{ "schema_version": "calibrex.sota_development_baseline/v0.1", "provenance": { "created_at": "2026-10-27T11:12:53.408226+00:00", "git_commit": "192858e4", "generator_sha256": "0f0339dfabf58a68e25adadd347a2dbc9592f55f8915c2df824a3eaf4ee63144", "command": [ "python", "-m", "tools.sota_development_baseline" ], "sensor_data_read": false, "new_evaluation_started": false }, "audit_replays": [ { "protocol": "docs/assets/hilti2022_camera_imu_v3/hilti_camera_imu_v3_sota_protocol.yaml", "protocol_sha256": "4f76b07af675bb7bc38c08dcafa3d3aefd3fff6a12a18c47cccc22aa59189384", "archived_audit_sha256": "33725464fbb1320ca2e39bdb42039d9a9774cf06f3a78ae9a0f626d4242ce893", "verdict": "supported", "matches_archive": true, "result": { "schema_version": "slac.sota_audit_result/v0.1", "audit_id": "hilti-camera-imu-v3-audit", "protocol_id": "hilti-camera-imu-v3", "scope": { "modalities": [ "camera", "imu" ], "quantities": [ "rotation", "time_offset" ], "category": "targetless_camera_imu" }, "claim_text": "On five Hilti 2022 recordings on which no camera-IMU estimate had been made, Calibrex's targetless camera-IMU rotation for the two forward Alphasense cameras (cam0, cam1) gives honest per-axis verdicts against Hilti's Kalibr calibration: every rotation axis it judges (reported std at most 0.3 deg and its 1 deg known-bad control detected on held-out windows) is within 1.0 deg, every clock offset it judges within 0.75 ms; it judges at least half of the axes; an axis judged on several recordings spans at most 1.0 deg; and an axis judged for both cameras reproduces Kalibr's cam0-to-cam1 rotation within 0.75 deg.", "verdict": "supported", "achieved_dataset_families": [ "hilti2022" ], "achieved_independent_rig_count": 1, "minimum_dataset_families": 1, "minimum_independent_rigs": 1, "requirements": [ { "requirement_id": "judged-axis-accuracy", "required": true, "status": "achieved", "observed_value": 0.5281886167189506, "threshold": 1.0, "reason": "observed 0.528188616719 meets less_equal 1", "evidence_path": "/workspace/Calibrex/docs/assets/hilti2022_camera_imu_v3/hilti_camera_imu_v3_axes_benchmark.yaml", "evidence_sha256": "b273580594b0ba50f2b3c0f64986549523c230adc454264f214169643962c7cb" }, { "requirement_id": "judged-time-offset", "required": true, "status": "achieved", "observed_value": 0.46960065585831395, "threshold": 0.75, "reason": "observed 0.469600655858 meets less_equal 0.75", "evidence_path": "/workspace/Calibrex/docs/assets/hilti2022_camera_imu_v3/hilti_camera_imu_v3_time_benchmark.yaml", "evidence_sha256": "e0808840f955a603ae3ce11106bee273dc8679701dea4196a4690598ebd661a7" }, { "requirement_id": "judged-axis-coverage", "required": true, "status": "achieved", "observed_value": 0.4, "threshold": 1.5, "reason": "observed 0.4 meets less_equal 1.5", "evidence_path": "/workspace/Calibrex/docs/assets/hilti2022_camera_imu_v3/hilti_camera_imu_v3_units_benchmark.yaml", "evidence_sha256": "46e076ed984576dfa19e4d37fc3d656807eeda77b277cdd77aee404637396785" }, { "requirement_id": "no-failed-units", "required": true, "status": "achieved", "observed_value": 0.0, "threshold": 0.0, "reason": "observed 0 meets less_equal 0", "evidence_path": "/workspace/Calibrex/docs/assets/hilti2022_camera_imu_v3/hilti_camera_imu_v3_units_benchmark.yaml", "evidence_sha256": "46e076ed984576dfa19e4d37fc3d656807eeda77b277cdd77aee404637396785" }, { "requirement_id": "judged-axis-consistency", "required": true, "status": "achieved", "observed_value": 0.407952749622118, "threshold": 1.0, "reason": "observed 0.407952749622 meets less_equal 1", "evidence_path": "/workspace/Calibrex/docs/assets/hilti2022_camera_imu_v3/hilti_camera_imu_v3_consistency_benchmark.yaml", "evidence_sha256": "cbb5db8447d034887e52a9cde4e5ed710c610db33a55ef9597a77303be11cbb1" }, { "requirement_id": "judged-axis-relative", "required": true, "status": "achieved", "observed_value": 0.4438266835563216, "threshold": 0.75, "reason": "observed 0.443826683556 meets less_equal 0.75", "evidence_path": "/workspace/Calibrex/docs/assets/hilti2022_camera_imu_v3/hilti_camera_imu_v3_relative_benchmark.yaml", "evidence_sha256": "46ff334801b1f511b3d4e1b74585c401dd164da7312f7e8ed070136e0ac7ff94" }, { "requirement_id": "scored-recordings-coverage", "required": true, "status": "achieved", "observed_value": 0.0, "threshold": 0.4, "reason": "observed 0 meets less_equal 0.4", "evidence_path": "/workspace/Calibrex/docs/assets/hilti2022_camera_imu_v3/hilti_camera_imu_v3_recordings_benchmark.yaml", "evidence_sha256": "156e9f5b4cc35c65eacd2942c65d46df78359a26d97f83768a49b208808a50ea" } ], "summary": "Every frozen required gate and declared dataset/rig coverage criterion is achieved.", "provenance": { "generator": "calibrex.evaluation.sota_audit", "generator_version": "0.5.1", "git_commit": "192858e4", "command": [ "python", "-m", "tools.sota_development_baseline" ], "source_sha256": { "protocol": "4f76b07af675bb7bc38c08dcafa3d3aefd3fff6a12a18c47cccc22aa59189384", "judged-axis-accuracy": "b273580594b0ba50f2b3c0f64986549523c230adc454264f214169643962c7cb", "judged-time-offset": "e0808840f955a603ae3ce11106bee273dc8679701dea4196a4690598ebd661a7", "judged-axis-coverage": "46e076ed984576dfa19e4d37fc3d656807eeda77b277cdd77aee404637396785", "no-failed-units": "46e076ed984576dfa19e4d37fc3d656807eeda77b277cdd77aee404637396785", "judged-axis-consistency": "cbb5db8447d034887e52a9cde4e5ed710c610db33a55ef9597a77303be11cbb1", "judged-axis-relative": "46ff334801b1f511b3d4e1b74585c401dd164da7312f7e8ed070136e0ac7ff94", "scored-recordings-coverage": "156e9f5b4cc35c65eacd2942c65d46df78359a26d97f83768a49b208808a50ea" }, "created_at": "2026-10-27T11:12:52.910984+00:00" } } }, { "protocol": "docs/assets/hilti2022_camera_sota/camera_camera/hilti_camera_camera_sota_protocol.yaml", "protocol_sha256": "32f6cff2cf58826827b40af72d43b18162c767ba04fe91b2724051443f76210b", "archived_audit_sha256": "c41449cc819de121d888861472acbc42a2842696d47a96aeb33225263896da13", "verdict": "refuted", "matches_archive": true, "result": { "schema_version": "slac.sota_audit_result/v0.1", "audit_id": "hilti-camera-camera-v1-audit", "protocol_id": "hilti-camera-camera-v1", "scope": { "modalities": [ "camera", "camera" ], "quantities": [ "rotation" ], "category": "targetless_camera_camera" }, "claim_text": "On twelve Hilti 2022 recordings not used in development, Calibrex's targetless camera-camera check reproduces Kalibr's rotation of five camera pairs within 0.75 deg on every judged axis, scores at least 70 percent of them, flags a 1 deg turn of a forward or a side camera in at least 90 percent of evaluable trials, and names the turned camera in at least half.", "verdict": "refuted", "achieved_dataset_families": [ "hilti2022" ], "achieved_independent_rig_count": 1, "minimum_dataset_families": 1, "minimum_independent_rigs": 1, "requirements": [ { "requirement_id": "accuracy-vs-kalibr", "required": true, "status": "achieved", "observed_value": 0.3268331236939981, "threshold": 