schema_version: slac.sota_audit_result/v0.1
audit_id: ins-lidar-rotation-kitti-boreas-v1-audit
protocol_id: ins-lidar-rotation-kitti-boreas-v1
scope:
  modalities:
  - ins
  - lidar
  quantities:
  - rotation
  category: trajectory_hand_eye_per_axis
claim_text: On the four pre-registered KITTI raw and Boreas recording windows not
  previously read by Calibrex INS-LiDAR methods, LiDAR-only odometry followed by the
  default native joint trajectory hand-eye fit produces a scorable rotation estimate
  for every recording; every data-estimated rotation axis is within 0.5 deg of its
  dataset-provided reference calibration; at least half of the three rotation axes
  per recording are observed on average in each dataset family; and every observed-axis
  1 deg held-out control is detected with delta chi-square at least 9. Dataset calibrations
  are reference estimates, not independent metrology. No translation, full-extrinsic
  or absolute clock-accuracy claim is made.
verdict: refuted
achieved_dataset_families:
- boreas
- kitti_raw
achieved_independent_rig_count: 2
minimum_dataset_families: 2
minimum_independent_rigs: 2
requirements:
- requirement_id: kitti_raw-completion
  required: true
  status: contradicted
  observed_value: 0.3333333333333333
  threshold: 0.0
  reason: observed 0.333333333333 does not meet less_equal 0
  evidence_path: C:\Users\rsasa\Workspace\Calibrex\outputs\ins-lidar-sota-evaluation-audit-v1\kitti_raw_rotation_reference_difference_deg.yaml
  evidence_sha256: 27da09b6debf4e1b0936049c77584208007a4240ab3086e01d8f97314a02ae02
- requirement_id: kitti_raw-agreement
  required: true
  status: achieved
  observed_value: 0.2857285446678126
  threshold: 0.5
  reason: observed 0.285728544668 meets less_equal 0.5
  evidence_path: C:\Users\rsasa\Workspace\Calibrex\outputs\ins-lidar-sota-evaluation-audit-v1\kitti_raw_rotation_reference_difference_deg.yaml
  evidence_sha256: 27da09b6debf4e1b0936049c77584208007a4240ab3086e01d8f97314a02ae02
- requirement_id: kitti_raw-coverage
  required: true
  status: achieved
  observed_value: 0.4444444444444445
  threshold: 0.5
  reason: observed 0.444444444444 meets less_equal 0.5
  evidence_path: C:\Users\rsasa\Workspace\Calibrex\outputs\ins-lidar-sota-evaluation-audit-v1\kitti_raw_unobserved_rotation_fraction.yaml
  evidence_sha256: c5ad8fa6351a20fdbc66edc8fd8bf6b5dd1cc65ac89350be1e86fb469de29fdb
- requirement_id: kitti_raw-controls
  required: true
  status: contradicted
  observed_value: 1.0
  threshold: 0.0
  reason: observed 1 does not meet less_equal 0
  evidence_path: C:\Users\rsasa\Workspace\Calibrex\outputs\ins-lidar-sota-evaluation-audit-v1\kitti_raw_missed_observed_control_fraction.yaml
  evidence_sha256: 0418cfefdd837ce7c5c78191d128c9a150d176099fa115f5d02decb70ae37385
- requirement_id: boreas-completion
  required: true
  status: achieved
  observed_value: 0.0
  threshold: 0.0
  reason: observed 0 meets less_equal 0
  evidence_path: C:\Users\rsasa\Workspace\Calibrex\outputs\ins-lidar-sota-evaluation-audit-v1\boreas_rotation_reference_difference_deg.yaml
  evidence_sha256: 40bea3c5fc7c881e5d58215b68e94f521d81ffeb139cd2405d742d2c7875a9e9
- requirement_id: boreas-agreement
  required: true
  status: achieved
  observed_value: 0.13214083787317063
  threshold: 0.5
  reason: observed 0.132140837873 meets less_equal 0.5
  evidence_path: C:\Users\rsasa\Workspace\Calibrex\outputs\ins-lidar-sota-evaluation-audit-v1\boreas_rotation_reference_difference_deg.yaml
  evidence_sha256: 40bea3c5fc7c881e5d58215b68e94f521d81ffeb139cd2405d742d2c7875a9e9
- requirement_id: boreas-coverage
  required: true
  status: achieved
  observed_value: 0.0
  threshold: 0.5
  reason: observed 0 meets less_equal 0.5
  evidence_path: C:\Users\rsasa\Workspace\Calibrex\outputs\ins-lidar-sota-evaluation-audit-v1\boreas_unobserved_rotation_fraction.yaml
  evidence_sha256: 8d758a704dddc5f1807eb96ecd0fe270706f6daea2ddaed39244a5e815841320
- requirement_id: boreas-controls
  required: true
  status: achieved
  observed_value: 0.0
  threshold: 0.0
  reason: observed 0 meets less_equal 0
  evidence_path: C:\Users\rsasa\Workspace\Calibrex\outputs\ins-lidar-sota-evaluation-audit-v1\boreas_missed_observed_control_fraction.yaml
  evidence_sha256: 244edc5196f704b3cec680ae93fd771ce67702ed80b0d51ac7c61dad89da3cd0
summary: At least one frozen required numerical or integrity gate is contradicted;
  the declared SOTA claim is not supported.
provenance:
  generator: calibrex.evaluation.sota_audit
  generator_version: 0.5.1
  git_commit: e2ac3e20
  command: []
  source_sha256:
    protocol: e09d5baa313fe841fbe556360966136871096b9ee17f3bb7eb813e86aec1ffe9
    kitti_raw-completion: 27da09b6debf4e1b0936049c77584208007a4240ab3086e01d8f97314a02ae02
    kitti_raw-agreement: 27da09b6debf4e1b0936049c77584208007a4240ab3086e01d8f97314a02ae02
    kitti_raw-coverage: c5ad8fa6351a20fdbc66edc8fd8bf6b5dd1cc65ac89350be1e86fb469de29fdb
    kitti_raw-controls: 0418cfefdd837ce7c5c78191d128c9a150d176099fa115f5d02decb70ae37385
    boreas-completion: 40bea3c5fc7c881e5d58215b68e94f521d81ffeb139cd2405d742d2c7875a9e9
    boreas-agreement: 40bea3c5fc7c881e5d58215b68e94f521d81ffeb139cd2405d742d2c7875a9e9
    boreas-coverage: 8d758a704dddc5f1807eb96ecd0fe270706f6daea2ddaed39244a5e815841320
    boreas-controls: 244edc5196f704b3cec680ae93fd771ce67702ed80b0d51ac7c61dad89da3cd0
  created_at: '2026-10-22T12:15:50.791107+00:00'