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+++ b/tgfz7_ablation_runs/exp2_all_ms058/ntu_day_01/preview_summary.txt
@@ -0,0 +1,6017 @@
+MCD keypoint clustering
+cluster_preset=sgpr_sk_rich
+sequence=ntu_day_01  frames=6009
+out_dir=/home/data/CYD/data/MCD/tgfz7_ablation_runs/exp2_all_ms058/ntu_day_01
+sgpr_sk_rich + MCD **raw** 0–28 + policy '/home/data/CYD/project/learn/OpenPloc-main_cyd/OpenPloc-main/datasets/mcd/label_map.yaml': n_raw_classes=22; yaml min_samples small/large/sparse=10/30/4 → raw_ms_mult=0.58 (floors 7/14/3 after scale); SGPR eps x 0.36 (floor 0.07 m)
+
+Total keypoint rows (sum over frames): 325338
+Per-frame:
+  cloud_0011: n_keypoints=58
+  cloud_0012: n_keypoints=45
+  cloud_0013: n_keypoints=52
+  cloud_0014: n_keypoints=61
+  cloud_0015: n_keypoints=50
+  cloud_0016: n_keypoints=60
+  cloud_0017: n_keypoints=49
+  cloud_0018: n_keypoints=61
+  cloud_0019: n_keypoints=60
+  cloud_0020: n_keypoints=45
+  cloud_0021: n_keypoints=54
+  cloud_0022: n_keypoints=55
+  cloud_0023: n_keypoints=55
+  cloud_0024: n_keypoints=53
+  cloud_0025: n_keypoints=48
+  cloud_0026: n_keypoints=64
+  cloud_0027: n_keypoints=49
+  cloud_0028: n_keypoints=52
+  cloud_0029: n_keypoints=52
+  cloud_0030: n_keypoints=52
+  cloud_0031: n_keypoints=61
+  cloud_0032: n_keypoints=53
+  cloud_0033: n_keypoints=55
+  cloud_0034: n_keypoints=59
+  cloud_0035: n_keypoints=49
+  cloud_0036: n_keypoints=55
+  cloud_0037: n_keypoints=47
+  cloud_0038: n_keypoints=53
+  cloud_0039: n_keypoints=53
+  cloud_0040: n_keypoints=49
+  cloud_0041: n_keypoints=48
+  cloud_0042: n_keypoints=55
+  cloud_0043: n_keypoints=51
+  cloud_0044: n_keypoints=49
+  cloud_0045: n_keypoints=61
+  cloud_0046: n_keypoints=44
+  cloud_0047: n_keypoints=56
+  cloud_0048: n_keypoints=53
+  cloud_0049: n_keypoints=66
+  cloud_0050: n_keypoints=56
+  cloud_0051: n_keypoints=54
+  cloud_0052: n_keypoints=52
+  cloud_0053: n_keypoints=46
+  cloud_0054: n_keypoints=49
+  cloud_0055: n_keypoints=54
+  cloud_0056: n_keypoints=50
+  cloud_0057: n_keypoints=43
+  cloud_0058: n_keypoints=52
+  cloud_0059: n_keypoints=35
+  cloud_0060: n_keypoints=41
+  cloud_0061: n_keypoints=38
+  cloud_0062: n_keypoints=41
+  cloud_0063: n_keypoints=50
+  cloud_0064: n_keypoints=58
+  cloud_0065: n_keypoints=60
+  cloud_0066: n_keypoints=61
+  cloud_0067: n_keypoints=72
+  cloud_0068: n_keypoints=81
+  cloud_0069: n_keypoints=77
+  cloud_0070: n_keypoints=62
+  cloud_0071: n_keypoints=71
+  cloud_0072: n_keypoints=77
+  cloud_0073: n_keypoints=90
+  cloud_0074: n_keypoints=73
+  cloud_0075: n_keypoints=94
+  cloud_0076: n_keypoints=79
+  cloud_0077: n_keypoints=70
+  cloud_0078: n_keypoints=65
+  cloud_0079: n_keypoints=62
+  cloud_0080: n_keypoints=65
+  cloud_0081: n_keypoints=69
+  cloud_0082: n_keypoints=68
+  cloud_0083: n_keypoints=67
+  cloud_0084: n_keypoints=71
+  cloud_0085: n_keypoints=65
+  cloud_0086: n_keypoints=59
+  cloud_0087: n_keypoints=73
+  cloud_0088: n_keypoints=60
+  cloud_0089: n_keypoints=69
+  cloud_0090: n_keypoints=66
+  cloud_0091: n_keypoints=56
+  cloud_0092: n_keypoints=68
+  cloud_0093: n_keypoints=57
+  cloud_0094: n_keypoints=56
+  cloud_0095: n_keypoints=61
+  cloud_0096: n_keypoints=45
+  cloud_0097: n_keypoints=57
+  cloud_0098: n_keypoints=49
+  cloud_0099: n_keypoints=36
+  cloud_0100: n_keypoints=45
+  cloud_0101: n_keypoints=42
+  cloud_0102: n_keypoints=46
+  cloud_0103: n_keypoints=44
+  cloud_0104: n_keypoints=42
+  cloud_0105: n_keypoints=47
+  cloud_0106: n_keypoints=44
+  cloud_0107: n_keypoints=42
+  cloud_0108: n_keypoints=42
+  cloud_0109: n_keypoints=35
+  cloud_0110: n_keypoints=37
+  cloud_0111: n_keypoints=37
+  cloud_0112: n_keypoints=33
+  cloud_0113: n_keypoints=33
+  cloud_0114: n_keypoints=28
+  cloud_0115: n_keypoints=34
+  cloud_0116: n_keypoints=32
+  cloud_0117: n_keypoints=36
+  cloud_0118: n_keypoints=42
+  cloud_0119: n_keypoints=48
+  cloud_0120: n_keypoints=59
+  cloud_0121: n_keypoints=59
+  cloud_0122: n_keypoints=60
+  cloud_0123: n_keypoints=78
+  cloud_0124: n_keypoints=65
+  cloud_0125: n_keypoints=82
+  cloud_0126: n_keypoints=75
+  cloud_0127: n_keypoints=83
+  cloud_0128: n_keypoints=87
+  cloud_0129: n_keypoints=82
+  cloud_0130: n_keypoints=98
