{ "scope": "descriptive spent-data assisted-input development; no superiority claim", "plan_sha256": "ac4d74b428ea8cb40d5ef0d4c456da1d89e51136236459e279bdf5ed172a91a2", "total": { "d2d": { "scheduled": 12, "recovered": 5, "failures": 7, "valid_outputs": 12, "completed": 12, "median_rotation_deg": 0.448326544912429, "p95_rotation_deg": 1.0710881350316968, "median_translation_m": 0.18659992715143647, "p95_translation_m": 0.3364799282895528, "rotation_improved": 12, "translation_improved": 2 }, "koide": { "scheduled": 12, "recovered": 0, "failures": 12, "valid_outputs": 12, "completed": 12, "median_rotation_deg": 1.6943292008854989, "p95_rotation_deg": 3.2865678824434643, "median_translation_m": 0.1265247925841178, "p95_translation_m": 0.2156139979932438, "rotation_improved": 5, "translation_improved": 5 } }, "per_drive": { "2011_09_26_0005": { "d2d": { "scheduled": 6, "recovered": 1, "failures": 5, "valid_outputs": 6, "completed": 6, "median_rotation_deg": 0.6219137651275302, 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3.3416970810840176, "median_translation_m": 0.1305887602271126, "p95_translation_m": 0.22948405409252198, "rotation_improved": 2, "translation_improved": 2 } } }, "warnings": [ "Only two spent drives; frames and perturbations are correlated; no confidence intervals.", "D2D uses stereo depth, Koide uses one image; unequal information prevents monocular superiority claim.", "Both use OXTS and the auxiliary IMU-LiDAR transform; modeled motion is not independent truth.", "Medians and p95 are descriptive over valid outputs; failure-aware recovery denominator remains all 12.", "55-drive development coverage, learned competitors and fresh audit remain pending." ], "artifact_sha256": { "2011_09_26_0005/fetch.json": "1f4f9258bcb04f34d6a075578fab41c0be2a0633e5d530d6a96e14e06b64af20", "2011_09_26_0005/frame-114/calib.json": "c6a71c386fda060316bd0681d42cb8d1130f3af025387faf2fd159ae63bb0a27", "2011_09_26_0005/frame-114/frontend.json": 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