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+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_124_15",
+  "reference_fps": 16,
+  "reference_frames": 61,
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+  "container_duration_s": 3.8125,
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+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
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+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "I",
+    "A",
+    "K"
+  ],
+  "segments": [
+    {
+      "key": "I",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
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+    {
+      "key": "A",
+      "start_frame": 16,
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+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
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+    {
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+      "start_s": 2,
+      "end_s": 3,
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+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 13,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look up, walk left, look down.",
+  "camera_motion_caption_zh": "向上看，向左走，向下看。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.45,
+  "max_rotation_deg": 9.999999999999998,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
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+}
diff --git a/trajectories/random_v2/real_124_15_f61/trajectory_caption.txt b/trajectories/random_v2/real_124_15_f61/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..19d9f81ced4517e8580f57bbbf961ba195a603fb
--- /dev/null
+++ b/trajectories/random_v2/real_124_15_f61/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look up, walk left, look down.
+向上看，向左走，向下看。
diff --git a/trajectories/random_v2/real_124_15_f81/action_sequence.json b/trajectories/random_v2/real_124_15_f81/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9383ec4555f814a28cb9d3dbaab1d5ba235a389
--- /dev/null
+++ b/trajectories/random_v2/real_124_15_f81/action_sequence.json
@@ -0,0 +1,202 @@
+{
+  "trajectory_id": "rand_real_124_15_f81",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_124_15",
+  "reference_fps": 16,
+  "reference_frames": 81,
+  "frame_pts_s": [
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+    0.125,
+    0.1875,
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+  ],
+  "container_duration_s": 5.0625,
+  "pts_span_s": 5.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "I",
+    "A",
+    "K",
+    "K",
+    "J"
+  ],
+  "segments": [
+    {
+      "key": "I",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "A",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look up, walk left, look down, look down, turn left.",
+  "camera_motion_caption_zh": "向上看，向左走，向下看，向下看，向左转。",
+  "net_yaw_deg": -15.0,
+  "max_translation_nominal_m": 0.45,
+  "max_rotation_deg": 18.011882178082473,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_124_15_f81/camera_poses.json b/trajectories/random_v2/real_124_15_f81/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..be3b1b6393010fdf6daf6ee7de05f2451ee36b08
--- /dev/null
+++ b/trajectories/random_v2/real_124_15_f81/camera_poses.json
@@ -0,0 +1,4218 @@
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+}
diff --git a/trajectories/random_v2/real_124_15_f81/trajectory_caption.txt b/trajectories/random_v2/real_124_15_f81/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ef24d1b124f34f47a21463719cf8b98b07599767
--- /dev/null
+++ b/trajectories/random_v2/real_124_15_f81/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look up, walk left, look down, look down, turn left.
+向上看，向左走，向下看，向下看，向左转。
diff --git a/trajectories/random_v2/real_124_15_f83/action_sequence.json b/trajectories/random_v2/real_124_15_f83/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..f88c3f2bd432f290d22ee098ec1bd4de65c98b94
--- /dev/null
+++ b/trajectories/random_v2/real_124_15_f83/action_sequence.json
@@ -0,0 +1,204 @@
+{
+  "trajectory_id": "rand_real_124_15_f83",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_124_15",
+  "reference_fps": 16,
+  "reference_frames": 83,
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+  "container_duration_s": 5.1875,
+  "pts_span_s": 5.125,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "I",
+    "A",
+    "K",
+    "K",
+    "J"
+  ],
+  "segments": [
+    {
+      "key": "I",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "A",
+      "start_frame": 16,
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+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 3,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look up, walk left, look down, look down, turn left.",
+  "camera_motion_caption_zh": "向上看，向左走，向下看，向下看，向左转。",
+  "net_yaw_deg": -15.0,
+  "max_translation_nominal_m": 0.45,
+  "max_rotation_deg": 18.011882178082473,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_124_15_f83/camera_poses.json b/trajectories/random_v2/real_124_15_f83/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..76c01a6a90e7dc9f4bd00784b839c29ca2ba3e50
--- /dev/null
+++ b/trajectories/random_v2/real_124_15_f83/camera_poses.json
@@ -0,0 +1,4322 @@
+{
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+}
diff --git a/trajectories/random_v2/real_124_15_f83/trajectory_caption.txt b/trajectories/random_v2/real_124_15_f83/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ef24d1b124f34f47a21463719cf8b98b07599767
--- /dev/null
+++ b/trajectories/random_v2/real_124_15_f83/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look up, walk left, look down, look down, turn left.
+向上看，向左走，向下看，向下看，向左转。
diff --git a/trajectories/random_v2/real_124_16_f15/action_sequence.json b/trajectories/random_v2/real_124_16_f15/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..02de4abf41530e701a778c2c6e6de9f7e5413958
--- /dev/null
+++ b/trajectories/random_v2/real_124_16_f15/action_sequence.json
@@ -0,0 +1,84 @@
+{
+  "trajectory_id": "rand_real_124_16_f15",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_124_16",
+  "reference_fps": 16,
+  "reference_frames": 15,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
+    0.125,
+    0.1875,
+    0.25,
+    0.3125,
+    0.375,
+    0.4375,
+    0.5,
+    0.5625,
+    0.625,
+    0.6875,
+    0.75,
+    0.8125,
+    0.875
+  ],
+  "container_duration_s": 0.9375,
+  "pts_span_s": 0.875,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [],
+  "segments": [],
+  "remainder_hold_frames": 15,
+  "zero_action": true,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Stay still.",
+  "camera_motion_caption_zh": "保持不动。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 0.0,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_124_16_f15/camera_poses.json b/trajectories/random_v2/real_124_16_f15/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..89892eae7bf06f00ebee0bb60c081b5087e22af6
--- /dev/null
+++ b/trajectories/random_v2/real_124_16_f15/camera_poses.json
@@ -0,0 +1,786 @@
+{
+  "canonical_c2w": [
+    [
+      [
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+        0.0,
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+  ],
+  "opencv_c2w_wiw_units": [
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+    [
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+      [
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+      [
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+    ],
+    [
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+      [
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+      [
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+        1.0,
+        0.0
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+      [
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+        0.0,
+        1.0
+      ]
+    ]
+  ]
+}
diff --git a/trajectories/random_v2/real_124_16_f15/trajectory_caption.txt b/trajectories/random_v2/real_124_16_f15/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9971208d2581b3c605469d863ca8aa7e2497c20a
--- /dev/null
+++ b/trajectories/random_v2/real_124_16_f15/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Stay still.
+保持不动。
diff --git a/trajectories/random_v2/real_124_16_f29/action_sequence.json b/trajectories/random_v2/real_124_16_f29/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b41792eb567e749bdc68e859abb5997298b81f7
--- /dev/null
+++ b/trajectories/random_v2/real_124_16_f29/action_sequence.json
@@ -0,0 +1,110 @@
+{
+  "trajectory_id": "rand_real_124_16_f29",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_124_16",
+  "reference_fps": 16,
+  "reference_frames": 29,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
+    0.125,
+    0.1875,
+    0.25,
+    0.3125,
+    0.375,
+    0.4375,
+    0.5,
+    0.5625,
+    0.625,
+    0.6875,
+    0.75,
+    0.8125,
+    0.875,
+    0.9375,
+    1.0,
+    1.0625,
+    1.125,
+    1.1875,
+    1.25,
+    1.3125,
+    1.375,
+    1.4375,
+    1.5,
+    1.5625,
+    1.625,
+    1.6875,
+    1.75
+  ],
+  "container_duration_s": 1.8125,
+  "pts_span_s": 1.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "I"
+  ],
+  "segments": [
+    {
+      "key": "I",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 13,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look up.",
+  "camera_motion_caption_zh": "向上看。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 9.999999999999998,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_124_16_f29/camera_poses.json b/trajectories/random_v2/real_124_16_f29/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1dccc05b9858b371736bec3cb0f06a9466203b1
--- /dev/null
+++ b/trajectories/random_v2/real_124_16_f29/camera_poses.json
@@ -0,0 +1,1514 @@
+{
+  "canonical_c2w": [
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
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+    [
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+        0.9999975276274256,
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+    [
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+}
diff --git a/trajectories/random_v2/real_124_16_f29/trajectory_caption.txt b/trajectories/random_v2/real_124_16_f29/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b1d07f14b915daf3b3826d669459d4aecc2e77c6
--- /dev/null
+++ b/trajectories/random_v2/real_124_16_f29/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look up.
+向上看。
diff --git a/trajectories/random_v2/real_124_16_f49/action_sequence.json b/trajectories/random_v2/real_124_16_f49/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..71331e5740a27617872079a7c14433212f1ad86a
--- /dev/null
+++ b/trajectories/random_v2/real_124_16_f49/action_sequence.json
@@ -0,0 +1,150 @@
+{
+  "trajectory_id": "rand_real_124_16_f49",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_124_16",
+  "reference_fps": 16,
+  "reference_frames": 49,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
+    0.125,
+    0.1875,
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+    1.0,
+    1.0625,
+    1.125,
+    1.1875,
+    1.25,
+    1.3125,
+    1.375,
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+    1.5,
+    1.5625,
+    1.625,
+    1.6875,
+    1.75,
+    1.8125,
+    1.875,
+    1.9375,
+    2.0,
+    2.0625,
+    2.125,
+    2.1875,
+    2.25,
+    2.3125,
+    2.375,
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+    2.5,
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+    2.625,
+    2.6875,
+    2.75,
+    2.8125,
+    2.875,
+    2.9375,
+    3.0
+  ],
+  "container_duration_s": 3.0625,
+  "pts_span_s": 3.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "I",
+    "J",
+    "K"
+  ],
+  "segments": [
+    {
+      "key": "I",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look up, turn left, look down.",
+  "camera_motion_caption_zh": "向上看，向左转，向下看。",
+  "net_yaw_deg": -15.0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 18.011882178082473,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_124_16_f49/camera_poses.json b/trajectories/random_v2/real_124_16_f49/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..a47d76552caaa4aac1bf8098c0f8906a5e8aa90c
--- /dev/null
+++ b/trajectories/random_v2/real_124_16_f49/camera_poses.json
@@ -0,0 +1,2554 @@
+{
+  "canonical_c2w": [
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+}
diff --git a/trajectories/random_v2/real_124_16_f49/trajectory_caption.txt b/trajectories/random_v2/real_124_16_f49/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4d68a96c6c3e00e3257df4552a82d5a1f0cc611f
--- /dev/null
+++ b/trajectories/random_v2/real_124_16_f49/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look up, turn left, look down.
+向上看，向左转，向下看。
diff --git a/trajectories/random_v2/real_124_16_f61/action_sequence.json b/trajectories/random_v2/real_124_16_f61/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..8bb1f31cf697b73019b4125f2ee56dc7a550baa3
--- /dev/null
+++ b/trajectories/random_v2/real_124_16_f61/action_sequence.json
@@ -0,0 +1,162 @@
+{
+  "trajectory_id": "rand_real_124_16_f61",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_124_16",
+  "reference_fps": 16,
+  "reference_frames": 61,
+  "frame_pts_s": [
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+  ],
+  "container_duration_s": 3.8125,
+  "pts_span_s": 3.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "I",
+    "J",
+    "K"
+  ],
+  "segments": [
+    {
+      "key": "I",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 13,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look up, turn left, look down.",
+  "camera_motion_caption_zh": "向上看，向左转，向下看。",
+  "net_yaw_deg": -15.0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 18.011882178082473,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_124_16_f61/camera_poses.json b/trajectories/random_v2/real_124_16_f61/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..f53a3b79bded6e8d71763931c3534fca3f1db554
--- /dev/null
+++ b/trajectories/random_v2/real_124_16_f61/camera_poses.json
@@ -0,0 +1,3178 @@
+{
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+}
diff --git a/trajectories/random_v2/real_124_16_f61/trajectory_caption.txt b/trajectories/random_v2/real_124_16_f61/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4d68a96c6c3e00e3257df4552a82d5a1f0cc611f
--- /dev/null
+++ b/trajectories/random_v2/real_124_16_f61/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look up, turn left, look down.
+向上看，向左转，向下看。
diff --git a/trajectories/random_v2/real_124_16_f81/action_sequence.json b/trajectories/random_v2/real_124_16_f81/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..628c997016e6f1bd50f695290bdd9af277d1df52
--- /dev/null
+++ b/trajectories/random_v2/real_124_16_f81/action_sequence.json
@@ -0,0 +1,202 @@
+{
+  "trajectory_id": "rand_real_124_16_f81",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_124_16",
+  "reference_fps": 16,
+  "reference_frames": 81,
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+  ],
+  "container_duration_s": 5.0625,
+  "pts_span_s": 5.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "I",
+    "J",
+    "K",
+    "L",
+    "K"
+  ],
+  "segments": [
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+      "key": "I",
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+      "start_s": 0,
+      "end_s": 1,
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+      "duration_s": 1
+    },
+    {
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+      "duration_s": 1
+    },
+    {
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+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
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+      "start_s": 4,
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+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look up, turn left, look down, turn right, look down.",
+  "camera_motion_caption_zh": "向上看，向左转，向下看，向右转，向下看。",
+  "net_yaw_deg": 0.0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 18.011882178082473,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_124_16_f81/camera_poses.json b/trajectories/random_v2/real_124_16_f81/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..55bbf56105e0c6645e023689608a1810053e3d30
--- /dev/null
+++ b/trajectories/random_v2/real_124_16_f81/camera_poses.json
@@ -0,0 +1,4218 @@
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diff --git a/trajectories/random_v2/real_124_16_f81/trajectory_caption.txt b/trajectories/random_v2/real_124_16_f81/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..81859f7e4960f3aa254fa16299d9fd85d7685907
--- /dev/null
+++ b/trajectories/random_v2/real_124_16_f81/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look up, turn left, look down, turn right, look down.
