 3.753,
       "ang_vel_near_rad_s": 234.83,
       "opt_gap_s": 0.54,
-      "verdict": "pipeline_stall"
+      "verdict": "ot_loss"
     },
     {
       "episode": "2026-05-11/episode_005",
@@ -109,7 +109,7 @@
       "trans_vel_near_mps": 1.206,
       "ang_vel_near_rad_s": 10.66,
       "opt_gap_s": 0.0179,
-      "verdict": "pipeline_stall"
+      "verdict": "ot_loss"
     },
     {
       "episode": "2026-05-11/episode_005",
@@ -128,7 +128,7 @@
       "trans_vel_near_mps": 1.39,
       "ang_vel_near_rad_s": 57.624,
       "opt_gap_s": 0.8199,
-      "verdict": "pipeline_stall"
+      "verdict": "ot_loss"
     },
     {
       "episode": "2026-05-11/episode_012",
@@ -147,7 +147,7 @@
       "trans_vel_near_mps": 8.383,
       "ang_vel_near_rad_s": 226.474,
       "opt_gap_s": 0.0201,
-      "verdict": "pipeline_stall"
+      "verdict": "ot_loss"
     },
     {
       "episode": "2026-05-11/episode_012",
@@ -166,7 +166,7 @@
       "trans_vel_near_mps": 23.148,
       "ang_vel_near_rad_s": 132.229,
       "opt_gap_s": 0.0201,
-      "verdict": "pipeline_stall"
+      "verdict": "ot_loss"
     },
     {
       "episode": "2026-05-11/episode_013",
@@ -185,7 +185,7 @@
       "trans_vel_near_mps": 135.549,
       "ang_vel_near_rad_s": 355.849,
       "opt_gap_s": 0.94,
-      "verdict": "pipeline_stall"
+      "verdict": "ot_loss"
     },
     {
       "episode": "2026-05-11/episode_013",
@@ -204,7 +204,7 @@
       "trans_vel_near_mps": 1.937,
       "ang_vel_near_rad_s": 101.764,
       "opt_gap_s": 2.67,
-      "verdict": "pipeline_stall"
+      "verdict": "ot_loss"
     },
     {
       "episode": "2026-05-11/episode_013",
@@ -223,7 +223,7 @@
       "trans_vel_near_mps": 0.269,
       "ang_vel_near_rad_s": 15.407,
       "opt_gap_s": 2.67,
-      "verdict": "pipeline_stall"
+      "verdict": "ot_loss"
     },
     {
       "episode": "2026-05-11/episode_013",
@@ -242,7 +242,7 @@
       "trans_vel_near_mps": 531.866,
       "ang_vel_near_rad_s": 26952.766,
       "opt_gap_s": 0.62,
-      "verdict": "pipeline_stall"
+      "verdict": "ot_loss"
     },
     {
       "episode": "2026-05-11/episode_013",
@@ -261,7 +261,7 @@
       "trans_vel_near_mps": 50.784,
       "ang_vel_near_rad_s": 1051.315,
       "opt_gap_s": 0.8785,
-      "verdict": "pipeline_stall"
+      "verdict": "ot_loss"
     },
     {
       "episode": "2026-05-11/episode_013",
@@ -280,7 +280,7 @@
       "trans_vel_near_mps": 8.955,
       "ang_vel_near_rad_s": 249.433,
       "opt_gap_s": 0.8785,
-      "verdict": "pipeline_stall"
+      "verdict": "ot_loss"
     },
     {
       "episode": "2026-05-11/episode_013",
@@ -299,7 +299,7 @@
       "trans_vel_near_mps": 2.625,
       "ang_vel_near_rad_s": 133.048,
       "opt_gap_s": 0.48,
-      "verdict": "pipeline_stall"
+      "verdict": "ot_loss"
     },
     {
       "episode": "2026-05-11/episode_013",
@@ -318,7 +318,7 @@
       "trans_vel_near_mps": 2.859,
       "ang_vel_near_rad_s": 148.364,
       "opt_gap_s": 4.6699,
-      "verdict": "pipeline_stall"
+      "verdict": "ot_loss"
     },
     {
       "episode": "2026-05-11/episode_013",
@@ -337,7 +337,7 @@
       "trans_vel_near_mps": 1.246,
       "ang_vel_near_rad_s": 76.568,
       "opt_gap_s": 4.6699,
-      "verdict": "pipeline_stall"
+      "verdict": "ot_loss"
     },
     {
       "episode": "2026-05-11/episode_013",
@@ -356,7 +356,7 @@
       "trans_vel_near_mps": 3.942,
       "ang_vel_near_rad_s": 232.607,
       "opt_gap_s": 1.05,
-      "verdict": "pipeline_stall"
+      "verdict": "ot_loss"
