diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_colors.log b/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_colors.log new file mode 100644 index 0000000000000000000000000000000000000000..6b88989754dda8b332868726cd648b5686153fbc --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_colors.log @@ -0,0 +1 @@ +colors: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1/steps/colors.json diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_colors_argv.json b/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_colors_argv.json new file mode 100644 index 0000000000000000000000000000000000000000..4ec4fed52a5f27dcb65fb393559d576ce0ee4a36 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_colors_argv.json @@ -0,0 +1,25 @@ +{ + "argv": [ + "uv", + "run", + "--no-sync", + "python", + "-B", + "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/real_rgbd_appearance_spline_prior.py", + "colors", + "--run", + "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1" + ], + "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e", + "owner_settings": { + "owner_text": "Use 18 controls and 5e-9 for both", + "question_item_id": "[\"request_user_input_async\",\"call_4f3ca5db567e45e7a0e793e0329a9bf9\",0]", + "recorded_utc": "2026-10-28T22:07:04.723232+00:00", + "control_count": 18, + "lambda_curvature_cost": 5e-09, + "settings_source": "233248 variant B", + "scope": "Prepare233350 with18controls and curvature5e-9; all other current C2 settings unchanged. Individual prior review and acceptance remain separate.", + "run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1" + }, + "started_utc": "2026-10-28T22:15:45.006008+00:00" +} \ No newline at end of file diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_colors_result.json b/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_colors_result.json new file mode 100644 index 0000000000000000000000000000000000000000..9ce11ae2df2e6aaf212e9d5952d2c16f0134c6c3 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_colors_result.json @@ -0,0 +1,5 @@ +{ + "returncode": 0, + "wall_seconds": 2.5801406809914624, + "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e" +} diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_diagnose_depth.log b/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_diagnose_depth.log new file mode 100644 index 0000000000000000000000000000000000000000..c9b5b0e012cdd3af4d1fb02247fb0655cba113fa --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_diagnose_depth.log @@ -0,0 +1 @@ +diagnose-depth: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1/steps/diagnose-depth.json diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_diagnose_depth_argv.json b/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_diagnose_depth_argv.json new file mode 100644 index 0000000000000000000000000000000000000000..97538128083f1ee11987937b7219d600def46948 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_diagnose_depth_argv.json @@ -0,0 +1,25 @@ +{ + "argv": [ + "uv", + "run", + "--no-sync", + "python", + "-B", + "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/real_rgbd_appearance_spline_prior.py", + "diagnose-depth", + "--run", + "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1" + ], + "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e", + "owner_settings": { + "owner_text": "Use 18 controls and 5e-9 for both", + "question_item_id": "[\"request_user_input_async\",\"call_4f3ca5db567e45e7a0e793e0329a9bf9\",0]", + "recorded_utc": "2026-10-28T22:07:04.723232+00:00", + "control_count": 18, + "lambda_curvature_cost": 5e-09, + "settings_source": "233248 variant B", + "scope": "Prepare233350 with18controls and curvature5e-9; all other current C2 settings unchanged. Individual prior review and acceptance remain separate.", + "run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1" + }, + "started_utc": "2026-10-28T22:15:16.110763+00:00" +} \ No newline at end of file diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_diagnose_depth_result.json b/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_diagnose_depth_result.json new file mode 100644 index 0000000000000000000000000000000000000000..1490998236e81ddf441bcc6bc0c8c30cde61eb84 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_diagnose_depth_result.json @@ -0,0 +1,5 @@ +{ + "returncode": 0, + "wall_seconds": 1.5677661869995063, + "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e" +} diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_fit.log b/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_fit.log new file mode 100644 index 0000000000000000000000000000000000000000..dd540668cfd5dfb724520bb96f2f42cf2ef1c87a --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_fit.log @@ -0,0 +1,43 @@ +compiling! +compiling! +compiling! +compiling! +compiling! +compiling! +compiling! +compiling! +compiling! +compiling! +compiling! +compiling! +compiling! +compiling! +compiling! +compiling! +compiling! +compiling! +compiling! +compiling! +compiling! +compiling! +compiling! +compiling! +compiling! +compiling! +compiling! +compiling! +compiling! +compiling! +compiling! +compiling! +compiling! +compiling! +compiling! +compiling! +compiling! +compiling! +compiling! +compiling! +compiling! +compiling! +fit: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1/steps/fit.json diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_fit_argv.json b/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_fit_argv.json new file mode 100644 index 0000000000000000000000000000000000000000..fb8767fb3dd7bc1c84a554c88bb96a3fa0eeb686 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_fit_argv.json @@ -0,0 +1,35 @@ +{ + "argv": [ + "uv", + "run", + "--no-sync", + "python", + "-B", + "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/real_rgbd_appearance_spline_prior.py", + "fit", + "--run", + "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1", + "--outlier-filter", + "statistical:20:2.0", + "--max-rounds", + "400", + "--reprojection-weight", + "4", + "--chain-control-count", + "18", + "--chain-curvature-weight", + "5e-9" + ], + "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e", + "owner_settings": { + "owner_text": "Use 18 controls and 5e-9 for both", + "question_item_id": "[\"request_user_input_async\",\"call_4f3ca5db567e45e7a0e793e0329a9bf9\",0]", + "recorded_utc": "2026-10-28T22:07:04.723232+00:00", + "control_count": 18, + "lambda_curvature_cost": 5e-09, + "settings_source": "233248 variant B", + "scope": "Prepare233350 with18controls and curvature5e-9; all other current C2 settings unchanged. Individual prior review and acceptance remain separate.", + "run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1" + }, + "started_utc": "2026-10-28T22:15:17.678944+00:00" +} \ No newline at end of file diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_fit_result.json b/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_fit_result.json new file mode 100644 index 0000000000000000000000000000000000000000..a63294e3ecd9a3b5c2eaf66ed4d25ad20107e5f2 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_fit_result.json @@ -0,0 +1,5 @@ +{ + "returncode": 0, + "wall_seconds": 22.309130203007953, + "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e" +} diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_hybrid.log b/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_hybrid.log new file mode 100644 index 0000000000000000000000000000000000000000..062f43865f143abaa612eee3c290e3a511604fcb --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_hybrid.log @@ -0,0 +1 @@ +hybrid: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1/steps/hybrid.json diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_hybrid_argv.json b/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_hybrid_argv.json new file mode 100644 index 0000000000000000000000000000000000000000..60d55fe90d44fa73bd868d92b4aa4ed6c3996a93 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_hybrid_argv.json @@ -0,0 +1,25 @@ +{ + "argv": [ + "uv", + "run", + "--no-sync", + "python", + "-B", + "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/real_rgbd_appearance_spline_prior.py", + "hybrid", + "--run", + "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1" + ], + "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e", + "owner_settings": { + "owner_text": "Use 18 controls and 5e-9 for both", + "question_item_id": "[\"request_user_input_async\",\"call_4f3ca5db567e45e7a0e793e0329a9bf9\",0]", + "recorded_utc": "2026-10-28T22:07:04.723232+00:00", + "control_count": 18, + "lambda_curvature_cost": 5e-09, + "settings_source": "233248 variant B", + "scope": "Prepare233350 with18controls and curvature5e-9; all other current C2 settings unchanged. Individual prior review and acceptance remain separate.", + "run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1" + }, + "started_utc": "2026-10-28T22:15:47.586316+00:00" +} \ No newline at end of file diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_hybrid_result.json b/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_hybrid_result.json new file mode 100644 index 0000000000000000000000000000000000000000..c99bd723a37ab4b4ead3f5732f3c1b50dbe797cc --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_hybrid_result.json @@ -0,0 +1,5 @@ +{ + "returncode": 0, + "wall_seconds": 2.2458752670063404, + "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e" +} diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_inputs.log b/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_inputs.log new file mode 100644 index 0000000000000000000000000000000000000000..67782020cc6c7effa8e229160832fc17f4b7c3c2 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_inputs.log @@ -0,0 +1 @@ +inputs: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1/steps/inputs.json diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_inputs_argv.json b/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_inputs_argv.json new file mode 100644 index 0000000000000000000000000000000000000000..eacb70ed5b76ffcd0a647c5e358688948817ffee --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_inputs_argv.json @@ -0,0 +1,38 @@ +{ + "argv": [ + "uv", + "run", + "--no-sync", + "python", + "-B", + "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/real_rgbd_appearance_spline_prior.py", + "inputs", + "--result-root", + "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730", + "--object", + "bike_chain", + "--unfitted-inputs", + "--fitting-bundle", + "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/rt3_lifts/fitting/fitting_observations.npz", + "--frames-bundle", + "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/frames_waft/per_camera_inputs.json", + "--depth-source", + "waft_stereo_dav2l5", + "--mask-erosion-px", + "2", + "--out", + "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1" + ], + "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e", + "owner_settings": { + "owner_text": "Use 18 controls and 5e-9 for both", + "question_item_id": "[\"request_user_input_async\",\"call_4f3ca5db567e45e7a0e793e0329a9bf9\",0]", + "recorded_utc": "2026-10-28T22:07:04.723232+00:00", + "control_count": 18, + "lambda_curvature_cost": 5e-09, + "settings_source": "233248 variant B", + "scope": "Prepare233350 with18controls and curvature5e-9; all other current C2 settings unchanged. Individual prior review and acceptance remain separate.", + "run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1" + }, + "started_utc": "2026-10-28T22:14:41.200068+00:00" +} \ No newline at end