+向上看，向左转，向下看，向右转，向下看。
diff --git a/trajectories/random_v2/real_124_16_f83/action_sequence.json b/trajectories/random_v2/real_124_16_f83/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..0bf77cc043083c6b9e92f0097834aa756258e830
--- /dev/null
+++ b/trajectories/random_v2/real_124_16_f83/action_sequence.json
@@ -0,0 +1,204 @@
+{
+  "trajectory_id": "rand_real_124_16_f83",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_124_16",
+  "reference_fps": 16,
+  "reference_frames": 83,
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+  "container_duration_s": 5.1875,
+  "pts_span_s": 5.125,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "I",
+    "J",
+    "K",
+    "L",
+    "K"
+  ],
+  "segments": [
+    {
+      "key": "I",
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+      "end_s": 1,
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+      "duration_s": 1
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+    {
+      "key": "J",
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+      "start_s": 1,
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+      "duration_s": 1
+    },
+    {
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+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
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+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 3,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look up, turn left, look down, turn right, look down.",
+  "camera_motion_caption_zh": "向上看，向左转，向下看，向右转，向下看。",
+  "net_yaw_deg": 0.0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 18.011882178082473,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_124_16_f83/camera_poses.json b/trajectories/random_v2/real_124_16_f83/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..634f7be767bfc0280aee6ed905a4df87bdb0f2a3
--- /dev/null
+++ b/trajectories/random_v2/real_124_16_f83/camera_poses.json
@@ -0,0 +1,4322 @@
+{
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+}
diff --git a/trajectories/random_v2/real_124_16_f83/trajectory_caption.txt b/trajectories/random_v2/real_124_16_f83/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..81859f7e4960f3aa254fa16299d9fd85d7685907
--- /dev/null
+++ b/trajectories/random_v2/real_124_16_f83/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look up, turn left, look down, turn right, look down.
+向上看，向左转，向下看，向右转，向下看。
diff --git a/trajectories/random_v2/real_124_17_f15/action_sequence.json b/trajectories/random_v2/real_124_17_f15/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..985b847626f05628ddc686941a2c59c12f09434a
--- /dev/null
+++ b/trajectories/random_v2/real_124_17_f15/action_sequence.json
@@ -0,0 +1,84 @@
+{
+  "trajectory_id": "rand_real_124_17_f15",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_124_17",
+  "reference_fps": 16,
+  "reference_frames": 15,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
+    0.125,
+    0.1875,
+    0.25,
+    0.3125,
+    0.375,
+    0.4375,
+    0.5,
+    0.5625,
+    0.625,
+    0.6875,
+    0.75,
+    0.8125,
+    0.875
+  ],
+  "container_duration_s": 0.9375,
+  "pts_span_s": 0.875,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [],
+  "segments": [],
+  "remainder_hold_frames": 15,
+  "zero_action": true,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Stay still.",
+  "camera_motion_caption_zh": "保持不动。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 0.0,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_124_17_f15/camera_poses.json b/trajectories/random_v2/real_124_17_f15/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..89892eae7bf06f00ebee0bb60c081b5087e22af6
--- /dev/null
+++ b/trajectories/random_v2/real_124_17_f15/camera_poses.json
@@ -0,0 +1,786 @@
+{
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+}
diff --git a/trajectories/random_v2/real_124_17_f15/trajectory_caption.txt b/trajectories/random_v2/real_124_17_f15/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9971208d2581b3c605469d863ca8aa7e2497c20a
--- /dev/null
+++ b/trajectories/random_v2/real_124_17_f15/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Stay still.
+保持不动。
diff --git a/trajectories/random_v2/real_124_17_f29/action_sequence.json b/trajectories/random_v2/real_124_17_f29/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..1bc73865a413a992972086251c1e37e5a1a2069e
--- /dev/null
+++ b/trajectories/random_v2/real_124_17_f29/action_sequence.json
@@ -0,0 +1,110 @@
+{
+  "trajectory_id": "rand_real_124_17_f29",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_124_17",
+  "reference_fps": 16,
+  "reference_frames": 29,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
+    0.125,
+    0.1875,
+    0.25,
+    0.3125,
+    0.375,
+    0.4375,
+    0.5,
+    0.5625,
+    0.625,
+    0.6875,
+    0.75,
+    0.8125,
+    0.875,
+    0.9375,
+    1.0,
+    1.0625,
+    1.125,
+    1.1875,
+    1.25,
+    1.3125,
+    1.375,
+    1.4375,
+    1.5,
+    1.5625,
+    1.625,
+    1.6875,
+    1.75
+  ],
+  "container_duration_s": 1.8125,
+  "pts_span_s": 1.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "L"
+  ],
+  "segments": [
+    {
+      "key": "L",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 13,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Turn right.",
+  "camera_motion_caption_zh": "向右转。",
+  "net_yaw_deg": 15.0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 14.999999999999998,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_124_17_f29/camera_poses.json b/trajectories/random_v2/real_124_17_f29/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..42906a683d6b114108e441e47a11d8a647902f57
--- /dev/null
+++ b/trajectories/random_v2/real_124_17_f29/camera_poses.json
@@ -0,0 +1,1514 @@
+{
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+}
diff --git a/trajectories/random_v2/real_124_17_f29/trajectory_caption.txt b/trajectories/random_v2/real_124_17_f29/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1af2cafc6fd5a3c904e046958a02806173fe7438
--- /dev/null
+++ b/trajectories/random_v2/real_124_17_f29/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Turn right.
+向右转。
diff --git a/trajectories/random_v2/real_124_17_f49/action_sequence.json b/trajectories/random_v2/real_124_17_f49/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..ecda65c3d006800765355f61965aca05e5520dd3
--- /dev/null
+++ b/trajectories/random_v2/real_124_17_f49/action_sequence.json
@@ -0,0 +1,150 @@
+{
+  "trajectory_id": "rand_real_124_17_f49",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_124_17",
+  "reference_fps": 16,
+  "reference_frames": 49,
+  "frame_pts_s": [
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+    2.0,
+    2.0625,
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+    2.625,
+    2.6875,
+    2.75,
+    2.8125,
+    2.875,
+    2.9375,
+    3.0
+  ],
+  "container_duration_s": 3.0625,
+  "pts_span_s": 3.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "L",
+    "L",
+    "J"
+  ],
+  "segments": [
+    {
+      "key": "L",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Turn right, turn right, turn left.",
+  "camera_motion_caption_zh": "向右转，向右转，向左转。",
+  "net_yaw_deg": 15.0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 30.000000000000004,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_124_17_f49/camera_poses.json b/trajectories/random_v2/real_124_17_f49/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..466928fb13f28617cccc390787b2317aa79ec63b
--- /dev/null
+++ b/trajectories/random_v2/real_124_17_f49/camera_poses.json
@@ -0,0 +1,2554 @@
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+}
diff --git a/trajectories/random_v2/real_124_17_f49/trajectory_caption.txt b/trajectories/random_v2/real_124_17_f49/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..53cbfd73433f35e661034ccda3f0eefbfcb44a36
--- /dev/null
+++ b/trajectories/random_v2/real_124_17_f49/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Turn right, turn right, turn left.
+向右转，向右转，向左转。
diff --git a/trajectories/random_v2/real_124_17_f61/action_sequence.json b/trajectories/random_v2/real_124_17_f61/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..89b4e04e10ca10ea50b2b619ec0b667a6f360615
--- /dev/null
+++ b/trajectories/random_v2/real_124_17_f61/action_sequence.json
@@ -0,0 +1,162 @@
+{
+  "trajectory_id": "rand_real_124_17_f61",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_124_17",
+  "reference_fps": 16,
+  "reference_frames": 61,
+  "frame_pts_s": [
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+  ],
+  "container_duration_s": 3.8125,
+  "pts_span_s": 3.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "L",
+    "L",
+    "J"
+  ],
+  "segments": [
+    {
+      "key": "L",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 13,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Turn right, turn right, turn left.",
+  "camera_motion_caption_zh": "向右转，向右转，向左转。",
+  "net_yaw_deg": 15.0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 30.000000000000004,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_124_17_f61/camera_poses.json b/trajectories/random_v2/real_124_17_f61/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..84f51c981c7b44169fd4186045d0f6b15027ad77
--- /dev/null
+++ b/trajectories/random_v2/real_124_17_f61/camera_poses.json
@@ -0,0 +1,3178 @@
+{
+  "canonical_c2w": [
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+}
diff --git a/trajectories/random_v2/real_124_17_f61/trajectory_caption.txt b/trajectories/random_v2/real_124_17_f61/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..53cbfd73433f35e661034ccda3f0eefbfcb44a36
--- /dev/null
+++ b/trajectories/random_v2/real_124_17_f61/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Turn right, turn right, turn left.
+向右转，向右转，向左转。
diff --git a/trajectories/random_v2/real_124_17_f81/action_sequence.json b/trajectories/random_v2/real_124_17_f81/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..aee327829e3b32c0f7b0027ba762fed917592dbf
--- /dev/null
+++ b/trajectories/random_v2/real_124_17_f81/action_sequence.json
@@ -0,0 +1,202 @@
+{
+  "trajectory_id": "rand_real_124_17_f81",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_124_17",
+  "reference_fps": 16,
+  "reference_frames": 81,
+  "frame_pts_s": [
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+  ],
+  "container_duration_s": 5.0625,
+  "pts_span_s": 5.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "L",
+    "L",
+    "J",
+    "I",
+    "S"
+  ],
+  "segments": [
+    {
+      "key": "L",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "S",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Turn right, turn right, turn left, look up, walk backward.",
+  "camera_motion_caption_zh": "向右转，向右转，向左转，向上看，向后走。",
+  "net_yaw_deg": 15.0,
+  "max_translation_nominal_m": 0.4499999999999999,
+  "max_rotation_deg": 30.000000000000004,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_124_17_f81/camera_poses.json b/trajectories/random_v2/real_124_17_f81/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..7db51aa6acb723605d86aceb683998b3bdea57b4
--- /dev/null
+++ b/trajectories/random_v2/real_124_17_f81/camera_poses.json
@@ -0,0 +1,4218 @@
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diff --git a/trajectories/random_v2/real_124_17_f81/trajectory_caption.txt b/trajectories/random_v2/real_124_17_f81/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fa274b591da8e10ab4be19431f02b6bcb06b1f22
--- /dev/null
+++ b/trajectories/random_v2/real_124_17_f81/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Turn right, turn right, turn left, look up, walk backward.
+向右转，向右转，向左转，向上看，向后走。
diff --git a/trajectories/random_v2/real_124_17_f83/action_sequence.json b/trajectories/random_v2/real_124_17_f83/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..23a10dacab2a66711fb54d757cb188aa45023a78
--- /dev/null
+++ b/trajectories/random_v2/real_124_17_f83/action_sequence.json
@@ -0,0 +1,204 @@
+{
+  "trajectory_id": "rand_real_124_17_f83",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_124_17",
+  "reference_fps": 16,
+  "reference_frames": 83,
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+  "container_duration_s": 5.1875,
+  "pts_span_s": 5.125,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "L",
+    "L",
+    "J",
+    "I",
+    "S"
+  ],
+  "segments": [
+    {
+      "key": "L",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
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+      "duration_s": 1
+    },
+    {
+      "key": "L",
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+      "start_s": 1,
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+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
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+    {
+      "key": "J",
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+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "S",
+      "start_frame": 64,
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+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 3,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Turn right, turn right, turn left, look up, walk backward.",
+  "camera_motion_caption_zh": "向右转，向右转，向左转，向上看，向后走。",
+  "net_yaw_deg": 15.0,
+  "max_translation_nominal_m": 0.4499999999999999,
+  "max_rotation_deg": 30.000000000000004,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_124_17_f83/camera_poses.json b/trajectories/random_v2/real_124_17_f83/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..755dc10c53ef6eec9765e951144147b3c34074c6
--- /dev/null
+++ b/trajectories/random_v2/real_124_17_f83/camera_poses.json
@@ -0,0 +1,4322 @@
+{
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diff --git a/trajectories/random_v2/real_124_17_f83/trajectory_caption.txt b/trajectories/random_v2/real_124_17_f83/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fa274b591da8e10ab4be19431f02b6bcb06b1f22
--- /dev/null
+++ b/trajectories/random_v2/real_124_17_f83/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Turn right, turn right, turn left, look up, walk backward.
+向右转，向右转，向左转，向上看，向后走。
diff --git a/trajectories/random_v2/real_124_18_f15/action_sequence.json b/trajectories/random_v2/real_124_18_f15/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..328c5e3bfc06e57ededc66e1edff2615c3bf5ea6
--- /dev/null
+++ b/trajectories/random_v2/real_124_18_f15/action_sequence.json
@@ -0,0 +1,84 @@
+{
+  "trajectory_id": "rand_real_124_18_f15",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_124_18",
+  "reference_fps": 16,
+  "reference_frames": 15,
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+  ],
+  "container_duration_s": 0.9375,
+  "pts_span_s": 0.875,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [],
+  "segments": [],
+  "remainder_hold_frames": 15,
+  "zero_action": true,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Stay still.",
+  "camera_motion_caption_zh": "保持不动。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 0.0,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_124_18_f15/camera_poses.json b/trajectories/random_v2/real_124_18_f15/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..89892eae7bf06f00ebee0bb60c081b5087e22af6
--- /dev/null
+++ b/trajectories/random_v2/real_124_18_f15/camera_poses.json
@@ -0,0 +1,786 @@
+{
+  "canonical_c2w": [
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
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+        0.0,
+        0.0
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+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
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+      [
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+        1.0,
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+      [
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+        0.0,
+        1.0
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+    ],
+    [
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+        0.0,
+        0.0
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+      [
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+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
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+        0.0,
+        0.0
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+      [
+        0.0,
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+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
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+      [
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+        0.0,
+        1.0,
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+      [
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+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
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+        0.0
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+      [
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+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
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+        0.0,
+        0.0
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+      [
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+        1.0,
+        0.0,
+        0.0
+      ],
+      [
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+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
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+      [
+        0.0,
+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ]
+  ],
+  "opencv_c2w_wiw_units": [
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
+      ],
+      [
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+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
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+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
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+        0.0
+      ],
+      [
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+      ],
+      [
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+      ]
+    ],
+    [
+      [
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+      [
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+      [
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+    ],
+    [
+      [
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+      [
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+        1.0,
+        0.0,
+        0.0
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+      [
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+      ],
+      [
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+    ],
+    [
+      [
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+      [
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+      [
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+      [
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+        1.0
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+    ],
+    [
+      [
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+      [
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+        1.0,
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+        0.0
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+      [
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+        1.0,
+        0.0
+      ],
+      [
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+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
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+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ]
+  ]
+}
diff --git a/trajectories/random_v2/real_124_18_f15/trajectory_caption.txt b/trajectories/random_v2/real_124_18_f15/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9971208d2581b3c605469d863ca8aa7e2497c20a
--- /dev/null
+++ b/trajectories/random_v2/real_124_18_f15/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Stay still.
