diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_colors.log b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_colors.log new file mode 100644 index 0000000000000000000000000000000000000000..074c44c091913653102ff7326563dfd9fa67c602 --- /dev/null +++ b/sessions/session_20260921_233045_819927/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_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_v1/steps/colors.json diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_colors_argv.json b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_colors_argv.json new file mode 100644 index 0000000000000000000000000000000000000000..1592418663ea06ccef9c37f997657eee1c02165f --- /dev/null +++ b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_colors_argv.json @@ -0,0 +1,16 @@ +{ + "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_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_v1" + ], + "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e", + "owner_acceptance": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/owner_mask_acceptance_c6a_selected_20261028.json", + "started_utc": "2026-10-28T21:46:13.589952+00:00" +} diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_colors_result.json b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_colors_result.json new file mode 100644 index 0000000000000000000000000000000000000000..99cc149718c79a1106cc9289d94342646c3db53e --- /dev/null +++ b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_colors_result.json @@ -0,0 +1,5 @@ +{ + "returncode": 0, + "wall_seconds": 2.6297481060028076, + "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e" +} diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_complete.json b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_complete.json new file mode 100644 index 0000000000000000000000000000000000000000..e529f19dd240a88599b05701c4d74b9953698617 --- /dev/null +++ b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_complete.json @@ -0,0 +1,5 @@ +{ + "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e", + "phase": "prior", + "completed_utc": "2026-10-28T21:46:31.771263+00:00" +} diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_diagnose_depth.log b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_diagnose_depth.log new file mode 100644 index 0000000000000000000000000000000000000000..18a4e48b56e7babe8abd717629b35e438fc13c17 --- /dev/null +++ b/sessions/session_20260921_233045_819927/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_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_v1/steps/diagnose-depth.json diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_diagnose_depth_argv.json b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_diagnose_depth_argv.json new file mode 100644 index 0000000000000000000000000000000000000000..da5c0595ea7c15cb7d81b9e316f6c95a8b724ab9 --- /dev/null +++ b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_diagnose_depth_argv.json @@ -0,0 +1,16 @@ +{ + "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_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_v1" + ], + "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e", + "owner_acceptance": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/owner_mask_acceptance_c6a_selected_20261028.json", + "started_utc": "2026-10-28T21:45:45.014845+00:00" +} diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_diagnose_depth_result.json b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_diagnose_depth_result.json new file mode 100644 index 0000000000000000000000000000000000000000..140c087fd144de75d352f945c43313a0b3fa41aa --- /dev/null +++ b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_diagnose_depth_result.json @@ -0,0 +1,5 @@ +{ + "returncode": 0, + "wall_seconds": 1.5481266975402832, + "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e" +} diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_fit.log b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_fit.log new file mode 100644 index 0000000000000000000000000000000000000000..e85291abd2d1cd9205aa79f3722bae578aed9330 --- /dev/null +++ b/sessions/session_20260921_233045_819927/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_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_v1/steps/fit.json diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_fit_argv.json b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_fit_argv.json new file mode 100644 index 0000000000000000000000000000000000000000..c3648a893dd430f156abf3128ff5a632b740655e --- /dev/null +++ b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_fit_argv.json @@ -0,0 +1,22 @@ +{ + "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_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_v1", + "--outlier-filter", + "statistical:20:2.0", + "--max-rounds", + "400", + "--reprojection-weight", + "4" + ], + "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e", + "owner_acceptance": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/owner_mask_acceptance_c6a_selected_20261028.json", + "started_utc": "2026-10-28T21:45:46.565338+00:00" +} diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_fit_result.json b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_fit_result.json new file mode 100644 index 0000000000000000000000000000000000000000..feb182788b953d38f951b6b600b9aaaa43892460 --- /dev/null +++ b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_fit_result.json @@ -0,0 +1,5 @@ +{ + "returncode": 0, + "wall_seconds": 22.022456884384155, + "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e" +} diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_hybrid.log b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_hybrid.log new file mode 100644 index 0000000000000000000000000000000000000000..73deeccf92dec5d47c3f81ed5a8fae0d2876d70f --- /dev/null +++ b/sessions/session_20260921_233045_819927/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_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_v1/steps/hybrid.json diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_hybrid_argv.json b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_hybrid_argv.json new file mode 100644 index 0000000000000000000000000000000000000000..a9800a9b91ef6ef34f94ccefaee886c5bdf66da3 --- /dev/null +++ b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_hybrid_argv.json @@ -0,0 +1,16 @@ +{ + "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_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_v1" + ], + "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e", + "owner_acceptance": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/owner_mask_acceptance_c6a_selected_20261028.json", + "started_utc": "2026-10-28T21:46:16.222256+00:00" +} diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_hybrid_result.json b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_hybrid_result.json new file mode 100644 index 0000000000000000000000000000000000000000..c497c39ddb7614b70638309b2757c289d60eabcb --- /dev/null +++ b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_hybrid_result.json @@ -0,0 +1,5 @@ +{ + "returncode": 0, + "wall_seconds": 2.2873377799987793, + "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e" +} diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_inputs.log b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_inputs.log new file mode 100644 index 0000000000000000000000000000000000000000..3996b84041c210e789b12d2de8ad1b4f7a6e8a9e --- /dev/null +++ b/sessions/session_20260921_233045_819927/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_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_v1/steps/inputs.json diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_inputs_argv.json b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_inputs_argv.json new file mode 100644 index 0000000000000000000000000000000000000000..810bfae0ba848ef8f4de5c3ee6eca35a5c003371 --- /dev/null +++ b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_inputs_argv.json @@ -0,0 +1,29 @@ +{ + "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_233045_819927/window_anchor0256-0546", + "--object", + "bike_chain", + "--unfitted-inputs", + "--fitting-bundle", + "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/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_233045_819927/window_anchor0256-0546/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_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_v1" + ], + "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e", + "owner_acceptance": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/owner_mask_acceptance_c6a_selected_20261028.json", + "started_utc": "2026-10-28T21:45:18.612424+00:00" +} diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_inputs_result.json b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_inputs_result.json new file mode 100644 index 0000000000000000000000000000000000000000..c31d50dc3bc3831e6041795b024a1b382efdc1d4 --- /dev/null +++ b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_inputs_result.json @@ -0,0 +1,5 @@ +{ + "returncode": 0, + "wall_seconds": 26.388787031173706, + "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e" +} diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_manifest.log b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_manifest.log new file mode 100644 index 0000000000000000000000000000000000000000..78a9db54ab83351dffbb50721d1af4941f04c648 --- /dev/null +++ b/sessions/session_20260921_233045_819927/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_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_v1/manifest.json diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_manifest_argv.json b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_manifest_argv.json new file mode 100644 index 0000000000000000000000000000000000000000..b938d7accc4c1e6a725bce813e55ba31c3d93d7b --- /dev/null +++ b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_manifest_argv.json @@ -0,0 +1,16 @@ +{ + "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_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_v1" + ], + "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e", + "owner_acceptance": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/owner_mask_acceptance_c6a_selected_20261028.json", + "started_utc": "2026-10-28T21:46:30.444460+00:00" +} diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_manifest_result.json b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_manifest_result.json new file mode 100644 index 0000000000000000000000000000000000000000..ff604248cb49b55a8984d1a0d1c66bf35da31037 --- /dev/null +++ b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_manifest_result.json @@ -0,0 +1,5 @@ +{ + "returncode": 0, + "wall_seconds": 1.3243305683135986, + "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e" +} diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_review.log b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_review.log new file mode 100644 index 0000000000000000000000000000000000000000..db35b7899c1aeed7b4b5638fb1013bc7ffbf9866 --- /dev/null +++ b/sessions/session_20260921_233045_819927/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_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_v1/steps/review.json diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_review_argv.json b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_review_argv.json new file mode 100644 index 0000000000000000000000000000000000000000..60cbaa9be49414e98ee8ab1a54a883c5b9eb73e3 --- /dev/null +++ b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_review_argv.json @@ -0,0 +1,16 @@ +{ + "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", + 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b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_review_result.json @@ -0,0 +1,5 @@ +{ + "returncode": 0, + "wall_seconds": 11.900348901748657, + "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e" +} diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_tube.log b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_tube.log new file mode 100644 index 0000000000000000000000000000000000000000..7726fefbb62ba780dd0abf5043107046e2370067 --- /dev/null +++ b/sessions/session_20260921_233045_819927/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_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_v1/steps/tube.json diff --git 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b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_reference_review_result.json @@ -0,0 +1,5 @@ +{ + "returncode": 0, + "wall_seconds": 297.17244386672974, + "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e" +} diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_reference_tapnextpp_tracks.log b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_reference_tapnextpp_tracks.log new file mode 100644 index 0000000000000000000000000000000000000000..576bfe3faf0ee48fcff5580dc619ad997cea9779 --- /dev/null +++ b/sessions/session_20260921_233045_819927/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 291 native frames and 5000 joint queries to /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/tapnextpp_tracks/tracks_12540311.npz +12933256: saved 291 native frames and 5000 joint queries to /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/tapnextpp_tracks/tracks_12933256.npz +17736741: saved 292 native frames and 5000 joint queries to /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/tapnextpp_tracks/tracks_17736741.npz +23007103: saved 293 native frames and 5000 joint queries to 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"--device", + "cuda", + "--output", + "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/tapnextpp_tracks" + ], + "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e", + "owner_acceptance": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/owner_mask_acceptance_c6a_selected_20261028.json", + "started_utc": "2026-10-28T21:05:22.716738+00:00" +} diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_reference_tapnextpp_tracks_result.json b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_reference_tapnextpp_tracks_result.json new file mode 100644 index 0000000000000000000000000000000000000000..33204cf9057b47ae9a9cf1360128989dbc219a8d --- /dev/null +++ b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_reference_tapnextpp_tracks_result.json @@ -0,0 +1,5 @@ +{ + "returncode": 0, + "wall_seconds": 238.3934361934662, + "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e" +} diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/chain_prior_revocation_preparation_state_20261028.json b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/chain_prior_revocation_preparation_state_20261028.json new file mode 100644 index 0000000000000000000000000000000000000000..ec99c2c618f4d76706282b820d7c1cec27660c99 --- /dev/null +++ b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/chain_prior_revocation_preparation_state_20261028.json @@ -0,0 +1,30 @@ +{ + "owner_revocation": 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-0,0 +1,42 @@ +# 233045 — lower curvature candidate review + +The completed candidate passes the saved numerical, input-preservation and geometry checks. **21 panels and nine orbit samples were directly inspected. Owner acceptance remains pending; previous chain-prior acceptances remain revoked.** This review grants no mechanics, appearance-training or physical-fitting authorization. + +Goal: review this full initial prior and compare it with the preserved 18-control baseline. Done when: settings/input/numeric checks and the actual visual inspection are complete and saved. Non-goals: refitting, changing observations or recording approval. + +The requested settings are **18 controls, curvature weight 5e-10, reprojection weight 4**. All other scientific settings exactly match the baseline, including the solver, input cloud/masks, 4.75 mm radius and tube sampling. All six preparation stages and the single packaging/check invocation returned zero. All 27 true observation/filter/step files remain byte-equal; original baseline fit/manifest and this saved fit remain unchanged. The derived Gaussian shape_prior.glb was newly generated and equals this candidate's tube GLB. + +[Numerical checks](numeric_prior_review.json) · [Exact visual record](agent_visual_review.json) · [Metrics and camera links](PRIOR_REVIEW_c6a_v1.md) · [Common comparison values](baseline_comparison.json) + +| Common diagnostic | Baseline: curvature 5e-9 / reprojection 4 | This candidate | +|---|---:|---:| +| Mean point-to-centerline distance (mm) | 7.492554 | 7.476475 | +| Mean of camera mean reprojection distances (mm) | 3.539597 | 3.538436 | +| Length (mm) | 585.575 | 585.561 | +| Distance outside soft length bounds (mm) | 0.575 | 0.561 | +| Maximum curvature (/m) | 32.094 | 34.651 | +| Median curvature (/m) | 11.833 | 11.821 | +| Outer rounds | 1 | 1 | +| Final gradient norm | 9.13397e-05 | 9.94576e-05 | + +Against the preserved18-control baseline, lowering only curvature weight5e-9→5e-10 changes the mean point-to-centerline distance7.492554→7.476475 mm and mean-view reprojection3.539597→3.538436 mm. Peak curvature rises32.094→34.651/m, while length changes585.575→585.561 mm. The unmasked silhouettes are visually very close at their saved resolution, with no clear recovery of a previously missing sharp corner. This is a small aggregate change rather than evidence of a broadly improved reconstruction. + +The total objectives are **not directly comparable** after a coefficient changes. Common residuals are diagnostic, not ground-truth error; the stored comparison also gives reprojection loss before its weight. All runs retain the absolute 1e-4 gradient tolerance, which can change effective precision when a term is reweighted. This candidate stopped on `gradient_tolerance`; one outer round permits up to 25 L-BFGS updates, whose actual count is not saved. The 400-round value is only a budget. The single-round convergence line plot appears blank because one point is plotted without a marker; the saved round record equals the final result. [Saved rounds](../prior_chain_lower_curvature_v2/spline/rounds.jsonl). + +The four input/mask sets show the same broad tabletop loop and single hand_A grip. The centerline and tube follow the exposed contour but smooth the discrete links and local bends. Camera 17736741 retains small visible edge offsets near the grip-side contour. The lower arc drawn across the hand in camera 12540311 is hidden completion and does not independently establish occluded shape or hand penetration. + +The scale, hybrid,3D and tube-profile panels show a coherent near-planar loop. Measured depth points lie above and laterally around the tube, and the side/3D axes are vertically expanded. Read-only chain-interior-minus-local-table depth medians remain approximately12.15/8.22/11.40/9.70 mm in camera order. No table/depth correction was performed. + +The residual histograms retain broad camera-dependent distributions, with their longer tails below about16 mm. These are distances to a centerline. The curvature profile shows several broad bends and smaller oscillations, with a peak near34.65/m; it does not resolve separate link joints. The single-round line plot has no visible marker and appears blank, while the numerical round is present. + +Color fill is concentrated on bottom-facing vertices and the hidden grip interval. The sampled orbit shows one continuous, consistently sized ring structure from all nine azimuths, with no visible gross crossing, detached segment, collapse or seam opening. The ring points visualize a continuous tube, not individual chain links. + +Saved geometry checks report **144 rings, 1,728 vertices, 3,456 triangles**, one consistently wound watertight component and **zero confirmed surface intersections**. Maximum recomputed radial error is **6.92e-09 m**. Minimum nonadjacent ring-center distance is **6.490 mm**; this remains a diagnostic, not a substitute for the surface-intersection rule. Tube z spans **-0.295 to 11.814 mm** relative to nominal table z=0. No table snapping, depth correction or contact validation was performed. + +Colors are observed for **1213 vertices** and median-filled for **515**. Saved GLB roundtrip checks report exact float32 positions and colors, and colored-GLB hashes match current files. Hybrid initialization contains **25,253 observed + 103,680 mesh-derived = 128,933 seeds**. These populations match the baseline counts because all runs use 18 controls and the same observation bank/sampling settings. They are appearance seeds, not mechanical particles or mass. Seven checked NPZ families are finite; per-view residual quantiles recompute to their recorded values. + +Orbit frames **0, 4, 9, 13, 18, 22, 26, 31, 35 of 36** were inspected individually. [Rotation](../prior_chain_lower_curvature_v2/review/tube/orbit.mp4) · [Inspected orbit frames](orbit_frames.json). The 21 panels comprise four input/mask sets, four masked centerlines, four unmasked silhouettes and nine diagnostic panels. The smooth tube does not model individual chain links or prove the shape behind the hand. + +This is a hand_A-only sequence. The preserved temporal reference review reports camera 12540311 zero admitted object support at native-relative frames 172–248 inclusive, 11 nonfinite mask-bin coverage entries, and large derived gaps around sample 175. Camera 12933256 paired native-minus-WAFT tails reach −348 mm at frame 167 and +98 mm at 166. These compare common valid support, not ground-truth errors. The initial prior does not repair later measurements or establish physical attachment. [Preserved temporal review](../review_v1/REVIEW.md). + +Only this new packet and scoped review scratch were written by the reviewer. No prior has been accepted by this review. diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_lower_curvature_v2/PRIOR_REVIEW_c6a_v1.md b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_lower_curvature_v2/PRIOR_REVIEW_c6a_v1.md new file mode 100644 index 0000000000000000000000000000000000000000..ee55e5cc331a6c19329f9d92ac07a053d73c2140 --- /dev/null +++ b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_lower_curvature_v2/PRIOR_REVIEW_c6a_v1.md @@ -0,0 +1,39 @@ +# session_20260921_233045_819927 — prior approval pending + +Saved C2 **bike_chain** prior evidence (radius 4.75 mm). Agent visual review is complete; owner acceptance remains pending, and earlier chain acceptances remain revoked. See [findings and baseline comparison](AGENT_FINDINGS.md). Saved values and media are linked here; the agent assessment is recorded separately. This packet records no acceptance. + +Initial reference frames are the saved nearest-camera observations of the first 30 Hz sample. The local row, converted frame, native-container frame and capture clock remain distinct in [the metrics JSON](). + +| Camera | Local / converted / native | Centerline / geometry / native input | +|---|---|---| +| 12540311 | 0 / 256 / 257 | [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 / 255 / 256 | [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 / 256 / 257 | [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 / 255 / 256 | [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 **585.561 mm**, maximum curvature **34.651/m**, final gradient norm **9.94576e-05**. Soft length bounds are 583.000–585.000 mm; distance outside those bounds is 0.561 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 | 8.426 / 12.550 | 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 | 5.851 / 8.524 | 99.42% | [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 | 7.822 / 10.361 | 98.51% | [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 | 8.048 / 10.580 | 100.00% | [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 **25253 of 26278** eroded points. The run used `waft_stereo_dav2l5`, 2 px erosion, a 400-round budget and reprojection weight **4**. + +Appearance initialization contains **25253 observed + 103680 mesh-derived = 128933 seeds**. Vertex colors are observed for 1213 mesh vertices and median-filled for 515. 