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).

Visualization refactor (twm/viz.py single source); native 1280x480 + left|middle|right cam order; freeze_diagnose/ replaces freeze_check/ and freeze_classify/; finding: all freezes are recording-pipeline stalls

docs/curation_pipeline.md: add BGR-vs-RGB channel-order gotcha

Drop 2026-03-23 right-only pilot (outdated); recompute totals across 27 bimanual recordings

Regen previews at 256-color palette; 3-cam dataloader gif; add docs/curation_pipeline.md

Lead with robot-arm-free / human-hand collection — README hero + 'What's different' section, tasks.json gets operator/embodiment fields, recording.md explains setup, F7 adds Operator column

Reframe dataset as dynamics / world-model interaction data (not policy demos); document 2026-03-23 as right-sensor-only pilot; add active_sensors per-date in tasks.json; lead with hours and contact frames instead of episode count

Split README into lean front page + docs/{recording,schema,quality,figures,caveats}.md