+保持不动。
diff --git a/trajectories/random_v2/real_124_18_f29/action_sequence.json b/trajectories/random_v2/real_124_18_f29/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..50c73b06608f2df75935bd0a423cd9738cc85b68
--- /dev/null
+++ b/trajectories/random_v2/real_124_18_f29/action_sequence.json
@@ -0,0 +1,110 @@
+{
+  "trajectory_id": "rand_real_124_18_f29",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_124_18",
+  "reference_fps": 16,
+  "reference_frames": 29,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
+    0.125,
+    0.1875,
+    0.25,
+    0.3125,
+    0.375,
+    0.4375,
+    0.5,
+    0.5625,
+    0.625,
+    0.6875,
+    0.75,
+    0.8125,
+    0.875,
+    0.9375,
+    1.0,
+    1.0625,
+    1.125,
+    1.1875,
+    1.25,
+    1.3125,
+    1.375,
+    1.4375,
+    1.5,
+    1.5625,
+    1.625,
+    1.6875,
+    1.75
+  ],
+  "container_duration_s": 1.8125,
+  "pts_span_s": 1.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "I"
+  ],
+  "segments": [
+    {
+      "key": "I",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 13,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look up.",
+  "camera_motion_caption_zh": "向上看。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 9.999999999999998,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_124_18_f29/camera_poses.json b/trajectories/random_v2/real_124_18_f29/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1dccc05b9858b371736bec3cb0f06a9466203b1
--- /dev/null
+++ b/trajectories/random_v2/real_124_18_f29/camera_poses.json
@@ -0,0 +1,1514 @@
+{
+  "canonical_c2w": [
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.9999975276274256,
+        0.002223676918101317,
+        0.0
+      ],
+      [
+        0.0,
+        -0.002223676918101317,
+        0.9999975276274256,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
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+}
diff --git a/trajectories/random_v2/real_124_18_f29/trajectory_caption.txt b/trajectories/random_v2/real_124_18_f29/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b1d07f14b915daf3b3826d669459d4aecc2e77c6
--- /dev/null
+++ b/trajectories/random_v2/real_124_18_f29/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look up.
+向上看。
diff --git a/trajectories/random_v2/real_124_18_f49/action_sequence.json b/trajectories/random_v2/real_124_18_f49/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..253788abae4014bc1efdd422fa2315355b21d09c
--- /dev/null
+++ b/trajectories/random_v2/real_124_18_f49/action_sequence.json
@@ -0,0 +1,150 @@
+{
+  "trajectory_id": "rand_real_124_18_f49",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_124_18",
+  "reference_fps": 16,
+  "reference_frames": 49,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
+    0.125,
+    0.1875,
+    0.25,
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+    1.0,
+    1.0625,
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+    1.1875,
+    1.25,
+    1.3125,
+    1.375,
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+    1.5,
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+    1.625,
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+    1.875,
+    1.9375,
+    2.0,
+    2.0625,
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+    2.1875,
+    2.25,
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+    2.375,
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+    2.625,
+    2.6875,
+    2.75,
+    2.8125,
+    2.875,
+    2.9375,
+    3.0
+  ],
+  "container_duration_s": 3.0625,
+  "pts_span_s": 3.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "I",
+    "L",
+    "J"
+  ],
+  "segments": [
+    {
+      "key": "I",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look up, turn right, turn left.",
+  "camera_motion_caption_zh": "向上看，向右转，向左转。",
+  "net_yaw_deg": 0.0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 18.011882178082473,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_124_18_f49/camera_poses.json b/trajectories/random_v2/real_124_18_f49/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e3170acda5ea7b1310f2934ea08ee52fadf6e33
--- /dev/null
+++ b/trajectories/random_v2/real_124_18_f49/camera_poses.json
@@ -0,0 +1,2554 @@
+{
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+}
diff --git a/trajectories/random_v2/real_124_18_f49/trajectory_caption.txt b/trajectories/random_v2/real_124_18_f49/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0d70ab1df554206c0a83d0faec90a6b6191a51c1
--- /dev/null
+++ b/trajectories/random_v2/real_124_18_f49/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look up, turn right, turn left.
+向上看，向右转，向左转。
diff --git a/trajectories/random_v2/real_124_18_f61/action_sequence.json b/trajectories/random_v2/real_124_18_f61/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..20cf0b21c1d27c796d26b7219d259d321b333ef8
--- /dev/null
+++ b/trajectories/random_v2/real_124_18_f61/action_sequence.json
@@ -0,0 +1,162 @@
+{
+  "trajectory_id": "rand_real_124_18_f61",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_124_18",
+  "reference_fps": 16,
+  "reference_frames": 61,
+  "frame_pts_s": [
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+    3.6875,
+    3.75
+  ],
+  "container_duration_s": 3.8125,
+  "pts_span_s": 3.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "I",
+    "L",
+    "J"
+  ],
+  "segments": [
+    {
+      "key": "I",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 13,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look up, turn right, turn left.",
+  "camera_motion_caption_zh": "向上看，向右转，向左转。",
+  "net_yaw_deg": 0.0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 18.011882178082473,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_124_18_f61/camera_poses.json b/trajectories/random_v2/real_124_18_f61/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..9dcc2820cfd27e719686e4938ec78f09de1080e6
--- /dev/null
+++ b/trajectories/random_v2/real_124_18_f61/camera_poses.json
@@ -0,0 +1,3178 @@
+{
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+}
diff --git a/trajectories/random_v2/real_124_18_f61/trajectory_caption.txt b/trajectories/random_v2/real_124_18_f61/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0d70ab1df554206c0a83d0faec90a6b6191a51c1
--- /dev/null
+++ b/trajectories/random_v2/real_124_18_f61/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look up, turn right, turn left.
+向上看，向右转，向左转。
diff --git a/trajectories/random_v2/real_124_18_f81/action_sequence.json b/trajectories/random_v2/real_124_18_f81/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..d89f11214cfd9f42f9c028da02c45ff09965fd02
--- /dev/null
+++ b/trajectories/random_v2/real_124_18_f81/action_sequence.json
@@ -0,0 +1,202 @@
+{
+  "trajectory_id": "rand_real_124_18_f81",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_124_18",
+  "reference_fps": 16,
+  "reference_frames": 81,
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+    5.0
+  ],
+  "container_duration_s": 5.0625,
+  "pts_span_s": 5.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "I",
+    "L",
+    "J",
+    "D",
+    "A"
+  ],
+  "segments": [
+    {
+      "key": "I",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "D",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "A",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look up, turn right, turn left, walk right, walk left.",
+  "camera_motion_caption_zh": "向上看，向右转，向左转，向右走，向左走。",
+  "net_yaw_deg": 0.0,
+  "max_translation_nominal_m": 0.44999999999999996,
+  "max_rotation_deg": 18.011882178082473,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_124_18_f81/camera_poses.json b/trajectories/random_v2/real_124_18_f81/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..a41af8936d9979ac44da42f8c19147309a730c96
--- /dev/null
+++ b/trajectories/random_v2/real_124_18_f81/camera_poses.json
@@ -0,0 +1,4218 @@
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+}
diff --git a/trajectories/random_v2/real_124_18_f81/trajectory_caption.txt b/trajectories/random_v2/real_124_18_f81/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..91c496313f9227bd977e1ef2e726dc72e8fdafb6
--- /dev/null
+++ b/trajectories/random_v2/real_124_18_f81/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look up, turn right, turn left, walk right, walk left.
+向上看，向右转，向左转，向右走，向左走。
diff --git a/trajectories/random_v2/real_124_18_f83/action_sequence.json b/trajectories/random_v2/real_124_18_f83/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd3e109f240a6e064eb33e2860f32e731d5616b7
--- /dev/null
+++ b/trajectories/random_v2/real_124_18_f83/action_sequence.json
@@ -0,0 +1,204 @@
+{
+  "trajectory_id": "rand_real_124_18_f83",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_124_18",
+  "reference_fps": 16,
+  "reference_frames": 83,
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+  "container_duration_s": 5.1875,
+  "pts_span_s": 5.125,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "I",
+    "L",
+    "J",
+    "D",
+    "A"
+  ],
+  "segments": [
+    {
+      "key": "I",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
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+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 16,
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+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "D",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "A",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 3,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look up, turn right, turn left, walk right, walk left.",
+  "camera_motion_caption_zh": "向上看，向右转，向左转，向右走，向左走。",
+  "net_yaw_deg": 0.0,
+  "max_translation_nominal_m": 0.44999999999999996,
+  "max_rotation_deg": 18.011882178082473,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_124_18_f83/camera_poses.json b/trajectories/random_v2/real_124_18_f83/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ffbb8b19a046309b3f9cee4c2524162556d3971
--- /dev/null
+++ b/trajectories/random_v2/real_124_18_f83/camera_poses.json
@@ -0,0 +1,4322 @@
+{
+  "canonical_c2w": [
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+}
diff --git a/trajectories/random_v2/real_124_18_f83/trajectory_caption.txt b/trajectories/random_v2/real_124_18_f83/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..91c496313f9227bd977e1ef2e726dc72e8fdafb6
--- /dev/null
+++ b/trajectories/random_v2/real_124_18_f83/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look up, turn right, turn left, walk right, walk left.
+向上看，向右转，向左转，向右走，向左走。
diff --git a/trajectories/random_v2/real_124_19_f15/action_sequence.json b/trajectories/random_v2/real_124_19_f15/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..836d6d1dfdfa54edf8b8d5b2d8b6a491e1d7d9da
--- /dev/null
+++ b/trajectories/random_v2/real_124_19_f15/action_sequence.json
@@ -0,0 +1,84 @@
+{
+  "trajectory_id": "rand_real_124_19_f15",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_124_19",
+  "reference_fps": 16,
+  "reference_frames": 15,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
+    0.125,
+    0.1875,
+    0.25,
+    0.3125,
+    0.375,
+    0.4375,
+    0.5,
+    0.5625,
+    0.625,
+    0.6875,
+    0.75,
+    0.8125,
+    0.875
+  ],
+  "container_duration_s": 0.9375,
+  "pts_span_s": 0.875,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [],
+  "segments": [],
+  "remainder_hold_frames": 15,
+  "zero_action": true,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Stay still.",
+  "camera_motion_caption_zh": "保持不动。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 0.0,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_124_19_f15/camera_poses.json b/trajectories/random_v2/real_124_19_f15/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..89892eae7bf06f00ebee0bb60c081b5087e22af6
--- /dev/null
+++ b/trajectories/random_v2/real_124_19_f15/camera_poses.json
@@ -0,0 +1,786 @@
+{
+  "canonical_c2w": [
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+}
diff --git a/trajectories/random_v2/real_124_19_f15/trajectory_caption.txt b/trajectories/random_v2/real_124_19_f15/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9971208d2581b3c605469d863ca8aa7e2497c20a
--- /dev/null
+++ b/trajectories/random_v2/real_124_19_f15/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Stay still.
+保持不动。
diff --git a/trajectories/random_v2/real_124_19_f29/action_sequence.json b/trajectories/random_v2/real_124_19_f29/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3e6ae71c015c932a399d64c8e99fdd883787359
--- /dev/null
+++ b/trajectories/random_v2/real_124_19_f29/action_sequence.json
@@ -0,0 +1,110 @@
+{
+  "trajectory_id": "rand_real_124_19_f29",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_124_19",
+  "reference_fps": 16,
+  "reference_frames": 29,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
+    0.125,
+    0.1875,
+    0.25,
+    0.3125,
+    0.375,
+    0.4375,
+    0.5,
+    0.5625,
+    0.625,
+    0.6875,
+    0.75,
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+    0.875,
+    0.9375,
+    1.0,
+    1.0625,
+    1.125,
+    1.1875,
+    1.25,
+    1.3125,
+    1.375,
+    1.4375,
+    1.5,
+    1.5625,
+    1.625,
+    1.6875,
+    1.75
+  ],
+  "container_duration_s": 1.8125,
+  "pts_span_s": 1.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "I"
+  ],
+  "segments": [
+    {
+      "key": "I",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 13,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look up.",
+  "camera_motion_caption_zh": "向上看。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 9.999999999999998,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_124_19_f29/camera_poses.json b/trajectories/random_v2/real_124_19_f29/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1dccc05b9858b371736bec3cb0f06a9466203b1
--- /dev/null
+++ b/trajectories/random_v2/real_124_19_f29/camera_poses.json
@@ -0,0 +1,1514 @@
+{
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+}
diff --git a/trajectories/random_v2/real_124_19_f29/trajectory_caption.txt b/trajectories/random_v2/real_124_19_f29/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b1d07f14b915daf3b3826d669459d4aecc2e77c6
--- /dev/null
+++ b/trajectories/random_v2/real_124_19_f29/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look up.
+向上看。
diff --git a/trajectories/random_v2/real_124_19_f49/action_sequence.json b/trajectories/random_v2/real_124_19_f49/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddf9a648ce2485af691a42b07a159416d3b7d02c
--- /dev/null
+++ b/trajectories/random_v2/real_124_19_f49/action_sequence.json
@@ -0,0 +1,150 @@
+{
+  "trajectory_id": "rand_real_124_19_f49",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_124_19",
+  "reference_fps": 16,
+  "reference_frames": 49,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
+    0.125,
+    0.1875,
+    0.25,
+    0.3125,
+    0.375,
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+    0.5,
+    0.5625,
+    0.625,
+    0.6875,
+    0.75,
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+    0.875,
+    0.9375,
+    1.0,
+    1.0625,
+    1.125,
+    1.1875,
+    1.25,
+    1.3125,
+    1.375,
+    1.4375,
+    1.5,
+    1.5625,
+    1.625,
+    1.6875,
+    1.75,
+    1.8125,
+    1.875,
+    1.9375,
+    2.0,
+    2.0625,
+    2.125,
+    2.1875,
+    2.25,
+    2.3125,
+    2.375,
+    2.4375,
+    2.5,
+    2.5625,
+    2.625,
+    2.6875,
+    2.75,
+    2.8125,
+    2.875,
+    2.9375,
+    3.0
+  ],
+  "container_duration_s": 3.0625,
+  "pts_span_s": 3.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "I",
+    "J",
+    "J"
+  ],
+  "segments": [
+    {
+      "key": "I",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look up, turn left, turn left.",
+  "camera_motion_caption_zh": "向上看，向左转，向左转。",
+  "net_yaw_deg": -30.0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 31.58644830271884,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_124_19_f49/camera_poses.json b/trajectories/random_v2/real_124_19_f49/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8b713cfc87c08439fcf75a4b8208b5a001ae3d0
--- /dev/null
+++ b/trajectories/random_v2/real_124_19_f49/camera_poses.json
@@ -0,0 +1,2554 @@
+{
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+}
diff --git a/trajectories/random_v2/real_124_19_f49/trajectory_caption.txt b/trajectories/random_v2/real_124_19_f49/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c01dd73b8a611b5b889537011c91b5e5454112a3
--- /dev/null
+++ b/trajectories/random_v2/real_124_19_f49/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look up, turn left, turn left.