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 panels and 9 orbit frames; see [the exact visual record](agent_visual_review.json) and [findings](AGENT_FINDINGS.md). Owner prior approval remains pending. No case status, prior acceptance, mechanics approval or trained-appearance approval is changed here. diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_lower_curvature_v2/agent_visual_review.json b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_lower_curvature_v2/agent_visual_review.json new file mode 100644 index 0000000000000000000000000000000000000000..89f92f8839e1699a3e93f63e8fe96739d0906115 --- /dev/null +++ b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_lower_curvature_v2/agent_visual_review.json @@ -0,0 +1,168 @@ +{ + "case": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546", + "candidate": "lower_curvature", + "prior_run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2", + "reviewed_at_utc": "2026-10-28T22:50:33.212167+00:00", + "review_kind": "bounded numeric and visual review of completed owner-requested chain weight candidate", + "readiness": "ready_for_owner_comparison_with_disclosed_limits", + "blocking_findings_for_review_completion": [], + "owner_prior_acceptance": "pending; all earlier chain prior acceptances remain revoked", + "scope": { + "goal": "Review the completed candidate and compare common diagnostics against the preserved 18-control baseline.", + "done_when": "Six successful stages, single scoped packaging/check invocation,21 actual panels and 9 orbit samples inspected, numerical/settings/input checks and findings saved.", + "non_goals": [ + "No scientific execution, fitting or source changes", + "No global or approval changes", + "No mechanics, appearance training or physical-fitting approval" + ] + }, + "job": { + "case_id": "233045", + "session_id": "session_20260921_233045_819927", + "case": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546", + "prep": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1", + "candidate": "lower_curvature", + "run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2", + "review": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/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_233045_819927/window_anchor0256-0546/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": "5c3f560eea985f9d376beed25f62328301e6e0206822ef4600447365e66556fa", + "baseline_fit_sha256": "1447d06033aef8a695483ebe1fa9cd15f4036f0e66c80028257fba96cf9c5d25" + }, + "packaging_and_check_result": { + "returncode": 0, + "elapsed_s": 12.435457742001745, + "completed_utc": "2026-10-28T22:49:25.946816+00:00", + "argv": [ + "flock", + "-x", + "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/outputs/c6a_recovery/resource_lane.lock", + "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python", + "-B", + "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/outputs/c6a_recovery/agent_drafts/chain_weight_pair_review_233045_233144_20261028/package_and_check.py", + "--case", + "233045", + "--candidate", + "lower_curvature" + ] + }, + "numeric_review_path": "numeric_prior_review.json", + "baseline_comparison_path": "baseline_comparison.json", + "unchanged_input_count": 27, + "geometry_checks": { + "euler_characteristic": 0, + "watertight": true, + "components": 1, + "winding_consistent": true, + "signed_volume_m3": 3.960661028893604e-05, + "minimum_outward_normal_dot_m": 0.004576825279004107, + "degenerate_triangles": 0, + "self_intersecting": false, + "maximum_radius_error_m": 6.9153748023104145e-09, + "maximum_diameter_error_m": 1.3777929009500811e-08, + "bishop_seam_error": 5.960464477539063e-08, + "minimum_nonadjacent_centerline_distance_m": 0.006490403928688424, + "triangle_area_m2": { + "min": 3.4466013380590655e-06, + "median": 4.824200162505392e-06, + "mean": 4.996909081105077e-06, + "max": 7.1740850912082675e-06, + "density_max_over_min": 2.0814954755539885 + }, + "bounds_m": [ + [ + -0.09602177143096924, + -0.21334518492221832, + -0.0002952171489596367 + ], + [ + 0.07283338904380798, + 0.006489256862550974, + 0.011814262717962265 + ] + ], + "radius_m": 0.00475, + "step_t": 0.125, + "step_angle_deg": 30, + "overlap_rule": "surface_intersection", + "open3d_reported_intersecting_pairs": 0, + "confirmed_intersecting_pairs": [], + "passed": true, + "orientation_flipped": true + }, + "glb_roundtrip_checks": { + "float32_positions_exact": true, + "vertex_colors_exact": true, + "uv_count": 0, + "vertex_reordered_on_open3d_load": true + }, + "observed_counts_unchanged": true, + "inspected_panels_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/tube_scale_views.png", + "review/spline/residual_histograms.png", + "review/inputs/depth_offset.png", + "review/colors/visibility_and_fill.png", + "review/hybrid/combined.png", + "review/spline/fit_3d.png", + "review/spline/curvature_profile.png", + "review/spline/round_curves.png", + "review/tube/tube_profiles.png" + ], + "inspected_orbit_frames_relative_to_review": [ + "orbit_frames/frame_000.png", + "orbit_frames/frame_004.png", + "orbit_frames/frame_009.png", + "orbit_frames/frame_013.png", + "orbit_frames/frame_018.png", + "orbit_frames/frame_022.png", + "orbit_frames/frame_026.png", + "orbit_frames/frame_031.png", + "orbit_frames/frame_035.png" + ], + "visual_coverage": { + "panel_count": 21, + "orbit_sample_count": 9, + "method": "Each actual PNG was opened and inspected individually through local image viewing, in labeled batches. Four baseline unmasked silhouettes were separately inspected for comparison." + }, + "baseline_silhouettes_inspected": [ + "review/tube/silhouette_0_unmasked.png", + "review/tube/silhouette_1_unmasked.png", + "review/tube/silhouette_2_unmasked.png", + "review/tube/silhouette_3_unmasked.png" + ], + "observations": [ + "The four input/mask sets show the same broad tabletop loop and single hand_A grip. The centerline and tube follow the exposed contour but smooth the discrete links and local bends. Camera 17736741 retains small visible edge offsets near the grip-side contour. The lower arc drawn across the hand in camera 12540311 is hidden completion and does not independently establish occluded shape or hand penetration.", + "The scale, hybrid,3D and tube-profile panels show a coherent near-planar loop. Measured depth points lie above and laterally around the tube, and the side/3D axes are vertically expanded. Read-only chain-interior-minus-local-table depth medians remain approximately12.15/8.22/11.40/9.70 mm in camera order. No table/depth correction was performed.", + "The residual histograms retain broad camera-dependent distributions, with their longer tails below about16 mm. These are distances to a centerline. The curvature profile shows several broad bends and smaller oscillations, with a peak near34.65/m; it does not resolve separate link joints. The single-round line plot has no visible marker and appears blank, while the numerical round is present.", + "Color fill is concentrated on bottom-facing vertices and the hidden grip interval. The sampled orbit shows one continuous, consistently sized ring structure from all nine azimuths, with no visible gross crossing, detached segment, collapse or seam opening. The ring points visualize a continuous tube, not individual chain links." + ], + "comparison_observations": [ + "Against the preserved18-control baseline, lowering only curvature weight5e-9\u21925e-10 changes the mean point-to-centerline distance7.492554\u21927.476475 mm and mean-view reprojection3.539597\u21923.538436 mm. Peak curvature rises32.094\u219234.651/m, while length changes585.575\u2192585.561 mm. The unmasked silhouettes are visually very close at their saved resolution, with no clear recovery of a previously missing sharp corner. This is a small aggregate change rather than evidence of a broadly improved reconstruction." + ], + "blocking_findings": [], + "limitations": [ + "The 4.75 mm radius continuous circular tube does not model individual links, gaps, rollers, plates or articulation; hidden geometry is inferred.", + "Length 585.561216 mm is 0.561237 mm outside the soft interval. The 10/m threshold and 80/m smooth saturation are penalty parameters, not hard curvature bounds.", + "Tube z bounds are -0.295217 to 11.814263 mm relative to nominal table z=0. Depth/table offsets and contact uncertainty remain unchanged.", + "A lower common residual does not establish ground-truth shape accuracy. Changed objective totals are not ranked; fixed absolute gradient tolerance can affect effective precision when weights change.", + "This is a hand_A-only sequence. The preserved temporal reference review reports camera 12540311 zero admitted object support at native-relative frames 172\u2013248 inclusive, 11 nonfinite mask-bin coverage entries, and large derived gaps around sample 175. Camera 12933256 paired native-minus-WAFT tails reach \u2212348 mm at frame 167 and +98 mm at 166. These compare common valid support, not ground-truth errors. The initial prior does not repair later measurements or establish physical attachment.", + "Inspection covers 21 saved panels and nine orbit frames, not every video frame. No mechanics, appearance training or physical fit is assessed or accepted." + ], + "approval_effect": "No approval is recorded; execution authorization is not acceptance." +} diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_lower_curvature_v2/baseline_comparison.json b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_lower_curvature_v2/baseline_comparison.json new file mode 100644 index 0000000000000000000000000000000000000000..4a305a35b02829412ee80826d3f07e2ccfae2c7d --- /dev/null +++ b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_lower_curvature_v2/baseline_comparison.json @@ -0,0 +1,47 @@ +{ + "baseline": { + "run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1", + "control_count": 18, + "curvature_weight": 5e-09, + "reprojection_weight": 4.0, + "mean_point_to_centerline_mm": 7.49255351546465, + "mean_of_camera_mean_reprojection_mm": 3.5395966789004634, + "length_mm": 585.574746131897, + "length_outside_soft_bounds_mm": 0.5747675895690918, + "maximum_curvature_per_m": 32.09360885620117, + "median_curvature_per_m": 11.833191394805908, + "common_3d_loss": 2.43807789956918e-05, + "unweighted_reprojection_loss": 8.112297109619249e-06, + "rounds": 1, + "stop": "gradient_tolerance", + "gradient_norm": 9.133969433605671e-05, + "wall_time_s": 20.815335273742676 + }, + "candidate": { + "run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2", + "control_count": 18, + "curvature_weight": 5e-10, + "reprojection_weight": 4.0, + "mean_point_to_centerline_mm": 7.476474553448394, + "mean_of_camera_mean_reprojection_mm": 3.538436009384114, + "length_mm": 585.561215877533, + "length_outside_soft_bounds_mm": 0.5612373352050781, + "maximum_curvature_per_m": 34.65119171142578, + "median_curvature_per_m": 11.820651531219482, + "common_3d_loss": 2.4305420083692297e-05, + "unweighted_reprojection_loss": 8.108469046419486e-06, + "rounds": 1, + "stop": "gradient_tolerance", + "gradient_norm": 9.945761121343821e-05, + "wall_time_s": 20.518172025680542 + }, + "same_observed_inputs": true, + "only_scientific_setting_change": { + "control_count": 18, + "lambda_curvature_cost": 5e-10, + "reprojection_weight": 4.0 + }, + "all_other_baseline_settings_match": true, + "total_objectives_comparable": false, + "interpretation": "Common raw residuals and unweighted reprojection losses are compared. The coefficient changes the objective; absolute gradient stopping also changes effective precision. No optimum or ground-truth accuracy claim." +} diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_lower_curvature_v2/numeric_prior_review.json b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_lower_curvature_v2/numeric_prior_review.json new file mode 100644 index 0000000000000000000000000000000000000000..193a3fa81d501b720525b25c5e5917ceb9b09275 --- /dev/null +++ b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_lower_curvature_v2/numeric_prior_review.json @@ -0,0 +1,824 @@ +{ + "scope": "Saved 233045 lower_curvature prior review only; no fitting, sampling or scientific correction executed by this reviewer.", + "job": { + "case_id": "233045", + "session_id": "session_20260921_233045_819927", + "case": 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a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_stronger_reprojection_v2/AGENT_FINDINGS.md b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_stronger_reprojection_v2/AGENT_FINDINGS.md new file mode 100644 index 0000000000000000000000000000000000000000..44728b871c242513eb776d964c824a9d7622d939 --- /dev/null +++ b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_stronger_reprojection_v2/AGENT_FINDINGS.md @@ -0,0 +1,44 @@ +# 233045 — stronger reprojection candidate review + +The completed candidate passes the saved numerical, input-preservation and geometry checks. **21 panels and nine orbit samples were directly inspected. Owner acceptance remains pending; previous chain-prior acceptances remain revoked.