+  cloud_0131: n_keypoints=107
+  cloud_0132: n_keypoints=103
+  cloud_0133: n_keypoints=92
+  cloud_0134: n_keypoints=91
+  cloud_0135: n_keypoints=89
+  cloud_0136: n_keypoints=84
+  cloud_0137: n_keypoints=62
+  cloud_0138: n_keypoints=85
+  cloud_0139: n_keypoints=87
+  cloud_0140: n_keypoints=85
+  cloud_0141: n_keypoints=80
+  cloud_0142: n_keypoints=75
+  cloud_0143: n_keypoints=90
+  cloud_0144: n_keypoints=75
+  cloud_0145: n_keypoints=76
+  cloud_0146: n_keypoints=81
+  cloud_0147: n_keypoints=71
+  cloud_0148: n_keypoints=72
+  cloud_0149: n_keypoints=70
+  cloud_0150: n_keypoints=69
+  cloud_0151: n_keypoints=83
+  cloud_0152: n_keypoints=83
+  cloud_0153: n_keypoints=75
+  cloud_0154: n_keypoints=69
+  cloud_0155: n_keypoints=72
+  cloud_0156: n_keypoints=78
+  cloud_0157: n_keypoints=74
+  cloud_0158: n_keypoints=76
+  cloud_0159: n_keypoints=61
+  cloud_0160: n_keypoints=59
+  cloud_0161: n_keypoints=70
+  cloud_0162: n_keypoints=60
+  cloud_0163: n_keypoints=58
+  cloud_0164: n_keypoints=53
+  cloud_0165: n_keypoints=60
+  cloud_0166: n_keypoints=62
+  cloud_0167: n_keypoints=57
+  cloud_0168: n_keypoints=56
+  cloud_0169: n_keypoints=65
+  cloud_0170: n_keypoints=63
+  cloud_0171: n_keypoints=62
+  cloud_0172: n_keypoints=59
+  cloud_0173: n_keypoints=59
+  cloud_0174: n_keypoints=54
+  cloud_0175: n_keypoints=59
+  cloud_0176: n_keypoints=55
+  cloud_0177: n_keypoints=67
+  cloud_0178: n_keypoints=57
+  cloud_0179: n_keypoints=61
+  cloud_0180: n_keypoints=55
+  cloud_0181: n_keypoints=65
+  cloud_0182: n_keypoints=55
+  cloud_0183: n_keypoints=68
+  cloud_0184: n_keypoints=69
+  cloud_0185: n_keypoints=61
+  cloud_0186: n_keypoints=59
+  cloud_0187: n_keypoints=61
+  cloud_0188: n_keypoints=60
+  cloud_0189: n_keypoints=57
+  cloud_0190: n_keypoints=61
+  cloud_0191: n_keypoints=58
+  cloud_0192: n_keypoints=69
+  cloud_0193: n_keypoints=66
+  cloud_0194: n_keypoints=63
+  cloud_0195: n_keypoints=61
+  cloud_0196: n_keypoints=56
+  cloud_0197: n_keypoints=61
+  cloud_0198: n_keypoints=61
+  cloud_0199: n_keypoints=59
+  cloud_0200: n_keypoints=51
+  cloud_0201: n_keypoints=49
+  cloud_0202: n_keypoints=61
+  cloud_0203: n_keypoints=54
+  cloud_0204: n_keypoints=52
+  cloud_0205: n_keypoints=65
+  cloud_0206: n_keypoints=66
+  cloud_0207: n_keypoints=59
+  cloud_0208: n_keypoints=69
+  cloud_0209: n_keypoints=56
+  cloud_0210: n_keypoints=67
+  cloud_0211: n_keypoints=68
+  cloud_0212: n_keypoints=60
+  cloud_0213: n_keypoints=61
+  cloud_0214: n_keypoints=64
+  cloud_0215: n_keypoints=63
+  cloud_0216: n_keypoints=66
+  cloud_0217: n_keypoints=60
+  cloud_0218: n_keypoints=60
+  cloud_0219: n_keypoints=65
+  cloud_0220: n_keypoints=60
+  cloud_0221: n_keypoints=62
+  cloud_0222: n_keypoints=61
+  cloud_0223: n_keypoints=57
+  cloud_0224: n_keypoints=56
+  cloud_0225: n_keypoints=58
+  cloud_0226: n_keypoints=58
+  cloud_0227: n_keypoints=64
+  cloud_0228: n_keypoints=60
+  cloud_0229: n_keypoints=63
+  cloud_0230: n_keypoints=73
+  cloud_0231: n_keypoints=80
+  cloud_0232: n_keypoints=78
+  cloud_0233: n_keypoints=75
+  cloud_0234: n_keypoints=65
+  cloud_0235: n_keypoints=78
+  cloud_0236: n_keypoints=77
+  cloud_0237: n_keypoints=74
+  cloud_0238: n_keypoints=71
+  cloud_0239: n_keypoints=68
+  cloud_0240: n_keypoints=68
+  cloud_0241: n_keypoints=67
+  cloud_0242: n_keypoints=77
+  cloud_0243: n_keypoints=67
+  cloud_0244: n_keypoints=65
+  cloud_0245: n_keypoints=84
+  cloud_0246: n_keypoints=82
+  cloud_0247: n_keypoints=79
+  cloud_0248: n_keypoints=92
+  cloud_0249: n_keypoints=94
+  cloud_0250: n_keypoints=79
+  cloud_0251: n_keypoints=77
+  cloud_0252: n_keypoints=80
+  cloud_0253: n_keypoints=70
+  cloud_0254: n_keypoints=76
+  cloud_0255: n_keypoints=69
+  cloud_0256: n_keypoints=74
+  cloud_0257: n_keypoints=75
+  cloud_0258: n_keypoints=73
+  cloud_0259: n_keypoints=67
+  cloud_0260: n_keypoints=71
+  cloud_0261: n_keypoints=72
+  cloud_0262: n_keypoints=64
+  cloud_0263: n_keypoints=57
+  cloud_0264: n_keypoints=56
+  cloud_0265: n_keypoints=60
+  cloud_0266: n_keypoints=47
+  cloud_0267: n_keypoints=53
+  cloud_0268: n_keypoints=44
+  cloud_0269: n_keypoints=45
+  cloud_0270: n_keypoints=40
+  cloud_0271: n_keypoints=42