0.75, "reason": "observed 0.326833123694 meets less_equal 0.75", "evidence_path": "/workspace/Calibrex/docs/assets/hilti2022_camera_sota/camera_camera/hilti_camera_camera_units_benchmark.yaml", "evidence_sha256": "136888ae9770c4d0a7be3be10b23d7c246ebcfad7f775ba0ca804a2290c42f0a" }, { "requirement_id": "no-failed-units", "required": true, "status": "achieved", "observed_value": 0.0, "threshold": 0.0, "reason": "observed 0 meets less_equal 0", "evidence_path": "/workspace/Calibrex/docs/assets/hilti2022_camera_sota/camera_camera/hilti_camera_camera_units_benchmark.yaml", "evidence_sha256": "136888ae9770c4d0a7be3be10b23d7c246ebcfad7f775ba0ca804a2290c42f0a" }, { "requirement_id": "scored-units-coverage", "required": true, "status": "achieved", "observed_value": 0.21666666666666667, "threshold": 0.3, "reason": "observed 0.216666666667 meets less_equal 0.3", "evidence_path": "/workspace/Calibrex/docs/assets/hilti2022_camera_sota/camera_camera/hilti_camera_camera_unit_coverage_benchmark.yaml", "evidence_sha256": "8bbc7cdf669915a23401952a75fccb3b420e06b71c87a722554cda0e9e438c4b" }, { "requirement_id": "detection", "required": true, "status": "contradicted", "observed_value": 0.30434782608695654, "threshold": 0.1, "reason": "observed 0.304347826087 does not meet less_equal 0.1", "evidence_path": "/workspace/Calibrex/docs/assets/hilti2022_camera_sota/camera_camera/hilti_camera_camera_trials_benchmark.yaml", "evidence_sha256": "12d83592b9843bc907a4bb4b11fe0f773c39b20d3a9073e440d63e8ab12817c5" }, { "requirement_id": "localization", "required": true, "status": "contradicted", "observed_value": 0.5217391304347826, "threshold": 0.5, "reason": "observed 0.521739130435 does not meet less_equal 0.5", "evidence_path": "/workspace/Calibrex/docs/assets/hilti2022_camera_sota/camera_camera/hilti_camera_camera_trials_benchmark.yaml", "evidence_sha256": "12d83592b9843bc907a4bb4b11fe0f773c39b20d3a9073e440d63e8ab12817c5" }, { "requirement_id": "evaluable-trials-coverage", "required": true, "status": "achieved", "observed_value": 0.041666666666666664, "threshold": 0.3, "reason": "observed 0.0416666666667 meets less_equal 0.3", "evidence_path": "/workspace/Calibrex/docs/assets/hilti2022_camera_sota/camera_camera/hilti_camera_camera_trial_coverage_benchmark.yaml", "evidence_sha256": "474e065b50770d27ed421d3ff4f89995c94d7aa06f6080ae0954f11382ba60cb" } ], "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": "192858e4", "command": [ "python", "-m", "tools.sota_development_baseline" ], "source_sha256": { "protocol": "32f6cff2cf58826827b40af72d43b18162c767ba04fe91b2724051443f76210b", "accuracy-vs-kalibr": "136888ae9770c4d0a7be3be10b23d7c246ebcfad7f775ba0ca804a2290c42f0a", "no-failed-units": "136888ae9770c4d0a7be3be10b23d7c246ebcfad7f775ba0ca804a2290c42f0a", "scored-units-coverage": "8bbc7cdf669915a23401952a75fccb3b420e06b71c87a722554cda0e9e438c4b", "detection": "12d83592b9843bc907a4bb4b11fe0f773c39b20d3a9073e440d63e8ab12817c5", "localization": "12d83592b9843bc907a4bb4b11fe0f773c39b20d3a9073e440d63e8ab12817c5", "evaluable-trials-coverage": "474e065b50770d27ed421d3ff4f89995c94d7aa06f6080ae0954f11382ba60cb" }, "created_at": "2026-10-27T11:12:52.966285+00:00" } } }, { "protocol": "docs/assets/hilti2022_camera_sota/camera_imu_v2/hilti_camera_imu_v2_sota_protocol.yaml", "protocol_sha256": "3a7d7e651a3c0dc2ddd38a9b83aa78244c93524184091835f0dcd1745b3780ed", "archived_audit_sha256": "02001c9272ec3fb616b4c51d75ade87515e043dc519d34183aa997637c461ab2", "verdict": "refuted", "matches_archive": true, "result": { "schema_version": "slac.sota_audit_result/v0.1", "audit_id": "hilti-camera-imu-v2-audit", "protocol_id": "hilti-camera-imu-v2", "scope": { "modalities": [ "camera", "imu" ], "quantities": [ "rotation", "time_offset" ], "category": "targetless_camera_imu" }, "claim_text": "On five Hilti 2022 recordings of at least 200 s not used to develop the method, Calibrex's targetless camera-IMU rotation for the two forward cameras agrees with Kalibr within 1.0 deg and 0.5 ms, is constrained on all three axes, reproduces across recordings within 0.75 deg, and reproduces Kalibr's cam0-to-cam1 rotation within 0.5 deg.", "verdict": "refuted", "achieved_dataset_families": [ "hilti2022" ], "achieved_independent_rig_count": 1, "minimum_dataset_families": 1, "minimum_independent_rigs": 1, "requirements": [ { "requirement_id": "rotation-vs-kalibr", "required": true, "status": "achieved", "observed_value": 0.9404384203075208, "threshold": 1.0, "reason": "observed 0.940438420308 meets less_equal 1", "evidence_path": "/workspace/Calibrex/docs/assets/hilti2022_camera_sota/camera_imu_v2/hilti_camera_imu_v2_units_benchmark.yaml", "evidence_sha256": "3432ebe0ee80e965ea65fca41c32f0bab466226168d08c25a13f60d36a5e11f6" }, { "requirement_id": "time-offset-vs-kalibr", "required": true, "status": "achieved", "observed_value": 0.4794243440320975, "threshold": 0.5, "reason": "observed 0.479424344032 meets less_equal 0.5", "evidence_path": "/workspace/Calibrex/docs/assets/hilti2022_camera_sota/camera_imu_v2/hilti_camera_imu_v2_units_benchmark.yaml", "evidence_sha256": "3432ebe0ee80e965ea65fca41c32f0bab466226168d08c25a13f60d36a5e11f6" }, { "requirement_id": "constrained", "required": true, "status": "contradicted", "observed_value": 1.0, "threshold": 0.0, "reason": "observed 1 does not meet less_equal 0", "evidence_path": "/workspace/Calibrex/docs/assets/hilti2022_camera_sota/camera_imu_v2/hilti_camera_imu_v2_units_benchmark.yaml", "evidence_sha256": "3432ebe0ee80e965ea65fca41c32f0bab466226168d08c25a13f60d36a5e11f6" }, { "requirement_id": "no-failed-units", "required": true, "status": "achieved", "observed_value": 0.0, "threshold": 0.0, "reason": "observed 0 meets less_equal 0", "evidence_path": "/workspace/Calibrex/docs/assets/hilti2022_camera_sota/camera_imu_v2/hilti_camera_imu_v2_units_benchmark.yaml", "evidence_sha256": "3432ebe0ee80e965ea65fca41c32f0bab466226168d08c25a13f60d36a5e11f6" }, { "requirement_id": "cross-recording-consistency", "required": true, "status": "contradicted", "observed_value": 0.8110653194454278, "threshold": 0.75, "reason": "observed 0.811065319445 does not meet less_equal 0.75", "evidence_path": "/workspace/Calibrex/docs/assets/hilti2022_camera_sota/camera_imu_v2/hilti_camera_imu_v2_consistency_benchmark.yaml", "evidence_sha256": "afa8ccf2e3120d0b6f0192398e01e134701147c941ede52ccb7e8f16f9668160" }, { "requirement_id": "relative-cam0-cam1", "required": true, "status": "achieved", "observed_value": 0.46060337608521484, "threshold": 0.5, "reason": "observed 0.460603376085 meets less_equal 0.5", "evidence_path": "/workspace/Calibrex/docs/assets/hilti2022_camera_sota/camera_imu_v2/hilti_camera_imu_v2_relative_benchmark.yaml", "evidence_sha256": "ffb47744069cb488fdf40b54129ad0b855f967162613c0d9d25744cd42f7aa15" }, { "requirement_id": "scored-recordings-coverage", "required": true, "status": "achieved", "observed_value": 0.0, "threshold": 0.25, "reason": "observed 