of file diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_inputs_result.json b/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_inputs_result.json new file mode 100644 index 0000000000000000000000000000000000000000..aa483cb52dc1b11a7a861067ade63226ef96ef5f --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_inputs_result.json @@ -0,0 +1,5 @@ +{ + "returncode": 0, + "wall_seconds": 34.91050139600702, + "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e" +} diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_manifest.log b/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_manifest.log new file mode 100644 index 0000000000000000000000000000000000000000..c741bad0d7d1caa6ac28ae2e1bc2ca82fa3d5037 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_manifest.log @@ -0,0 +1 @@ +/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1/manifest.json diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_manifest_argv.json b/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_manifest_argv.json new file mode 100644 index 0000000000000000000000000000000000000000..7a4fed869976f943f9ba132fb5552c26e97ca103 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_manifest_argv.json @@ -0,0 +1,25 @@ +{ + "argv": [ + "uv", + "run", + "--no-sync", + "python", + "-B", + "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/real_rgbd_appearance_spline_prior.py", + "manifest", + "--run", + "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1" + ], + "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e", + "owner_settings": { + "owner_text": "Use 18 controls and 5e-9 for both", + "question_item_id": "[\"request_user_input_async\",\"call_4f3ca5db567e45e7a0e793e0329a9bf9\",0]", + "recorded_utc": "2026-10-28T22:07:04.723232+00:00", + "control_count": 18, + "lambda_curvature_cost": 5e-09, + "settings_source": "233248 variant B", + "scope": "Prepare233350 with18controls and curvature5e-9; all other current C2 settings unchanged. Individual prior review and acceptance remain separate.", + "run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1" + }, + "started_utc": "2026-10-28T22:16:02.298454+00:00" +} \ No newline at end of file diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_manifest_result.json b/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_manifest_result.json new file mode 100644 index 0000000000000000000000000000000000000000..209dbdf3767a58f74bc5e84cdc1e35ef0f517656 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_manifest_result.json @@ -0,0 +1,5 @@ +{ + "returncode": 0, + "wall_seconds": 1.36235857300926, + "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e" +} diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_review.log b/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_review.log new file mode 100644 index 0000000000000000000000000000000000000000..c839f32c4e449671029f3ec487b11c76305c3eaa --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_review.log @@ -0,0 +1 @@ +review: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1/steps/review.json diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_review_argv.json b/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_review_argv.json new file mode 100644 index 0000000000000000000000000000000000000000..64d3a7dab6069cae57358724cdfea9558819c697 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_review_argv.json @@ -0,0 +1,25 @@ +{ + "argv": [ + "uv", + "run", + "--no-sync", + "python", + "-B", + "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/real_rgbd_appearance_spline_prior.py", + "review", + "--run", + "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1" + ], + "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e", + "owner_settings": { + "owner_text": "Use 18 controls and 5e-9 for both", + "question_item_id": "[\"request_user_input_async\",\"call_4f3ca5db567e45e7a0e793e0329a9bf9\",0]", + "recorded_utc": "2026-10-28T22:07:04.723232+00:00", + "control_count": 18, + "lambda_curvature_cost": 5e-09, + "settings_source": "233248 variant B", + "scope": "Prepare233350 with18controls and curvature5e-9; all other current C2 settings unchanged. Individual prior review and acceptance remain separate.", + "run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1" + }, + "started_utc": "2026-10-28T22:15:49.832359+00:00" +} \ No newline at end of file diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_review_result.json b/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_review_result.json new file mode 100644 index 0000000000000000000000000000000000000000..cd923361bfc95c8169b70d3a7756fb1b4ab8ed0a --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_review_result.json @@ -0,0 +1,5 @@ +{ + "returncode": 0, + "wall_seconds": 12.46593309599848, + "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e" +} diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_tube.log b/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_tube.log new file mode 100644 index 0000000000000000000000000000000000000000..f92846ec74076512cfe9fe7ed0ef02e60f20a80b --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_tube.log @@ -0,0 +1 @@ +tube: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1/steps/tube.json diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_tube_argv.json b/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_tube_argv.json new file mode 100644 index 0000000000000000000000000000000000000000..323b21f66852ddd283a73f39d26b4adac8256bc8 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_tube_argv.json @@ -0,0 +1,25 @@ +{ + "argv": [ + "uv", + "run", + "--no-sync", + "python", + "-B", + "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/real_rgbd_appearance_spline_prior.py", + "tube", + "--run", + "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1" + ], + "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e", + "owner_settings": { + "owner_text": "Use 18 controls and 5e-9 for both", + "question_item_id": "[\"request_user_input_async\",\"call_4f3ca5db567e45e7a0e793e0329a9bf9\",0]", + "recorded_utc": "2026-10-28T22:07:04.723232+00:00", + "control_count": 18, + "lambda_curvature_cost": 5e-09, + "settings_source": "233248 variant B", + "scope": "Prepare233350 with18controls and curvature5e-9; all other current C2 settings unchanged. Individual prior review and acceptance remain separate.", + "run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1" + }, + "started_utc": "2026-10-28T22:15:39.988331+00:00" +} \ No newline at end of file diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_tube_result.json b/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_tube_result.json new file mode 100644 index 0000000000000000000000000000000000000000..3104b469a2e824249ecbd39dcce30f9b1f323c1f --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_tube_result.json @@ -0,0 +1,5 @@ +{ + "returncode": 0, + "wall_seconds": 5.017477997011156, + "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e" +} diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_reference_complete.json b/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_reference_complete.json new file mode 100644 index 0000000000000000000000000000000000000000..58119fd84918bddfe50dd2f28888ffb85d9d45d7 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_reference_complete.json @@ -0,0 +1,5 @@ +{ + "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e", + "phase": "reference", + "completed_utc": "2026-10-28T22:02:24.875622+00:00" +} diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_reference_lift_depth_consistency_argv.json b/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_reference_lift_depth_consistency_argv.json new file mode 100644 index 0000000000000000000000000000000000000000..9f139a4824636f04e7d8993a97f73d42815541ea --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_reference_lift_depth_consistency_argv.json @@ -0,0 +1,35 @@ +{ + "argv": [ + "flock", + "-x", + "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/outputs/c6a_recovery/resource_lane.lock", + "uv", + "run", + "--no-sync", + "python", + "-B", + "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/prepare_rt3_lifting.py", + "--result-root", + "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730", + "--selected-session", + "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_233350_440979", + "--selected-frames", + "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/frames_waft/per_camera_inputs.json", + "--tap-tracks", + "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/tapnextpp_tracks", + "--cotracker-tracks", + "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/query_tracks", + "--support-rule", + "rt_d7_depth_consistency_v1", + "--observations-only", + "--participating-hand", + "hand_A", + "--participating-hand", + "hand_B", + "--output", + "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/rt3_lifts" + ], + "code": 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"d1d2f1381470138dfbb3c58d448e53bfed1e0d7e" +} diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_reference_query_tracks.log b/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_reference_query_tracks.log new file mode 100644 index 0000000000000000000000000000000000000000..6ce1af1034f3a0ed22b309b5ef38101984b2f621 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_reference_query_tracks.log @@ -0,0 +1,8 @@ +12540311: tracked 5000 queries +12933256: tracked 5000 queries +17736741: tracked 5000 queries +23007103: tracked 5000 queries +12540311: members {'object': 875, 'hand_A': 2381, 'hand_B': 1706} +12933256: members {'object': 732, 'hand_A': 1802, 'hand_B': 2321} +17736741: members {'object': 761, 'hand_A': 2405, 'hand_B': 1788} +23007103: members {'object': 834, 'hand_A': 1718, 'hand_B': 2340} diff --git 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b/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_reference_review_argv.json @@ -0,0 +1,30 @@ +{ + "argv": [ + "flock", + "-x", + "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/outputs/c6a_recovery/resource_lane.lock", + "uv", + "run", + "--no-sync", + "python", + "-B", + "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/outputs/c6a_recovery/agent_drafts/accepted_batch_recipe/review_reference_case.py", + "--case", + "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730", + "--session", + "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_233350_440979", + "--frames", + "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/frames_waft/per_camera_inputs.json", + "--prep", + 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b/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/batch_reference_tapnextpp_tracks.log @@ -0,0 +1,6 @@ +/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/lib/python3.11/site-packages/torch/functional.py:505: UserWarning: torch.meshgrid: in an upcoming release, it will be required to pass the indexing argument. (Triggered internally at /pytorch/aten/src/ATen/native/TensorShape.cpp:4381.) + return _VF.meshgrid(tensors, **kwargs) # type: ignore[attr-defined] +12540311: saved 372 native frames and 5000 joint queries to /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/tapnextpp_tracks/tracks_12540311.npz +12933256: saved 372 native frames and 5000 joint queries to /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/tapnextpp_tracks/tracks_12933256.npz +17736741: saved 372 native frames and 5000 joint queries to /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/tapnextpp_tracks/tracks_17736741.npz +23007103: saved 372 native