remove touchandgo: uses ORIGINAL GelSight (white illumination, 640x480 flat-channel R~G~B~137) not Mini. Verified via channel-mean signature mismatch with all other Mini sources (B>G>R with 30+ grey-level spread). Document reason in SOURCES.md 'Investigated but not included'. Bumps real total from 748,024 to 745,958 frames.

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

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

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

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)

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

Add samples_40_tacquad_mini.png (4x10 grid)

Add samples_40_threedcal.png (4x10 grid)

Add samples_40_feelanyforce.png (4x10 grid)

Add samples_40_sim_starstruck.png (4x10 grid)

Add samples_40_sim_tactile_mnist.png (4x10 grid)

Add samples_40_gelslam.png (4x10 grid)

Add samples_40_tactile_tracking.png (40 random samples, 4x10 grid)

Add RTM comparison: TimSchneider42 single-frame upstream vs our filtered extraction

Add authors' single-frame extraction grid for comparison