Re-render 15 real_still candidates with the new per-episode p01 GelSight reference (the .gs_ref_{left,right}.png files just shipped). Diff thumbnails now show absolute contact intensity vs the quietest moment of the episode, not change-since-clip-start.

real_still: render ALL 15 candidates with relaxed thresholds (pose<=20mm/s, win=60, view<2.5); 1x playback, 2s window+1s pad each side. candidates.json lists per-event motion stats.

real_still: re-render at 3s window length + 1x (real-time) playback; drop the previous 5x 2s versions. Only 1 candidate meets the strict 3-second still criteria (operator was actively manipulating almost the entire 106 minutes).

Add real_still candidate clips for verification: only 2 windows in the whole dataset meet the strict still criteria (pose<=10mm/s, cam2<2, tac<3) — telling us the operators are actively manipulating almost the entire time. Manifest in candidates.json.

freeze_diagnose threshold: TAU_VIEW_STILL 4.0 -> 2.0 (more aggressive "is the scene really still?" check). Verdicts unchanged for current 41 events because they all trigger ot_loss via other signals.

Drop 11 stale ot_loss MP4s from the pre-opt_gap-fix run (their bad_frames intervals are still valid but the verdict-label numerics in the filename matched the buggy 47-event sampling, not the corrected 41-event sampling).

freeze_diagnose: fix max_opt_gap() returning 0 when OT stream silent; drop events entirely inside trimmed prefix; remove misclassified real_still/ (those were ep_005/017 OT-offline prefixes that shouldnt have appeared at all). Final: 41 events, all ot_loss.

Repopulate freeze_diagnose/ MP4 clips (folder had become empty after the GIF-purge): 15 ot_loss + 4 real_still samples, 5x speed yuv444p MP4. Refresh summary.json (new run: 43 ot_loss + 4 real_still events; previously labelled all 47 as ot_loss).

MP4s re-encoded at 5× speed (yuv444p / 8-bit / CRF 20 — sharper text overlays); all 66 GIFs removed from HF (MP4-only going forward). Source 8-bit RGB → 10-bit would be wasted bits; 4:4:4 chroma is the upgrade that actually matters for the text panels.

Audit batch 2: regen contact_intensity hero + F1/F2/F8 + freeze_diagnose summary with post-trim numbers (#1, #2, #6). 3302 contact events post-trim (was 4136 pre-trim).

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

Add freeze_classify/ — cross-modal motion classifier for sub-second freezes (15 samples per class)

Re-render freeze_check/ in recording-viewer layout (3 cams + GS thumbs + projection); add 1 s pre/post pad; onset/offset/mid scheduling for long freezes

Add freeze_check/ — 55 real-time OptiTrack-freeze inspection clips

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

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

Add data-quality docs: bad_frames.json, per-mode breakdown, inspection figures; refresh episode GIFs with cam2 projection overlay

Add dataset figures: 30 episode GIFs, contact timelines, F1-F8 stats