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  "benchmark_id": "livox-complete-pipeline-fixed-rig",
  "bootstrap_samples": 1,
  "bootstrap_seed": 0,
  "limitations": [
    "Fresh interpreters, no warmup; OS caches persist and unrelated user work continues.",
    "Wall includes startup, all reads, inspection, 24 controls, the complete selected backend and result/report/artifact saves. Comparison includes native ICP, Open3D GICP and NDT availability; fixed-rig includes its refinement and holdout evaluation. Parent audits are excluded.",
    "Pipeline timer starts at run_calibration entry; it is a subset of subprocess wall.",
    "Evidence timer wraps the existing candidate plus 24-control call, including its reads, preparation and summaries; prior inspection is outside this subset. No additional evaluation or warmup is performed to obtain the phase timing.",
    "Full result parity normalizes only run ID/timestamps and destination paths.",
    "Comparison replaces five evaluation modules; fixed-rig replaces only the factor. Other solvers, correspondence builders and writers are shared. Loaded module filenames and all source bytes are checked.",
    "Optimizer time is a subset of the same complete run, without extra calls/warmup.",
    "The single pair is limited geometry evidence; quality failures remain failures.",
    "Timings are descriptive ranges, not confidence or portable speedup estimates.",
    "Publication normalizes workspace prefixes in commands/metadata only. Complete canonical result strings and original input/config/output/artifact hashes remain unchanged. Archived code is exact Git bytes; working-byte and committed-byte hashes are separate. Recorded short candidate commit IDs are resolved to their full Git commit; canonical result strings retain the original short run.git_commit.",
    "Workers call the public calibration Python API; CLI dispatch is excluded. Worker measurement JSON writes are included in wall. No timings or outliers are discarded."
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      "implementation": "subprocess",
      "label": "baseline",
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      "tool_name": "Calibrex",
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      "label": "livox_evidence_seconds",
      "name": "livox_evidence_seconds",
      "primary": false,
      "unit": "s"
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      "display_scale": 1.0,
      "interpretation": "Full result equality after explicit volatile-field normalization",
      "label": "complete_result_matches",
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      "primary": false,
      "unit": "bool"
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    {
      "direction": "lower",
      "display_scale": 1.0,
      "interpretation": "Fixed-trajectory optimizer, including initial/final diagnostics",
      "label": "optimizer_seconds",
      "name": "optimizer_seconds",
      "primary": false,
      "unit": "s"
    }
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  "protocol": {
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    "failure_policy": "Preserve mismatches and all timings; no outlier exclusion",
    "initial_estimate_policy": "Same existing public workflow config and all 24 probe controls",
    "protocol_id": "livox-fixed-rig-fresh-subprocess-v4",
    "split_policy": "Repeated same complete pair; not independent accuracy trials",
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  "title": "Public Livox full fixed-rig calibration subprocess",
  "trials": [
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      "status": "success"
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    {
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      "metrics": {
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        "command": "${WORKSPACE_ROOT}/.venv/Scripts/python.exe ${WORKSPACE_ROOT}/tools/benchmark_livox_evaluation.py --workflow fixed-rig --worker batched --config examples/public_datasets/livox_horizon_horizon_pcd_sample/online_accumulation_config.yaml --output-dir ${WORKSPACE_ROOT}/outputs/public-livox-fixed-rig-batched-v1/batched.repeat-01",
        "config_sha256": "f2308de75f4caf33b67906e08d6f716281691f4d6f7b0863a11674a1ec44dab2",
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        "notes": [
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        "output_sha256": "c9789ac3d1cbd5521dce3569c66d4ec5704e90eb8b5abace88adbe9e9ced3dad"
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      "runtime_seconds": 5.029326900024898,
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      "status": "success"
    },
    {
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      "metrics": {
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        "livox_evidence_seconds": 0.9699130000080913,
