Bake ot_loss intervals into bad_frames.json (47 events, rotation-aware detector); dataloader skips them; docs/quality + caveats updated; data_quality_breakdown #3 renamed sensor_at_rest → ot_loss

bad_frames.json

@@ -5,9 +5,9 @@
   "summary": {
     "n_episodes": 27,
     "total_frames": 221621,
-    "total_bad_frames": 122,
-    "bad_fraction_overall": 0.0005504893489335396,
-    "n_episodes_with_bad_frames": 8
+    "total_bad_frames": 33144,
+    "bad_fraction_overall": 0.14955261459879704,
+    "n_episodes_with_bad_frames": 13
   },
   "episodes": {
     "2026-05-10/episode_000": {
@@ -17,7 +17,9 @@
       "pose_teleports_L": [],
       "pose_teleports_R": [],
       "total_bad_frames": 0,
-      "bad_fraction": 0.0
+      "bad_fraction": 0.0,
+      "ot_loss_L": [],
+      "ot_loss_R": []
     },
     "2026-05-10/episode_001": {
       "n_frames": 7621,
@@ -34,8 +36,19 @@
         ]
       ],
       "pose_teleports_R": [],
-      "total_bad_frames": 16,
-      "bad_fraction": 0.002099462012859205
+      "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": 10476,
@@ -62,7 +75,9 @@
         ]
       ],
       "total_bad_frames": 24,
-      "bad_fraction": 0.002290950744558992
+      "bad_fraction": 0.0023,
+      "ot_loss_L": [],
+      "ot_loss_R": []
     },
     "2026-05-10/episode_003": {
       "n_frames": 9262,
@@ -71,7 +86,9 @@
       "pose_teleports_L": [],
       "pose_teleports_R": [],
       "total_bad_frames": 0,
-      "bad_fraction": 0.0
+      "bad_fraction": 0.0,
+      "ot_loss_L": [],
+      "ot_loss_R": []
     },
     "2026-05-10/episode_004": {
       "n_frames": 2407,
@@ -80,7 +97,9 @@
       "pose_teleports_L": [],
       "pose_teleports_R": [],
       "total_bad_frames": 0,
-      "bad_fraction": 0.0
+      "bad_fraction": 0.0,
+      "ot_loss_L": [],
+      "ot_loss_R": []
     },
     "2026-05-10/episode_005": {
       "n_frames": 764,
@@ -89,7 +108,9 @@
       "pose_teleports_L": [],
       "pose_teleports_R": [],
       "total_bad_frames": 0,
-      "bad_fraction": 0.0
+      "bad_fraction": 0.0,
+      "ot_loss_L": [],
+      "ot_loss_R": []
     },
     "2026-05-10/episode_006": {
       "n_frames": 3926,
@@ -98,7 +119,9 @@
       "pose_teleports_L": [],
       "pose_teleports_R": [],
       "total_bad_frames": 0,
-      "bad_fraction": 0.0
+      "bad_fraction": 0.0,
+      "ot_loss_L": [],
+      "ot_loss_R": []
     },
     "2026-05-10/episode_007": {
       "n_frames": 1928,
@@ -107,7 +130,9 @@
       "pose_teleports_L": [],
       "pose_teleports_R": [],
       "total_bad_frames": 0,
-      "bad_fraction": 0.0
+      "bad_fraction": 0.0,
+      "ot_loss_L": [],
+      "ot_loss_R": []
     },
     "2026-05-10/episode_008": {
       "n_frames": 1305,
@@ -116,7 +141,9 @@
       "pose_teleports_L": [],
       "pose_teleports_R": [],
       "total_bad_frames": 0,
-      "bad_fraction": 0.0
+      "bad_fraction": 0.0,
+      "ot_loss_L": [],
+      "ot_loss_R": []
     },
     "2026-05-10/episode_009": {
       "n_frames": 1824,
@@ -125,7 +152,9 @@
       "pose_teleports_L": [],
       "pose_teleports_R": [],
       "total_bad_frames": 0,
-      "bad_fraction": 0.0
+      "bad_fraction": 0.0,
+      "ot_loss_L": [],
+      "ot_loss_R": []
     },
     "2026-05-10/episode_010": {
       "n_frames": 1035,
@@ -134,7 +163,9 @@
       "pose_teleports_L": [],
       "pose_teleports_R": [],
       "total_bad_frames": 0,
-      "bad_fraction": 0.0
+      "bad_fraction": 0.0,
+      "ot_loss_L": [],
+      "ot_loss_R": []
     },
     "2026-05-10/episode_011": {
       "n_frames": 2202,
@@ -143,7 +174,9 @@
       "pose_teleports_L": [],
       "pose_teleports_R": [],
       "total_bad_frames": 0,
-      "bad_fraction": 0.0
+      "bad_fraction": 0.0,
+      "ot_loss_L": [],
+      "ot_loss_R": []
     },
     "2026-05-11/episode_003": {
       "n_frames": 10032,
@@ -161,7 +194,9 @@
       "pose_teleports_L": [],
       "pose_teleports_R": [],
       "total_bad_frames": 19,
-      "bad_fraction": 0.001893939393939394
+      "bad_fraction": 0.0019,
+      "ot_loss_L": [],
+      "ot_loss_R": []
     },
     "2026-05-11/episode_004": {
       "n_frames": 2639,
@@ -170,7 +205,9 @@
       "pose_teleports_L": [],
       "pose_teleports_R": [],
       "total_bad_frames": 0,
-      "bad_fraction": 0.0
+      "bad_fraction": 0.0,
+      "ot_loss_L": [],
+      "ot_loss_R": []
     },
     "2026-05-11/episode_005": {
       "n_frames": 16927,
@@ -178,8 +215,28 @@
       "intensity_spikes": [],
       "pose_teleports_L": [],
       "pose_teleports_R": [],
-      "total_bad_frames": 0,
-      "bad_fraction": 0.0
+      "total_bad_frames": 2471,
+      "bad_fraction": 0.146,
+      "ot_loss_L": [
+        [
+          0,
+          2428
+        ],
+        [
+          15247,
+          15263
