# Candy — physics verification on real footage

The gate refused to pass — detection perfect, but clean clips false-flagged at 1.000 because the declared support plane is wrong.

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The gate refused to pass — detection perfect, but clean clips false-flagged at 1.000 because the declared support plane is wrong.

## The gate refused. Detection is perfect. The declared plane is wrong.

Same gripper-release gate as ALOHA, over a different real-footage dataset (12 candy clips). Detection catches all injected violations at 1.000 recall. But clean clips false-flag at 1.000 rate because the declared support plane does not match where the candy actually rests. The calibration sweep (35 cells) passes in 0/35 cells — no plausible plane/scale rescues this run. The failed assumption: the support plane is declared from the scored clip rather than measured from independent calibration clips — an input-property gap, not a detector bug. A real deployment's metadata (declared object size, calibrated support plane, IMU, depth) would supply what a public dataset cannot.

## Methodology

1. **Gripper-release gate on candy clips**: Same gripper-channel Otsu gate as ALOHA. Only score free frames after measured release.
2. **Calibration sweep**: Sweep floor margin and metres-per-pixel across declared ranges. No cell passes — the assumption is invariant.
3. **Picker funnel**: Object found in all 12 clips. Not a tracking failure.

Seeds: 12 clips, single camera, tracked

Thresholds:

- FP ≤ 0.02
- detection ≥ 0.95
- coverage complete

## Footnote

Real tracked footage, gripper-release gated. Dataset: lerobot/aloha_static_candy (v1.0). Hardware: ALOHA stationary bimanual (2× ViperX 300), 3× RealSense D435i @ 640×480, 30 FPS. Object: Candy wrapper, ~5 g, metallized plastic film. Task: Pick, transfer, place in container. 50 episodes. Object diameter assumed; support plane declared. 0/35 calibration cells pass. Notebook: haga-candy-verification. HuggingFace: https://huggingface.co/datasets/lerobot/aloha_static_candy

Source: https://haga.mushoodhanif.com/