+向上看，向左转，向左转。
diff --git a/trajectories/random_v2/real_124_19_f61/action_sequence.json b/trajectories/random_v2/real_124_19_f61/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..b13922fe138e2d00d759fef12c249436a0b301e3
--- /dev/null
+++ b/trajectories/random_v2/real_124_19_f61/action_sequence.json
@@ -0,0 +1,162 @@
+{
+  "trajectory_id": "rand_real_124_19_f61",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_124_19",
+  "reference_fps": 16,
+  "reference_frames": 61,
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+  "container_duration_s": 3.8125,
+  "pts_span_s": 3.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "I",
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+    "J"
+  ],
+  "segments": [
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+    },
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+      "end_s": 2,
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+    },
+    {
+      "key": "J",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 13,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look up, turn left, turn left.",
+  "camera_motion_caption_zh": "向上看，向左转，向左转。",
+  "net_yaw_deg": -30.0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 31.58644830271884,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_124_19_f61/camera_poses.json b/trajectories/random_v2/real_124_19_f61/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..33184c0c7e6d59f90d0a7f12cbe1f39732da50f4
--- /dev/null
+++ b/trajectories/random_v2/real_124_19_f61/camera_poses.json
@@ -0,0 +1,3178 @@
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+}
diff --git a/trajectories/random_v2/real_124_19_f61/trajectory_caption.txt b/trajectories/random_v2/real_124_19_f61/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c01dd73b8a611b5b889537011c91b5e5454112a3
--- /dev/null
+++ b/trajectories/random_v2/real_124_19_f61/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look up, turn left, turn left.
+向上看，向左转，向左转。
diff --git a/trajectories/random_v2/real_124_19_f81/action_sequence.json b/trajectories/random_v2/real_124_19_f81/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a1b913a5bd40782c5fdb260f08685da36b077f4
--- /dev/null
+++ b/trajectories/random_v2/real_124_19_f81/action_sequence.json
@@ -0,0 +1,202 @@
+{
+  "trajectory_id": "rand_real_124_19_f81",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_124_19",
+  "reference_fps": 16,
+  "reference_frames": 81,
+  "frame_pts_s": [
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+  "container_duration_s": 5.0625,
+  "pts_span_s": 5.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "I",
+    "J",
+    "J",
+    "K",
+    "W"
+  ],
+  "segments": [
+    {
+      "key": "I",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "W",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look up, turn left, turn left, look down, walk forward.",
+  "camera_motion_caption_zh": "向上看，向左转，向左转，向下看，向前走。",
+  "net_yaw_deg": -30.0,
+  "max_translation_nominal_m": 0.44999999999999996,
+  "max_rotation_deg": 31.58644830271884,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_124_19_f81/camera_poses.json b/trajectories/random_v2/real_124_19_f81/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..c88e2adecd8e0f425b48139ca6a15f89b183cdf9
--- /dev/null
+++ b/trajectories/random_v2/real_124_19_f81/camera_poses.json
@@ -0,0 +1,4218 @@
+{
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+}
diff --git a/trajectories/random_v2/real_124_19_f81/trajectory_caption.txt b/trajectories/random_v2/real_124_19_f81/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..86436041335a9cef240b1120c3d73c99088a99d2
--- /dev/null
+++ b/trajectories/random_v2/real_124_19_f81/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look up, turn left, turn left, look down, walk forward.
+向上看，向左转，向左转，向下看，向前走。
diff --git a/trajectories/random_v2/real_124_19_f83/action_sequence.json b/trajectories/random_v2/real_124_19_f83/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..5728e8b45aa98d42c2c600604ba02e2120612364
--- /dev/null
+++ b/trajectories/random_v2/real_124_19_f83/action_sequence.json
@@ -0,0 +1,204 @@
+{
+  "trajectory_id": "rand_real_124_19_f83",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_124_19",
+  "reference_fps": 16,
+  "reference_frames": 83,
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+  "container_duration_s": 5.1875,
+  "pts_span_s": 5.125,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "I",
+    "J",
+    "J",
+    "K",
+    "W"
+  ],
+  "segments": [
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+      "key": "I",
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+    {
+      "key": "J",
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+    {
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+      "duration_s": 1
+    },
+    {
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+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "W",
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+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 3,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look up, turn left, turn left, look down, walk forward.",
+  "camera_motion_caption_zh": "向上看，向左转，向左转，向下看，向前走。",
+  "net_yaw_deg": -30.0,
+  "max_translation_nominal_m": 0.44999999999999996,
+  "max_rotation_deg": 31.58644830271884,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_124_19_f83/camera_poses.json b/trajectories/random_v2/real_124_19_f83/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..70c651706074e2be600aba17e4d38e4c8c7d6ce8
--- /dev/null
+++ b/trajectories/random_v2/real_124_19_f83/camera_poses.json
@@ -0,0 +1,4322 @@
+{
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+    [
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+        -0.49240387650610395,
+        -0.738605814759156
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+        0.022911005299822478,
+        0.03436650794973372
+      ],
+      [
+        0.49240387650610395,
+        0.022911005299822478,
+        0.8700652321739519,
+        1.305097848260928
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+      [
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+        0.0,
+        0.0,
+        1.0
+      ]
+    ]
+  ]
+}
diff --git a/trajectories/random_v2/real_124_19_f83/trajectory_caption.txt b/trajectories/random_v2/real_124_19_f83/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..86436041335a9cef240b1120c3d73c99088a99d2
--- /dev/null
+++ b/trajectories/random_v2/real_124_19_f83/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look up, turn left, turn left, look down, walk forward.
+向上看，向左转，向左转，向下看，向前走。
diff --git a/trajectories/random_v2/real_124_21_f15/action_sequence.json b/trajectories/random_v2/real_124_21_f15/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1dc4b9c5e69fb38ed3f5aac14e609a38fa213dd
--- /dev/null
+++ b/trajectories/random_v2/real_124_21_f15/action_sequence.json
@@ -0,0 +1,84 @@
+{
+  "trajectory_id": "rand_real_124_21_f15",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_124_21",
+  "reference_fps": 16,
+  "reference_frames": 15,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
+    0.125,
+    0.1875,
+    0.25,
+    0.3125,
+    0.375,
+    0.4375,
+    0.5,
+    0.5625,
+    0.625,
+    0.6875,
+    0.75,
+    0.8125,
+    0.875
+  ],
+  "container_duration_s": 0.9375,
+  "pts_span_s": 0.875,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [],
+  "segments": [],
+  "remainder_hold_frames": 15,
+  "zero_action": true,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Stay still.",
+  "camera_motion_caption_zh": "保持不动。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 0.0,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_124_21_f15/camera_poses.json b/trajectories/random_v2/real_124_21_f15/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..89892eae7bf06f00ebee0bb60c081b5087e22af6
--- /dev/null
+++ b/trajectories/random_v2/real_124_21_f15/camera_poses.json
@@ -0,0 +1,786 @@
+{
+  "canonical_c2w": [
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+      [
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+    ]
+  ]
+}
diff --git a/trajectories/random_v2/real_124_21_f15/trajectory_caption.txt b/trajectories/random_v2/real_124_21_f15/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9971208d2581b3c605469d863ca8aa7e2497c20a
--- /dev/null
+++ b/trajectories/random_v2/real_124_21_f15/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Stay still.
+保持不动。
diff --git a/trajectories/random_v2/real_124_21_f29/action_sequence.json b/trajectories/random_v2/real_124_21_f29/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..83bfc3b1b76aa935325d5a58289b33ad7dc61f1c
--- /dev/null
+++ b/trajectories/random_v2/real_124_21_f29/action_sequence.json
@@ -0,0 +1,110 @@
+{
+  "trajectory_id": "rand_real_124_21_f29",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_124_21",
+  "reference_fps": 16,
+  "reference_frames": 29,
+  "frame_pts_s": [
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+    0.0625,
+    0.125,
+    0.1875,
+    0.25,
+    0.3125,
+    0.375,
+    0.4375,
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+    0.625,
+    0.6875,
+    0.75,
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+    0.875,
+    0.9375,
+    1.0,
+    1.0625,
+    1.125,
+    1.1875,
+    1.25,
+    1.3125,
+    1.375,
+    1.4375,
+    1.5,
+    1.5625,
+    1.625,
+    1.6875,
+    1.75
+  ],
+  "container_duration_s": 1.8125,
+  "pts_span_s": 1.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "I"
+  ],
+  "segments": [
+    {
+      "key": "I",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 13,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look up.",
+  "camera_motion_caption_zh": "向上看。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 9.999999999999998,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_124_21_f29/camera_poses.json b/trajectories/random_v2/real_124_21_f29/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1dccc05b9858b371736bec3cb0f06a9466203b1
--- /dev/null
+++ b/trajectories/random_v2/real_124_21_f29/camera_poses.json
@@ -0,0 +1,1514 @@
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+}
diff --git a/trajectories/random_v2/real_124_21_f29/trajectory_caption.txt b/trajectories/random_v2/real_124_21_f29/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b1d07f14b915daf3b3826d669459d4aecc2e77c6
--- /dev/null
+++ b/trajectories/random_v2/real_124_21_f29/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look up.
+向上看。
diff --git a/trajectories/random_v2/real_124_21_f49/action_sequence.json b/trajectories/random_v2/real_124_21_f49/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..7730df0a08043f8c1f20a12ae79fb59b57a8719c
--- /dev/null
+++ b/trajectories/random_v2/real_124_21_f49/action_sequence.json
@@ -0,0 +1,150 @@
+{
+  "trajectory_id": "rand_real_124_21_f49",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_124_21",
+  "reference_fps": 16,
+  "reference_frames": 49,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
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+    2.6875,
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+    2.8125,
+    2.875,
+    2.9375,
+    3.0
+  ],
+  "container_duration_s": 3.0625,
+  "pts_span_s": 3.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "I",
+    "L",
+    "S"
+  ],
+  "segments": [
+    {
+      "key": "I",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "S",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look up, turn right, walk backward.",
+  "camera_motion_caption_zh": "向上看，向右转，向后走。",
+  "net_yaw_deg": 15.0,
+  "max_translation_nominal_m": 0.45,
+  "max_rotation_deg": 18.011882178082473,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_124_21_f49/camera_poses.json b/trajectories/random_v2/real_124_21_f49/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c23595a0bb3a2a7f093a498093620b9e5a03c4b
--- /dev/null
+++ b/trajectories/random_v2/real_124_21_f49/camera_poses.json
@@ -0,0 +1,2554 @@
+{
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diff --git a/trajectories/random_v2/real_124_21_f49/trajectory_caption.txt b/trajectories/random_v2/real_124_21_f49/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..44997eb48436d9e3a2b8eecb746c4a6982e6a158
--- /dev/null
+++ b/trajectories/random_v2/real_124_21_f49/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look up, turn right, walk backward.
+向上看，向右转，向后走。
diff --git a/trajectories/random_v2/real_124_21_f61/action_sequence.json b/trajectories/random_v2/real_124_21_f61/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..0455e06610393d2607a5fece71f641f627fe2e4c
--- /dev/null
+++ b/trajectories/random_v2/real_124_21_f61/action_sequence.json
@@ -0,0 +1,162 @@
+{
+  "trajectory_id": "rand_real_124_21_f61",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_124_21",
+  "reference_fps": 16,
+  "reference_frames": 61,
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+  "container_duration_s": 3.8125,
+  "pts_span_s": 3.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "I",
+    "L",
+    "S"
+  ],
+  "segments": [
+    {
+      "key": "I",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "S",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 13,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look up, turn right, walk backward.",
+  "camera_motion_caption_zh": "向上看，向右转，向后走。",
+  "net_yaw_deg": 15.0,
+  "max_translation_nominal_m": 0.45,
+  "max_rotation_deg": 18.011882178082473,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_124_21_f61/camera_poses.json b/trajectories/random_v2/real_124_21_f61/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..5899d52781992483fe370746ddf68e8a419fc105
--- /dev/null
+++ b/trajectories/random_v2/real_124_21_f61/camera_poses.json
@@ -0,0 +1,3178 @@
+{
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+}
diff --git a/trajectories/random_v2/real_124_21_f61/trajectory_caption.txt b/trajectories/random_v2/real_124_21_f61/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..44997eb48436d9e3a2b8eecb746c4a6982e6a158
--- /dev/null
+++ b/trajectories/random_v2/real_124_21_f61/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look up, turn right, walk backward.
+向上看，向右转，向后走。
diff --git a/trajectories/random_v2/real_124_21_f81/action_sequence.json b/trajectories/random_v2/real_124_21_f81/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e5dd4d6304f130e11d7046b553132af5708dbaa
--- /dev/null
+++ b/trajectories/random_v2/real_124_21_f81/action_sequence.json
@@ -0,0 +1,202 @@
+{
+  "trajectory_id": "rand_real_124_21_f81",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_124_21",
+  "reference_fps": 16,
+  "reference_frames": 81,
+  "frame_pts_s": [
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+  ],
+  "container_duration_s": 5.0625,
+  "pts_span_s": 5.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "I",
+    "L",
+    "S",
+    "I",
+    "J"
+  ],
+  "segments": [
+    {
+      "key": "I",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 16,
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+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "S",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look up, turn right, walk backward, look up, turn left.",
+  "camera_motion_caption_zh": "向上看，向右转，向后走，向上看，向左转。",
+  "net_yaw_deg": 0.0,
+  "max_translation_nominal_m": 0.45,
+  "max_rotation_deg": 24.9541202522322,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_124_21_f81/camera_poses.json b/trajectories/random_v2/real_124_21_f81/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..977b14c4bf25547f3124ed62c1ceed725e8f4d21
--- /dev/null
+++ b/trajectories/random_v2/real_124_21_f81/camera_poses.json
@@ -0,0 +1,4218 @@
+{
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+}
diff --git a/trajectories/random_v2/real_124_21_f81/trajectory_caption.txt b/trajectories/random_v2/real_124_21_f81/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..213252ea2097b089d1c08873fce73fe574660ec3
--- /dev/null
+++ b/trajectories/random_v2/real_124_21_f81/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look up, turn right, walk backward, look up, turn left.