** This review grants no mechanics, appearance-training or physical-fitting authorization. + +Goal: review this full initial prior and compare it with the preserved 18-control baseline. Done when: settings/input/numeric checks and the actual visual inspection are complete and saved. Non-goals: refitting, changing observations or recording approval. + +The requested settings are **18 controls, curvature weight 5e-09, reprojection weight 8**. All other scientific settings exactly match the baseline, including the solver, input cloud/masks, 4.75 mm radius and tube sampling. All six preparation stages and the single packaging/check invocation returned zero. All 27 true observation/filter/step files remain byte-equal; original baseline fit/manifest and this saved fit remain unchanged. The derived Gaussian shape_prior.glb was newly generated and equals this candidate's tube GLB. + +[Numerical checks](numeric_prior_review.json) · [Exact visual record](agent_visual_review.json) · [Metrics and camera links](PRIOR_REVIEW_c6a_v1.md) · [Common comparison values](baseline_comparison.json) + +| Common diagnostic | Baseline: curvature 5e-9 / reprojection 4 | This candidate | +|---|---:|---:| +| Mean point-to-centerline distance (mm) | 7.492554 | 8.042299 | +| Mean of camera mean reprojection distances (mm) | 3.539597 | 3.397059 | +| Length (mm) | 585.575 | 586.326 | +| Distance outside soft length bounds (mm) | 0.575 | 1.327 | +| Maximum curvature (/m) | 32.094 | 55.487 | +| Median curvature (/m) | 11.833 | 12.996 | +| Outer rounds | 1 | 1 | +| Final gradient norm | 9.13397e-05 | 9.28922e-05 | + +With curvature weight held at5e-9 and reprojection weight4→8, mean-view image residual improves3.539597→3.397059 mm, while mean3D point-to-centerline residual worsens7.492554→8.042299 mm. Peak curvature increases32.094→55.487/m, and length increases585.575→586.326 mm. The grip-side turn becomes more angular in the inspected projections; this is a visible recipe tradeoff, not uniform improvement or evidence that inferred hidden geometry is correct. + +The lower-curvature alternative has only tiny aggregate movement from the same baseline (3D7.476475 mm, reprojection3.538436 mm, peak34.651/m). Stronger reprojection changes this case more visibly and favors image-plane fit at the expense of depth fit and greater soft-length excess. Both retain the same absolute gradient stop and are not ranked by total objective. + +The total objectives are **not directly comparable** after a coefficient changes. Common residuals are diagnostic, not ground-truth error; the stored comparison also gives reprojection loss before its weight. All runs retain the absolute 1e-4 gradient tolerance, which can change effective precision when a term is reweighted. This candidate stopped on `gradient_tolerance`; one outer round permits up to 25 L-BFGS updates, whose actual count is not saved. The 400-round value is only a budget. The single-round convergence line plot appears blank because one point is plotted without a marker; the saved round record equals the final result. [Saved rounds](../prior_chain_stronger_reprojection_v2/spline/rounds.jsonl). + +The four input/mask sets retain the same chain loop and hand_A grip. Exposed centerline locations remain broadly aligned with the object masks, while individual links and local edge offsets remain. The grip-side return is more angular than the baseline and lower-curvature candidate, most visible in camera 12933256 at the right-hand end and in camera 17736741 near the lower-left return. Part of that change lies in the hand-hidden completion; an overlay through the hand does not validate hidden shape. + +The scale, hybrid,3D and profile panels show a connected near-planar loop lying lower relative to the unchanged depth cloud than in the lower-curvature candidate. Side and oblique displays exaggerate the vertical axis. The depth-offset bar chart is unchanged, with chain-interior-minus-local-table medians approximately12.15/8.22/11.40/9.70 mm in camera order. No depth or ground correction was applied. + +The curvature plot has sharper peaks around the grip-side parameter interval, with saved peak55.49/m. Residual distributions broaden or shift relative to the baseline, consistent with the larger aggregate3D residual; camera-dependent depth spread remains. The single-round line plot appears blank without a point marker, while its numerical record is saved. + +Color-filled vertices mainly occupy the bottom-facing band and grip-hidden region. All nine orbit samples show a closed tube with consistent cross-section sampling and no visible gross crossing, disconnected segment, collapse or seam opening. Small local bends are clearer, but the visualization still depicts a smooth tube rather than separate links. + +Saved geometry checks report **144 rings, 1,728 vertices, 3,456 triangles**, one consistently wound watertight component and **zero confirmed surface intersections**. Maximum recomputed radial error is **7.58e-09 m**. Minimum nonadjacent ring-center distance is **5.642 mm**; this remains a diagnostic, not a substitute for the surface-intersection rule. Tube z spans **-1.392 to 10.065 mm** relative to nominal table z=0. No table snapping, depth correction or contact validation was performed. + +Colors are observed for **1187 vertices** and median-filled for **541**. Saved GLB roundtrip checks report exact float32 positions and colors, and colored-GLB hashes match current files. Hybrid initialization contains **25,253 observed + 103,680 mesh-derived = 128,933 seeds**. These populations match the baseline counts because all runs use 18 controls and the same observation bank/sampling settings. They are appearance seeds, not mechanical particles or mass. Seven checked NPZ families are finite; per-view residual quantiles recompute to their recorded values. + +Orbit frames **0, 4, 9, 13, 18, 22, 26, 31, 35 of 36** were inspected individually. [Rotation](../prior_chain_stronger_reprojection_v2/review/tube/orbit.mp4) · [Inspected orbit frames](orbit_frames.json). The 21 panels comprise four input/mask sets, four masked centerlines, four unmasked silhouettes and nine diagnostic panels. The smooth tube does not model individual chain links or prove the shape behind the hand. + +This is a hand_A-only sequence. The preserved temporal reference review reports camera 12540311 zero admitted object support at native-relative frames 172–248 inclusive, 11 nonfinite mask-bin coverage entries, and large derived gaps around sample 175. Camera 12933256 paired native-minus-WAFT tails reach −348 mm at frame 167 and +98 mm at 166. These compare common valid support, not ground-truth errors. The initial prior does not repair later measurements or establish physical attachment. [Preserved temporal review](../review_v1/REVIEW.md). + +Only this new packet and scoped review scratch were written by the reviewer. No prior has been accepted by this review. diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_stronger_reprojection_v2/PRIOR_REVIEW_c6a_v1.md b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_stronger_reprojection_v2/PRIOR_REVIEW_c6a_v1.md new file mode 100644 index 0000000000000000000000000000000000000000..26ee8e30f1acd61af96dd40410868e8b5142112c --- /dev/null +++ b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_stronger_reprojection_v2/PRIOR_REVIEW_c6a_v1.md @@ -0,0 +1,39 @@ +# session_20260921_233045_819927 — prior approval pending + +Saved C2 **bike_chain** prior evidence (radius 4.75 mm). Agent visual review is complete; owner acceptance remains pending, and earlier chain acceptances remain revoked. See [findings and baseline comparison](AGENT_FINDINGS.md). Saved values and media are linked here; the agent assessment is recorded separately. This packet records no acceptance. + +Initial reference frames are the saved nearest-camera observations of the first 30 Hz sample. The local row, converted frame, native-container frame and capture clock remain distinct in [the metrics JSON](). + +| Camera | Local / converted / native | Centerline / geometry / native input | +|---|---|---| +| 12540311 | 0 / 256 / 257 | [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 / 255 / 256 | [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 / 256 / 257 | [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 / 255 / 256 | [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 **586.326 mm**, maximum curvature **55.487/m**, final gradient norm **9.28922e-05**. Soft length bounds are 583.000–585.000 mm; distance outside those bounds is 1.327 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 | 9.476 / 13.591 | 99.67% | [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 | 6.041 / 8.726 | 98.27% | [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 | 8.889 / 11.095 | 98.78% | [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 | 8.546 / 11.228 | 98.85% | [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 **25253 of 26278** eroded points. The run used `waft_stereo_dav2l5`, 2 px erosion, a 400-round budget and reprojection weight **8**. + +Appearance initialization contains **25253 observed + 103680 mesh-derived = 128933 seeds**. Vertex colors are observed for 1187 mesh vertices and median-filled for 541. 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 panels and 9 orbit frames; see [the exact visual record](agent_visual_review.json) and [findings](AGENT_FINDINGS.md). Owner prior approval remains pending. No case status, prior acceptance, mechanics approval or trained-appearance approval is changed here. diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_stronger_reprojection_v2/agent_visual_review.json b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_stronger_reprojection_v2/agent_visual_review.json new file mode 100644 index 0000000000000000000000000000000000000000..f91b63cde8749c8d7669a519a2074c3626d1df55 --- /dev/null +++ b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_stronger_reprojection_v2/agent_visual_review.json @@ -0,0 +1,169 @@ +{ + "case": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546", + "candidate": "stronger_reprojection", + "prior_run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2", + "reviewed_at_utc": "2026-10-28T22:51:50.366640+00:00", + "review_kind": "bounded numeric and visual review of completed owner-requested chain weight candidate", + "readiness": "ready_for_owner_comparison_with_disclosed_limits", + "blocking_findings_for_review_completion": [], + "owner_prior_acceptance": "pending; all earlier chain prior acceptances remain revoked", + "scope": { + "goal": "Review the completed candidate and compare common diagnostics against the preserved 18-control baseline.", + "done_when": "Six successful stages, single scoped packaging/check invocation,21 actual panels and 9 orbit samples inspected, numerical/settings/input checks and findings saved.", + "non_goals": [ + "No scientific execution, fitting or source changes", + "No global or approval changes", + "No mechanics, appearance training or physical-fitting approval" + ] + }, + "job": { + "case_id": "233045", + "session_id": "session_20260921_233045_819927", + "case": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546", + "prep": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1", + "candidate": "stronger_reprojection", + "run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2", + "review": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/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_233045_819927/window_anchor0256-0546/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": "5c3f560eea985f9d376beed25f62328301e6e0206822ef4600447365e66556fa", + "baseline_fit_sha256": "1447d06033aef8a695483ebe1fa9cd15f4036f0e66c80028257fba96cf9c5d25" + }, + "packaging_and_check_result": { + "returncode": 0, + "elapsed_s": 11.510686502995668, + "completed_utc": "2026-10-28T22:50:59.801495+00:00", + "argv": [ + "flock", + "-x", + "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/outputs/c6a_recovery/resource_lane.lock", + "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python", + "-B", + "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/outputs/c6a_recovery/agent_drafts/chain_weight_pair_review_233045_233144_20261028/package_and_check.py", + "--case", + "233045", + "--candidate", + "stronger_reprojection" + ] + }, + "numeric_review_path": "numeric_prior_review.json", + "baseline_comparison_path": "baseline_comparison.json", + "unchanged_input_count": 27, + "geometry_checks": { + "euler_characteristic": 0, + "watertight": true, + "components": 1, + "winding_consistent": true, + "signed_volume_m3": 3.965270818487399e-05, + "minimum_outward_normal_dot_m": 0.004564246697878023, + "degenerate_triangles": 