Publish full quality-control audit, candidate IDs, measurements and methods

.gitattributes

@@ -60,3 +60,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
 metadata/episode_outcomes.jsonl filter=lfs diff=lfs merge=lfs -text
 eef/episodes.jsonl filter=lfs diff=lfs merge=lfs -text
+audit/episode_flags.csv filter=lfs diff=lfs merge=lfs -text

README.md

@@ -72,6 +72,37 @@ rows = np.fromfile("<key>.bin", dtype="<f8").reshape(metadata["num_steps"], 32)
 `dataset_info.json` summarizes the release. `shards.jsonl` provides archive sizes,
 episode counts, and SHA-256 checksums. Episode metadata contains only public data fields.
 
+## Quality-control audit
+
+A full audit of **142,685 episodes** and **754,950,021 camera frames**
+is published in [`audit/`](audit), covering the retained processed frames at revision
+`6fc8f88d74250c492622e7ff03586e162b852b2f`. It includes joint, video, pose-continuity, workspace,
+tracking/lag and duplicate checks, with explicit applicability limits.
+
+**96,315 episodes triggered a configured threshold**, including
+**1,450 EEF-state spike candidates**. Broad acceleration/jerk
+flags are heuristic, and dark-frame detections can include camera occlusion. These
+are **review candidates, not an automatic removal list or demonstration outcome labels**.
+Check counts overlap; [`audit/summary.json`](audit/summary.json) records the full breakdown.
+
+- [`audit/episode_flags.csv`](audit/episode_flags.csv): public episode IDs, robot, split and check reasons.
+- [`audit/ids/`](audit/ids): aggregate and per-check ID lists, including separate EEF state/command lists.
+- [`audit/measurements/`](audit/measurements): gzip JSONL measurements for every episode and audit pass.
+- [`audit/methods/`](audit/methods): thresholds and training-only statistical workspace bounds.
+- [`audit/duplicate_groups.jsonl`](audit/duplicate_groups.jsonl): canonical/duplicate IDs and cross-split indicators.
+- [`audit/files.jsonl`](audit/files.jsonl): public audit file sizes and SHA-256 checksums.
+
+Measurement JSON uses `flagged_checks`; CSV check names are separated by semicolons.
+The CSV contains episodes with a flag or review annotation; measurement files cover
+every episode. Frame indices are zero-based retained video indices. EEF spike
+measurements also give source indices and affected `next_state` action indices.
+The native-pose/FK comparisons refer to upstream recorded fields, separate from
+the published nominal-FK targets. Copied joint commands cannot establish independent
+tracking quality. Independent AgiBot FK could not be checked without a verified robot model. Physical calibration and dataset-wide camera reprojection remain unverified.
+
+**No episodes, videos, joint binaries or EEF payloads were removed or repaired.**
+The published EEF arrays retain the audited values, including flagged anomalies.
+
 ## EEF action/state companions
 
 The optional `eef/` companion release covers every episode in this processed subset,

audit/duplicate_groups.jsonl

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audit/eef_spike_episodes.jsonl.gz

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audit/episode_flags.csv

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audit/examples/agibot_eef_spike_example.json

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audit/examples/agibot_eef_spike_source_fields.json

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audit/examples/manual_review.jsonl

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