Add files using upload-large-folder tool

benchmark/interaction_constrained/scenes/interaction_constrained.icn_0007.scene.json

@@ -0,0 +1,60 @@
+{
+  "schema_version": "0.3",
+  "scene_id": "interaction_constrained.icn_0007",
+  "layout": {
+    "layout_id": "research.sc.s2016",
+    "path": "../layouts/s2016.layout.simplified.json",
+    "coordinate_frame": "layout_xy_meters",
+    "notes": "Scene geometry is expressed in the referenced layout frame."
+  },
+  "window": {
+    "start": "1971-03-09T23:47:45.087608Z",
+    "end": "1971-03-09T23:47:55.087608Z",
+    "duration_s": 10.0
+  },
+  "tracking": {
+    "tracking_id": "interaction_constrained.icn_0007",
+    "format": "csv",
+    "path": "../tracks/interaction_constrained.icn_0007.tracks.csv",
+    "timestamp_field": "timestamp",
+    "track_id_field": "person_track_id",
+    "coordinate_frame": "layout_xy_meters",
+    "notes": "Windowed export from raw tracking chunk with all original columns preserved."
+  },
+  "metadata": {
+    "task_type": "interaction_constrained",
+    "description": "Interaction-constrained benchmark scene exported from mined human candidate icn_0007.",
+    "difficulty_score_norm": 0.4631453229591079,
+    "difficulty_score_raw": 0.7713542094061554,
+    "difficulty_category": "easy",
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+    "interaction_pressure_raw": 1.0,
+    "tradeoff_strength_raw": 0.5427084188123108,
+    "maneuver_complexity_raw": 1.0,
+    "crowd_local_density": 42.43,
+    "interaction_event_count": 100,
+    "interaction_event_fraction": 1.0,
+    "crowd_n_other_tracks": 4,
+    "crowd_n_samples": 400,
+    "score": 3.463621392422693,
+    "rerank_score": 4.114450932588864
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+  "provenance": {
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+      "person_track_id": "5f00969a6c3b",
+      "window_start": "1971-03-09T23:47:45.087608+00:00",
+      "window_end": "1971-03-09T23:47:55.087608+00:00",
+      "candidates_csv": "out/icn_clean/s2016_interaction_constrained_humans_with_difficulty.csv"
+    }
+  }
+}

benchmark/interaction_constrained/scenes/interaction_constrained.icn_0030.scene.json

@@ -0,0 +1,60 @@
+{
+  "schema_version": "0.3",
+  "scene_id": "interaction_constrained.icn_0030",
+  "layout": {
+    "layout_id": "research.sc.s2016",
+    "path": "../layouts/s2016.layout.simplified.json",
+    "coordinate_frame": "layout_xy_meters",
+    "notes": "Scene geometry is expressed in the referenced layout frame."
+  },
+  "window": {
+    "start": "1971-03-24T03:03:55.024869Z",
+    "end": "1971-03-24T03:04:05.024869Z",
+    "duration_s": 10.0
+  },
+  "tracking": {
+    "tracking_id": "interaction_constrained.icn_0030",
+    "format": "csv",
+    "path": "../tracks/interaction_constrained.icn_0030.tracks.csv",
+    "timestamp_field": "timestamp",
+    "track_id_field": "person_track_id",
+    "coordinate_frame": "layout_xy_meters",
+    "notes": "Windowed export from raw tracking chunk with all original columns preserved."
+  },
+  "metadata": {
+    "task_type": "interaction_constrained",
+    "description": "Interaction-constrained benchmark scene exported from mined human candidate icn_0030.",
+    "difficulty_score_norm": 0.7849982767289967,
+    "difficulty_score_raw": 0.8144115854573248,
+    "difficulty_category": "hard",
+    "difficulty_rank_within_category": 10,
+    "subject_displacement_m": 5.940353377239548,
+    "subject_path_len_m": 9.60246369668769,
+    "subject_heading_change_deg": 351.1795668441183,
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+    "interaction_pressure_raw": 1.0,
+    "tradeoff_strength_raw": 0.6288231709146497,
+    "maneuver_complexity_raw": 1.0,
+    "crowd_local_density": 49.03,
+    "interaction_event_count": 100,
+    "interaction_event_fraction": 1.0,
+    "crowd_n_other_tracks": 4,
+    "crowd_n_samples": 280,
+    "score": 3.503892758034449,
+    "rerank_score": 4.237059401290185
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+  "provenance": {
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+      "person_track_id": "a835e68812a6",
+      "window_start": "1971-03-24T03:03:55.024869+00:00",
+      "window_end": "1971-03-24T03:04:05.024869+00:00",
+      "candidates_csv": "out/icn_clean/s2016_interaction_constrained_humans_with_difficulty.csv"
+    }
+  }
+}

benchmark/interaction_constrained/tasks/interaction_constrained.icn_0001.task.json

@@ -0,0 +1,43 @@
+{
+  "schema_version": "0.3",
+  "task_id": "interaction_constrained.icn_0001",
+  "scene": {
+    "scene_id": "interaction_constrained.icn_0001",
+    "path": "../scenes/interaction_constrained.icn_0001.scene.json",
+    "notes": "Task resolves its scenario through the referenced scene bundle."
+  },
+  "task_type": "interaction_constrained",
+  "robot": {
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+  "target": {
+    "track_id": "a20820b0adf7",
+    "notes": "Reference human trajectory used to define and evaluate this task."
+  },
+  "metadata": {
+    "description": "Robot start/goal derived from focal human trajectory endpoints.",
+    "difficulty_score_norm": 0.588778582290994,
+    "difficulty_category": "easy"
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+  "provenance": {
+    "generator": {
+      "name": "build_interaction_constrained_benchmark",
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+      "person_track_id": "a20820b0adf7",
+      "window_start": "1971-03-23T03:12:00.040652+00:00",
+      "window_end": "1971-03-23T03:12:10.040652+00:00",
+      "candidates_csv": "out/icn_clean/s2016_interaction_constrained_humans_with_difficulty.csv"
+    }
+  }
+}

benchmark/interaction_constrained/tasks/interaction_constrained.icn_0002.task.json

@@ -0,0 +1,43 @@
+{
+  "schema_version": "0.3",
+  "task_id": "interaction_constrained.icn_0002",
+  "scene": {
+    "scene_id": "interaction_constrained.icn_0002",
+    "path": "../scenes/interaction_constrained.icn_0002.scene.json",
+    "notes": "Task resolves its scenario through the referenced scene bundle."
+  },
+  "task_type": "interaction_constrained",
+  "robot": {
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+  },
+  "target": {
+    "track_id": "48db31dfb5f0",
+    "notes": "Reference human trajectory used to define and evaluate this task."
+  },
+  "metadata": {
+    "description": "Robot start/goal derived from focal human trajectory endpoints.",
+    "difficulty_score_norm": 0.5847705274474373,
+    "difficulty_category": "easy"
+  },
+  "provenance": {
+    "generator": {
+      "name": "build_interaction_constrained_benchmark",
+      "version": "0.3.0"
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+    "generated_at": null,
+    "source": {
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+      "person_track_id": "48db31dfb5f0",
+      "window_start": "1971-03-02T18:29:15.019347+00:00",
+      "window_end": "1971-03-02T18:29:25.019347+00:00",
+      "candidates_csv": "out/icn_clean/s2016_interaction_constrained_humans_with_difficulty.csv"
+    }
+  }
+}

benchmark/interaction_constrained/tasks/interaction_constrained.icn_0003.task.json

@@ -0,0 +1,43 @@
+{
+  "schema_version": "0.3",
+  "task_id": "interaction_constrained.icn_0003",
+  "scene": {
+    "scene_id": "interaction_constrained.icn_0003",
+    "path": "../scenes/interaction_constrained.icn_0003.scene.json",
+    "notes": "Task resolves its scenario through the referenced scene bundle."
+  },
+  "task_type": "interaction_constrained",
+  "robot": {
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+  },
+  "target": {
+    "track_id": "712ceab61176",
+    "notes": "Reference human trajectory used to define and evaluate this task."
+  },
+  "metadata": {
+    "description": "Robot start/goal derived from focal human trajectory endpoints.",
+    "difficulty_score_norm": 0.5832954389159712,
+    "difficulty_category": "easy"
+  },
+  "provenance": {
+    "generator": {
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+      "version": "0.3.0"
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+      "person_track_id": "712ceab61176",
+      "window_start": "1971-03-27T23:25:50.071826+00:00",
+      "window_end": "1971-03-27T23:26:00.071826+00:00",
+      "candidates_csv": "out/icn_clean/s2016_interaction_constrained_humans_with_difficulty.csv"
+    }
+  }
+}

benchmark/interaction_constrained/tasks/interaction_constrained.icn_0004.task.json

@@ -0,0 +1,43 @@
+{
+  "schema_version": "0.3",
+  "task_id": "interaction_constrained.icn_0004",
+  "scene": {
+    "scene_id": "interaction_constrained.icn_0004",
+    "path": "../scenes/interaction_constrained.icn_0004.scene.json",
+    "notes": "Task resolves its scenario through the referenced scene bundle."
+  },
+  "task_type": "interaction_constrained",
+  "robot": {
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+  },
+  "target": {
+    "track_id": "4a53b7d40b9e",
+    "notes": "Reference human trajectory used to define and evaluate this task."
+  },
+  "metadata": {
+    "description": "Robot start/goal derived from focal human trajectory endpoints.",
+    "difficulty_score_norm": 0.571141213228854,
+    "difficulty_category": "easy"
+  },
+  "provenance": {
+    "generator": {
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+      "version": "0.3.0"
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+      "person_track_id": "4a53b7d40b9e",
+      "window_start": "1971-03-09T04:01:10.050956+00:00",
+      "window_end": "1971-03-09T04:01:20.050956+00:00",
+      "candidates_csv": "out/icn_clean/s2016_interaction_constrained_humans_with_difficulty.csv"
+    }
+  }
+}

benchmark/interaction_constrained/tasks/interaction_constrained.icn_0005.task.json

@@ -0,0 +1,43 @@
+{
+  "schema_version": "0.3",
+  "task_id": "interaction_constrained.icn_0005",
+  "scene": {
+    "scene_id": "interaction_constrained.icn_0005",
+    "path": "../scenes/interaction_constrained.icn_0005.scene.json",
+    "notes": "Task resolves its scenario through the referenced scene bundle."
+  },
+  "task_type": "interaction_constrained",
+  "robot": {
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+  },
+  "target": {
+    "track_id": "a4b6ec4254f1",
+    "notes": "Reference human trajectory used to define and evaluate this task."
+  },
+  "metadata": {
+    "description": "Robot start/goal derived from focal human trajectory endpoints.",
+    "difficulty_score_norm": 0.539980512541786,
+    "difficulty_category": "easy"
+  },
+  "provenance": {
+    "generator": {
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+      "version": "0.3.0"
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+      "person_track_id": "a4b6ec4254f1",
+      "window_start": "1971-03-29T17:56:10.044347+00:00",
+      "window_end": "1971-03-29T17:56:20.044347+00:00",
+      "candidates_csv": "out/icn_clean/s2016_interaction_constrained_humans_with_difficulty.csv"
+    }
+  }
+}

benchmark/interaction_constrained/tasks/interaction_constrained.icn_0006.task.json

