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Frames and networks behind the 2026-09-10 braking study

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Files changed (50) hide show
  1. MANIFEST.json +758 -0
  2. README.md +71 -0
  3. captures/Town01/cross_campaign.json +546 -0
  4. captures/Town01/determinism_lead.json +32 -0
  5. captures/Town01/determinism_lead_hb.json +32 -0
  6. captures/Town01/determinism_none.json +32 -0
  7. captures/Town01/determinism_none_hb.json +32 -0
  8. captures/Town01/determinism_none_ped.json +32 -0
  9. captures/Town01/determinism_none_ped_hb.json +32 -0
  10. captures/Town01/determinism_ped.json +32 -0
  11. captures/Town01/determinism_ped_hb.json +32 -0
  12. captures/Town01/lead_hb_sun-30.000.npz +3 -0
  13. captures/Town01/lead_sun+00.000.npz +3 -0
  14. captures/Town01/lead_sun+00.241.npz +3 -0
  15. captures/Town01/lead_sun+01.465.npz +3 -0
  16. captures/Town01/lead_sun+02.967.npz +3 -0
  17. captures/Town01/lead_sun+04.375.npz +3 -0
  18. captures/Town01/lead_sun+05.990.npz +3 -0
  19. captures/Town01/lead_sun+10.084.npz +3 -0
  20. captures/Town01/lead_sun+17.484.npz +3 -0
  21. captures/Town01/lead_sun+26.523.npz +3 -0
  22. captures/Town01/lead_sun+39.977.npz +3 -0
  23. captures/Town01/lead_sun+60.000.npz +3 -0
  24. captures/Town01/lead_sun-01.422.npz +3 -0
  25. captures/Town01/lead_sun-29.561.npz +3 -0
  26. captures/Town01/lead_sun-30.000.npz +3 -0
  27. captures/Town01/manifest_lead.json +184 -0
  28. captures/Town01/manifest_lead_hb.json +15 -0
  29. captures/Town01/manifest_none.json +184 -0
  30. captures/Town01/manifest_none_hb.json +15 -0
  31. captures/Town01/manifest_none_ped.json +184 -0
  32. captures/Town01/manifest_none_ped_hb.json +15 -0
  33. captures/Town01/manifest_none_plate.json +236 -0
  34. captures/Town01/manifest_ped.json +184 -0
  35. captures/Town01/manifest_ped_hb.json +15 -0
  36. captures/Town01/manifest_plate.json +236 -0
  37. captures/Town01/none_hb_sun-30.000.npz +3 -0
  38. captures/Town01/none_ped_hb_sun-30.000.npz +3 -0
  39. captures/Town01/none_ped_sun+00.000.npz +3 -0
  40. captures/Town01/none_ped_sun+00.241.npz +3 -0
  41. captures/Town01/none_ped_sun+01.465.npz +3 -0
  42. captures/Town01/none_ped_sun+02.967.npz +3 -0
  43. captures/Town01/none_ped_sun+04.375.npz +3 -0
  44. captures/Town01/none_ped_sun+05.990.npz +3 -0
  45. captures/Town01/none_ped_sun+10.084.npz +3 -0
  46. captures/Town01/none_ped_sun+17.484.npz +3 -0
  47. captures/Town01/none_ped_sun+26.523.npz +3 -0
  48. captures/Town01/none_ped_sun+39.977.npz +3 -0
  49. captures/Town01/none_ped_sun+60.000.npz +3 -0
  50. captures/Town01/none_ped_sun-01.422.npz +3 -0
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+ "sha256": "0465c534198dd82637706ff5c7fff524b4bf1f3f9768f079e0122ff2b014c1ad",
711
+ "harness": {
712
+ "map": "Town01",
713
+ "cloudiness": 0.0,
714
+ "weather_settle_ticks": 120,
715
+ "rules_digest": "bed0851fb1571d9e65be70c6872e9f00e54ac6fbd120c4e2991469a7d457fc4a",
716
+ "notexturestreaming": true,
717
+ "quality_level": "Epic",
718
+ "capture_order": "darkest_first"
719
+ }
720
+ },
721
+ "ped_sun-29.561.npz": {
722
+ "sha256": "068288e6c4930bff436426f626aecca4f8c31382e7ec5fd7ae2c2a218f32bc13",
723
+ "harness": {
724
+ "map": "Town01",
725
+ "cloudiness": 0.0,
726
+ "weather_settle_ticks": 120,
727
+ "rules_digest": "bed0851fb1571d9e65be70c6872e9f00e54ac6fbd120c4e2991469a7d457fc4a",
728
+ "notexturestreaming": true,
729
+ "quality_level": "Epic",
730
+ "capture_order": "darkest_first"
731
+ }
732
+ },
733
+ "ped_sun-30.000.npz": {
734
+ "sha256": "2f5144cf93cfe028e515005a30b1a350097bc80cff0f0f0e7e5373f59992ad6a",
735
+ "harness": {
736
+ "map": "Town01",
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+ "cloudiness": 0.0,
738
+ "weather_settle_ticks": 120,
739
+ "rules_digest": "bed0851fb1571d9e65be70c6872e9f00e54ac6fbd120c4e2991469a7d457fc4a",
740
+ "notexturestreaming": true,
741
+ "quality_level": "Epic",
742
+ "capture_order": "darkest_first"
743
+ }
744
+ },
745
+ "plate_sun+00.000.npz": {
746
+ "sha256": "7cfc9334fc5d5263c5c6faf6b1dceb8d15a4d62f2cf0e967e25ce7251abedcdb",
747
+ "harness": null
748
+ },
749
+ "plate_sun+60.000.npz": {
750
+ "sha256": "3b93582d093de1e8ab367483d7937ffc0015860ea5d71b328129531303773710",
751
+ "harness": null
752
+ },
753
+ "plate_sun-30.000.npz": {
754
+ "sha256": "9a1b1ee78a1fa5a5b1f8427e146065092df1302c454ebecbfba81eba226d5992",
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+ "harness": null
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+ }
757
+ }
758
+ }
README.md ADDED
@@ -0,0 +1,71 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ ---
2
+ license: apache-2.0
3
+ task_categories:
4
+ - image-feature-extraction
5
+ tags:
6
+ - autonomous-driving
7
+ - formal-verification
8
+ - carla
9
+ - automatic-emergency-braking
10
+ size_categories:
11
+ - n<1K
12
+ ---
13
+
14
+ # Camera frames and trained networks for the braking verification study
15
+
16
+ The inputs to `AD-Assurance-Lab/formal-verification--aeb--code`, measured on 2026-09-10.
