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README.md

@@ -76,8 +76,8 @@ cluttered_grasping/
 | `episode_state` | int64 | (1,) | Trajectory phase: `0` reach (home→CGN pose), `1` grasp_lift |
 | `intervention` | int64 | (1,) | Sticky `1` after human teleop starts this episode (else `0`) |
 | `grasp_state` | int64 | (1,) | Exclusive grasp phase at observation `t`: `0` no_contact, `1` contact, `2` closure, `3` lift, `4` success |
-| `next.success` | float32 | (1,) | `1.0` on the frame **before** a transition into `success` (`labels[t]≠4` and `labels[t+1]==4`); else `0` |
-| `next.done` | float32 | (1,) | Same pulse as `next.success` (task/terminal success co-located with that transition) |
+| `next.success` | float32 | (1,) | `1.0` on the **last exported frame** when terminal `grasp_state` is `success`; else `0` |
+| `next.done` | float32 | (1,) | `1.0` on the **last exported frame** of every episode; else `0` |
 | `observation.images.center_cam` | video (AV1) | 720×1280×3 | Scene RealSense RGB (1280×720 capture) |
 | `observation.images.center_cam_depth` | video (HEVC gray12le) | 480×848×1 | Unaligned native depth **848×480** capture (H×W×C storage); mm; `is_depth_map` |
 | `observation.images.tactile_L` | video (AV1) | 240×320×3 | Left fingertip tactile (`/tactile1`) |
@@ -90,7 +90,7 @@ cluttered_grasping/
 Gripper on both action channels is discrete **mode** (`-1` open, `0` hold, `+1` close), not absolute position. Under the hood teleop/CGN ramp a setpoint (logged in zarr as `gripper_setpoint`) with the same controller.  
 Wrist force/torque is **not** exported to LeRobot (still present in upstream zarr if needed).
 
-**Label example:** if phase history is `…, contact, contact, success, success, …`, then only the last `contact` frame has `next.success = next.done = 1.0`.
+**Label example:** terminal phases `… success, success` → `next.done = 1` on the last exported frame; `next.success = 1` on that frame too. Failed episodes still get `next.done = 1` on the last frame; `next.success = 0`.
 
 ### Episode definition
 
@@ -119,8 +119,8 @@ frame = ds[0]
 #   frame["episode_state"]    # 0 reach / 1 grasp_lift
 #   frame["intervention"]     # 1 if teleop used
 #   frame["grasp_state"]      # int64 phase id (contact labels)
-#   frame["next.success"]     # 1.0 before successful grasp onset
-#   frame["next.done"]        # same as next.success
+#   frame["next.success"]     # 1.0 on last exported frame if episode ends in success
+#   frame["next.done"]        # 1.0 on last exported frame (every episode)
 ```
 
 ## Collection / conversion notes
@@ -129,7 +129,8 @@ frame = ds[0]
 - Episodes are service-gated by `cgn_teleop_trial` (begin after preview Enter with warm-up; end at lift handoff).
 - Offline rebuild: `scripts/zarr_to_lerobot.py --fps 30 --depth-mode video12` over `~/EDG_Experiment/clutter/**/*.zarr` (skips `clutter/old/`).
 - Phase labels: `scripts/label_grasp_states.py` (Streamlit) writes `data/obs/policy/grasp_state` and, on **Save** / **Save all**, derived `next_success` / `next_done` on each episode zarr.
-- Converter recomputes `next.success` / `next.done` from `grasp_state` and trims leading NaN policy frames.
+- Converter sets `next.done` / `next.success` with the same terminal-frame rules as
+  the labeler (last frame; success from terminal `grasp_state`).
 - Trial stats: `python scripts/plot_trial_outcomes.py --zarr-root … --out …` (or `zarr_to_lerobot.py --trial-stats-out …`).
 - Bag convert also skips leading frames with empty tactile / NaN policy before writing zarr.
 - Auto-label may set contact/success from tactile blob area; only terminal success runs (touching episode end) stay `success`.

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