Release fixed-123 NavLock-BreachSynth benchmark

Compressed 123-scene test-only multimodal benchmark with public metadata, frozen predictions, and SHA-256 checksums.

.gitattributes

@@ -58,3 +58,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+predictions/rtmdet_predictions_123.json filter=lfs diff=lfs merge=lfs -text

CITATION.cff

@@ -0,0 +1,19 @@
+cff-version: 1.2.0
+message: "If you use this dataset, please cite the associated manuscript."
+title: "NavLock-BreachSynth"
+type: dataset
+authors:
+  - family-names: Lu
+    given-names: Xiaodong
+  - family-names: Li
+    given-names: Boju
+  - family-names: Wu
+    given-names: Shishuang
+  - family-names: Liu
+    given-names: Jun
+  - family-names: Xu
+    given-names: Sudong
+version: 1.0.0
+date-released: 2026-08-01
+repository-code: "https://github.com/serendipitylxd/NavLock-BreachSynth"
+url: "https://huggingface.co/datasets/serendipitylxd/NavLock-BreachSynth"

DATA_LICENSE.md

@@ -0,0 +1,12 @@
+# Data License and Access Policy
+
+NavLock-BreachSynth contains sensor observations derived from the NavLock-HY
+controlled academic preview. It follows the source dataset's current access
+and reuse policy:
+
+https://huggingface.co/datasets/serendipitylxd/NavLock-HY
+
+The Apache License 2.0 in the GitHub code repository applies only to software.
+It does not grant additional rights over camera images, point clouds, labels,
+or derived sensor observations in this dataset. The final data license and
+access policy will be updated together with NavLock-HY.

README.md

@@ -1,3 +1,98 @@
 ---
-license: apache-2.0
+pretty_name: NavLock-BreachSynth
+license: other
+size_categories:
+- 1K<n<10K
+task_categories:
+- object-detection
+- robotics
+tags:
+- navigation-lock
+- multimodal
+- multi-camera
+- lidar
+- counterfactual-synthesis
+- warning-reliability
+configs:
+- config_name: default
+  data_files:
+  - split: test
+    path: index/test_frames.jsonl
 ---
+
+# NavLock-BreachSynth
+
+NavLock-BreachSynth is a fixed, test-only multimodal counterfactual benchmark
+for navigation-lock warning reliability assessment. It pairs each generated
+hazard scene with its factual source observation in
+[NavLock-HY](https://huggingface.co/datasets/serendipitylxd/NavLock-HY) through
+the stable `sample_idx` field. Project code is available at
+<https://github.com/serendipitylxd/NavLock-BreachSynth>.
+
+## Release Scope
+
+- `123` fixed test scenes and `1186` synchronized frames;
+- eight camera images per generated frame;
+- merged LiDAR and inserted-vessel point files per frame;
+- frame labels, generation metadata, final public expert labels, operational
+  context, warning protocols, and aggregate statistics;
+- frozen RTMDet, Hydro3DNet, and warning-chain predictions without model
+  checkpoints.
+
+The hazard-stage distribution is `29`
+entry-path-not-clear, `81` unauthorized-entry,
+and `13` insufficient-capacity scenes.
+Generated-vessel 3D evidence is complete in `90` scenes and
+missing or incomplete in `33` scenes; background/original
+LiDAR remains available in the latter group.
+
+## Files
+
+The sensor payload is compressed into `19` deterministic `tar.gz`
+archives totaling approximately `6.86` GiB. A scene is never split across
+archives. Extract every shard into the same destination:
+
+```bash
+mkdir -p NavLock-BreachSynth
+for archive in data/test-scenes-*.tar.gz; do
+  tar -xzf "$archive" -C NavLock-BreachSynth
+done
+```
+
+`index/test_scenes.jsonl` is the scene-level index and
+`index/test_frames.jsonl` is the frame-level index used by the Hub viewer.
+`metadata/release_manifest.json` records shard membership and checksums.
+`checksums.sha256` covers every published file except itself.
+
+## Evaluation Boundary
+
+All samples are `TEST_ONLY`. They must not be moved into training or validation
+splits, used for detector fitting, threshold selection, or early stopping. The
+primary task is paired `WARN` versus `NO_WARN` evaluation. Hazard-stage
+recognition is secondary and uses `ENTRY_PATH_NOT_CLEAR`, `UNAUTHORIZED_ENTRY`,
+and `INSUFFICIENT_CAPACITY` only for generated hazards.
+
+The 123 scenes are designed safety tests, not observations of real breach
+frequency. Delayed warning is recorded as delay; only absence of warning over
+the complete observed clip is a detection failure. Results do not establish
+deployed-system reliability or real-world event prevalence.
+
+## Source Data and License
+
+This release is derived from NavLock-HY and follows its current controlled
+academic-preview policy. The dataset card therefore uses `license: other`.
+Apache-2.0 applies to the GitHub code repository, not to these sensor files.
+See `DATA_LICENSE.md` and the NavLock-HY dataset card before reuse.
+
+## Citation
+
+```bibtex
+@article{lu2026navlockbreachsynth,
+  title   = {NavLock-BreachSynth: Rule-Constrained Multimodal Counterfactual
+             Synthesis for Navigation-Lock Warning Reliability Assessment},
+  author  = {Lu, Xiaodong and Li, Boju and Wu, Shishuang and Liu, Jun and Xu, Sudong},
+  journal = {Reliability Engineering \& System Safety},
+  year    = {2026},
+  note    = {Manuscript in preparation}
+}
+```