+  cloud_0272: n_keypoints=42
+  cloud_0273: n_keypoints=43
+  cloud_0274: n_keypoints=44
+  cloud_0275: n_keypoints=43
+  cloud_0276: n_keypoints=40
+  cloud_0277: n_keypoints=45
+  cloud_0278: n_keypoints=44
+  cloud_0279: n_keypoints=39
+  cloud_0280: n_keypoints=42
+  cloud_0281: n_keypoints=46
+  cloud_0282: n_keypoints=45
+  cloud_0283: n_keypoints=46
+  cloud_0284: n_keypoints=47
+  cloud_0285: n_keypoints=43
+  cloud_0286: n_keypoints=36
+  cloud_0287: n_keypoints=41
+  cloud_0288: n_keypoints=35
+  cloud_0289: n_keypoints=39
+  cloud_0290: n_keypoints=43
+  cloud_0291: n_keypoints=50
+  cloud_0292: n_keypoints=54
+  cloud_0293: n_keypoints=50
+  cloud_0294: n_keypoints=46
+  cloud_0295: n_keypoints=46
+  cloud_0296: n_keypoints=43
+  cloud_0297: n_keypoints=42
+  cloud_0298: n_keypoints=47
+  cloud_0299: n_keypoints=52
+  cloud_0300: n_keypoints=52
+  cloud_0301: n_keypoints=49
+  cloud_0302: n_keypoints=45
+  cloud_0303: n_keypoints=46
+  cloud_0304: n_keypoints=33
+  cloud_0305: n_keypoints=46
+  cloud_0306: n_keypoints=47
+  cloud_0307: n_keypoints=47
+  cloud_0308: n_keypoints=54
+  cloud_0309: n_keypoints=45
+  cloud_0310: n_keypoints=46
+  cloud_0311: n_keypoints=37
+  cloud_0312: n_keypoints=35
+  cloud_0313: n_keypoints=37
+  cloud_0314: n_keypoints=30
+  cloud_0315: n_keypoints=33
+  cloud_0316: n_keypoints=30
+  cloud_0317: n_keypoints=27
+  cloud_0318: n_keypoints=19
+  cloud_0319: n_keypoints=22
+  cloud_0320: n_keypoints=34
+  cloud_0321: n_keypoints=37
+  cloud_0322: n_keypoints=35
+  cloud_0323: n_keypoints=37
+  cloud_0324: n_keypoints=42
+  cloud_0325: n_keypoints=26
+  cloud_0326: n_keypoints=35
+  cloud_0327: n_keypoints=33
+  cloud_0328: n_keypoints=25
+  cloud_0329: n_keypoints=32
+  cloud_0330: n_keypoints=26
+  cloud_0331: n_keypoints=28
+  cloud_0332: n_keypoints=33
+  cloud_0333: n_keypoints=28
+  cloud_0334: n_keypoints=33
+  cloud_0335: n_keypoints=35
+  cloud_0336: n_keypoints=38
+  cloud_0337: n_keypoints=38
+  cloud_0338: n_keypoints=40
+  cloud_0339: n_keypoints=34
+  cloud_0340: n_keypoints=41
+  cloud_0341: n_keypoints=36
+  cloud_0342: n_keypoints=35
+  cloud_0343: n_keypoints=40
+  cloud_0344: n_keypoints=39
+  cloud_0345: n_keypoints=45
+  cloud_0346: n_keypoints=46
+  cloud_0347: n_keypoints=40
+  cloud_0348: n_keypoints=47
+  cloud_0349: n_keypoints=57
+  cloud_0350: n_keypoints=69
+  cloud_0351: n_keypoints=52
+  cloud_0352: n_keypoints=42
+  cloud_0353: n_keypoints=30
+  cloud_0354: n_keypoints=35
+  cloud_0355: n_keypoints=33
+  cloud_0356: n_keypoints=31
+  cloud_0357: n_keypoints=37
+  cloud_0358: n_keypoints=39
+  cloud_0359: n_keypoints=33
+  cloud_0360: n_keypoints=29
+  cloud_0361: n_keypoints=27
+  cloud_0362: n_keypoints=32
+  cloud_0363: n_keypoints=33
+  cloud_0364: n_keypoints=25
+  cloud_0365: n_keypoints=19
+  cloud_0366: n_keypoints=33
+  cloud_0367: n_keypoints=35
+  cloud_0368: n_keypoints=24
+  cloud_0369: n_keypoints=23
+  cloud_0370: n_keypoints=27
+  cloud_0371: n_keypoints=34
+  cloud_0372: n_keypoints=39
+  cloud_0373: n_keypoints=47
+  cloud_0374: n_keypoints=43
+  cloud_0375: n_keypoints=40
+  cloud_0376: n_keypoints=34
+  cloud_0377: n_keypoints=37
+  cloud_0378: n_keypoints=36
+  cloud_0379: n_keypoints=35
+  cloud_0380: n_keypoints=28
+  cloud_0381: n_keypoints=33
+  cloud_0382: n_keypoints=30
+  cloud_0383: n_keypoints=32
+  cloud_0384: n_keypoints=34
+  cloud_0385: n_keypoints=35
+  cloud_0386: n_keypoints=34
+  cloud_0387: n_keypoints=31
+  cloud_0388: n_keypoints=34
+  cloud_0389: n_keypoints=48
+  cloud_0390: n_keypoints=43
+  cloud_0391: n_keypoints=38
+  cloud_0392: n_keypoints=40
+  cloud_0393: n_keypoints=41
+  cloud_0394: n_keypoints=42
+  cloud_0395: n_keypoints=38
+  cloud_0396: n_keypoints=36
+  cloud_0397: n_keypoints=35
+  cloud_0398: n_keypoints=33
+  cloud_0399: n_keypoints=38
+  cloud_0400: n_keypoints=40
+  cloud_0401: n_keypoints=45
+  cloud_0402: n_keypoints=43
+  cloud_0403: n_keypoints=46
+  cloud_0404: n_keypoints=36
+  cloud_0405: n_keypoints=37
+  cloud_0406: n_keypoints=30
+  cloud_0407: n_keypoints=33
+  cloud_0408: n_keypoints=45
+  cloud_0409: n_keypoints=38
+  cloud_0410: n_keypoints=49
+  cloud_0411: n_keypoints=52
+  cloud_0412: n_keypoints=33