@@ -0,0 +1,43 @@
+{
+  "schema_version": "0.3",
+  "task_id": "interaction_constrained.icn_0006",
+  "scene": {
+    "scene_id": "interaction_constrained.icn_0006",
+    "path": "../scenes/interaction_constrained.icn_0006.scene.json",
+    "notes": "Task resolves its scenario through the referenced scene bundle."
+  },
+  "task_type": "interaction_constrained",
+  "robot": {
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+    "goal": [
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+  },
+  "target": {
+    "track_id": "031cb34a1f37",
+    "notes": "Reference human trajectory used to define and evaluate this task."
+  },
+  "metadata": {
+    "description": "Robot start/goal derived from focal human trajectory endpoints.",
+    "difficulty_score_norm": 0.4756758702648466,
+    "difficulty_category": "easy"
+  },
+  "provenance": {
+    "generator": {
+      "name": "build_interaction_constrained_benchmark",
+      "version": "0.3.0"
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+    "source": {
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+      "person_track_id": "031cb34a1f37",
+      "window_start": "1971-03-02T20:21:25.066956+00:00",
+      "window_end": "1971-03-02T20:21:35.066956+00:00",
+      "candidates_csv": "out/icn_clean/s2016_interaction_constrained_humans_with_difficulty.csv"
+    }
+  }
+}

benchmark/interaction_constrained/tasks/interaction_constrained.icn_0007.task.json

@@ -0,0 +1,43 @@
+{
+  "schema_version": "0.3",
+  "task_id": "interaction_constrained.icn_0007",
+  "scene": {
+    "scene_id": "interaction_constrained.icn_0007",
+    "path": "../scenes/interaction_constrained.icn_0007.scene.json",
+    "notes": "Task resolves its scenario through the referenced scene bundle."
+  },
+  "task_type": "interaction_constrained",
+  "robot": {
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+    "goal": [
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+  },
+  "target": {
+    "track_id": "5f00969a6c3b",
+    "notes": "Reference human trajectory used to define and evaluate this task."
+  },
+  "metadata": {
+    "description": "Robot start/goal derived from focal human trajectory endpoints.",
+    "difficulty_score_norm": 0.4631453229591079,
+    "difficulty_category": "easy"
+  },
+  "provenance": {
+    "generator": {
+      "name": "build_interaction_constrained_benchmark",
+      "version": "0.3.0"
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+    "source": {
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+      "person_track_id": "5f00969a6c3b",
+      "window_start": "1971-03-09T23:47:45.087608+00:00",
+      "window_end": "1971-03-09T23:47:55.087608+00:00",
+      "candidates_csv": "out/icn_clean/s2016_interaction_constrained_humans_with_difficulty.csv"
+    }
+  }
+}

benchmark/interaction_constrained/tasks/interaction_constrained.icn_0008.task.json

@@ -0,0 +1,43 @@
+{
+  "schema_version": "0.3",
+  "task_id": "interaction_constrained.icn_0008",
+  "scene": {
+    "scene_id": "interaction_constrained.icn_0008",
+    "path": "../scenes/interaction_constrained.icn_0008.scene.json",
+    "notes": "Task resolves its scenario through the referenced scene bundle."
+  },
+  "task_type": "interaction_constrained",
+  "robot": {
+    "start": [
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+      8.179914588881868
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+    "goal": [
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+    ]
+  },
+  "target": {
+    "track_id": "10605b4fa24b",
+    "notes": "Reference human trajectory used to define and evaluate this task."
+  },
+  "metadata": {
+    "description": "Robot start/goal derived from focal human trajectory endpoints.",
+    "difficulty_score_norm": 0.4253901268430499,
+    "difficulty_category": "easy"
+  },
+  "provenance": {
+    "generator": {
+      "name": "build_interaction_constrained_benchmark",
+      "version": "0.3.0"
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+    "generated_at": null,
+    "source": {
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+      "person_track_id": "10605b4fa24b",
+      "window_start": "1971-03-21T23:19:45.068782+00:00",
+      "window_end": "1971-03-21T23:19:55.068782+00:00",
+      "candidates_csv": "out/icn_clean/s2016_interaction_constrained_humans_with_difficulty.csv"
+    }
+  }
+}

benchmark/interaction_constrained/tasks/interaction_constrained.icn_0009.task.json

@@ -0,0 +1,43 @@
+{
+  "schema_version": "0.3",
+  "task_id": "interaction_constrained.icn_0009",
+  "scene": {
+    "scene_id": "interaction_constrained.icn_0009",
+    "path": "../scenes/interaction_constrained.icn_0009.scene.json",
+    "notes": "Task resolves its scenario through the referenced scene bundle."
+  },
+  "task_type": "interaction_constrained",
+  "robot": {
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+    "goal": [
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+  },
+  "target": {
+    "track_id": "4be1f5f3f0a0",
+    "notes": "Reference human trajectory used to define and evaluate this task."
+  },
+  "metadata": {
+    "description": "Robot start/goal derived from focal human trajectory endpoints.",
+    "difficulty_score_norm": 0.4209736443129848,
+    "difficulty_category": "easy"
+  },
+  "provenance": {
+    "generator": {
+      "name": "build_interaction_constrained_benchmark",
+      "version": "0.3.0"
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+    "source": {
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+      "person_track_id": "4be1f5f3f0a0",
+      "window_start": "1971-03-22T22:22:20.082826+00:00",
+      "window_end": "1971-03-22T22:22:30.082826+00:00",
+      "candidates_csv": "out/icn_clean/s2016_interaction_constrained_humans_with_difficulty.csv"
+    }
+  }
+}

benchmark/interaction_constrained/tasks/interaction_constrained.icn_0010.task.json

@@ -0,0 +1,43 @@
+{
+  "schema_version": "0.3",
+  "task_id": "interaction_constrained.icn_0010",
+  "scene": {
+    "scene_id": "interaction_constrained.icn_0010",
+    "path": "../scenes/interaction_constrained.icn_0010.scene.json",
+    "notes": "Task resolves its scenario through the referenced scene bundle."
+  },
+  "task_type": "interaction_constrained",
+  "robot": {
+    "start": [
+      2.5598025346045024,
+      1.989666227451708
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+    "goal": [
+      8.719533968357913,
+      5.410220401492955
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+  },
+  "target": {
+    "track_id": "a6cd0b86ceec",
+    "notes": "Reference human trajectory used to define and evaluate this task."
+  },
+  "metadata": {
+    "description": "Robot start/goal derived from focal human trajectory endpoints.",
+    "difficulty_score_norm": 0.4064812038567323,
+    "difficulty_category": "easy"
+  },
+  "provenance": {
+    "generator": {
+      "name": "build_interaction_constrained_benchmark",
+      "version": "0.3.0"
+    },
+    "generated_at": null,
+    "source": {
+      "chunk_file": "/Volumes/Evenflow/tracks/clean/sc.s2016/tracking_data_research.sc.s2016_1971-03-28T00:00:00Z_1971-03-29T00:00:00Z/by_chunks/chunk_1971-03-28T06_35_00Z_1971-03-28T06_40_00Z.csv",
+      "person_track_id": "a6cd0b86ceec",
+      "window_start": "1971-03-28T06:36:50.040391+00:00",
+      "window_end": "1971-03-28T06:37:00.040391+00:00",
+      "candidates_csv": "out/icn_clean/s2016_interaction_constrained_humans_with_difficulty.csv"
+    }
+  }
+}

benchmark/interaction_constrained/tasks/interaction_constrained.icn_0011.task.json

@@ -0,0 +1,43 @@
+{
+  "schema_version": "0.3",
+  "task_id": "interaction_constrained.icn_0011",
+  "scene": {
+    "scene_id": "interaction_constrained.icn_0011",
+    "path": "../scenes/interaction_constrained.icn_0011.scene.json",
+    "notes": "Task resolves its scenario through the referenced scene bundle."
+  },
+  "task_type": "interaction_constrained",
+  "robot": {
+    "start": [
+      1.4120871328776097,
+      1.6299299402679868
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+    "goal": [
+      6.526314527211042,
+      4.847659148899666
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+  },
+  "target": {
+    "track_id": "07683f0063d2",
+    "notes": "Reference human trajectory used to define and evaluate this task."
+  },
+  "metadata": {
+    "description": "Robot start/goal derived from focal human trajectory endpoints.",
+    "difficulty_score_norm": 0.3625631888931248,
+    "difficulty_category": "easy"
+  },
+  "provenance": {
+    "generator": {
+      "name": "build_interaction_constrained_benchmark",
+      "version": "0.3.0"
+    },
+    "generated_at": null,
+    "source": {
+      "chunk_file": "/Volumes/Evenflow/tracks/clean/sc.s2016/tracking_data_research.sc.s2016_1971-03-05T00:00:00Z_1971-03-06T00:00:00Z/by_chunks/chunk_1971-03-05T02_00_00Z_1971-03-05T02_05_00Z.csv",
+      "person_track_id": "07683f0063d2",
+      "window_start": "1971-03-05T02:01:35.043304+00:00",
+      "window_end": "1971-03-05T02:01:45.043304+00:00",
+      "candidates_csv": "out/icn_clean/s2016_interaction_constrained_humans_with_difficulty.csv"
+    }
+  }
+}

benchmark/interaction_constrained/tasks/interaction_constrained.icn_0012.task.json

@@ -0,0 +1,43 @@
+{
+  "schema_version": "0.3",
+  "task_id": "interaction_constrained.icn_0012",
+  "scene": {
+    "scene_id": "interaction_constrained.icn_0012",
+    "path": "../scenes/interaction_constrained.icn_0012.scene.json",
+    "notes": "Task resolves its scenario through the referenced scene bundle."
+  },
+  "task_type": "interaction_constrained",
+  "robot": {
+    "start": [
+      2.329697262600516,
+      3.83969543395075
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+    "goal": [
+      0.2631679056864777,
+      8.250209131072554
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+  },
+  "target": {
+    "track_id": "599b128eb99a",
+    "notes": "Reference human trajectory used to define and evaluate this task."
+  },
+  "metadata": {
+    "description": "Robot start/goal derived from focal human trajectory endpoints.",
+    "difficulty_score_norm": 0.3570065122518511,
+    "difficulty_category": "easy"
+  },
+  "provenance": {
+    "generator": {
+      "name": "build_interaction_constrained_benchmark",
+      "version": "0.3.0"
+    },
+    "generated_at": null,
+    "source": {
+      "chunk_file": "/Volumes/Evenflow/tracks/clean/sc.s2016/tracking_data_research.sc.s2016_1971-03-09T00:00:00Z_1971-03-10T00:00:00Z/by_chunks/chunk_1971-03-09T03_30_00Z_1971-03-09T03_35_00Z.csv",
+      "person_track_id": "599b128eb99a",
+      "window_start": "1971-03-09T03:31:55.019304+00:00",
+      "window_end": "1971-03-09T03:32:05.019304+00:00",
+      "candidates_csv": "out/icn_clean/s2016_interaction_constrained_humans_with_difficulty.csv"
+    }
+  }
+}

benchmark/interaction_constrained/tasks/interaction_constrained.icn_0013.task.json