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+}

metadata/ress_expert_review_123_public.json

@@ -0,0 +1,1335 @@
+{
+  "schema_version": "3.0-public-adjudicated",
+  "dataset": "NavLock-BreachSynth",
+  "release": "fixed-123-v1",
+  "annotation_unit": "scenario",
+  "review_status": "third_expert_adjudication_complete",
+  "provenance_notes": [
+    "Frame counts reflect the current fixed synthetic outputs.",
+    "The first expert reviewed the current 2-frame scene_020 clip and 4-frame scene_038 clip. An earlier template version recorded their frame counts as 7 and 20. During the independent targeted re-review, the first expert updated scene_038 to ENTRY_PATH_NOT_CLEAR/C1/P3.",
+    "Scene_084 was regenerated after the first expert pass to enforce zero vessel overlap in the upper-gate-side camera group. The expert reviewed the refreshed four-frame clip and changed its labels from INSUFFICIENT_CAPACITY/C3/P2 to ENTRY_PATH_NOT_CLEAR/C1/P3.",
+    "Scene_059 was regenerated after the first expert pass with a lower-gate CAM_6/CAM_7 overlap-priority rule. The first expert initially retained UNAUTHORIZED_ENTRY/C3/P2 on the current two-frame clip, then independently updated the stage to INSUFFICIENT_CAPACITY during targeted re-review.",
+    "The blinded second expert completed all 123 current clips. Both experts then separately re-reviewed related ratings while remaining blinded to each other; this targeted Round 2 was not reconciliation or adjudication.",
+    "Round 1 initial agreement used all 123 paired ratings: hazard-stage agreement was 112/123 with nominal Cohen's kappa 0.814556; linear-weighted kappa was 0.400958 for criticality and 0.419115 for perception challenge.",
+    "Round 2 independent targeted re-review also uses all 123 paired ratings: hazard-stage agreement is 119/123 with nominal Cohen's kappa 0.935067; linear-weighted kappa is 0.768310 for criticality and 0.905515 for perception challenge. Round 1 remains separately preserved and Round 2 remains pre-adjudication.",
+    "All hazardous clips begin in a hazardous state at frame 1, but frame 1 is not a hard warning deadline. A later warning remains a detection and is measured by its frame delay; only no warning throughout the observed clip is a miss.",
+    "A third expert independently reviewed all 24 Round 2 disagreement scenes while blinded to both prior ratings and the disputed fields; all three target fields were rated for every scene.",
+    "Field-level adjudication resolved 29 of 30 disputed fields by a predefined two-of-three majority. The Scene 38 criticality three-way split was resolved only after a documented first-expert follow-up re-review changed the rating from C1 to C2, matching the third expert. This follow-up is not part of Round 2 agreement.",
+    "The scenario labels below are final adjudicated labels. Round 1 and Round 2 kappa values remain pre-adjudication agreement estimates and were not recomputed from these labels."
+  ],
+  "post_review_refreshes": [
+    {
+      "scene_id": "scene_084",
+      "generated_scenario_name": "scene_2025_10_31_downstream_06_line20_seg013_18_44_55_116521",
+      "status": "EXPERT_RECONFIRMED_WITH_LABEL_UPDATE",
+      "reconfirmation_date": "2026-07-15",
+      "reason": "Regenerated with a capacity-constrained, open-gate-side zero-overlap source rule.",
+      "previous_labels": {
+        "hazard_stage": "INSUFFICIENT_CAPACITY",
+        "criticality": "C3",
+        "perception_challenge": "P2"
+      },
+      "updated_labels": {
+        "hazard_stage": "ENTRY_PATH_NOT_CLEAR",
+        "criticality": "C1",
+        "perception_challenge": "P3"
+      }
+    },
+    {
+      "scene_id": "scene_059",
+      "generated_scenario_name": "scene_2025_10_31_downstream_01_line09_seg060_09_53_06_066391",
+      "status": "EXPERT_RECONFIRMED_THEN_UPDATED_IN_INDEPENDENT_TARGETED_RE_REVIEW",
+      "refresh_date": "2026-07-16",
+      "reconfirmation_date": "2026-07-16",
+      "reason": "Regenerated as a same-category two-frame 2D fleet sequence with zero effective CAM_6/CAM_7 overlap; edge intersections with a shortest side of at most 5 px remain tolerable.",
+      "previous_frame_count": 4,
+      "current_frame_count": 2,
+      "round_1_confirmed_labels": {
+        "hazard_stage": "UNAUTHORIZED_ENTRY",
+        "criticality": "C3",
+        "perception_challenge": "P2"
+      },
+      "round_2_updated_labels": {
+        "hazard_stage": "INSUFFICIENT_CAPACITY",
+        "criticality": "C3",
+        "perception_challenge": "P2"
+      }
+    }
+  ],
+  "expert_review_rounds": [
+    {
+      "round_id": "ROUND_1_INITIAL_INDEPENDENT_REVIEW",
+      "targeted_re_review": false,
+      "ratings_reconciled_or_adjudicated": false,
+      "hazard_stage_raw_agreement": 0.910569,
+      "hazard_stage_nominal_cohen_kappa": 0.814556,
+      "criticality_linear_weighted_cohen_kappa": 0.400958,
+      "perception_challenge_linear_weighted_cohen_kappa": 0.419115,
+      "local_snapshot_sha256": "018f58bb2179494a8a13ed5a1f950bae9fe320eb3f1cac576d0c030a536a9307"
+    },
+    {
+      "round_id": "ROUND_2_INDEPENDENT_TARGETED_RE_REVIEW",
+      "targeted_re_review": true,
+      "experts_reviewed_separately": true,
+      "experts_blinded_to_each_others_ratings": true,
+      "ratings_reconciled_or_adjudicated": false,
+      "hazard_stage_raw_agreement": 0.96748,
+      "hazard_stage_nominal_cohen_kappa": 0.935067,
+      "criticality_linear_weighted_cohen_kappa": 0.76831,
+      "perception_challenge_linear_weighted_cohen_kappa": 0.905515,
+      "remaining_hazard_stage_disagreement_count": 4
+    },
+    {
+      "round_id": "THIRD_EXPERT_BLINDED_DISAGREEMENT_REVIEW",
+      "reviewed_scene_count": 24,
+      "rated_fields_per_scene": [
+        "hazard_stage",
+        "criticality",
+        "perception_challenge"
+      ],
+      "blinded_to_prior_ratings": true,
+      "blinded_to_disputed_fields": true,
+      "disputed_field_count": 30,
+      "two_of_three_majority_field_count": 29,
+      "three_way_split_field_count": 1,
+      "ratings_reconciled_or_adjudicated": true
+    }
+  ],
+  "field_definitions": {
+    "scene_id": "Stable one-based index in the fixed 123-scenario review set.",
+    "generated_scenario_name": "Name of the generated scenario in the fixed 123-scenario set.",
+    "frame_count": "Number of frames in the generated scenario.",
+    "target_gate": "Gate associated with the generated vessel-entry scenario.",
+    "hazard_stage": "Mutually exclusive operational hazard stage assigned by the domain expert.",
+    "criticality": "Conditional hazard criticality assigned by the domain expert.",
+    "perception_challenge": "Perception difficulty assigned by the domain expert."
+  },
+  "label_definitions": {
+    "hazard_stage": {
+      "ENTRY_PATH_NOT_CLEAR": "While the gate is opening or closing, a vessel or fleet occupies the outside gate-approach clearance zone and obstructs normal vessel entry or exit; warning is required at first observation.",
+      "UNAUTHORIZED_ENTRY": "Vessel or fleet has already entered without authorization, but chamber capacity has not been exceeded.",
+      "INSUFFICIENT_CAPACITY": "Vessel or fleet has already entered and chamber capacity has been exceeded."
+    },
+    "criticality": {
+      "C0": "Invalid or non-hazardous.",
+      "C1": "Hazardous state with comfortable intervention margin.",
+      "C2": "Warning is required and intervention margin is limited.",
+      "C3": "Immediate warning is required because the remaining margin is very small or a serious conflict is developing."
+    },
+    "perception_challenge": {
+      "P0": "Invalid or unusable.",
+      "P1": "Easy.",
+      "P2": "Moderate.",
+      "P3": "Difficult."
+    }
+  },
+  "evaluation_policy": {
+    "hazard_stages_are_mutually_exclusive": true,
+    "hazard_onset": "FIRST_OBSERVED_FRAME",
+    "detection_success": "FIRST_WARNING_IN_ANY_OBSERVED_SCENE_FRAME",
+    "miss_definition": "NO_WARNING_IN_ANY_OBSERVED_SCENE_FRAME",
+    "warning_delay_frames": "first_warning_frame_index - 1",
+    "control_correct_definition": "NO_WARNING_IN_ANY_RAW_CONTROL_SCENE_FRAME",
+    "control_false_alarm_definition": "WARNING_IN_ANY_RAW_CONTROL_SCENE_FRAME",
+    "supplementary_false_alarm_metrics": [
+      "FRAME_LEVEL_FALSE_ALARM_RATE",
+      "OPERATING_TIME_NORMALIZED_FALSE_ALARM_RATE"
+    ],
+    "hard_warning_deadline_applicable": false,
+    "warning_lead_time_applicable": false,
+    "stage_tasks": {
+      "ENTRY_PATH_NOT_CLEAR": "PATH_CLEARANCE_OBSTRUCTION_WARNING",
+      "UNAUTHORIZED_ENTRY": "UNAUTHORIZED_ENTRY_RECOGNITION",
+      "INSUFFICIENT_CAPACITY": "OVERCAPACITY_RECOGNITION"
+    },
+    "timing_metric": "Scene-level warning recall and first-warning delay in frames."
+  },
+  "evaluation_cohorts": {
+    "camera_all": {
+      "scene_pair_count": 123,
+      "frame_pair_count": 1186
+    },
+    "camera_lidar_3d_consistent": {
+      "scene_pair_count": 90,
+      "frame_pair_count": 1077,
+      "criterion": "The generated vessel has inserted 3D points in every scene frame."
+    },
+    "camera_lidar_missing_3d_evidence": {
+      "scene_pair_count": 33,
+      "frame_pair_count": 109,
+      "composition": "32 pure-2D scenes plus mixed-evidence scene_092.",
+      "reporting_role": "Separate missing/incomplete-3D-evidence robustness cohort; excluded from the 3D-consistent primary fusion estimate."
+    }
+  },
+  "expert_label_evaluation_role": {
+    "criticality": "Ordinal evaluation stratum for warning recall, delay, and failure analysis; not a model prediction target.",
+    "perception_challenge": "Ordinal evaluation stratum for warning recall, delay, and failure analysis; not a model prediction target or event probability.",
+    "combined_risk_score_applicable": false,
+    "restriction": "Do not multiply criticality and perception challenge into an uncalibrated risk score or infer real breach frequency without validated weights and operational exposure data."
+  },
+  "cohort_invariants": {
+    "admissibility": "VALID",
+    "hazard_validity": "HAZARDOUS_COUNTERFACTUAL",
+    "expected_warning": "WARN"
+  },
+  "summary": {
+    "scenario_count": 123,
+    "hazard_stage": {
+      "ENTRY_PATH_NOT_CLEAR": 29,
+      "INSUFFICIENT_CAPACITY": 13,
+      "UNAUTHORIZED_ENTRY": 81
+    },
+    "criticality": {
+      "C1": 29,
+      "C2": 80,
+      "C3": 14
+    },
+    "perception_challenge": {
+      "P1": 62,
+      "P2": 32,
+      "P3": 29
+    }
+  },
+  "scenarios": [
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+      "generated_scenario_name": "scene_2025_10_30_downstream_01_line02_seg001_11_05_58_833555",
+      "frame_count": 8,
+      "target_gate": "upper",
+      "hazard_stage": "UNAUTHORIZED_ENTRY",
+      "criticality": "C2",
+      "perception_challenge": "P1"
+    },
+    {
+      "scene_id": "scene_002",
+      "generated_scenario_name": "scene_2025_10_30_downstream_01_line02_seg002_11_06_58_833555",
+      "frame_count": 10,
+      "target_gate": "upper",
+      "hazard_stage": "UNAUTHORIZED_ENTRY",
+      "criticality": "C2",
+      "perception_challenge": "P1"
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+      "generated_scenario_name": "scene_2025_10_30_downstream_01_line02_seg003_11_07_58_833555",
+      "frame_count": 10,
+      "target_gate": "upper",
+      "hazard_stage": "UNAUTHORIZED_ENTRY",
+      "criticality": "C2",
+      "perception_challenge": "P1"
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+      "scene_id": "scene_004",
+      "generated_scenario_name": "scene_2025_10_30_downstream_01_line02_seg004_11_08_58_833555",
+      "frame_count": 12,
+      "target_gate": "upper",
+      "hazard_stage": "UNAUTHORIZED_ENTRY",
+      "criticality": "C2",
+      "perception_challenge": "P1"
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+      "frame_count": 13,
+      "target_gate": "upper",
+      "hazard_stage": "UNAUTHORIZED_ENTRY",
+      "criticality": "C2",
+      "perception_challenge": "P1"
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+      "target_gate": "lower",
+      "hazard_stage": "ENTRY_PATH_NOT_CLEAR",
+      "criticality": "C1",
+      "perception_challenge": "P3"
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+      "target_gate": "lower",
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+      "criticality": "C1",
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+      "criticality": "C1",
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+    },
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+      "hazard_stage": "ENTRY_PATH_NOT_CLEAR",
+      "criticality": "C1",
+      "perception_challenge": "P3"
+    },
+    {
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+      "generated_scenario_name": "scene_2025_10_31_upstream_07_line21_seg032_19_47_04_675726",
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+      "target_gate": "upper",
+      "hazard_stage": "UNAUTHORIZED_ENTRY",
+      "criticality": "C2",
+      "perception_challenge": "P2"
+    }
+  ],
+  "adjudication_summary": {
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+    "disputed_field_count": 30,
+    "two_of_three_majority_field_count": 29,
+    "documented_follow_up_convergence_field_count": 1,
+    "unresolved_field_count": 0,
+    "agreement_metrics_recomputed_after_adjudication": false,
+    "individual_second_and_third_expert_ratings_public": false,
+    "local_source_hashes": {
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+      "third_expert_template_sha256": "ee35085c6ac80efb9a487d3504a0e3d18f92d8a9a4ac7072015e01c51474f86e",
+      "facilitator_mapping_sha256": "d2726dc04220ca4dd843be30904c1e83e7de001de54dcf6cd6a5e232d5803e5f",
+      "round_2_public_snapshot_sha256": "299053e197afddb86cb136530b2505eac76e2a6cf33cf64872a5c339de2a26df",
+      "first_expert_follow_up_sha256": "f7c5b2d2eccae580e8c0946549e7edd9ac7a6ad9edf9bb4bb241ce19e7e853bd"
+    }
+  },
+  "benchmark_partition": {
+    "designation": "TEST_ONLY",
+    "scene_pair_count": 123,
+    "training_scene_pair_count": 0,
+    "validation_scene_pair_count": 0,
+    "test_scene_pair_count": 123,
+    "matched_control_hazard_pairs_share_partition": true,
+    "prohibited_uses": [
+      "MODEL_TRAINING",
+      "MODEL_SELECTION",
+      "HYPERPARAMETER_TUNING",
+      "THRESHOLD_SELECTION",
+      "VALIDATION_OR_EARLY_STOPPING"
+    ],
+    "leakage_exclusion_rule": "Exclude any training or validation candidate that matches a test target lockage, target frame, source lockage, source frame, or source vessel instance.",
+    "private_exclusion_audit_required_before_training": true
+  }
+}