0, + "self_intersecting": false, + "maximum_radius_error_m": 7.578523522275282e-09, + "maximum_diameter_error_m": 1.3007551964358544e-08, + "bishop_seam_error": 5.960464477539063e-08, + "minimum_nonadjacent_centerline_distance_m": 0.005641593615100589, + "triangle_area_m2": { + "min": 2.888409919759856e-06, + "median": 5.039957914372212e-06, + "mean": 5.003005452000232e-06, + "max": 6.430496657860382e-06, + "density_max_over_min": 2.22631026637487 + }, + "bounds_m": [ + [ + -0.09577887505292892, + -0.21346457302570343, + -0.0013921016361564398 + ], + [ + 0.07397306710481644, + 0.005630197934806347, + 0.010065151378512383 + ] + ], + "radius_m": 0.00475, + "step_t": 0.125, + "step_angle_deg": 30, + "overlap_rule": "surface_intersection", + "open3d_reported_intersecting_pairs": 0, + "confirmed_intersecting_pairs": [], + "passed": true, + "orientation_flipped": true + }, + "glb_roundtrip_checks": { + "float32_positions_exact": true, + "vertex_colors_exact": true, + "uv_count": 0, + "vertex_reordered_on_open3d_load": true + }, + "observed_counts_unchanged": true, + "inspected_panels_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/tube_scale_views.png", + "review/spline/residual_histograms.png", + "review/inputs/depth_offset.png", + "review/colors/visibility_and_fill.png", + "review/hybrid/combined.png", + "review/spline/fit_3d.png", + "review/spline/curvature_profile.png", + "review/spline/round_curves.png", + "review/tube/tube_profiles.png" + ], + "inspected_orbit_frames_relative_to_review": [ + "orbit_frames/frame_000.png", + "orbit_frames/frame_004.png", + "orbit_frames/frame_009.png", + "orbit_frames/frame_013.png", + "orbit_frames/frame_018.png", + "orbit_frames/frame_022.png", + "orbit_frames/frame_026.png", + "orbit_frames/frame_031.png", + "orbit_frames/frame_035.png" + ], + "visual_coverage": { + "panel_count": 21, + "orbit_sample_count": 9, + "method": "Each actual PNG was opened and inspected individually through local image viewing, in labeled batches. Four baseline unmasked silhouettes and the complete lower-curvature candidate were separately inspected." + }, + "baseline_silhouettes_inspected": [ + "review/tube/silhouette_0_unmasked.png", + "review/tube/silhouette_1_unmasked.png", + "review/tube/silhouette_2_unmasked.png", + "review/tube/silhouette_3_unmasked.png" + ], + "observations": [ + "The four input/mask sets retain the same chain loop and hand_A grip. Exposed centerline locations remain broadly aligned with the object masks, while individual links and local edge offsets remain. The grip-side return is more angular than the baseline and lower-curvature candidate, most visible in camera 12933256 at the right-hand end and in camera 17736741 near the lower-left return. Part of that change lies in the hand-hidden completion; an overlay through the hand does not validate hidden shape.", + "The scale, hybrid,3D and profile panels show a connected near-planar loop lying lower relative to the unchanged depth cloud than in the lower-curvature candidate. Side and oblique displays exaggerate the vertical axis. The depth-offset bar chart is unchanged, with chain-interior-minus-local-table medians approximately12.15/8.22/11.40/9.70 mm in camera order. No depth or ground correction was applied.", + "The curvature plot has sharper peaks around the grip-side parameter interval, with saved peak55.49/m. Residual distributions broaden or shift relative to the baseline, consistent with the larger aggregate3D residual; camera-dependent depth spread remains. The single-round line plot appears blank without a point marker, while its numerical record is saved.", + "Color-filled vertices mainly occupy the bottom-facing band and grip-hidden region. All nine orbit samples show a closed tube with consistent cross-section sampling and no visible gross crossing, disconnected segment, collapse or seam opening. Small local bends are clearer, but the visualization still depicts a smooth tube rather than separate links." + ], + "comparison_observations": [ + "With curvature weight held at5e-9 and reprojection weight4\u21928, mean-view image residual improves3.539597\u21923.397059 mm, while mean3D point-to-centerline residual worsens7.492554\u21928.042299 mm. Peak curvature increases32.094\u219255.487/m, and length increases585.575\u2192586.326 mm. The grip-side turn becomes more angular in the inspected projections; this is a visible recipe tradeoff, not uniform improvement or evidence that inferred hidden geometry is correct.", + "The lower-curvature alternative has only tiny aggregate movement from the same baseline (3D7.476475 mm, reprojection3.538436 mm, peak34.651/m). Stronger reprojection changes this case more visibly and favors image-plane fit at the expense of depth fit and greater soft-length excess. Both retain the same absolute gradient stop and are not ranked by total objective." + ], + "blocking_findings": [], + "limitations": [ + "The 4.75 mm radius continuous circular tube does not model individual links, gaps, rollers, plates or articulation; hidden geometry is inferred.", + "Length 586.326480 mm is 1.326501 mm outside the soft interval. The 10/m threshold and 80/m smooth saturation are penalty parameters, not hard curvature bounds.", + "Tube z bounds are -1.392102 to 10.065151 mm relative to nominal table z=0. Depth/table offsets and contact uncertainty remain unchanged.", + "A lower common residual does not establish ground-truth shape accuracy. Changed objective totals are not ranked; fixed absolute gradient tolerance can affect effective precision when weights change.", + "This is a hand_A-only sequence. The preserved temporal reference review reports camera 12540311 zero admitted object support at native-relative frames 172\u2013248 inclusive, 11 nonfinite mask-bin coverage entries, and large derived gaps around sample 175. Camera 12933256 paired native-minus-WAFT tails reach \u2212348 mm at frame 167 and +98 mm at 166. These compare common valid support, not ground-truth errors. The initial prior does not repair later measurements or establish physical attachment.", + "Inspection covers 21 saved panels and nine orbit frames, not every video frame. No mechanics, appearance training or physical fit is assessed or accepted." + ], + "approval_effect": "No approval is recorded; execution authorization is not acceptance." +} diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_stronger_reprojection_v2/baseline_comparison.json b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_stronger_reprojection_v2/baseline_comparison.json new file mode 100644 index 0000000000000000000000000000000000000000..22852a873735ec60330e9cc5d613188d33f5a050 --- /dev/null +++ b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_stronger_reprojection_v2/baseline_comparison.json @@ -0,0 +1,47 @@ +{ + "baseline": { + "run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1", + "control_count": 18, + "curvature_weight": 5e-09, + "reprojection_weight": 4.0, + "mean_point_to_centerline_mm": 7.49255351546465, + "mean_of_camera_mean_reprojection_mm": 3.5395966789004634, + "length_mm": 585.574746131897, + "length_outside_soft_bounds_mm": 0.5747675895690918, + "maximum_curvature_per_m": 32.09360885620117, + "median_curvature_per_m": 11.833191394805908, + "common_3d_loss": 2.43807789956918e-05, + "unweighted_reprojection_loss": 8.112297109619249e-06, + "rounds": 1, + "stop": "gradient_tolerance", + "gradient_norm": 9.133969433605671e-05, + "wall_time_s": 20.815335273742676 + }, + "candidate": { + "run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2", + "control_count": 18, + "curvature_weight": 5e-09, + "reprojection_weight": 8.0, + "mean_point_to_centerline_mm": 8.042298844085895, + "mean_of_camera_mean_reprojection_mm": 3.397058633070487, + "length_mm": 586.3264799118042, + "length_outside_soft_bounds_mm": 1.3265013694763184, + "maximum_curvature_per_m": 55.48723220825195, + "median_curvature_per_m": 12.995746612548828, + "common_3d_loss": 2.6920975869870745e-05, + "unweighted_reprojection_loss": 7.439352884830441e-06, + "rounds": 1, + "stop": "gradient_tolerance", + "gradient_norm": 9.289216541219503e-05, + "wall_time_s": 20.629458904266357 + }, + "same_observed_inputs": true, + "only_scientific_setting_change": { + "control_count": 18, + "lambda_curvature_cost": 5e-09, + "reprojection_weight": 8.0 + }, + "all_other_baseline_settings_match": true, + "total_objectives_comparable": false, + "interpretation": "Common raw residuals and unweighted reprojection losses are compared. The coefficient changes the objective; absolute gradient stopping also changes effective precision. No optimum or ground-truth accuracy claim." +} diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_stronger_reprojection_v2/numeric_prior_review.json b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_stronger_reprojection_v2/numeric_prior_review.json new file mode 100644 index 0000000000000000000000000000000000000000..d9d9cd409778530b44b3473afefcc55dfd1fbfe1 --- /dev/null +++ b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_stronger_reprojection_v2/numeric_prior_review.json @@ -0,0 +1,824 @@ +{ + "scope": "Saved 233045 stronger_reprojection prior review only; no fitting, sampling or scientific correction executed by this reviewer.", + "job": { + "case_id": "233045", + "session_id": "session_20260921_233045_819927", + "case": 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+# 233045 — 18-control prior with curvature weight 5e-9 + +The requested initial prior is complete and its saved products are internally consistent. Inspection of **21 panels and nine orbit frames** found no material tube-construction or packaging issue. **Owner prior acceptance remains pending.** The owner's choice of settings does not accept this result or authorize subsequent mechanics, appearance training or physical fitting. + +Goal: review the completed prior and compare its common diagnostics with the preserved baseline. Done when: saved numerical checks, the 21 panels and nine orbit frames are inspected and findings saved. Non-goals: new science, corrective fitting, observation changes or approval. + +The saved spline has **18 control points** and curvature weight **5e-9**. All other scientific settings match the original nine-control prior; the additional baseline-run path supports comparison diagnostics. All six preparation stages and the single packaging/check invocation returned zero. The baseline fit and manifest and the new saved fit remained unchanged during review. [Numerical checks](numeric_prior_review.json) · [Exact visual findings](agent_visual_review.json) · [Camera links and saved metrics](PRIOR_REVIEW_c6a_v1.md). + +| Common diagnostic | Baseline: 9 controls, 5e-8 | Requested: 18 controls, 5e-9 | +|---|---:|---:| +| Mean point-to-centerline distance (mm) | 7.494506 | 7.492554 | +| Mean of camera mean reprojection distances (mm) | 3.608240 | 3.539597 | +| Length (mm) | 585.498 | 585.575 | +| Distance above soft upper length bound (mm) | 0.498 | 0.575 | +| Maximum curvature (/m) | 50.630 | 32.094 | +| Median curvature (/m) | 9.296 | 11.833 | +| Fraction above soft 10/m threshold | 47.2% | 55.2% | + +Mean point-to-centerline distance is nearly unchanged. The mean reprojection distance and maximum curvature decrease; median curvature and the fraction above the soft threshold increase. These diagnostics are not ground-truth reconstruction errors. **Total fit objectives are not directly comparable after changing the curvature weight.