+  cloud_0413: n_keypoints=32
+  cloud_0414: n_keypoints=34
+  cloud_0415: n_keypoints=29
+  cloud_0416: n_keypoints=29
+  cloud_0417: n_keypoints=41
+  cloud_0418: n_keypoints=44
+  cloud_0419: n_keypoints=50
+  cloud_0420: n_keypoints=54
+  cloud_0421: n_keypoints=62
+  cloud_0422: n_keypoints=41
+  cloud_0423: n_keypoints=48
+  cloud_0424: n_keypoints=56
+  cloud_0425: n_keypoints=58
+  cloud_0426: n_keypoints=68
+  cloud_0427: n_keypoints=63
+  cloud_0428: n_keypoints=60
+  cloud_0429: n_keypoints=67
+  cloud_0430: n_keypoints=60
+  cloud_0431: n_keypoints=63
+  cloud_0432: n_keypoints=55
+  cloud_0433: n_keypoints=56
+  cloud_0434: n_keypoints=57
+  cloud_0435: n_keypoints=54
+  cloud_0436: n_keypoints=68
+  cloud_0437: n_keypoints=66
+  cloud_0438: n_keypoints=50
+  cloud_0439: n_keypoints=57
+  cloud_0440: n_keypoints=53
+  cloud_0441: n_keypoints=43
+  cloud_0442: n_keypoints=51
+  cloud_0443: n_keypoints=49
+  cloud_0444: n_keypoints=35
+  cloud_0445: n_keypoints=38
+  cloud_0446: n_keypoints=38
+  cloud_0447: n_keypoints=42
+  cloud_0448: n_keypoints=32
+  cloud_0449: n_keypoints=41
+  cloud_0450: n_keypoints=45
+  cloud_0451: n_keypoints=52
+  cloud_0452: n_keypoints=61
+  cloud_0453: n_keypoints=65
+  cloud_0454: n_keypoints=63
+  cloud_0455: n_keypoints=67
+  cloud_0456: n_keypoints=53
+  cloud_0457: n_keypoints=57
+  cloud_0458: n_keypoints=57
+  cloud_0459: n_keypoints=65
+  cloud_0460: n_keypoints=53
+  cloud_0461: n_keypoints=50
+  cloud_0462: n_keypoints=54
+  cloud_0463: n_keypoints=51
+  cloud_0464: n_keypoints=53
+  cloud_0465: n_keypoints=51
+  cloud_0466: n_keypoints=44
+  cloud_0467: n_keypoints=42
+  cloud_0468: n_keypoints=47
+  cloud_0469: n_keypoints=37
+  cloud_0470: n_keypoints=40
+  cloud_0471: n_keypoints=40
+  cloud_0472: n_keypoints=29
+  cloud_0473: n_keypoints=38
+  cloud_0474: n_keypoints=27
+  cloud_0475: n_keypoints=32
+  cloud_0476: n_keypoints=25
+  cloud_0477: n_keypoints=22
+  cloud_0478: n_keypoints=26
+  cloud_0479: n_keypoints=13
+  cloud_0480: n_keypoints=22
+  cloud_0481: n_keypoints=24
+  cloud_0482: n_keypoints=20
+  cloud_0483: n_keypoints=20
+  cloud_0484: n_keypoints=20
+  cloud_0485: n_keypoints=22
+  cloud_0486: n_keypoints=34
+  cloud_0487: n_keypoints=28
+  cloud_0488: n_keypoints=42
+  cloud_0489: n_keypoints=42
+  cloud_0490: n_keypoints=34
+  cloud_0491: n_keypoints=43
+  cloud_0492: n_keypoints=38
+  cloud_0493: n_keypoints=49
+  cloud_0494: n_keypoints=47
+  cloud_0495: n_keypoints=50
+  cloud_0496: n_keypoints=48
+  cloud_0497: n_keypoints=40
+  cloud_0498: n_keypoints=50
+  cloud_0499: n_keypoints=55
+  cloud_0500: n_keypoints=51
+  cloud_0501: n_keypoints=52
+  cloud_0502: n_keypoints=48
+  cloud_0503: n_keypoints=45
+  cloud_0504: n_keypoints=48
+  cloud_0505: n_keypoints=51
+  cloud_0506: n_keypoints=52
+  cloud_0507: n_keypoints=49
+  cloud_0508: n_keypoints=43
+  cloud_0509: n_keypoints=46
+  cloud_0510: n_keypoints=47
+  cloud_0511: n_keypoints=49
+  cloud_0512: n_keypoints=51
+  cloud_0513: n_keypoints=53
+  cloud_0514: n_keypoints=43
+  cloud_0515: n_keypoints=59
+  cloud_0516: n_keypoints=50
+  cloud_0517: n_keypoints=49
+  cloud_0518: n_keypoints=58
+  cloud_0519: n_keypoints=54
+  cloud_0520: n_keypoints=58
+  cloud_0521: n_keypoints=67
+  cloud_0522: n_keypoints=56
+  cloud_0523: n_keypoints=51
+  cloud_0524: n_keypoints=48
+  cloud_0525: n_keypoints=54
+  cloud_0526: n_keypoints=43
+  cloud_0527: n_keypoints=38
+  cloud_0528: n_keypoints=32
+  cloud_0529: n_keypoints=39
+  cloud_0530: n_keypoints=43
+  cloud_0531: n_keypoints=49
+  cloud_0532: n_keypoints=46
+  cloud_0533: n_keypoints=67
+  cloud_0534: n_keypoints=60
+  cloud_0535: n_keypoints=55
+  cloud_0536: n_keypoints=57
+  cloud_0537: n_keypoints=58
+  cloud_0538: n_keypoints=67
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diff --git a/tgfz7_ablation_runs/exp3_no_dynamic_ms062/ntu_day_01/preview_meta.json b/tgfz7_ablation_runs/exp3_no_dynamic_ms062/ntu_day_01/preview_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e38878f0ff52b8d88a5f94b9daec3e2c55ebf2b6
--- /dev/null
+++ b/tgfz7_ablation_runs/exp3_no_dynamic_ms062/ntu_day_01/preview_meta.json
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+      "timestamp_scan_num": 5959,
