{
  "schema_version": "slac.benchmark/v0.1",
  "benchmark_id": "glim-complete-continuous-time-compiled",
  "title": "Public GLIM Livox complete continuous-time refinement",
  "protocol": {
    "protocol_id": "glim-compiled-fresh-subprocess-v5",
    "dataset_id": "glim_versatile",
    "dataset_doi": "10.5281/zenodo.6864654",
    "dataset_source_sha256": "107e3deb3aaeab52628a93d8c6eed80aa1663c3492f6a4d2e280d553e47cd27c",
    "data_license": "CC-BY-4.0 (AIST Zenodo record 6864654)",
    "split_policy": "Latest capture frames held out; repeats share the same accuracy fixture",
    "splits": [
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        "seed": 0,
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      {
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      }
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    "initial_estimate_policy": "Same supplied public config, initial estimate and temporal split",
    "tuning_policy": "Reverse order every other repeat; child OMP_NUM_THREADS=1",
    "failure_policy": "Keep all timings and mismatches; no warmup or excluded outliers"
  },
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      "direction": "lower",
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      "interpretation": "Worker entry through imports, excluding interpreter startup"
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      "adapter_version": "continuous-time-compiled/v5"
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      "adapter_version": "continuous-time-compiled/v5"
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  "trials": [
    {
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      "split_id": "repeat-01",
      "status": "success",
      "metrics": {
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        "complete_result_matches": 1.0,
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      "provenance": {
        "command": "<PYTHON> <WORKSPACE>/tools/benchmark_adaptive_plane_search.py --worker baseline --baseline-scope compiled --config examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml --output-dir <WORKSPACE>/outputs/public-glim-cuda-continuous-full-v4/baseline.repeat-01 --candidate-query-backend cuda",
        "config_sha256": "c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3",
        "input_sha256": "107e3deb3aaeab52628a93d8c6eed80aa1663c3492f6a4d2e280d553e47cd27c",
        "output_sha256": "045a602871b914d79df9412d69ee9cacbe8027c3d56e418057a3015385603974",
        "execution_host": "Windows-11-10.0.26300-SP0",
        "notes": [
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        ]
      }
    },
    {
      "method_id": "sparse",
      "split_id": "repeat-01",
      "status": "success",
      "metrics": {
        "adaptive_query_calls": 1248000.0,
        "adaptive_query_seconds": 1.67083589930553,
        "complete_result_matches": 1.0,
        "interpolated_pose_calculations": 434232.0,
        "pipeline_seconds": 17.9534558999585,
        "solver_seconds": 15.120366999995895,
        "subprocess_wall_seconds": 20.811603300040588,
        "uniform_normal_calculations": 883.0,
        "worker_cpu_seconds": 24.890625,
        "worker_import_seconds": 2.0618771000299603
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      "runtime_seconds": 20.811603300040588,
      "provenance": {
        "command": "<PYTHON> <WORKSPACE>/tools/benchmark_adaptive_plane_search.py --worker sparse --baseline-scope compiled --config examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml --output-dir <WORKSPACE>/outputs/public-glim-cuda-continuous-full-v4/sparse.repeat-01 --candidate-query-backend cuda",
        "config_sha256": "c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3",
        "input_sha256": "107e3deb3aaeab52628a93d8c6eed80aa1663c3492f6a4d2e280d553e47cd27c",
        "output_sha256": "47d494911e25eddbd153c1b4538ab99b5bae0eeb189fff65e0473931bed9207c",
        "execution_host": "Windows-11-10.0.26300-SP0",
        "notes": [