+向上看，向右转，向后走，向上看，向左转。
diff --git a/trajectories/random_v2/real_124_21_f83/action_sequence.json b/trajectories/random_v2/real_124_21_f83/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d77dea1a3aa2d619120f1822e7ef24a5fe7aeb3
--- /dev/null
+++ b/trajectories/random_v2/real_124_21_f83/action_sequence.json
@@ -0,0 +1,204 @@
+{
+  "trajectory_id": "rand_real_124_21_f83",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_124_21",
+  "reference_fps": 16,
+  "reference_frames": 83,
+  "frame_pts_s": [
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+  ],
+  "container_duration_s": 5.1875,
+  "pts_span_s": 5.125,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "I",
+    "L",
+    "S",
+    "I",
+    "J"
+  ],
+  "segments": [
+    {
+      "key": "I",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 16,
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+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "S",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 3,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look up, turn right, walk backward, look up, turn left.",
+  "camera_motion_caption_zh": "向上看，向右转，向后走，向上看，向左转。",
+  "net_yaw_deg": 0.0,
+  "max_translation_nominal_m": 0.45,
+  "max_rotation_deg": 24.9541202522322,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_124_21_f83/camera_poses.json b/trajectories/random_v2/real_124_21_f83/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4b4ded48eb1944818468392eb2cbc7346226a40
--- /dev/null
+++ b/trajectories/random_v2/real_124_21_f83/camera_poses.json
@@ -0,0 +1,4322 @@
+{
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+}
diff --git a/trajectories/random_v2/real_124_21_f83/trajectory_caption.txt b/trajectories/random_v2/real_124_21_f83/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..213252ea2097b089d1c08873fce73fe574660ec3
--- /dev/null
+++ b/trajectories/random_v2/real_124_21_f83/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look up, turn right, walk backward, look up, turn left.
+向上看，向右转，向后走，向上看，向左转。
diff --git a/trajectories/random_v2/real_209_01_f125/action_sequence.json b/trajectories/random_v2/real_209_01_f125/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d06ec3c57576e0160d6a12eed3fb22c0ca86549
--- /dev/null
+++ b/trajectories/random_v2/real_209_01_f125/action_sequence.json
@@ -0,0 +1,266 @@
+{
+  "trajectory_id": "rand_real_209_01_f125",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_01",
+  "reference_fps": 16,
+  "reference_frames": 125,
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+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
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+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "L",
+    "L",
+    "K",
+    "L",
+    "K",
+    "I",
+    "L"
+  ],
+  "segments": [
+    {
+      "key": "L",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
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+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 80,
+      "end_frame_inclusive": 95,
+      "start_s": 5,
+      "end_s": 6,
+      "pose_transition_end_s": 5.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 96,
+      "end_frame_inclusive": 111,
+      "start_s": 6,
+      "end_s": 7,
+      "pose_transition_end_s": 6.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 13,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Turn right, turn right, look down, turn right, look down, look up, turn right.",
+  "camera_motion_caption_zh": "向右转，向右转，向下看，向右转，向下看，向上看，向右转。",
+  "net_yaw_deg": 60.0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 60.75101305058632,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_01_f125/camera_poses.json b/trajectories/random_v2/real_209_01_f125/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..186be4f6e66c9260421afb985296d803424479fb
--- /dev/null
+++ b/trajectories/random_v2/real_209_01_f125/camera_poses.json
@@ -0,0 +1,6506 @@
+{
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+}
diff --git a/trajectories/random_v2/real_209_01_f125/trajectory_caption.txt b/trajectories/random_v2/real_209_01_f125/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d156a116f1dca1ca049409f7d5762435874fa744
--- /dev/null
+++ b/trajectories/random_v2/real_209_01_f125/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Turn right, turn right, look down, turn right, look down, look up, turn right.
+向右转，向右转，向下看，向右转，向下看，向上看，向右转。
diff --git a/trajectories/random_v2/real_209_01_f13/action_sequence.json b/trajectories/random_v2/real_209_01_f13/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a35c90ddfd031b5faa1406a6d83daeb389e5f40
--- /dev/null
+++ b/trajectories/random_v2/real_209_01_f13/action_sequence.json
@@ -0,0 +1,82 @@
+{
+  "trajectory_id": "rand_real_209_01_f13",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_01",
+  "reference_fps": 16,
+  "reference_frames": 13,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
+    0.125,
+    0.1875,
+    0.25,
+    0.3125,
+    0.375,
+    0.4375,
+    0.5,
+    0.5625,
+    0.625,
+    0.6875,
+    0.75
+  ],
+  "container_duration_s": 0.8125,
+  "pts_span_s": 0.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [],
+  "segments": [],
+  "remainder_hold_frames": 13,
+  "zero_action": true,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Stay still.",
+  "camera_motion_caption_zh": "保持不动。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 0.0,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_01_f13/camera_poses.json b/trajectories/random_v2/real_209_01_f13/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdfef31c2c39d0765f3cad74f10a399cb797d643
--- /dev/null
+++ b/trajectories/random_v2/real_209_01_f13/camera_poses.json
@@ -0,0 +1,682 @@
+{
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+    [
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+    ]
+  ]
+}
diff --git a/trajectories/random_v2/real_209_01_f13/trajectory_caption.txt b/trajectories/random_v2/real_209_01_f13/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9971208d2581b3c605469d863ca8aa7e2497c20a
--- /dev/null
+++ b/trajectories/random_v2/real_209_01_f13/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Stay still.
+保持不动。
diff --git a/trajectories/random_v2/real_209_01_f139/action_sequence.json b/trajectories/random_v2/real_209_01_f139/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..f74c44998e6bb4b75e7c33aa2e13e1e0df783c55
--- /dev/null
+++ b/trajectories/random_v2/real_209_01_f139/action_sequence.json
@@ -0,0 +1,290 @@
+{
+  "trajectory_id": "rand_real_209_01_f139",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_01",
+  "reference_fps": 16,
+  "reference_frames": 139,
+  "frame_pts_s": [
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+  "container_duration_s": 8.6875,
+  "pts_span_s": 8.625,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "L",
+    "L",
+    "K",
+    "L",
+    "K",
+    "I",
+    "L",
+    "A"
+  ],
+  "segments": [
+    {
+      "key": "L",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 80,
+      "end_frame_inclusive": 95,
+      "start_s": 5,
+      "end_s": 6,
+      "pose_transition_end_s": 5.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 96,
+      "end_frame_inclusive": 111,
+      "start_s": 6,
+      "end_s": 7,
+      "pose_transition_end_s": 6.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "A",
+      "start_frame": 112,
+      "end_frame_inclusive": 127,
+      "start_s": 7,
+      "end_s": 8,
+      "pose_transition_end_s": 7.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 11,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Turn right, turn right, look down, turn right, look down, look up, turn right, walk left.",
+  "camera_motion_caption_zh": "向右转，向右转，向下看，向右转，向下看，向上看，向右转，向左走。",
+  "net_yaw_deg": 60.0,
+  "max_translation_nominal_m": 0.4499999999999999,
+  "max_rotation_deg": 60.75101305058632,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_01_f139/camera_poses.json b/trajectories/random_v2/real_209_01_f139/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2fe8ca3ce04f991dcac82c562e08b4e63c91cf4
--- /dev/null
+++ b/trajectories/random_v2/real_209_01_f139/camera_poses.json
@@ -0,0 +1,7234 @@
+{
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+}
diff --git a/trajectories/random_v2/real_209_01_f139/trajectory_caption.txt b/trajectories/random_v2/real_209_01_f139/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e03faf3d226d5f4e9dbf5e58653b7b37cab5160b
--- /dev/null
+++ b/trajectories/random_v2/real_209_01_f139/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Turn right, turn right, look down, turn right, look down, look up, turn right, walk left.
+向右转，向右转，向下看，向右转，向下看，向上看，向右转，向左走。
diff --git a/trajectories/random_v2/real_209_01_f49/action_sequence.json b/trajectories/random_v2/real_209_01_f49/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2871db5a2dc37149fd702e8ae4203afe38ae3cb
--- /dev/null
+++ b/trajectories/random_v2/real_209_01_f49/action_sequence.json
@@ -0,0 +1,150 @@
+{
+  "trajectory_id": "rand_real_209_01_f49",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_01",
+  "reference_fps": 16,
+  "reference_frames": 49,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
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+    2.625,
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+    2.75,
+    2.8125,
+    2.875,
+    2.9375,
+    3.0
+  ],
+  "container_duration_s": 3.0625,
+  "pts_span_s": 3.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "L",
+    "L",
+    "K"
+  ],
+  "segments": [
+    {
+      "key": "L",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Turn right, turn right, look down.",
+  "camera_motion_caption_zh": "向右转，向右转，向下看。",
+  "net_yaw_deg": 30.0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 31.58644830271884,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_01_f49/camera_poses.json b/trajectories/random_v2/real_209_01_f49/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..dae247f0fe8bcb088eefa237c2387fc090fe3b21
--- /dev/null
+++ b/trajectories/random_v2/real_209_01_f49/camera_poses.json
@@ -0,0 +1,2554 @@
+{
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+}
diff --git a/trajectories/random_v2/real_209_01_f49/trajectory_caption.txt b/trajectories/random_v2/real_209_01_f49/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a24cdc6a7fc504acaf248ac1671468b64dad94cf
--- /dev/null
+++ b/trajectories/random_v2/real_209_01_f49/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Turn right, turn right, look down.
+向右转，向右转，向下看。
diff --git a/trajectories/random_v2/real_209_01_f81/action_sequence.json b/trajectories/random_v2/real_209_01_f81/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..7fce3e3c7ff54c06340e811d7502928a5cdc04cc
--- /dev/null
+++ b/trajectories/random_v2/real_209_01_f81/action_sequence.json
@@ -0,0 +1,202 @@
+{
+  "trajectory_id": "rand_real_209_01_f81",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_01",
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+    5.0
+  ],
+  "container_duration_s": 5.0625,
+  "pts_span_s": 5.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "L",
+    "L",
+    "K",
+    "L",
+    "K"
+  ],
+  "segments": [
+    {
+      "key": "L",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Turn right, turn right, look down, turn right, look down.",
+  "camera_motion_caption_zh": "向右转，向右转，向下看，向右转，向下看。",
+  "net_yaw_deg": 45.0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 49.174012358686674,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_01_f81/camera_poses.json b/trajectories/random_v2/real_209_01_f81/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdf214c4780036bcf5da3bb39822b7e4ba120d8e
--- /dev/null
+++ b/trajectories/random_v2/real_209_01_f81/camera_poses.json
@@ -0,0 +1,4218 @@
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diff --git a/trajectories/random_v2/real_209_01_f81/trajectory_caption.txt b/trajectories/random_v2/real_209_01_f81/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b4216c572c1483dedde1db62480fb1e67199a96f
--- /dev/null
+++ b/trajectories/random_v2/real_209_01_f81/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Turn right, turn right, look down, turn right, look down.
+向右转，向右转，向下看，向右转，向下看。
diff --git a/trajectories/random_v2/real_209_02_f125/action_sequence.json b/trajectories/random_v2/real_209_02_f125/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..203ef413ed78b0ab8851f1f71830d596f02c37e2
--- /dev/null
+++ b/trajectories/random_v2/real_209_02_f125/action_sequence.json
@@ -0,0 +1,266 @@
+{
+  "trajectory_id": "rand_real_209_02_f125",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
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+  "reference_fps": 16,
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+  "parameters": {
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+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
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+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "L",
+    "I",
+    "L",
+    "K",
+    "A",
+    "J",
+    "W"
+  ],
+  "segments": [
+    {
+      "key": "L",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
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+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 16,
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+      "duration_s": 1
+    },
+    {
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+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "A",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 80,
+      "end_frame_inclusive": 95,
+      "start_s": 5,
+      "end_s": 6,
+      "pose_transition_end_s": 5.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "W",
+      "start_frame": 96,
+      "end_frame_inclusive": 111,
+      "start_s": 6,
+      "end_s": 7,
+      "pose_transition_end_s": 6.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 13,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Turn right, look up, turn right, look down, walk left, turn left, walk forward.",
+  "camera_motion_caption_zh": "向右转，向上看，向右转，向下看，向左走，向左转，向前走。",
+  "net_yaw_deg": 15.0,
+  "max_translation_nominal_m": 0.7140180062621115,
+  "max_rotation_deg": 31.58644830271884,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_02_f125/camera_poses.json b/trajectories/random_v2/real_209_02_f125/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..72379a02764309c3bf36e1af221c5a2241d89ecf
--- /dev/null
+++ b/trajectories/random_v2/real_209_02_f125/camera_poses.json
@@ -0,0 +1,6506 @@
+{
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+}
diff --git a/trajectories/random_v2/real_209_02_f125/trajectory_caption.txt b/trajectories/random_v2/real_209_02_f125/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..283034e39bea4f1ec78e7b06011f736964ab847e
--- /dev/null
+++ b/trajectories/random_v2/real_209_02_f125/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Turn right, look up, turn right, look down, walk left, turn left, walk forward.
+向右转，向上看，向右转，向下看，向左走，向左转，向前走。
diff --git a/trajectories/random_v2/real_209_02_f13/action_sequence.json b/trajectories/random_v2/real_209_02_f13/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..17128222e46e961af4b9105b041a8a0599afdee7
--- /dev/null
+++ b/trajectories/random_v2/real_209_02_f13/action_sequence.json
@@ -0,0 +1,82 @@
+{
+  "trajectory_id": "rand_real_209_02_f13",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_02",
+  "reference_fps": 16,
+  "reference_frames": 13,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
+    0.125,
+    0.1875,
+    0.25,
+    0.3125,
+    0.375,
+    0.4375,
+    0.5,
+    0.5625,
+    0.625,
+    0.6875,
+    0.75
+  ],
+  "container_duration_s": 0.8125,
+  "pts_span_s": 0.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [],
+  "segments": [],
+  "remainder_hold_frames": 13,
+  "zero_action": true,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Stay still.",
+  "camera_motion_caption_zh": "保持不动。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 0.0,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_02_f13/camera_poses.json b/trajectories/random_v2/real_209_02_f13/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdfef31c2c39d0765f3cad74f10a399cb797d643
--- /dev/null
+++ b/trajectories/random_v2/real_209_02_f13/camera_poses.json
@@ -0,0 +1,682 @@
+{
+  "canonical_c2w": [
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+      [
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+    ]
+  ]
+}
diff --git a/trajectories/random_v2/real_209_02_f13/trajectory_caption.txt b/trajectories/random_v2/real_209_02_f13/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9971208d2581b3c605469d863ca8aa7e2497c20a
--- /dev/null
+++ b/trajectories/random_v2/real_209_02_f13/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Stay still.