@@ -0,0 +1,43 @@
+{
+  "schema_version": "0.3",
+  "task_id": "interaction_constrained.icn_0013",
+  "scene": {
+    "scene_id": "interaction_constrained.icn_0013",
+    "path": "../scenes/interaction_constrained.icn_0013.scene.json",
+    "notes": "Task resolves its scenario through the referenced scene bundle."
+  },
+  "task_type": "interaction_constrained",
+  "robot": {
+    "start": [
+      3.761275775510564,
+      3.3283403004233123
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+    "goal": [
+      0.5209944556321728,
+      8.216295063489419
+    ]
+  },
+  "target": {
+    "track_id": "99f0a787e6ef",
+    "notes": "Reference human trajectory used to define and evaluate this task."
+  },
+  "metadata": {
+    "description": "Robot start/goal derived from focal human trajectory endpoints.",
+    "difficulty_score_norm": 0.3262228120447974,
+    "difficulty_category": "easy"
+  },
+  "provenance": {
+    "generator": {
+      "name": "build_interaction_constrained_benchmark",
+      "version": "0.3.0"
+    },
+    "generated_at": null,
+    "source": {
+      "chunk_file": "/Volumes/Evenflow/tracks/clean/sc.s2016/tracking_data_research.sc.s2016_1971-03-20T00:00:00Z_1971-03-21T00:00:00Z/by_chunks/chunk_1971-03-20T20_10_00Z_1971-03-20T20_15_00Z.csv",
+      "person_track_id": "99f0a787e6ef",
+      "window_start": "1971-03-20T20:11:48.925000+00:00",
+      "window_end": "1971-03-20T20:11:58.925000+00:00",
+      "candidates_csv": "out/icn_clean/s2016_interaction_constrained_humans_with_difficulty.csv"
+    }
+  }
+}

benchmark/interaction_constrained/tasks/interaction_constrained.icn_0014.task.json

@@ -0,0 +1,43 @@
+{
+  "schema_version": "0.3",
+  "task_id": "interaction_constrained.icn_0014",
+  "scene": {
+    "scene_id": "interaction_constrained.icn_0014",
+    "path": "../scenes/interaction_constrained.icn_0014.scene.json",
+    "notes": "Task resolves its scenario through the referenced scene bundle."
+  },
+  "task_type": "interaction_constrained",
+  "robot": {
+    "start": [
+      3.580176210664749,
+      1.704445712408856
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+    "goal": [
+      0.9067096060232548,
+      6.609396539896556
+    ]
+  },
+  "target": {
+    "track_id": "700cc2ee6fcb",
+    "notes": "Reference human trajectory used to define and evaluate this task."
+  },
+  "metadata": {
+    "description": "Robot start/goal derived from focal human trajectory endpoints.",
+    "difficulty_score_norm": 0.3174884924847114,
+    "difficulty_category": "easy"
+  },
+  "provenance": {
+    "generator": {
+      "name": "build_interaction_constrained_benchmark",
+      "version": "0.3.0"
+    },
+    "generated_at": null,
+    "source": {
+      "chunk_file": "/Volumes/Evenflow/tracks/clean/sc.s2016/tracking_data_research.sc.s2016_1971-03-02T00:00:00Z_1971-03-03T00:00:00Z/by_chunks/chunk_1971-03-02T08_20_00Z_1971-03-02T08_25_00Z.csv",
+      "person_track_id": "700cc2ee6fcb",
+      "window_start": "1971-03-02T08:23:00.038826+00:00",
+      "window_end": "1971-03-02T08:23:10.038826+00:00",
+      "candidates_csv": "out/icn_clean/s2016_interaction_constrained_humans_with_difficulty.csv"
+    }
+  }
+}

benchmark/interaction_constrained/tasks/interaction_constrained.icn_0015.task.json

@@ -0,0 +1,43 @@
+{
+  "schema_version": "0.3",
+  "task_id": "interaction_constrained.icn_0015",
+  "scene": {
+    "scene_id": "interaction_constrained.icn_0015",
+    "path": "../scenes/interaction_constrained.icn_0015.scene.json",
+    "notes": "Task resolves its scenario through the referenced scene bundle."
+  },
+  "task_type": "interaction_constrained",
+  "robot": {
+    "start": [
+      6.40917371713672,
+      5.257563564896762
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+    "goal": [
+      10.744473770707348,
+      1.129227313600621
+    ]
+  },
+  "target": {
+    "track_id": "aa5a5db3f1b3",
+    "notes": "Reference human trajectory used to define and evaluate this task."
+  },
+  "metadata": {
+    "description": "Robot start/goal derived from focal human trajectory endpoints.",
+    "difficulty_score_norm": 0.3128013405919932,
+    "difficulty_category": "easy"
+  },
+  "provenance": {
+    "generator": {
+      "name": "build_interaction_constrained_benchmark",
+      "version": "0.3.0"
+    },
+    "generated_at": null,
+    "source": {
+      "chunk_file": "/Volumes/Evenflow/tracks/clean/sc.s2016/tracking_data_research.sc.s2016_1971-03-20T00:00:00Z_1971-03-21T00:00:00Z/by_chunks/chunk_1971-03-20T23_20_00Z_1971-03-20T23_25_00Z.csv",
+      "person_track_id": "aa5a5db3f1b3",
+      "window_start": "1971-03-20T23:24:45.076695+00:00",
+      "window_end": "1971-03-20T23:24:55.076695+00:00",
+      "candidates_csv": "out/icn_clean/s2016_interaction_constrained_humans_with_difficulty.csv"
+    }
+  }
+}

benchmark/interaction_constrained/tasks/interaction_constrained.icn_0016.task.json

@@ -0,0 +1,43 @@
+{
+  "schema_version": "0.3",
+  "task_id": "interaction_constrained.icn_0016",
+  "scene": {
+    "scene_id": "interaction_constrained.icn_0016",
+    "path": "../scenes/interaction_constrained.icn_0016.scene.json",
+    "notes": "Task resolves its scenario through the referenced scene bundle."
+  },
+  "task_type": "interaction_constrained",
+  "robot": {
+    "start": [
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+      5.94760103309736
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+    "goal": [
+      6.265579360788236,
+      5.104055296129629
+    ]
+  },
+  "target": {
+    "track_id": "3a4917d3d3f1",
+    "notes": "Reference human trajectory used to define and evaluate this task."
+  },
+  "metadata": {
+    "description": "Robot start/goal derived from focal human trajectory endpoints.",
+    "difficulty_score_norm": 0.3049536546657189,
+    "difficulty_category": "easy"
+  },
+  "provenance": {
+    "generator": {
+      "name": "build_interaction_constrained_benchmark",
+      "version": "0.3.0"
+    },
+    "generated_at": null,
+    "source": {
+      "chunk_file": "/Volumes/Evenflow/tracks/clean/sc.s2016/tracking_data_research.sc.s2016_1971-03-21T00:00:00Z_1971-03-22T00:00:00Z/by_chunks/chunk_1971-03-21T20_30_00Z_1971-03-21T20_35_00Z.csv",
+      "person_track_id": "3a4917d3d3f1",
+      "window_start": "1971-03-21T20:33:00.099173+00:00",
+      "window_end": "1971-03-21T20:33:10.099173+00:00",
+      "candidates_csv": "out/icn_clean/s2016_interaction_constrained_humans_with_difficulty.csv"
+    }
+  }
+}

benchmark/interaction_constrained/tasks/interaction_constrained.icn_0017.task.json

@@ -0,0 +1,43 @@
+{
+  "schema_version": "0.3",
+  "task_id": "interaction_constrained.icn_0017",
+  "scene": {
+    "scene_id": "interaction_constrained.icn_0017",
+    "path": "../scenes/interaction_constrained.icn_0017.scene.json",
+    "notes": "Task resolves its scenario through the referenced scene bundle."
+  },
+  "task_type": "interaction_constrained",
+  "robot": {
+    "start": [
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+      4.5540589702993834
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+    "goal": [
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+    ]
+  },
+  "target": {
+    "track_id": "f897f64d3e83",
+    "notes": "Reference human trajectory used to define and evaluate this task."
+  },
+  "metadata": {
+    "description": "Robot start/goal derived from focal human trajectory endpoints.",
+    "difficulty_score_norm": 0.3,
+    "difficulty_category": "easy"
+  },
+  "provenance": {
+    "generator": {
+      "name": "build_interaction_constrained_benchmark",
+      "version": "0.3.0"
+    },
+    "generated_at": null,
+    "source": {
+      "chunk_file": "/Volumes/Evenflow/tracks/clean/sc.s2016/tracking_data_research.sc.s2016_1971-03-03T00:00:00Z_1971-03-04T00:00:00Z/by_chunks/chunk_1971-03-03T06_15_00Z_1971-03-03T06_20_00Z.csv",
+      "person_track_id": "f897f64d3e83",
+      "window_start": "1971-03-03T06:19:45.093000+00:00",
+      "window_end": "1971-03-03T06:19:55.093000+00:00",
+      "candidates_csv": "out/icn_clean/s2016_interaction_constrained_humans_with_difficulty.csv"
+    }
+  }
+}

benchmark/interaction_constrained/tasks/interaction_constrained.icn_0018.task.json

@@ -0,0 +1,43 @@
+{
+  "schema_version": "0.3",
+  "task_id": "interaction_constrained.icn_0018",
+  "scene": {
+    "scene_id": "interaction_constrained.icn_0018",
+    "path": "../scenes/interaction_constrained.icn_0018.scene.json",
+    "notes": "Task resolves its scenario through the referenced scene bundle."
+  },
+  "task_type": "interaction_constrained",
+  "robot": {
+    "start": [
+      3.1462063506011835,
+      3.5344535218955193
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+    "goal": [
+      -1.5489438055185611,
+      2.0914976027083947
+    ]
+  },
+  "target": {
+    "track_id": "48a23488d845",
+    "notes": "Reference human trajectory used to define and evaluate this task."
+  },
+  "metadata": {
+    "description": "Robot start/goal derived from focal human trajectory endpoints.",
+    "difficulty_score_norm": 0.3,
+    "difficulty_category": "easy"
+  },
+  "provenance": {
+    "generator": {
+      "name": "build_interaction_constrained_benchmark",
+      "version": "0.3.0"
+    },
+    "generated_at": null,
+    "source": {
+      "chunk_file": "/Volumes/Evenflow/tracks/clean/sc.s2016/tracking_data_research.sc.s2016_1971-03-23T00:00:00Z_1971-03-24T00:00:00Z/by_chunks/chunk_1971-03-23T19_20_00Z_1971-03-23T19_25_00Z.csv",
+      "person_track_id": "48a23488d845",
+      "window_start": "1971-03-23T19:22:25.024913+00:00",
+      "window_end": "1971-03-23T19:22:35.024913+00:00",
+      "candidates_csv": "out/icn_clean/s2016_interaction_constrained_humans_with_difficulty.csv"
+    }
+  }
+}

benchmark/interaction_constrained/tasks/interaction_constrained.icn_0019.task.json