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          "{\"config_path\":\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml\",\"dataset_path\":\"data/public/glim_versatile/livox_rosbag2_gt_restamped\",\"estimated_time_offset_sec\":-0.025,\"final_holdout_rmse_m\":0.0922906037408748,\"final_train_rmse_m\":0.050821727995281396,\"holdout_correspondence_count\":3451,\"initial_time_offset_sec\":0.0,\"initial_train_rmse_m\":0.058548950677130965,\"initial_transform\":{\"child\":\"livox_avia_copy\",\"convention\":\"T_parent_child\",\"estimate_id\":\"T_livox_avia_livox_avia_copy\",\"parent\":\"livox_avia\",\"provenance\":{\"evidence_level\":\"unknown\",\"execution_mode\":\"online_stream\",\"notes\":[\"clock offset was profiled with extrinsic re-optimization\",\"supplied piecewise odometry trajectory remained 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        ]
      }
    },
    {
      "method_id": "sparse",
      "split_id": "repeat-02",
      "status": "success",
      "metrics": {
        "adaptive_query_calls": 1248000.0,
        "adaptive_query_seconds": 1.5789679994340986,
        "complete_result_matches": 1.0,
        "interpolated_pose_calculations": 434232.0,
        "pipeline_seconds": 9.359518599929288,
        "solver_seconds": 6.508571300073527,
        "subprocess_wall_seconds": 12.313006899901666,
        "uniform_normal_calculations": 883.0,
        "worker_cpu_seconds": 16.375,
        "worker_import_seconds": 2.287260500015691
      },
      "runtime_seconds": 12.313006899901666,
      "provenance": {
        "command": "<PYTHON> <WORKSPACE>/tools/benchmark_adaptive_plane_search.py --worker sparse --baseline-scope compiled --config examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml --output-dir <WORKSPACE>/outputs/public-glim-cuda-continuous-full-v4/sparse.repeat-02 --candidate-query-backend cuda",
        "config_sha256": "c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3",
        "input_sha256": "107e3deb3aaeab52628a93d8c6eed80aa1663c3492f6a4d2e280d553e47cd27c",
        "output_sha256": "47d494911e25eddbd153c1b4538ab99b5bae0eeb189fff65e0473931bed9207c",
        "execution_host": "Windows-11-10.0.26300-SP0",
        "notes": [
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        ]
      }
    },
    {
      "method_id": "baseline",
      "split_id": "repeat-02",
      "status": "success",
      "metrics": {
        "adaptive_query_calls": 1248000.0,
        "adaptive_query_seconds": 1.4070300003513694,
        "complete_result_matches": 1.0,
        "interpolated_pose_calculations": 434232.0,
        "pipeline_seconds": 11.21164949995,
        "solver_seconds": 8.642711199936457,
        "subprocess_wall_seconds": 14.034530699951574,
        "uniform_normal_calculations": 883.0,
        "worker_cpu_seconds": 21.109375,
        "worker_import_seconds": 2.099338800064288
      },
      "runtime_seconds": 14.034530699951574,
      "provenance": {
        "command": "<PYTHON> <WORKSPACE>/tools/benchmark_adaptive_plane_search.py --worker baseline --baseline-scope compiled --config examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml --output-dir <WORKSPACE>/outputs/public-glim-cuda-continuous-full-v4/baseline.repeat-02 --candidate-query-backend cuda",
        "config_sha256": "c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3",
        "input_sha256": "107e3deb3aaeab52628a93d8c6eed80aa1663c3492f6a4d2e280d553e47cd27c",
        "output_sha256": "045a602871b914d79df9412d69ee9cacbe8027c3d56e418057a3015385603974",
        "execution_host": "Windows-11-10.0.26300-SP0",
        "notes": [
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        ]
      }
    },
    {
      "method_id": "baseline",
      "split_id": "repeat-03",
      "status": "success",
      "metrics": {
        "adaptive_query_calls": 1248000.0,
        "adaptive_query_seconds": 1.4430235004983842,
        "complete_result_matches": 1.0,
        "interpolated_pose_calculations": 434232.0,
        "pipeline_seconds": 11.775346899987198,
        "solver_seconds": 9.065593100036494,
        "subprocess_wall_seconds": 14.477672300068662,
        "uniform_normal_calculations": 883.0,
        "worker_cpu_seconds": 21.78125,
        "worker_import_seconds": 2.052036099950783
      },
      "runtime_seconds": 14.477672300068662,