+保持不动。
diff --git a/trajectories/random_v2/real_209_02_f139/action_sequence.json b/trajectories/random_v2/real_209_02_f139/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..7bab0389e11cae3fe7ea020521cf8a6cd4241484
--- /dev/null
+++ b/trajectories/random_v2/real_209_02_f139/action_sequence.json
@@ -0,0 +1,290 @@
+{
+  "trajectory_id": "rand_real_209_02_f139",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_02",
+  "reference_fps": 16,
+  "reference_frames": 139,
+  "frame_pts_s": [
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+  "container_duration_s": 8.6875,
+  "pts_span_s": 8.625,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "L",
+    "I",
+    "L",
+    "K",
+    "A",
+    "J",
+    "W",
+    "K"
+  ],
+  "segments": [
+    {
+      "key": "L",
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+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "A",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 80,
+      "end_frame_inclusive": 95,
+      "start_s": 5,
+      "end_s": 6,
+      "pose_transition_end_s": 5.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "W",
+      "start_frame": 96,
+      "end_frame_inclusive": 111,
+      "start_s": 6,
+      "end_s": 7,
+      "pose_transition_end_s": 6.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 112,
+      "end_frame_inclusive": 127,
+      "start_s": 7,
+      "end_s": 8,
+      "pose_transition_end_s": 7.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 11,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Turn right, look up, turn right, look down, walk left, turn left, walk forward, look down.",
+  "camera_motion_caption_zh": "向右转，向上看，向右转，向下看，向左走，向左转，向前走，向下看。",
+  "net_yaw_deg": 15.0,
+  "max_translation_nominal_m": 0.7140180062621115,
+  "max_rotation_deg": 31.58644830271884,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_02_f139/camera_poses.json b/trajectories/random_v2/real_209_02_f139/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..54e8bdbda0935b4aeb25c69ef815782cb6573ed5
--- /dev/null
+++ b/trajectories/random_v2/real_209_02_f139/camera_poses.json
@@ -0,0 +1,7234 @@
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+}
diff --git a/trajectories/random_v2/real_209_02_f139/trajectory_caption.txt b/trajectories/random_v2/real_209_02_f139/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b05ccf5230b0e5e1b2bf7e44dea24c99f769e8ff
--- /dev/null
+++ b/trajectories/random_v2/real_209_02_f139/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Turn right, look up, turn right, look down, walk left, turn left, walk forward, look down.
+向右转，向上看，向右转，向下看，向左走，向左转，向前走，向下看。
diff --git a/trajectories/random_v2/real_209_02_f49/action_sequence.json b/trajectories/random_v2/real_209_02_f49/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0cc16fd50983af56314c8730d2b63ba713c6730
--- /dev/null
+++ b/trajectories/random_v2/real_209_02_f49/action_sequence.json
@@ -0,0 +1,150 @@
+{
+  "trajectory_id": "rand_real_209_02_f49",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_02",
+  "reference_fps": 16,
+  "reference_frames": 49,
+  "frame_pts_s": [
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+    2.875,
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+    3.0
+  ],
+  "container_duration_s": 3.0625,
+  "pts_span_s": 3.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "L",
+    "I",
+    "L"
+  ],
+  "segments": [
+    {
+      "key": "L",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Turn right, look up, turn right.",
+  "camera_motion_caption_zh": "向右转，向上看，向右转。",
+  "net_yaw_deg": 30.0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 31.58644830271884,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_02_f49/camera_poses.json b/trajectories/random_v2/real_209_02_f49/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1e066b93103dcf9ee8e7ee886b159d1ef3dbaf5
--- /dev/null
+++ b/trajectories/random_v2/real_209_02_f49/camera_poses.json
@@ -0,0 +1,2554 @@
+{
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+}
diff --git a/trajectories/random_v2/real_209_02_f49/trajectory_caption.txt b/trajectories/random_v2/real_209_02_f49/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7d1c30d9a9a0b3650915425700cdea9e25f4cd37
--- /dev/null
+++ b/trajectories/random_v2/real_209_02_f49/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Turn right, look up, turn right.
+向右转，向上看，向右转。
diff --git a/trajectories/random_v2/real_209_02_f81/action_sequence.json b/trajectories/random_v2/real_209_02_f81/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..8635c8f8941a60d7ac0b50de6d29b6f978463dda
--- /dev/null
+++ b/trajectories/random_v2/real_209_02_f81/action_sequence.json
@@ -0,0 +1,202 @@
+{
+  "trajectory_id": "rand_real_209_02_f81",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_02",
+  "reference_fps": 16,
+  "reference_frames": 81,
+  "frame_pts_s": [
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+  "container_duration_s": 5.0625,
+  "pts_span_s": 5.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "L",
+    "I",
+    "L",
+    "K",
+    "A"
+  ],
+  "segments": [
+    {
+      "key": "L",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "A",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Turn right, look up, turn right, look down, walk left.",
+  "camera_motion_caption_zh": "向右转，向上看，向右转，向下看，向左走。",
+  "net_yaw_deg": 30.0,
+  "max_translation_nominal_m": 0.45,
+  "max_rotation_deg": 31.58644830271884,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_02_f81/camera_poses.json b/trajectories/random_v2/real_209_02_f81/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..868656ed2fc5e5a0ba1db52303c1c77adf92a023
--- /dev/null
+++ b/trajectories/random_v2/real_209_02_f81/camera_poses.json
@@ -0,0 +1,4218 @@
+{
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+}
diff --git a/trajectories/random_v2/real_209_02_f81/trajectory_caption.txt b/trajectories/random_v2/real_209_02_f81/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..03f52376d3d94099e6255cb4d132adcc99778035
--- /dev/null
+++ b/trajectories/random_v2/real_209_02_f81/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Turn right, look up, turn right, look down, walk left.
+向右转，向上看，向右转，向下看，向左走。
diff --git a/trajectories/random_v2/real_209_03_f125/action_sequence.json b/trajectories/random_v2/real_209_03_f125/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..fae735260fc7c89e5350144973f83614171d64ea
--- /dev/null
+++ b/trajectories/random_v2/real_209_03_f125/action_sequence.json
@@ -0,0 +1,266 @@
+{
+  "trajectory_id": "rand_real_209_03_f125",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_03",
+  "reference_fps": 16,
+  "reference_frames": 125,
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+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
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+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "K",
+    "J",
+    "L",
+    "A",
+    "L",
+    "D",
+    "S"
+  ],
+  "segments": [
+    {
+      "key": "K",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "A",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "D",
+      "start_frame": 80,
+      "end_frame_inclusive": 95,
+      "start_s": 5,
+      "end_s": 6,
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+      "duration_s": 1
+    },
+    {
+      "key": "S",
+      "start_frame": 96,
+      "end_frame_inclusive": 111,
+      "start_s": 6,
+      "end_s": 7,
+      "pose_transition_end_s": 6.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 13,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look down, turn left, turn right, walk left, turn right, walk right, walk backward.",
+  "camera_motion_caption_zh": "向下看，向左转，向右转，向左走，向右转，向右走，向后走。",
+  "net_yaw_deg": 15.0,
+  "max_translation_nominal_m": 0.5666760570373942,
+  "max_rotation_deg": 18.011882178082473,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_03_f125/camera_poses.json b/trajectories/random_v2/real_209_03_f125/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..be572f22ae61eb21a5288caea79df2469b79d227
--- /dev/null
+++ b/trajectories/random_v2/real_209_03_f125/camera_poses.json
@@ -0,0 +1,6506 @@
+{
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+}
diff --git a/trajectories/random_v2/real_209_03_f125/trajectory_caption.txt b/trajectories/random_v2/real_209_03_f125/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5f537067b1262aca3d20e553eb124b117194509e
--- /dev/null
+++ b/trajectories/random_v2/real_209_03_f125/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look down, turn left, turn right, walk left, turn right, walk right, walk backward.
+向下看，向左转，向右转，向左走，向右转，向右走，向后走。
diff --git a/trajectories/random_v2/real_209_03_f13/action_sequence.json b/trajectories/random_v2/real_209_03_f13/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..be4a79a22030ebdd78f973f55ff114e132318c2c
--- /dev/null
+++ b/trajectories/random_v2/real_209_03_f13/action_sequence.json
@@ -0,0 +1,82 @@
+{
+  "trajectory_id": "rand_real_209_03_f13",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_03",
+  "reference_fps": 16,
+  "reference_frames": 13,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
+    0.125,
+    0.1875,
+    0.25,
+    0.3125,
+    0.375,
+    0.4375,
+    0.5,
+    0.5625,
+    0.625,
+    0.6875,
+    0.75
+  ],
+  "container_duration_s": 0.8125,
+  "pts_span_s": 0.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [],
+  "segments": [],
+  "remainder_hold_frames": 13,
+  "zero_action": true,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Stay still.",
+  "camera_motion_caption_zh": "保持不动。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 0.0,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_03_f13/camera_poses.json b/trajectories/random_v2/real_209_03_f13/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdfef31c2c39d0765f3cad74f10a399cb797d643
--- /dev/null
+++ b/trajectories/random_v2/real_209_03_f13/camera_poses.json
@@ -0,0 +1,682 @@
+{
+  "canonical_c2w": [
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+}
diff --git a/trajectories/random_v2/real_209_03_f13/trajectory_caption.txt b/trajectories/random_v2/real_209_03_f13/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9971208d2581b3c605469d863ca8aa7e2497c20a
--- /dev/null
+++ b/trajectories/random_v2/real_209_03_f13/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Stay still.
+保持不动。
diff --git a/trajectories/random_v2/real_209_03_f139/action_sequence.json b/trajectories/random_v2/real_209_03_f139/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3372ba96574a443d9d30283005811abb675da54
--- /dev/null
+++ b/trajectories/random_v2/real_209_03_f139/action_sequence.json
@@ -0,0 +1,290 @@
+{
+  "trajectory_id": "rand_real_209_03_f139",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_03",
+  "reference_fps": 16,
+  "reference_frames": 139,
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+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "K",
+    "J",
+    "L",
+    "A",
+    "L",
+    "D",
+    "S",
+    "A"
+  ],
+  "segments": [
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+      "key": "K",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 16,
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+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "A",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "D",
+      "start_frame": 80,
+      "end_frame_inclusive": 95,
+      "start_s": 5,
+      "end_s": 6,
+      "pose_transition_end_s": 5.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "S",
+      "start_frame": 96,
+      "end_frame_inclusive": 111,
+      "start_s": 6,
+      "end_s": 7,
+      "pose_transition_end_s": 6.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "A",
+      "start_frame": 112,
+      "end_frame_inclusive": 127,
+      "start_s": 7,
+      "end_s": 8,
+      "pose_transition_end_s": 7.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 11,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look down, turn left, turn right, walk left, turn right, walk right, walk backward, walk left.",
+  "camera_motion_caption_zh": "向下看，向左转，向右转，向左走，向右转，向右走，向后走，向左走。",
+  "net_yaw_deg": 15.0,
+  "max_translation_nominal_m": 0.7140180062621115,
+  "max_rotation_deg": 18.011882178082473,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_03_f139/camera_poses.json b/trajectories/random_v2/real_209_03_f139/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..559105390e77ae7b00f27d8144eb7366d2b5976d
--- /dev/null
+++ b/trajectories/random_v2/real_209_03_f139/camera_poses.json
@@ -0,0 +1,7234 @@
+{
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+}
diff --git a/trajectories/random_v2/real_209_03_f139/trajectory_caption.txt b/trajectories/random_v2/real_209_03_f139/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5972dc9394444e48150199f6e25acbe50afdab0d
--- /dev/null
+++ b/trajectories/random_v2/real_209_03_f139/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look down, turn left, turn right, walk left, turn right, walk right, walk backward, walk left.
+向下看，向左转，向右转，向左走，向右转，向右走，向后走，向左走。
diff --git a/trajectories/random_v2/real_209_03_f49/action_sequence.json b/trajectories/random_v2/real_209_03_f49/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..6da27d41aa4639ef0ab28656b5148300ebc79bd5
--- /dev/null
+++ b/trajectories/random_v2/real_209_03_f49/action_sequence.json
@@ -0,0 +1,150 @@
+{
+  "trajectory_id": "rand_real_209_03_f49",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_03",
+  "reference_fps": 16,
+  "reference_frames": 49,
+  "frame_pts_s": [
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+    2.8125,
+    2.875,
+    2.9375,
+    3.0
+  ],
+  "container_duration_s": 3.0625,
+  "pts_span_s": 3.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "K",
+    "J",
+    "L"
+  ],
+  "segments": [
+    {
+      "key": "K",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look down, turn left, turn right.",
+  "camera_motion_caption_zh": "向下看，向左转，向右转。",
+  "net_yaw_deg": 0.0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 18.011882178082473,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_03_f49/camera_poses.json b/trajectories/random_v2/real_209_03_f49/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..6cb2250159a1f11a9d75db684be2bc3cb7ff2a31
--- /dev/null
+++ b/trajectories/random_v2/real_209_03_f49/camera_poses.json
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+}
diff --git a/trajectories/random_v2/real_209_03_f49/trajectory_caption.txt b/trajectories/random_v2/real_209_03_f49/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..df81c455cec6226380033ff12868d5f43bc44ca5
--- /dev/null
+++ b/trajectories/random_v2/real_209_03_f49/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look down, turn left, turn right.
+向下看，向左转，向右转。
diff --git a/trajectories/random_v2/real_209_03_f81/action_sequence.json b/trajectories/random_v2/real_209_03_f81/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd42c5ab7c4ecb6bcafcaa5a9bb86f4f5e5d6a05
--- /dev/null
+++ b/trajectories/random_v2/real_209_03_f81/action_sequence.json
@@ -0,0 +1,202 @@
+{
+  "trajectory_id": "rand_real_209_03_f81",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_03",
+  "reference_fps": 16,
+  "reference_frames": 81,
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+  "container_duration_s": 5.0625,
+  "pts_span_s": 5.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "K",
+    "J",
+    "L",
+    "A",
+    "L"
+  ],
+  "segments": [
+    {
+      "key": "K",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
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+      "duration_s": 1
+    },
+    {
+      "key": "J",
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+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 32,
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+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "A",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look down, turn left, turn right, walk left, turn right.",
+  "camera_motion_caption_zh": "向下看，向左转，向右转，向左走，向右转。",
+  "net_yaw_deg": 15.0,
+  "max_translation_nominal_m": 0.44999999999999996,
+  "max_rotation_deg": 18.011882178082473,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_03_f81/camera_poses.json b/trajectories/random_v2/real_209_03_f81/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..9768938d8c20a5f5952e82757f69154733cb6a7d
--- /dev/null
+++ b/trajectories/random_v2/real_209_03_f81/camera_poses.json
@@ -0,0 +1,4218 @@
+{
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diff --git a/trajectories/random_v2/real_209_03_f81/trajectory_caption.txt b/trajectories/random_v2/real_209_03_f81/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bc795129f6e1ea9d46cb2d1158ee5dadff65d97e
--- /dev/null
+++ b/trajectories/random_v2/real_209_03_f81/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look down, turn left, turn right, walk left, turn right.
