Add full UR5 alignment audit findings and twelve episode review keys

README.md

@@ -60,11 +60,47 @@ state-action trend-alignment check. The report covers both RoboMIND and RoboMIND
 it does not identify which episodes in this derivative release are affected.
 **The reported 81% is not a measured failure rate for this release.**
 
-This release preserves the recorded leader-arm actions, without temporal correction.
-Its structural, deduplication, and frozen-camera checks do not establish causal
-state-action alignment. The 46,741 UR5 episodes have not passed a validated
-state-action alignment filter and should be excluded from action-supervised training
-until separately validated. Video-only use requires its own task-specific assessment.
+An exploratory audit on October 22, 2026 checked all **46,741 exported UR5 episodes**
+and flagged **12 (0.026%)** with at least one moving arm joint below 0.70 directional
+agreement after lag alignment. At thresholds 0.60 and 0.65, 7 and 8 episodes were
+flagged respectively. Two of the 12 also had a joint whose best lag was negative.
+The median estimated joint lag was 0.278 seconds, with actions preceding states.
+
+This diagnostic used five-frame triangular smoothing, a lag search of approximately
+plus or minus one second using position correlation, and agreement of the signs of
+lag-aligned first differences. It scored arm joints only when both streams spanned
+at least 0.05 radians, ignored differences at or below 0.00001 radians per frame,
+and required at least ten scored differences. Grippers and low-motion joints were
+excluded. A separate unsmoothed check of 512 reproducibly sampled UR5 episodes
+flagged none at the 0.70 threshold. Twenty sampled episodes and all twelve flagged
+episodes matched the original HDF5 values after the documented format conversion.
+
+**This is not an exact reproduction of the paper's filter or a certification of
+training quality.** It does not validate video-state alignment, kinematics, task
+labels, or controller suitability. The recorded actions remain unchanged, without
+temporal correction. We recommend excluding the following twelve episodes from
+action-supervised training pending individual review, and assessing the remaining
+UR5 data for the intended training setup.
+
+<details>
+<summary>UR5 episode keys flagged for review</summary>
+
+```text
+episode-17b9a9076462f3968e3455400ccd6d87f67b688294221a8bc274eb2a46ce594a
+episode-2ddd2e1082689571a038f343359f8a7f5f8917b2ca6659edc8e36f50e5a0a237
+episode-32eb11fbaeecd0ad13cf08974126d48d30e5efaaf17aa209cb38d9674df3db31
+episode-4ba3a75369573c1cd79664131a70dd27566624dcfecbdb023c79ce93e19e7c09
+episode-4d804fcf7fd753f39626a67daf75b96f4701cb906cf46c651713a91a95bab3ff
+episode-5f6097f7ac3569a4282e9bf0b2fe3cc4ec5bf2008b02c4f8d127754791a23322
+episode-7270a65a8afe8eab94b7bcd83866e531f4815b1d60e51cfe6beaceec60a89a71
+episode-818172b46a58b29ba874da1d7765d084e3087ddfe66a7865dd4f07843ebc97d0
+episode-8a48c96c88c8b345a10404db81f74efe3cde1d9bd0f72498750955c900ebcd2d
+episode-a6d8d7020fd3f86643625c34ddcf9150bdf26164b114880c7b17c8470478f256
+episode-d002afc3996d3e513062e129ed1d47793b8a8868706f5d0da8a20711fae483f8
+episode-f2b1c676c204368342ea930dc7af795e2e332f911212d4873a36b592419f5269
+```
+
+</details>
 
 ## Format