ReactWindowDataset: default min_motion_fraction 0.5 -> 0.25 (a window passes if >=25 % of frames per active sensor are above the speed threshold).

examples/README.md

@@ -51,7 +51,7 @@ ds = ReactWindowDataset(
     # (4) — motion content (recommended for dynamics learning)
     require_motion              = True,
     min_motion_mps              = 0.01,    # 10 mm/s
-    min_motion_fraction         = 0.5,
+    min_motion_fraction         = 0.25,
     which_sensors_must_move     = "all_active",
 )
 loader = DataLoader(ds, batch_size=8, shuffle=True, num_workers=2)
@@ -97,7 +97,7 @@ moving_R = np.concatenate([[speed_R[0]], speed_R]) >= 0.01
 def good(t, L):
     if mask[t:t + L].any():
         return False
-    return moving_L[t:t + L].mean() >= 0.5 and moving_R[t:t + L].mean() >= 0.5
+    return moving_L[t:t + L].mean() >= 0.25 and moving_R[t:t + L].mean() >= 0.25
 ```
 
 ## Coordinates note

examples/demo_react_window.py

@@ -139,7 +139,7 @@ def main():
         respect_active_sensors = True,
         require_motion              = not args.no_motion_filter,
         min_motion_mps              = 0.01,
-        min_motion_fraction         = 0.5,
+        min_motion_fraction         = 0.25,
         which_sensors_must_move     = "all_active",
     )
 

examples/react_window_dataset.py

@@ -67,7 +67,7 @@ ds = ReactWindowDataset(
     # motion filter (recommended on for dynamics learning)
     require_motion              = True,
     min_motion_mps              = 0.01,    # 10 mm/s — below typical slow manipulation
-    min_motion_fraction         = 0.5,
+    min_motion_fraction         = 0.25,
     which_sensors_must_move     = "all_active",
 )
 loader = DataLoader(ds, batch_size=8, shuffle=True, num_workers=2)
@@ -151,7 +151,7 @@ class ReactWindowDataset(Dataset):
     min_motion_mps : float, default 0.03
         Per-frame translation speed (in m/s) above which a frame counts as
         "moving" for a given sensor.
-    min_motion_fraction : float in [0, 1], default 0.5
+    min_motion_fraction : float in [0, 1], default 0.25
         An active sensor passes the motion filter if ≥ this fraction of
         the window's frames have speed ≥ `min_motion_mps`.
     which_sensors_must_move : {"any", "all_active"}, default "all_active"
@@ -185,7 +185,7 @@ class ReactWindowDataset(Dataset):
         respect_active_sensors: bool = True,
         require_motion: bool = False,
         min_motion_mps: float = 0.01,
-        min_motion_fraction: float = 0.5,
+        min_motion_fraction: float = 0.25,
         which_sensors_must_move: str = "all_active",
         fps: float = 30.0,
     ):
@@ -385,7 +385,7 @@ if __name__ == "__main__":
     ap.add_argument("--which_sensors", default="any", choices=["any", "both", "left", "right"])
     ap.add_argument("--require_motion", action="store_true")
     ap.add_argument("--min_motion_mps", type=float, default=0.01)
-    ap.add_argument("--min_motion_fraction", type=float, default=0.5)
+    ap.add_argument("--min_motion_fraction", type=float, default=0.25)
     ap.add_argument("--which_sensors_must_move", default="all_active",
                     choices=["any", "all_active"])
     args = ap.parse_args()