metadata/ress_method_comparison_protocol_39.json

@@ -0,0 +1,958 @@
+{
+  "schema_version": "1.0-method-comparison-protocol",
+  "dataset": "NavLock-BreachSynth",
+  "release": "fixed-123-v1",
+  "status": "FROZEN_OUTPUTS_WITH_PRE_REVIEW_BLINDING_PROTOCOL",
+  "source_evaluation_manifest_sha256": "b94065460a7c3acd0a1c5ebe71ef30399ccbf1b8a51f4aaa1703a943f264ced9",
+  "comparison_purpose": "EXTERNAL_COUNTERFACTUAL_SYNTHESIS_METHOD_COMPARISON",
+  "protocol_amendments": [
+    {
+      "date": "2026-07-29",
+      "scope": "MOBI_COMMON_COMPLETE_3D_INPUT_VALIDITY",
+      "trigger": "A pre-formal-run smoke test exposed non-finite diffusion sampling when an area-only camera choice projected target-box corners behind the image plane, and exposed target lengths beyond the released range model's support.",
+      "changes": [
+        "REQUIRE_ALL_TARGET_3D_BOX_CORNERS_IN_FRONT_OF_IMAGE_PLANE",
+        "REVERSIBLY_NORMALIZE_TARGET_LENGTH_TO_AT_MOST_20_M_IN_MODEL_SPACE"
+      ],
+      "cohort_or_scene_identity_changed": false,
+      "generated_output_quality_used": false
+    },
+    {
+      "date": "2026-07-29",
+      "scope": "BLINDED_EXPERT_REVIEW_ADMINISTRATION",
+      "trigger": "ALL_EXECUTABLE_METHOD_OUTPUTS_COMPLETED_BEFORE_EXPERT_SCORING",
+      "changes": [
+        "TWO_INDEPENDENT_REVIEWER_ROUNDS_WITH_PRIVATE_RANDOMIZED_MAPPINGS",
+        "COUNT_SCENE_LEVEL_GENERATION_FAILURES_AS_AUTOMATIC_ENDPOINT_FAILURES",
+        "REVIEW_EACH_UNIQUE_METHOD_SCENE_PAIR_ONCE_ACROSS_OVERLAPPING_PANELS"
+      ],
+      "cohort_or_scene_identity_changed": false,
+      "generated_output_quality_used": false
+    }
+  ],
+  "methods": [
+    {
+      "method_id": "simple_copy_paste",
+      "display_name": "Simple Copy-Paste",
+      "citation_key": "ghiasi2021copypaste",
+      "publication": "CVPR 2021",
+      "official_repository": null,
+      "execution_route": "LOCAL_REIMPLEMENTATION_OF_PUBLISHED_COPY_PASTE_OPERATOR",
+      "input_modalities": [
+        "CAMERA",
+        "INSTANCE_MASK"
+      ],
+      "output_modalities": [
+        "CAMERA"
+      ],
+      "native_temporal_model": false,
+      "native_multiview_model": false
+    },
+    {
+      "method_id": "paint_by_example",
+      "display_name": "Paint-by-Example",
+      "citation_key": "yang2023paint",
+      "publication": "CVPR 2023",
+      "official_repository": "https://github.com/Fantasy-Studio/Paint-by-Example",
+      "execution_route": "OFFICIAL_DIFFUSERS_CHECKPOINT_AND_PIPELINE",
+      "input_modalities": [
+        "CAMERA",
+        "REFERENCE_IMAGE",
+        "TARGET_MASK"
+      ],
+      "output_modalities": [
+        "CAMERA"
+      ],
+      "native_temporal_model": false,
+      "native_multiview_model": false
+    },
+    {
+      "method_id": "pointaugmenting",
+      "display_name": "PointAugmenting",
+      "citation_key": "wang2021pointaugmenting",
+      "publication": "CVPR 2021",
+      "official_repository": "https://github.com/VISION-SJTU/PointAugmenting",
+      "execution_route": "LOCAL_DOMAIN_ADAPTATION_OF_PUBLISHED_CROSS_MODAL_OPERATOR",
+      "input_modalities": [
+        "CAMERA",
+        "LIDAR",
+        "CALIBRATION",
+        "3D_BOX",
+        "REFERENCE_IMAGE"
+      ],
+      "output_modalities": [
+        "CAMERA",
+        "LIDAR"
+      ],
+      "native_temporal_model": false,
+      "native_multiview_model": false
+    },
+    {
+      "method_id": "anydoor",
+      "display_name": "AnyDoor",
+      "citation_key": "chen2024anydoor",
+      "publication": "CVPR 2024",
+      "official_repository": "https://github.com/ali-vilab/AnyDoor",
+      "execution_route": "OFFICIAL_REPOSITORY_AND_CHECKPOINT_ADAPTER",
+      "input_modalities": [
+        "CAMERA",
+        "REFERENCE_IMAGE",
+        "REFERENCE_MASK",
+        "TARGET_MASK"
+      ],
+      "output_modalities": [
+        "CAMERA"
+      ],
+      "native_temporal_model": false,
+      "native_multiview_model": false
+    },
+    {
+      "method_id": "mobi",
+      "display_name": "MObI",
+      "citation_key": "buburuzan2025mobi",
+      "publication": "CVPRW 2025",
+      "official_repository": "https://github.com/alexbuburuzan/MObI",
+      "execution_route": "OFFICIAL_REPOSITORY_AND_CHECKPOINT_ADAPTER",
+      "input_modalities": [
+        "CAMERA",
+        "LIDAR",
+        "CALIBRATION",
+        "3D_BOX",
+        "REFERENCE_IMAGE"
+      ],
+      "output_modalities": [
+        "CAMERA",
+        "LIDAR"
+      ],
+      "native_view_scope": "SINGLE_CALIBRATED_CAMERA_PLUS_LIDAR",
+      "native_temporal_model": false,
+      "native_multiview_model": false
+    },
+    {
+      "method_id": "navlock_breachsynth",
+      "display_name": "NavLock-BreachSynth",
+      "citation_key": null,
+      "publication": "OURS",
+      "official_repository": null,
+      "execution_route": "NATIVE_PROJECT_IMPLEMENTATION",
+      "input_modalities": [
+        "CAMERA",
+        "LIDAR",
+        "CALIBRATION",
+        "INSTANCE_MASK",
+        "OPERATIONAL_CONTEXT"
+      ],
+      "output_modalities": [
+        "CAMERA",
+        "LIDAR"
+      ],
+      "native_temporal_model": true,
+      "native_multiview_model": true
+    }
+  ],
+  "sampling_design": {
+    "source_partition": "TEST_ONLY",
+    "source_scene_pair_count": 123,
+    "selection_uses_method_outputs": false,
+    "selection_seed": 20260728,
+    "scenes_per_hazard_stage": 13,
+    "selected_scene_count": 39,
+    "selected_frame_count": 286,
+    "hazard_stage_counts": {
+      "ENTRY_PATH_NOT_CLEAR": 13,
+      "INSUFFICIENT_CAPACITY": 13,
+      "UNAUTHORIZED_ENTRY": 13
+    },
+    "balancing_variables": [
+      "target_gate",
+      "illumination",
+      "evidence_profile",
+      "perception_challenge",
+      "frame_count_band"
+    ],
+    "selection_rule": "Within each hazard stage, greedily minimize the squared deviation from that stage's full-cohort proportions; break ties with a seeded SHA256 ordering.",
+    "prevalence_interpretation": "REPORT_STAGE_SPECIFIC_AND_EQUAL_STAGE_MACRO_AVERAGES_ONLY"
+  },
+  "comparison_panels": {
+    "CAMERA_39": {
+      "scene_count": 39,
+      "frame_count": 286,
+      "method_ids": [
+        "simple_copy_paste",
+        "paint_by_example",
+        "anydoor",
+        "navlock_breachsynth"
+      ],
+      "role": "PRIMARY_CAMERA_SYNTHESIS_COMPARISON_ACROSS_THREE_HAZARD_STAGES"
+    },
+    "COMMON_COMPLETE_3D": {
+      "scene_count": 22,
+      "frame_count": 223,
