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703.6219682480005 +} diff --git a/sessions/session_20260921_232344_289067/preprocessing/c6a-input-preparation-v1/native/prior_review_v1/PRIOR_REVIEW_c6a_v1.md b/sessions/session_20260921_232344_289067/preprocessing/c6a-input-preparation-v1/native/prior_review_v1/PRIOR_REVIEW_c6a_v1.md new file mode 100644 index 0000000000000000000000000000000000000000..41fd79f38a96cfa753e7438dea28db18f5a4f19a --- /dev/null +++ b/sessions/session_20260921_232344_289067/preprocessing/c6a-input-preparation-v1/native/prior_review_v1/PRIOR_REVIEW_c6a_v1.md @@ -0,0 +1,53 @@ +# session_20260921_232344_289067 — initial prior approved by owner + +Saved C2 **grey_timing_belt** prior evidence (width 25.00 mm, zero-thickness surface). An agent has inspected 22 saved panels and nine selected orbit frames; [the findings](agent_findings.json) record the numerical checks, visual observations and limitations. Owner prior approval remains pending. This packet records no acceptance. + +Initial reference frames are the saved nearest-camera observations of the first 30 Hz sample. The local row, converted frame, native-container frame and capture clock remain distinct in [the metrics JSON](). + +| Camera | Local / converted / native | Centerline / geometry / native input | +|---|---|---| +| 12540311 | 0 / 308 / 309 | [centerline](<../prior_timing_v1/review/spline/centerline_0_with_masks.png>) · [ribbon](<../prior_timing_v1/review/ribbon/silhouette_0_unmasked.png>) · [geometry + mask](<../prior_timing_v1/review/ribbon/silhouette_0_with_masks.png>) · [RGB/depth](<../prior_timing_v1/review/inputs/view_0_12540311.png>) | +| 12933256 | 0 / 307 / 308 | [centerline](<../prior_timing_v1/review/spline/centerline_1_with_masks.png>) · [ribbon](<../prior_timing_v1/review/ribbon/silhouette_1_unmasked.png>) · [geometry + mask](<../prior_timing_v1/review/ribbon/silhouette_1_with_masks.png>) · [RGB/depth](<../prior_timing_v1/review/inputs/view_1_12933256.png>) | +| 17736741 | 0 / 308 / 309 | [centerline](<../prior_timing_v1/review/spline/centerline_2_with_masks.png>) · [ribbon](<../prior_timing_v1/review/ribbon/silhouette_2_unmasked.png>) · [geometry + mask](<../prior_timing_v1/review/ribbon/silhouette_2_with_masks.png>) · [RGB/depth](<../prior_timing_v1/review/inputs/view_2_17736741.png>) | +| 23007103 | 0 / 308 / 309 | [centerline](<../prior_timing_v1/review/spline/centerline_3_with_masks.png>) · [ribbon](<../prior_timing_v1/review/ribbon/silhouette_3_unmasked.png>) · [geometry + mask](<../prior_timing_v1/review/ribbon/silhouette_3_with_masks.png>) · [RGB/depth](<../prior_timing_v1/review/inputs/view_3_23007103.png>) | + +[Full rotation video](<../prior_timing_v1/review/ribbon/orbit.mp4>) · [Geometry and depth cloud](<../prior_timing_v1/review/ribbon/ribbon_scale_views.png>) · [Residual histograms](<../prior_timing_v1/review/spline/residual_histograms.png>) · [Depth offset diagnostic](<../prior_timing_v1/review/inputs/depth_offset.png>) + +Saved fit: **1 stage-1 rounds**, stop `gradient_tolerance`; final length **665.153 mm**, maximum curvature **13.335/m**, final gradient norm **1.92269e-07**. Soft length bounds are 664.000–666.000 mm; distance outside those bounds is 0.000 mm. + +The timing prior has a separate stage 2 with the centerline frozen: **9 twist iterations**, saved success `True`, stop `CONVERGENCE: RELATIVE REDUCTION OF F <= FACTR*EPSMCH`. [Twist and width directions](<../prior_timing_v1/review/ribbon/twist_and_width_direction.png>). + +Saved geometry checks report `passed=True`: **450 mesh vertices / 720 triangles**, 1 component(s), `watertight=False`, `self_intersecting=False`. [Full geometry checks](<../prior_timing_v1/ribbon/ribbon_checks.json>). + +The following 3D residuals are lifted-depth point distances to the **ribbon surface**, not measured reconstruction errors. The fraction of visible