@@ -0,0 +1,43 @@
+{
+  "schema_version": "0.3",
+  "task_id": "interaction_constrained.icn_0019",
+  "scene": {
+    "scene_id": "interaction_constrained.icn_0019",
+    "path": "../scenes/interaction_constrained.icn_0019.scene.json",
+    "notes": "Task resolves its scenario through the referenced scene bundle."
+  },
+  "task_type": "interaction_constrained",
+  "robot": {
+    "start": [
+      1.164225088559102,
+      9.76274888743693
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+    "goal": [
+      0.718033272233626,
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+    ]
+  },
+  "target": {
+    "track_id": "f566f84786fd",
+    "notes": "Reference human trajectory used to define and evaluate this task."
+  },
+  "metadata": {
+    "description": "Robot start/goal derived from focal human trajectory endpoints.",
+    "difficulty_score_norm": 0.1648569305270173,
+    "difficulty_category": "easy"
+  },
+  "provenance": {
+    "generator": {
+      "name": "build_interaction_constrained_benchmark",
+      "version": "0.3.0"
+    },
+    "generated_at": null,
+    "source": {
+      "chunk_file": "/Volumes/Evenflow/tracks/clean/sc.s2016/tracking_data_research.sc.s2016_1971-03-19T00:00:00Z_1971-03-20T00:00:00Z/by_chunks/chunk_1971-03-19T05_25_00Z_1971-03-19T05_30_00Z.csv",
+      "person_track_id": "f566f84786fd",
+      "window_start": "1971-03-19T05:26:40.058434+00:00",
+      "window_end": "1971-03-19T05:26:50.058434+00:00",
+      "candidates_csv": "out/icn_clean/s2016_interaction_constrained_humans_with_difficulty.csv"
+    }
+  }
+}

benchmark/interaction_constrained/tasks/interaction_constrained.icn_0020.task.json

@@ -0,0 +1,43 @@
+{
+  "schema_version": "0.3",
+  "task_id": "interaction_constrained.icn_0020",
+  "scene": {
+    "scene_id": "interaction_constrained.icn_0020",
+    "path": "../scenes/interaction_constrained.icn_0020.scene.json",
+    "notes": "Task resolves its scenario through the referenced scene bundle."
+  },
+  "task_type": "interaction_constrained",
+  "robot": {
+    "start": [
+      8.227466641831937,
+      1.479653968299712
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+    "goal": [
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+      3.813059347141557
+    ]
+  },
+  "target": {
+    "track_id": "3a376fe2bc32",
+    "notes": "Reference human trajectory used to define and evaluate this task."
+  },
+  "metadata": {
+    "description": "Robot start/goal derived from focal human trajectory endpoints.",
+    "difficulty_score_norm": 0.15,
+    "difficulty_category": "easy"
+  },
+  "provenance": {
+    "generator": {
+      "name": "build_interaction_constrained_benchmark",
+      "version": "0.3.0"
+    },
+    "generated_at": null,
+    "source": {
+      "chunk_file": "/Volumes/Evenflow/tracks/clean/sc.s2016/tracking_data_research.sc.s2016_1971-03-07T00:00:00Z_1971-03-08T00:00:00Z/by_chunks/chunk_1971-03-07T03_05_00Z_1971-03-07T03_10_00Z.csv",
+      "person_track_id": "3a376fe2bc32",
+      "window_start": "1971-03-07T03:05:05.098434+00:00",
+      "window_end": "1971-03-07T03:05:15.098434+00:00",
+      "candidates_csv": "out/icn_clean/s2016_interaction_constrained_humans_with_difficulty.csv"
+    }
+  }
+}

benchmark/interaction_constrained/tasks/interaction_constrained.icn_0021.task.json

@@ -0,0 +1,43 @@
+{
+  "schema_version": "0.3",
+  "task_id": "interaction_constrained.icn_0021",
+  "scene": {
+    "scene_id": "interaction_constrained.icn_0021",
+    "path": "../scenes/interaction_constrained.icn_0021.scene.json",
+    "notes": "Task resolves its scenario through the referenced scene bundle."
+  },
+  "task_type": "interaction_constrained",
+  "robot": {
+    "start": [
+      0.984145226738244,
+      7.223656364391696
+    ],
+    "goal": [
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+    ]
+  },
+  "target": {
+    "track_id": "7aa4eaf0b94b",
+    "notes": "Reference human trajectory used to define and evaluate this task."
+  },
+  "metadata": {
+    "description": "Robot start/goal derived from focal human trajectory endpoints.",
+    "difficulty_score_norm": 0.8,
+    "difficulty_category": "hard"
+  },
+  "provenance": {
+    "generator": {
+      "name": "build_interaction_constrained_benchmark",
+      "version": "0.3.0"
+    },
+    "generated_at": null,
+    "source": {
+      "chunk_file": "/Volumes/Evenflow/tracks/clean/sc.s2016/tracking_data_research.sc.s2016_1971-03-28T00:00:00Z_1971-03-29T00:00:00Z/by_chunks/chunk_1971-03-28T22_35_00Z_1971-03-28T22_40_00Z.csv",
+      "person_track_id": "7aa4eaf0b94b",
+      "window_start": "1971-03-28T22:39:00.027304+00:00",
+      "window_end": "1971-03-28T22:39:10.027304+00:00",
+      "candidates_csv": "out/icn_clean/s2016_interaction_constrained_humans_with_difficulty.csv"
+    }
+  }
+}

benchmark/interaction_constrained/tasks/interaction_constrained.icn_0022.task.json

@@ -0,0 +1,43 @@
+{
+  "schema_version": "0.3",
+  "task_id": "interaction_constrained.icn_0022",
+  "scene": {
+    "scene_id": "interaction_constrained.icn_0022",
+    "path": "../scenes/interaction_constrained.icn_0022.scene.json",
+    "notes": "Task resolves its scenario through the referenced scene bundle."
+  },
+  "task_type": "interaction_constrained",
+  "robot": {
+    "start": [
+      0.6552243479523057,
+      1.4061719132899402
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+    "goal": [
+      4.079593458243038,
+      5.0850044361660105
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+  },
+  "target": {
+    "track_id": "71b293ebcf50",
+    "notes": "Reference human trajectory used to define and evaluate this task."
+  },
+  "metadata": {
+    "description": "Robot start/goal derived from focal human trajectory endpoints.",
+    "difficulty_score_norm": 0.8,
+    "difficulty_category": "hard"
+  },
+  "provenance": {
+    "generator": {
+      "name": "build_interaction_constrained_benchmark",
+      "version": "0.3.0"
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+    "generated_at": null,
+    "source": {
+      "chunk_file": "/Volumes/Evenflow/tracks/clean/sc.s2016/tracking_data_research.sc.s2016_1971-03-19T00:00:00Z_1971-03-20T00:00:00Z/by_chunks/chunk_1971-03-19T03_15_00Z_1971-03-19T03_20_00Z.csv",
+      "person_track_id": "71b293ebcf50",
+      "window_start": "1971-03-19T03:16:00.069434+00:00",
+      "window_end": "1971-03-19T03:16:10.069434+00:00",
+      "candidates_csv": "out/icn_clean/s2016_interaction_constrained_humans_with_difficulty.csv"
+    }
+  }
+}

benchmark/interaction_constrained/tasks/interaction_constrained.icn_0023.task.json

@@ -0,0 +1,43 @@
+{
+  "schema_version": "0.3",
+  "task_id": "interaction_constrained.icn_0023",
+  "scene": {
+    "scene_id": "interaction_constrained.icn_0023",
+    "path": "../scenes/interaction_constrained.icn_0023.scene.json",
+    "notes": "Task resolves its scenario through the referenced scene bundle."
+  },
+  "task_type": "interaction_constrained",
+  "robot": {
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+      0.3014785498089112,
+      10.092292550963164
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+    "goal": [
+      0.6513604404405164,
+      5.156788599349882
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+  },
+  "target": {
+    "track_id": "917993029927",
+    "notes": "Reference human trajectory used to define and evaluate this task."
+  },
+  "metadata": {
+    "description": "Robot start/goal derived from focal human trajectory endpoints.",
+    "difficulty_score_norm": 0.8,
+    "difficulty_category": "hard"
+  },
+  "provenance": {
+    "generator": {
+      "name": "build_interaction_constrained_benchmark",
+      "version": "0.3.0"
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+    "generated_at": null,
+    "source": {
+      "chunk_file": "/Volumes/Evenflow/tracks/clean/sc.s2016/tracking_data_research.sc.s2016_1971-03-29T00:00:00Z_1971-03-30T00:00:00Z/by_chunks/chunk_1971-03-29T06_25_00Z_1971-03-29T06_30_00Z.csv",
+      "person_track_id": "917993029927",
+      "window_start": "1971-03-29T06:25:30.082478+00:00",
+      "window_end": "1971-03-29T06:25:40.082478+00:00",
+      "candidates_csv": "out/icn_clean/s2016_interaction_constrained_humans_with_difficulty.csv"
+    }
+  }
+}

benchmark/interaction_constrained/tasks/interaction_constrained.icn_0024.task.json

@@ -0,0 +1,43 @@
+{
+  "schema_version": "0.3",
+  "task_id": "interaction_constrained.icn_0024",
+  "scene": {
+    "scene_id": "interaction_constrained.icn_0024",
+    "path": "../scenes/interaction_constrained.icn_0024.scene.json",
+    "notes": "Task resolves its scenario through the referenced scene bundle."
+  },
+  "task_type": "interaction_constrained",
+  "robot": {
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+      5.650576092254445,
+      5.307648452312751
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+    "goal": [
+      0.7117367093744293,
+      2.1823852255675487
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+  },
+  "target": {
+    "track_id": "25d28bfe74c6",
+    "notes": "Reference human trajectory used to define and evaluate this task."
+  },
+  "metadata": {
+    "description": "Robot start/goal derived from focal human trajectory endpoints.",
+    "difficulty_score_norm": 0.7982793966928643,
+    "difficulty_category": "hard"
+  },
+  "provenance": {
+    "generator": {
+      "name": "build_interaction_constrained_benchmark",
+      "version": "0.3.0"
+    },
+    "generated_at": null,
+    "source": {
+      "chunk_file": "/Volumes/Evenflow/tracks/clean/sc.s2016/tracking_data_research.sc.s2016_1971-03-05T00:00:00Z_1971-03-06T00:00:00Z/by_chunks/chunk_1971-03-05T03_20_00Z_1971-03-05T03_25_00Z.csv",
+      "person_track_id": "25d28bfe74c6",
+      "window_start": "1971-03-05T03:24:26.526260+00:00",
+      "window_end": "1971-03-05T03:24:36.526260+00:00",
+      "candidates_csv": "out/icn_clean/s2016_interaction_constrained_humans_with_difficulty.csv"
+    }
+  }
+}

benchmark/interaction_constrained/tasks/interaction_constrained.icn_0025.task.json