      "provenance": {
        "command": "<PYTHON> <WORKSPACE>/tools/benchmark_adaptive_plane_search.py --worker baseline --baseline-scope compiled --config examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml --output-dir <WORKSPACE>/outputs/public-glim-cuda-continuous-full-v4/baseline.repeat-03 --candidate-query-backend cuda",
        "config_sha256": "c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3",
        "input_sha256": "107e3deb3aaeab52628a93d8c6eed80aa1663c3492f6a4d2e280d553e47cd27c",
        "output_sha256": "045a602871b914d79df9412d69ee9cacbe8027c3d56e418057a3015385603974",
        "execution_host": "Windows-11-10.0.26300-SP0",
        "notes": [
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        ]
      }
    },
    {
      "method_id": "sparse",
      "split_id": "repeat-03",
      "status": "success",
      "metrics": {
        "adaptive_query_calls": 1248000.0,
        "adaptive_query_seconds": 1.3422664999961853,
        "complete_result_matches": 1.0,
        "interpolated_pose_calculations": 434232.0,
        "pipeline_seconds": 9.176215499988757,
        "solver_seconds": 5.72828129993286,
        "subprocess_wall_seconds": 13.0314138000831,
        "uniform_normal_calculations": 883.0,
        "worker_cpu_seconds": 17.375,
        "worker_import_seconds": 3.1126067000441253
      },
      "runtime_seconds": 13.0314138000831,
      "provenance": {
        "command": "<PYTHON> <WORKSPACE>/tools/benchmark_adaptive_plane_search.py --worker sparse --baseline-scope compiled --config examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml --output-dir <WORKSPACE>/outputs/public-glim-cuda-continuous-full-v4/sparse.repeat-03 --candidate-query-backend cuda",
        "config_sha256": "c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3",
        "input_sha256": "107e3deb3aaeab52628a93d8c6eed80aa1663c3492f6a4d2e280d553e47cd27c",
        "output_sha256": "47d494911e25eddbd153c1b4538ab99b5bae0eeb189fff65e0473931bed9207c",
        "execution_host": "Windows-11-10.0.26300-SP0",
        "notes": [
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        ]
      }
    },
    {
      "method_id": "sparse",
      "split_id": "repeat-04",
      "status": "success",
      "metrics": {
        "adaptive_query_calls": 1248000.0,
        "adaptive_query_seconds": 1.3289893999462947,
        "complete_result_matches": 1.0,
        "interpolated_pose_calculations": 434232.0,
        "pipeline_seconds": 8.135989799979143,
        "solver_seconds": 5.596404099953361,
        "subprocess_wall_seconds": 10.800248199957423,
        "uniform_normal_calculations": 883.0,
        "worker_cpu_seconds": 14.859375,
        "worker_import_seconds": 2.020444899913855
      },
      "runtime_seconds": 10.800248199957423,
      "provenance": {
        "command": "<PYTHON> <WORKSPACE>/tools/benchmark_adaptive_plane_search.py --worker sparse --baseline-scope compiled --config examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml --output-dir <WORKSPACE>/outputs/public-glim-cuda-continuous-full-v4/sparse.repeat-04 --candidate-query-backend cuda",
        "config_sha256": "c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3",
        "input_sha256": "107e3deb3aaeab52628a93d8c6eed80aa1663c3492f6a4d2e280d553e47cd27c",
        "output_sha256": "47d494911e25eddbd153c1b4538ab99b5bae0eeb189fff65e0473931bed9207c",
        "execution_host": "Windows-11-10.0.26300-SP0",
        "notes": [
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        ]
      }
    },
    {
      "method_id": "baseline",
      "split_id": "repeat-04",
      "status": "success",
      "metrics": {
        "adaptive_query_calls": 1248000.0,
        "adaptive_query_seconds": 1.220228799735196,
        "complete_result_matches": 1.0,
        "interpolated_pose_calculations": 434232.0,
        "pipeline_seconds": 10.861616099951789,
        "solver_seconds": 7.826812300016172,
        "subprocess_wall_seconds": 13.482299599912949,
        "uniform_normal_calculations": 883.0,
        "worker_cpu_seconds": 20.34375,
        "worker_import_seconds": 2.069938199943863
      },
      "runtime_seconds": 13.482299599912949,
