sinew · plots · contact-threshold picker

contact-threshold picker

Visual aid for choosing the ‖F‖ threshold that defines contact-presence in the new contact head. 10 episodes across shapes 3 / 5 / 9, all from fmb_real_no_bias/val.
2026-05-24 user pivot — magnitude prediction DROPPED. The model now needs a contact-presence head. These charts exist so the user can eyeball a numerical threshold on the no-bias force signal. Action: review the strips below, pick a threshold value in N, DM VisionWorker. VW files the follow-up bd to lock it in the next training cycle.
Episode coverage: 10 episodes selected from the val split after shape-filter (3, 5, 9). Peak ‖F‖ per episode spans 13.9 – 21.4 N. Median ‖F‖ spans 3.9 – 6.3 N. Episodes biased toward clear-insert or moderate-contact classes; no hover-only in this sample (val set limited).
Reading the charts. Each PNG has three rows:

Candidate thresholds (drawn on each chart)

3 N 5 N 8 N 12 N 16 N 20 N

Summary

val data
fmb_real_no_bias/val
shapes shown
3 · 5 · 9
episodes
10 (4 / 3 / 3)
cam view
side_left
thumbnails / episode
8
audit source
sinew-133 PASS

Episode index

shape episode T (frames) peak ‖F‖ (N) median ‖F‖ (N) class
3shard00046_ep026621.366.32clear-insert
3shard00045_ep003817.325.75moderate-contact
3shard00046_ep002716.245.89moderate-contact
3shard00047_ep0026913.914.75moderate-contact
5shard00040_ep023019.884.76moderate-contact
5shard00049_ep0019519.283.98moderate-contact
5shard00044_ep014916.925.78moderate-contact
9shard00040_ep008317.325.57moderate-contact
9shard00044_ep0015616.603.99moderate-contact
9shard00046_ep013615.623.86moderate-contact

Charts

Shape 3

4 episodes · peaks 13.9 – 21.4 N
shape 3 shard00046_ep02 — clear-insert, peak 21.36 N
shape 3 · shard00046_ep02 clear-insert T = 66 frames peak ‖F‖ = 21.36 N median ‖F‖ = 6.32 N color_id 4 · object_id 255
shape 3 shard00045_ep00 — moderate-contact, peak 17.32 N
shape 3 · shard00045_ep00 moderate T = 38 frames peak ‖F‖ = 17.32 N median ‖F‖ = 5.75 N color_id 4 · object_id 255
shape 3 shard00046_ep00 — moderate-contact, peak 16.24 N
shape 3 · shard00046_ep00 moderate T = 27 frames peak ‖F‖ = 16.24 N median ‖F‖ = 5.89 N color_id 3 · object_id 255
shape 3 shard00047_ep00 — moderate-contact, peak 13.91 N, longest episode T=269
shape 3 · shard00047_ep00 moderate T = 269 frames peak ‖F‖ = 13.91 N median ‖F‖ = 4.75 N color_id 6 · object_id 255 · long

Shape 5

3 episodes · peaks 16.9 – 19.9 N
shape 5 shard00040_ep02 — moderate-contact, peak 19.88 N
shape 5 · shard00040_ep02 moderate T = 30 frames peak ‖F‖ = 19.88 N median ‖F‖ = 4.76 N color_id 5 · object_id 255
shape 5 shard00049_ep00 — moderate-contact, peak 19.28 N, T=195
shape 5 · shard00049_ep00 moderate T = 195 frames peak ‖F‖ = 19.28 N median ‖F‖ = 3.98 N color_id 2 · object_id 255 · long
shape 5 shard00044_ep01 — moderate-contact, peak 16.92 N
shape 5 · shard00044_ep01 moderate T = 49 frames peak ‖F‖ = 16.92 N median ‖F‖ = 5.78 N color_id 1 · object_id 255

Shape 9

3 episodes · peaks 15.6 – 17.3 N
shape 9 shard00040_ep00 — moderate-contact, peak 17.32 N
shape 9 · shard00040_ep00 moderate T = 83 frames peak ‖F‖ = 17.32 N median ‖F‖ = 5.57 N color_id 5 · object_id 255
shape 9 shard00044_ep00 — moderate-contact, peak 16.60 N, T=156
shape 9 · shard00044_ep00 moderate T = 156 frames peak ‖F‖ = 16.60 N median ‖F‖ = 3.99 N color_id 4 · object_id 255 · long
shape 9 shard00046_ep01 — moderate-contact, peak 15.62 N
shape 9 · shard00046_ep01 moderate T = 36 frames peak ‖F‖ = 15.62 N median ‖F‖ = 3.86 N color_id 1 · object_id 255

Source data

artifactpath
index manifestindex.json (this directory) — per-episode descriptor + threshold candidate list
val data/home/dom_iva/fmb_real_no_bias/val (DL_A6000) · audit sinew-133 PASS
NAS FTP archiveftp://143.248.121.169:7002/IntelligentManipulationTeam/DomrachevIvan/ · path under contact_threshold_picker/
trackersinew-134 — this task
follow-upVisionWorker files post-pick bd to lock threshold in next training cycle