{
  "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."
  ]
}