+      "hazard_stage_counts": {
+        "INSUFFICIENT_CAPACITY": 9,
+        "UNAUTHORIZED_ENTRY": 13
+      },
+      "method_ids": [
+        "simple_copy_paste",
+        "paint_by_example",
+        "pointaugmenting",
+        "anydoor",
+        "mobi",
+        "navlock_breachsynth"
+      ],
+      "role": "COMMON_INPUT_COMPARISON_FOR_CAMERA_AND_MULTIMODAL_METHODS",
+      "common_frame_input": "ONE_PRIMARY_CALIBRATED_CAMERA_PLUS_LIDAR",
+      "primary_camera_selection": "Among cameras for which all target 3D-box corners project in front of the image plane, choose the largest nominal target-box area; break equal-area ties by camera identifier. The rule is fixed before method execution and does not inspect generated outputs.",
+      "scope_limitation": "No ENTRY_PATH_NOT_CLEAR scene in the selected cohort has complete counterfactual 3D evidence; this panel cannot estimate all-stage performance."
+    }
+  },
+  "fair_input_policy": {
+    "shared_across_methods": [
+      "TARGET_CONTROL_CLIP",
+      "DONOR_IDENTITY_AND_REFERENCE_FRAMES",
+      "NOMINAL_2D_OR_3D_PLACEMENT",
+      "OUTPUT_RESOLUTION",
+      "PRIMARY_RANDOM_SEED"
+    ],
+    "capability_specific_inputs": "Camera-only methods receive the common camera reference and target mask. LiDAR-capable methods additionally receive the common point crop, calibration, and nominal 3D box.",
+    "camera_only_lidar_policy": "REPORT_IMAGE_LIDAR_CONSISTENCY_AS_NOT_APPLICABLE",
+    "single_view_cross_view_policy": "REPORT_CROSS_VIEW_CONSISTENCY_AS_NOT_APPLICABLE_FOR_NATIVE_SINGLE_VIEW_METHODS",
+    "generated_failure_policy": "COUNT_FAILURES_IN_THE_PRESPECIFIED_METHOD_ELIGIBLE_PANEL_DENOMINATOR",
+    "seed_policy": "ONE_FIXED_PRIMARY_SEED_WITH_THREE_SEED_SENSITIVITY_FOR_STOCHASTIC_METHODS"
+  },
+  "evaluation": {
+    "primary_unit": "SCENE",
+    "nested_unit": "FRAME_AND_CAMERA_WITHIN_SCENE",
+    "cluster_unit": "TARGET_LOCKAGE",
+    "primary_endpoints": [
+      "GENERATION_SUCCESS_RATE",
+      "BLINDED_EXPERT_ADMISSIBILITY_RATE",
+      "TEMPORAL_IDENTITY_PASS_RATE",
+      "CROSS_VIEW_CONSISTENCY_PASS_RATE",
+      "OPERATIONAL_HAZARD_VALIDITY_RATE"
+    ],
+    "capability_conditioned_endpoint": "CAMERA_LIDAR_CONSISTENCY_PASS_RATE",
+    "secondary_endpoints": [
+      "FROZEN_WARNING_RECALL",
+      "FROZEN_HAZARD_STAGE_ACCURACY",
+      "RUNTIME_SECONDS_PER_SCENE",
+      "PEAK_GPU_MEMORY_GIB"
+    ],
+    "uncertainty": "PAIRED_TARGET_LOCKAGE_CLUSTER_BOOTSTRAP_95_PERCENT_INTERVAL",
+    "multiple_comparisons": "HOLM_ADJUSTMENT_VERSUS_NAVLOCK_BREACHSYNTH",
+    "warning_result_role": "SECONDARY_STRESS_TEST_BECAUSE_VISIBLE_ARTIFACTS_CAN INCREASE DETECTOR RESPONSE"
+  },
+  "blinded_expert_review": {
+    "reviewer_round_count": 2,
+    "reviewer_metadata_policy": "NOT_COLLECTED_FOR_PRIVACY",
+    "unique_method_scene_item_count": 200,
+    "camera_39_item_count": 156,
+    "additional_complete_3d_item_count": 44,
+    "duplicate_review_across_overlapping_panels": false,
+    "randomization": "INDEPENDENT_PRIVATE_METHOD_SCENE_ORDER_PER_REVIEWER;_METHOD_AND_SCENE_IDENTITY_HIDDEN_UNTIL_BOTH_REVIEW_FORMS_ARE_FROZEN",
+    "presented_evidence": "MATCHED_FACTUAL_AND_CANDIDATE_CAMERA_CLIPS;_LOCAL_EQUAL_SCALE_LIDAR_BEV_ONLY_FOR_METHODS_WITH_CAMERA_AND_LIDAR_OUTPUT",
+    "generation_failure_rule": "A_METHOD_SCENE_WITH_ANY_REQUIRED_FRAME_GENERATION_FAILURE_IS_AN_AUTOMATIC_SCENE_LEVEL_FAILURE_AND_IS_NOT_EXPERT_SCORED",
+    "reviewed_endpoints": [
+      "VISUAL_ADMISSIBILITY",
+      "TEMPORAL_IDENTITY",
+      "CROSS_VIEW_CONSISTENCY_WHEN_APPLICABLE",
+      "OPERATIONAL_HAZARD_VALIDITY",
+      "CAMERA_LIDAR_CONSISTENCY_WHEN_APPLICABLE"
+    ],
+    "adjudication": "THIRD_EXPERT_ONLY_FOR_POST_FREEZE_DISAGREEMENTS"
+  },
+  "reporting_constraints": [
+    "Do not pool unsupported camera-LiDAR scores with supported methods.",
+    "Do not exclude failed generations after a method enters an eligible panel.",
+    "Do not use this balanced subset to estimate real hazard prevalence.",
+    "Keep internal component removals in a separate ablation table.",
+    "Treat downstream warning comparisons as exploratory because the frozen warning adapter was audited after the fixed benchmark was created."
+  ],
+  "selected_scenes": [
+    {
+      "pair_id": "pair_006",
+      "scene_id": "scene_006",
+      "hazard_stage": "ENTRY_PATH_NOT_CLEAR",
+      "target_gate": "lower",
+      "illumination": "DAYLIGHT",
+      "evidence_profile": "NO_3D_EVIDENCE",
+      "criticality": "C1",
+      "perception_challenge": "P3",
+      "frame_count": 4,
+      "frame_count_band": "SHORT_1_TO_4",
+      "comparison_scene_id": "comparison_scene_001",
+      "evaluation_unit": "COMPLETE_EIGHT_CAMERA_CLIP",
+      "evaluation_panels": [
+        "CAMERA_39"
+      ]
+    },
+    {
+      "pair_id": "pair_016",
+      "scene_id": "scene_016",
+      "hazard_stage": "UNAUTHORIZED_ENTRY",
+      "target_gate": "lower",
+      "illumination": "DAYLIGHT",
+      "evidence_profile": "ALL_FRAMES_3D",
+      "criticality": "C2",
+      "perception_challenge": "P1",
+      "frame_count": 5,
+      "frame_count_band": "MEDIUM_5_TO_9",
+      "comparison_scene_id": "comparison_scene_002",
+      "evaluation_unit": "COMPLETE_EIGHT_CAMERA_CLIP",
+      "evaluation_panels": [
+        "CAMERA_39",
+        "COMMON_COMPLETE_3D"
+      ]
+    },
+    {
+      "pair_id": "pair_021",
+      "scene_id": "scene_021",
+      "hazard_stage": "INSUFFICIENT_CAPACITY",
+      "target_gate": "lower",
+      "illumination": "DAYLIGHT",
+      "evidence_profile": "ALL_FRAMES_3D",
+      "criticality": "C3",
+      "perception_challenge": "P1",
+      "frame_count": 5,
+      "frame_count_band": "MEDIUM_5_TO_9",
+      "comparison_scene_id": "comparison_scene_003",
+      "evaluation_unit": "COMPLETE_EIGHT_CAMERA_CLIP",
+      "evaluation_panels": [
+        "CAMERA_39",
+        "COMMON_COMPLETE_3D"
+      ]
+    },
+    {
+      "pair_id": "pair_022",
+      "scene_id": "scene_022",
+      "hazard_stage": "INSUFFICIENT_CAPACITY",
+      "target_gate": "lower",
+      "illumination": "DAYLIGHT",
+      "evidence_profile": "ALL_FRAMES_3D",
+      "criticality": "C3",
+      "perception_challenge": "P1",
+      "frame_count": 8,
+      "frame_count_band": "MEDIUM_5_TO_9",
+      "comparison_scene_id": "comparison_scene_004",
+      "evaluation_unit": "COMPLETE_EIGHT_CAMERA_CLIP",
+      "evaluation_panels": [
+        "CAMERA_39",
+        "COMMON_COMPLETE_3D"