+      "n_keypoints": 30,
+      "kp_shape": [
+        30,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5949,
+      "timestamp_scan_num": 5960,
+      "n_keypoints": 35,
+      "kp_shape": [
+        35,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5950,
+      "timestamp_scan_num": 5961,
+      "n_keypoints": 31,
+      "kp_shape": [
+        31,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5951,
+      "timestamp_scan_num": 5962,
+      "n_keypoints": 34,
+      "kp_shape": [
+        34,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5952,
+      "timestamp_scan_num": 5963,
+      "n_keypoints": 35,
+      "kp_shape": [
+        35,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5953,
+      "timestamp_scan_num": 5964,
+      "n_keypoints": 33,
+      "kp_shape": [
+        33,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5954,
+      "timestamp_scan_num": 5965,
+      "n_keypoints": 37,
+      "kp_shape": [
+        37,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5955,
+      "timestamp_scan_num": 5966,
+      "n_keypoints": 33,
+      "kp_shape": [
+        33,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5956,
+      "timestamp_scan_num": 5967,
+      "n_keypoints": 31,
+      "kp_shape": [
+        31,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5957,
+      "timestamp_scan_num": 5968,
+      "n_keypoints": 32,
+      "kp_shape": [
+        32,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5958,
+      "timestamp_scan_num": 5969,
+      "n_keypoints": 33,
+      "kp_shape": [
+        33,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5959,
+      "timestamp_scan_num": 5970,
+      "n_keypoints": 37,
+      "kp_shape": [
+        37,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5960,
+      "timestamp_scan_num": 5971,
+      "n_keypoints": 36,
+      "kp_shape": [
+        36,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5961,
+      "timestamp_scan_num": 5972,
+      "n_keypoints": 30,
+      "kp_shape": [
+        30,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5962,
+      "timestamp_scan_num": 5973,
+      "n_keypoints": 35,
+      "kp_shape": [
+        35,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5963,
+      "timestamp_scan_num": 5974,
+      "n_keypoints": 38,
+      "kp_shape": [
+        38,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5964,
+      "timestamp_scan_num": 5975,
+      "n_keypoints": 34,
+      "kp_shape": [
+        34,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5965,
+      "timestamp_scan_num": 5976,
+      "n_keypoints": 37,
+      "kp_shape": [
+        37,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5966,
+      "timestamp_scan_num": 5977,
+      "n_keypoints": 32,
+      "kp_shape": [
+        32,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5967,
+      "timestamp_scan_num": 5978,
+      "n_keypoints": 36,
+      "kp_shape": [
+        36,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5968,
+      "timestamp_scan_num": 5979,
+      "n_keypoints": 36,
+      "kp_shape": [
+        36,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5969,
+      "timestamp_scan_num": 5980,
+      "n_keypoints": 32,
+      "kp_shape": [
+        32,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5970,
+      "timestamp_scan_num": 5981,
+      "n_keypoints": 37,
+      "kp_shape": [
+        37,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5971,
+      "timestamp_scan_num": 5982,
+      "n_keypoints": 37,
+      "kp_shape": [
+        37,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5972,
+      "timestamp_scan_num": 5983,
+      "n_keypoints": 33,
+      "kp_shape": [
+        33,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5973,
+      "timestamp_scan_num": 5984,
+      "n_keypoints": 33,
+      "kp_shape": [
+        33,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5974,
+      "timestamp_scan_num": 5985,
+      "n_keypoints": 31,
+      "kp_shape": [
+        31,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5975,
+      "timestamp_scan_num": 5986,
+      "n_keypoints": 36,
+      "kp_shape": [
+        36,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5976,
