add tvl via unified pipeline

add touchandgo via unified pipeline

v9: fix channel order. fota_unlabeled + unit swapped R<->B (were BGR-stored). Refresh sample grids + RGB-vs-BGR comparison + channel_order_diagnosis.json

docs: SOURCES.md add ## 10 UniT + ## 11 TacQuad sections, update all stale row counts (fota_unlabeled, RTM, sims, feelanyforce, etc), add Channel-order normalization section; README: update header tagline frame count

README: update NC extension blurb to reflect Sparsh-only / 66K frames

add RGB-vs-BGR comparison grids for each subset (side-by-side: top=RGB as stored, bottom=BGR R↔B swap)

v8 final: RTM video re-extract (30,956 peak-contact frames); add Balance metrics section (H̃=0.95 domain, 8,459 unique objects); refresh composition/pies charts + RTM sample grid; publish balance_report.json

assets cleanup: add samples_40 markered/markerless fota grids; delete 39 stale debug + samples_100 PNGs no longer referenced

sim rebalance from raw upstream: sim_starstruck → 166K (150K train + 16K test, stride=3); sim_tactile_mnist → 151K (102K train + 49K test, stride=2); refreshed sample grids

add UniT (11,340 frames) + TacQuad full (12,195 frames across 181 objects); deprecate tacquad_mini

refresh samples_40_fota_unlabeled.png (200K after loose dedupe)

refresh samples_40 grids (RTM+sims at I=15, others unchanged)

v7: I_min=12 (real) + I_min=10 (sim) reprocess of RTM and sims; add pixel_value_distribution chart; fix sim_tactile_mnist test routing; refresh all sample grids and composition charts.

Re-sample 4 grids with intensity≥12 contact filter (RTM/sim/feelanyforce)

Refresh sample grids for RTM / sim x2 / feelanyforce (seed=20260518)

Collapse fota_unlabeled to train-only (66,761 frames; was 516,523). Refresh assets/. Delete obsolete 8-shard and val-* layouts.

RTM v7 samples_40

RTM v7: K=0.3 per-frame Bernoulli + A=40, I=10 → 200K (hit budget)

cleanup: remove stale assets/samples_100_fota_labeled_markerless.png

cleanup: remove stale assets/samples_100_fota_labeled_markered.png

cleanup: remove stale assets/samples_100_sim_starstruck.png

cleanup: remove stale assets/samples_100_sim_tactile_mnist.png

cleanup: remove stale assets/samples_100_real_tactile_mnist.png

cleanup: remove stale assets/samples_100_tactile_tracking.png

cleanup: remove stale assets/samples_100_gelslam.png

cleanup: remove stale assets/samples_100_feelanyforce.png

cleanup: remove stale assets/samples_100_feats.png

cleanup: remove stale assets/samples_100_threedcal.png

cleanup: remove stale assets/samples_100_fota_unlabeled.png

cleanup: remove stale assets/samples_100_fota_labeled.png

README: update totals to ~700K (post-FoTA-dedupe)

Refresh summary_pies.png with post-dedupe FoTA counts

Refresh resolution_distribution.png with post-dedupe FoTA counts

Refresh composition.png with post-dedupe FoTA counts

Refresh samples_40_fota_unlabeled.png after dedupe (66.7K)

fota_unlabeled: dedupe (phash Hamming≤4, lookback 30) → 470K→67K (86% dedupe rate) + ready for 200K cap

Refresh threedcal_coverage.png: include tacquad_mini, log y-axis on resolution, current 1.12M counts

Refresh force_distribution.png: include tacquad_mini, log y-axis on resolution, current 1.12M counts

Refresh summary_pies.png: include tacquad_mini, log y-axis on resolution, current 1.12M counts

Refresh composition.png: include tacquad_mini, log y-axis on resolution, current 1.12M counts

Refresh resolution_distribution.png: include tacquad_mini, log y-axis on resolution, current 1.12M counts

samples_40 grid: samples_40_feats.png

samples_40 grid: samples_40_real_tactile_mnist.png

samples_40 grid: samples_40_fota_unlabeled.png

samples_40 grid: samples_40_fota_labeled.png

README: samples_40 references

SOURCES: switch samples_100 → samples_40 (4x10 grids)

FoTA labeled post-filter (unified A=40 I=10 + 1.5% bg)

Add samples_40_tacquad_mini.png (4x10 grid)

Add samples_40_threedcal.png (4x10 grid)