occlusion

When hand tracking loses the plug, does the demo still teach the robot

A hand tracker records the cable approach perfectly, then vanishes exactly as the plug meets the socket. The video shows a completed insertion, but the pose labels have a gap right where alignment turns into contact. That missing phase matters for robot learning. Episode-level recall can hide it. MEgoVista's evaluation protocol assigns an error to missed detections instead of excluding them, a smarter approach. For manipulation data, coverage broken down by approach, contact, and withdrawal tells a truer story.