+      ]
+    },
+    {
+      "pair_id": "pair_023",
+      "scene_id": "scene_023",
+      "hazard_stage": "INSUFFICIENT_CAPACITY",
+      "target_gate": "lower",
+      "illumination": "DAYLIGHT",
+      "evidence_profile": "ALL_FRAMES_3D",
+      "criticality": "C3",
+      "perception_challenge": "P1",
+      "frame_count": 9,
+      "frame_count_band": "MEDIUM_5_TO_9",
+      "comparison_scene_id": "comparison_scene_005",
+      "evaluation_unit": "COMPLETE_EIGHT_CAMERA_CLIP",
+      "evaluation_panels": [
+        "CAMERA_39",
+        "COMMON_COMPLETE_3D"
+      ]
+    },
+    {
+      "pair_id": "pair_024",
+      "scene_id": "scene_024",
+      "hazard_stage": "INSUFFICIENT_CAPACITY",
+      "target_gate": "lower",
+      "illumination": "DAYLIGHT",
+      "evidence_profile": "ALL_FRAMES_3D",
+      "criticality": "C3",
+      "perception_challenge": "P1",
+      "frame_count": 10,
+      "frame_count_band": "LONG_10_PLUS",
+      "comparison_scene_id": "comparison_scene_006",
+      "evaluation_unit": "COMPLETE_EIGHT_CAMERA_CLIP",
+      "evaluation_panels": [
+        "CAMERA_39",
+        "COMMON_COMPLETE_3D"
+      ]
+    },
+    {
+      "pair_id": "pair_025",
+      "scene_id": "scene_025",
+      "hazard_stage": "ENTRY_PATH_NOT_CLEAR",
+      "target_gate": "upper",
+      "illumination": "DAYLIGHT",
+      "evidence_profile": "NO_3D_EVIDENCE",
+      "criticality": "C1",
+      "perception_challenge": "P3",
+      "frame_count": 7,
+      "frame_count_band": "MEDIUM_5_TO_9",
+      "comparison_scene_id": "comparison_scene_007",
+      "evaluation_unit": "COMPLETE_EIGHT_CAMERA_CLIP",
+      "evaluation_panels": [
+        "CAMERA_39"
+      ]
+    },
+    {
+      "pair_id": "pair_026",
+      "scene_id": "scene_026",
+      "hazard_stage": "ENTRY_PATH_NOT_CLEAR",
+      "target_gate": "upper",
+      "illumination": "DAYLIGHT",
+      "evidence_profile": "NO_3D_EVIDENCE",
+      "criticality": "C1",
+      "perception_challenge": "P3",
+      "frame_count": 6,
+      "frame_count_band": "MEDIUM_5_TO_9",
+      "comparison_scene_id": "comparison_scene_008",
+      "evaluation_unit": "COMPLETE_EIGHT_CAMERA_CLIP",
+      "evaluation_panels": [
+        "CAMERA_39"
+      ]
+    },
+    {
+      "pair_id": "pair_030",
+      "scene_id": "scene_030",
+      "hazard_stage": "INSUFFICIENT_CAPACITY",
+      "target_gate": "upper",
+      "illumination": "DAYLIGHT",
+      "evidence_profile": "ALL_FRAMES_3D",
+      "criticality": "C3",
+      "perception_challenge": "P1",
+      "frame_count": 1,
+      "frame_count_band": "SHORT_1_TO_4",
+      "comparison_scene_id": "comparison_scene_009",
+      "evaluation_unit": "COMPLETE_EIGHT_CAMERA_CLIP",
+      "evaluation_panels": [
+        "CAMERA_39",
+        "COMMON_COMPLETE_3D"
+      ]
+    },
+    {
+      "pair_id": "pair_031",
+      "scene_id": "scene_031",
+      "hazard_stage": "UNAUTHORIZED_ENTRY",
+      "target_gate": "upper",
+      "illumination": "DAYLIGHT",
+      "evidence_profile": "ALL_FRAMES_3D",
+      "criticality": "C2",
+      "perception_challenge": "P1",
+      "frame_count": 4,
+      "frame_count_band": "SHORT_1_TO_4",
+      "comparison_scene_id": "comparison_scene_010",
+      "evaluation_unit": "COMPLETE_EIGHT_CAMERA_CLIP",
+      "evaluation_panels": [
+        "CAMERA_39",
+        "COMMON_COMPLETE_3D"
+      ]
+    },
+    {
+      "pair_id": "pair_033",
+      "scene_id": "scene_033",
+      "hazard_stage": "INSUFFICIENT_CAPACITY",
+      "target_gate": "lower",
+      "illumination": "LOW_LIGHT",
+      "evidence_profile": "ALL_FRAMES_3D",
+      "criticality": "C3",
+      "perception_challenge": "P2",
+      "frame_count": 3,
+      "frame_count_band": "SHORT_1_TO_4",
+      "comparison_scene_id": "comparison_scene_011",
+      "evaluation_unit": "COMPLETE_EIGHT_CAMERA_CLIP",
+      "evaluation_panels": [
+        "CAMERA_39",
+        "COMMON_COMPLETE_3D"
+      ]
+    },
+    {
+      "pair_id": "pair_034",
+      "scene_id": "scene_034",
+      "hazard_stage": "ENTRY_PATH_NOT_CLEAR",
+      "target_gate": "lower",
+      "illumination": "LOW_LIGHT",
+      "evidence_profile": "NO_3D_EVIDENCE",
+      "criticality": "C1",
+      "perception_challenge": "P3",
+      "frame_count": 1,
+      "frame_count_band": "SHORT_1_TO_4",
+      "comparison_scene_id": "comparison_scene_012",
+      "evaluation_unit": "COMPLETE_EIGHT_CAMERA_CLIP",
+      "evaluation_panels": [
+        "CAMERA_39"
+      ]
+    },
+    {
+      "pair_id": "pair_036",
+      "scene_id": "scene_036",
+      "hazard_stage": "ENTRY_PATH_NOT_CLEAR",
+      "target_gate": "lower",
+      "illumination": "LOW_LIGHT",
+      "evidence_profile": "NO_3D_EVIDENCE",
+      "criticality": "C1",
+      "perception_challenge": "P3",
+      "frame_count": 1,
+      "frame_count_band": "SHORT_1_TO_4",
+      "comparison_scene_id": "comparison_scene_013",
+      "evaluation_unit": "COMPLETE_EIGHT_CAMERA_CLIP",
+      "evaluation_panels": [
+        "CAMERA_39"
+      ]
+    },
+    {
+      "pair_id": "pair_040",
+      "scene_id": "scene_040",
+      "hazard_stage": "ENTRY_PATH_NOT_CLEAR",
+      "target_gate": "lower",
+      "illumination": "LOW_LIGHT",
+      "evidence_profile": "NO_3D_EVIDENCE",
+      "criticality": "C1",
+      "perception_challenge": "P3",
+      "frame_count": 5,
+      "frame_count_band": "MEDIUM_5_TO_9",
+      "comparison_scene_id": "comparison_scene_014",
+      "evaluation_unit": "COMPLETE_EIGHT_CAMERA_CLIP",
+      "evaluation_panels": [
+        "CAMERA_39"
+      ]
+    },
+    {
+      "pair_id": "pair_049",
+      "scene_id": "scene_049",
+      "hazard_stage": "UNAUTHORIZED_ENTRY",
+      "target_gate": "upper",
+      "illumination": "LOW_LIGHT",
+      "evidence_profile": "ALL_FRAMES_3D",
+      "criticality": "C2",
+      "perception_challenge": "P2",
+      "frame_count": 12,
+      "frame_count_band": "LONG_10_PLUS",
+      "comparison_scene_id": "comparison_scene_015",
+      "evaluation_unit": "COMPLETE_EIGHT_CAMERA_CLIP",
+      "evaluation_panels": [
+        "CAMERA_39",
+        "COMMON_COMPLETE_3D"
+      ]
+    },
+    {
+      "pair_id": "pair_051",
+      "scene_id": "scene_051",
+      "hazard_stage": "ENTRY_PATH_NOT_CLEAR",
+      "target_gate": "lower",
+      "illumination": "LOW_LIGHT",
+      "evidence_profile": "NO_3D_EVIDENCE",
+      "criticality": "C1",
+      "perception_challenge": "P3",
+      "frame_count": 1,
+      "frame_count_band": "SHORT_1_TO_4",
