| { |
| "version": 1, |
| "scope": "Exact published retained frames; no changes to data or training splits.", |
| "spikes": { |
| "acceleration_floor_rad_s2": 40, |
| "jerk_floor_rad_s3": 800, |
| "robust_mad_multiplier": 12, |
| "minimum_flagged_frames": 3 |
| }, |
| "glitch": { |
| "median_window_seconds": 0.3, |
| "residual_rad": 0.3 |
| }, |
| "tracking": { |
| "direction_agreement_minimum": 0.7, |
| "command_range_rad": 0.05, |
| "minimum_scored_differences": 10, |
| "lag_search_seconds": 1, |
| "command_speed_gate_rad_s": 0.02, |
| "state_speed_gate_rad_s": 0.002, |
| "smoothing": "5-frame triangular [1,2,3,2,1]/9; shortest-arc unwrapped angles", |
| "note": "Score commanded motion even if state is frozen. Copied commands are untestable." |
| }, |
| "reversed_lag": { |
| "minimum_correlation": 0.8, |
| "minimum_improvement_over_zero": 0.02, |
| "minimum_lead_frames": 2, |
| "exclude_search_boundary": true |
| }, |
| "idle": { |
| "joint_speed_rad_s": 0.02, |
| "gripper_speed_per_s": 0.02, |
| "maximum_end_trim_fraction": 0.7, |
| "note": "Arm/gripper motion only; no trimming applied." |
| }, |
| "workspace": { |
| "training_episodes_per_robot": 2048, |
| "samples_per_episode": 16, |
| "quantiles": [ |
| 0.001, |
| 0.999 |
| ], |
| "padding_m": 0.1, |
| "minimum_outside_frames": 3, |
| "note": "Statistical review flag, not a robot safety envelope. Fitted on training split only." |
| }, |
| "video": { |
| "stall_fraction": 0.2, |
| "black_luma_threshold": 32, |
| "black_pixel_percent": 98, |
| "note": "Every decoded full-resolution camera frame; exact adjacent YUV frame hashes for stalls; blackframe luma pixels below 32 in at least 98% of view." |
| }, |
| "native_fk": { |
| "position_error_m": 0.0022, |
| "rotation_error_rad": 0.05, |
| "note": "Compare nominal FK to native recorded state poses only. RoboMIND native fields are not the published FK targets. No FK-fitted rotation correction." |
| }, |
| "duplicates": "Match robot, fps, frame count, exact joint binary SHA256, EEF array content SHA256, and all decoded camera-frame sequence SHA256s. Choose canonical training member first. Metadata/instructions ignored; no removal.", |
| "limitations": [ |
| "Not an exact reproduction of an unspecified S1/S2/S3 implementation.", |
| "Checks flag candidates for review; valid rare motion, stationary views and tasks can trigger them.", |
| "Audits retained processed frames; anomalies exclusively in source frames dropped during export are out of scope.", |
| "AgiBot has no independently verified FK model; physical calibration and image/pose reprojection are not certified." |
| ] |
| } |
|
|