        "optimizer_seconds": 6.007812700001523,
        "pipeline_seconds": 9.233168000006117,
        "subprocess_wall_seconds": 11.470166499959305
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      "provenance": {
        "command": "${WORKSPACE_ROOT}/.venv/Scripts/python.exe ${WORKSPACE_ROOT}/tools/benchmark_livox_evaluation.py --workflow fixed-rig --worker baseline --config examples/public_datasets/livox_horizon_horizon_pcd_sample/online_accumulation_config.yaml --output-dir ${WORKSPACE_ROOT}/outputs/public-livox-fixed-rig-batched-v1/baseline.repeat-02",
        "config_sha256": "f2308de75f4caf33b67906e08d6f716281691f4d6f7b0863a11674a1ec44dab2",
        "execution_host": "Windows-11-10.0.26300-SP0",
        "input_sha256": "2454e8689507b83979934d5123ffb64ec6d42b9f9c02d228e2d9f4847c879c53",
        "notes": [
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        "output_sha256": "c9789ac3d1cbd5521dce3569c66d4ec5704e90eb8b5abace88adbe9e9ced3dad"
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      "runtime_seconds": 12.73214649996953,
      "split_id": "repeat-03",
      "status": "success"
    },
    {
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      "metrics": {
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        "livox_evidence_seconds": 1.461798699980136,
        "optimizer_seconds": 0.6584396999678575,
        "pipeline_seconds": 4.214353199990001,
        "subprocess_wall_seconds": 6.752677400014363
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      "provenance": {
        "command": "${WORKSPACE_ROOT}/.venv/Scripts/python.exe ${WORKSPACE_ROOT}/tools/benchmark_livox_evaluation.py --workflow fixed-rig --worker batched --config examples/public_datasets/livox_horizon_horizon_pcd_sample/online_accumulation_config.yaml --output-dir ${WORKSPACE_ROOT}/outputs/public-livox-fixed-rig-batched-v1/batched.repeat-03",
        "config_sha256": "f2308de75f4caf33b67906e08d6f716281691f4d6f7b0863a11674a1ec44dab2",
        "execution_host": "Windows-11-10.0.26300-SP0",
        "input_sha256": "2454e8689507b83979934d5123ffb64ec6d42b9f9c02d228e2d9f4847c879c53",
        "notes": [
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        "output_sha256": "c9789ac3d1cbd5521dce3569c66d4ec5704e90eb8b5abace88adbe9e9ced3dad"
      },
      "runtime_seconds": 5.723870799993165,
      "split_id": "repeat-04",
      "status": "success"
    },
    {
      "method_id": "baseline",
      "metrics": {
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        "livox_evidence_seconds": 1.1307575999526307,
        "optimizer_seconds": 6.212536800012458,
        "pipeline_seconds": 9.806754400022328,
        "subprocess_wall_seconds": 12.191389199986588
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      "provenance": {
        "command": "${WORKSPACE_ROOT}/.venv/Scripts/python.exe ${WORKSPACE_ROOT}/tools/benchmark_livox_evaluation.py --workflow fixed-rig --worker baseline --config examples/public_datasets/livox_horizon_horizon_pcd_sample/online_accumulation_config.yaml --output-dir ${WORKSPACE_ROOT}/outputs/public-livox-fixed-rig-batched-v1/baseline.repeat-04",
        "config_sha256": "f2308de75f4caf33b67906e08d6f716281691f4d6f7b0863a11674a1ec44dab2",
        "execution_host": "Windows-11-10.0.26300-SP0",
        "input_sha256": "2454e8689507b83979934d5123ffb64ec6d42b9f9c02d228e2d9f4847c879c53",
        "notes": [
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        "output_sha256": "c9789ac3d1cbd5521dce3569c66d4ec5704e90eb8b5abace88adbe9e9ced3dad"
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      "runtime_seconds": 12.38358419999713,
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      "status": "success"
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    {
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      "metrics": {
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        "livox_evidence_seconds": 1.1464180000475608,
        "optimizer_seconds": 0.524064700002782,
        "pipeline_seconds": 3.4451208999962546,
        "subprocess_wall_seconds": 5.822799500019755
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      "provenance": {
        "command": "${WORKSPACE_ROOT}/.venv/Scripts/python.exe ${WORKSPACE_ROOT}/tools/benchmark_livox_evaluation.py --workflow fixed-rig --worker batched --config examples/public_datasets/livox_horizon_horizon_pcd_sample/online_accumulation_config.yaml --output-dir ${WORKSPACE_ROOT}/outputs/public-livox-fixed-rig-batched-v1/batched.repeat-05",
        "config_sha256": "f2308de75f4caf33b67906e08d6f716281691f4d6f7b0863a11674a1ec44dab2",
        "execution_host": "Windows-11-10.0.26300-SP0",
        "input_sha256": "2454e8689507b83979934d5123ffb64ec6d42b9f9c02d228e2d9f4847c879c53",
        "notes": [
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}