@@ -0,0 +1,43 @@
+{
+  "schema_version": "0.3",
+  "task_id": "interaction_constrained.icn_0025",
+  "scene": {
+    "scene_id": "interaction_constrained.icn_0025",
+    "path": "../scenes/interaction_constrained.icn_0025.scene.json",
+    "notes": "Task resolves its scenario through the referenced scene bundle."
+  },
+  "task_type": "interaction_constrained",
+  "robot": {
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+      5.530612971679124,
+      1.884333841537485
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+    "goal": [
+      9.536888986818134,
+      4.507455255459846
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+  },
+  "target": {
+    "track_id": "309daea0c6b4",
+    "notes": "Reference human trajectory used to define and evaluate this task."
+  },
+  "metadata": {
+    "description": "Robot start/goal derived from focal human trajectory endpoints.",
+    "difficulty_score_norm": 0.7961266042423546,
+    "difficulty_category": "hard"
+  },
+  "provenance": {
+    "generator": {
+      "name": "build_interaction_constrained_benchmark",
+      "version": "0.3.0"
+    },
+    "generated_at": null,
+    "source": {
+      "chunk_file": "/Volumes/Evenflow/tracks/clean/sc.s2016/tracking_data_research.sc.s2016_1971-03-03T00:00:00Z_1971-03-04T00:00:00Z/by_chunks/chunk_1971-03-03T07_00_00Z_1971-03-03T07_05_00Z.csv",
+      "person_track_id": "309daea0c6b4",
+      "window_start": "1971-03-03T07:01:25.009956+00:00",
+      "window_end": "1971-03-03T07:01:35.009956+00:00",
+      "candidates_csv": "out/icn_clean/s2016_interaction_constrained_humans_with_difficulty.csv"
+    }
+  }
+}

benchmark/interaction_constrained/tasks/interaction_constrained.icn_0026.task.json

@@ -0,0 +1,43 @@
+{
+  "schema_version": "0.3",
+  "task_id": "interaction_constrained.icn_0026",
+  "scene": {
+    "scene_id": "interaction_constrained.icn_0026",
+    "path": "../scenes/interaction_constrained.icn_0026.scene.json",
+    "notes": "Task resolves its scenario through the referenced scene bundle."
+  },
+  "task_type": "interaction_constrained",
+  "robot": {
+    "start": [
+      5.084569576845901,
+      1.2462514596089136
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+    "goal": [
+      8.035801057527525,
+      5.568833352953692
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+  },
+  "target": {
+    "track_id": "fb0efe7af31d",
+    "notes": "Reference human trajectory used to define and evaluate this task."
+  },
+  "metadata": {
+    "description": "Robot start/goal derived from focal human trajectory endpoints.",
+    "difficulty_score_norm": 0.7959276054163893,
+    "difficulty_category": "hard"
+  },
+  "provenance": {
+    "generator": {
+      "name": "build_interaction_constrained_benchmark",
+      "version": "0.3.0"
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+    "generated_at": null,
+    "source": {
+      "chunk_file": "/Volumes/Evenflow/tracks/clean/sc.s2016/tracking_data_research.sc.s2016_1971-03-18T00:00:00Z_1971-03-19T00:00:00Z/by_chunks/chunk_1971-03-18T00_55_00Z_1971-03-18T01_00_00Z.csv",
+      "person_track_id": "fb0efe7af31d",
+      "window_start": "1971-03-18T00:55:25.025739+00:00",
+      "window_end": "1971-03-18T00:55:35.025739+00:00",
+      "candidates_csv": "out/icn_clean/s2016_interaction_constrained_humans_with_difficulty.csv"
+    }
+  }
+}

benchmark/interaction_constrained/tasks/interaction_constrained.icn_0027.task.json

@@ -0,0 +1,43 @@
+{
+  "schema_version": "0.3",
+  "task_id": "interaction_constrained.icn_0027",
+  "scene": {
+    "scene_id": "interaction_constrained.icn_0027",
+    "path": "../scenes/interaction_constrained.icn_0027.scene.json",
+    "notes": "Task resolves its scenario through the referenced scene bundle."
+  },
+  "task_type": "interaction_constrained",
+  "robot": {
+    "start": [
+      6.167340110855948,
+      1.535554761378359
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+    "goal": [
+      8.147162697203129,
+      6.368414072012234
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+  },
+  "target": {
+    "track_id": "3868cecff8e6",
+    "notes": "Reference human trajectory used to define and evaluate this task."
+  },
+  "metadata": {
+    "description": "Robot start/goal derived from focal human trajectory endpoints.",
+    "difficulty_score_norm": 0.7932463614273982,
+    "difficulty_category": "hard"
+  },
+  "provenance": {
+    "generator": {
+      "name": "build_interaction_constrained_benchmark",
+      "version": "0.3.0"
+    },
+    "generated_at": null,
+    "source": {
+      "chunk_file": "/Volumes/Evenflow/tracks/clean/sc.s2016/tracking_data_research.sc.s2016_1971-03-22T00:00:00Z_1971-03-23T00:00:00Z/by_chunks/chunk_1971-03-22T03_20_00Z_1971-03-22T03_25_00Z.csv",
+      "person_track_id": "3868cecff8e6",
+      "window_start": "1971-03-22T03:21:48.016695+00:00",
+      "window_end": "1971-03-22T03:21:58.016695+00:00",
+      "candidates_csv": "out/icn_clean/s2016_interaction_constrained_humans_with_difficulty.csv"
+    }
+  }
+}

benchmark/interaction_constrained/tasks/interaction_constrained.icn_0028.task.json

@@ -0,0 +1,43 @@
+{
+  "schema_version": "0.3",
+  "task_id": "interaction_constrained.icn_0028",
+  "scene": {
+    "scene_id": "interaction_constrained.icn_0028",
+    "path": "../scenes/interaction_constrained.icn_0028.scene.json",
+    "notes": "Task resolves its scenario through the referenced scene bundle."
+  },
+  "task_type": "interaction_constrained",
+  "robot": {
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+      6.079065795258471
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+    "goal": [
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+      8.605427750731412
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+  },
+  "target": {
+    "track_id": "88d362c92d91",
+    "notes": "Reference human trajectory used to define and evaluate this task."
+  },
+  "metadata": {
+    "description": "Robot start/goal derived from focal human trajectory endpoints.",
+    "difficulty_score_norm": 0.7925763716317651,
+    "difficulty_category": "hard"
+  },
+  "provenance": {
+    "generator": {
+      "name": "build_interaction_constrained_benchmark",
+      "version": "0.3.0"
+    },
+    "generated_at": null,
+    "source": {
+      "chunk_file": "/Volumes/Evenflow/tracks/clean/sc.s2016/tracking_data_research.sc.s2016_1971-03-04T00:00:00Z_1971-03-05T00:00:00Z/by_chunks/chunk_1971-03-04T10_00_00Z_1971-03-04T10_05_00Z.csv",
+      "person_track_id": "88d362c92d91",
+      "window_start": "1971-03-04T10:01:27.464782+00:00",
+      "window_end": "1971-03-04T10:01:37.464782+00:00",
+      "candidates_csv": "out/icn_clean/s2016_interaction_constrained_humans_with_difficulty.csv"
+    }
+  }
+}

benchmark/interaction_constrained/tasks/interaction_constrained.icn_0029.task.json

@@ -0,0 +1,43 @@
+{
+  "schema_version": "0.3",
+  "task_id": "interaction_constrained.icn_0029",
+  "scene": {
+    "scene_id": "interaction_constrained.icn_0029",
+    "path": "../scenes/interaction_constrained.icn_0029.scene.json",
+    "notes": "Task resolves its scenario through the referenced scene bundle."
+  },
+  "task_type": "interaction_constrained",
+  "robot": {
+    "start": [
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+    "goal": [
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+  },
+  "target": {
+    "track_id": "d3c4001f1e5c",
+    "notes": "Reference human trajectory used to define and evaluate this task."
+  },
+  "metadata": {
+    "description": "Robot start/goal derived from focal human trajectory endpoints.",
+    "difficulty_score_norm": 0.7890432412076238,
+    "difficulty_category": "hard"
+  },
+  "provenance": {
+    "generator": {
+      "name": "build_interaction_constrained_benchmark",
+      "version": "0.3.0"
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+    "generated_at": null,
+    "source": {
+      "chunk_file": "/Volumes/Evenflow/tracks/clean/sc.s2016/tracking_data_research.sc.s2016_1971-03-29T00:00:00Z_1971-03-30T00:00:00Z/by_chunks/chunk_1971-03-29T04_00_00Z_1971-03-29T04_05_00Z.csv",
+      "person_track_id": "d3c4001f1e5c",
+      "window_start": "1971-03-29T04:01:35.024434+00:00",
+      "window_end": "1971-03-29T04:01:45.024434+00:00",
+      "candidates_csv": "out/icn_clean/s2016_interaction_constrained_humans_with_difficulty.csv"
+    }
+  }
+}

benchmark/interaction_constrained/tasks/interaction_constrained.icn_0030.task.json

@@ -0,0 +1,43 @@
+{
+  "schema_version": "0.3",
+  "task_id": "interaction_constrained.icn_0030",
+  "scene": {
+    "scene_id": "interaction_constrained.icn_0030",
+    "path": "../scenes/interaction_constrained.icn_0030.scene.json",
+    "notes": "Task resolves its scenario through the referenced scene bundle."
+  },
+  "task_type": "interaction_constrained",
+  "robot": {
+    "start": [
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+    "goal": [
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+  },
+  "target": {
+    "track_id": "a835e68812a6",
+    "notes": "Reference human trajectory used to define and evaluate this task."
+  },
+  "metadata": {
+    "description": "Robot start/goal derived from focal human trajectory endpoints.",
+    "difficulty_score_norm": 0.7849982767289967,
+    "difficulty_category": "hard"
+  },
+  "provenance": {
+    "generator": {
+      "name": "build_interaction_constrained_benchmark",
+      "version": "0.3.0"
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+    "generated_at": null,
+    "source": {
+      "chunk_file": "/Volumes/Evenflow/tracks/clean/sc.s2016/tracking_data_research.sc.s2016_1971-03-24T00:00:00Z_1971-03-25T00:00:00Z/by_chunks/chunk_1971-03-24T03_00_00Z_1971-03-24T03_05_00Z.csv",
+      "person_track_id": "a835e68812a6",
+      "window_start": "1971-03-24T03:03:55.024869+00:00",
+      "window_end": "1971-03-24T03:04:05.024869+00:00",
+      "candidates_csv": "out/icn_clean/s2016_interaction_constrained_humans_with_difficulty.csv"
+    }
+  }
+}

benchmark/interaction_constrained/tasks/interaction_constrained.icn_0031.task.json