** [Exact comparison values](baseline_comparison.json). + +The new fit stopped after **one outer round** at gradient tolerance, with norm **9.13397e-05** and a solver limit of 25 iterations per round. The saved last round equals the reported final result. Length is **0.575 mm above** the unchanged soft upper bound near 585 mm. The 10/m curvature threshold and 80/m smooth saturation scale define a soft penalty rather than hard feasibility bounds. The single-round line plot appears blank because it has one point and no marker; [the round record](../prior_chain_m18_lowcurvature_v1/spline/rounds.jsonl) preserves the numeric result. No correction was made during review. + +The four input/mask panels show the intended broad tabletop chain loop and single hand contact. Centerline overlays and unmasked tube silhouettes follow the exposed contour, while smoothing individual link details and sharp local bends. Small edge offsets remain, most clearly beside the grip-side contour in camera 17736741. The lower arc drawn across the hand in camera 12540311 is hidden completion; that overlay does not establish occluded shape or physical hand penetration. A **4.75 mm radius circular tube** approximates the outline and contains no separate links, rollers, plates or articulation. + +The scale, hybrid, 3D and profile panels show a nearly planar loop, with observed points above and laterally around the tube. Vertical axes in the 3D/profile displays are expanded. Tube z spans **-0.281 to 12.352 mm** relative to nominal table z=0; shallow below-table geometry remains. Chain-interior-minus-local-table depth medians remain **12.148 / 8.220 / 11.400 / 9.699 mm** in camera order 12540311 / 12933256 / 17736741 / 23007103. No table snapping or depth correction was applied. + +The tube has **144 rings, 1,728 vertices and 3,456 triangles**, with unchanged step_t 0.125 and 30-degree circumferential sampling. Saved checks report one outward, consistently wound, watertight component, no degenerate triangles and **zero confirmed surface intersections**. Recomputed maximum radius error is **7.14e-09 m**. Minimum nonadjacent ring-center distance is **6.595 mm**; it remains a diagnostic and is not substituted for the approved surface-intersection rule. + +All seven checked saved NPZ families are finite. The **25,253 point-to-centerline residuals** have per-view medians and p90s matching their saved report. They are centerline distances, not tube-surface errors. The visible centerline-in-mask fractions in the metrics packet are not silhouette IoU or ground-truth accuracy. + +Orbit frames **0, 4, 9, 13, 18, 22, 26, 31 and 35 of 36** at 12 fps were inspected individually. They show a continuous loop with consistent cross-section sampling and no observed gross crossing, detached segment, collapse or seam opening. This is a point/ring visualization, not individually modeled chain links. [Rotation](../prior_chain_m18_lowcurvature_v1/review/tube/orbit.mp4) · [Exact sampled frames](orbit_frames.json). The 21 panels comprise four initial inputs, four masked centerlines, four unmasked tube silhouettes and nine diagnostic panels; this review does not claim continuous video playback. + +Colors are observed for **1,201 vertices** and median-filled for **527**, mainly on the bottom-facing surface and hidden grip interval. Saved GLB roundtrip checks report exact float32 positions and colors, and the recorded colored-GLB hashes match the current files. Hybrid initialization contains **25,253 observed + 103,680 mesh-derived = 128,933 seeds**. At unchanged step_t, increasing from nine to 18 controls doubles rings, triangles and mesh-derived seeds from 51,840; the observed population is unchanged. These counts describe appearance initialization, not mechanical particles or mass. + +All **27 true observation/filter/step inputs** remain byte-equal to the baseline. The derived Gaussian shape_prior.glb was intentionally excluded from the copy; the new colors stage generated it, and its final bytes match the new tube GLB. The original prior and review packet were preserved. + +The [temporal reference review](../review_v1/REVIEW.md) remains applicable. Camera **12540311 has zero admitted object support at native-relative frames 172–248 inclusive**; support falls in other views around the turn near 170, and derived sample 175 has large gaps. Camera **12933256** has paired native-minus-WAFT depth tails of **−348 mm at 167** and **+98 mm at 166**, pooling common valid hand/object support. These are measurement diagnostics, not ground-truth errors. The new initial prior does not repair those later observations or clear the full sequence for physical fitting. + +Only this new review packet and scoped scratch were written by the reviewer. Owner prior acceptance remains pending. diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_m18_lowcurvature_v1/PRIOR_REVIEW_c6a_v1.md b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_m18_lowcurvature_v1/PRIOR_REVIEW_c6a_v1.md new file mode 100644 index 0000000000000000000000000000000000000000..c5426fdcde8524e850db4c5359bf86cd0ad5bef9 --- /dev/null +++ b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_m18_lowcurvature_v1/PRIOR_REVIEW_c6a_v1.md @@ -0,0 +1,41 @@ +> **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_233045_819927 — prior approval pending + +Saved C2 **bike_chain** prior evidence (radius 4.75 mm). Agent visual review is complete; owner prior approval remains pending. See [agent findings and baseline comparison](AGENT_FINDINGS.md). This packet reports saved values and existing media, with the agent's assessment linked above. It 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 / 256 / 257 | [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 / 255 / 256 | [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 / 256 / 257 | [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 / 255 / 256 | [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 **585.575 mm**, maximum curvature **32.094/m**, final gradient norm **9.13397e-05**. Soft length bounds are 583.000–585.000 mm; distance outside those bounds is 0.575 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 | 8.463 / 12.569 | 99.67% | [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 | 5.789 / 8.465 | 99.42% | [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 | 7.865 / 10.451 | 98.80% | [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 | 8.148 / 10.635 | 99.71% | [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 **25253 of 26278** eroded points. The run used `waft_stereo_dav2l5`, 2 px erosion, a 400-round budget and reprojection weight **4**. + +Appearance initialization contains **25253 observed + 103680 mesh-derived = 128933 seeds**. Vertex colors are observed for 1201 mesh vertices and median-filled for 527. 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 panels and nine orbit frames recorded in [the exact visual review](agent_visual_review.json). The [agent findings](AGENT_FINDINGS.md) retain the baseline comparison and limitations. Owner prior approval remains pending. No case status, prior acceptance, mechanics approval or trained-appearance approval is changed here. diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_m18_lowcurvature_v1/agent_visual_review.json b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_m18_lowcurvature_v1/agent_visual_review.json new file mode 100644 index 0000000000000000000000000000000000000000..9ee4b1da78aa8a4579ce3e68a1f57ab3dfc04111 --- /dev/null +++ b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_m18_lowcurvature_v1/agent_visual_review.json @@ -0,0 +1,209 @@ +{ + "case": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546", + "prior_run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1", + "reviewed_at_utc": "2026-10-28T22:19:35.114371+00:00", + "review_kind": "bounded saved-output review of the owner-requested 18-control initial chain prior", + "readiness": "ready_for_owner_review_with_soft_length_depth_and_temporal_limits_retained", + "blocking_findings_for_initial_prior_review": [], + "owner_prior_acceptance": "pending; the settings decision is not acceptance", + "scope": { + "goal": "Package and inspect the completed requested prior, verify unchanged inputs and settings, and compare common baseline diagnostics.", + "done_when": "Six stages and one packaging/check invocation succeed; 21 panels, nine orbit samples, saved numeric arrays, 4.75 mm radius and baseline comparison are reviewed; findings are saved.", + "non_goals": [ + "No science launch, refit, correction, resampling or new settings", + "No original prior/review, source, global or approval writes", + "No mechanics, appearance training or physical fitting" + ], + "validation": "One detached packaging/check invocation under the absolute shared resource lock, seven finite saved NPZ families, 27 byte-equal inputs, exact settings comparison, final-round and residual quantile checks, radius and mesh/color/hybrid correspondence, 30 actual image reads, and bounded final link/identity review." + }, + "owner_settings_decision": { + "owner_text": "Use 18 controls and curvature 5e-9", + "question_item_id": "[\"request_user_input_async\",\"call_a0e9fa3be9d24527b644d22e28b0859a\",0]", + "recorded_utc": "2026-10-28T22:03:09.899460+00:00", + "control_count": 18, + "lambda_curvature_cost": 5e-09, + "settings_source": "233248 variant B", + "scope": "Prepare a separate233045 prior using18controls and curvature5e-9; preserve baseline and all other scientific settings. This is not prior acceptance.", + "run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1" + }, + "packaging_and_check_result": { + "returncode": 0, + "elapsed_s": 0.4272153320052894, + "completed_utc": "2026-10-28T22:12:07.965900+00:00", + "argv": [ + "flock", + "-x", + "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/outputs/c6a_recovery/resource_lane.lock", + "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python", + "-B", + "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/outputs/c6a_recovery/agent_drafts/prior_review_m18_233045_scratch/package_and_check.py" + ] + }, + "stage_results": { + "fit": { + "returncode": 0, + "elapsed_s": 312.6585516320047 + }, + "tube": { + "returncode": 0, + "elapsed_s": 124.47691196101368 + }, + "colors": { + "returncode": 0, + "elapsed_s": 9.80495451799652 + }, + "hybrid": { + "returncode": 0, + "elapsed_s": 32.505380379006965 + }, + "review": { + "returncode": 0, + "elapsed_s": 17.825640156006557 + }, + "manifest": { + "returncode": 0, + "elapsed_s": 13.853932117010118 + } + }, + "numerical_review_path": "numeric_prior_review.json", + "baseline_comparison_path": "baseline_comparison.json", + "numerical_review_passed": true, + "unchanged_input_count": 27, + "saved_colored_mesh_hashes_match": { + "tube/shape_prior.glb": true, + "gaussian_data/session_20260921_233045_819927/shape_prior.glb": true + }, + "saved_glb_roundtrip_checks": { + "float32_positions_exact": true, + "vertex_colors_exact": true, + "uv_count": 0, + "vertex_reordered_on_open3d_load": true + }, + "geometry_checks": { + "euler_characteristic": 0, + "watertight": true, + "components": 1, + "winding_consistent": true, + "signed_volume_m3": 3.9607764826905275e-05, + "minimum_outward_normal_dot_m": 0.004578032940923137, + "degenerate_triangles": 0, + "self_intersecting": false, + "maximum_radius_error_m": 7.1372326486407456e-09, + "maximum_diameter_error_m": 1.4274465297281491e-08, + "bishop_seam_error": 7.450580596923828e-09, + "minimum_nonadjacent_centerline_distance_m": 0.006594957437623624, + "triangle_area_m2": { + "min": 3.5315810432699745e-06, + "median": 4.819462196334863e-06, + "mean": 4.9970520983531565e-06, + "max": 7.207004641077688e-06, + "density_max_over_min": 2.0407303563971313 + }, + "bounds_m": [ + [ + -0.09603578597307205, + -0.21348179876804352, + -0.0002811620943248272 + ], + [ + 0.07304373383522034, + 0.006294803228229284, + 0.0123516246676445 + ] + ], + "radius_m": 0.00475, + "step_t": 0.125, + "step_angle_deg": 30, + "overlap_rule": "surface_intersection", + "open3d_reported_intersecting_pairs": 0, + "confirmed_intersecting_pairs": [], + "passed": true, + "orientation_flipped": true + }, + "observed_count_unchanged": true, + "inspected_panels_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/tube_scale_views.png", + "review/spline/residual_histograms.png", + "review/inputs/depth_offset.png", + "review/colors/visibility_and_fill.png", + "review/hybrid/combined.png", + "review/spline/fit_3d.png", + "review/spline/curvature_profile.png", + "review/spline/round_curves.png", + "review/tube/tube_profiles.png" + ], + "inspected_orbit_frames_relative_to_review": [ + "orbit_frames/frame_000.png", + "orbit_frames/frame_004.png", + "orbit_frames/frame_009.png", + "orbit_frames/frame_013.png", + "orbit_frames/frame_018.png", + "orbit_frames/frame_022.png", + "orbit_frames/frame_026.png", + "orbit_frames/frame_031.png", + "orbit_frames/frame_035.png" + ], + "per_camera_observations": { + "12540311": "Initial inputs show the broad angular chain loop and a substantial foreground hand/wrist occlusion. The centerline and red tube follow the exposed upper and side arcs, with small local edge offsets. The closed lower arc is projected across the hand and is inferred, not observed hidden geometry or evidence of hand penetration.", + "12933256": "The single hand contact lies at the upper-right narrow end. Centerline and tube follow the exposed long and rounded arcs; small inner/outer edge differences and