frames and 5000 joint queries to 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b/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/frames_waft/per_camera_inputs.json new file mode 100644 index 0000000000000000000000000000000000000000..1c142078f77213b49d86b2a53b1ecbf68fac6d62 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/frames_waft/per_camera_inputs.json @@ -0,0 +1,33 @@ +{ + "annotation_ns": [ + 1790048068527115074, + 1790048080936730404 + ], + "anchor_view": 0, + "cameras": [ + { + "view_index": 0, + "serial": "12540311", + "frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/frames_waft/cameras/12540311/inspection/frames.npz", + "result_root": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/native_inputs/cameras/12540311" + }, + { + "view_index": 1, + "serial": "12933256", + "frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/frames_waft/cameras/12933256/inspection/frames.npz", + "result_root": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/native_inputs/cameras/12933256" + }, + { + "view_index": 2, + "serial": "17736741", + "frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/frames_waft/cameras/17736741/inspection/frames.npz", + "result_root": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/native_inputs/cameras/17736741" + }, + { + "view_index": 3, + "serial": "23007103", + "frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/frames_waft/cameras/23007103/inspection/frames.npz", + "result_root": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/native_inputs/cameras/23007103" + } + ] +} diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_lower_curvature_v2/PRIOR_REVIEW_c6a_v1.md b/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_lower_curvature_v2/PRIOR_REVIEW_c6a_v1.md new file mode 100644 index 0000000000000000000000000000000000000000..0d57f91900e677a9b2987b67188fe5b32c447470 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_lower_curvature_v2/PRIOR_REVIEW_c6a_v1.md @@ -0,0 +1,73 @@ +# session_20260921_233350_440979 — prior approval pending + +Saved C2 **bike_chain** prior evidence (radius 4.75 mm). Agent numerical and visual review is complete. This candidate is not accepted; all old chain-prior acceptances remain revoked. This packet reports the observations and tradeoffs below and grants 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 / 359 / 360 | [centerline](<../prior_chain_lower_curvature_v2/review/spline/centerline_0_with_masks.png>) · [tube](<../prior_chain_lower_curvature_v2/review/tube/silhouette_0_unmasked.png>) · [geometry + mask](<../prior_chain_lower_curvature_v2/review/tube/silhouette_0_with_masks.png>) · [RGB/depth](<../prior_chain_lower_curvature_v2/review/inputs/view_0_12540311.png>) | +| 12933256 | 0 / 358 / 359 | [centerline](<../prior_chain_lower_curvature_v2/review/spline/centerline_1_with_masks.png>) · [tube](<../prior_chain_lower_curvature_v2/review/tube/silhouette_1_unmasked.png>) · [geometry + mask](<../prior_chain_lower_curvature_v2/review/tube/silhouette_1_with_masks.png>) · [RGB/depth](<../prior_chain_lower_curvature_v2/review/inputs/view_1_12933256.png>) | +| 17736741 | 0 / 359 / 360 | [centerline](<../prior_chain_lower_curvature_v2/review/spline/centerline_2_with_masks.png>) · [tube](<../prior_chain_lower_curvature_v2/review/tube/silhouette_2_unmasked.png>) · [geometry + mask](<../prior_chain_lower_curvature_v2/review/tube/silhouette_2_with_masks.png>) · [RGB/depth](<../prior_chain_lower_curvature_v2/review/inputs/view_2_17736741.png>) | +| 23007103 | 0 / 358 / 359 | [centerline](<../prior_chain_lower_curvature_v2/review/spline/centerline_3_with_masks.png>) · [tube](<../prior_chain_lower_curvature_v2/review/tube/silhouette_3_unmasked.png>) · [geometry + mask](<../prior_chain_lower_curvature_v2/review/tube/silhouette_3_with_masks.png>) · [RGB/depth](<../prior_chain_lower_curvature_v2/review/inputs/view_3_23007103.png>) | + +[Full rotation video](<../prior_chain_lower_curvature_v2/review/tube/orbit.mp4>) · [Geometry and depth cloud](<../prior_chain_lower_curvature_v2/review/tube/tube_scale_views.png>) · [Residual histograms](<../prior_chain_lower_curvature_v2/review/spline/residual_histograms.png>) · [Depth offset diagnostic](<../prior_chain_lower_curvature_v2/review/inputs/depth_offset.png>) + +Saved fit: **1 stage-1 rounds**, stop `gradient_tolerance`; final length **585.223 mm**, maximum curvature **77.984/m**, final gradient norm **8.47565e-05**. Soft length bounds are 583.000–585.000 mm; distance outside those bounds is 0.224 mm. + +Saved geometry checks report `passed=True`: **1728 mesh vertices / 3456 triangles**, 1 component(s), `watertight=True`, `self_intersecting=False`. [Full geometry checks](<../prior_chain_lower_curvature_v2/tube/tube_checks.json>). + +The following 3D residuals are lifted-depth point distances to the **centerline**, not measured reconstruction errors. The centerline-in-mask fraction is a separate saved diagnostic; it is not silhouette IoU or a visual quality decision. + +| Camera | Median / p90 3D residual (mm) | Visible centerline inside mask | Native depth and visibility evidence | +|---|---|---|---| +| 12540311 | 7.498 / 11.155 | 99.63% | [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 | 4.821 / 7.528 | 96.92% | [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 | 7.063 / 10.263 | 97.88% | [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 | 7.189 / 10.692 | 98.87% | [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 **22415 of 23373** eroded points. The run used `waft_stereo_dav2l5`, 2 px erosion, a 400-round budget and reprojection weight **4**. + +Appearance initialization contains **22415 observed + 103680 mesh-derived = 126095 seeds**. Vertex colors are observed for 1037 mesh vertices and median-filled for 691. 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_chain_lower_curvature_v2/review/hybrid/combined.png>) · [Observed and filled colors](<../prior_chain_lower_curvature_v2/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_chain_lower_curvature_v2/manifest.json>) · [Fit settings and metrics](<../prior_chain_lower_curvature_v2/steps/fit.json>) · [Reference observations](<../prior_chain_lower_curvature_v2/inputs/reference_views.json>) · [Tracking/lift summary](<../review_v1/summary.json>) + +The agent inspected 21 actual initial-prior panels and 9 orbit samples. [Exact findings and paired metrics]() retain the coverage. No owner approval, case status, mechanics or appearance authorization is changed. + +## Comparison with the retained M18 baseline + +Both owner-authorized candidates are complete and reviewed. **Neither is accepted, and all old chain-prior acceptances remain revoked.** Lower curvature uses M18 / 5e-10 / reprojection 4; stronger reprojection uses M18 / 5e-9 / reprojection 8. Every other fit, input and geometry setting matches the designated baseline. + +| Run | Mean 2D distance (mm) | Mean 3D distance (mm) | Length (mm) | Soft upper excess (mm) | Max curvature (/m) | Surface z range (mm) | +|---|---:|---:|---:|---:|---:|---| +| retained_M18_baseline | 3.798174 | 7.080405 | 585.177660 | 0.177681 | 76.955490 | -1.411954 to 22.065379 | +| lower_curvature | 3.799692 | 7.083954 | 585.223496 | 0.223517 | 77.984489 | -1.413506 to 22.151601 | +| stronger_reprojection | 3.702846 | 7.621072 | 585.119069 | 0.119090 | 79.924133 | -2.983477 to 22.970060 | + +Reducing curvature weight from 5e-9 to 5e-10 leaves visible geometry and common raw residuals nearly unchanged under the unchanged solver. Mean 2D distance changes from 3.798174 to 3.799692 mm; mean 3D distance from 7.080405 to 7.083954 mm. Soft upper-length excess grows from 0.177681 to 0.223517 mm. These small changes do not show an improvement for this case. + +Doubling reprojection weight improves mean mask-to-centerline distance in every camera, with the equal-view mean falling from 3.798174 to 3.702846 mm. Pooled lifted-point distance to the centerline increases from 7.080405 to 7.621072 mm. Soft upper-length excess decreases to 0.119090 mm, while minimum surface z shifts from -1.411954 to -2.983477 mm. This is an image/depth tradeoff with a changed height profile, not demonstrated physical accuracy or a global winner. + +The 2D metric is the equal-view mean visible-mask-pixel distance to the projected centerline; it is not silhouette IoU. The 3D metric is pooled lifted-point distance to the centerline; it is not tube-surface error or ground-truth accuracy. Differently weighted total objectives are not ranked. The results have no new noise or significance bound. + +Both candidates follow the broad, rounded rectangular chain loop in all four views. Closures across both grasping hands remain inferred; camera 12933256 has substantial foreground hand, forearm and sleeve occlusion. Projection across a hand is not direct evidence of the hidden chain contour or of physical hand penetration. + +The baseline and both candidates have very similar visible corners and exposed arcs. Lower curvature gives no clear visual improvement; stronger reprojection produces modest shifts of exposed arcs and inferred closures. Neither candidate resolves hidden-shape uncertainty or explicitly represents individual chain links. + +Both sets of nine orbit samples show one continuous closed loop with rounded corners and a smooth local height rise near an occluded grasp; no gross crossing, detached component, seam opening or collapsed section is apparent. These sampled views do not establish the true hidden shape. Scale and hybrid panels retain multiview cloud thickness and a visible separation between the tube and some depth observations. + +The circular tube radius remains 4.75 mm. Ring samples are cross-sections of a continuous approximation, not rollers, link plates, gaps or joint articulation. Colors remain median-filled on the underside and occluded sections. Object-to-local-table depth offsets are retained without correction. The saved surface extends below z=0 in all three runs (most in stronger reprojection), so this prior review does not establish table-contact feasibility. + +This candidate stops after 1 outer round(s) at `gradient_tolerance`, gradient norm 8.4756466e-05. Soft length and curvature thresholds remain penalties, not hard feasibility limits. Its tube has 144 rings, 1728 vertices and 3456 triangles at 4.75 mm radius; the saved surface-intersection checks pass. Colors are observed for 1037 vertices and median-filled for 691. Hybrid seeds remain 22,415 observed + 103,680 mesh-derived = 126,095; these are appearance seeds, not mechanical particles or mass. + +Actual inspection covered 21 panels per candidate: four inputs, four masked centerlines, eight masked/unmasked silhouettes, and scale/depth cloud, depth offset, residual histograms, colors/fill, hybrid populations. Nine orbit samples 0, 4, 8, 13, 17, 21, 26, 30, 35 of 36 at 12 fps were inspected per candidate. The four retained baseline centerline overlays were also inspected. This is bounded sampled viewing, not continuous playback. + +Both hands are represented by 30 measured controls (18 hand_A, 12 hand_B), selected from 205 eligible candidates after the inclusive initial 4 cm gate; maximum initial distance is 39.458390 mm. The retained reference review records zero camera 12933256 object support at native-relative frames 139–192 and 293–325, and zero hand_A support at 152–187 and 302–321. Its 83 nonfinite coverage entries remain unfilled; paired native-minus-WAFT p95 reaches +274.4 mm at frame 296 on common support, including hands. Camera 23007103 