+      "timestamp_scan_num": 5987,
+      "n_keypoints": 35,
+      "kp_shape": [
+        35,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5977,
+      "timestamp_scan_num": 5988,
+      "n_keypoints": 36,
+      "kp_shape": [
+        36,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5978,
+      "timestamp_scan_num": 5989,
+      "n_keypoints": 29,
+      "kp_shape": [
+        29,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5979,
+      "timestamp_scan_num": 5990,
+      "n_keypoints": 31,
+      "kp_shape": [
+        31,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5980,
+      "timestamp_scan_num": 5991,
+      "n_keypoints": 36,
+      "kp_shape": [
+        36,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5981,
+      "timestamp_scan_num": 5992,
+      "n_keypoints": 35,
+      "kp_shape": [
+        35,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5982,
+      "timestamp_scan_num": 5993,
+      "n_keypoints": 35,
+      "kp_shape": [
+        35,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5983,
+      "timestamp_scan_num": 5994,
+      "n_keypoints": 33,
+      "kp_shape": [
+        33,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5984,
+      "timestamp_scan_num": 5995,
+      "n_keypoints": 34,
+      "kp_shape": [
+        34,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5985,
+      "timestamp_scan_num": 5996,
+      "n_keypoints": 33,
+      "kp_shape": [
+        33,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5986,
+      "timestamp_scan_num": 5997,
+      "n_keypoints": 34,
+      "kp_shape": [
+        34,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5987,
+      "timestamp_scan_num": 5998,
+      "n_keypoints": 30,
+      "kp_shape": [
+        30,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5988,
+      "timestamp_scan_num": 5999,
+      "n_keypoints": 32,
+      "kp_shape": [
+        32,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5989,
+      "timestamp_scan_num": 6000,
+      "n_keypoints": 33,
+      "kp_shape": [
+        33,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5990,
+      "timestamp_scan_num": 6001,
+      "n_keypoints": 29,
+      "kp_shape": [
+        29,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5991,
+      "timestamp_scan_num": 6002,
+      "n_keypoints": 34,
+      "kp_shape": [
+        34,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5992,
+      "timestamp_scan_num": 6003,
+      "n_keypoints": 30,
+      "kp_shape": [
+        30,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5993,
+      "timestamp_scan_num": 6004,
+      "n_keypoints": 33,
+      "kp_shape": [
+        33,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5994,
+      "timestamp_scan_num": 6005,
+      "n_keypoints": 36,
+      "kp_shape": [
+        36,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5995,
+      "timestamp_scan_num": 6006,
+      "n_keypoints": 32,
+      "kp_shape": [
+        32,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5996,
+      "timestamp_scan_num": 6007,
+      "n_keypoints": 31,
+      "kp_shape": [
+        31,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5997,
+      "timestamp_scan_num": 6008,
+      "n_keypoints": 33,
+      "kp_shape": [
+        33,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5998,
+      "timestamp_scan_num": 6009,
+      "n_keypoints": 28,
+      "kp_shape": [
+        28,
+        4
+      ]
+    },
+    {
+      "dataset_index": 5999,
+      "timestamp_scan_num": 6010,
+      "n_keypoints": 32,
+      "kp_shape": [
+        32,
+        4
+      ]
+    },
+    {
+      "dataset_index": 6000,
+      "timestamp_scan_num": 6011,
+      "n_keypoints": 33,
+      "kp_shape": [
+        33,
+        4
+      ]
+    },
+    {
+      "dataset_index": 6001,
+      "timestamp_scan_num": 6012,
+      "n_keypoints": 29,
+      "kp_shape": [
+        29,
+        4
+      ]
+    },
+    {
+      "dataset_index": 6002,
+      "timestamp_scan_num": 6013,
+      "n_keypoints": 35,
+      "kp_shape": [
+        35,
+        4
+      ]
+    },
+    {
+      "dataset_index": 6003,
+      "timestamp_scan_num": 6014,