+        ]
+      ],
+      "ot_loss_R": [
+        [
+          0,
+          2413
+        ],
+        [
+          5023,
+          5047
+        ]
+      ]
     },
     "2026-05-11/episode_006": {
       "n_frames": 11990,
@@ -188,7 +245,9 @@
       "pose_teleports_L": [],
       "pose_teleports_R": [],
       "total_bad_frames": 0,
-      "bad_fraction": 0.0
+      "bad_fraction": 0.0,
+      "ot_loss_L": [],
+      "ot_loss_R": []
     },
     "2026-05-11/episode_007": {
       "n_frames": 6909,
@@ -202,7 +261,9 @@
       "pose_teleports_L": [],
       "pose_teleports_R": [],
       "total_bad_frames": 9,
-      "bad_fraction": 0.0013026487190620929
+      "bad_fraction": 0.0013,
+      "ot_loss_L": [],
+      "ot_loss_R": []
     },
     "2026-05-11/episode_008": {
       "n_frames": 13705,
@@ -220,7 +281,9 @@
       "pose_teleports_L": [],
       "pose_teleports_R": [],
       "total_bad_frames": 19,
-      "bad_fraction": 0.0013863553447646844
+      "bad_fraction": 0.0014,
+      "ot_loss_L": [],
+      "ot_loss_R": []
     },
     "2026-05-11/episode_009": {
       "n_frames": 4366,
@@ -229,7 +292,9 @@
       "pose_teleports_L": [],
       "pose_teleports_R": [],
       "total_bad_frames": 0,
-      "bad_fraction": 0.0
+      "bad_fraction": 0.0,
+      "ot_loss_L": [],
+      "ot_loss_R": []
     },
     "2026-05-11/episode_010": {
       "n_frames": 6829,
@@ -238,7 +303,9 @@
       "pose_teleports_L": [],
       "pose_teleports_R": [],
       "total_bad_frames": 0,
-      "bad_fraction": 0.0
+      "bad_fraction": 0.0,
+      "ot_loss_L": [],
+      "ot_loss_R": []
     },
     "2026-05-11/episode_011": {
       "n_frames": 7300,
@@ -252,7 +319,9 @@
       "pose_teleports_L": [],
       "pose_teleports_R": [],
       "total_bad_frames": 9,
-      "bad_fraction": 0.001232876712328767
+      "bad_fraction": 0.0012,
+      "ot_loss_L": [],
+      "ot_loss_R": []
     },
     "2026-05-11/episode_012": {
       "n_frames": 24547,
@@ -260,8 +329,20 @@
       "intensity_spikes": [],
       "pose_teleports_L": [],
       "pose_teleports_R": [],
-      "total_bad_frames": 0,
-      "bad_fraction": 0.0
+      "total_bad_frames": 9719,
+      "bad_fraction": 0.3959,
+      "ot_loss_L": [
+        [
+          0,
+          9718
+        ]
+      ],
+      "ot_loss_R": [
+        [
+          0,
+          9717
+        ]
+      ]
     },
     "2026-05-11/episode_013": {
       "n_frames": 12724,
@@ -269,8 +350,80 @@
       "intensity_spikes": [],
       "pose_teleports_L": [],
       "pose_teleports_R": [],
-      "total_bad_frames": 0,
-      "bad_fraction": 0.0
+      "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": 2417,
@@ -278,8 +431,24 @@
       "intensity_spikes": [],
       "pose_teleports_L": [],
       "pose_teleports_R": [],
-      "total_bad_frames": 0,
-      "bad_fraction": 0.0
+      "total_bad_frames": 174,
+      "bad_fraction": 0.072,
+      "ot_loss_L": [
+        [
+          922,
+          980
+        ],
+        [
+          2025,
+          2112
+        ]
+      ],
+      "ot_loss_R": [
+        [
+          1694,
+          1720
+        ]
+      ]
     },
     "2026-05-11/episode_015": {
       "n_frames": 5960,
@@ -296,8 +465,48 @@
           5400
         ]
       ],
-      "total_bad_frames": 16,
-      "bad_fraction": 0.0026845637583892616
+      "total_bad_frames": 455,
+      "bad_fraction": 0.0763,
+      "ot_loss_L": [
+        [
+          2150,
+          2194
+        ],
+        [
+          2202,
+          2228
+        ],
+        [
+          2231,
+          2322
+        ],
+        [
+          3590,
+          3705
+        ],
+        [
+          4829,
+          4899
+        ]
+      ],
+      "ot_loss_R": [
+        [
+          1491,
+          1516
+        ],
+        [
+          2710,
+          2727
+        ],
+        [
+          4147,
+          4182
+        ],
+        [
+          5373,
+          5388
+        ]
+      ]
     },
     "2026-05-11/episode_016": {
       "n_frames": 11896,
@@ -305,8 +514,43 @@
       "intensity_spikes": [],
       "pose_teleports_L": [],
       "pose_teleports_R": [],
-      "total_bad_frames": 0,
-      "bad_fraction": 0.0
+      "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": 33739,
@@ -319,8 +563,23 @@
       ],
       "pose_teleports_L": [],
       "pose_teleports_R": [],
-      "total_bad_frames": 10,
-      "bad_fraction": 0.0002963928984261537
+      "total_bad_frames": 19228,
+      "bad_fraction": 0.5699,
+      "ot_loss_L": [
+        [
+          0,
+          19225
+        ]
+      ],
+      "ot_loss_R": [
+        [
+          0,
+          19227
+        ]
+      ]
     }
-  }
+  },
+  "tau_angular_rad_per_s": 15.0,
+  "tau_opt_gap_s": 0.1,
+  "freeze_threshold_s": 0.25
 }