@@ -0,0 +1,43 @@
+{
+  "schema_version": "0.3",
+  "task_id": "interaction_constrained.icn_0031",
+  "scene": {
+    "scene_id": "interaction_constrained.icn_0031",
+    "path": "../scenes/interaction_constrained.icn_0031.scene.json",
+    "notes": "Task resolves its scenario through the referenced scene bundle."
+  },
+  "task_type": "interaction_constrained",
+  "robot": {
+    "start": [
+      0.7977471220080055,
+      7.434946075818349
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+    "goal": [
+      0.8243895650030351,
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+  },
+  "target": {
+    "track_id": "8b70fcad8b19",
+    "notes": "Reference human trajectory used to define and evaluate this task."
+  },
+  "metadata": {
+    "description": "Robot start/goal derived from focal human trajectory endpoints.",
+    "difficulty_score_norm": 0.7772922338940602,
+    "difficulty_category": "medium"
+  },
+  "provenance": {
+    "generator": {
+      "name": "build_interaction_constrained_benchmark",
+      "version": "0.3.0"
+    },
+    "generated_at": null,
+    "source": {
+      "chunk_file": "/Volumes/Evenflow/tracks/clean/sc.s2016/tracking_data_research.sc.s2016_1971-03-23T00:00:00Z_1971-03-24T00:00:00Z/by_chunks/chunk_1971-03-23T01_40_00Z_1971-03-23T01_45_00Z.csv",
+      "person_track_id": "8b70fcad8b19",
+      "window_start": "1971-03-23T01:41:10.041304+00:00",
+      "window_end": "1971-03-23T01:41:20.041304+00:00",
+      "candidates_csv": "out/icn_clean/s2016_interaction_constrained_humans_with_difficulty.csv"
+    }
+  }
+}

benchmark/interaction_constrained/tasks/interaction_constrained.icn_0032.task.json

@@ -0,0 +1,43 @@
+{
+  "schema_version": "0.3",
+  "task_id": "interaction_constrained.icn_0032",
+  "scene": {
+    "scene_id": "interaction_constrained.icn_0032",
+    "path": "../scenes/interaction_constrained.icn_0032.scene.json",
+    "notes": "Task resolves its scenario through the referenced scene bundle."
+  },
+  "task_type": "interaction_constrained",
+  "robot": {
+    "start": [
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+      6.44461455327684
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+    "goal": [
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+      5.507409458734704
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+  },
+  "target": {
+    "track_id": "66734332469c",
+    "notes": "Reference human trajectory used to define and evaluate this task."
+  },
+  "metadata": {
+    "description": "Robot start/goal derived from focal human trajectory endpoints.",
+    "difficulty_score_norm": 0.7752286135393656,
+    "difficulty_category": "medium"
+  },
+  "provenance": {
+    "generator": {
+      "name": "build_interaction_constrained_benchmark",
+      "version": "0.3.0"
+    },
+    "generated_at": null,
+    "source": {
+      "chunk_file": "/Volumes/Evenflow/tracks/clean/sc.s2016/tracking_data_research.sc.s2016_1971-03-26T00:00:00Z_1971-03-27T00:00:00Z/by_chunks/chunk_1971-03-26T06_10_00Z_1971-03-26T06_15_00Z.csv",
+      "person_track_id": "66734332469c",
+      "window_start": "1971-03-26T06:13:45.069173+00:00",
+      "window_end": "1971-03-26T06:13:55.069173+00:00",
+      "candidates_csv": "out/icn_clean/s2016_interaction_constrained_humans_with_difficulty.csv"
+    }
+  }
+}

benchmark/interaction_constrained/tasks/interaction_constrained.icn_0033.task.json

@@ -0,0 +1,43 @@
+{
+  "schema_version": "0.3",
+  "task_id": "interaction_constrained.icn_0033",
+  "scene": {
+    "scene_id": "interaction_constrained.icn_0033",
+    "path": "../scenes/interaction_constrained.icn_0033.scene.json",
+    "notes": "Task resolves its scenario through the referenced scene bundle."
+  },
+  "task_type": "interaction_constrained",
+  "robot": {
+    "start": [
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+    "goal": [
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+    ]
+  },
+  "target": {
+    "track_id": "1ef3872516ef",
+    "notes": "Reference human trajectory used to define and evaluate this task."
+  },
+  "metadata": {
+    "description": "Robot start/goal derived from focal human trajectory endpoints.",
+    "difficulty_score_norm": 0.7748699394585417,
+    "difficulty_category": "medium"
+  },
+  "provenance": {
+    "generator": {
+      "name": "build_interaction_constrained_benchmark",
+      "version": "0.3.0"
+    },
+    "generated_at": null,
+    "source": {
+      "chunk_file": "/Volumes/Evenflow/tracks/clean/sc.s2016/tracking_data_research.sc.s2016_1971-03-03T00:00:00Z_1971-03-04T00:00:00Z/by_chunks/chunk_1971-03-03T04_50_00Z_1971-03-03T04_55_00Z.csv",
+      "person_track_id": "1ef3872516ef",
+      "window_start": "1971-03-03T04:54:45.086478+00:00",
+      "window_end": "1971-03-03T04:54:55.086478+00:00",
+      "candidates_csv": "out/icn_clean/s2016_interaction_constrained_humans_with_difficulty.csv"
+    }
+  }
+}

benchmark/interaction_constrained/tasks/interaction_constrained.icn_0034.task.json

@@ -0,0 +1,43 @@
+{
+  "schema_version": "0.3",
+  "task_id": "interaction_constrained.icn_0034",
+  "scene": {
+    "scene_id": "interaction_constrained.icn_0034",
+    "path": "../scenes/interaction_constrained.icn_0034.scene.json",
+    "notes": "Task resolves its scenario through the referenced scene bundle."
+  },
+  "task_type": "interaction_constrained",
+  "robot": {
+    "start": [
+      6.987058009020766,
+      5.97458155904032
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+    "goal": [
+      2.929256569570984,
+      10.276224408446597
+    ]
+  },
+  "target": {
+    "track_id": "6790b3fd892a",
+    "notes": "Reference human trajectory used to define and evaluate this task."
+  },
+  "metadata": {
+    "description": "Robot start/goal derived from focal human trajectory endpoints.",
+    "difficulty_score_norm": 0.773747145371295,
+    "difficulty_category": "medium"
+  },
+  "provenance": {
+    "generator": {
+      "name": "build_interaction_constrained_benchmark",
+      "version": "0.3.0"
+    },
+    "generated_at": null,
+    "source": {
+      "chunk_file": "/Volumes/Evenflow/tracks/clean/sc.s2016/tracking_data_research.sc.s2016_1971-03-05T00:00:00Z_1971-03-06T00:00:00Z/by_chunks/chunk_1971-03-05T01_50_00Z_1971-03-05T01_55_00Z.csv",
+      "person_track_id": "6790b3fd892a",
+      "window_start": "1971-03-05T01:52:17.486000+00:00",
+      "window_end": "1971-03-05T01:52:27.486000+00:00",
+      "candidates_csv": "out/icn_clean/s2016_interaction_constrained_humans_with_difficulty.csv"
+    }
+  }
+}

benchmark/interaction_constrained/tasks/interaction_constrained.icn_0035.task.json

@@ -0,0 +1,43 @@
+{
+  "schema_version": "0.3",
+  "task_id": "interaction_constrained.icn_0035",
+  "scene": {
+    "scene_id": "interaction_constrained.icn_0035",
+    "path": "../scenes/interaction_constrained.icn_0035.scene.json",
+    "notes": "Task resolves its scenario through the referenced scene bundle."
+  },
+  "task_type": "interaction_constrained",
+  "robot": {
+    "start": [
+      2.684166713417829,
+      3.6306902963334338
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+    "goal": [
+      8.006023102244065,
+      6.703499959155412
+    ]
+  },
+  "target": {
+    "track_id": "f65c36bb46c2",
+    "notes": "Reference human trajectory used to define and evaluate this task."
+  },
+  "metadata": {
+    "description": "Robot start/goal derived from focal human trajectory endpoints.",
+    "difficulty_score_norm": 0.7724635197941568,
+    "difficulty_category": "medium"
+  },
+  "provenance": {
+    "generator": {
+      "name": "build_interaction_constrained_benchmark",
+      "version": "0.3.0"
+    },
+    "generated_at": null,
+    "source": {
+      "chunk_file": "/Volumes/Evenflow/tracks/clean/sc.s2016/tracking_data_research.sc.s2016_1971-03-06T00:00:00Z_1971-03-07T00:00:00Z/by_chunks/chunk_1971-03-06T06_40_00Z_1971-03-06T06_45_00Z.csv",
+      "person_track_id": "f65c36bb46c2",
+      "window_start": "1971-03-06T06:42:20.007739+00:00",
+      "window_end": "1971-03-06T06:42:30.007739+00:00",
+      "candidates_csv": "out/icn_clean/s2016_interaction_constrained_humans_with_difficulty.csv"
+    }
+  }
+}

benchmark/interaction_constrained/tasks/interaction_constrained.icn_0036.task.json

@@ -0,0 +1,43 @@
+{
+  "schema_version": "0.3",
+  "task_id": "interaction_constrained.icn_0036",
+  "scene": {
+    "scene_id": "interaction_constrained.icn_0036",
+    "path": "../scenes/interaction_constrained.icn_0036.scene.json",
+    "notes": "Task resolves its scenario through the referenced scene bundle."
+  },
+  "task_type": "interaction_constrained",
+  "robot": {
+    "start": [
+      0.7956328450540178,
+      10.649029670125405
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+    "goal": [
+      2.3453317487279475,
+      6.236401289046035
+    ]
+  },
+  "target": {
+    "track_id": "bfdaab2cb076",
+    "notes": "Reference human trajectory used to define and evaluate this task."
+  },
+  "metadata": {
+    "description": "Robot start/goal derived from focal human trajectory endpoints.",
+    "difficulty_score_norm": 0.7240721178807448,
+    "difficulty_category": "medium"
+  },
+  "provenance": {
+    "generator": {
+      "name": "build_interaction_constrained_benchmark",
+      "version": "0.3.0"
+    },
+    "generated_at": null,
+    "source": {
+      "chunk_file": "/Volumes/Evenflow/tracks/clean/sc.s2016/tracking_data_research.sc.s2016_1971-03-06T00:00:00Z_1971-03-07T00:00:00Z/by_chunks/chunk_1971-03-06T04_15_00Z_1971-03-06T04_20_00Z.csv",
+      "person_track_id": "bfdaab2cb076",
+      "window_start": "1971-03-06T04:16:30.046695+00:00",
+      "window_end": "1971-03-06T04:16:40.046695+00:00",
+      "candidates_csv": "out/icn_clean/s2016_interaction_constrained_humans_with_difficulty.csv"
+    }
+  }
+}

benchmark/interaction_constrained/tasks/interaction_constrained.icn_0037.task.json

