schema_version: slac.sota_audit_result/v0.1
audit_id: mid360-imu-lidar-extrinsic-vs-li-init-v1
protocol_id: mid360-imu-lidar-extrinsic-vs-li-init-v1
scope:
  modalities:
  - imu
  - lidar
  quantities:
  - rotation
  - translation
  - time_offset
  category: targetless_imu_lidar
claim_text: On two hand-held MID360 recordings of the RTK-SLAM dataset not used to
  develop the method, Calibrex's full IMU-LiDAR extrinsic predicts held-out accelerometer-integrated
  motion at least as well as LI-Init's, and so does its lever arm alone.
verdict: refuted
achieved_dataset_families: []
achieved_independent_rig_count: 0
minimum_dataset_families: 1
minimum_independent_rigs: 1
requirements:
- requirement_id: calibrex-estimate-stadtgarten_seq1
  required: true
  status: contradicted
  observed_value: 1.0
  threshold: 0.0
  reason: observed 1 does not meet less_equal 0
  evidence_path: docs/assets/mid360_imu_lidar_extrinsic_benchmark_stadtgarten_seq1.yaml
  evidence_sha256: 390d651ba50699e6b9f1069e59f9ef9181256777649a2bf2a2eda31328d16e41
- requirement_id: calibrex-extrinsic-not-worse-than-li-init-stadtgarten_seq1
  required: true
  status: incomplete
  threshold: 0.0
  reason: declared benchmark statistic has no finite value
  evidence_path: docs/assets/mid360_imu_lidar_extrinsic_benchmark_stadtgarten_seq1.yaml
  evidence_sha256: 390d651ba50699e6b9f1069e59f9ef9181256777649a2bf2a2eda31328d16e41
- requirement_id: calibrex-lever-arm-not-worse-than-li-init-stadtgarten_seq1
  required: true
  status: incomplete
  threshold: 0.0
  reason: declared benchmark statistic has no finite value
  evidence_path: docs/assets/mid360_imu_lidar_lever_arm_benchmark_stadtgarten_seq1.yaml
  evidence_sha256: 23f4c6ef3edaf227388e36cfc916689865366eed41c780efe37229de585cd0fb
- requirement_id: calibrex-absolute-fit-stadtgarten_seq1
  required: true
  status: incomplete
  threshold: 0.01
  reason: declared benchmark statistic has no finite value
  evidence_path: docs/assets/mid360_imu_lidar_extrinsic_benchmark_stadtgarten_seq1.yaml
  evidence_sha256: 390d651ba50699e6b9f1069e59f9ef9181256777649a2bf2a2eda31328d16e41
- requirement_id: calibrex-estimate-construction_seq1
  required: true
  status: contradicted
  observed_value: 1.0
  threshold: 0.0
  reason: observed 1 does not meet less_equal 0
  evidence_path: docs/assets/mid360_imu_lidar_extrinsic_benchmark_construction_seq1.yaml
  evidence_sha256: cb26cd12cf4d8512f8288538f6c9250b1969722bfc6ed6cc9affa576fe738711
- requirement_id: calibrex-extrinsic-not-worse-than-li-init-construction_seq1
  required: true
  status: incomplete
  threshold: 0.0
  reason: declared benchmark statistic has no finite value
  evidence_path: docs/assets/mid360_imu_lidar_extrinsic_benchmark_construction_seq1.yaml
  evidence_sha256: cb26cd12cf4d8512f8288538f6c9250b1969722bfc6ed6cc9affa576fe738711
- requirement_id: calibrex-lever-arm-not-worse-than-li-init-construction_seq1
  required: true
  status: incomplete
  threshold: 0.0
  reason: declared benchmark statistic has no finite value
  evidence_path: docs/assets/mid360_imu_lidar_lever_arm_benchmark_construction_seq1.yaml
  evidence_sha256: c7fd18a7eb5d379949f3f6346123baf520c4c1ccab536c7049aa78f8d288611c
- requirement_id: calibrex-absolute-fit-construction_seq1
  required: true
  status: incomplete
  threshold: 0.01
  reason: declared benchmark statistic has no finite value
  evidence_path: docs/assets/mid360_imu_lidar_extrinsic_benchmark_construction_seq1.yaml
  evidence_sha256: cb26cd12cf4d8512f8288538f6c9250b1969722bfc6ed6cc9affa576fe738711
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: 0.4.1
  git_commit: 5ca9989
  command: []
  source_sha256:
    protocol: cea6c8a5cf66480a48db16558f0a2549fac54c629f7213163f8365ec9d95b221
    calibrex-estimate-stadtgarten_seq1: 390d651ba50699e6b9f1069e59f9ef9181256777649a2bf2a2eda31328d16e41
    calibrex-extrinsic-not-worse-than-li-init-stadtgarten_seq1: 390d651ba50699e6b9f1069e59f9ef9181256777649a2bf2a2eda31328d16e41
    calibrex-lever-arm-not-worse-than-li-init-stadtgarten_seq1: 23f4c6ef3edaf227388e36cfc916689865366eed41c780efe37229de585cd0fb
    calibrex-absolute-fit-stadtgarten_seq1: 390d651ba50699e6b9f1069e59f9ef9181256777649a2bf2a2eda31328d16e41
    calibrex-estimate-construction_seq1: cb26cd12cf4d8512f8288538f6c9250b1969722bfc6ed6cc9affa576fe738711
    calibrex-extrinsic-not-worse-than-li-init-construction_seq1: cb26cd12cf4d8512f8288538f6c9250b1969722bfc6ed6cc9affa576fe738711
    calibrex-lever-arm-not-worse-than-li-init-construction_seq1: c7fd18a7eb5d379949f3f6346123baf520c4c1ccab536c7049aa78f8d288611c
    calibrex-absolute-fit-construction_seq1: cb26cd12cf4d8512f8288538f6c9250b1969722bfc6ed6cc9affa576fe738711
  created_at: '2026-09-30T05:04:16.789672+00:00'