+      "n_keypoints": 30,
+      "kp_shape": [
+        30,
+        4
+      ]
+    },
+    {
+      "dataset_index": 6004,
+      "timestamp_scan_num": 6015,
+      "n_keypoints": 35,
+      "kp_shape": [
+        35,
+        4
+      ]
+    },
+    {
+      "dataset_index": 6005,
+      "timestamp_scan_num": 6016,
+      "n_keypoints": 30,
+      "kp_shape": [
+        30,
+        4
+      ]
+    },
+    {
+      "dataset_index": 6006,
+      "timestamp_scan_num": 6017,
+      "n_keypoints": 31,
+      "kp_shape": [
+        31,
+        4
+      ]
+    },
+    {
+      "dataset_index": 6007,
+      "timestamp_scan_num": 6018,
+      "n_keypoints": 35,
+      "kp_shape": [
+        35,
+        4
+      ]
+    },
+    {
+      "dataset_index": 6008,
+      "timestamp_scan_num": 6019,
+      "n_keypoints": 29,
+      "kp_shape": [
+        29,
+        4
+      ]
+    }
+  ]
+}
\ No newline at end of file
diff --git a/tgfz7_ablation_runs/exp3_no_dynamic_ms062/ntu_day_10/preview_summary.txt b/tgfz7_ablation_runs/exp3_no_dynamic_ms062/ntu_day_10/preview_summary.txt
new file mode 100644
index 0000000000000000000000000000000000000000..03bf86d44a42fbe6eb5576a80de12839f6197fed
--- /dev/null
+++ b/tgfz7_ablation_runs/exp3_no_dynamic_ms062/ntu_day_10/preview_summary.txt
@@ -0,0 +1,3240 @@
+MCD keypoint clustering
+cluster_preset=sgpr_sk_rich
+sequence=ntu_day_10  frames=3231
+out_dir=/home/data/CYD/data/MCD/tgfz7_ablation_runs/exp3_no_dynamic_ms062/ntu_day_10
+sgpr_sk_rich + MCD **raw** 0–28 + policy '/home/data/CYD/project/learn/OpenPloc-main_cyd/OpenPloc-main/datasets/mcd/label_map.yaml': n_raw_classes=16; yaml min_samples small/large/sparse=10/30/4 → raw_ms_mult=0.62 (floors 7/14/3 after scale); SGPR eps x 0.36 (floor 0.07 m)
+exclude_compressed [1, 2, 3, 4, 5, 6, 7, 8]; raw_classes 22->16
+
+Total keypoint rows (sum over frames): 158325
+Per-frame:
+  cloud_0011: n_keypoints=28
+  cloud_0012: n_keypoints=32
+  cloud_0013: n_keypoints=32
+  cloud_0014: n_keypoints=26
+  cloud_0015: n_keypoints=30
+  cloud_0016: n_keypoints=28
+  cloud_0017: n_keypoints=29
+  cloud_0018: n_keypoints=29
+  cloud_0019: n_keypoints=26
+  cloud_0020: n_keypoints=33
+  cloud_0021: n_keypoints=31
+  cloud_0022: n_keypoints=34
+  cloud_0023: n_keypoints=30
+  cloud_0024: n_keypoints=27
+  cloud_0025: n_keypoints=29
+  cloud_0026: n_keypoints=24
+  cloud_0027: n_keypoints=28
+  cloud_0028: n_keypoints=26
+  cloud_0029: n_keypoints=25
+  cloud_0030: n_keypoints=24
+  cloud_0031: n_keypoints=23
+  cloud_0032: n_keypoints=26
+  cloud_0033: n_keypoints=31
+  cloud_0034: n_keypoints=29
+  cloud_0035: n_keypoints=24
+  cloud_0036: n_keypoints=28
+  cloud_0037: n_keypoints=27
+  cloud_0038: n_keypoints=25
+  cloud_0039: n_keypoints=28
+  cloud_0040: n_keypoints=23
+  cloud_0041: n_keypoints=26
+  cloud_0042: n_keypoints=29
+  cloud_0043: n_keypoints=31
+  cloud_0044: n_keypoints=32
+  cloud_0045: n_keypoints=33
+  cloud_0046: n_keypoints=30
+  cloud_0047: n_keypoints=42
+  cloud_0048: n_keypoints=42
+  cloud_0049: n_keypoints=48
+  cloud_0050: n_keypoints=51
+  cloud_0051: n_keypoints=54
+  cloud_0052: n_keypoints=54
+  cloud_0053: n_keypoints=59
+  cloud_0054: n_keypoints=65
+  cloud_0055: n_keypoints=57
+  cloud_0056: n_keypoints=50
+  cloud_0057: n_keypoints=48
+  cloud_0058: n_keypoints=53
+  cloud_0059: n_keypoints=50
+  cloud_0060: n_keypoints=49
+  cloud_0061: n_keypoints=43
+  cloud_0062: n_keypoints=36
+  cloud_0063: n_keypoints=40
+  cloud_0064: n_keypoints=39
+  cloud_0065: n_keypoints=27
+  cloud_0066: n_keypoints=36
+  cloud_0067: n_keypoints=38
+  cloud_0068: n_keypoints=42
+  cloud_0069: n_keypoints=44
+  cloud_0070: n_keypoints=40
+  cloud_0071: n_keypoints=43
+  cloud_0072: n_keypoints=45
+  cloud_0073: n_keypoints=48
+  cloud_0074: n_keypoints=57
+  cloud_0075: n_keypoints=61
+  cloud_0076: n_keypoints=50
+  cloud_0077: n_keypoints=44
+  cloud_0078: n_keypoints=59
+  cloud_0079: n_keypoints=53
+  cloud_0080: n_keypoints=54
+  cloud_0081: n_keypoints=44
+  cloud_0082: n_keypoints=58
+  cloud_0083: n_keypoints=44
+  cloud_0084: n_keypoints=59
+  cloud_0085: n_keypoints=51
+  cloud_0086: n_keypoints=53
+  cloud_0087: n_keypoints=57
+  cloud_0088: n_keypoints=49
+  cloud_0089: n_keypoints=65