0 meets less_equal 0.25", "evidence_path": "/workspace/Calibrex/docs/assets/hilti2022_camera_sota/camera_imu_v2/hilti_camera_imu_v2_relative_benchmark.yaml", "evidence_sha256": "ffb47744069cb488fdf40b54129ad0b855f967162613c0d9d25744cd42f7aa15" } ], "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": "192858e4", "command": [ "python", "-m", "tools.sota_development_baseline" ], "source_sha256": { "protocol": "3a7d7e651a3c0dc2ddd38a9b83aa78244c93524184091835f0dcd1745b3780ed", "rotation-vs-kalibr": "3432ebe0ee80e965ea65fca41c32f0bab466226168d08c25a13f60d36a5e11f6", "time-offset-vs-kalibr": "3432ebe0ee80e965ea65fca41c32f0bab466226168d08c25a13f60d36a5e11f6", "constrained": "3432ebe0ee80e965ea65fca41c32f0bab466226168d08c25a13f60d36a5e11f6", "no-failed-units": "3432ebe0ee80e965ea65fca41c32f0bab466226168d08c25a13f60d36a5e11f6", "cross-recording-consistency": "afa8ccf2e3120d0b6f0192398e01e134701147c941ede52ccb7e8f16f9668160", "relative-cam0-cam1": "ffb47744069cb488fdf40b54129ad0b855f967162613c0d9d25744cd42f7aa15", "scored-recordings-coverage": "ffb47744069cb488fdf40b54129ad0b855f967162613c0d9d25744cd42f7aa15" }, "created_at": "2026-10-27T11:12:52.985952+00:00" } } }, { "protocol": "docs/assets/hilti_camera_imu_sota_protocol.yaml", "protocol_sha256": "3ec688784a4bbe2d802b49eb1bb61fc6005e20b8b77938669144924099469e8b", "archived_audit_sha256": "557d8675e1496b995a880d37118a69c44f7a09a9cbcd728eaf86090e0dc901c8", "verdict": "refuted", "matches_archive": true, "result": { "schema_version": "slac.sota_audit_result/v0.1", "audit_id": "hilti-camera-imu-v1-audit", "protocol_id": "hilti-camera-imu-v1", "scope": { "modalities": [ "camera", "imu" ], "quantities": [ "rotation", "time_offset" ], "category": "targetless_camera_imu" }, "claim_text": "On four Hilti 2022 recordings not used to develop the method, Calibrex's targetless camera-IMU rotation for the two forward cameras agrees with Kalibr within 1.0 deg and 0.5 ms, is constrained on all three axes, reproduces across recordings within 0.75 deg, and reproduces Kalibr's cam0-to-cam1 rotation within 0.5 deg.", "verdict": "refuted", "achieved_dataset_families": [ "hilti2022" ], "achieved_independent_rig_count": 1, "minimum_dataset_families": 1, "minimum_independent_rigs": 1, "requirements": [ { "requirement_id": "rotation-vs-kalibr", "required": true, "status": "achieved", "observed_value": 0.6959771316464011, "threshold": 1.0, "reason": "observed 0.695977131646 meets less_equal 1", "evidence_path": "/workspace/Calibrex/docs/assets/hilti_camera_imu_units_benchmark.yaml", "evidence_sha256": "32da53f1cda63e15b7e924d317512580a882f96a899c001472f953850145059e" }, { "requirement_id": "time-offset-vs-kalibr", "required": true, "status": "achieved", "observed_value": 0.3323695984394283, "threshold": 0.5, "reason": "observed 0.332369598439 meets less_equal 0.5", "evidence_path": "/workspace/Calibrex/docs/assets/hilti_camera_imu_units_benchmark.yaml", "evidence_sha256": "32da53f1cda63e15b7e924d317512580a882f96a899c001472f953850145059e" }, { "requirement_id": "constrained", "required": true, "status": "contradicted", "observed_value": 1.0, "threshold": 0.0, "reason": "observed 1 does not meet less_equal 0", "evidence_path": "/workspace/Calibrex/docs/assets/hilti_camera_imu_units_benchmark.yaml", "evidence_sha256": "32da53f1cda63e15b7e924d317512580a882f96a899c001472f953850145059e" }, { "requirement_id": "no-failed-units", "required": true, "status": "achieved", "observed_value": 0.0, "threshold": 0.0, "reason": "observed 0 meets less_equal 0", "evidence_path": "/workspace/Calibrex/docs/assets/hilti_camera_imu_units_benchmark.yaml", "evidence_sha256": "32da53f1cda63e15b7e924d317512580a882f96a899c001472f953850145059e" }, { "requirement_id": "cross-recording-consistency", "required": true, "status": "achieved", "observed_value": 0.4299395353782442, "threshold": 0.75, "reason": "observed 0.429939535378 meets less_equal 0.75", "evidence_path": "/workspace/Calibrex/docs/assets/hilti_camera_imu_consistency_benchmark.yaml", "evidence_sha256": "2ca8cb85ed26a76ef4e743ea33d2c7a504a64b12df0654e29dd68316df451a49" }, { "requirement_id": "relative-cam0-cam1", "required": true, "status": "achieved", "observed_value": 0.40570922601961995, "threshold": 0.5, "reason": "observed 0.40570922602 meets less_equal 0.5", "evidence_path": "/workspace/Calibrex/docs/assets/hilti_camera_imu_relative_benchmark.yaml", "evidence_sha256": "011f3c028120a1aa1dcf8649b0b7e3386f7c247c4819aa57a0da988f9a875cb4" }, { "requirement_id": "scored-recordings-coverage", "required": true, "status": "achieved", "observed_value": 0.0, "threshold": 0.25, "reason": "observed 0 meets less_equal 0.25", "evidence_path": "/workspace/Calibrex/docs/assets/hilti_camera_imu_relative_benchmark.yaml", "evidence_sha256": "011f3c028120a1aa1dcf8649b0b7e3386f7c247c4819aa57a0da988f9a875cb4" } ], "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": "192858e4", "command": [ "python", "-m", "tools.sota_development_baseline" ], "source_sha256": { "protocol": "3ec688784a4bbe2d802b49eb1bb61fc6005e20b8b77938669144924099469e8b", "rotation-vs-kalibr": "32da53f1cda63e15b7e924d317512580a882f96a899c001472f953850145059e", "time-offset-vs-kalibr": "32da53f1cda63e15b7e924d317512580a882f96a899c001472f953850145059e", "constrained": "32da53f1cda63e15b7e924d317512580a882f96a899c001472f953850145059e", "no-failed-units": "32da53f1cda63e15b7e924d317512580a882f96a899c001472f953850145059e", "cross-recording-consistency": "2ca8cb85ed26a76ef4e743ea33d2c7a504a64b12df0654e29dd68316df451a49", "relative-cam0-cam1": "011f3c028120a1aa1dcf8649b0b7e3386f7c247c4819aa57a0da988f9a875cb4", "scored-recordings-coverage": "011f3c028120a1aa1dcf8649b0b7e3386f7c247c4819aa57a0da988f9a875cb4" }, "created_at": "2026-10-27T11:12:53.002639+00:00" } } }, { "protocol": "docs/assets/ins_lidar_sota_readiness/evaluation/audit/ins_lidar_sota_protocol.yaml", "protocol_sha256": "e09d5baa313fe841fbe556360966136871096b9ee17f3bb7eb813e86aec1ffe9", "archived_audit_sha256": "4dc9d02568fd60e804e85a773046315aef3586f5ae61d7c5e0cd3ab99619b625", "verdict": "refuted", "matches_archive": true, "result": { "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": "/workspace/Calibrex/docs/assets/ins_lidar_sota_readiness/evaluation/audit/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": "/workspace/Calibrex/docs/assets/ins_lidar_sota_readiness/evaluation/audit/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": "/workspace/Calibrex/docs/assets/ins_lidar_sota_readiness/evaluation/audit/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": "/workspace/Calibrex/docs/assets/ins_lidar_sota_readiness/evaluation/audit/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": "/workspace/Calibrex/docs/assets/ins_lidar_sota_readiness/evaluation/audit/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": "/workspace/Calibrex/docs/assets/ins_lidar_sota_readiness/evaluation/audit/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": "/workspace/Calibrex/docs/assets/ins_lidar_sota_readiness/evaluation/audit/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": "/workspace/Calibrex/docs/assets/ins_lidar_sota_readiness/evaluation/audit/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": "192858e4", "command": [ "python", "-m", "tools.sota_development_baseline" ], "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": "2026-10-27T11:12:53.013698+00:00" } } }, { "protocol": "docs/assets/kitti_camera_lidar/evaluation/kitti_camera_lidar_sota_protocol.yaml", "protocol_sha256": "8f405eddf995e5305a9454e95ba83f56834824ad95867ee04545da29b84e7a7b", "archived_audit_sha256": "26734dd7b8b4afe482cfab40752dc6d02eaa3845c2d6ab04dd6393cea8260ca2", "verdict": "refuted", "matches_archive": true, "result": { "schema_version": "slac.sota_audit_result/v0.1", "audit_id": "kitti-camera-lidar-check-v1-audit", "protocol_id": "kitti-camera-lidar-check-v1", "scope": { "modalities": [ "camera", "lidar" ], "quantities": [ "rotation" ], "category": "targetless_camera_lidar_check" }, "claim_text": "On 23 KITTI raw 2011_09_26 drives that no Calibrex camera-LiDAR method had read, calibrex check --pairs camera-lidar gives honest per-axis verdicts against KITTI's calibration (calib_velo_to_cam with the rectification of calib_cam_to_cam): it never flags that calibration (no warn or fail); every rotation axis it judges there (reported std at most 0.5 deg and its 2 deg known-bad control detected on held-out frames) is within 0.75 deg of it, and it judges at least half of the axes; started at that calibration with the camera turned 1 or 3 deg about one of its axes, every axis it judges is within 1.5 deg of KITTI's calibration; it flags a 3 deg turn about an axis it judged on the drive in at least 90 percent of the trials and never judges such a turned axis right; and it flags a 1 deg turn in at least 75 percent of the trials.", "verdict": "refuted", "achieved_dataset_families": [ "kitti_raw" ], "achieved_independent_rig_count": 1, "minimum_dataset_families": 1, "minimum_independent_rigs": 1, "requirements": [ { "requirement_id": "no-failed-drives", "required": true, "status": "achieved", "observed_value": 0.0, "threshold": 0.0, "reason": "observed 0 meets less_equal 0", "evidence_path": "/workspace/Calibrex/docs/assets/kitti_camera_lidar/evaluation/kitti_camera_lidar_drives_benchmark.yaml", "evidence_sha256": "0a4a26831bb36369fdbcdcdf30053ad5d93873d25efd4e2b69f9c031312f34a7" }, { "requirement_id": "vendor-calibration-not-flagged", "required": true, "status": "contradicted", "observed_value": 1.0, "threshold": 0.0, "reason": "observed 1 does not meet less_equal 0", "evidence_path": "/workspace/Calibrex/docs/assets/kitti_camera_lidar/evaluation/kitti_camera_lidar_baseline_benchmark.yaml", "evidence_sha256": "7cf1773035e1a964db37d0ab8e7de7ba1426ddd3bddbb7d222332bde59d864e7" }, { "requirement_id": "judged-axis-accuracy", "required": true, "status": "contradicted", "observed_value": 9.599999999999996, "threshold": 0.75, "reason": "observed 9.6 does not meet less_equal 0.75", "evidence_path": "/workspace/Calibrex/docs/assets/kitti_camera_lidar/evaluation/kitti_camera_lidar_axes_benchmark.yaml", "evidence_sha256": "d2f3bad8a830bf88947002bd59e09a4849cf7cc140cf7bb5952f1939ed4d36e2" }, { "requirement_id": "judged-axis-coverage", "required": true, "status": "achieved", "observed_value": 0.34782608695652173, "threshold": 1.5, "reason": "observed 0.347826086957 meets less_equal 1.5", "evidence_path": "/workspace/Calibrex/docs/assets/kitti_camera_lidar/evaluation/kitti_camera_lidar_coverage_benchmark.yaml", "evidence_sha256": "50b446b134599d148578212ebc78463a83e18d724585cf6752ef54b80a11deda" }, { "requirement_id": "turned-judged-axis-accuracy", "required": true, "status": "contradicted", "observed_value": 9.65844909194789, "threshold": 1.5, "reason": "observed 9.65844909195 does not meet less_equal 1.5", "evidence_path": "/workspace/Calibrex/docs/assets/kitti_camera_lidar/evaluation/kitti_camera_lidar_turned_benchmark.yaml", "evidence_sha256": "29000e0e10619dd09d61cab512123fc95b14ac717dd70b724990f56e766ad62b" }, { "requirement_id": "turn-3deg-flagged", "required": true, "status": "achieved", "observed_value": 0.06557377049180328, "threshold": 0.1, "reason": "observed 0.0655737704918 meets less_equal 0.1", "evidence_path": "/workspace/Calibrex/docs/assets/kitti_camera_lidar/evaluation/kitti_camera_lidar_turn3_benchmark.yaml", "evidence_sha256": "da5b88ff7be630f442177f0197802a9d65f6af2f69f8cf4a469223e6e733522d" }, { "requirement_id": "turn-3deg-never-judged-right", "required": true, "status": "contradicted", "observed_value": 1.0, "threshold": 0.0, "reason": "observed 1 does not meet less_equal 0", "evidence_path": "/workspace/Calibrex/docs/assets/kitti_camera_lidar/evaluation/kitti_camera_lidar_turn3_judged_right_benchmark.yaml", "evidence_sha256": "ccfb62e35cea6c791ca33332669a2014f07d19bf7515804b404e89458ebca8f8" }, { "requirement_id": "turn-1deg-flagged", "required": true, "status": "achieved", "observed_value": 0.01639344262295082, "threshold": 0.25, "reason": "observed 0.016393442623 meets less_equal 0.25", "evidence_path": "/workspace/Calibrex/docs/assets/kitti_camera_lidar/evaluation/kitti_camera_lidar_turn1_benchmark.yaml", "evidence_sha256": "66ef1aac7d1eab22c5f892434926beb465e139c338aaf9c0336d7c1fd2e3e992" }, { "requirement_id": "scored-drives-coverage", "required": true, "status": "achieved", "observed_value": 0.0, "threshold": 0.34782608695652173, "reason": "observed 0 meets less_equal 0.347826086957", "evidence_path": "/workspace/Calibrex/docs/assets/kitti_camera_lidar/evaluation/kitti_camera_lidar_evaluation_benchmark.yaml", "evidence_sha256": "45f5c2ba0cacb3d27a02241b910c98554fff3b1a295a905d897e648f1f62706e" } ], "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": "192858e4", "command": [ "python", "-m", "tools.sota_development_baseline" ], "source_sha256": { "protocol": "8f405eddf995e5305a9454e95ba83f56834824ad95867ee04545da29b84e7a7b", "no-failed-drives": "0a4a26831bb36369fdbcdcdf30053ad5d93873d25efd4e2b69f9c031312f34a7", "vendor-calibration-not-flagged": "7cf1773035e1a964db37d0ab8e7de7ba1426ddd3bddbb7d222332bde59d864e7", "judged-axis-accuracy": "d2f3bad8a830bf88947002bd59e09a4849cf7cc140cf7bb5952f1939ed4d36e2", "judged-axis-coverage": "50b446b134599d148578212ebc78463a83e18d724585cf6752ef54b80a11deda", "turned-judged-axis-accuracy": "29000e0e10619dd09d61cab512123fc95b14ac717dd70b724990f56e766ad62b", "turn-3deg-flagged": "da5b88ff7be630f442177f0197802a9d65f6af2f69f8cf4a469223e6e733522d", "turn-3deg-never-judged-right": "ccfb62e35cea6c791ca33332669a2014f07d19bf7515804b404e89458ebca8f8", "turn-1deg-flagged": "66ef1aac7d1eab22c5f892434926beb465e139c338aaf9c0336d7c1fd2e3e992", "scored-drives-coverage": "45f5c2ba0cacb3d27a02241b910c98554fff3b1a295a905d897e648f1f62706e" }, "created_at": "2026-10-27T11:12:53.152096+00:00" } } }, { "protocol": "docs/assets/kitti_camera_lidar_v2/evaluation/kitti_camera_lidar_v2_sota_protocol.yaml", "protocol_sha256": "e0172d5aaaa6fd5589e7180a5b0d19197b29f63f8837f11ceaba67c5014fbc10", "archived_audit_sha256": "75d16dd511e29774c238326c95612144b7678acb0b749bf6dd7933e0653f920c", "verdict": "refuted", "matches_archive": true, "result": { "schema_version": "slac.sota_audit_result/v0.1", "audit_id": "kitti-camera-lidar-check-v2-audit", "protocol_id": "kitti-camera-lidar-check-v2", "scope": { "modalities": [ "camera", "lidar" ], "quantities": [ "rotation" ], "category": "targetless_camera_lidar_check" }, "claim_text": "On 18 KITTI raw drives of 2011_09_28, 2011_09_29, 2011_09_30 and 2011_10_03 that no Calibrex camera-LiDAR method had read, calibrex check --pairs camera-lidar on each drive's first 600 frames gives honest per-axis verdicts against that day's KITTI calibration (calib_velo_to_cam with the rectification of calib_cam_to_cam): it never flags that calibration (no warn or fail); every rotation axis it judges there (reported std at most 0.5 deg and its 2 deg known-bad control detected on held-out frames at t >= 2.5) is within 0.75 deg of it, and it judges at least 50 percent of the axes; started at that calibration with the camera turned 1 or 3 deg about one of its axes, every axis it judges is within 1.5 deg of the day's calibration; it flags a 3 deg turn about an axis it judged on the drive in at least 90 percent of the trials and never judges such a turned axis right; and it flags a 1 deg turn in at least 75 percent of the trials.", "verdict": "refuted", "achieved_dataset_families": [ "kitti_raw" ], "achieved_independent_rig_count": 1, "minimum_dataset_families": 1, "minimum_independent_rigs": 1, "requirements": [ { "requirement_id": "no-failed-drives", "required": true, "status": "achieved", "observed_value": 0.0, "threshold": 0.0, "reason": "observed 0 meets less_equal 0", "evidence_path": "/workspace/Calibrex/docs/assets/kitti_camera_lidar_v2/evaluation/kitti_camera_lidar_v2_drives_benchmark.yaml", "evidence_sha256": "6fcc39b6250c46e97b906c52c33e9ad373f0a4a498953a95075547e1ebb85120" }, { "requirement_id": "vendor-calibration-not-flagged", "required": true, "status": "achieved", "observed_value": 0.0, "threshold": 0.0, "reason": "observed 0 meets less_equal 0", "evidence_path": "/workspace/Calibrex/docs/assets/kitti_camera_lidar_v2/evaluation/kitti_camera_lidar_v2_baseline_benchmark.yaml", "evidence_sha256": "451309b6fcebbb35ae15aebb33b55bd28e7aa6c3f97364a11b3463df239e41a0" }, { "requirement_id": "judged-axis-accuracy", "required": true, "status": "achieved", "observed_value": 0.4499999999999897, "threshold": 0.75, "reason": "observed 0.45 meets less_equal 0.75", "evidence_path": "/workspace/Calibrex/docs/assets/kitti_camera_lidar_v2/evaluation/kitti_camera_lidar_v2_axes_benchmark.yaml", "evidence_sha256": "fe948dca79065e23bcbc86d346d214e84bafa3cf968c48b418113f04ed8ffe35" }, { "requirement_id": "judged-axis-coverage", "required": true, "status": "achieved", "observed_value": 0.6, "threshold": 1.5, "reason": "observed 0.6 meets less_equal 1.5", "evidence_path": "/workspace/Calibrex/docs/assets/kitti_camera_lidar_v2/evaluation/kitti_camera_lidar_v2_coverage_benchmark.yaml", "evidence_sha256": "795d7e5b468e8bc30ade366e0842b20f4565dc248100bcdffeefae7448947a36" }, { "requirement_id": "turned-judged-axis-accuracy", "required": true, "status": "contradicted", "observed_value": 1.502977473509024, "threshold": 1.5, "reason": "observed 1.50297747351 does not meet less_equal 1.5", "evidence_path": "/workspace/Calibrex/docs/assets/kitti_camera_lidar_v2/evaluation/kitti_camera_lidar_v2_turned_benchmark.yaml", "evidence_sha256": "3aa0486334209efd5b0bfc955cfc10c1e50aeb3b3ffcb0f79bd3ff1e09afec09" }, { "requirement_id": "turn-3deg-flagged", "required": true, "status": "achieved", "observed_value": 0.0, "threshold": 0.1, "reason": "observed 0 meets less_equal 0.1", "evidence_path": "/workspace/Calibrex/docs/assets/kitti_camera_lidar_v2/evaluation/kitti_camera_lidar_v2_turn3_benchmark.yaml", "evidence_sha256": "1e9b30ad17e496b13c7c206f9e038ada81062386ccbb0f39670e6584b7656301" }, { "requirement_id": "turn-3deg-never-judged-right", "required": true, "status": "achieved", "observed_value": 0.0, "threshold": 0.0, "reason": "observed 0 meets less_equal 0", "evidence_path": "/workspace/Calibrex/docs/assets/kitti_camera_lidar_v2/evaluation/kitti_camera_lidar_v2_turn3_judged_right_benchmark.yaml", "evidence_sha256": "dc8623b25dc1bddd723fb53ff4d615dc081b2096961c0ac81deddf4b89b36d0f" }, { "requirement_id": "turn-1deg-flagged", "required": true, "status": "achieved", "observed_value": 0.0, "threshold": 0.25, "reason": "observed 0 meets less_equal 0.25", "evidence_path": "/workspace/Calibrex/docs/assets/kitti_camera_lidar_v2/evaluation/kitti_camera_lidar_v2_turn1_benchmark.yaml", "evidence_sha256": "6b22bb0d75f615748285c29c218e0e753b7c812ad9ab6655856888b018b9ce1d" }, { "requirement_id": "scored-drives-coverage", "required": true, "status": "achieved", "observed_value": 0.16666666666666666, "threshold": 0.3333333333333333, "reason": "observed 0.166666666667 meets less_equal 0.333333333333", "evidence_path": "/workspace/Calibrex/docs/assets/kitti_camera_lidar_v2/evaluation/kitti_camera_lidar_v2_evaluation_benchmark.yaml", "evidence_sha256": "50bb6a145f3bde178980c6193adc2bd9c090c2668321b23b7f802a628b2fe986" } ], "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": "192858e4", "command": [ "python", "-m", "tools.sota_development_baseline" ], "source_sha256": { "protocol": "e0172d5aaaa6fd5589e7180a5b0d19197b29f63f8837f11ceaba67c5014fbc10", "no-failed-drives": "6fcc39b6250c46e97b906c52c33e9ad373f0a4a498953a95075547e1ebb85120", "vendor-calibration-not-flagged": "451309b6fcebbb35ae15aebb33b55bd28e7aa6c3f97364a11b3463df239e41a0", "judged-axis-accuracy": "fe948dca79065e23bcbc86d346d214e84bafa3cf968c48b418113f04ed8ffe35", "judged-axis-coverage": "795d7e5b468e8bc30ade366e0842b20f4565dc248100bcdffeefae7448947a36", "turned-judged-axis-accuracy": "3aa0486334209efd5b0bfc955cfc10c1e50aeb3b3ffcb0f79bd3ff1e09afec09", "turn-3deg-flagged": "1e9b30ad17e496b13c7c206f9e038ada81062386ccbb0f39670e6584b7656301", "turn-3deg-never-judged-right": "dc8623b25dc1bddd723fb53ff4d615dc081b2096961c0ac81deddf4b89b36d0f", "turn-1deg-flagged": "6b22bb0d75f615748285c29c218e0e753b7c812ad9ab6655856888b018b9ce1d", "scored-drives-coverage": "50bb6a145f3bde178980c6193adc2bd9c090c2668321b23b7f802a628b2fe986" }, "created_at": "2026-10-27T11:12:53.235820+00:00" } } }, { "protocol": "docs/assets/kitti_lidar_vehicle_sota_protocol.yaml", "protocol_sha256": "f3271eb9e577f0bcf352b6ac85cef69cc5fb56fce87a50f56064ca17c1baf539", "archived_audit_sha256": "455654ab6e5e6577d0947ea3d0a765e665dba693723c808dac2f4f00eaf946bd", "verdict": "supported", "matches_archive": true, "result": { "schema_version": "slac.sota_audit_result/v0.1", "audit_id": "kitti-lidar-vehicle-v1-audit", "protocol_id": "kitti-lidar-vehicle-v1", "scope": { "modalities": [ "lidar", "vehicle" ], "quantities": [ "rotation" ], "category": "targetless_lidar_vehicle" }, "claim_text": "On eight KITTI raw drives not used to develop the method, Calibrex's motion-only LiDAR-to-vehicle rotation fits held-out LiDAR motion at least as well as KITTI's calib_imu_to_velo, and its pitch and yaw agree with an independent vehicle frame from the OXTS body-frame velocities.", "verdict": "supported", "achieved_dataset_families": [ "kitti_raw" ], "achieved_independent_rig_count": 1, "minimum_dataset_families": 1, "minimum_independent_rigs": 1, "requirements": [ { "requirement_id": "calibrex-estimate", "required": true, "status": "achieved", "observed_value": 0.0, "threshold": 0.0, "reason": "observed 0 meets less_equal 0", "evidence_path": "/workspace/Calibrex/docs/assets/kitti_lidar_vehicle_holdout_benchmark.yaml", "evidence_sha256": "3584c7139bbc0b525555be16b1d0c7bf90a5b118c4568c939a2652be5af7a2a6" }, { "requirement_id": "calibrex-not-worse-than-vendor", "required": true, "status": "achieved", "observed_value": 0.05139668308145251, "threshold": 0.0, "reason": "observed 0.0513966830815 meets greater_equal 0", "evidence_path": "/workspace/Calibrex/docs/assets/kitti_lidar_vehicle_holdout_benchmark.yaml", "evidence_sha256": "3584c7139bbc0b525555be16b1d0c7bf90a5b118c4568c939a2652be5af7a2a6" }, { "requirement_id": "calibrex-agrees-with-oxts-motion-frame", "required": true, "status": "achieved", "observed_value": 0.2140407686913039, "threshold": 0.5, "reason": "observed 0.214040768691 meets less_equal 0.5", "evidence_path": "/workspace/Calibrex/docs/assets/kitti_lidar_vehicle_agreement_benchmark.yaml", "evidence_sha256": "f9fffab9e5e806c3c06ee15ea36bf85b48fe9bc6bf2862ad3401dc36fa64304f" } ], "summary": "Every frozen required gate and declared dataset/rig coverage criterion is achieved.", "provenance": { "generator": "calibrex.evaluation.sota_audit", "generator_version": "0.5.1", "git_commit": "192858e4", "command": [ "python", "-m", "tools.sota_development_baseline" ], "source_sha256": { "protocol": "f3271eb9e577f0bcf352b6ac85cef69cc5fb56fce87a50f56064ca17c1baf539", "calibrex-estimate": "3584c7139bbc0b525555be16b1d0c7bf90a5b118c4568c939a2652be5af7a2a6", "calibrex-not-worse-than-vendor": "3584c7139bbc0b525555be16b1d0c7bf90a5b118c4568c939a2652be5af7a2a6", "calibrex-agrees-with-oxts-motion-frame": "f9fffab9e5e806c3c06ee15ea36bf85b48fe9bc6bf2862ad3401dc36fa64304f" }, "created_at": "2026-10-27T11:12:53.244298+00:00" } } }, { "protocol": "docs/assets/mid360_imu_lidar_extrinsic_sota_protocol.yaml", "protocol_sha256": "cea6c8a5cf66480a48db16558f0a2549fac54c629f7213163f8365ec9d95b221", "archived_audit_sha256": "0cace2d3326c609437976b86a21c4f0ec235e03803ebaaee097b8622be7f0ab3", "verdict": "refuted", "matches_archive": true, "result": { "schema_version": "slac.sota_audit_result/v0.1", "audit_id": "mid360-imu-lidar-extrinsic-vs-li-init-v1-audit", "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": "/workspace/Calibrex/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", "observed_value": null, "threshold": 0.0, "reason": "declared benchmark statistic has no finite value", "evidence_path": "/workspace/Calibrex/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", "observed_value": null, "threshold": 0.0, "reason": "declared benchmark statistic has no finite value", "evidence_path": "/workspace/Calibrex/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", "observed_value": null, "threshold": 0.01, "reason": "declared benchmark statistic has no finite value", "evidence_path": "/workspace/Calibrex/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": "/workspace/Calibrex/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", "observed_value": null, "threshold": 0.0, "reason": "declared benchmark statistic has no finite value", "evidence_path": "/workspace/Calibrex/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", "observed_value": null, "threshold": 0.0, "reason": "declared benchmark statistic has no finite value", "evidence_path": "/workspace/Calibrex/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", "observed_value": null, "threshold": 0.01, "reason": "declared benchmark statistic has no finite value", "evidence_path": "/workspace/Calibrex/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": "0.5.1", "git_commit": "192858e4", "command": [ "python", "-m", "tools.sota_development_baseline" ], "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": "2026-10-27T11:12:53.328136+00:00" } } }, { "protocol": "docs/assets/mid360_imu_lidar_extrinsic_v2_sota_protocol.yaml", "protocol_sha256": "d6c722a188c33f8cb3db97c16102432bdb98bbcc8d6cd1d2c8eccfe16252c8ca", "archived_audit_sha256": "73c58cd9b50def247d1f6f853bb98a8debd7c9b83021606a44b37926d6935551", "verdict": "supported", "matches_archive": true, "result": { "schema_version": "slac.sota_audit_result/v0.1", "audit_id": "mid360-imu-lidar-extrinsic-vs-li-init-v2-audit", "protocol_id": "mid360-imu-lidar-extrinsic-vs-li-init-v2", "scope": { "modalities": [ "imu", "lidar" ], "quantities": [ "rotation", "translation", "time_offset" ], "category": "targetless_imu_lidar" }, "claim_text": "On a hand-held MID360 recording of the RTK-SLAM dataset not used to develop the method (construction_seq2), Calibrex's full IMU-LiDAR extrinsic with the per-segment-gravity lever arm predicts held-out accelerometer-integrated motion at least as well as LI-Init's, and so does its lever arm alone.", "verdict": "supported", "achieved_dataset_families": [ "rtk_slam" ], "achieved_independent_rig_count": 1, "minimum_dataset_families": 1, "minimum_independent_rigs": 1, "requirements": [ { "requirement_id": "calibrex-estimate-construction_seq2", "required": true, "status": "achieved", "observed_value": 0.0, "threshold": 0.0, "reason": "observed 0 meets less_equal 0", "evidence_path": "/workspace/Calibrex/docs/assets/mid360_imu_lidar_v2_extrinsic_benchmark_construction_seq2.yaml", "evidence_sha256": "12084dff08070515ef350302d2b0f29c63d0aaec3d66294392ec910f6c1eca66" }, { "requirement_id": "calibrex-extrinsic-not-worse-than-li-init-construction_seq2", "required": true, "status": "achieved", "observed_value": 0.0027927326407683954, "threshold": 0.0, "reason": "observed 0.00279273264077 meets greater_equal 0", "evidence_path": "/workspace/Calibrex/docs/assets/mid360_imu_lidar_v2_extrinsic_benchmark_construction_seq2.yaml", "evidence_sha256": "12084dff08070515ef350302d2b0f29c63d0aaec3d66294392ec910f6c1eca66" }, { "requirement_id": "calibrex-lever-arm-not-worse-than-li-init-construction_seq2", "required": true, "status": "achieved", "observed_value": 0.002868133627307369, "threshold": 0.0, "reason": "observed 0.00286813362731 meets greater_equal 0", "evidence_path": "/workspace/Calibrex/docs/assets/mid360_imu_lidar_v2_lever_arm_benchmark_construction_seq2.yaml", "evidence_sha256": "4645d99fba8c599d5a01c9a559b8f89017d14f23f7157ca8e74f06d374c51db1" }, { "requirement_id": "calibrex-absolute-fit-construction_seq2", "required": true, "status": "achieved", "observed_value": 