Re-render previews for 3 trimmed episodes (ep_005/012/017) starting from post-trim region

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

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Drop 2026-03-23 right-only pilot (outdated); recompute totals across 27 bimanual recordings

Fix RealSense BGR→RGB; sample_window.gif now matches recording-viewer layout

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

Add example dataloader: ReactWindowDataset for short contact-rich window sampling + demo (static grid + GIF) with sensor-frame overlay

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

README: embed inspection figures inline (intensity overview, teleport reports, data-quality summary)

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

Re-render episode GIFs with full panel (3 cams + 2 tactile + sensor frame projections), 512x192 @ 10 fps, 12s loop

Replace per-episode Gantt timelines with intensity waveform figures (full + 20-min)

README: embed dataset figures + statistics gallery

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

README: update episode count to 30; note dropped 2026-05-11 episodes

Drop 2026-05-11/episode_{000,002} (no-contact test recordings)

Add tasks.json registry; README per-task configs and task-first schema

Restructure to task-first layout: <task>/<date>/episode_*

Add dataset card with schema, quick start, caveats, and roadmap

Add processed mode1_v1 / 2026-05-11 (17 episodes)

Add processed dataset (mode1_v1: 2026-03-23 + 2026-05-10)

initial commit