Revert d132b13..1d41aaf

This rolls back to commit d132b1363ba8f49558713cb8aa9a840bfeb35ba0.
Revert 1d41aaf..e1a4cbd

This rolls back to commit 1d41aafe4e88de9d164d76b14831c62d29f642a2.
adjustment to thresholded observation generation