smoothing of individual link contours remain.", + "17736741": "The broad loop and lower-left contact are coherent. The centerline and tube follow the upper/right arcs and slanted lower segment; small offsets remain beside the hand-side left contour. Sharp local link corners are smoothed.", + "23007103": "The upper-left hand contact and broad lower arc are coherent. Centerline and tube track the visible teardrop-like contour, including its slight side bend, with local edge mismatches; the grip segment remains inferred." + }, + "diagnostic_observations": [ + "The scale and hybrid panels show observed points above and laterally around the fitted tube. No distant initial cloud component or gross tube collapse is visible. The 3D/profile views expand the vertical axis and should not be read with equal horizontal and vertical scale.", + "The curvature plot has multiple finite peaks below its displayed 80/m smooth saturation scale; many locations exceed the soft 10/m threshold. Those are penalty scales rather than hard feasibility bounds.", + "The single-round line plots show empty axes without a marker. The saved one-round numerical record is present, finite and equal to the reported final fit; the original plot is preserved.", + "The color/fill panel marks 1201 observed and 527 median-filled vertices, especially the bottom-facing surface and hidden grip interval. Hybrid seeds comprise 25253 observed and 103680 mesh-derived points.", + "All nine orbit samples show one nearly planar, continuous loop with consistent cross-section sampling and no observed gross crossing, detached segment, collapse or seam opening. All sampled objects remain within image bounds. Rings are mesh samples, not individually modeled chain links; topology is established by saved mesh checks." + ], + "visual_coverage": { + "panels": 21, + "orbit_samples": 9, + "video_frames": 36, + "fps": 12, + "orbit_indices": [ + 0, + 4, + 9, + 13, + 18, + 22, + 26, + 31, + 35 + ], + "method": "All 21 panels and nine named extracted orbit frames were viewed individually; no continuous-playback or full-video-decode claim." + }, + "limitations": [ + "The circular 4.75 mm radius tube is a continuous outline approximation. It does not model separate links, rollers, plates, gaps or chain articulation. The hand-hidden grip arc is inferred.", + "Length 585.574746 mm is 0.574768 mm outside the unchanged soft upper bound. The 10/m curvature threshold and 80/m saturation scale are soft penalty settings, not hard feasibility bounds.", + "Mean point-to-centerline distance is nearly unchanged from baseline. The mean reprojection distance and maximum curvature decrease, while median curvature and the fraction above the soft threshold increase. Total objective values are not compared as equivalent.", + "Tube z ranges from -0.281162 to 12.351625 mm relative to nominal table z=0. View-dependent depth/table offsets and observed depth spread remain; no correction or contact validation was applied.", + "The single-round line plot appears blank because one saved point is plotted without a marker. The saved round record is present and equals the final result. The original media are preserved.", + "Later camera 12540311 zero admitted support at native-relative frames 172\u2013248, sparse support around the turn and gaps in derived sample 175, and camera 12933256 paired-depth tails remain separate unresolved measurement limitations. This initial prior does not clear the temporal sequence for physical fitting.", + "The 21-panel and nine-frame inspection is sampled visual evidence. It does not certify every video frame or establish hidden geometry, mechanical validity, trained appearance or physical parameters." + ], + "later_reference_limitations": [ + "During the change from a raised broad loop to a narrow hanging loop around native-relative 170, object support falls sharply in all views.", + "Camera 12540311 has zero admitted object points at every native-relative frame 172 through 248 inclusive; later support only partly returns. Its original mask-bin coverage contains 11 nonfinite entries.", + "Camera 17736741 also becomes strongly sparse near the turn; 12933256 and 23007103 retain more complementary hanging-loop support. Missing arc support remains visible in the derived sample 175 and later folded views.", + "The 12933256 per-frame native-minus-WAFT paired-depth p5 reaches -348 mm at native-relative 167 and p95 reaches +98 mm at 166. These comparisons pool common valid hand/object support and are not ground-truth errors.", + "Early derived samples include small scattered nearby points; late derived samples show incomplete arcs. The finite sampled review is not evidence that every observation is correct throughout the sequence." + ], + "reporting_corrections": [ + "Blank single-round plot is disclosed; numerical evidence is preserved. 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a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_v1/PRIOR_REVIEW_c6a_v1.md b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_v1/PRIOR_REVIEW_c6a_v1.md new file mode 100644 index 0000000000000000000000000000000000000000..cceedc126c799fb7ea5f12836044f4f0f3a13e9c --- /dev/null +++ b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_v1/PRIOR_REVIEW_c6a_v1.md @@ -0,0 +1,65 @@ +# session_20260921_233045_819927 — 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 observations below; it 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 / 256 / 257 | [centerline](<../prior_chain_v1/review/spline/centerline_0_with_masks.png>) · [tube](<../prior_chain_v1/review/tube/silhouette_0_unmasked.png>) · [geometry + mask](<../prior_chain_v1/review/tube/silhouette_0_with_masks.png>) · [RGB/depth](<../prior_chain_v1/review/inputs/view_0_12540311.png>) | +| 12933256 | 0 / 255 / 256 | [centerline](<../prior_chain_v1/review/spline/centerline_1_with_masks.png>) · [tube](<../prior_chain_v1/review/tube/silhouette_1_unmasked.png>) · [geometry + mask](<../prior_chain_v1/review/tube/silhouette_1_with_masks.png>) · [RGB/depth](<../prior_chain_v1/review/inputs/view_1_12933256.png>) | +| 17736741 | 0 / 256 / 257 | [centerline](<../prior_chain_v1/review/spline/centerline_2_with_masks.png>) · [tube](<../prior_chain_v1/review/tube/silhouette_2_unmasked.png>) · [geometry + mask](<../prior_chain_v1/review/tube/silhouette_2_with_masks.png>) · [RGB/depth](<../prior_chain_v1/review/inputs/view_2_17736741.png>) | +| 23007103 | 0 / 255 / 256 | [centerline](<../prior_chain_v1/review/spline/centerline_3_with_masks.png>) · [tube](<../prior_chain_v1/review/tube/silhouette_3_unmasked.png>) · [geometry + mask](<../prior_chain_v1/review/tube/silhouette_3_with_masks.png>) · [RGB/depth](<../prior_chain_v1/review/inputs/view_3_23007103.png>) | + +[Full rotation video](<../prior_chain_v1/review/tube/orbit.mp4>) · [Geometry and depth cloud](<../prior_chain_v1/review/tube/tube_scale_views.png>) · [Residual histograms](<../prior_chain_v1/review/spline/residual_histograms.png>) · [Depth offset diagnostic](<../prior_chain_v1/review/inputs/depth_offset.png>) + +Saved fit: **1 stage-1 rounds**, stop `gradient_tolerance`; final length **585.498 mm**, maximum curvature **50.630/m**, final gradient norm **9.43647e-05**. Soft length bounds are 583.000–585.000 mm; distance outside those bounds is 0.498 mm. + +Saved geometry checks report `passed=True`: **864 mesh vertices / 1728 triangles**, 1 component(s), `watertight=True`, `self_intersecting=False`. [Full geometry checks](<../prior_chain_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 | 8.469 / 12.440 | 99.33% | [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 | 5.812 / 8.773 | 97.34% | [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 | 7.924 / 10.360 | 97.58% | [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 | 8.022 / 10.763 | 99.41% | [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 **25253 of 26278** eroded points. The run used `waft_stereo_dav2l5`, 2 px erosion, a 400-round budget and reprojection weight **4**. + +Appearance initialization contains **25253 observed + 51840 mesh-derived = 77093 seeds**. Vertex colors are observed for 598 mesh vertices and median-filled for 266. 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_v1/review/hybrid/combined.png>) · [Observed and filled colors](<../prior_chain_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_v1/manifest.json>) · [Fit settings and metrics](<../prior_chain_v1/steps/fit.json>) · [Reference observations](<../prior_chain_v1/inputs/reference_views.json>) · [Tracking/lift summary](<../review_v1/summary.json>) + +The agent inspected all 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 current nine-control initial prior, with baseline shape and depth limitations.** No blocking tube-construction defect was found. This is an initial geometry review; later observations, trained appearance and physical fitting remain separate. + +Goal: review the saved current C2 chain prior. Done when: all 21 panels, nine orbit samples and saved numerical evidence are inspected and findings are recorded. Non-goals: a new fit, different control count or curvature weight, observation repair, mechanics, trained appearance or owner acceptance. + +All four initial input panels show a broad tabletop bike-chain loop gripped by hand_A. Accepted masks follow the visible chain and the hand union covers the grip. The centerline and tube overlays follow the broad contour, while smoothing sharper bends and finer chain detail. Small offsets remain along exposed edges, particularly near the grip-side contour in camera 17736741. The unmasked tube projects across the hand in camera 12540311 because that part of the closed loop is hidden; this projection is not direct evidence of the occluded shape or physical hand penetration. The 4.75 mm radius circular tube is an outline approximation, without separate plates, rollers, link gaps or articulation. + +Actual visual inspection covered **21 panels**: four input panels, four masked centerlines, eight masked/unmasked tube silhouettes, scale/depth cloud, depth-offset diagnostic, residual histograms, colors/fill, and hybrid seeds. The nine orbit frames **0, 4, 8, 13, 17, 21, 26, 30 and 35** of 36 at 12 fps show one approximately planar loop with consistent tube cross-sections, without a gross crossing, detached segment or local collapse. The visible cross-section rings are tube samples, not individually modeled chain links. This is sampled inspection, not continuous playback. + +The saved fit retains **nine controls and curvature weight 5e-8**. It stops after one outer round at the gradient tolerance, with norm **9.436e-5**; the saved last round equals the reported final result. Length is **585.498 mm**, **0.498 mm above the soft upper bound** of approximately 585 mm (soft interval 583–585 mm). The saved active-bound flag is not a hard-feasibility certificate. Maximum curvature is **50.630/m**, with **47.2%** above the soft 10/m threshold. No penalty, threshold, stopping criterion or fit was changed for this review. + +The **864-vertex / 1728-triangle** tube is reported as one connected, outward, watertight genus-one surface with positive signed volume, no degenerate triangles and no proposed or confirmed surface intersections. The chain uses the owner-approved **surface-intersection overlap rule**. Minimum nonadjacent ring-center separation is **11.468 mm**, a descriptive value rather than a separate diameter gate. Recomputed radius error and bounds match the saved geometry checks. + +All **25,253 point-to-centerline residuals**, controls and numerical geometry arrays are finite. Per-view counts, medians and p90 values match the saved reports. The centerline histogram label is appropriate for this tube fit. These distances are not tube-surface errors; centerline-in-mask percentages are not silhouette IoU, and neither diagnostic measures ground-truth accuracy. The finite tube radius and actual link width matter when interpreting distance to a one-dimensional centerline. + +The surface z range is **−0.466 to +11.130 mm** relative to nominal table z=0. The shallow below-table portion is retained and is not described as validated contact. Chain-interior-minus-local-table depth medians are **12.148 / 8.220 / 11.400 / 9.699 mm**, in camera order 12540311 / 12933256 / 17736741 / 23007103. The scale and hybrid panels show observed points spread above and laterally around the fitted tube. No table snapping, normalization or depth correction was