+向下看，向左转，向右转，向左走，向右转。
diff --git a/trajectories/random_v2/real_209_04_f125/action_sequence.json b/trajectories/random_v2/real_209_04_f125/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..e79a472205c50219e73b7690171dc0318eac701d
--- /dev/null
+++ b/trajectories/random_v2/real_209_04_f125/action_sequence.json
@@ -0,0 +1,266 @@
+{
+  "trajectory_id": "rand_real_209_04_f125",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
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+  "parameters": {
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+    "pitch_deg_per_action": 10.0,
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+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "L",
+    "I",
+    "W",
+    "I",
+    "A",
+    "K",
+    "K"
+  ],
+  "segments": [
+    {
+      "key": "L",
+      "start_frame": 0,
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+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 16,
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+      "start_s": 1,
+      "end_s": 2,
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+      "duration_s": 1
+    },
+    {
+      "key": "W",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
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+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "A",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 80,
+      "end_frame_inclusive": 95,
+      "start_s": 5,
+      "end_s": 6,
+      "pose_transition_end_s": 5.9375,
+      "duration_s": 1
+    },
+    {
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+      "end_frame_inclusive": 111,
+      "start_s": 6,
+      "end_s": 7,
+      "pose_transition_end_s": 6.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 13,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Turn right, look up, walk forward, look up, walk left, look down, look down.",
+  "camera_motion_caption_zh": "向右转，向上看，向前走，向上看，向左走，向下看，向下看。",
+  "net_yaw_deg": 15.0,
+  "max_translation_nominal_m": 0.6363961030678927,
+  "max_rotation_deg": 24.9541202522322,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_04_f125/camera_poses.json b/trajectories/random_v2/real_209_04_f125/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..60c71bb2fe88a9e30616961377d8c934bf1957e3
--- /dev/null
+++ b/trajectories/random_v2/real_209_04_f125/camera_poses.json
@@ -0,0 +1,6506 @@
+{
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+        -1.066558236067334
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+        0.9659258262890685,
+        1.8151054315000779
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+    ]
+  ]
+}
diff --git a/trajectories/random_v2/real_209_04_f125/trajectory_caption.txt b/trajectories/random_v2/real_209_04_f125/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..83818f296a61931f99773a4f6c730a5fb02ab352
--- /dev/null
+++ b/trajectories/random_v2/real_209_04_f125/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Turn right, look up, walk forward, look up, walk left, look down, look down.
+向右转，向上看，向前走，向上看，向左走，向下看，向下看。
diff --git a/trajectories/random_v2/real_209_04_f13/action_sequence.json b/trajectories/random_v2/real_209_04_f13/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c404bcb33d1e21e4fa42cfc5524c375857b2f6b
--- /dev/null
+++ b/trajectories/random_v2/real_209_04_f13/action_sequence.json
@@ -0,0 +1,82 @@
+{
+  "trajectory_id": "rand_real_209_04_f13",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_04",
+  "reference_fps": 16,
+  "reference_frames": 13,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
+    0.125,
+    0.1875,
+    0.25,
+    0.3125,
+    0.375,
+    0.4375,
+    0.5,
+    0.5625,
+    0.625,
+    0.6875,
+    0.75
+  ],
+  "container_duration_s": 0.8125,
+  "pts_span_s": 0.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [],
+  "segments": [],
+  "remainder_hold_frames": 13,
+  "zero_action": true,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Stay still.",
+  "camera_motion_caption_zh": "保持不动。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 0.0,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_04_f13/camera_poses.json b/trajectories/random_v2/real_209_04_f13/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdfef31c2c39d0765f3cad74f10a399cb797d643
--- /dev/null
+++ b/trajectories/random_v2/real_209_04_f13/camera_poses.json
@@ -0,0 +1,682 @@
+{
+  "canonical_c2w": [
+    [
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+    [
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+  ],
+  "opencv_c2w_wiw_units": [
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+    ],
+    [
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+      [
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+        0.0
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+      [
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+        0.0,
+        1.0
+      ]
+    ]
+  ]
+}
diff --git a/trajectories/random_v2/real_209_04_f13/trajectory_caption.txt b/trajectories/random_v2/real_209_04_f13/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9971208d2581b3c605469d863ca8aa7e2497c20a
--- /dev/null
+++ b/trajectories/random_v2/real_209_04_f13/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Stay still.
+保持不动。
diff --git a/trajectories/random_v2/real_209_04_f139/action_sequence.json b/trajectories/random_v2/real_209_04_f139/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..9dc82a6eff2a058f3faba45df1ff0065c709f62c
--- /dev/null
+++ b/trajectories/random_v2/real_209_04_f139/action_sequence.json
@@ -0,0 +1,290 @@
+{
+  "trajectory_id": "rand_real_209_04_f139",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_04",
+  "reference_fps": 16,
+  "reference_frames": 139,
+  "frame_pts_s": [
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+  ],
+  "container_duration_s": 8.6875,
+  "pts_span_s": 8.625,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "L",
+    "I",
+    "W",
+    "I",
+    "A",
+    "K",
+    "K",
+    "J"
+  ],
+  "segments": [
+    {
+      "key": "L",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "W",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "A",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 80,
+      "end_frame_inclusive": 95,
+      "start_s": 5,
+      "end_s": 6,
+      "pose_transition_end_s": 5.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 96,
+      "end_frame_inclusive": 111,
+      "start_s": 6,
+      "end_s": 7,
+      "pose_transition_end_s": 6.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 112,
+      "end_frame_inclusive": 127,
+      "start_s": 7,
+      "end_s": 8,
+      "pose_transition_end_s": 7.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 11,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Turn right, look up, walk forward, look up, walk left, look down, look down, turn left.",
+  "camera_motion_caption_zh": "向右转，向上看，向前走，向上看，向左走，向下看，向下看，向左转。",
+  "net_yaw_deg": 0.0,
+  "max_translation_nominal_m": 0.6363961030678927,
+  "max_rotation_deg": 24.9541202522322,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_04_f139/camera_poses.json b/trajectories/random_v2/real_209_04_f139/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..c200d064321aa6b82d1f37cc1482717366b64b59
--- /dev/null
+++ b/trajectories/random_v2/real_209_04_f139/camera_poses.json
@@ -0,0 +1,7234 @@
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+}
diff --git a/trajectories/random_v2/real_209_04_f139/trajectory_caption.txt b/trajectories/random_v2/real_209_04_f139/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e8ea283255b2c71e37cf5648ca51fadaab9def28
--- /dev/null
+++ b/trajectories/random_v2/real_209_04_f139/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Turn right, look up, walk forward, look up, walk left, look down, look down, turn left.
+向右转，向上看，向前走，向上看，向左走，向下看，向下看，向左转。
diff --git a/trajectories/random_v2/real_209_04_f49/action_sequence.json b/trajectories/random_v2/real_209_04_f49/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5c88ec1ce05b1186b3d51b78ccade43db64af7e
--- /dev/null
+++ b/trajectories/random_v2/real_209_04_f49/action_sequence.json
@@ -0,0 +1,150 @@
+{
+  "trajectory_id": "rand_real_209_04_f49",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_04",
+  "reference_fps": 16,
+  "reference_frames": 49,
+  "frame_pts_s": [
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+    2.875,
+    2.9375,
+    3.0
+  ],
+  "container_duration_s": 3.0625,
+  "pts_span_s": 3.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "L",
+    "I",
+    "W"
+  ],
+  "segments": [
+    {
+      "key": "L",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "W",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Turn right, look up, walk forward.",
+  "camera_motion_caption_zh": "向右转，向上看，向前走。",
+  "net_yaw_deg": 15.0,
+  "max_translation_nominal_m": 0.45,
+  "max_rotation_deg": 18.011882178082473,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_04_f49/camera_poses.json b/trajectories/random_v2/real_209_04_f49/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed93354140891bce3408be266670091ec0782c34
--- /dev/null
+++ b/trajectories/random_v2/real_209_04_f49/camera_poses.json
@@ -0,0 +1,2554 @@
+{
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+}
diff --git a/trajectories/random_v2/real_209_04_f49/trajectory_caption.txt b/trajectories/random_v2/real_209_04_f49/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5220d14000a568d6791ed760ee8a3cdb67a287d1
--- /dev/null
+++ b/trajectories/random_v2/real_209_04_f49/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Turn right, look up, walk forward.
+向右转，向上看，向前走。
diff --git a/trajectories/random_v2/real_209_04_f81/action_sequence.json b/trajectories/random_v2/real_209_04_f81/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..f15d90161eb6a15e8b4a7038a1896016a9006ae4
--- /dev/null
+++ b/trajectories/random_v2/real_209_04_f81/action_sequence.json
@@ -0,0 +1,202 @@
+{
+  "trajectory_id": "rand_real_209_04_f81",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_04",
+  "reference_fps": 16,
+  "reference_frames": 81,
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+  "container_duration_s": 5.0625,
+  "pts_span_s": 5.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "L",
+    "I",
+    "W",
+    "I",
+    "A"
+  ],
+  "segments": [
+    {
+      "key": "L",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
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+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "W",
+      "start_frame": 32,
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+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "A",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Turn right, look up, walk forward, look up, walk left.",
+  "camera_motion_caption_zh": "向右转，向上看，向前走，向上看，向左走。",
+  "net_yaw_deg": 15.0,
+  "max_translation_nominal_m": 0.6363961030678927,
+  "max_rotation_deg": 24.9541202522322,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_04_f81/camera_poses.json b/trajectories/random_v2/real_209_04_f81/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..404c6603aac26a177cf759449e602c75a34c2f01
--- /dev/null
+++ b/trajectories/random_v2/real_209_04_f81/camera_poses.json
@@ -0,0 +1,4218 @@
+{
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diff --git a/trajectories/random_v2/real_209_04_f81/trajectory_caption.txt b/trajectories/random_v2/real_209_04_f81/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3c1fc4aa8aeb5cd4621ff563ee5daca04dc4f8b4
--- /dev/null
+++ b/trajectories/random_v2/real_209_04_f81/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Turn right, look up, walk forward, look up, walk left.
+向右转，向上看，向前走，向上看，向左走。
diff --git a/trajectories/random_v2/real_209_05_f125/action_sequence.json b/trajectories/random_v2/real_209_05_f125/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..f552f0bc7f8979d5922e474c5ff78e43a3d93d97
--- /dev/null
+++ b/trajectories/random_v2/real_209_05_f125/action_sequence.json
@@ -0,0 +1,266 @@
+{
+  "trajectory_id": "rand_real_209_05_f125",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_05",
+  "reference_fps": 16,
+  "reference_frames": 125,
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+  "parameters": {
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+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
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+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "I",
+    "L",
+    "W",
+    "K",
+    "D",
+    "I",
+    "D"
+  ],
+  "segments": [
+    {
+      "key": "I",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 16,
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+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "W",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "D",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 80,
+      "end_frame_inclusive": 95,
+      "start_s": 5,
+      "end_s": 6,
+      "pose_transition_end_s": 5.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "D",
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+      "end_frame_inclusive": 111,
+      "start_s": 6,
+      "end_s": 7,
+      "pose_transition_end_s": 6.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 13,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look up, turn right, walk forward, look down, walk right, look up, walk right.",
+  "camera_motion_caption_zh": "向上看，向右转，向前走，向下看，向右走，向上看，向右走。",
+  "net_yaw_deg": 15.0,
+  "max_translation_nominal_m": 1.0062305898749053,
+  "max_rotation_deg": 18.011882178082477,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_05_f125/camera_poses.json b/trajectories/random_v2/real_209_05_f125/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d2fbe1014fce3eb567c9fb3ffcb42083d013c5f
--- /dev/null
+++ b/trajectories/random_v2/real_209_05_f125/camera_poses.json
@@ -0,0 +1,6506 @@
+{
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diff --git a/trajectories/random_v2/real_209_05_f125/trajectory_caption.txt b/trajectories/random_v2/real_209_05_f125/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8cac215de8973c908952681b027475a5d07c72f1
--- /dev/null
+++ b/trajectories/random_v2/real_209_05_f125/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look up, turn right, walk forward, look down, walk right, look up, walk right.
+向上看，向右转，向前走，向下看，向右走，向上看，向右走。
diff --git a/trajectories/random_v2/real_209_05_f13/action_sequence.json b/trajectories/random_v2/real_209_05_f13/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..131bcf28a5c8fff02a23c4dea5803fa1b09779d0
--- /dev/null
+++ b/trajectories/random_v2/real_209_05_f13/action_sequence.json
@@ -0,0 +1,82 @@
+{
+  "trajectory_id": "rand_real_209_05_f13",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_05",
+  "reference_fps": 16,
+  "reference_frames": 13,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
+    0.125,
+    0.1875,
+    0.25,
+    0.3125,
+    0.375,
+    0.4375,
+    0.5,
+    0.5625,
+    0.625,
+    0.6875,
+    0.75
+  ],
+  "container_duration_s": 0.8125,
+  "pts_span_s": 0.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [],
+  "segments": [],
+  "remainder_hold_frames": 13,
+  "zero_action": true,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Stay still.",
+  "camera_motion_caption_zh": "保持不动。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 0.0,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_05_f13/camera_poses.json b/trajectories/random_v2/real_209_05_f13/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdfef31c2c39d0765f3cad74f10a399cb797d643
--- /dev/null
+++ b/trajectories/random_v2/real_209_05_f13/camera_poses.json
@@ -0,0 +1,682 @@
+{
+  "canonical_c2w": [
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
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+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
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+        0.0,
+        0.0
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+      [
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+        1.0,
+        0.0,
+        0.0
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+      [
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+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
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+        0.0,
+        0.0
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+      [
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+        1.0,
+        0.0,
+        0.0
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+      [
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+        1.0,
+        0.0
+      ],
+      [
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+        0.0,
+        0.0,
+        1.0
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+    ],
+    [
+      [
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+        0.0,
+        0.0
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+      [
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+        1.0,
+        0.0,
+        0.0
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+      [
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+        0.0
+      ],
+      [
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+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
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+        0.0,
+        0.0
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+      [
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+      [
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+      [
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+    [
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+      [
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+      [
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+    ],
+    [
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+    [
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+      [
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+    ],
+    [
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+      [
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+      [
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+    [
+      [
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+      [
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+      [
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+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
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+        0.0
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+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
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+      [
+        0.0,
+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
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+        0.0
+      ],
+      [
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+        1.0,
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+      [
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+    ],
+    [
+      [
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+      [
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+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ]
+  ],
+  "opencv_c2w_wiw_units": [
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
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+    ],
+    [
+      [
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+      [
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+      [
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+        1.0,
+        0.0
+      ],
+      [
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+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
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+        0.0
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+      [
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+      [
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+      [
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+    ],
+    [
+      [
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+      [
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+      [
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+    ],
+    [
+      [
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+    [
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+    [
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+    [
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+      [
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+    ],
+    [
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+      [
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+      [
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+      [
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+    ],
+    [
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+      [
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+      ],
+      [
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+        0.0,
+        1.0,
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+      ],
+      [
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+        0.0,
+        0.0,
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+    ],
+    [
+      [
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+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ]
+  ]
+}
diff --git a/trajectories/random_v2/real_209_05_f13/trajectory_caption.txt b/trajectories/random_v2/real_209_05_f13/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9971208d2581b3c605469d863ca8aa7e2497c20a
--- /dev/null
+++ b/trajectories/random_v2/real_209_05_f13/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Stay still.