@@ -0,0 +1,43 @@
+{
+  "schema_version": "0.3",
+  "task_id": "interaction_constrained.icn_0037",
+  "scene": {
+    "scene_id": "interaction_constrained.icn_0037",
+    "path": "../scenes/interaction_constrained.icn_0037.scene.json",
+    "notes": "Task resolves its scenario through the referenced scene bundle."
+  },
+  "task_type": "interaction_constrained",
+  "robot": {
+    "start": [
+      7.230832550496482,
+      6.587201681004083
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+    "goal": [
+      9.092359898591234,
+      1.9729754081227024
+    ]
+  },
+  "target": {
+    "track_id": "8d4128493d3a",
+    "notes": "Reference human trajectory used to define and evaluate this task."
+  },
+  "metadata": {
+    "description": "Robot start/goal derived from focal human trajectory endpoints.",
+    "difficulty_score_norm": 0.7180040751375941,
+    "difficulty_category": "medium"
+  },
+  "provenance": {
+    "generator": {
+      "name": "build_interaction_constrained_benchmark",
+      "version": "0.3.0"
+    },
+    "generated_at": null,
+    "source": {
+      "chunk_file": "/Volumes/Evenflow/tracks/clean/sc.s2016/tracking_data_research.sc.s2016_1971-03-28T00:00:00Z_1971-03-29T00:00:00Z/by_chunks/chunk_1971-03-28T06_25_00Z_1971-03-28T06_30_00Z.csv",
+      "person_track_id": "8d4128493d3a",
+      "window_start": "1971-03-28T06:26:00.099304+00:00",
+      "window_end": "1971-03-28T06:26:10.099304+00:00",
+      "candidates_csv": "out/icn_clean/s2016_interaction_constrained_humans_with_difficulty.csv"
+    }
+  }
+}

benchmark/interaction_constrained/tasks/interaction_constrained.icn_0038.task.json

@@ -0,0 +1,43 @@
+{
+  "schema_version": "0.3",
+  "task_id": "interaction_constrained.icn_0038",
+  "scene": {
+    "scene_id": "interaction_constrained.icn_0038",
+    "path": "../scenes/interaction_constrained.icn_0038.scene.json",
+    "notes": "Task resolves its scenario through the referenced scene bundle."
+  },
+  "task_type": "interaction_constrained",
+  "robot": {
+    "start": [
+      8.357666807772059,
+      1.2125145254485483
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+    "goal": [
+      4.284773542441889,
+      3.386895747144501
+    ]
+  },
+  "target": {
+    "track_id": "6969a046b0dc",
+    "notes": "Reference human trajectory used to define and evaluate this task."
+  },
+  "metadata": {
+    "description": "Robot start/goal derived from focal human trajectory endpoints.",
+    "difficulty_score_norm": 0.7101358881388844,
+    "difficulty_category": "medium"
+  },
+  "provenance": {
+    "generator": {
+      "name": "build_interaction_constrained_benchmark",
+      "version": "0.3.0"
+    },
+    "generated_at": null,
+    "source": {
+      "chunk_file": "/Volumes/Evenflow/tracks/clean/sc.s2016/tracking_data_research.sc.s2016_1971-03-27T00:00:00Z_1971-03-28T00:00:00Z/by_chunks/chunk_1971-03-27T05_10_00Z_1971-03-27T05_15_00Z.csv",
+      "person_track_id": "6969a046b0dc",
+      "window_start": "1971-03-27T05:14:20.042043+00:00",
+      "window_end": "1971-03-27T05:14:30.042043+00:00",
+      "candidates_csv": "out/icn_clean/s2016_interaction_constrained_humans_with_difficulty.csv"
+    }
+  }
+}

benchmark/interaction_constrained/tasks/interaction_constrained.icn_0039.task.json

@@ -0,0 +1,43 @@
+{
+  "schema_version": "0.3",
+  "task_id": "interaction_constrained.icn_0039",
+  "scene": {
+    "scene_id": "interaction_constrained.icn_0039",
+    "path": "../scenes/interaction_constrained.icn_0039.scene.json",
+    "notes": "Task resolves its scenario through the referenced scene bundle."
+  },
+  "task_type": "interaction_constrained",
+  "robot": {
+    "start": [
+      8.664781432870102,
+      5.700441439521672
+    ],
+    "goal": [
+      3.122591155924563,
+      8.162768942300094
+    ]
+  },
+  "target": {
+    "track_id": "c600f4231ada",
+    "notes": "Reference human trajectory used to define and evaluate this task."
+  },
+  "metadata": {
+    "description": "Robot start/goal derived from focal human trajectory endpoints.",
+    "difficulty_score_norm": 0.7034686943093594,
+    "difficulty_category": "medium"
+  },
+  "provenance": {
+    "generator": {
+      "name": "build_interaction_constrained_benchmark",
+      "version": "0.3.0"
+    },
+    "generated_at": null,
+    "source": {
+      "chunk_file": "/Volumes/Evenflow/tracks/clean/sc.s2016/tracking_data_research.sc.s2016_1971-03-03T00:00:00Z_1971-03-04T00:00:00Z/by_chunks/chunk_1971-03-03T02_35_00Z_1971-03-03T02_40_00Z.csv",
+      "person_track_id": "c600f4231ada",
+      "window_start": "1971-03-03T02:37:10.070956+00:00",
+      "window_end": "1971-03-03T02:37:20.070956+00:00",
+      "candidates_csv": "out/icn_clean/s2016_interaction_constrained_humans_with_difficulty.csv"
+    }
+  }
+}

benchmark/interaction_constrained/tasks/interaction_constrained.icn_0040.task.json

@@ -0,0 +1,43 @@
+{
+  "schema_version": "0.3",
+  "task_id": "interaction_constrained.icn_0040",
+  "scene": {
+    "scene_id": "interaction_constrained.icn_0040",
+    "path": "../scenes/interaction_constrained.icn_0040.scene.json",
+    "notes": "Task resolves its scenario through the referenced scene bundle."
+  },
+  "task_type": "interaction_constrained",
+  "robot": {
+    "start": [
+      7.075280053100147,
+      6.2784552885770895
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+    "goal": [
+      2.0480458155258736,
+      1.36266629255929
+    ]
+  },
+  "target": {
+    "track_id": "09a324bf465c",
+    "notes": "Reference human trajectory used to define and evaluate this task."
+  },
+  "metadata": {
+    "description": "Robot start/goal derived from focal human trajectory endpoints.",
+    "difficulty_score_norm": 0.7018841164899133,
+    "difficulty_category": "medium"
+  },
+  "provenance": {
+    "generator": {
+      "name": "build_interaction_constrained_benchmark",
+      "version": "0.3.0"
+    },
+    "generated_at": null,
+    "source": {
+      "chunk_file": "/Volumes/Evenflow/tracks/clean/sc.s2016/tracking_data_research.sc.s2016_1971-03-28T00:00:00Z_1971-03-29T00:00:00Z/by_chunks/chunk_1971-03-28T17_30_00Z_1971-03-28T17_35_00Z.csv",
+      "person_track_id": "09a324bf465c",
+      "window_start": "1971-03-28T17:31:05.030000+00:00",
+      "window_end": "1971-03-28T17:31:15.030000+00:00",
+      "candidates_csv": "out/icn_clean/s2016_interaction_constrained_humans_with_difficulty.csv"
+    }
+  }
+}

benchmark/interaction_constrained/tasks/interaction_constrained.icn_0041.task.json

@@ -0,0 +1,43 @@
+{
+  "schema_version": "0.3",
+  "task_id": "interaction_constrained.icn_0041",
+  "scene": {
+    "scene_id": "interaction_constrained.icn_0041",
+    "path": "../scenes/interaction_constrained.icn_0041.scene.json",
+    "notes": "Task resolves its scenario through the referenced scene bundle."
+  },
+  "task_type": "interaction_constrained",
+  "robot": {
+    "start": [
+      0.4901244564337093,
+      8.154086017971084
+    ],
+    "goal": [
+      7.330845702225892,
+      7.028613795335272
+    ]
+  },
+  "target": {
+    "track_id": "cf7f3340e906",
+    "notes": "Reference human trajectory used to define and evaluate this task."
+  },
+  "metadata": {
+    "description": "Robot start/goal derived from focal human trajectory endpoints.",
+    "difficulty_score_norm": 0.7007038386101536,
+    "difficulty_category": "medium"
+  },
+  "provenance": {
+    "generator": {
+      "name": "build_interaction_constrained_benchmark",
+      "version": "0.3.0"
+    },
+    "generated_at": null,
+    "source": {
+      "chunk_file": "/Volumes/Evenflow/tracks/clean/sc.s2016/tracking_data_research.sc.s2016_1971-03-27T00:00:00Z_1971-03-28T00:00:00Z/by_chunks/chunk_1971-03-27T23_45_00Z_1971-03-27T23_50_00Z.csv",
+      "person_track_id": "cf7f3340e906",
+      "window_start": "1971-03-27T23:46:25.066913+00:00",
+      "window_end": "1971-03-27T23:46:35.066913+00:00",
+      "candidates_csv": "out/icn_clean/s2016_interaction_constrained_humans_with_difficulty.csv"
+    }
+  }
+}

benchmark/interaction_constrained/tasks/interaction_constrained.icn_0042.task.json

@@ -0,0 +1,43 @@
+{
+  "schema_version": "0.3",
+  "task_id": "interaction_constrained.icn_0042",
+  "scene": {
+    "scene_id": "interaction_constrained.icn_0042",
+    "path": "../scenes/interaction_constrained.icn_0042.scene.json",
+    "notes": "Task resolves its scenario through the referenced scene bundle."
+  },
+  "task_type": "interaction_constrained",
+  "robot": {
+    "start": [
+      2.8694224326186486,
+      5.167511506440559
+    ],
+    "goal": [
+      0.0559994623132351,
+      10.164390556694183
+    ]
+  },
+  "target": {
+    "track_id": "6d6fc63ef605",
+    "notes": "Reference human trajectory used to define and evaluate this task."
+  },
+  "metadata": {
+    "description": "Robot start/goal derived from focal human trajectory endpoints.",
+    "difficulty_score_norm": 0.6899412744462886,
+    "difficulty_category": "medium"
+  },
+  "provenance": {
+    "generator": {
+      "name": "build_interaction_constrained_benchmark",
+      "version": "0.3.0"
+    },
+    "generated_at": null,
+    "source": {
+      "chunk_file": "/Volumes/Evenflow/tracks/clean/sc.s2016/tracking_data_research.sc.s2016_1971-03-06T00:00:00Z_1971-03-07T00:00:00Z/by_chunks/chunk_1971-03-06T23_20_00Z_1971-03-06T23_25_00Z.csv",
+      "person_track_id": "6d6fc63ef605",
+      "window_start": "1971-03-06T23:23:50.031000+00:00",
+      "window_end": "1971-03-06T23:24:00.031000+00:00",
+      "candidates_csv": "out/icn_clean/s2016_interaction_constrained_humans_with_difficulty.csv"
+    }
+  }
+}

benchmark/interaction_constrained/tasks/interaction_constrained.icn_0043.task.json