0.004335139498667868, "threshold": 0.01, "reason": "observed 0.00433513949867 meets less_equal 0.01", "evidence_path": "/workspace/Calibrex/docs/assets/mid360_imu_lidar_v2_extrinsic_benchmark_construction_seq2.yaml", "evidence_sha256": "12084dff08070515ef350302d2b0f29c63d0aaec3d66294392ec910f6c1eca66" } ], "summary": "Every frozen required gate and declared dataset/rig coverage criterion is achieved.", "provenance": { "generator": "calibrex.evaluation.sota_audit", "generator_version": "0.5.1", "git_commit": "192858e4", "command": [ "python", "-m", "tools.sota_development_baseline" ], "source_sha256": { "protocol": "d6c722a188c33f8cb3db97c16102432bdb98bbcc8d6cd1d2c8eccfe16252c8ca", "calibrex-estimate-construction_seq2": "12084dff08070515ef350302d2b0f29c63d0aaec3d66294392ec910f6c1eca66", "calibrex-extrinsic-not-worse-than-li-init-construction_seq2": "12084dff08070515ef350302d2b0f29c63d0aaec3d66294392ec910f6c1eca66", "calibrex-lever-arm-not-worse-than-li-init-construction_seq2": "4645d99fba8c599d5a01c9a559b8f89017d14f23f7157ca8e74f06d374c51db1", "calibrex-absolute-fit-construction_seq2": "12084dff08070515ef350302d2b0f29c63d0aaec3d66294392ec910f6c1eca66" }, "created_at": "2026-10-27T11:12:53.352400+00:00" } } }, { "protocol": "docs/assets/mid360_imu_lidar_sota_protocol.yaml", "protocol_sha256": "9ea63b70dec29c5092f5c2ceca7d605cb71ab111c0385d0aebd692e48e9e7776", "archived_audit_sha256": "6ca87c293c130a56cfa58bf58d96c36f68ba6af6a7896fb188dac4474509cc6c", "verdict": "supported", "matches_archive": true, "result": { "schema_version": "slac.sota_audit_result/v0.1", "audit_id": "mid360-imu-lidar-rotation-vs-li-init-v1-audit", "protocol_id": "mid360-imu-lidar-rotation-vs-li-init-v1", "scope": { "modalities": [ "imu", "lidar" ], "quantities": [ "rotation", "time_offset" ], "category": "targetless_imu_lidar" }, "claim_text": "On two MID360 recordings from two dataset families, Calibrex's IMU-LiDAR rotation calibration fits held-out data at least as well as LI-Init, and returns an estimate wherever LI-Init returns one.", "verdict": "supported", "achieved_dataset_families": [ "rtk_slam", "zenodo_driving_slam_mid360" ], "achieved_independent_rig_count": 2, "minimum_dataset_families": 2, "minimum_independent_rigs": 2, "requirements": [ { "requirement_id": "calibrex-estimate-rtk-slam", "required": true, "status": "achieved", "observed_value": 0.0, "threshold": 0.0, "reason": "observed 0 meets less_equal 0", "evidence_path": "/workspace/Calibrex/docs/assets/mid360_imu_lidar_benchmark_rtk_slam.yaml", "evidence_sha256": "8d020632cad81184d0a5558abdf61a3206db6faf8c9fa3b980e9ce50e9132284" }, { "requirement_id": "calibrex-estimate-driving", "required": true, "status": "achieved", "observed_value": 0.0, "threshold": 0.0, "reason": "observed 0 meets less_equal 0", "evidence_path": "/workspace/Calibrex/docs/assets/mid360_imu_lidar_benchmark_zenodo_driving_slam_mid360.yaml", "evidence_sha256": "f7b625326d483caad5a484295152560c79d8416df39f46b1b191e64eaa2ce0b2" }, { "requirement_id": "calibrex-not-worse-than-li-init-rtk-slam", "required": true, "status": "achieved", "observed_value": 0.0895228264477501, "threshold": 0.0, "reason": "observed 0.0895228264478 meets greater_equal 0", "evidence_path": "/workspace/Calibrex/docs/assets/mid360_imu_lidar_benchmark_rtk_slam.yaml", "evidence_sha256": "8d020632cad81184d0a5558abdf61a3206db6faf8c9fa3b980e9ce50e9132284" }, { "requirement_id": "calibrex-absolute-fit-rtk-slam", "required": true, "status": "achieved", "observed_value": 0.01234189527702387, "threshold": 0.02, "reason": "observed 0.012341895277 meets less_equal 0.02", "evidence_path": "/workspace/Calibrex/docs/assets/mid360_imu_lidar_benchmark_rtk_slam.yaml", "evidence_sha256": "8d020632cad81184d0a5558abdf61a3206db6faf8c9fa3b980e9ce50e9132284" } ], "summary": "Every frozen required gate and declared dataset/rig coverage criterion is achieved.", "provenance": { "generator": "calibrex.evaluation.sota_audit", "generator_version": "0.5.1", "git_commit": "192858e4", "command": [ "python", "-m", "tools.sota_development_baseline" ], "source_sha256": { "protocol": "9ea63b70dec29c5092f5c2ceca7d605cb71ab111c0385d0aebd692e48e9e7776", "calibrex-estimate-rtk-slam": "8d020632cad81184d0a5558abdf61a3206db6faf8c9fa3b980e9ce50e9132284", "calibrex-estimate-driving": "f7b625326d483caad5a484295152560c79d8416df39f46b1b191e64eaa2ce0b2", "calibrex-not-worse-than-li-init-rtk-slam": "8d020632cad81184d0a5558abdf61a3206db6faf8c9fa3b980e9ce50e9132284", "calibrex-absolute-fit-rtk-slam": "8d020632cad81184d0a5558abdf61a3206db6faf8c9fa3b980e9ce50e9132284" }, "created_at": "2026-10-27T11:12:53.381057+00:00" } } }, { "protocol": "docs/assets/ntu_viral_lidar_lidar_sota_protocol.yaml", "protocol_sha256": "4a19b3f92068439043c2371b894f189e677a3ab106431f66c8f0459225eb166a", "archived_audit_sha256": "a8ad575e568e7cf6e63040487a156e640b8e3b041ff1b94c665aa2b8b220216c", "verdict": "refuted", "matches_archive": true, "result": { "schema_version": "slac.sota_audit_result/v0.1", "audit_id": "ntu-lidar-lidar-v1-audit", "protocol_id": "ntu-lidar-lidar-v1", "scope": { "modalities": [ "lidar", "lidar" ], "quantities": [ "rotation", "translation" ], "category": "targetless_lidar_lidar" }, "claim_text": "On three NTU VIRAL recordings not used to develop the method, Calibrex's LiDAR-LiDAR extrinsic is accurate against the dataset's design value and reproduces across recordings.", "verdict": "refuted", "achieved_dataset_families": [ "ntu_viral" ], "achieved_independent_rig_count": 1, "minimum_dataset_families": 1, "minimum_independent_rigs": 1, "requirements": [ { "requirement_id": "calibrex-rotation-vs-design", "required": true, "status": "achieved", "observed_value": 0.48941320796430315, "threshold": 1.0, "reason": "observed 0.489413207964 meets less_equal 1", "evidence_path": "/workspace/Calibrex/docs/assets/ntu_viral_lidar_lidar_accuracy_benchmark.yaml", "evidence_sha256": "a98047928eb762d93c5e67911019b6d7dcfabc8e9bb56b80e7b327014a48d4f4" }, { "requirement_id": "calibrex-translation-vs-design", "required": true, "status": "achieved", "observed_value": 0.07743372340834102, "threshold": 0.1, "reason": "observed 0.0774337234083 meets less_equal 0.1", "evidence_path": "/workspace/Calibrex/docs/assets/ntu_viral_lidar_lidar_accuracy_benchmark.yaml", "evidence_sha256": "a98047928eb762d93c5e67911019b6d7dcfabc8e9bb56b80e7b327014a48d4f4" }, { "requirement_id": "calibrex-not-worse-than-scan-to-scan", "required": true, "status": "contradicted", "observed_value": -0.004785398562469202, "threshold": 0.0, "reason": "observed -0.00478539856247 does not meet greater_equal 0", "evidence_path": "/workspace/Calibrex/docs/assets/ntu_viral_lidar_lidar_holdout_benchmark.yaml", "evidence_sha256": "95ab069a92836e6f7938d50da10b43204c3c9f46aa0410c1a525312f5a192121" }, { "requirement_id": "calibrex-cross-recording-consistency", "required": true, "status": "contradicted", "observed_value": 