+      "comparison_scene_id": "comparison_scene_016",
+      "evaluation_unit": "COMPLETE_EIGHT_CAMERA_CLIP",
+      "evaluation_panels": [
+        "CAMERA_39"
+      ]
+    },
+    {
+      "pair_id": "pair_055",
+      "scene_id": "scene_055",
+      "hazard_stage": "INSUFFICIENT_CAPACITY",
+      "target_gate": "upper",
+      "illumination": "DAYLIGHT",
+      "evidence_profile": "ALL_FRAMES_3D",
+      "criticality": "C3",
+      "perception_challenge": "P1",
+      "frame_count": 27,
+      "frame_count_band": "LONG_10_PLUS",
+      "comparison_scene_id": "comparison_scene_017",
+      "evaluation_unit": "COMPLETE_EIGHT_CAMERA_CLIP",
+      "evaluation_panels": [
+        "CAMERA_39",
+        "COMMON_COMPLETE_3D"
+      ]
+    },
+    {
+      "pair_id": "pair_056",
+      "scene_id": "scene_056",
+      "hazard_stage": "INSUFFICIENT_CAPACITY",
+      "target_gate": "upper",
+      "illumination": "DAYLIGHT",
+      "evidence_profile": "ALL_FRAMES_3D",
+      "criticality": "C3",
+      "perception_challenge": "P1",
+      "frame_count": 20,
+      "frame_count_band": "LONG_10_PLUS",
+      "comparison_scene_id": "comparison_scene_018",
+      "evaluation_unit": "COMPLETE_EIGHT_CAMERA_CLIP",
+      "evaluation_panels": [
+        "CAMERA_39",
+        "COMMON_COMPLETE_3D"
+      ]
+    },
+    {
+      "pair_id": "pair_057",
+      "scene_id": "scene_057",
+      "hazard_stage": "INSUFFICIENT_CAPACITY",
+      "target_gate": "upper",
+      "illumination": "DAYLIGHT",
+      "evidence_profile": "NO_3D_EVIDENCE",
+      "criticality": "C3",
+      "perception_challenge": "P2",
+      "frame_count": 5,
+      "frame_count_band": "MEDIUM_5_TO_9",
+      "comparison_scene_id": "comparison_scene_019",
+      "evaluation_unit": "COMPLETE_EIGHT_CAMERA_CLIP",
+      "evaluation_panels": [
+        "CAMERA_39"
+      ]
+    },
+    {
+      "pair_id": "pair_058",
+      "scene_id": "scene_058",
+      "hazard_stage": "ENTRY_PATH_NOT_CLEAR",
+      "target_gate": "upper",
+      "illumination": "DAYLIGHT",
+      "evidence_profile": "NO_3D_EVIDENCE",
+      "criticality": "C1",
+      "perception_challenge": "P3",
+      "frame_count": 2,
+      "frame_count_band": "SHORT_1_TO_4",
+      "comparison_scene_id": "comparison_scene_020",
+      "evaluation_unit": "COMPLETE_EIGHT_CAMERA_CLIP",
+      "evaluation_panels": [
+        "CAMERA_39"
+      ]
+    },
+    {
+      "pair_id": "pair_059",
+      "scene_id": "scene_059",
+      "hazard_stage": "INSUFFICIENT_CAPACITY",
+      "target_gate": "lower",
+      "illumination": "DAYLIGHT",
+      "evidence_profile": "NO_3D_EVIDENCE",
+      "criticality": "C3",
+      "perception_challenge": "P2",
+      "frame_count": 2,
+      "frame_count_band": "SHORT_1_TO_4",
+      "comparison_scene_id": "comparison_scene_021",
+      "evaluation_unit": "COMPLETE_EIGHT_CAMERA_CLIP",
+      "evaluation_panels": [
+        "CAMERA_39"
+      ]
+    },
+    {
+      "pair_id": "pair_061",
+      "scene_id": "scene_061",
+      "hazard_stage": "ENTRY_PATH_NOT_CLEAR",
+      "target_gate": "lower",
+      "illumination": "DAYLIGHT",
+      "evidence_profile": "NO_3D_EVIDENCE",
+      "criticality": "C1",
+      "perception_challenge": "P3",
+      "frame_count": 4,
+      "frame_count_band": "SHORT_1_TO_4",
+      "comparison_scene_id": "comparison_scene_022",
+      "evaluation_unit": "COMPLETE_EIGHT_CAMERA_CLIP",
+      "evaluation_panels": [
+        "CAMERA_39"
+      ]
+    },
+    {
+      "pair_id": "pair_063",
+      "scene_id": "scene_063",
+      "hazard_stage": "ENTRY_PATH_NOT_CLEAR",
+      "target_gate": "lower",
+      "illumination": "DAYLIGHT",
+      "evidence_profile": "NO_3D_EVIDENCE",
+      "criticality": "C1",
+      "perception_challenge": "P3",
+      "frame_count": 2,
+      "frame_count_band": "SHORT_1_TO_4",
+      "comparison_scene_id": "comparison_scene_023",
+      "evaluation_unit": "COMPLETE_EIGHT_CAMERA_CLIP",
+      "evaluation_panels": [
+        "CAMERA_39"
+      ]
+    },
+    {
+      "pair_id": "pair_065",
+      "scene_id": "scene_065",
+      "hazard_stage": "ENTRY_PATH_NOT_CLEAR",
+      "target_gate": "lower",
+      "illumination": "DAYLIGHT",
+      "evidence_profile": "NO_3D_EVIDENCE",
+      "criticality": "C1",
+      "perception_challenge": "P3",
+      "frame_count": 7,
+      "frame_count_band": "MEDIUM_5_TO_9",
+      "comparison_scene_id": "comparison_scene_024",
+      "evaluation_unit": "COMPLETE_EIGHT_CAMERA_CLIP",
+      "evaluation_panels": [
+        "CAMERA_39"
+      ]
+    },
+    {
+      "pair_id": "pair_067",
+      "scene_id": "scene_067",
+      "hazard_stage": "UNAUTHORIZED_ENTRY",
+      "target_gate": "lower",
+      "illumination": "DAYLIGHT",
+      "evidence_profile": "ALL_FRAMES_3D",
+      "criticality": "C2",
+      "perception_challenge": "P1",
+      "frame_count": 12,
+      "frame_count_band": "LONG_10_PLUS",
+      "comparison_scene_id": "comparison_scene_025",
+      "evaluation_unit": "COMPLETE_EIGHT_CAMERA_CLIP",
+      "evaluation_panels": [
+        "CAMERA_39",
+        "COMMON_COMPLETE_3D"
+      ]
+    },
+    {
+      "pair_id": "pair_081",
+      "scene_id": "scene_081",
+      "hazard_stage": "UNAUTHORIZED_ENTRY",
+      "target_gate": "lower",
+      "illumination": "DAYLIGHT",
+      "evidence_profile": "ALL_FRAMES_3D",
+      "criticality": "C2",
+      "perception_challenge": "P2",
+      "frame_count": 12,
+      "frame_count_band": "LONG_10_PLUS",
+      "comparison_scene_id": "comparison_scene_026",
+      "evaluation_unit": "COMPLETE_EIGHT_CAMERA_CLIP",
+      "evaluation_panels": [
+        "CAMERA_39",
+        "COMMON_COMPLETE_3D"
+      ]
+    },
+    {
+      "pair_id": "pair_088",
+      "scene_id": "scene_088",
+      "hazard_stage": "UNAUTHORIZED_ENTRY",
+      "target_gate": "lower",
+      "illumination": "LOW_LIGHT",
+      "evidence_profile": "ALL_FRAMES_3D",
+      "criticality": "C2",
+      "perception_challenge": "P2",
+      "frame_count": 1,
+      "frame_count_band": "SHORT_1_TO_4",
+      "comparison_scene_id": "comparison_scene_027",
+      "evaluation_unit": "COMPLETE_EIGHT_CAMERA_CLIP",
+      "evaluation_panels": [
+        "CAMERA_39",
+        "COMMON_COMPLETE_3D"
+      ]
+    },
+    {
+      "pair_id": "pair_089",
+      "scene_id": "scene_089",
+      "hazard_stage": "UNAUTHORIZED_ENTRY",
+      "target_gate": "upper",
+      "illumination": "LOW_LIGHT",
+      "evidence_profile": "ALL_FRAMES_3D",