      "provenance": {
        "command": "<PYTHON> <WORKSPACE>/tools/benchmark_adaptive_plane_search.py --worker baseline --baseline-scope compiled --config examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml --output-dir <WORKSPACE>/outputs/public-glim-cuda-continuous-full-v4/baseline.repeat-04 --candidate-query-backend cuda",
        "config_sha256": "c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3",
        "input_sha256": "107e3deb3aaeab52628a93d8c6eed80aa1663c3492f6a4d2e280d553e47cd27c",
        "output_sha256": "045a602871b914d79df9412d69ee9cacbe8027c3d56e418057a3015385603974",
        "execution_host": "Windows-11-10.0.26300-SP0",
        "notes": [
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        ]
      }
    },
    {
      "method_id": "baseline",
      "split_id": "repeat-05",
      "status": "success",
      "metrics": {
        "adaptive_query_calls": 1248000.0,
        "adaptive_query_seconds": 1.3071645996533334,
        "complete_result_matches": 1.0,
        "interpolated_pose_calculations": 434232.0,
        "pipeline_seconds": 10.350677900016308,
        "solver_seconds": 7.997598299989477,
        "subprocess_wall_seconds": 12.968461299897172,
        "uniform_normal_calculations": 883.0,
        "worker_cpu_seconds": 19.640625,
        "worker_import_seconds": 2.0601633000187576
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      "runtime_seconds": 12.968461299897172,
      "provenance": {
        "command": "<PYTHON> <WORKSPACE>/tools/benchmark_adaptive_plane_search.py --worker baseline --baseline-scope compiled --config examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml --output-dir <WORKSPACE>/outputs/public-glim-cuda-continuous-full-v4/baseline.repeat-05 --candidate-query-backend cuda",
        "config_sha256": "c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3",
        "input_sha256": "107e3deb3aaeab52628a93d8c6eed80aa1663c3492f6a4d2e280d553e47cd27c",
        "output_sha256": "045a602871b914d79df9412d69ee9cacbe8027c3d56e418057a3015385603974",
        "execution_host": "Windows-11-10.0.26300-SP0",
        "notes": [
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          "{\"config_path\":\"examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml\",\"dataset_path\":\"data/public/glim_versatile/livox_rosbag2_gt_restamped\",\"estimated_time_offset_sec\":-0.025,\"final_holdout_rmse_m\":0.0922906037408748,\"final_train_rmse_m\":0.050821727995281396,\"holdout_correspondence_count\":3451,\"initial_time_offset_sec\":0.0,\"initial_train_rmse_m\":0.058548950677130965,\"initial_transform\":{\"child\":\"livox_avia_copy\",\"convention\":\"T_parent_child\",\"estimate_id\":\"T_livox_avia_livox_avia_copy\",\"parent\":\"livox_avia\",\"provenance\":{\"evidence_level\":\"unknown\",\"execution_mode\":\"online_stream\",\"notes\":[\"clock offset was profiled with extrinsic re-optimization\",\"supplied piecewise odometry trajectory remained 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        ]
      }
    },
    {
      "method_id": "sparse",
      "split_id": "repeat-05",
      "status": "success",
      "metrics": {
        "adaptive_query_calls": 1248000.0,
        "adaptive_query_seconds": 1.6080244004260749,
        "complete_result_matches": 1.0,
        "interpolated_pose_calculations": 434232.0,
        "pipeline_seconds": 8.96557290002238,
        "solver_seconds": 5.915976700023748,
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      "provenance": {
        "command": "<PYTHON> <WORKSPACE>/tools/benchmark_adaptive_plane_search.py --worker sparse --baseline-scope compiled --config examples/public_datasets/glim_versatile/online_continuous_time_compiled_full_capture_config.yaml --output-dir <WORKSPACE>/outputs/public-glim-cuda-continuous-full-v4/sparse.repeat-05 --candidate-query-backend cuda",
        "config_sha256": "c6d93361d1628493be20a64d585394b2e437bffcbd548340a541cc12b1c602b3",
        "input_sha256": "107e3deb3aaeab52628a93d8c6eed80aa1663c3492f6a4d2e280d553e47cd27c",
        "output_sha256": "47d494911e25eddbd153c1b4538ab99b5bae0eeb189fff65e0473931bed9207c",
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