17
+
18
+ **Why this exists.** The study's results are in git. These files are not: they are large and
19
+ git ignores them. Without them the published numbers can be reproduced **in kind** but never
20
+ **exactly**, because the simulator does not render bit-identical frames from one run to the
21
+ next. Different frames give different networks, which give different certificates.
22
+
23
+ ## What is here
24
+
25
+ | | |
26
+ |---|---|
27
+ | `captures/Town01/` | 66 frame sets, one per scenario and sun altitude, plus the campaign manifests |
28
+ | `models/Town01/` | 6 trained networks, three policies for each of two scenarios |
29
+ | `MANIFEST.json` | a hash of every file, and the capture harness recorded inside every frame set |
30
+
31
+ ## How the pieces fit
32
+
33
+ A frame set is a rendered approach at one sun altitude: images, the range to the conflict
34
+ point at each pose, and a stamp saying what made it. The stamp records the map, the cloud
35
+ cover, the settle time, the determinism rules digest, the texture streaming and quality
36
+ settings, and the order the knots were captured in. That last field exists because capture
37
+ order silently ruined a dark endpoint once and nothing recorded it.
38
+
39
+ The networks are what the certificates are computed on. Each certificate in the code
40
+ repository names its network by hash, and those hashes are in `MANIFEST.json`. If they do
41
+ not match, the certificate and the network are not a pair and nothing may be concluded from
42
+ them together.
43
+
44
+ ## Using them
45
+
46
+ Clone the code repository, put these directories at `results/captures/` and
47
+ `results/models/`, then:
48
+
49
+ ```bash
50
+ python -m study.status # where the study stands
51
+ python tools/family_fidelity.py # how much light each piece of the range spans
52
+ ```
53
+
54
+ Both run without a simulator.
55
+
56
+ **Training reproduces exactly from these frames.** Four separate runs gave byte-identical
57
+ checkpoints. So the networks here can be regenerated from the frames here, and the
58
+ certificates from the networks. The chain is only broken if the frames are lost.
59
+
60
+ ## What the study found
61
+
62
+ Three policies differing only in which light levels their training frames came from. All
63
+ three pass all three lighting conditions the standard tests, ten times out of ten, so the
64
+ standard's own procedure cannot tell them apart.
65
+
66
+ Driven at 65 light levels between those conditions, three repetitions each: the policy
67
+ trained on the whole range crashes 0 times, and the policy trained on the regulatory test
68
+ points crashes 21 times on the lead-vehicle scenario and 9 on the crossing pedestrian. A
69
+ certificate names those light levels without simulating them.
70
+
71
+ Method and results: `AD-Assurance-Lab/formal-verification--aeb--code`, `docs/STUDY_REPORT.md`.