+  cloud_0090: n_keypoints=46
+  cloud_0091: n_keypoints=53
+  cloud_0092: n_keypoints=41
+  cloud_0093: n_keypoints=52
+  cloud_0094: n_keypoints=46
+  cloud_0095: n_keypoints=38
+  cloud_0096: n_keypoints=60
+  cloud_0097: n_keypoints=36
+  cloud_0098: n_keypoints=39
+  cloud_0099: n_keypoints=44
+  cloud_0100: n_keypoints=33
+  cloud_0101: n_keypoints=48
+  cloud_0102: n_keypoints=35
+  cloud_0103: n_keypoints=44
+  cloud_0104: n_keypoints=42
+  cloud_0105: n_keypoints=34
+  cloud_0106: n_keypoints=38
+  cloud_0107: n_keypoints=37
+  cloud_0108: n_keypoints=39
+  cloud_0109: n_keypoints=40
+  cloud_0110: n_keypoints=34
+  cloud_0111: n_keypoints=39
+  cloud_0112: n_keypoints=48
+  cloud_0113: n_keypoints=37
+  cloud_0114: n_keypoints=47
+  cloud_0115: n_keypoints=43
+  cloud_0116: n_keypoints=37
+  cloud_0117: n_keypoints=43
+  cloud_0118: n_keypoints=33
+  cloud_0119: n_keypoints=37
+  cloud_0120: n_keypoints=33
+  cloud_0121: n_keypoints=34
+  cloud_0122: n_keypoints=45
+  cloud_0123: n_keypoints=32
+  cloud_0124: n_keypoints=38
+  cloud_0125: n_keypoints=46
+  cloud_0126: n_keypoints=42
+  cloud_0127: n_keypoints=41
+  cloud_0128: n_keypoints=42
+  cloud_0129: n_keypoints=36
+  cloud_0130: n_keypoints=41
+  cloud_0131: n_keypoints=42
+  cloud_0132: n_keypoints=42
+  cloud_0133: n_keypoints=40
+  cloud_0134: n_keypoints=38
+  cloud_0135: n_keypoints=35
+  cloud_0136: n_keypoints=33
+  cloud_0137: n_keypoints=37
+  cloud_0138: n_keypoints=45
+  cloud_0139: n_keypoints=38
+  cloud_0140: n_keypoints=44
+  cloud_0141: n_keypoints=35
+  cloud_0142: n_keypoints=40
+  cloud_0143: n_keypoints=52
+  cloud_0144: n_keypoints=39
+  cloud_0145: n_keypoints=36
+  cloud_0146: n_keypoints=46
+  cloud_0147: n_keypoints=35
+  cloud_0148: n_keypoints=42
+  cloud_0149: n_keypoints=38
+  cloud_0150: n_keypoints=48
+  cloud_0151: n_keypoints=43
+  cloud_0152: n_keypoints=39
+  cloud_0153: n_keypoints=45
+  cloud_0154: n_keypoints=38
+  cloud_0155: n_keypoints=38
+  cloud_0156: n_keypoints=43
+  cloud_0157: n_keypoints=39
+  cloud_0158: n_keypoints=46
+  cloud_0159: n_keypoints=45
+  cloud_0160: n_keypoints=44
+  cloud_0161: n_keypoints=49
+  cloud_0162: n_keypoints=43
+  cloud_0163: n_keypoints=44
+  cloud_0164: n_keypoints=42
+  cloud_0165: n_keypoints=43
+  cloud_0166: n_keypoints=43
+  cloud_0167: n_keypoints=39
+  cloud_0168: n_keypoints=41
+  cloud_0169: n_keypoints=49
+  cloud_0170: n_keypoints=39
+  cloud_0171: n_keypoints=41
+  cloud_0172: n_keypoints=41
+  cloud_0173: n_keypoints=40
+  cloud_0174: n_keypoints=51
+  cloud_0175: n_keypoints=42
+  cloud_0176: n_keypoints=54
+  cloud_0177: n_keypoints=49
+  cloud_0178: n_keypoints=50
+  cloud_0179: n_keypoints=51
+  cloud_0180: n_keypoints=46
+  cloud_0181: n_keypoints=49
+  cloud_0182: n_keypoints=52
+  cloud_0183: n_keypoints=55
+  cloud_0184: n_keypoints=51
+  cloud_0185: n_keypoints=46
+  cloud_0186: n_keypoints=50
+  cloud_0187: n_keypoints=53
+  cloud_0188: n_keypoints=58
+  cloud_0189: n_keypoints=59
+  cloud_0190: n_keypoints=58
+  cloud_0191: n_keypoints=60
+  cloud_0192: n_keypoints=55
+  cloud_0193: n_keypoints=44
+  cloud_0194: n_keypoints=46
+  cloud_0195: n_keypoints=54
+  cloud_0196: n_keypoints=61
+  cloud_0197: n_keypoints=51
+  cloud_0198: n_keypoints=57
+  cloud_0199: n_keypoints=52
+  cloud_0200: n_keypoints=52
+  cloud_0201: n_keypoints=56
+  cloud_0202: n_keypoints=60
+  cloud_0203: n_keypoints=57
+  cloud_0204: n_keypoints=52
+  cloud_0205: n_keypoints=58
+  cloud_0206: n_keypoints=63
+  cloud_0207: n_keypoints=69
+  cloud_0208: n_keypoints=67
+  cloud_0209: n_keypoints=73
+  cloud_0210: n_keypoints=68
+  cloud_0211: n_keypoints=69
+  cloud_0212: n_keypoints=70
+  cloud_0213: n_keypoints=75
+  cloud_0214: n_keypoints=78
+  cloud_0215: n_keypoints=72
+  cloud_0216: n_keypoints=62
+  cloud_0217: n_keypoints=67
+  cloud_0218: n_keypoints=73
+  cloud_0219: n_keypoints=68
+  cloud_0220: n_keypoints=64
+  cloud_0221: n_keypoints=52
+  cloud_0222: n_keypoints=58
+  cloud_0223: n_keypoints=62
+  cloud_0224: n_keypoints=65
+  cloud_0225: n_keypoints=58
+  cloud_0226: n_keypoints=66
+  cloud_0227: n_keypoints=62
+  cloud_0228: n_keypoints=70
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