     },
     {
       "episode": "2026-05-11/episode_013",
@@ -375,7 +375,7 @@
       "trans_vel_near_mps": 11.811,
       "ang_vel_near_rad_s": 140.08,
       "opt_gap_s": 0.8603,
-      "verdict": "pipeline_stall"
+      "verdict": "ot_loss"
     },
     {
       "episode": "2026-05-11/episode_013",
@@ -394,7 +394,7 @@
       "trans_vel_near_mps": 1.518,
       "ang_vel_near_rad_s": 51.109,
       "opt_gap_s": 0.8603,
-      "verdict": "pipeline_stall"
+      "verdict": "ot_loss"
     },
     {
       "episode": "2026-05-11/episode_013",
@@ -413,7 +413,7 @@
       "trans_vel_near_mps": 11.316,
       "ang_vel_near_rad_s": 440.888,
       "opt_gap_s": 1.65,
-      "verdict": "pipeline_stall"
+      "verdict": "ot_loss"
     },
     {
       "episode": "2026-05-11/episode_013",
@@ -432,7 +432,7 @@
       "trans_vel_near_mps": 38.695,
       "ang_vel_near_rad_s": 291.932,
       "opt_gap_s": 0.66,
-      "verdict": "pipeline_stall"
+      "verdict": "ot_loss"
     },
     {
       "episode": "2026-05-11/episode_013",
@@ -451,7 +451,7 @@
       "trans_vel_near_mps": 0.609,
       "ang_vel_near_rad_s": 6.153,
       "opt_gap_s": 0.65,
-      "verdict": "pipeline_stall"
+      "verdict": "ot_loss"
     },
     {
       "episode": "2026-05-11/episode_013",
@@ -470,7 +470,7 @@
       "trans_vel_near_mps": 165.34,
       "ang_vel_near_rad_s": 714.222,
       "opt_gap_s": 0.7198,
-      "verdict": "pipeline_stall"
+      "verdict": "ot_loss"
     },
     {
       "episode": "2026-05-11/episode_013",
@@ -489,7 +489,7 @@
       "trans_vel_near_mps": 183.253,
       "ang_vel_near_rad_s": 372.059,
       "opt_gap_s": 0.89,
-      "verdict": "pipeline_stall"
+      "verdict": "ot_loss"
     },
     {
       "episode": "2026-05-11/episode_014",
@@ -508,7 +508,7 @@
       "trans_vel_near_mps": 0.839,
       "ang_vel_near_rad_s": 52.644,
       "opt_gap_s": 1.13,
-      "verdict": "pipeline_stall"
+      "verdict": "ot_loss"
     },
     {
       "episode": "2026-05-11/episode_014",
@@ -527,7 +527,7 @@
       "trans_vel_near_mps": 31.896,
       "ang_vel_near_rad_s": 105.784,
       "opt_gap_s": 1.53,
-      "verdict": "pipeline_stall"
+      "verdict": "ot_loss"
     },
     {
       "episode": "2026-05-11/episode_014",
@@ -546,7 +546,7 @@
       "trans_vel_near_mps": 0.828,
       "ang_vel_near_rad_s": 3.824,
       "opt_gap_s": 0.8701,
-      "verdict": "pipeline_stall"
+      "verdict": "ot_loss"
     },
     {
       "episode": "2026-05-11/episode_015",
@@ -565,7 +565,7 @@
       "trans_vel_near_mps": 202.421,
       "ang_vel_near_rad_s": 5386.697,
       "opt_gap_s": 1.57,
-      "verdict": "pipeline_stall"
+      "verdict": "ot_loss"
     },
     {
       "episode": "2026-05-11/episode_015",
@@ -584,7 +584,7 @@
       "trans_vel_near_mps": 146.445,
       "ang_vel_near_rad_s": 1938.439,
       "opt_gap_s": 1.57,
-      "verdict": "pipeline_stall"
+      "verdict": "ot_loss"
     },
     {
       "episode": "2026-05-11/episode_015",
@@ -603,7 +603,7 @@
       "trans_vel_near_mps": 0.366,
       "ang_vel_near_rad_s": 3.672,
       "opt_gap_s": 1.44,
-      "verdict": "pipeline_stall"
+      "verdict": "ot_loss"
     },
     {
       "episode": "2026-05-11/episode_015",
@@ -622,7 +622,7 @@
       "trans_vel_near_mps": 3.226,
       "ang_vel_near_rad_s": 178.644,
       "opt_gap_s": 2.48,
-      "verdict": "pipeline_stall"
+      "verdict": "ot_loss"
     },
     {
       "episode": "2026-05-11/episode_015",
@@ -641,7 +641,7 @@
       "trans_vel_near_mps": 4.198,
