[Orca Hand] Grasp labels shift after fingertip material change for builders researchers (intermediate)
Orca Hand discussion on grasp labels changing after fingertip material swaps, friction profile changes, and how teams protect dataset consistency after hardware u...
An underappreciated Orca Hand data-quality problem appears after changing fingertip pads or surface material. Grasps may still work, but slip behavior, contact timing, and label meaning drift enough that old and new data no longer represent the same policy target.
How are you diagnosing grasp-label drift on Orca Hand after a fingertip material change?
Please share how you compare old versus new grasp outcomes, which signs tell you the issue is data-definition drift instead of simple wear, and what relabeling or segmentation decisions keep your dataset trustworthy after the hardware change.
If you reply, include one exact labeling symptom and one exact comparison or QA step that exposed the drift.
The best replies explain whether the drift first appeared in slip rate, contact timing, or human annotation disagreement.
If one before-and-after grasp benchmark exposed the problem quickly, share it. Searchers often need that exact QA gate.
It also helps to say when you fork a new dataset segment instead of mixing data across material changes.