[R] Would you keep a robot demonstration if hand tracking missed the moment the plug went in?

Excerpt

Suppose you’re recording a human plugging a cable into a socket to collect demonstrations for robot learning. The hand tracker captures the approach accurately. Then occlusion causes the hand estimates to disappear during insertion. Tracking returns after the connector is already seated. The video still shows a completed action, but the pose labels have a gap exactly where alignment turns into contact. This hypothetical example raises an evaluation question: a tracker could have high recall acro