falls to 218 object points at frame 322. Later derived samples contain partial arcs and isolated points. The reference review inspected 16 samples per video; this initial-prior review grants no full-sequence physical-fitting clearance. [Reference review](<../review_v1/REVIEW.md>). These initial priors do not clear later observations for physical fitting. + +[Other candidate](<../prior_review_chain_stronger_reprojection_v2/PRIOR_REVIEW_c6a_v1.md>) · [Numerical checks]() · [Exact visual findings](). + +All six scientific stages and the single explicit-run packager/check returned zero. All 27 reused input payloads match the designated baseline byte-for-byte, and the copied inputs exclude the derived shape GLB. Both designated old M18 baseline fits and manifests remain unchanged. Saved controls and all seven numerical array families are finite; per-view residual quantiles, geometry radius/bounds, vertex colors and hybrid correspondence were checked. Only the assigned new review packets and unique scratch were written; no source, scientific product, global status or owner record was changed. diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_lower_curvature_v2/agent_findings.json b/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_lower_curvature_v2/agent_findings.json new file mode 100644 index 0000000000000000000000000000000000000000..3b23b782a4350ff0db8e9ae9d8c9c18977df66f6 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_lower_curvature_v2/agent_findings.json @@ -0,0 +1,1971 @@ +{ + "case_id": "233350", + "candidate": "lower_curvature", + "reviewed_utc": "2026-10-28T22:57:10.435141+00:00", + "scope": { + "goal": "Review both owner-authorized parameter candidates and compare with the retained M18 prior", + "done_when": "Per candidate: six science results zero, one package/check,21 actual panels+9 orbit samples, numerical identity/geometry checks and paired findings", + "non_goals": [ + "No science execution or modified scientific products", + "No global selection or restoration of revoked acceptances", + "No mechanics, trained appearance or physical fitting" + ], + "validation": "Saved stage results, exact requested settings and unchanged remaining settings, 27 input-byte comparisons, both designated baseline identities, numerical arrays, actual images, and linked packet" + }, + "job": { + "case_id": "233350", + "session_id": "session_20260921_233350_440979", + "case": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730", + "prep": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1", + "candidate": "lower_curvature", + "run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2", + "review": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_review_chain_lower_curvature_v2", + "baseline": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1", + "settings": { + "control_count": 18, + "lambda_curvature_cost": 5e-10, + "reprojection_weight": 4.0 + }, + "baseline_manifest_sha256": "2868aa9e17b56b62b665ef54f64598c6954f80183cd20a8d62850ff5abb0680f", + "baseline_fit_sha256": "69f21731d4ca6e9fd869caf908c5a1b0730a642907af31ed2a95d7604dc0a074" + }, + "owner_prior_approval": "not accepted; old chain-prior acceptances remain revoked", + "full_sequence_physical_fitting_clearance": false, + "readiness": "both_candidates_ready_for_owner_comparison_with_preserved_limitations", + "inspected_images_relative_to_run": [ + "review/inputs/view_0_12540311.png", + "review/inputs/view_1_12933256.png", + "review/inputs/view_2_17736741.png", + "review/inputs/view_3_23007103.png", + "review/spline/centerline_0_with_masks.png", + "review/spline/centerline_1_with_masks.png", + "review/spline/centerline_2_with_masks.png", + "review/spline/centerline_3_with_masks.png", + "review/tube/silhouette_0_unmasked.png", + "review/tube/silhouette_1_unmasked.png", + "review/tube/silhouette_2_unmasked.png", + "review/tube/silhouette_3_unmasked.png", + "review/tube/silhouette_0_with_masks.png", + "review/tube/silhouette_1_with_masks.png", + "review/tube/silhouette_2_with_masks.png", + "review/tube/silhouette_3_with_masks.png", + "review/tube/tube_scale_views.png", + "review/inputs/depth_offset.png", + "review/spline/residual_histograms.png", + "review/colors/visibility_and_fill.png", + "review/hybrid/combined.png" + ], + "orbit_inspection": { + "source": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2/review/tube/orbit.mp4", + "reported_frames": 36, + "fps": 12.0, + "selected_frame_indices": [ + 0, + 4, + 8, + 13, + 17, + 21, + 26, + 30, + 35 + ], + "method": "Nine selected direct reads; no continuous playback or full decode claim", + "visual_inspection_pending": false, + "visual_inspection_complete": true, + "observations": "Both sets of nine orbit samples show one continuous closed loop with rounded corners and a smooth local height rise near an occluded grasp; no gross crossing, detached component, seam opening or collapsed section is apparent. These sampled views do not establish the true hidden shape. Scale and hybrid panels retain multiview cloud thickness and a visible separation between the tube and some depth observations." + }, + "baseline_additional_visual_inspection": [ + "review/spline/centerline_0_with_masks.png", + "review/spline/centerline_1_with_masks.png", + "review/spline/centerline_2_with_masks.png", + "review/spline/centerline_3_with_masks.png" + ], + "common_visual_findings": [ + "Both candidates follow the broad, rounded rectangular chain loop in all four views. Closures across both grasping hands remain inferred; camera 12933256 has substantial foreground hand, forearm and sleeve occlusion. Projection across a hand is not direct evidence of the hidden chain contour or of physical hand penetration.", + "The baseline and both candidates have very similar visible corners and exposed arcs. Lower curvature gives no clear visual improvement; stronger reprojection produces modest shifts of exposed arcs and inferred closures. Neither candidate resolves hidden-shape uncertainty or explicitly represents individual chain links.", + "Both sets of nine orbit samples show one continuous closed loop with rounded corners and a smooth local height rise near an occluded grasp; no gross crossing, detached component, seam opening or collapsed section is apparent. These sampled views do not establish the true hidden shape. Scale and hybrid panels retain multiview cloud thickness and a visible separation between the tube and some depth observations.", + "The circular tube radius remains 4.75 mm. Ring samples are cross-sections of a continuous approximation, not rollers, link plates, gaps or joint articulation. Colors remain median-filled on the underside and occluded sections. Object-to-local-table depth offsets are retained without correction. The saved surface extends below z=0 in all three runs (most in stronger reprojection), so this prior review does not establish table-contact feasibility." + ], + "candidate_interpretation": "Reducing curvature weight from 5e-9 to 5e-10 leaves visible geometry and common raw residuals nearly unchanged under the unchanged solver. Mean 2D distance changes from 3.798174 to 3.799692 mm; mean 3D distance from 7.080405 to 7.083954 mm. Soft upper-length excess grows from 0.177681 to 0.223517 mm. These small changes do not show an improvement for this case.", + "paired_metrics": [ + { + "label": "retained_M18_baseline", + "run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1", + "control_count": 18, + "lambda_curvature_cost": 5e-09, + "reprojection_weight": 4.0, + "rounds": 1, + "stop": "gradient_tolerance", + "grad_norm": 7.994358747964725e-05, + "length_mm": 585.1776599884033, + "soft_length_excess_mm": 0.17768144607543945, + "max_curvature_per_m": 76.95549011230469, + "mean_3d_point_to_centerline_mm": 7.080405422905114, + "mean_2d_mask_to_centerline_mm": 3.798173503352089, + "surface_z_min_max_mm": [ + -1.4119537081569433, + 22.065378725528717 + ], + "observed_filled_vertices": [ + 1033, + 695 + ], + "reprojection_per_view": [ + { + "view": 0, + "serial": "12540311", + "mask_pixels": 10370, + "median_depth_m": 1.111, + 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No noise/significance bound is inferred.", + "temporal_and_hand_context": "Both hands are represented by 30 measured controls (18 hand_A, 12 hand_B), selected from 205 eligible candidates after the inclusive initial 4 cm gate; maximum initial distance is 39.458390 mm. The retained reference review records zero camera 12933256 object support at native-relative frames 139\u2013192 and 293\u2013325, and zero hand_A support at 152\u2013187 and 302\u2013321. Its 83 nonfinite coverage entries remain unfilled; paired native-minus-WAFT p95 reaches +274.4 mm at frame 296 on common support, including hands. Camera 23007103 falls to 218 object points at frame 322. Later derived samples contain partial arcs and isolated points. 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These summary values are represented as null here, with finite-only descriptive statistics separately labeled in supplemental_metrics. No scientific data was replaced or imputed.", + "actual_visual_inspection": { + "camera_diagnostic_plot_count": 20, + "native_keyframe_count": 43, + "native_keyframes": { + "12540311": [ + 0, + 46, + 79, + 82, + 92, + 139, + 185, + 231, + 278, + 324, + 371 + ], + "12933256": [ + 0, + 46, + 92, + 139, + 185, + 231, + 278, + 302, + 324, + 371 + ], + "17736741": [ + 0, + 46, + 63, + 92, + 139, + 185, + 231, + 272, + 278, + 324, + 371 + ], + "23007103": [ + 0, + 46, + 92, + 139, + 172, + 185, + 231, + 278, + 322, + 324, + 371 + ] + }, + "derived_coverage_plot": true, + "derived_snapshot_indices": [ + 0, + 186, + 372 + ], + "video_samples": { + "12540311": { + "path": "12540311/rgb_waft_depth_full_window.mp4", + "declared_frames": 372, + "decoded_frames": 372, + "fps": 29.87, + "selected_frames": [ + 0, + 24, + 49, + 74, + 98, + 123, + 148, + 173, + 197, + 222, + 247, + 272, + 296, + 321, + 346, + 371 + ] + }, + "12933256": { + "path": "12933256/rgb_waft_depth_full_window.mp4", + "declared_frames": 372, + "decoded_frames": 372, + "fps": 29.898, + "selected_frames": [ + 0, + 24, + 49, + 74, + 98, + 123, + 148, + 173, + 197, + 222, + 247, + 272, + 296, + 321, + 346, + 371 + ] + }, + "17736741": { + "path": "17736741/rgb_waft_depth_full_window.mp4", + "declared_frames": 372, + "decoded_frames": 372, + "fps": 29.84, + "selected_frames": [ + 0, + 24, + 49, + 74, + 98, + 123, + 148, + 173, + 197, + 222, + 247, + 272, + 296, + 321, + 346, + 371 + ] + }, + "23007103": { + "path": "23007103/rgb_waft_depth_full_window.mp4", + "declared_frames": 372, + "decoded_frames": 372, + "fps": 29.877, + "selected_frames": [ + 0, + 24, + 49, + 74, + 98, + 123, + 148, + 173, + 197, + 222, + 247, + 272, + 296, + 321, + 346, + 371 + ] + }, + "derived": { + "path": "derived/derived_30hz_xyz.mp4", + "declared_frames": 373, + "decoded_frames": 373, + "fps": 30.0, + "selected_frames": [ + 0, + 24, + 49, + 74, + 99, + 124, + 148, + 173, + 198, + 223, + 248, + 272, + 297, + 322, + 347, + 372 + ] + } + }, + "video_sample_count": 80, + "scope_note": "All five videos decoded completely for readability/count checks. Visual inspection covered all saved keyframes, plots, three derived snapshots and the listed 16 samples per video, rather than every decoded frame." + }, + "initial_reference_findings": [ + "The four initial RGB/depth views place accepted object points on the visible broad chain loop and represent both grasping hands.", + "The initial derived cloud forms a compact, approximately