+      "criticality": "C2",
+      "perception_challenge": "P2",
+      "frame_count": 3,
+      "frame_count_band": "SHORT_1_TO_4",
+      "comparison_scene_id": "comparison_scene_028",
+      "evaluation_unit": "COMPLETE_EIGHT_CAMERA_CLIP",
+      "evaluation_panels": [
+        "CAMERA_39",
+        "COMMON_COMPLETE_3D"
+      ]
+    },
+    {
+      "pair_id": "pair_092",
+      "scene_id": "scene_092",
+      "hazard_stage": "INSUFFICIENT_CAPACITY",
+      "target_gate": "lower",
+      "illumination": "DAYLIGHT",
+      "evidence_profile": "MIXED_3D_EVIDENCE",
+      "criticality": "C3",
+      "perception_challenge": "P1",
+      "frame_count": 5,
+      "frame_count_band": "MEDIUM_5_TO_9",
+      "comparison_scene_id": "comparison_scene_029",
+      "evaluation_unit": "COMPLETE_EIGHT_CAMERA_CLIP",
+      "evaluation_panels": [
+        "CAMERA_39"
+      ]
+    },
+    {
+      "pair_id": "pair_093",
+      "scene_id": "scene_093",
+      "hazard_stage": "ENTRY_PATH_NOT_CLEAR",
+      "target_gate": "lower",
+      "illumination": "DAYLIGHT",
+      "evidence_profile": "NO_3D_EVIDENCE",
+      "criticality": "C1",
+      "perception_challenge": "P3",
+      "frame_count": 4,
+      "frame_count_band": "SHORT_1_TO_4",
+      "comparison_scene_id": "comparison_scene_030",
+      "evaluation_unit": "COMPLETE_EIGHT_CAMERA_CLIP",
+      "evaluation_panels": [
+        "CAMERA_39"
+      ]
+    },
+    {
+      "pair_id": "pair_096",
+      "scene_id": "scene_096",
+      "hazard_stage": "UNAUTHORIZED_ENTRY",
+      "target_gate": "upper",
+      "illumination": "DAYLIGHT",
+      "evidence_profile": "ALL_FRAMES_3D",
+      "criticality": "C2",
+      "perception_challenge": "P1",
+      "frame_count": 12,
+      "frame_count_band": "LONG_10_PLUS",
+      "comparison_scene_id": "comparison_scene_031",
+      "evaluation_unit": "COMPLETE_EIGHT_CAMERA_CLIP",
+      "evaluation_panels": [
+        "CAMERA_39",
+        "COMMON_COMPLETE_3D"
+      ]
+    },
+    {
+      "pair_id": "pair_099",
+      "scene_id": "scene_099",
+      "hazard_stage": "INSUFFICIENT_CAPACITY",
+      "target_gate": "upper",
+      "illumination": "DAYLIGHT",
+      "evidence_profile": "ALL_FRAMES_3D",
+      "criticality": "C3",
+      "perception_challenge": "P1",
+      "frame_count": 4,
+      "frame_count_band": "SHORT_1_TO_4",
+      "comparison_scene_id": "comparison_scene_032",
+      "evaluation_unit": "COMPLETE_EIGHT_CAMERA_CLIP",
+      "evaluation_panels": [
+        "CAMERA_39",
+        "COMMON_COMPLETE_3D"
+      ]
+    },
+    {
+      "pair_id": "pair_101",
+      "scene_id": "scene_101",
+      "hazard_stage": "UNAUTHORIZED_ENTRY",
+      "target_gate": "upper",
+      "illumination": "DAYLIGHT",
+      "evidence_profile": "ALL_FRAMES_3D",
+      "criticality": "C2",
+      "perception_challenge": "P1",
+      "frame_count": 9,
+      "frame_count_band": "MEDIUM_5_TO_9",
+      "comparison_scene_id": "comparison_scene_033",
+      "evaluation_unit": "COMPLETE_EIGHT_CAMERA_CLIP",
+      "evaluation_panels": [
+        "CAMERA_39",
+        "COMMON_COMPLETE_3D"
+      ]
+    },
+    {
+      "pair_id": "pair_104",
+      "scene_id": "scene_104",
+      "hazard_stage": "UNAUTHORIZED_ENTRY",
+      "target_gate": "lower",
+      "illumination": "DAYLIGHT",
+      "evidence_profile": "ALL_FRAMES_3D",
+      "criticality": "C2",
+      "perception_challenge": "P1",
+      "frame_count": 33,
+      "frame_count_band": "LONG_10_PLUS",
+      "comparison_scene_id": "comparison_scene_034",
+      "evaluation_unit": "COMPLETE_EIGHT_CAMERA_CLIP",
+      "evaluation_panels": [
+        "CAMERA_39",
+        "COMMON_COMPLETE_3D"
+      ]
+    },
+    {
+      "pair_id": "pair_108",
+      "scene_id": "scene_108",
+      "hazard_stage": "UNAUTHORIZED_ENTRY",
+      "target_gate": "lower",
+      "illumination": "DAYLIGHT",
+      "evidence_profile": "ALL_FRAMES_3D",
+      "criticality": "C2",
+      "perception_challenge": "P1",
+      "frame_count": 25,
+      "frame_count_band": "LONG_10_PLUS",
+      "comparison_scene_id": "comparison_scene_035",
+      "evaluation_unit": "COMPLETE_EIGHT_CAMERA_CLIP",
+      "evaluation_panels": [
+        "CAMERA_39",
+        "COMMON_COMPLETE_3D"
+      ]
+    },
+    {
+      "pair_id": "pair_113",
+      "scene_id": "scene_113",
+      "hazard_stage": "UNAUTHORIZED_ENTRY",
+      "target_gate": "upper",
+      "illumination": "DAYLIGHT",
+      "evidence_profile": "ALL_FRAMES_3D",
+      "criticality": "C2",
+      "perception_challenge": "P1",
+      "frame_count": 5,
+      "frame_count_band": "MEDIUM_5_TO_9",
+      "comparison_scene_id": "comparison_scene_036",
+      "evaluation_unit": "COMPLETE_EIGHT_CAMERA_CLIP",
+      "evaluation_panels": [
+        "CAMERA_39",
+        "COMMON_COMPLETE_3D"
+      ]
+    },
+    {
+      "pair_id": "pair_114",
+      "scene_id": "scene_114",
+      "hazard_stage": "INSUFFICIENT_CAPACITY",
+      "target_gate": "upper",
+      "illumination": "DAYLIGHT",
+      "evidence_profile": "NO_3D_EVIDENCE",
+      "criticality": "C3",
+      "perception_challenge": "P2",
+      "frame_count": 4,
+      "frame_count_band": "SHORT_1_TO_4",
+      "comparison_scene_id": "comparison_scene_037",
+      "evaluation_unit": "COMPLETE_EIGHT_CAMERA_CLIP",
+      "evaluation_panels": [
+        "CAMERA_39"
+      ]
+    },
+    {
+      "pair_id": "pair_120",
+      "scene_id": "scene_120",
+      "hazard_stage": "UNAUTHORIZED_ENTRY",
+      "target_gate": "lower",
+      "illumination": "LOW_LIGHT",
+      "evidence_profile": "ALL_FRAMES_3D",
+      "criticality": "C2",
+      "perception_challenge": "P2",
+      "frame_count": 3,
+      "frame_count_band": "SHORT_1_TO_4",
+      "comparison_scene_id": "comparison_scene_038",
+      "evaluation_unit": "COMPLETE_EIGHT_CAMERA_CLIP",
+      "evaluation_panels": [
+        "CAMERA_39",
+        "COMMON_COMPLETE_3D"
+      ]
+    },
+    {
+      "pair_id": "pair_121",
+      "scene_id": "scene_121",
+      "hazard_stage": "ENTRY_PATH_NOT_CLEAR",
+      "target_gate": "lower",
+      "illumination": "LOW_LIGHT",
+      "evidence_profile": "NO_3D_EVIDENCE",
+      "criticality": "C1",
+      "perception_challenge": "P3",
+      "frame_count": 3,
+      "frame_count_band": "SHORT_1_TO_4",
+      "comparison_scene_id": "comparison_scene_039",
+      "evaluation_unit": "COMPLETE_EIGHT_CAMERA_CLIP",
+      "evaluation_panels": [
+        "CAMERA_39"
+      ]
+    }
+  ]
+}