applied. + +Vertex colors are observed at **598 vertices** and median-filled at **266**, including much of the low-facing surface and hidden grip region. Hybrid initialization contains **25,253 observed + 51,840 mesh-derived = 77,093 seeds**. These are geometry and appearance initialization populations, not mechanical particles, a physical mass total or trained appearance. + +The saved initial reference uses local row **0 in every camera**, with converted frames **256 / 255 / 256 / 255** and recorded clock offsets **0.069640 / 0 / 4.673600 / 10.364733 ms**. These are the saved nearest-camera observations of the first 30 Hz grid sample; equal local row numbers do not mean equal capture timestamps. + +The [completed temporal reference review](<../review_v1/REVIEW.md>) remains applicable: camera 12540311 has zero admitted object support at native-relative **172–248**, other views also lose support near the turn around 170, and the derived loop has large gaps at sample 175 with partial later recovery. Camera 12933256 has paired native-minus-WAFT depth tails of **−348 mm at 167** and **+98 mm at 166**; those pool common valid hand/object support and are not ground-truth errors. This initial fit does not resolve those later observations. Its readiness is separate from any full-sequence physical-fitting decision. + +All eight prior commands, the single packaging invocation and the bounded saved-array checker returned zero. Case/frame mappings, current baseline settings, saved colored-mesh identities and package links were checked. Only this new review packet and task scratch were written; source, observations, scientific settings and approval records were unchanged. No 18-control comparison was adopted for this case. diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_v1/agent_findings.json b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_v1/agent_findings.json new file mode 100644 index 0000000000000000000000000000000000000000..f62f8af2c9879a856ce1deb663a7dd42b0aa00a3 --- /dev/null +++ b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_v1/agent_findings.json @@ -0,0 +1,868 @@ +{ + "case": "session_20260921_233045_819927/window_anchor0256-0546", + "reviewed_utc": "2026-10-28T21:58:01.071052+00:00", + "scope": { + "goal": "Review the current C2 nine-control baseline initial chain prior", + "done_when": "Package once, inspect 21 actual prior panels and nine orbit frames, verify saved science and retain limitations", + "non_goals": [ + "No refit, science/source/global changes, or 18-control adoption", + "No mechanics, trained appearance, physical fitting or owner acceptance" + ], + "validation": "Saved stage results, numeric arrays/metrics, actual image inspection, source/input identity and packet links" + }, + "readiness": "ready_for_owner_initial_prior_review_with_disclosed_baseline_shape_and_depth_limits", + "blocking_findings_for_initial_prior": [], + "owner_prior_approval": "pending; this review grants no acceptance", + "full_sequence_physical_fitting_clearance": false, + "no_scientific_changes": true, + "inspected_image_base": "../prior_chain_v1/review", + "inspected_images": [ + "inputs/view_0_12540311.png", + "inputs/view_1_12933256.png", + "inputs/view_2_17736741.png", + "inputs/view_3_23007103.png", + "spline/centerline_0_with_masks.png", + "spline/centerline_1_with_masks.png", + "spline/centerline_2_with_masks.png", + "spline/centerline_3_with_masks.png", + "tube/silhouette_0_unmasked.png", + "tube/silhouette_1_unmasked.png", + "tube/silhouette_2_unmasked.png", + "tube/silhouette_3_unmasked.png", + "tube/silhouette_0_with_masks.png", + "tube/silhouette_1_with_masks.png", + "tube/silhouette_2_with_masks.png", + "tube/silhouette_3_with_masks.png", + "tube/tube_scale_views.png", + "inputs/depth_offset.png", + "spline/residual_histograms.png", + "colors/visibility_and_fill.png", + "hybrid/combined.png" + ], + "orbit_visual_inspection": { + "source": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_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 full-decode or continuous playback claim." + }, + "saved_metrics": { + "fit": { + "stage1_rounds": 1, + "stage1_stop": "gradient_tolerance", + "stage1_final": null, + "twist": null, + "final": { + "loss": 6.0543119616340846e-05, + "components": { + "distance": 2.442325057927519e-05, + "curvature": 2.448575287417043e-06, + "arclength": 2.4800081988018974e-08, + "mask_reprojection_2d": 3.364649455761537e-05 + }, + "grad_norm": 9.436469554202631e-05, + "arclength_m": 0.5854979753494263, + "arclength_bound_active_within_1mm": true, + "max_curvature_per_m": 50.630287170410156, + "curvature_p50_p90_per_m": [ + 9.295501708984375, + 29.750554847717282 + ], + "curvature_above_max_fraction": 0.472, + "mean_distance_m": 0.0074945058932989255, + "max_distance_m": 0.01622411608695984, + "beyond_2delta_fraction": 0.16702965984239496, + "at_cap_fraction": 0.0, + "per_view": [ + { + "view": 0, + "count": 6305, + "median_m": 0.00846913643181324, + "p90_m": 0.012440173327922821, + "max_m": 0.01622411608695984, + "beyond_2delta_fraction": 0.3422680412371134, + "at_cap_fraction": 0.0 + }, + { + "view": 1, + "count": 6623, + "median_m": 0.0058118803426623344, + "p90_m": 0.008773197419941425, + "max_m": 0.014027878642082214, + "beyond_2delta_fraction": 0.0327646081836026, + "at_cap_fraction": 0.0 + }, + { + "view": 2, + "count": 7409, + "median_m": 0.007924235425889492, + "p90_m": 0.010359882190823554, + "max_m": 0.014008574187755585, + "beyond_2delta_fraction": 0.13146173572681874, + "at_cap_fraction": 0.0 + }, + { + "view": 3, + "count": 4916, + "median_m": 0.008022346999496222, + "p90_m": 0.010762580670416355, + "max_m": 0.016054321080446243, + "beyond_2delta_fraction": 0.17676973148901545, + "at_cap_fraction": 0.0 + } + ], + "round": 1, + "relative_loss_change": 0.9863149332989704 + }, + "arclength_soft_bounds_m": [ + 0.5830000042915344, + 0.5849999785423279 + ], + "arclength_outside_soft_bounds_m": 0.0004979968070983887 + }, + "object": { + "name": "bike_chain", + "representation": "tube", + "fitter_source": "scripts/chain_state_estimation.py loss/solver literals", + "dimension_source": "owner approximate 9.5 mm diameter (corpus Q2, 2026-10-25)", + "radius_m": 0.00475, + "ribbon_width_m": null, + "step_t": 0.125, + "step_angle_deg": 30, + "u_resolution": null, + "overlap_rule": "surface_intersection", + "twist_penalty": null + }, + "recipe": { + "depth_source": "waft_stereo_dav2l5", + "mask_erosion_px": 2, + "filter": { + "method": "Open3D.remove_statistical_outlier", + "nb_neighbors": 20, + "std_ratio": 2.0, + "input_count": 26278, + "kept_count": 25253, + "removed_count": 1025, + "per_view": [ + { + "view": 0, + "input": 6485, + "kept": 6305, + "removed": 180, + "live_20_0.05_kept": 4606, + "no_filter_kept": 6485 + }, + { + "view": 1, + "input": 7095, + "kept": 6623, + "removed": 472, + "live_20_0.05_kept": 3663, + "no_filter_kept": 7095 + }, + { + "view": 2, + "input": 7626, + "kept": 7409, + "removed": 217, + "live_20_0.05_kept": 5361, + "no_filter_kept": 7626 + }, + { + "view": 3, + "input": 5072, + "kept": 4916, + "removed": 156, + "live_20_0.05_kept": 2537, + "no_filter_kept": 5072 + } + ] + }, + "max_rounds": 400, + "reprojection": { + "weight": 4.0, + "direction": "visible mask pixels to projected centerline", + "ribbon_twist_stage": null, + "mask": "accepted object outside hand/occluder union", + "view_aggregation": "equal view means", + "distance": "metric image plane using per-view median visible belt depth and fx/fy", + "samples": 360, + "huber_delta_m": 0.005, + "smooth_cap_m": 0.035, + "baseline_run": null + }, + "solver": { + "solver_type": "lbfgs", + "linesearch_type": "zoom", + "max_linesearch_steps": 10, + "grad_norm_tolerance": 0.0001, + "max_iter": 25 + }, + "ribbon_twist_refinement": null + }, + "views": [ + { + "serial": "12540311", + "view_index": 0, + "selected_window_local_index": 0, + "converted_frame": 256, + "native_container_frame": 257, + "official_frame": 256, + "depth_frame": 256, + "capture_timestamp_ns": 1790047879385946319, + "device_timestamp_ns": 1790047879334474117, + "initial_grid_offset_ms": 0.06964, + "native_count": 291, + "initial_observed_depth_points": 6305, + "median_3d_residual_m": 0.00846913643181324, + "p90_3d_residual_m": 0.012440173327922821, + "visible_centerline_inside_mask_fraction": 0.9932885906040269, + "track_diagnostics": { + "T": 291, + "queries": 5000, + "keyframes": [ + 0, + 36, + 72, + 108, + 145, + 181, + 192, + 217, + 240, + 253, + 290 + ], + "source_seed_counts": { + "object": 1433, + "hand_A": 3567, + "hand_B": 0 + }, + "tap_visible_fraction_min_mean_max": [ + 0.7026, + 0.8868240549828179, + 1.0 + ], + "accepted_object_min_max": [ + 0, + 990 + ], + "paired_common_min_max": [ + 3349, + 4533 + ] + }, + "links": { + "centerline_overlay": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_v1/review/spline/centerline_0_with_masks.png", + "geometry_overlay": 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Object masks follow the visible chain; the hand union covers the hidden grip.", + "Centerlines and tube overlays follow the broad loop; sharper local bends are smoothed. Small exposed-edge offsets remain, especially near the grip-side contour in camera 17736741. The hidden closure projected across the hand in camera 12540311 is inferred geometry rather than direct observation.", + "All 21 panels and nine orbit samples were actually inspected. Orbit frames 0, 4, 8, 13, 17, 21, 26, 30 and 35 show one approximately planar loop with consistent circular sections, without a gross crossing, detached section or local collapse. Cross-section rings are geometry samples rather than individual chain links.", + "The scale and hybrid panels show depth observations above and laterally around the fitted tube; nominal surface z is slightly negative. No table correction was applied.", + "Colors are observed at 598 vertices and filled at 266, including the underside and hidden grip region. Hybrid initialization contains 25,253 observed plus 51,840 mesh-derived seeds, totaling 77,093; these are not mechanical particles or trained appearance." + ], + "material_limitations": [ + "Nine controls smooth local sharp bends and finer chain detail. The continuous circular tube does not model separate link plates, rollers, gaps or articulation.", + "Analytic spline length is 585.497975 mm, exceeding the soft upper bound by 0.497997 mm. Saved gradient stopping and mesh consistency do not imply hard-length feasibility or exact reconstruction.", + "Tube z range is -0.466343 to 11.130327 mm relative to nominal table z=0; the shallow below-table portion is preserved. No table snap or depth correction was applied.", + "Camera-dependent point-to-centerline residuals and depth-height offsets remain; none is ground-truth surface error. In-mask centerline coverage is not silhouette IoU.", + "The grip hides part of the closed loop, especially camera125; its unmasked projection across the hand is inferred geometry, not direct observation.", + "The separate temporal reference review reports camera 12540311 zero admitted object points at native-relative frames 172\u2013248, support reduction across views near 170, and camera 12933256 paired-depth tails. This initial-prior review does not resolve those later limits." + ], + "reference_review": { + "path": "../review_v1/REVIEW.md", + "status": "review_complete_ready_for_initial_prior_with_later_sequence_limitations", + "ready_for_initial_prior": true, + "full_sequence_physical_fitting_clearance": false, + "material_limitations": [ + "During the change from a raised broad loop to a narrow hanging loop around native-relative 170, object support falls sharply in all views.", + "Camera 12540311 has zero admitted object points at every native-relative frame 172 through 248 inclusive; later support only partly returns. Its original mask-bin coverage contains 11 nonfinite entries.", + "Camera 17736741 also becomes strongly sparse near the turn; 12933256 and 23007103 retain more complementary hanging-loop support. Missing arc support remains visible in the derived sample 175 and later folded views.", + "The 12933256 per-frame native-minus-WAFT paired-depth p5 reaches -348 mm at native-relative 167 and p95 reaches +98 mm at 166. These comparisons pool common valid hand/object support and are not ground-truth errors.", + "Early derived samples include small scattered nearby points; late derived samples show incomplete arcs. 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