projected ribbon surface samples inside the mask is a separate saved diagnostic; it is not silhouette IoU or a visual quality decision. + +| Camera | Median / p90 3D residual (mm) | Visible ribbon surface inside mask | Native depth and visibility evidence | +|---|---|---|---| +| 12540311 | 2.924 / 7.354 | 90.98% | [Full native video](<../review_v1/12540311/rgb_waft_depth_full_window.mp4>) · [Visibility/certainty](<../review_v1/12540311/12540311_visibility_certainty.png>) · [Support/rejections](<../review_v1/12540311/support_and_rejections.png>) · [Paired depth](<../review_v1/12540311/paired_depth.png>) | +| 12933256 | 1.648 / 3.992 | 90.92% | [Full native video](<../review_v1/12933256/rgb_waft_depth_full_window.mp4>) · [Visibility/certainty](<../review_v1/12933256/12933256_visibility_certainty.png>) · [Support/rejections](<../review_v1/12933256/support_and_rejections.png>) · [Paired depth](<../review_v1/12933256/paired_depth.png>) | +| 17736741 | 2.670 / 6.380 | 92.94% | [Full native video](<../review_v1/17736741/rgb_waft_depth_full_window.mp4>) · [Visibility/certainty](<../review_v1/17736741/17736741_visibility_certainty.png>) · [Support/rejections](<../review_v1/17736741/support_and_rejections.png>) · [Paired depth](<../review_v1/17736741/paired_depth.png>) | +| 23007103 | 3.435 / 8.425 | 91.36% | [Full native video](<../review_v1/23007103/rgb_waft_depth_full_window.mp4>) · [Visibility/certainty](<../review_v1/23007103/23007103_visibility_certainty.png>) · [Support/rejections](<../review_v1/23007103/support_and_rejections.png>) · [Paired depth](<../review_v1/23007103/paired_depth.png>) | + +The saved statistical filter used 20 neighbours / 2 sigma and kept **33871 of 35085** eroded points. The run used `waft_stereo_dav2l5`, 2 px erosion, a 400-round budget and reprojection weight **4**. + +Appearance initialization contains **33871 observed + 21600 mesh-derived = 55471 seeds**. Vertex colors are observed for 393 mesh vertices and median-filled for 57. Mesh vertices and appearance seeds are not mechanical particles. No post-prior mechanical population or unit-mass total is supplied by this prior run; trained appearance and physical fitting are separate stages. + +[Appearance seed populations](<../prior_timing_v1/review/hybrid/combined.png>) · [Observed and filled colors](<../prior_timing_v1/review/colors/visibility_and_fill.png>) · [30 Hz observation coverage](<../review_v1/derived/derived_coverage.png>) + +[Full saved 30 Hz observations](<../review_v1/derived/derived_30hz_xyz.mp4>) + +[Manifest](<../prior_timing_v1/manifest.json>) · [Fit settings and metrics](<../prior_timing_v1/steps/fit.json>) · [Reference observations](<../prior_timing_v1/inputs/reference_views.json>) · [Tracking/lift summary](<../review_v1/summary.json>) + +The completed [agent findings](agent_findings.json) cover the 22 named panels and nine sampled orbit frames. Owner prior approval remains pending. No case status, prior acceptance, mechanics approval or trained-appearance approval is changed here. + +Agent review: the modeled ribbon follows the broad visible arcs in all four cameras. Both hands and the foreground forearm/sleeve are treated as occluders; camera 12933256 has substantial arm occlusion. Small edge mismatches remain, and the hidden grasp arcs are prior completion rather than direct observations. The sampled orbit shows one upright loop without a visible fold, twist flip or detached component. + +The surface reaches **z = −5.563 mm** below the nominal table plane; it is not table-constrained. No depth correction, translation or snapping was applied. The read-only local-table depth diagnostic varies across views, and this registration limitation matters before interpreting simulated contact. + +**Saved plot-label limitation:** the linked residual-histogram image says “centerline residual”; for this ribbon run, its values are **point-to-ribbon-surface distances**. The original image and source are preserved; the table above uses the correct surface interpretation. + +Stage 2 improved its own surface objective by **4.21%** with the centerline fixed. Stage 1 and stage 2 use different mask terms, so their total losses are not directly comparable. Length remains inside the 664–666 mm soft interval; no twist knot reached its bound. The saved geometry has two intended open width edges, so `watertight=false` is expected for this zero-thickness surface. + +## Owner decision, 2026-10-28 + +“Approve 232344’s initial prior”. Accept this initial 25 mm zero-thickness ribbon prior for surface-only mechanical inputs and reference static appearance, retaining the disclosed table-registration and hidden-grasp limitations. Trained appearance acceptance and physical fitting remain separate. diff --git a/sessions/session_20260921_232344_289067/preprocessing/c6a-input-preparation-v1/native/prior_review_v1/agent_findings.json b/sessions/session_20260921_232344_289067/preprocessing/c6a-input-preparation-v1/native/prior_review_v1/agent_findings.json new file mode 100644 index 0000000000000000000000000000000000000000..8268ede3234a1ce87d9be5c2940b46f4a390211c --- /dev/null +++ b/sessions/session_20260921_232344_289067/preprocessing/c6a-input-preparation-v1/native/prior_review_v1/agent_findings.json @@ -0,0 +1,665 @@ +{ + "case": "session_20260921_232344_289067/window_anchor0308-0680", + "reviewed_at_utc": "2026-10-28T19:49:22.098303+00:00", + "review_kind": "bounded agent review of completed C2 initial 25 mm timing-ribbon prior", + "readiness": "ready_for_owner_initial_prior_review_with_recorded_table_registration_and_occlusion_limitations", + "blocking_findings_for_initial_prior": [], + "owner_prior_approval": "pending; this record grants no acceptance or downstream authorization", + "scope": { + "goal": "Review initial grey ribbon under the existing approved two-stage recipe.", + "done_when": "22 actual panels, nine selected orbit frames and actual two-stage metrics/bounds inspected; findings and package complete.", + "non_goals": [ + "No refit, source/science changes, input corrections or geometry snapping", + "No owner/global records or approvals", + "No downstream mechanics, static appearance training or dynamic fit" + ], + "validation": "All eight prior command result records verified; saved point residuals recomputed from arrays; frozen stage2 centerline and final trajectory identity checked. Actual visual coverage is explicitly enumerated below." + }, + "image_path_base": "../prior_timing_v1/review", + "inspected_images": [ + "inputs/view_0_12540311.png", + "inputs/view_1_12933256.png", + "inputs/view_2_17736741.png", + "inputs/view_3_23007103.png", + "spline/centerline_0_with_masks.png", + "spline/centerline_1_with_masks.png", + "spline/centerline_2_with_masks.png", + "spline/centerline_3_with_masks.png", + "ribbon/silhouette_0_with_masks.png", + "ribbon/silhouette_1_with_masks.png", + "ribbon/silhouette_2_with_masks.png", + "ribbon/silhouette_3_with_masks.png", + "ribbon/silhouette_0_unmasked.png", + "ribbon/silhouette_1_unmasked.png", + "ribbon/silhouette_2_unmasked.png", + "ribbon/silhouette_3_unmasked.png", + "ribbon/ribbon_scale_views.png", + "spline/residual_histograms.png", + "inputs/depth_offset.png", + "colors/visibility_and_fill.png", + "hybrid/combined.png", + "ribbon/twist_and_width_direction.png" + ], + "inspected_videos": { + "../prior_timing_v1/review/ribbon/orbit.mp4": { + "frame_count": 36, + "fps": 12.0, + "duration_s": 3.0, + "visually_inspected_frame_indices": [ + 0, + 4, + 8, + 13, + 17, + 21, + 26, + 30, + 35 + ], + "method": "Nine selected frames inspected individually; this is not a continuous-playback claim. Orbit renders sampled ribbon vertices." + } + }, + "inspected_data": [ + "../prior_timing_v1/steps/fit.json", + "../prior_timing_v1/ribbon/ribbon_checks.json", + "../prior_timing_v1/spline/reprojection.json", + "../prior_timing_v1/inputs/depth_offset_diagnostic.json", + "../prior_timing_v1/spline/spline_stage1.json", + "../prior_timing_v1/spline/spline_fit.json", + "../prior_timing_v1/spline/residuals.npz", + "../prior_timing_v1/spline/rounds.jsonl", + "../prior_timing_v1/spline/twist_trajectory.jsonl", + "../prior_timing_v1/steps/colors.json", + "../prior_timing_v1/steps/hybrid.json", + "prior_metrics.json" + ], + "saved_metrics": { + "representation": { + "name": "grey_timing_belt", + "representation": "ribbon", + "fitter_source": "spline_estimation.timing_belt_fitting (scratch/test_timing_belt_perception.py)", + "dimension_source": "demonstrated 25 mm width; surface only, no interior (corpus Q1, 2026-10-25)", + "radius_m": null, + "ribbon_width_m": 0.025, + "step_t": 0.1, + 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Their total losses are different objectives. Reported final gradient norm is for twist optimization.", + "arclength_soft_bounds_m": [ + 0.6639999747276306, + 0.6660000085830688 + ], + "arclength_outside_soft_bounds_m": 0.0, + "geometry_checks": { + "representation": "zero-thickness intrinsic ribbon surface (open width edges)", + "euler_characteristic": 0, + "watertight": false, + "components": 1, + "winding_consistent": true, + "boundary_loop_edges": [ + 90, + 90 + ], + "degenerate_triangles": 0, + "open3d_reported_intersecting_pairs": 0, + "confirmed_intersecting_pairs": [], + "self_intersecting": false, + "maximum_width_error_m": 4.168095670692429e-09, + "maximum_midline_error_m": 7.458761557769658e-09, + "maximum_tangent_width_dot": 6.293928615924704e-07, + "seam_surface_error_m": 0.0, + "minimum_nonadjacent_centerline_distance_m": 0.012840398764932582, + "theta_min_max_rad": [ + -0.16286520659923553, + 0.20566576719284058 + ], + "width_direction_abs_z_mean": 0.9866337789138248, + "triangle_area_m2": { + "min": 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0, + "input": 8280, + "kept": 7570, + "removed": 710, + "live_20_0.05_kept": 3722, + "no_filter_kept": 8280 + }, + { + "view": 1, + "input": 7839, + "kept": 7775, + "removed": 64, + "live_20_0.05_kept": 6607, + "no_filter_kept": 7839 + }, + { + "view": 2, + "input": 9442, + "kept": 9192, + "removed": 250, + "live_20_0.05_kept": 6816, + "no_filter_kept": 9442 + }, + { + "view": 3, + "input": 9524, + "kept": 9334, + "removed": 190, + "live_20_0.05_kept": 3319, + "no_filter_kept": 9524 + } + ] + }, + "appearance_seed_counts": { + "observed": 33871, + "mesh": 21600, + "total": 55471, + "mesh_to_observed": 0.6377136783679254 + }, + "vertex_colors": { + "observed_vertices": 393, + "filled_vertices": 57 + }, + "reference_views": [ + { + "serial": "12540311", + "view_index": 0, + "selected_window_local_index": 0, + "converted_frame": 308, + "native_container_frame": 309, + "official_frame": 308, + "depth_frame": 308, + "capture_timestamp_ns": 1790047458409909798, + "device_timestamp_ns": 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+ "native_container_frame": 309, + "official_frame": 308, + "depth_frame": 308, + "capture_timestamp_ns": 1790047458399296935, + "device_timestamp_ns": 1790047458358307848, + "initial_grid_offset_ms": 15.848255, + "visible_surface_inside_mask_fraction": 0.9135883905013192 + } + ] + }, + "numerical_checks": { + "stage1_final_centerline_controls_equal": true, + "control_shape": [ + 9, + 4 + ], + "all_controls_finite": true, + "all_residuals_finite": true, + "surface_residual_count": 33871, + "saved_surface_residual_mean_m": 0.003198116007875234, + "per_view_recomputed": { + "0": { + "n": 7570, + "median_m": 0.0029242488089948893, + "p90_m": 0.007353567285463215 + }, + "1": { + "n": 7775, + "median_m": 0.001648138277232647, + "p90_m": 0.003992185462266208 + }, + "2": { + "n": 9192, + "median_m": 0.0026702620089054108, + "p90_m": 