metadata/ress_warning_protocol.json

@@ -0,0 +1,96 @@
+{
+  "schema_version": "1.0-oracle-warning-protocol",
+  "dataset": "NavLock-BreachSynth",
+  "release": "fixed-123-v1",
+  "benchmark_role": "OFFLINE_MATCHED_COUNTERFACTUAL_WARNING_ASSURANCE",
+  "system_boundary": {
+    "perception_evidence": "VESSEL_DETECTION_TRACKING_POSITION_AND_OCCUPANCY",
+    "gate_state_source": "ANNOTATED_GATE_STATE_NOT_VERIFIED_PLC_LOG",
+    "authorization_source": "ANNOTATED_DISPATCH_PROXY_NOT_PRODUCTION_DISPATCH_LOG",
+    "capacity_source": "ANNOTATED_BERTH_STATE_PLUS_COUNTERFACTUAL_RULE",
+    "rule_engine_outputs": [
+      "warning",
+      "hazard_stage",
+      "active_violations"
+    ]
+  },
+  "rule_input_schema": {
+    "added_vessel_present": "boolean",
+    "added_vessel_authorized_for_current_lockage": "boolean_or_null_if_absent",
+    "added_vessel_entered_chamber": "boolean",
+    "entry_path_clear": "boolean_after_counterfactual_insertion",
+    "capacity_exceeded_after_insertion": "boolean",
+    "target_gate_state": [
+      "closed",
+      "opening",
+      "open",
+      "closing"
+    ],
+    "target_gate_active_for_passage": "boolean_equal_to_target_gate_state_not_closed"
+  },
+  "underlying_state_policy": {
+    "violations_are_multilabel": true,
+    "hazard_stage_is_mutually_exclusive": true,
+    "all_fixed_hazards_have_entry_path_clear_false": true,
+    "all_added_vessels_are_outside_current_lockage_authorization": true,
+    "unauthorized_entry_occurs_only_after_chamber_entry": true,
+    "raw_capacity_unavailable_alone_triggers_warning": false
+  },
+  "fixed_hazard_truth_table": {
+    "ENTRY_PATH_NOT_CLEAR": {
+      "entry_path_clear": false,
+      "added_vessel_entered_chamber": false,
+      "unauthorized_entry_occurred": false,
+      "capacity_exceeded_after_insertion": false
+    },
+    "UNAUTHORIZED_ENTRY": {
+      "entry_path_clear": false,
+      "added_vessel_entered_chamber": true,
+      "unauthorized_entry_occurred": true,
+      "capacity_exceeded_after_insertion": false
+    },
+    "INSUFFICIENT_CAPACITY": {
+      "entry_path_clear": false,
+      "added_vessel_entered_chamber": true,
+      "unauthorized_entry_occurred": true,
+      "capacity_exceeded_after_insertion": true
+    }
+  },
+  "rule_precedence": [
+    {
+      "priority": 1,
+      "condition": "capacity_exceeded_after_insertion",
+      "output_stage": "INSUFFICIENT_CAPACITY"
+    },
+    {
+      "priority": 2,
+      "condition": "added_vessel_entered_chamber AND NOT authorized",
+      "output_stage": "UNAUTHORIZED_ENTRY"
+    },
+    {
+      "priority": 3,
+      "condition": "NOT entry_path_clear AND target_gate_active_for_passage",
+      "output_stage": "ENTRY_PATH_NOT_CLEAR"
+    }
+  ],
+  "capacity_policy": {
+    "fleet": "ONE_LOCKAGE_ADMITS_ONE_FLEET",
+    "single_vessel": "ACTUAL_GEOMETRIC_OR_BERTH_CAPACITY_EXCEEDANCE_REQUIRED",
+    "raw_chamber_capacity_available_is_pre_insertion_context_only": true
+  },
+  "evaluation_policy": {
+    "primary_task": "BINARY_WARN_VS_NO_WARN",
+    "secondary_task": "MUTUALLY_EXCLUSIVE_HAZARD_STAGE_ON_HAZARD_SAMPLES",
+    "hazard_onset": "FIRST_OBSERVED_FRAME",
+    "later_warning_is_detection": true,
+    "miss_definition": "NO_WARNING_IN_ANY_OBSERVED_SCENE_FRAME",
+    "warning_delay_frames": "first_warning_frame_number - 1"
+  },
+  "separation_policy": {
+    "expert_hazard_stage_is_rule_input": false,
+    "expert_hazard_stage_role": "EXPECTED_OUTPUT_ONLY",
+    "oracle_state_role": "GROUND_TRUTH_LOGIC_CONSISTENCY_BASELINE",
+    "oracle_result_is_model_performance": false,
+    "camera_and_lidar_models_replace_only_perception_evidence": true
+  }
+}

predictions/rtmdet_predictions_123.json

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4658145a579e4d39e4aeb2fbf2481f9dfa9e65b6c3660d9fef399fbac3fd4e4f
+size 31766222