# Ziploc slide — physics verification on real footage

The gate refused to pass — easiest tracking case, perfect detection, but 0 of 35 calibration cells pass. The support plane assumption itself is the blocker.

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The gate refused to pass — easiest tracking case, perfect detection, but 0 of 35 calibration cells pass. The support plane assumption itself is the blocker.

## The gate refused. Easiest tracking case. 0 of 35 calibration cells pass.

Same gate, same gripper-release gating. Pouch is 12/12 tracked. Detection 1.000 on injected. But clean false-positives at 1.000 because the support plane assumption doesn't match reality. Calibration sweep (metres-per-pixel × floor margin, 35 cells) passes 0/35. Not a near-miss on tuning — the support plane assumption itself fails. The failed assumption: a single assumed diameter for a flexible pouch that changes shape during the slide — 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 slid pouch**: Same gripper-channel Otsu gate. Pouch is 12/12 tracked — easiest tracking case so far.
2. **Calibration sweep**: Sweep metres-per-pixel (±2×) and floor margin (0.75–0.95). 35 cells. 0 pass.
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_ziploc_slide (v1.0). Hardware: ALOHA stationary bimanual (2× ViperX 300), 3× RealSense D435i @ 640×480, 30 FPS. Object: Ziploc bag, ~50 g, polyethylene film, partially filled. Task: Slide, pick, transfer, place. 50 episodes. Flexible pouch changes shape — single assumed diameter is wrong for part of every clip. 0/35 calibration cells pass. Notebook: haga-ziploc-slide-verification. HuggingFace: https://huggingface.co/datasets/lerobot/aloha_static_ziploc_slide

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