Wave 2: multi-cam migration complete for 2026-05-10 + 2026-05-11. All 32 episodes now ship under episodes/ and segments/ with view_left / view_middle / view_right + tactile_{left,right}. Legacy processed/mode1_v1/ and processed/mode2_v1/ removed.

Publish 2026-05-19 session + introduce multi-cam schema (view_left/middle/right). 5 episodes + segments; bad_frames + tasks + README + schema doc updated. Multi-cam rollout for 2026-05-10/11 still in progress (legacy mode1_v1/mode2_v1 paths remain valid until that wave finishes).

docs/curation_pipeline.md: point at MultimodalData/twm/scripts/ now that one-shot scripts have been migrated out of /tmp/ into a versioned home.

Audit batch 1: post-trim numbers in docs/figures.md (#3); tasks.json 2026-05-11 note + trim_offsets lookup (#5, #8); bad_frames.json trim_offsets header (#8); dataloader default which_sensors='both' (#10); new freeze_intervals.json with per-event diagnostic signals (#12)

Update README + docs/{quality,caveats}.md: post-trim totals, three concrete filtering recipes (example dataloader / direct .pt / pose-only), rewritten OT-track-loss section reflecting the prefix-trim + recorder watchdog fix

Trim OT-uninitialized prefixes from 3 .pt files (ep_005/012/017 — see `_contact_meta.trim_offset`); recompute bad_frames + data_quality_breakdown in trimmed coords; ot_loss frame count now reflects real mid-episode mocap dropout only. Recorder-side OT watchdog added to data_collection.py (in twm repo) so future episodes won't repeat the bug.

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

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Drop 2026-03-23 right-only pilot (outdated); recompute totals across 27 bimanual recordings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