@@ -0,0 +1,43 @@
+{
+  "schema_version": "0.3",
+  "task_id": "interaction_constrained.icn_0043",
+  "scene": {
+    "scene_id": "interaction_constrained.icn_0043",
+    "path": "../scenes/interaction_constrained.icn_0043.scene.json",
+    "notes": "Task resolves its scenario through the referenced scene bundle."
+  },
+  "task_type": "interaction_constrained",
+  "robot": {
+    "start": [
+      4.681920618061363,
+      5.384710842084596
+    ],
+    "goal": [
+      1.0293201866004855,
+      10.274185463439572
+    ]
+  },
+  "target": {
+    "track_id": "daf780c8e35a",
+    "notes": "Reference human trajectory used to define and evaluate this task."
+  },
+  "metadata": {
+    "description": "Robot start/goal derived from focal human trajectory endpoints.",
+    "difficulty_score_norm": 0.675971587007002,
+    "difficulty_category": "medium"
+  },
+  "provenance": {
+    "generator": {
+      "name": "build_interaction_constrained_benchmark",
+      "version": "0.3.0"
+    },
+    "generated_at": null,
+    "source": {
+      "chunk_file": "/Volumes/Evenflow/tracks/clean/sc.s2016/tracking_data_research.sc.s2016_1971-03-29T00:00:00Z_1971-03-30T00:00:00Z/by_chunks/chunk_1971-03-29T19_40_00Z_1971-03-29T19_45_00Z.csv",
+      "person_track_id": "daf780c8e35a",
+      "window_start": "1971-03-29T19:42:00.059478+00:00",
+      "window_end": "1971-03-29T19:42:10.059478+00:00",
+      "candidates_csv": "out/icn_clean/s2016_interaction_constrained_humans_with_difficulty.csv"
+    }
+  }
+}

benchmark/interaction_constrained/tasks/interaction_constrained.icn_0044.task.json

@@ -0,0 +1,43 @@
+{
+  "schema_version": "0.3",
+  "task_id": "interaction_constrained.icn_0044",
+  "scene": {
+    "scene_id": "interaction_constrained.icn_0044",
+    "path": "../scenes/interaction_constrained.icn_0044.scene.json",
+    "notes": "Task resolves its scenario through the referenced scene bundle."
+  },
+  "task_type": "interaction_constrained",
+  "robot": {
+    "start": [
+      6.707788009640678,
+      5.812320619689505
+    ],
+    "goal": [
+      1.524855019795083,
+      11.188229172116246
+    ]
+  },
+  "target": {
+    "track_id": "1bc46edefc0b",
+    "notes": "Reference human trajectory used to define and evaluate this task."
+  },
+  "metadata": {
+    "description": "Robot start/goal derived from focal human trajectory endpoints.",
+    "difficulty_score_norm": 0.6464487141115187,
+    "difficulty_category": "medium"
+  },
+  "provenance": {
+    "generator": {
+      "name": "build_interaction_constrained_benchmark",
+      "version": "0.3.0"
+    },
+    "generated_at": null,
+    "source": {
+      "chunk_file": "/Volumes/Evenflow/tracks/clean/sc.s2016/tracking_data_research.sc.s2016_1971-02-28T00:00:00Z_1971-03-01T00:00:00Z/by_chunks/chunk_1971-02-28T21_20_00Z_1971-02-28T21_25_00Z.csv",
+      "person_track_id": "1bc46edefc0b",
+      "window_start": "1971-02-28T21:21:10.022782+00:00",
+      "window_end": "1971-02-28T21:21:20.022782+00:00",
+      "candidates_csv": "out/icn_clean/s2016_interaction_constrained_humans_with_difficulty.csv"
+    }
+  }
+}

benchmark/interaction_constrained/tasks/interaction_constrained.icn_0045.task.json

@@ -0,0 +1,43 @@
+{
+  "schema_version": "0.3",
+  "task_id": "interaction_constrained.icn_0045",
+  "scene": {
+    "scene_id": "interaction_constrained.icn_0045",
+    "path": "../scenes/interaction_constrained.icn_0045.scene.json",
+    "notes": "Task resolves its scenario through the referenced scene bundle."
+  },
+  "task_type": "interaction_constrained",
+  "robot": {
+    "start": [
+      8.93296719133187,
+      5.365087456341911
+    ],
+    "goal": [
+      3.5281304077798277,
+      10.120179354066495
+    ]
+  },
+  "target": {
+    "track_id": "945fc3ebad4a",
+    "notes": "Reference human trajectory used to define and evaluate this task."
+  },
+  "metadata": {
+    "description": "Robot start/goal derived from focal human trajectory endpoints.",
+    "difficulty_score_norm": 0.6363278834837004,
+    "difficulty_category": "medium"
+  },
+  "provenance": {
+    "generator": {
+      "name": "build_interaction_constrained_benchmark",
+      "version": "0.3.0"
+    },
+    "generated_at": null,
+    "source": {
+      "chunk_file": "/Volumes/Evenflow/tracks/clean/sc.s2016/tracking_data_research.sc.s2016_1971-03-22T00:00:00Z_1971-03-23T00:00:00Z/by_chunks/chunk_1971-03-22T00_05_00Z_1971-03-22T00_10_00Z.csv",
+      "person_track_id": "945fc3ebad4a",
+      "window_start": "1971-03-22T00:08:30.043478+00:00",
+      "window_end": "1971-03-22T00:08:40.043478+00:00",
+      "candidates_csv": "out/icn_clean/s2016_interaction_constrained_humans_with_difficulty.csv"
+    }
+  }
+}

benchmark/interaction_constrained/tasks/interaction_constrained.icn_0046.task.json

@@ -0,0 +1,43 @@
+{
+  "schema_version": "0.3",
+  "task_id": "interaction_constrained.icn_0046",
+  "scene": {
+    "scene_id": "interaction_constrained.icn_0046",
+    "path": "../scenes/interaction_constrained.icn_0046.scene.json",
+    "notes": "Task resolves its scenario through the referenced scene bundle."
+  },
+  "task_type": "interaction_constrained",
+  "robot": {
+    "start": [
+      7.157093799351479,
+      3.141271304742323
+    ],
+    "goal": [
+      7.993123574013692,
+      7.084391452724311
+    ]
+  },
+  "target": {
+    "track_id": "0794e6248d61",
+    "notes": "Reference human trajectory used to define and evaluate this task."
+  },
+  "metadata": {
+    "description": "Robot start/goal derived from focal human trajectory endpoints.",
+    "difficulty_score_norm": 0.6235122035767287,
+    "difficulty_category": "medium"
+  },
+  "provenance": {
+    "generator": {
+      "name": "build_interaction_constrained_benchmark",
+      "version": "0.3.0"
+    },
+    "generated_at": null,
+    "source": {
+      "chunk_file": "/Volumes/Evenflow/tracks/clean/sc.s2016/tracking_data_research.sc.s2016_1971-03-06T00:00:00Z_1971-03-07T00:00:00Z/by_chunks/chunk_1971-03-06T07_35_00Z_1971-03-06T07_40_00Z.csv",
+      "person_track_id": "0794e6248d61",
+      "window_start": "1971-03-06T07:38:10.485521+00:00",
+      "window_end": "1971-03-06T07:38:20.485521+00:00",
+      "candidates_csv": "out/icn_clean/s2016_interaction_constrained_humans_with_difficulty.csv"
+    }
+  }
+}

benchmark/interaction_constrained/tasks/interaction_constrained.icn_0047.task.json

@@ -0,0 +1,43 @@
+{
+  "schema_version": "0.3",
+  "task_id": "interaction_constrained.icn_0047",
+  "scene": {
+    "scene_id": "interaction_constrained.icn_0047",
+    "path": "../scenes/interaction_constrained.icn_0047.scene.json",
+    "notes": "Task resolves its scenario through the referenced scene bundle."
+  },
+  "task_type": "interaction_constrained",
+  "robot": {
+    "start": [
+      6.126754890405054,
+      5.020618299923715
+    ],
+    "goal": [
+      0.8418785608602621,
+      7.472620730032769
+    ]
+  },
+  "target": {
+    "track_id": "5ad2f53f7bdf",
+    "notes": "Reference human trajectory used to define and evaluate this task."
+  },
+  "metadata": {
+    "description": "Robot start/goal derived from focal human trajectory endpoints.",
+    "difficulty_score_norm": 0.6076614801294306,
+    "difficulty_category": "medium"
+  },
+  "provenance": {
+    "generator": {
+      "name": "build_interaction_constrained_benchmark",
+      "version": "0.3.0"
+    },
+    "generated_at": null,
+    "source": {
+      "chunk_file": "/Volumes/Evenflow/tracks/clean/sc.s2016/tracking_data_research.sc.s2016_1971-03-06T00:00:00Z_1971-03-07T00:00:00Z/by_chunks/chunk_1971-03-06T03_25_00Z_1971-03-06T03_30_00Z.csv",
+      "person_track_id": "5ad2f53f7bdf",
+      "window_start": "1971-03-06T03:25:00.011391+00:00",
+      "window_end": "1971-03-06T03:25:10.011391+00:00",
+      "candidates_csv": "out/icn_clean/s2016_interaction_constrained_humans_with_difficulty.csv"
+    }
+  }
+}

benchmark/interaction_constrained/tasks/interaction_constrained.icn_0048.task.json

@@ -0,0 +1,43 @@
+{
+  "schema_version": "0.3",
+  "task_id": "interaction_constrained.icn_0048",
+  "scene": {
+    "scene_id": "interaction_constrained.icn_0048",
+    "path": "../scenes/interaction_constrained.icn_0048.scene.json",
+    "notes": "Task resolves its scenario through the referenced scene bundle."
+  },
+  "task_type": "interaction_constrained",
+  "robot": {
+    "start": [
+      1.1591505802523474,
+      7.13767272065077
+    ],
+    "goal": [
+      2.4661252179386883,
+      2.739712927687271
+    ]
+  },
+  "target": {
+    "track_id": "21be0d6a9ebe",
+    "notes": "Reference human trajectory used to define and evaluate this task."
+  },
+  "metadata": {
+    "description": "Robot start/goal derived from focal human trajectory endpoints.",
+    "difficulty_score_norm": 0.6015146013558923,
+    "difficulty_category": "medium"
+  },
+  "provenance": {
+    "generator": {
+      "name": "build_interaction_constrained_benchmark",
+      "version": "0.3.0"
+    },
+    "generated_at": null,
+    "source": {
+      "chunk_file": "/Volumes/Evenflow/tracks/clean/sc.s2016/tracking_data_research.sc.s2016_1971-03-22T00:00:00Z_1971-03-23T00:00:00Z/by_chunks/chunk_1971-03-22T21_00_00Z_1971-03-22T21_05_00Z.csv",
+      "person_track_id": "21be0d6a9ebe",
+      "window_start": "1971-03-22T21:00:20.076304+00:00",
+      "window_end": "1971-03-22T21:00:30.076304+00:00",
+      "candidates_csv": "out/icn_clean/s2016_interaction_constrained_humans_with_difficulty.csv"
+    }
+  }
+}