Docs: mark tactile latency CORRECTED in-data (no loader compensation needed)

README.md

@@ -134,9 +134,9 @@ sample = ds[0]
 ```
 `mode="segment"` iterates clean spans (no bad frames by construction); `mode="window"` slides over whole episodes and skips `bad_frames.json` intervals. Backend: PyAV (install `decord` for faster random access).
 
-## ⚠️ Known issue: tactile acquisition latency (~15 frames)
+## ✅ Tactile latency corrected (was ~15 frames)
 
-Recordings **up to and including 2026-06-18** have a GelSight-vs-camera capture
+Recordings **up to and including 2026-06-18** HAD a GelSight-vs-camera capture
 lag of **≈15 frames (~0.5 s)**: the tactile stream at index `i` was physically
 captured ~15 frames *before* the camera/pose at the same index. Cause: a
 recording-side `cv2.VideoCapture` V4L2 buffer that was never flushed
@@ -144,7 +144,7 @@ recording-side `cv2.VideoCapture` V4L2 buffer that was never flushed
 on 2026-06-27; **future recordings will not have this lag**.
 
 The streams are stored frame-aligned by tick index, so this lag is baked in but
-**correctable**. The reference loader compensates at load time:
+**now corrected in the published data** (tactile shifted +15f, rebuilt from raw H5). No loader flag needed. The loader still accepts `tactile_latency=` for raw data:
 
 ```python
 ds = ReactVideoDataset("data/motherboard", tactile_latency=15)  # pairs view[i] with tactile[i+15]

tasks.json

@@ -97,6 +97,9 @@
     "fixed_in_rig": "2026-06-27",
     "cause": "recording-side cv2.VideoCapture V4L2 buffer never flushed (throttled reads + no BUFFERSIZE=1 + default pixfmt)",
     "compensation": "ReactVideoDataset(tactile_latency=15) pairs view[i] with tactile[i+15]; shifts tactile videos + contact scalars only",
-    "note": "tactile[i] was captured ~15 frames BEFORE view[i] at the same index; streams stored frame-aligned by tick so lag is baked in but correctable."
+    "note": "Recordings up to 2026-06-18 had a ~15-frame GelSight buffer lag; it has been baked out of the published tactile videos + contact scalars. No loader compensation needed. Rig fixed 2026-06-27.",
+    "status": "CORRECTED_IN_DATA",
+    "frames_shifted": 15,
+    "method": "tactile streams shifted +15 frames (rebuilt from raw H5) so tactile[i] aligns with view[i]/pose[i]"
   }
 }