0.006379609368741512 + }, + "3": { + "n": 9334, + "median_m": 0.003434953046962619, + "p90_m": 0.008424665406346326 + } + }, + "final_raw_theta_matches_last_trajectory": true, + "stage1_last_round_matches_record": true + }, + "visual_findings": [ + "All four initial RGB/object/occluder panels show the intended grey timing ribbon and both hand/forearm regions admitted as occluders; the bracelet is covered in view12540311. View12933256 has substantial forearm/sleeve occlusion, with only the upper arc and a short lower segment directly visible.", + "Centerlines and rendered ribbon silhouettes follow the broad visible loop in all four views. Small edge mismatches remain, particularly in12540311 and17736741. Shape under the hands is a prior completion and is not directly observed evidence.", + "The red ribbon overlays are drawn over occluded hand/forearm image areas for review; that drawing alone does not establish physical hand penetration. The accepted occlusion union is excluded from the mask term.", + "The nine orbit samples show one upright ribbon loop with smooth width-direction changes, no visible disconnected component, gross fold, twist flip or local collapse. Saved exact geometry tests independently report one component, no degenerate triangles and no self-intersection.", + "Spatial cloud and hybrid panels show a broad depth band around the modeled ribbon, with view-dependent residual spread; the seed populations retain observed points plus surface-derived seeds. Appearance initialization is not trained appearance.", + "Observed vertex colors cover393 of450 mesh vertices;57 are median-filled, visible in the color-fill panel." + ], + "limitations": [ + { + "kind": "table_registration", + "evidence": "Saved surface minimum z=-5.5630938mm below nominal table z=0; maximum z=24.8872731mm. Read-only depth belt-minus-local-table medians are12.569,8.621,5.440,11.904mm across cameras.", + "meaning": "The current prior is not table-constrained. This matters when interpreting contact/registration in downstream physics; no correction, snap, depth offset or replacement geometry was applied." + }, + { + "kind": "occlusion_and_metric_interpretation", + "evidence": "Visible projected ribbon-surface samples inside mask are90.98%,90.92%,92.94%,91.36%; all views include hand occlusion and12933256 is heavily occluded.", + "meaning": "Coverage is not silhouette IoU, a centerline metric, or ground-truth reconstruction accuracy. Hidden grasp arcs cannot be directly approved from masks alone; owner should inspect the images." + }, + { + "kind": "inherited_plot_label", + "evidence": "../prior_timing_v1/review/spline/residual_histograms.png labels the x-axis centerline residual [mm].", + "meaning": "The saved residual array and this timing run actually measure point-to-ribbon-SURFACE distance. The new packet explicitly discloses this inherited label; original media/source are preserved." + }, + { + "kind": "surface_representation", + "evidence": "Saved geometry is a25mm zero-thickness ribbon with450vertices/720triangles, two open width-edge loops and watertight=false.", + "meaning": "Open width edges are intended for this representation; no thickness or interior population is supplied." + } + ], + "no_scientific_changes": true, + "prior_command_results": { + "batch_prior_colors_result.json": { + "returncode": 0, + "wall_seconds": 2.645297050476074, + "code": "5e1b4258a3efb3620c533a4073a37212d8bf9ee5" + }, + "batch_prior_diagnose_depth_result.json": { + "returncode": 0, + "wall_seconds": 1.5456576347351074, + "code": "5e1b4258a3efb3620c533a4073a37212d8bf9ee5" + }, + "batch_prior_fit_result.json": { + "returncode": 0, + "wall_seconds": 55.53257179260254, + "code": "5e1b4258a3efb3620c533a4073a37212d8bf9ee5" + }, + "batch_prior_hybrid_result.json": { + "returncode": 0, + 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