captures/Town01/cross_campaign.json ADDED
@@ -0,0 +1,546 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
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+ "campaigns": [
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+ "lead",
4
+ "none",
5
+ "none_ped",
6
+ "none_plate",
7
+ "ped",
8
+ "plate"
9
+ ],
10
+ "axis_span": 0.52246,
11
+ "worst_disagreement_frac": 0.0037,
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+ "knots": [
13
+ {
14
+ "sun_altitude_deg": 60.0,
15
+ "spread": 0.00047,
16
+ "frac_of_span": 0.0009,
17
+ "worst_pose_group": "plate",
18
+ "means": {
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+ "none_plate": 0.51722,
20
+ "plate": 0.51769
21
+ },
22
+ "all_pose_groups": {
23
+ "lead": {
24
+ "lead": 0.50527,
25
+ "none": 0.50537
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+ },
27
+ "ped": {
28
+ "none_ped": 0.51037,
29
+ "ped": 0.51036
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+ },
31
+ "plate": {
32
+ "none_plate": 0.51722,
33
+ "plate": 0.51769
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+ }
35
+ }
36
+ },
37
+ {
38
+ "sun_altitude_deg": 42.766,
39
+ "spread": 0.00017,
40
+ "frac_of_span": 0.0003,
41
+ "worst_pose_group": "plate",
42
+ "means": {
43
+ "none_plate": 0.5553,
44
+ "plate": 0.55547
45
+ },
46
+ "all_pose_groups": {
47
+ "plate": {
48
+ "none_plate": 0.5553,
49
+ "plate": 0.55547
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+ }
51
+ }
52
+ },
53
+ {
54
+ "sun_altitude_deg": 39.977,
55
+ "spread": 6e-05,
56
+ "frac_of_span": 0.0001,
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+ "worst_pose_group": "lead",
58
+ "means": {
59
+ "lead": 0.5288,
60
+ "none": 0.52886
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+ },
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+ "all_pose_groups": {
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+ "lead": {
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+ "lead": 0.5288,
65
+ "none": 0.52886
66
+ },
67
+ "ped": {
68
+ "none_ped": 0.53057,
69
+ "ped": 0.53055
70
+ }
71
+ }
72
+ },
73
+ {
74
+ "sun_altitude_deg": 28.397,
75
+ "spread": 0.00177,
76
+ "frac_of_span": 0.0034,
77
+ "worst_pose_group": "plate",
78
+ "means": {
79
+ "none_plate": 0.54119,
80
+ "plate": 0.54296
81
+ },
82
+ "all_pose_groups": {
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+ "plate": {
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+ "none_plate": 0.54119,
85
+ "plate": 0.54296
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+ }
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+ }
88
+ },
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+ {
90
+ "sun_altitude_deg": 26.523,
91
+ "spread": 0.00012,
92
+ "frac_of_span": 0.0002,
93
+ "worst_pose_group": "lead",
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+ "means": {
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+ "lead": 0.50622,
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+ "none": 0.50634
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+ },
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+ "all_pose_groups": {
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+ "lead": {
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+ "none": 0.50634
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+ },
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+ "ped": {
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+ "none_ped": 0.51138,
105
+ "ped": 0.51129
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+ }
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+ }
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+ },
109
+ {
110
+ "sun_altitude_deg": 18.743,
111
+ "spread": 3e-05,
112
+ "frac_of_span": 0.0001,
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+ "worst_pose_group": "plate",
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+ "means": {
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+ "none_plate": 0.48862,
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+ "plate": 0.48865
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+ },
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+ "all_pose_groups": {
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+ "plate": {
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+ "none_plate": 0.48862,
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+ "plate": 0.48865
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+ }
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+ }
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+ },
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+ {
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+ "sun_altitude_deg": 17.484,
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+ "spread": 4e-05,
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+ "frac_of_span": 0.0001,
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+ "worst_pose_group": "lead",
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+ "means": {
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+ "lead": 0.44435,
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+ "none": 0.44439
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+ },
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+ "none": 0.44439
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+ },
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+ "ped": {
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+ "none_ped": 0.44717,
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+ "ped": 0.44717
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+ }
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+ }
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+ },
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+ {
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+ "sun_altitude_deg": 12.542,
147
+ "spread": 0.00097,
148
+ "frac_of_span": 0.0019,
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+ "worst_pose_group": "plate",
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+ "means": {
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+ "none_plate": 0.42011,
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+ "plate": 0.41914
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+ },
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+ "all_pose_groups": {
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+ "plate": {
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+ "none_plate": 0.42011,
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+ "plate": 0.41914
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+ }
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+ }
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+ },
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+ {
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+ "sun_altitude_deg": 10.128,
163
+ "spread": 7e-05,
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+ "frac_of_span": 0.0001,
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+ "worst_pose_group": "plate",
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+ "means": {
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+ "none_plate": 0.38221,
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+ "plate": 0.38228
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+ },
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+ "all_pose_groups": {
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+ "plate": {
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+ "none_plate": 0.38221,
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+ "plate": 0.38228
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+ }
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+ }
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+ },
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+ {
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+ "sun_altitude_deg": 10.084,
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+ "spread": 0.00044,
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+ "frac_of_span": 0.0008,
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+ "worst_pose_group": "lead",
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+ "means": {
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+ "lead": 0.35853,
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+ "none": 0.35897
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+ },
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+ "all_pose_groups": {
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+ },
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+ "ped": {
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+ }
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+ }
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+ },
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+ {
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+ "spread": 0.00086,
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+ "frac_of_span": 0.0016,
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+ "worst_pose_group": "plate",
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+ "means": {
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+ },
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+ }
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+ }
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+ },
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+ "frac_of_span": 0.0009,
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+ "worst_pose_group": "ped",
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+ "means": {
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+ "ped": 0.27087
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+ },
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+ },
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+ "ped": {
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+ "ped": 0.27087
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+ }
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+ }
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+ },
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+ {
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+ },
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+ }
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+ }
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+ },
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+ {
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+ },
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+ },
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+ }
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+ },
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+ },
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+ }
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+ },
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