1.1433287314440082, "threshold": 1.0, "reason": "observed 1.14332873144 does not meet less_equal 1", "evidence_path": "/workspace/Calibrex/docs/assets/ntu_viral_lidar_lidar_consistency_benchmark.yaml", "evidence_sha256": "723af6a1d8bec3e914354ba8e747c973ab330e67c644e545ac3a90fd83710ec9" } ], "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": "192858e4", "command": [ "python", "-m", "tools.sota_development_baseline" ], "source_sha256": { "protocol": "4a19b3f92068439043c2371b894f189e677a3ab106431f66c8f0459225eb166a", "calibrex-rotation-vs-design": "a98047928eb762d93c5e67911019b6d7dcfabc8e9bb56b80e7b327014a48d4f4", "calibrex-translation-vs-design": "a98047928eb762d93c5e67911019b6d7dcfabc8e9bb56b80e7b327014a48d4f4", "calibrex-not-worse-than-scan-to-scan": "95ab069a92836e6f7938d50da10b43204c3c9f46aa0410c1a525312f5a192121", "calibrex-cross-recording-consistency": "723af6a1d8bec3e914354ba8e747c973ab330e67c644e545ac3a90fd83710ec9" }, "created_at": "2026-10-27T11:12:53.402918+00:00" } } } ], "camera_lidar_inputs": [ { "snapshot": "docs/assets/kitti_camera_lidar_v3/native_development_20110928_0002/attempt_1/capture/baseline/snapshot.json", "snapshot_sha256": "723c83dfd219e4ddfc0cd063ec10e030dfba2ac067ddd43a05e099b5bb6bfdb9", "drive": "2011_09_28_0002", "run": "baseline", "expected_arrays_sha256": "95510885b3aa1b3c2978b379bc1bc02cdbdea79e8e4453cee00b5ce2a953d285", "arrays_present_beside_snapshot": false }, { "snapshot": "docs/assets/kitti_camera_lidar_v3/native_development_20110928_0002/attempt_1/capture/inject_x+1/snapshot.json", "snapshot_sha256": "472b38accaa39393d63acc1375f0b87f58c4707d0375aff533c61418d7f76dce", "drive": "2011_09_28_0002", "run": "inject_x+1", "expected_arrays_sha256": "4ce2eb5ee9572a2273ba72a6d85725528521fa61c04fc7d68808a2b19bd4f260", "arrays_present_beside_snapshot": false }, { "snapshot": "docs/assets/kitti_camera_lidar_v3/native_development_20110928_0002/attempt_1/capture/inject_x+3/snapshot.json", "snapshot_sha256": "86ac87dead77a710a19080b1370e2e361d41d4dae8036daa6475ced299ba76b9", "drive": "2011_09_28_0002", "run": "inject_x+3", "expected_arrays_sha256": "e56b316e4728c384c2409ea9000edf0241234f89f7bff746d2f5c757e97ecaad", "arrays_present_beside_snapshot": false }, { "snapshot": "docs/assets/kitti_camera_lidar_v3/native_development_20110928_0002/attempt_1/capture/inject_y+1/snapshot.json", "snapshot_sha256": "fb43d6a13a57c071fb95990f0e48331b988feea6dc12c21c28367b6e231a51ed", "drive": "2011_09_28_0002", "run": "inject_y+1", "expected_arrays_sha256": "7a46a8e6f9323e19a976cf1ff4b0b422ac9e1f8c87193721bfe40d9c0a0b08dc", "arrays_present_beside_snapshot": false }, { "snapshot": "docs/assets/kitti_camera_lidar_v3/native_development_20110928_0002/attempt_1/capture/inject_y+3/snapshot.json", "snapshot_sha256": "d074836428ff6cbc1e638d3e4dac77f2f0429948c498cf213ae5c292bc7633bb", "drive": "2011_09_28_0002", "run": "inject_y+3", "expected_arrays_sha256": "706d68c395d33218e7ae7cb775ba1c24c26aacf341d66ee3894cbd355eb085b5", "arrays_present_beside_snapshot": false }, { "snapshot": "docs/assets/kitti_camera_lidar_v3/native_development_20110928_0002/attempt_1/capture/inject_z+1/snapshot.json", "snapshot_sha256": "723e0c2ca7ea3b07cb68ac4e7ae428d9a7ce3b9c9b5e332bc6f40d964caec350", "drive": "2011_09_28_0002", "run": "inject_z+1", "expected_arrays_sha256": "8f6d4abfa7b68d2aac58513e51c32f978d41e034ea75632566d47de35b09d348", "arrays_present_beside_snapshot": false }, { "snapshot": "docs/assets/kitti_camera_lidar_v3/native_development_20110928_0002/attempt_1/capture/inject_z+3/snapshot.json", "snapshot_sha256": "460f1c1a79604cc830e00d59d0e9ecbc792eedd5f3de7af115df0c37b02f7cfa", "drive": "2011_09_28_0002", "run": "inject_z+3", "expected_arrays_sha256": "91e827d29af351b034b932557193a701b695ad9dff72ebe670ef8592f4ef495c", "arrays_present_beside_snapshot": false }, { "snapshot": "docs/assets/kitti_camera_lidar_v3/native_pilot_0005/attempt_2/capture/baseline/snapshot.json", "snapshot_sha256": "a3832f48aed212974ec7d422d88e6a46ca358b1a2210a3cf97e882850ba65a9f", "drive": "2011_09_26_0005", "run": "baseline", "expected_arrays_sha256": "aad97d8a4b56ee08dee1ea5d30cf5548e153e21972730919d99281f745e3fa62", "arrays_present_beside_snapshot": false }, { "snapshot": "docs/assets/kitti_camera_lidar_v3/native_pilot_0005/attempt_2/capture/inject_x+1/snapshot.json", "snapshot_sha256": "e3ccb907f16e82b6ada654d778599298a38b16437aaa1e833dde38b660e7b6d5", "drive": "2011_09_26_0005", "run": "inject_x+1", "expected_arrays_sha256": "630a38172cb3a205e8d4eb3cbdc15d23737e44c330ee949a31f9235607afbdea", "arrays_present_beside_snapshot": false }, { "snapshot": "docs/assets/kitti_camera_lidar_v3/native_pilot_0005/attempt_2/capture/inject_x+3/snapshot.json", "snapshot_sha256": "915765a94f452ca93b9d47638bb4cb6335912b70f69de710396344327c874b2d", "drive": "2011_09_26_0005", "run": "inject_x+3", "expected_arrays_sha256": "4ad0d97bd99d985cc22d33ee8f95e76be2b3bc90b01e7f64955cff535d601b87", "arrays_present_beside_snapshot": false }, { "snapshot": "docs/assets/kitti_camera_lidar_v3/native_pilot_0005/attempt_2/capture/inject_y+1/snapshot.json", "snapshot_sha256": "21db5b9c60459a3a29ab7f249b1b437819ce82f4d73f71d828730d6939bdff13", "drive": "2011_09_26_0005", "run": "inject_y+1", "expected_arrays_sha256": "ddb839a1c7d52bd210ab6a449c72b2670082a643fcd203619791842417498229", "arrays_present_beside_snapshot": false }, { "snapshot": "docs/assets/kitti_camera_lidar_v3/native_pilot_0005/attempt_2/capture/inject_y+3/snapshot.json", "snapshot_sha256": "697ed62c4923d45f97ef5c863986d1b949899e3c22aad3b17ade0347ac68792a", "drive": "2011_09_26_0005", "run": "inject_y+3", "expected_arrays_sha256": "a89f932ca9a8170f27838d8895bf5e954b93e81df909467c51b3dab10fc9a756", "arrays_present_beside_snapshot": false }, { "snapshot": "docs/assets/kitti_camera_lidar_v3/native_pilot_0005/attempt_2/capture/inject_z+1/snapshot.json", "snapshot_sha256": "a984d2e7e7547c4f59651dbac53cadc523a3a416ab7bdd10ab9bb2bb30f51768", "drive": "2011_09_26_0005", "run": "inject_z+1", "expected_arrays_sha256": "b99200a4fd26f26e044330646cd851d9d625a030d840a6f22961329f0cae3fe3", "arrays_present_beside_snapshot": false }, { "snapshot": "docs/assets/kitti_camera_lidar_v3/native_pilot_0005/attempt_2/capture/inject_z+3/snapshot.json", "snapshot_sha256": "775cd3c4bad90fef7cfa246116be7b390fc45c74df358868b4ed74bb94b4cd75", "drive": "2011_09_26_0005", "run": "inject_z+3", "expected_arrays_sha256": "539693af8209f1fae186d26b8c817775fa5dfa1f2b6dec4cd9e329ad050ddffb", "arrays_present_beside_snapshot": false } ], "limitations": [ "Replays archived benchmark scores; does not rerun sensor calibration.", "Supported is scoped to each frozen claim; not universal superiority.", "An available arrays path is not a digest/shape check; use load_snapshot before fitting.", "No new held-out data, audit thresholds, verdicts or estimator defaults are changed." ] }