table-aligned rounded rectangular loop with expected gaps near the grasp sites. No initial-reference blocker was found.", + "The initial 4 cm inclusive gate leaves 205 eligible controller candidates, then pooled global FPS selects 30 measured trajectories: 18 hand_A and 12 hand_B. Maximum saved initial distance is 39.458389804415944 mm." + ], + "material_limitations": [ + "Camera 12933256 has zero admitted object support at native-relative frames 139\u2013192 and 293\u2013325 inclusive. Hand_A support is zero at 152\u2013187 and 302\u2013321. The foreground hand/forearm visibly obscures the object and the other hand in these intervals; rejected/hidden predictions remain visible in the diagnostic overlays.", + "Camera 12933256 object mask-bin coverage is nonfinite for 83 frames: 140\u2013191 and 294\u2013324 inclusive. No coverage or observation values were imputed.", + "Camera 12933256 paired native-minus-WAFT p95 reaches +274.4 mm at native-relative 296. Values exceed +100 mm at 144\u2013146, 190\u2013191, 294\u2013296 and 325. These are common-support depth comparisons, including hands, rather than ground-truth accuracy measurements.", + "The other three cameras retain some admitted object points throughout, but support is partial along visible arcs and around the grasps, especially late. Camera 23007103 falls to 218 admitted object points at native-relative 322, and its visible-point p10 certainty reaches 0.6195.", + "The derived sampled sequence retains the broad shearing motion and both hand groups, while showing partial or split arcs. Isolated object points appear at derived samples 24 and 248; sample 297 has a distinctly detached point below the main cloud in XZ/YZ. These later observations are not cleared for physical fitting by this initial-prior review." + ], + "next_step": "Root may proceed with the already-authorized current C2 initial chain-prior preparation and review that prior separately. 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"/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2/steps/fit.json", + "geometry_checks": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2/tube/tube_checks.json", + "reference_views": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2/inputs/reference_views.json", + "reprojection": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2/spline/reprojection.json", + "tracking_summary": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/review_v1/summary.json", + "frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/frames_waft/per_camera_inputs.json" + } +} diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_stronger_reprojection_v2/PRIOR_REVIEW_c6a_v1.md b/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_stronger_reprojection_v2/PRIOR_REVIEW_c6a_v1.md new file mode 100644 index 0000000000000000000000000000000000000000..2a6dac4c9d17ff74bf6c66c02f796baa3c93b9df --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_stronger_reprojection_v2/PRIOR_REVIEW_c6a_v1.md @@ -0,0 +1,73 @@ +# session_20260921_233350_440979 — prior approval pending + +Saved C2 **bike_chain** prior evidence (radius 4.75 mm). Agent numerical and visual review is complete. This candidate is not accepted; all old chain-prior acceptances remain revoked. This packet reports the observations and tradeoffs below and grants 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 / 359 / 360 | [centerline](<../prior_chain_stronger_reprojection_v2/review/spline/centerline_0_with_masks.png>) · [tube](<../prior_chain_stronger_reprojection_v2/review/tube/silhouette_0_unmasked.png>) · [geometry + mask](<../prior_chain_stronger_reprojection_v2/review/tube/silhouette_0_with_masks.png>) · [RGB/depth](<../prior_chain_stronger_reprojection_v2/review/inputs/view_0_12540311.png>) | +| 12933256 | 0 / 358 / 359 | [centerline](<../prior_chain_stronger_reprojection_v2/review/spline/centerline_1_with_masks.png>) · [tube](<../prior_chain_stronger_reprojection_v2/review/tube/silhouette_1_unmasked.png>) · [geometry + mask](<../prior_chain_stronger_reprojection_v2/review/tube/silhouette_1_with_masks.png>) · [RGB/depth](<../prior_chain_stronger_reprojection_v2/review/inputs/view_1_12933256.png>) | +| 17736741 | 0 / 359 / 360 | [centerline](<../prior_chain_stronger_reprojection_v2/review/spline/centerline_2_with_masks.png>) · [tube](<../prior_chain_stronger_reprojection_v2/review/tube/silhouette_2_unmasked.png>) · [geometry + mask](<../prior_chain_stronger_reprojection_v2/review/tube/silhouette_2_with_masks.png>) · [RGB/depth](<../prior_chain_stronger_reprojection_v2/review/inputs/view_2_17736741.png>) | +| 23007103 | 0 / 358 / 359 | [centerline](<../prior_chain_stronger_reprojection_v2/review/spline/centerline_3_with_masks.png>) · [tube](<../prior_chain_stronger_reprojection_v2/review/tube/silhouette_3_unmasked.png>) · [geometry + mask](<../prior_chain_stronger_reprojection_v2/review/tube/silhouette_3_with_masks.png>) · [RGB/depth](<../prior_chain_stronger_reprojection_v2/review/inputs/view_3_23007103.png>) | + +[Full rotation video](<../prior_chain_stronger_reprojection_v2/review/tube/orbit.mp4>) · [Geometry and depth cloud](<../prior_chain_stronger_reprojection_v2/review/tube/tube_scale_views.png>) · [Residual histograms](<../prior_chain_stronger_reprojection_v2/review/spline/residual_histograms.png>) · [Depth offset diagnostic](<../prior_chain_stronger_reprojection_v2/review/inputs/depth_offset.png>) + +Saved fit: **1 stage-1 rounds**, stop `gradient_tolerance`; final length **585.119 mm**, maximum curvature **79.924/m**, final gradient norm **7.42561e-05**. Soft length bounds are 583.000–585.000 mm; distance outside those bounds is 0.119 mm. + +Saved geometry checks report `passed=True`: **1728 mesh vertices / 3456 triangles**, 1 component(s), `watertight=True`, `self_intersecting=False`. [Full geometry checks](<../prior_chain_stronger_reprojection_v2/tube/tube_checks.json>). + +The following 3D residuals are lifted-depth point distances to the **centerline**, not measured reconstruction errors. The centerline-in-mask fraction is a separate saved diagnostic; it is not silhouette IoU or a visual quality decision. + +| Camera | Median / p90 3D residual (mm) | Visible centerline inside mask | Native depth and visibility evidence | +|---|---|---|---| +| 12540311 | 7.934 / 12.128 | 98.89% | [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 | 5.081 / 7.624 | 97.95% | [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 | 7.875 / 11.219 | 97.89% | [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 | 7.616 / 12.031 | 99.25% | [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 **22415 of 23373** eroded points. The run used `waft_stereo_dav2l5`, 2 px erosion, a 400-round budget and reprojection weight **8**. + +Appearance initialization contains **22415 observed + 103680 mesh-derived = 126095 seeds**. Vertex colors are observed for 1030 mesh vertices and median-filled for 698. 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_chain_stronger_reprojection_v2/review/hybrid/combined.png>) · [Observed and filled colors](<../prior_chain_stronger_reprojection_v2/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_chain_stronger_reprojection_v2/manifest.json>) · [Fit settings and metrics](<../prior_chain_stronger_reprojection_v2/steps/fit.json>) · [Reference observations](<../prior_chain_stronger_reprojection_v2/inputs/reference_views.json>) · [Tracking/lift summary](<../review_v1/summary.json>) + +The agent inspected 21 actual initial-prior panels and 9 orbit samples. [Exact findings and paired metrics]() retain the coverage. No owner approval, case status, mechanics or appearance authorization is changed. + +## Comparison with the retained M18 baseline + +Both owner-authorized candidates are complete and reviewed. **Neither is accepted, and all old chain-prior acceptances remain revoked.** Lower curvature uses M18 / 5e-10 / reprojection 4; stronger reprojection uses M18 / 5e-9 / reprojection 8. Every other fit, input and geometry setting matches the designated baseline. + +| Run | Mean 2D distance (mm) | Mean 3D distance (mm) | Length (mm) | Soft upper excess (mm) | Max curvature (/m) | Surface z range (mm) | +|---|---:|---:|---:|---:|---:|---| +| retained_M18_baseline | 3.798174 | 7.080405 | 585.177660 | 0.177681 | 76.955490 | -1.411954 to 22.065379 | +| lower_curvature | 3.799692 | 7.083954 | 585.223496 | 0.223517 | 77.984489 | -1.413506 to 22.151601 | +| stronger_reprojection | 3.702846 | 7.621072 | 585.119069 | 0.119090 | 79.924133 | -2.983477 to 22.970060 | + +Reducing curvature weight from 5e-9 to 5e-10 leaves visible geometry and common raw residuals nearly unchanged under the unchanged solver. Mean 2D distance changes from 3.798174 to 3.799692 mm; mean 3D distance from 7.080405 to 7.083954 mm. Soft upper-length excess grows from 0.177681 to 0.223517 mm. These small changes do not show an improvement for this case. + +Doubling reprojection weight improves mean mask-to-centerline distance in every camera, with the equal-view mean falling from 3.798174 to 3.702846 mm. Pooled lifted-point distance to the centerline increases from 7.080405 to 7.621072 mm. Soft upper-length excess decreases to 0.119090 mm, while minimum surface z shifts from -1.411954 to -2.983477 mm. This is an image/depth tradeoff with a changed height profile, not demonstrated physical accuracy or a global winner. + +The 2D metric is the equal-view mean visible-mask-pixel distance to the projected centerline; it is not silhouette IoU. The 3D metric is pooled lifted-point distance to the centerline; it is not tube-surface error or ground-truth accuracy. Differently weighted total objectives are not ranked. The results have no new noise or significance bound. + +Both candidates follow the broad, rounded rectangular chain loop in all four views. Closures across both grasping hands remain inferred; camera 12933256 has substantial foreground hand, forearm and sleeve occlusion. Projection across a hand is not direct evidence of the hidden chain contour or of physical hand penetration. + +The baseline and both candidates have very similar visible corners and exposed arcs. Lower curvature gives no clear visual improvement; stronger reprojection produces modest shifts of exposed arcs and inferred closures. Neither candidate resolves hidden-shape uncertainty or explicitly represents individual chain links. + +Both sets of nine orbit samples show one continuous closed loop with rounded corners and a smooth local height rise near an occluded grasp; no gross crossing, detached component, seam opening or collapsed section is apparent. These sampled views do not establish the true hidden shape. Scale and hybrid panels retain multiview cloud thickness and a visible separation between the tube and some depth observations. + +The circular tube radius remains 4.75 mm. Ring samples are cross-sections of a continuous approximation, not rollers, link plates, gaps or joint articulation. Colors remain median-filled on the underside and occluded sections. Object-to-local-table depth offsets are retained without correction. The saved surface extends below z=0 in all three runs (most in stronger reprojection), so this prior review does not establish table-contact feasibility. + +This candidate stops after 1 outer round(s) at `gradient_tolerance`, gradient norm 7.4256066e-05. Soft length and curvature thresholds remain penalties, not hard feasibility limits. Its tube has 144 rings, 1728 vertices and 3456 triangles at 4.75 mm radius; the saved surface-intersection