docs/caveats.md

@@ -24,3 +24,32 @@ React is a **dense multimodal interaction stream** intended for learning **dynam
 
 - **More tasks** — the registry in [`../tasks.json`](../tasks.json) will grow.
 - **LeRobot-format full-fidelity** variant (`lerobot/v1.0/`) is planned. It will include all three RealSense color and depth streams, GelSight at native resolution (FFV1 lossless), full-rate OptiTrack pose tracks for all three rigid bodies, and HF-native browser previews. The current `processed/mode1_v1/` slice will remain as a stable training-task view.
+
+## OptiTrack track loss (the dominant data-quality issue)
+
+The 47 `ot_loss` intervals in [`bad_frames.json`](../bad_frames.json) all
+come from the same root cause: **the GelSight rigid body moved near the
+edge of the OptiTrack mocap volume / camera FOV**, the solver lost the
+body, and the recorder kept emitting the last good pose. On re-acquire
+the solver sometimes flips orientation (per-sample angular velocity up to
+51,000 rad/s), which the cross-modal detector picks up as a teleport
+boundary.
+
+What's *not* broken during these intervals:
+
+- RealSense streams — all three cameras keep capturing fresh frames.
+- GelSight streams — the gel pad just isn't deforming (sensor moved in
+  free air or set down). Frame-duplicate rate is high but that's a
+  side-effect of low contact, not a pipeline stall.
+- The recorder itself — all writes land in the H5 on schedule.
+
+What is broken: `sensor_{side}_pose` is stale during the interval, so any
+training window overlapping it has an unreliable label. The shipped
+`bad_frames.json` flags these as `ot_loss_L` / `ot_loss_R` and the
+example dataloader skips overlapping windows automatically when
+`skip_bad_frames=True`.
+
+**Mitigation for future recordings**: keep the workspace centred in the
+mocap volume; add a fourth/fifth marker to each GelSight rigid body so
+the solver tolerates more occlusion; add a fourth OT camera if budget
+allows. None of these affect the current dataset retroactively.

