spatial-soft/spatial_pastry005_data_quality_check_20260625.md

# Spatial Pastry005 Data Quality Check

Dataset:

```text
/vepfs-C区/visuotactile/Tabero/formal_collections/spatial_soft_pastry005_10tasks_50each_gripperjitter_replay_format_20260624
```

## Summary

The dataset is structurally clean and usable for training/evaluation.

Main caveat: force fields are not clean physical force labels. Most force values are proxy force generated from gripper closing; task5 contains a mixture of contact-sensor force and proxy force.

## Counts

```text
tasks: 10
hdf5 files: 10
demos: 500
success demos: 500
failed demos: 0
total frames: 49,423
frame range: 81 - 120
mean frames/demo: 98.846
```

Each task has:

```text
1 replay-format HDF5
50 demos
100 camera videos
100 tactile videos
```

## HDF5 Integrity

Passed:

```text
missing required fields: none
NaN fields: none
Inf fields: none
shape issues: none
source_hdf5 missing: 0
duplicate demo ids: none
```

All required training fields are present:

```text
actions
obs/actions
obs/eef_pose
obs/arm_joint_pos
obs/gripper_pos
obs/gripper_width
obs/gripper_close_norm
obs/gripper_marker_motion
obs/gripper_net_force
obs/fem_bbox_dims
obs/fem_deformation_max
obs/fem_deformation_rms
soft_extras/*
states/*
initial_state/*
```

## Action-State Alignment

Checks:

```text
actions vs soft_extras/actions_13d max abs diff: 0.0
obs/gripper_net_force vs soft_extras/gripper_net_force max abs diff: 0.0
action xyz vs obs/eef_pose xyz max abs diff: 0.0
action rotation vs obs/eef_pose quaternion converted to axis-angle: max diff 4.6e-7
```

So the axis-angle branch issue is not present in this dataset.

Note: `obs/eef_pose` stores quaternion rotation, while `/actions` stores axis-angle rotation.

## Videos

Per task:

```text
camera videos: 100 = 50 demos x 2 views
tactile videos: 100 = 50 demos x left/right marker videos
```

Formal video tree does not contain active `preview_2x2` videos. Old previews were moved under:

```text
_preview_2x2_moved_20260624_165515
```

## Gripper

Recorded for all 500 demos:

```text
obs/gripper_close_norm
obs/gripper_width
obs/gripper_pos
soft_extras/gripper_close_norm
soft_extras/gripper_width
```

Metadata gripper close range:

```text
0.4601 - 0.4990
```

Observation gripper close range:

```text
0.4601 - 1.0
```

The `1.0` values are open-gripper phases.

## FEM / Safety

Peak values:

```text
fem_deformation_max peak: 0.5383656025
fem_deformation_rms peak: 0.5142209530
```

With current default safety thresholds:

```text
fem_max <= 0.60
fem_rms <= 0.55
```

all 500 demos pass the safety check.

## Force Fields

Force source counts:

```text
proxy force, source=1: 46,573 frames
contact sensor, source=0: 2,850 frames
```

Task-level force source:

```text
task0-4: all proxy
task5: contact sensor + proxy mixed
task6-9: all proxy
```

Nonzero frames:

```text
raw force nonzero frames: 2,850
processed force nonzero frames: 27,105
```

Important:

```text
obs/gripper_net_force == soft_extras/gripper_net_force
```

These are processed force fields. They are not clean physical-force supervision labels.

## Issues / Caveats

Hard data corruption:

```text
none found
```

Training caveat:

```text
force labels are mixed proxy/contact.
```

Recommendation:

```text
For clean training, prefer 7D no-force tactile baseline, or regenerate/normalize force labels before using a 13D force-supervised baseline.
```

## Per-Task Peaks

| Task | Frames Mean | FEM Max Peak | FEM RMS Peak | Force Source |
|---|---:|---:|---:|---|
| task0 | 86.98 | 0.2001 | 0.1910 | proxy only |
| task1 | 108.84 | 0.3226 | 0.3119 | proxy only |
| task2 | 81.68 | 0.2643 | 0.2503 | proxy only |
| task3 | 89.84 | 0.2254 | 0.2044 | proxy only |
| task4 | 102.52 | 0.3230 | 0.3046 | proxy only |
| task5 | 95.58 | 0.3355 | 0.2936 | contact + proxy |
| task6 | 100.00 | 0.2897 | 0.2713 | proxy only |
| task7 | 101.68 | 0.4719 | 0.4643 | proxy only |
| task8 | 102.54 | 0.2374 | 0.2250 | proxy only |
| task9 | 118.80 | 0.5384 | 0.5142 | proxy only |