checks pass. Colors are observed for 1030 vertices and median-filled for 698. Hybrid seeds remain 22,415 observed + 103,680 mesh-derived = 126,095; these are appearance seeds, not mechanical particles or mass. + +Actual inspection covered 21 panels per candidate: four inputs, four masked centerlines, eight masked/unmasked silhouettes, and scale/depth cloud, depth offset, residual histograms, colors/fill, hybrid populations. Nine orbit samples 0, 4, 8, 13, 17, 21, 26, 30, 35 of 36 at 12 fps were inspected per candidate. The four retained baseline centerline overlays were also inspected. This is bounded sampled viewing, not continuous playback. + +Both hands are represented by 30 measured controls (18 hand_A, 12 hand_B), selected from 205 eligible candidates after the inclusive initial 4 cm gate; maximum initial distance is 39.458390 mm. The retained reference review records zero camera 12933256 object support at native-relative frames 139–192 and 293–325, and zero hand_A support at 152–187 and 302–321. Its 83 nonfinite coverage entries remain unfilled; paired native-minus-WAFT p95 reaches +274.4 mm at frame 296 on common support, including hands. Camera 23007103 falls to 218 object points at frame 322. Later derived samples contain partial arcs and isolated points. The reference review inspected 16 samples per video; this initial-prior review grants no full-sequence physical-fitting clearance. [Reference review](<../review_v1/REVIEW.md>). These initial priors do not clear later observations for physical fitting. + +[Other candidate](<../prior_review_chain_lower_curvature_v2/PRIOR_REVIEW_c6a_v1.md>) · [Numerical checks]() · [Exact visual findings](). + +All six scientific stages and the single explicit-run packager/check returned zero. All 27 reused input payloads match the designated baseline byte-for-byte, and the copied inputs exclude the derived shape GLB. Both designated old M18 baseline fits and manifests remain unchanged. Saved controls and all seven numerical array families are finite; per-view residual quantiles, geometry radius/bounds, vertex colors and hybrid correspondence were checked. Only the assigned new review packets and unique scratch were written; no source, scientific product, global status or owner record was changed. diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_stronger_reprojection_v2/agent_findings.json b/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_stronger_reprojection_v2/agent_findings.json new file mode 100644 index 0000000000000000000000000000000000000000..b5377806a579db93aa42534c3f418e62a381bafd --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_stronger_reprojection_v2/agent_findings.json @@ -0,0 +1,1971 @@ +{ + "case_id": "233350", + "candidate": "stronger_reprojection", + "reviewed_utc": "2026-10-28T22:57:10.436838+00:00", + "scope": { + "goal": "Review both owner-authorized parameter candidates and compare with the retained M18 prior", + "done_when": "Per candidate: six science results zero, one package/check,21 actual panels+9 orbit samples, numerical identity/geometry checks and paired findings", + "non_goals": [ + "No science execution or modified scientific products", + "No global selection or restoration of revoked acceptances", + "No mechanics, trained appearance or physical fitting" + ], + "validation": "Saved stage results, exact requested settings and unchanged remaining settings, 27 input-byte comparisons, both designated baseline identities, numerical arrays, actual images, and linked packet" + }, + "job": { + "case_id": "233350", + "session_id": "session_20260921_233350_440979", + "case": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730", + "prep": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1", + "candidate": "stronger_reprojection", + "run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2", + "review": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_review_chain_stronger_reprojection_v2", + "baseline": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1", + "settings": { + "control_count": 18, + "lambda_curvature_cost": 5e-09, + "reprojection_weight": 8.0 + }, + "baseline_manifest_sha256": "2868aa9e17b56b62b665ef54f64598c6954f80183cd20a8d62850ff5abb0680f", + "baseline_fit_sha256": "69f21731d4ca6e9fd869caf908c5a1b0730a642907af31ed2a95d7604dc0a074" + }, + "owner_prior_approval": "not accepted; old chain-prior acceptances remain revoked", + "full_sequence_physical_fitting_clearance": false, + "readiness": "both_candidates_ready_for_owner_comparison_with_preserved_limitations", + "inspected_images_relative_to_run": [ + "review/inputs/view_0_12540311.png", + "review/inputs/view_1_12933256.png", + "review/inputs/view_2_17736741.png", + "review/inputs/view_3_23007103.png", + "review/spline/centerline_0_with_masks.png", + "review/spline/centerline_1_with_masks.png", + "review/spline/centerline_2_with_masks.png", + "review/spline/centerline_3_with_masks.png", + "review/tube/silhouette_0_unmasked.png", + "review/tube/silhouette_1_unmasked.png", + "review/tube/silhouette_2_unmasked.png", + "review/tube/silhouette_3_unmasked.png", + "review/tube/silhouette_0_with_masks.png", + "review/tube/silhouette_1_with_masks.png", + "review/tube/silhouette_2_with_masks.png", + "review/tube/silhouette_3_with_masks.png", + "review/tube/tube_scale_views.png", + "review/inputs/depth_offset.png", + "review/spline/residual_histograms.png", + "review/colors/visibility_and_fill.png", + "review/hybrid/combined.png" + ], + "orbit_inspection": { + "source": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2/review/tube/orbit.mp4", + "reported_frames": 36, + "fps": 12.0, + "selected_frame_indices": [ + 0, + 4, + 8, + 13, + 17, + 21, + 26, + 30, + 35 + ], + "method": "Nine selected direct reads; no continuous playback or full decode claim", + "visual_inspection_pending": false, + "visual_inspection_complete": true, + "observations": "Both sets of nine orbit samples show one continuous closed loop with rounded corners and a smooth local height rise near an occluded grasp; no gross crossing, detached component, seam opening or collapsed section is apparent. These sampled views do not establish the true hidden shape. Scale and hybrid panels retain multiview cloud thickness and a visible separation between the tube and some depth observations." + }, + "baseline_additional_visual_inspection": [ + "review/spline/centerline_0_with_masks.png", + "review/spline/centerline_1_with_masks.png", + "review/spline/centerline_2_with_masks.png", + "review/spline/centerline_3_with_masks.png" + ], + "common_visual_findings": [ + "Both candidates follow the broad, rounded rectangular chain loop in all four views. Closures across both grasping hands remain inferred; camera 12933256 has substantial foreground hand, forearm and sleeve occlusion. Projection across a hand is not direct evidence of the hidden chain contour or of physical hand penetration.", + "The baseline and both candidates have very similar visible corners and exposed arcs. Lower curvature gives no clear visual improvement; stronger reprojection produces modest shifts of exposed arcs and inferred closures. Neither candidate resolves hidden-shape uncertainty or explicitly represents individual chain links.", + "Both sets of nine orbit samples show one continuous closed loop with rounded corners and a smooth local height rise near an occluded grasp; no gross crossing, detached component, seam opening or collapsed section is apparent. These sampled views do not establish the true hidden shape. Scale and hybrid panels retain multiview cloud thickness and a visible separation between the tube and some depth observations.", + "The circular tube radius remains 4.75 mm. Ring samples are cross-sections of a continuous approximation, not rollers, link plates, gaps or joint articulation. Colors remain median-filled on the underside and occluded sections. Object-to-local-table depth offsets are retained without correction. The saved surface extends below z=0 in all three runs (most in stronger reprojection), so this prior review does not establish table-contact feasibility." + ], + "candidate_interpretation": "Doubling reprojection weight improves mean mask-to-centerline distance in every camera, with the equal-view mean falling from 3.798174 to 3.702846 mm. Pooled lifted-point distance to the centerline increases from 7.080405 to 7.621072 mm. Soft upper-length excess decreases to 0.119090 mm, while minimum surface z shifts from -1.411954 to -2.983477 mm. This is an image/depth tradeoff with a changed height profile, not demonstrated physical accuracy or a global winner.", + "paired_metrics": [ + { + "label": "retained_M18_baseline", + "run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1", + "control_count": 18, + "lambda_curvature_cost": 5e-09, + "reprojection_weight": 4.0, + "rounds": 1, + "stop": "gradient_tolerance", + "grad_norm": 7.994358747964725e-05, + "length_mm": 585.1776599884033, + "soft_length_excess_mm": 0.17768144607543945, + "max_curvature_per_m": 76.95549011230469, + "mean_3d_point_to_centerline_mm": 7.080405422905114, + "mean_2d_mask_to_centerline_mm": 3.798173503352089, + "surface_z_min_max_mm": [ + -1.4119537081569433, + 22.065378725528717 + ], + "observed_filled_vertices": [ + 1033, + 695 + ], + "reprojection_per_view": [ + { + "view": 0, + "serial": "12540311", + 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These summary values are represented as null here, with finite-only descriptive statistics separately labeled in supplemental_metrics. No scientific data was replaced or imputed.", + "actual_visual_inspection": { + "camera_diagnostic_plot_count": 20, + "native_keyframe_count": 43, + "native_keyframes": { + "12540311": [ + 0, + 46, + 79, + 82, + 92, + 139, + 185, + 231, + 278, + 324, + 371 + ], + "12933256": [ + 0, + 46, + 92, + 139, + 185, + 231, + 278, + 302, + 324, + 371 + ], + "17736741": [ + 0, + 46, + 63, + 92, + 139, + 185, + 231, + 272, + 278, + 324, + 371 + ], + "23007103": [ + 0, + 46, + 92, + 139, + 172, + 185, + 231, + 278, + 322, + 324, + 371 + ] + }, + "derived_coverage_plot": true, + "derived_snapshot_indices": [ + 0, + 186, + 372 + ], + "video_samples": { + "12540311": { + "path": "12540311/rgb_waft_depth_full_window.mp4", + "declared_frames": 372, + "decoded_frames": 372, + "fps": 29.87, + "selected_frames": [ + 0, + 24, + 49, + 74, + 98, + 123, + 148, + 173, + 197, + 222, + 247, + 272, + 296, + 321, + 346, + 371 + ] + }, + "12933256": { + "path": "12933256/rgb_waft_depth_full_window.mp4", + "declared_frames": 372, + "decoded_frames": 372, + "fps": 29.898, + "selected_frames": [ + 0, + 24, + 49, + 74, + 98, + 123, + 148, + 173, + 197, + 222, + 247, + 272, + 296, + 321, + 346, + 371 + ] + }, + "17736741": { + "path": "17736741/rgb_waft_depth_full_window.mp4", + "declared_frames": 372, + "decoded_frames": 372, + "fps": 29.84, + "selected_frames": [ + 0, + 24, + 49, + 74, + 98, + 123, + 148, + 173, + 197, + 222, + 247, + 272, + 296, + 321, + 346, + 371 + ] + }, + "23007103": { + "path": "23007103/rgb_waft_depth_full_window.mp4", + "declared_frames": 372, + "decoded_frames": 372, + "fps": 29.877, + "selected_frames": [ + 0, + 24, + 49, + 74, + 98, + 123, + 148, + 173, + 197, + 222, + 247, + 272, + 296, + 321, + 346, + 371 + ] + }, + "derived": { + "path": "derived/derived_30hz_xyz.mp4", + "declared_frames": 373, + "decoded_frames": 373, + "fps": 30.0, + "selected_frames": [ + 0, + 24, + 49, + 74, + 99, + 124, + 148, + 173, + 198, + 223, + 248, + 272, + 297, + 322, + 347, + 372 + ] + } + }, + "video_sample_count": 80, + "scope_note": "All five videos decoded completely for readability/count checks. Visual inspection covered all saved keyframes, plots, three derived snapshots and the listed 16 samples per video, rather than every decoded frame." + }, + "initial_reference_findings": [ + "The four initial RGB/depth views place accepted object points on the visible broad chain loop and represent both grasping hands.", + "The initial derived cloud forms a compact, approximately table-aligned rounded rectangular loop with expected gaps near the grasp sites. No initial-reference blocker was found.", + "The initial 4 cm inclusive gate leaves 205 eligible controller candidates, then pooled global FPS selects 30 measured trajectories: 18 hand_A and 12 hand_B. Maximum saved initial distance is 39.458389804415944 mm." + ], + "material_limitations": [ + "Camera 12933256 has zero admitted object support at native-relative frames 139\u2013192 and 293\u2013325 inclusive. Hand_A support is zero at 152\u2013187 and 302\u2013321. The foreground hand/forearm visibly obscures the object and the other hand in these intervals; rejected/hidden predictions remain visible in the diagnostic overlays.", + "Camera 12933256 object mask-bin coverage is nonfinite for 83 frames: 140\u2013191 and 294\u2013324 inclusive. No coverage or observation values were imputed.", + "Camera 12933256 paired native-minus-WAFT p95 reaches +274.4 mm at native-relative 296. Values exceed +100 mm at 144\u2013146, 190\u2013191, 294\u2013296 and 325. These are common-support depth comparisons, including hands, rather than ground-truth accuracy measurements.", + "The other three cameras retain some admitted object points throughout, but support is partial along visible arcs and around the grasps, especially late. Camera 23007103 falls to 218 admitted object points at native-relative 322, and its visible-point p10 certainty reaches 0.6195.", + "The derived sampled sequence retains the broad shearing motion and both hand groups, while showing partial or split arcs. Isolated object points appear at derived samples 24 and 248; sample 297 has a distinctly detached point below the main cloud in XZ/YZ. These later observations are not cleared for physical fitting by this initial-prior review." + ], + "next_step": "Root may proceed with the already-authorized current C2 initial chain-prior preparation and review that prior separately. 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"/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2/manifest.json", + "fit": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2/steps/fit.json", + "geometry_checks": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2/tube/tube_checks.json", + "reference_views": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2/inputs/reference_views.json", + "reprojection": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2/spline/reprojection.json", + "tracking_summary": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/review_v1/summary.json", + "frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/frames_waft/per_camera_inputs.json" + } +} diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/prior_review_m18_lowcurvature_v1/PRIOR_REVIEW_c6a_v1.md b/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/prior_review_m18_lowcurvature_v1/PRIOR_REVIEW_c6a_v1.md new file mode 100644 index 0000000000000000000000000000000000000000..c29ed0e43219f4cb3e3f4edc9cdc832b1a8371a8 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/prior_review_m18_lowcurvature_v1/PRIOR_REVIEW_c6a_v1.md @@ -0,0 +1,67 @@ +> **Current status:** owner prior acceptance revoked/on hold on 2026-10-28. Shared chain fitting settings are under review; downstream preparation is held. Earlier review and approval statements below are historical. + +# session_20260921_233350_440979 — prior approval pending + +Saved C2 **bike_chain** prior evidence (radius 4.75 mm). Agent visual review is complete; owner prior approval remains pending. This packet reports saved values and existing media with the findings below and 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 / 359 / 360 | [centerline](<../prior_chain_m18_lowcurvature_v1/review/spline/centerline_0_with_masks.png>) · [tube](<../prior_chain_m18_lowcurvature_v1/review/tube/silhouette_0_unmasked.png>) · [geometry + mask](<../prior_chain_m18_lowcurvature_v1/review/tube/silhouette_0_with_masks.png>) · [RGB/depth](<../prior_chain_m18_lowcurvature_v1/review/inputs/view_0_12540311.png>) | +| 12933256 | 0 / 358 / 359 | [centerline](<../prior_chain_m18_lowcurvature_v1/review/spline/centerline_1_with_masks.png>) · [tube](<../prior_chain_m18_lowcurvature_v1/review/tube/silhouette_1_unmasked.png>) · [geometry + mask](<../prior_chain_m18_lowcurvature_v1/review/tube/silhouette_1_with_masks.png>) · [RGB/depth](<../prior_chain_m18_lowcurvature_v1/review/inputs/view_1_12933256.png>) | +| 17736741 | 0 / 359 / 360 | [centerline](<../prior_chain_m18_lowcurvature_v1/review/spline/centerline_2_with_masks.png>) · [tube](<../prior_chain_m18_lowcurvature_v1/review/tube/silhouette_2_unmasked.png>) · [geometry + mask](<../prior_chain_m18_lowcurvature_v1/review/tube/silhouette_2_with_masks.png>) · [RGB/depth](<../prior_chain_m18_lowcurvature_v1/review/inputs/view_2_17736741.png>) | +| 23007103 | 0 / 358 / 359 | [centerline](<../prior_chain_m18_lowcurvature_v1/review/spline/centerline_3_with_masks.png>) · [tube](<../prior_chain_m18_lowcurvature_v1/review/tube/silhouette_3_unmasked.png>) · [geometry + mask](<../prior_chain_m18_lowcurvature_v1/review/tube/silhouette_3_with_masks.png>) · [RGB/depth](<../prior_chain_m18_lowcurvature_v1/review/inputs/view_3_23007103.png>) | + +[Full rotation video](<../prior_chain_m18_lowcurvature_v1/review/tube/orbit.mp4>) · [Geometry and depth cloud](<../prior_chain_m18_lowcurvature_v1/review/tube/tube_scale_views.png>) · [Residual histograms](<../prior_chain_m18_lowcurvature_v1/review/spline/residual_histograms.png>) · [Depth offset diagnostic](<../prior_chain_m18_lowcurvature_v1/review/inputs/depth_offset.png>) + +Saved fit: **1 stage-1 rounds**, stop `gradient_tolerance`; final length **585.178 mm**, maximum curvature **76.955/m**, final gradient norm **7.99436e-05**. Soft length bounds are 583.000–585.000 mm; distance outside those bounds is 0.178 mm. + +Saved geometry checks report `passed=True`: **1728 mesh vertices / 3456 triangles**, 1 component(s), `watertight=True`, `self_intersecting=False`. [Full geometry checks](<../prior_chain_m18_lowcurvature_v1/tube/tube_checks.json>). + +The following 3D residuals are lifted-depth point distances to the **centerline**, not measured reconstruction errors. The centerline-in-mask fraction is a separate saved diagnostic; it is not silhouette IoU or a visual quality decision. + +| Camera | Median / p90 3D residual (mm) | Visible centerline inside mask | Native depth and visibility evidence | +|---|---|---|---| +| 12540311 | 7.497 / 11.151 | 100.00% | [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 | 4.818 / 7.567 | 98.45% | [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 | 7.075 / 10.251 | 98.23% | [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 | 7.144 / 10.724 | 99.24% | [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 **22415 of 23373** eroded points. The run used `waft_stereo_dav2l5`, 2 px erosion, a 400-round budget and reprojection weight **4**. + +Appearance initialization contains **22415 observed + 103680 mesh-derived = 126095 seeds**. Vertex colors are observed for 1033 mesh vertices and median-filled for 695. 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_chain_m18_lowcurvature_v1/review/hybrid/combined.png>) · [Observed and filled colors](<../prior_chain_m18_lowcurvature_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_chain_m18_lowcurvature_v1/manifest.json>) · [Fit settings and metrics](<../prior_chain_m18_lowcurvature_v1/steps/fit.json>) · [Reference observations](<../prior_chain_m18_lowcurvature_v1/inputs/reference_views.json>) · [Tracking/lift summary](<../review_v1/summary.json>) + +The agent inspected the 21 initial-prior panels and nine orbit samples listed in [the findings](). Owner prior approval remains pending. No case status, prior acceptance, mechanics approval or trained-appearance approval is changed here. + +## Agent review + +**Ready for owner review of the initial M18 prior, with hidden-shape and depth limitations.** No blocking tube-construction defect was found. The inferred grip-side span is visibly raised and remains an owner-review consideration. This initial review does not clear later observations for physical fitting. + +Goal: review the saved owner-selected initial prior. Done when: one package, saved-numeric checks, 21 actual panels and nine orbit samples, and linked findings are complete. Non-goals: refitting, changing observations or scientific settings, trained appearance, physical fitting, or owner acceptance. + +All four input views show the broad rounded rectangular chain loop and **both grasping hands**. The four centerline overlays and eight masked/unmasked tube silhouettes follow the exposed contour, with small residual offsets near corners and grasps. The hidden closure crosses the hand/forearm in the unmasked projections, especially camera 12933256; that projection is inferred geometry, not direct evidence of hidden shape or physical hand penetration. + +The scale/depth-cloud and hybrid plots show a **raised grip-side span above the main observed cloud**. Much of that span is median-filled in the color plot. The complete tube surface ranges from **−1.412 to +22.065 mm** relative to nominal table z=0. Its below-table portion and raised hidden segment are retained without correction; neither contact nor the hidden vertical shape is validated by this review. + +Visual coverage comprises **21 panels**: four inputs, four masked centerlines, eight masked/unmasked silhouettes, scale/depth cloud, depth offset, residual histograms, colors/fill, and hybrid populations. Nine orbit frames **0, 4, 8, 13, 17, 21, 26, 30, 35** from the 36-frame video at 12 fps show one closed loop with consistent ring samples, without a gross crossing, detached segment or local collapse. These are sampled views, not continuous playback. Ring samples represent a continuous circular tube, not individual chain links. + +The owner selected **18 controls and curvature weight 5e-9 before this first prior fit**. No nine-control baseline exists for this case and no comparative improvement is claimed. The fit stops after one outer round at `gradient_tolerance`, with gradient norm **7.99436e-5**. Spline length is **585.177660 mm**, **0.177681 mm above the saved soft upper bound** (approximately 583–585 mm). Maximum curvature is **76.95549/m**, with 53.6% above the soft 10/m threshold. The active-bound flag is not a hard-feasibility certificate. + +The **144-ring, 1728-vertex, 3456-triangle** tube has a 4.75 mm radius and the saved `surface_intersection` overlap rule. Saved checks report one component, watertight and consistently outward winding, positive volume, no degenerate triangles, and no proposed or confirmed self-intersections. Radius error and bounds were recomputed from the saved geometry and match the reports. The minimum nonadjacent ring-center distance, 4.108 mm, is a descriptive sampling diagnostic; it is not the adopted overlap test. + +The filter retains **22,415 of 23,373** eroded input points. Saved controls, residuals, geometry, colors and hybrid arrays are