docs/quality.md

@@ -17,9 +17,9 @@ A small fraction of frames contain known sensor artifacts. The repo ships a [`..
 |---|---|---:|---:|---:|---|---|
 | 1 | **GelSight LED flicker** | 66 | **0.030 %** | 5 / 27 | 1–2 frames of uniform pink/magenta wash across the gel surface; adjacent frames normal. 2026-05-11 / {003, 007, 008, 011, 017}. | [`intensity_spike_overview.png`](../figures/dataset_figures/intensity_spike_samples/intensity_spike_overview.png) |
 | 2 | **OptiTrack pose teleport (>5 m/s)** | 64 | **0.029 %** | 3 / 27 | Position jumps by >5 cm in 33 ms — mocap lost lock and reacquired. 2026-05-10/{001, 002}, 2026-05-11/015. | [`pose_teleport_samples/`](../figures/dataset_figures/pose_teleport_samples/) |
-| 3 | OptiTrack pose freeze (≥ 5 s held) | 31,376 | **14.16 %** | 3 / 27 | Held-pose intervals on an active sensor — OptiTrack lost track and the recorder held the last sample. 2026-05-11/{017: 10.7 min, 012: 5.4 min, 005: 1.3 min}. **Not corruption**, but degenerate for dynamics; left-sensor only. | [`data_quality_report.png`](../figures/dataset_figures/data_quality_report.png) |
+| 3 | **OptiTrack track loss** | 33,056 | **14.92 %** | 8 / 27 | OptiTrack lost the rigid body — the recorder kept emitting the held pose. Boundary glitches (ang vel up to 51 k rad/s) appear on re-acquire. Worst single outage: 10.7 min (ep_017). Cause: marker near mocap-volume / camera-FOV boundary. GelSight + RealSense streams are *not* affected. | [`freeze_diagnose/`](../figures/dataset_figures/freeze_diagnose/) |
 
-**Modes 1+2 together: 122 / 221621 = 0.055 % of frames are corrupted in any modality.** Mode 3 is tracked separately because it is healthy data, just non-informative for dynamics. `bad_frames.json` covers modes 1 and 2 only; if you also want to skip rest periods, intersect with the velocity track from `sensor_*_pose`.
+**Modes 1+2+3 together: 33,144 / 221,621 = 14.96% of frames flagged.** Earlier note: 122 / 221621 = 0.055 % of frames are corrupted in any modality.** Mode 3 is tracked separately because it is healthy data, just non-informative for dynamics. `bad_frames.json` covers modes 1 and 2 only; if you also want to skip rest periods, intersect with the velocity track from `sensor_*_pose`.
 
 ## Inspection figures
 

examples/react_window_dataset.py

@@ -199,7 +199,9 @@ class ReactWindowDataset(Dataset):
                 bf = self.bad[key]
                 for s, e in (bf.get("intensity_spikes", [])
                              + bf.get("pose_teleports_L", [])
-                             + bf.get("pose_teleports_R", [])):
+                             + bf.get("pose_teleports_R", [])
+                             + bf.get("ot_loss_L", [])
+                             + bf.get("ot_loss_R", [])):
                     bad_mask[s:e + 1] = True
 
             ep_idx = len(self.episodes)

figures/dataset_figures/data_quality_breakdown.json

@@ -14,24 +14,32 @@
       ]
     },
     "pose_teleport": {
-      "frames": 64,
-      "pct": 0.028878129780120113,
+      "frames": 56,
+      "pct": 0.0252683635576051,
       "episodes_affected": [
         "2026-05-10/episode_001",
         "2026-05-10/episode_002",
         "2026-05-11/episode_015"
       ]
     },
-    "sensor_at_rest": {
-      "frames": 31376,
-      "pct": 14.157503124703886,
-      "freeze_threshold_s": 5.0,
+    "ot_loss": {
+      "frames": 33056,
+      "pct": 14.91555403143204,
+      "freeze_threshold_s": 0.25,
+      "trans_teleport_mps": 5.0,
+      "ang_teleport_rad_per_s": 15.0,
+      "opt_gap_s": 0.1,
       "episodes_affected": [
+        "2026-05-10/episode_001",
         "2026-05-11/episode_005",
         "2026-05-11/episode_012",
+        "2026-05-11/episode_013",
+        "2026-05-11/episode_014",
+        "2026-05-11/episode_015",
+        "2026-05-11/episode_016",
         "2026-05-11/episode_017"
       ],
-      "note": "Long held-pose intervals on active sensors. OptiTrack lost track and the recorder held the last pose. See docs/quality.md."
+      "note": "OptiTrack lost the rigid body \u2014 recorder kept emitting the held pose, solver may re-acquire with a glitched orientation. Cause: marker moved near the mocap-volume / camera-FOV boundary. GelSight + RealSense streams are unaffected."
     }
   }
 }