       "ang_vel_near_rad_s": 286.989,
       "opt_gap_s": 0.81,
-      "verdict": "pipeline_stall"
+      "verdict": "ot_loss"
     },
     {
       "episode": "2026-05-11/episode_015",
@@ -660,7 +660,7 @@
       "trans_vel_near_mps": 526.887,
       "ang_vel_near_rad_s": 2452.28,
       "opt_gap_s": 0.9001,
-      "verdict": "pipeline_stall"
+      "verdict": "ot_loss"
     },
     {
       "episode": "2026-05-11/episode_015",
@@ -679,7 +679,7 @@
       "trans_vel_near_mps": 1.349,
       "ang_vel_near_rad_s": 6.651,
       "opt_gap_s": 0.5801,
-      "verdict": "pipeline_stall"
+      "verdict": "ot_loss"
     },
     {
       "episode": "2026-05-11/episode_015",
@@ -698,7 +698,7 @@
       "trans_vel_near_mps": 1.082,
       "ang_vel_near_rad_s": 4.682,
       "opt_gap_s": 1.2,
-      "verdict": "pipeline_stall"
+      "verdict": "ot_loss"
     },
     {
       "episode": "2026-05-11/episode_015",
@@ -717,7 +717,7 @@
       "trans_vel_near_mps": 1.883,
       "ang_vel_near_rad_s": 13.936,
       "opt_gap_s": 0.52,
-      "verdict": "pipeline_stall"
+      "verdict": "ot_loss"
     },
     {
       "episode": "2026-05-11/episode_016",
@@ -736,7 +736,7 @@
       "trans_vel_near_mps": 7.392,
       "ang_vel_near_rad_s": 314.475,
       "opt_gap_s": 2.72,
-      "verdict": "pipeline_stall"
+      "verdict": "ot_loss"
     },
     {
       "episode": "2026-05-11/episode_016",
@@ -755,7 +755,7 @@
       "trans_vel_near_mps": 7.392,
       "ang_vel_near_rad_s": 285.626,
       "opt_gap_s": 1.201,
-      "verdict": "pipeline_stall"
+      "verdict": "ot_loss"
     },
     {
       "episode": "2026-05-11/episode_016",
@@ -774,7 +774,7 @@
       "trans_vel_near_mps": 2.822,
       "ang_vel_near_rad_s": 147.338,
       "opt_gap_s": 0.52,
-      "verdict": "pipeline_stall"
+      "verdict": "ot_loss"
     },
     {
       "episode": "2026-05-11/episode_016",
@@ -793,7 +793,7 @@
       "trans_vel_near_mps": 0.588,
       "ang_vel_near_rad_s": 36.635,
       "opt_gap_s": 0.52,
-      "verdict": "pipeline_stall"
+      "verdict": "ot_loss"
     },
     {
       "episode": "2026-05-11/episode_016",
@@ -812,7 +812,7 @@
       "trans_vel_near_mps": 5.581,
       "ang_vel_near_rad_s": 94.104,
       "opt_gap_s": 0.4601,
-      "verdict": "pipeline_stall"
+      "verdict": "ot_loss"
     },
     {
       "episode": "2026-05-11/episode_016",
@@ -831,7 +831,7 @@
       "trans_vel_near_mps": 1070.109,
       "ang_vel_near_rad_s": 51641.3,
       "opt_gap_s": 1.02,
-      "verdict": "pipeline_stall"
+      "verdict": "ot_loss"
     },
     {
       "episode": "2026-05-11/episode_016",
@@ -850,7 +850,7 @@
       "trans_vel_near_mps": 3.397,
       "ang_vel_near_rad_s": 199.251,
       "opt_gap_s": 0.74,
-      "verdict": "pipeline_stall"
+      "verdict": "ot_loss"
     },
     {
       "episode": "2026-05-11/episode_016",
@@ -869,7 +869,7 @@
       "trans_vel_near_mps": 7.903,
       "ang_vel_near_rad_s": 306.111,
       "opt_gap_s": 0.7798,
-      "verdict": "pipeline_stall"
+      "verdict": "ot_loss"
     },
     {
       "episode": "2026-05-11/episode_017",
@@ -888,7 +888,7 @@
       "trans_vel_near_mps": 0.395,
       "ang_vel_near_rad_s": 1.538,
       "opt_gap_s": 0.0121,
-      "verdict": "pipeline_stall"
+      "verdict": "ot_loss"
     },
     {
       "episode": "2026-05-11/episode_017",
@@ -907,7 +907,7 @@
       "trans_vel_near_mps": 0.042,
       "ang_vel_near_rad_s": 0.856,
       "opt_gap_s": 0.0121,
-      "verdict": "pipeline_stall"
+      "verdict": "ot_loss"
     }
   ]
 }