finite; per-view residual counts and quantiles agree with the reports. The histograms describe point-to-centerline distances, not tube-surface or ground-truth errors, and the centerline-in-mask percentages are not silhouette IoU. Chain-interior-minus-local-table medians are **10.636 / 6.831 / 9.874 / 8.153 mm** in camera order 12540311 / 12933256 / 17736741 / 23007103. No depth correction was applied. + +Colors are observed on **1033 vertices** and median-filled on **695**. Hybrid initialization contains **22,415 observed + 103,680 mesh-derived = 126,095 seeds**; observed positions and colors exactly match the filtered cloud arrays. These are appearance initialization populations, not mechanical particles or a mass total. Separate link plates, rollers, gaps and articulation are outside the continuous-tube approximation. + +The initial references use local row 0 in all views, converted frames **359 / 358 / 359 / 358**, and saved first-grid offsets **1.970902 / 0 / 6.200584 / 8.734615 ms**. Local, converted and native-container indices remain distinct. Equal local row numbers do not imply equal capture clocks. + +The [completed reference review](<../review_v1/REVIEW.md>) remains applicable. Camera 12933256 has zero admitted object support at native-relative **139–192 and 293–325**, and zero hand_A support at **152–187 and 302–321**. Its mask-bin coverage has **83 nonfinite frames** (140–191 and 294–324); nothing was imputed. Its paired native-minus-WAFT p95 reaches **+274.4 mm at 296**, a common-support comparison including hands rather than a ground-truth error. The derived sequence retains both hand groups but has partial/split arcs and a distinctly detached point at **derived sample 297**, with isolated points also at 24 and 248. These later observations are not cleared for physical fitting by this initial review. The saved initial inclusive 4 cm controller gate retains 205 candidates, and pooled FPS selects 30 measured trajectories: 18 hand_A and 12 hand_B; this review changes none of them. + +All eight prior commands and the one explicit-run packaging invocation returned zero. Saved numeric and packet-link checks passed. [Numeric details]() and [actual visual findings]() retain the evidence. Only this new packet and task scratch were written; source, scientific products, case status and approval records were unchanged. diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/prior_review_m18_lowcurvature_v1/agent_findings.json b/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/prior_review_m18_lowcurvature_v1/agent_findings.json new file mode 100644 index 0000000000000000000000000000000000000000..8e529f83248afd03bc25244b2b19cec471a12384 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-stronger-reprojection-v2/native/prior_review_m18_lowcurvature_v1/agent_findings.json @@ -0,0 +1,731 @@ +{ + "case": "session_20260921_233350_440979/window_anchor0359-0730", + "reviewed_utc": "2026-10-28T22:20:47.744295+00:00", + "scope": { + "goal": "Review the completed owner-selected initial M18 chain prior", + "done_when": "Single package, saved-numeric checks, actual 21-panel and nine-orbit-sample inspection, linked findings", + "non_goals": [ + "No refit or scientific setting changes", + "No observation repair, full-sequence physical fitting, or trained appearance", + "No owner acceptance or global case-status changes" + ], + "validation": "Saved stage reports, numeric arrays and metrics, case/frame mappings, actual images, and review links" + }, + "readiness": "ready_for_owner_initial_prior_review_with_hidden_shape_and_depth_limitations", + "blocking_tube_construction_findings": [], + "owner_prior_approval": "pending; this review grants no acceptance", + "full_sequence_physical_fitting_clearance": false, + "owner_settings": { + "owner_text": "Use 18 controls and 5e-9 for both", + "question_item_id": "[\"request_user_input_async\",\"call_4f3ca5db567e45e7a0e793e0329a9bf9\",0]", + "recorded_utc": "2026-10-28T22:07:04.723232+00:00", + "control_count": 18, + "lambda_curvature_cost": 5e-09, + "settings_source": "233248 variant B", + "scope": "Prepare233350 with18controls and curvature5e-9; all other current C2 settings unchanged. Individual prior review and acceptance remain separate.", + "run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1" + }, + "comparison_baseline": "No nine-control prior exists for this case; M18 was the first prior fit.", + "inspected_image_base": "../prior_chain_m18_lowcurvature_v1", + "inspected_images": [ + "review/inputs/view_0_12540311.png", + "review/inputs/view_1_12933256.png", + "review/inputs/view_2_17736741.png", + "review/inputs/view_3_23007103.png", + "review/spline/centerline_0_with_masks.png", + "review/spline/centerline_1_with_masks.png", + "review/spline/centerline_2_with_masks.png", + "review/spline/centerline_3_with_masks.png", + "review/tube/silhouette_0_unmasked.png", + "review/tube/silhouette_1_unmasked.png", + "review/tube/silhouette_2_unmasked.png", + "review/tube/silhouette_3_unmasked.png", + "review/tube/silhouette_0_with_masks.png", + "review/tube/silhouette_1_with_masks.png", + "review/tube/silhouette_2_with_masks.png", + "review/tube/silhouette_3_with_masks.png", + "review/tube/tube_scale_views.png", + "review/inputs/depth_offset.png", + "review/spline/residual_histograms.png", + "review/colors/visibility_and_fill.png", + "review/hybrid/combined.png" + ], + "orbit_visual_inspection": { + "source": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1/review/tube/orbit.mp4", + "reported_frames": 36, + "fps": 12.0, + "selected_frame_indices": [ + 0, + 4, + 8, + 13, + 17, + 21, + 26, + 30, + 35 + ], + "method": "Nine direct selected-frame reads, no continuous playback or full decode claim", + "visual_inspection_pending": false, + "visual_inspection_complete": true, + "observations": "One closed rounded rectangular loop with consistent circular ring samples and a visibly raised grip-side segment. No gross crossing, detached segment, or local tube collapse was seen in the nine samples. Rings represent tube cross-sections, not individual chain links." + }, + "visual_findings": [ + "All four initial RGB/depth panels show the broad chain loop with two grasping hands. Accepted object masks follow the visible chain; the hand/occluder union masks both grasps. Camera 12933256 has substantial hand/forearm occlusion already at the initial view.", + "The four centerline and eight masked/unmasked tube overlays follow the exposed rounded rectangular outline. Small edge offsets remain near corners and grasps. In camera 12933256, the hidden closure projects across the foreground forearm/sleeve; the other views also show inferred spans under fingers. These spans are not observed surface evidence or proof of physical hand penetration.", + "Scale/depth-cloud and hybrid panels show a raised grip-side tube segment above the main observed cloud. The color plot marks much of this raised hidden segment, and portions of the underside, as median-filled. The initial data do not fully constrain the hidden shape.", + "The tube remains a continuous circular approximation and does not encode individual chain plates, rollers, link gaps, or articulated joints. The nine orbit samples show no gross tube crossing, detached geometry, or local collapse.", + "The residual histograms retain camera-dependent point-to-centerline spread, with a longer tail in camera 23007103. These are not ground-truth errors or tube-surface distances. The depth diagnostic reports differing chain-interior-minus-local-table heights without applying a correction." + ], + "material_limitations": [ + "The raised grip-side span is weakly observed; its shape and vertical position must remain visible to the owner. The surface z range is -1.411954 to +22.065379 mm relative to nominal table z=0. This review does not validate contact or apply a table snap.", + "The analytic spline length is 585.177660 mm, 0.177681 mm above the saved soft upper bound. The saved active-bound flag and gradient stopping condition are not hard-feasibility certificates.", + "Eighteen controls with curvature weight 5e-9 were selected by the owner before this first prior fit. There is no nine-control prior for this case, and no comparative improvement claim is supported.", + "A continuous 4.75 mm radius tube approximates the chain outline, without separate link geometry or articulation. Median-filled vertex colors are an initialization assumption; this is not trained appearance.", + "Camera 12933256 has zero admitted object support at native-relative frames 139\u2013192 and 293\u2013325 inclusive. Hand_A support is zero at 152\u2013187 and 302\u2013321. The foreground hand/forearm visibly obscures the object and the other hand in these intervals; rejected/hidden predictions remain visible in the diagnostic overlays.", + "Camera 12933256 object mask-bin coverage is nonfinite for 83 frames: 140\u2013191 and 294\u2013324 inclusive. No coverage or observation values were imputed.", + "Camera 12933256 paired native-minus-WAFT p95 reaches +274.4 mm at native-relative 296. Values exceed +100 mm at 144\u2013146, 190\u2013191, 294\u2013296 and 325. These are common-support depth comparisons, including hands, rather than ground-truth accuracy measurements.", + "The other three cameras retain some admitted object points throughout, but support is partial along visible arcs and around the grasps, especially late. Camera 23007103 falls to 218 admitted object points at native-relative 322, and its visible-point p10 certainty reaches 0.6195.", + "The derived sampled sequence retains the broad shearing motion and both hand groups, while showing partial or split arcs. Isolated object points appear at derived samples 24 and 248; sample 297 has a distinctly detached point below the main cloud in XZ/YZ. 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No initial-reference blocker was found.", + "The initial 4 cm inclusive gate leaves 205 eligible controller candidates, then pooled global FPS selects 30 measured trajectories: 18 hand_A and 12 hand_B. Maximum saved initial distance is 39.458389804415944 mm." + ], + "material_limitations": [ + "Camera 12933256 has zero admitted object support at native-relative frames 139\u2013192 and 293\u2013325 inclusive. Hand_A support is zero at 152\u2013187 and 302\u2013321. The foreground hand/forearm visibly obscures the object and the other hand in these intervals; rejected/hidden predictions remain visible in the diagnostic overlays.", + "Camera 12933256 object mask-bin coverage is nonfinite for 83 frames: 140\u2013191 and 294\u2013324 inclusive. No coverage or observation values were imputed.", + "Camera 12933256 paired native-minus-WAFT p95 reaches +274.4 mm at native-relative 296. Values exceed +100 mm at 144\u2013146, 190\u2013191, 294\u2013296 and 325. These are common-support depth comparisons, including hands, rather than ground-truth accuracy measurements.", + "The other three cameras retain some admitted object points throughout, but support is partial along visible arcs and around the grasps, especially late. Camera 23007103 falls to 218 admitted object points at native-relative 322, and its visible-point p10 certainty reaches 0.6195.", + "The derived sampled sequence retains the broad shearing motion and both hand groups, while showing partial or split arcs. Isolated object points appear at derived samples 24 and 248; sample 297 has a distinctly detached point below the main cloud in XZ/YZ. 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