+保持不动。
diff --git a/trajectories/random_v2/real_209_05_f139/action_sequence.json b/trajectories/random_v2/real_209_05_f139/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..703a0918382ad2f857ffc87bdea55964220f3900
--- /dev/null
+++ b/trajectories/random_v2/real_209_05_f139/action_sequence.json
@@ -0,0 +1,290 @@
+{
+  "trajectory_id": "rand_real_209_05_f139",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_05",
+  "reference_fps": 16,
+  "reference_frames": 139,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
+    0.125,
+    0.1875,
+    0.25,
+    0.3125,
+    0.375,
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+    0.5625,
+    0.625,
+    0.6875,
+    0.75,
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+    0.875,
+    0.9375,
+    1.0,
+    1.0625,
+    1.125,
+    1.1875,
+    1.25,
+    1.3125,
+    1.375,
+    1.4375,
+    1.5,
+    1.5625,
+    1.625,
+    1.6875,
+    1.75,
+    1.8125,
+    1.875,
+    1.9375,
+    2.0,
+    2.0625,
+    2.125,
+    2.1875,
+    2.25,
+    2.3125,
+    2.375,
+    2.4375,
+    2.5,
+    2.5625,
+    2.625,
+    2.6875,
+    2.75,
+    2.8125,
+    2.875,
+    2.9375,
+    3.0,
+    3.0625,
+    3.125,
+    3.1875,
+    3.25,
+    3.3125,
+    3.375,
+    3.4375,
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+    3.5625,
+    3.625,
+    3.6875,
+    3.75,
+    3.8125,
+    3.875,
+    3.9375,
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+    4.0625,
+    4.125,
+    4.1875,
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+    4.3125,
+    4.375,
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+    4.5,
+    4.5625,
+    4.625,
+    4.6875,
+    4.75,
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+    4.875,
+    4.9375,
+    5.0,
+    5.0625,
+    5.125,
+    5.1875,
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+    5.3125,
+    5.375,
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+    5.5,
+    5.5625,
+    5.625,
+    5.6875,
+    5.75,
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+    5.875,
+    5.9375,
+    6.0,
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+    6.125,
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+    6.625,
+    6.6875,
+    6.75,
+    6.8125,
+    6.875,
+    6.9375,
+    7.0,
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+    7.3125,
+    7.375,
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+    7.6875,
+    7.75,
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+    7.875,
+    7.9375,
+    8.0,
+    8.0625,
+    8.125,
+    8.1875,
+    8.25,
+    8.3125,
+    8.375,
+    8.4375,
+    8.5,
+    8.5625,
+    8.625
+  ],
+  "container_duration_s": 8.6875,
+  "pts_span_s": 8.625,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "I",
+    "L",
+    "W",
+    "K",
+    "D",
+    "I",
+    "D",
+    "D"
+  ],
+  "segments": [
+    {
+      "key": "I",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "W",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "D",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 80,
+      "end_frame_inclusive": 95,
+      "start_s": 5,
+      "end_s": 6,
+      "pose_transition_end_s": 5.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "D",
+      "start_frame": 96,
+      "end_frame_inclusive": 111,
+      "start_s": 6,
+      "end_s": 7,
+      "pose_transition_end_s": 6.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "D",
+      "start_frame": 112,
+      "end_frame_inclusive": 127,
+      "start_s": 7,
+      "end_s": 8,
+      "pose_transition_end_s": 7.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 11,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look up, turn right, walk forward, look down, walk right, look up, walk right, walk right.",
+  "camera_motion_caption_zh": "向上看，向右转，向前走，向下看，向右走，向上看，向右走，向右走。",
+  "net_yaw_deg": 15.0,
+  "max_translation_nominal_m": 1.4230249470757708,
+  "max_rotation_deg": 18.011882178082477,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_05_f139/camera_poses.json b/trajectories/random_v2/real_209_05_f139/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f16dfae5fdc43228221f1ceb977c2c997d4b1e5
--- /dev/null
+++ b/trajectories/random_v2/real_209_05_f139/camera_poses.json
@@ -0,0 +1,7234 @@
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+}
diff --git a/trajectories/random_v2/real_209_05_f139/trajectory_caption.txt b/trajectories/random_v2/real_209_05_f139/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..60694f389642de800102275e1722e659588cbe84
--- /dev/null
+++ b/trajectories/random_v2/real_209_05_f139/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look up, turn right, walk forward, look down, walk right, look up, walk right, walk right.
+向上看，向右转，向前走，向下看，向右走，向上看，向右走，向右走。
diff --git a/trajectories/random_v2/real_209_05_f49/action_sequence.json b/trajectories/random_v2/real_209_05_f49/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b1fe27c5a798d6ca297d41c71624218e29e1414
--- /dev/null
+++ b/trajectories/random_v2/real_209_05_f49/action_sequence.json
@@ -0,0 +1,150 @@
+{
+  "trajectory_id": "rand_real_209_05_f49",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_05",
+  "reference_fps": 16,
+  "reference_frames": 49,
+  "frame_pts_s": [
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+    2.875,
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+    3.0
+  ],
+  "container_duration_s": 3.0625,
+  "pts_span_s": 3.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "I",
+    "L",
+    "W"
+  ],
+  "segments": [
+    {
+      "key": "I",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "W",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look up, turn right, walk forward.",
+  "camera_motion_caption_zh": "向上看，向右转，向前走。",
+  "net_yaw_deg": 15.0,
+  "max_translation_nominal_m": 0.45,
+  "max_rotation_deg": 18.011882178082473,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_05_f49/camera_poses.json b/trajectories/random_v2/real_209_05_f49/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea6bb7982446dcf1321586e074e93cb63cfebfd1
--- /dev/null
+++ b/trajectories/random_v2/real_209_05_f49/camera_poses.json
@@ -0,0 +1,2554 @@
+{
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diff --git a/trajectories/random_v2/real_209_05_f49/trajectory_caption.txt b/trajectories/random_v2/real_209_05_f49/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c0ee05ffdad648f2a105e4cd2df514d0b1f7b1fa
--- /dev/null
+++ b/trajectories/random_v2/real_209_05_f49/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look up, turn right, walk forward.
+向上看，向右转，向前走。
diff --git a/trajectories/random_v2/real_209_05_f81/action_sequence.json b/trajectories/random_v2/real_209_05_f81/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7621b05f986531aec5ffb5e4f2d6dd277ad1992
--- /dev/null
+++ b/trajectories/random_v2/real_209_05_f81/action_sequence.json
@@ -0,0 +1,202 @@
+{
+  "trajectory_id": "rand_real_209_05_f81",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_05",
+  "reference_fps": 16,
+  "reference_frames": 81,
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+  "container_duration_s": 5.0625,
+  "pts_span_s": 5.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "I",
+    "L",
+    "W",
+    "K",
+    "D"
+  ],
+  "segments": [
+    {
+      "key": "I",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 16,
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+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "W",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "D",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look up, turn right, walk forward, look down, walk right.",
+  "camera_motion_caption_zh": "向上看，向右转，向前走，向下看，向右走。",
+  "net_yaw_deg": 15.0,
+  "max_translation_nominal_m": 0.6363961030678927,
+  "max_rotation_deg": 18.011882178082473,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_05_f81/camera_poses.json b/trajectories/random_v2/real_209_05_f81/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..f36ca7d4131ade6a857b6a2f820a4f4390a375da
--- /dev/null
+++ b/trajectories/random_v2/real_209_05_f81/camera_poses.json
@@ -0,0 +1,4218 @@
+{
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+}
diff --git a/trajectories/random_v2/real_209_05_f81/trajectory_caption.txt b/trajectories/random_v2/real_209_05_f81/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..60597a5efb5eec48a4f5b3b3595b8c04389a2449
--- /dev/null
+++ b/trajectories/random_v2/real_209_05_f81/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look up, turn right, walk forward, look down, walk right.
+向上看，向右转，向前走，向下看，向右走。
diff --git a/trajectories/random_v2/real_209_06_f125/action_sequence.json b/trajectories/random_v2/real_209_06_f125/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..8411c11d2985795e2119f63b675eb9a4c3ec5511
--- /dev/null
+++ b/trajectories/random_v2/real_209_06_f125/action_sequence.json
@@ -0,0 +1,266 @@
+{
+  "trajectory_id": "rand_real_209_06_f125",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_06",
+  "reference_fps": 16,
+  "reference_frames": 125,
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+  "parameters": {
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+    "pitch_deg_per_action": 10.0,
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+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "A",
+    "D",
+    "K",
+    "L",
+    "K",
+    "K",
+    "D"
+  ],
+  "segments": [
+    {
+      "key": "A",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "D",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 80,
+      "end_frame_inclusive": 95,
+      "start_s": 5,
+      "end_s": 6,
+      "pose_transition_end_s": 5.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "D",
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+      "end_frame_inclusive": 111,
+      "start_s": 6,
+      "end_s": 7,
+      "pose_transition_end_s": 6.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 13,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Walk left, walk right, look down, turn right, look down, look down, walk right.",
+  "camera_motion_caption_zh": "向左走，向右走，向下看，向右转，向下看，向下看，向右走。",
+  "net_yaw_deg": 15.0,
+  "max_translation_nominal_m": 0.45,
+  "max_rotation_deg": 33.46386313025449,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_06_f125/camera_poses.json b/trajectories/random_v2/real_209_06_f125/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b74b2ac7ca17df37b8b67d318ba826864c6f3c0
--- /dev/null
+++ b/trajectories/random_v2/real_209_06_f125/camera_poses.json
@@ -0,0 +1,6506 @@
+{
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+}
diff --git a/trajectories/random_v2/real_209_06_f125/trajectory_caption.txt b/trajectories/random_v2/real_209_06_f125/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..16517abbfc6b212f9e63e7756b220c4ba33d6f5e
--- /dev/null
+++ b/trajectories/random_v2/real_209_06_f125/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Walk left, walk right, look down, turn right, look down, look down, walk right.
+向左走，向右走，向下看，向右转，向下看，向下看，向右走。
diff --git a/trajectories/random_v2/real_209_06_f13/action_sequence.json b/trajectories/random_v2/real_209_06_f13/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3233fd062090eb963af10a27163324adb687a77
--- /dev/null
+++ b/trajectories/random_v2/real_209_06_f13/action_sequence.json
@@ -0,0 +1,82 @@
+{
+  "trajectory_id": "rand_real_209_06_f13",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_06",
+  "reference_fps": 16,
+  "reference_frames": 13,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
+    0.125,
+    0.1875,
+    0.25,
+    0.3125,
+    0.375,
+    0.4375,
+    0.5,
+    0.5625,
+    0.625,
+    0.6875,
+    0.75
+  ],
+  "container_duration_s": 0.8125,
+  "pts_span_s": 0.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [],
+  "segments": [],
+  "remainder_hold_frames": 13,
+  "zero_action": true,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Stay still.",
+  "camera_motion_caption_zh": "保持不动。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 0.0,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_06_f13/camera_poses.json b/trajectories/random_v2/real_209_06_f13/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdfef31c2c39d0765f3cad74f10a399cb797d643
--- /dev/null
+++ b/trajectories/random_v2/real_209_06_f13/camera_poses.json
@@ -0,0 +1,682 @@
+{
+  "canonical_c2w": [
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+        1.0,
+        0.0
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+      [
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+    ]
+  ]
+}
diff --git a/trajectories/random_v2/real_209_06_f13/trajectory_caption.txt b/trajectories/random_v2/real_209_06_f13/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9971208d2581b3c605469d863ca8aa7e2497c20a
--- /dev/null
+++ b/trajectories/random_v2/real_209_06_f13/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Stay still.
+保持不动。
diff --git a/trajectories/random_v2/real_209_06_f139/action_sequence.json b/trajectories/random_v2/real_209_06_f139/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a5716d4931e81eebfd09f8a0c544453ceb94040
--- /dev/null
+++ b/trajectories/random_v2/real_209_06_f139/action_sequence.json
@@ -0,0 +1,290 @@
+{
+  "trajectory_id": "rand_real_209_06_f139",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_06",
+  "reference_fps": 16,
+  "reference_frames": 139,
+  "frame_pts_s": [
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+  "container_duration_s": 8.6875,
+  "pts_span_s": 8.625,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "A",
+    "D",
+    "K",
+    "L",
+    "K",
+    "K",
+    "D",
+    "J"
+  ],
+  "segments": [
+    {
+      "key": "A",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "D",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 80,
+      "end_frame_inclusive": 95,
+      "start_s": 5,
+      "end_s": 6,
+      "pose_transition_end_s": 5.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "D",
+      "start_frame": 96,
+      "end_frame_inclusive": 111,
+      "start_s": 6,
+      "end_s": 7,
+      "pose_transition_end_s": 6.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 112,
+      "end_frame_inclusive": 127,
+      "start_s": 7,
+      "end_s": 8,
+      "pose_transition_end_s": 7.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 11,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Walk left, walk right, look down, turn right, look down, look down, walk right, turn left.",
+  "camera_motion_caption_zh": "向左走，向右走，向下看，向右转，向下看，向下看，向右走，向左转。",
+  "net_yaw_deg": 0.0,
+  "max_translation_nominal_m": 0.45,
+  "max_rotation_deg": 33.46386313025449,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_06_f139/camera_poses.json b/trajectories/random_v2/real_209_06_f139/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..19e8dc73c392e8fdd57c504f9825bb8c504b31a6
--- /dev/null
+++ b/trajectories/random_v2/real_209_06_f139/camera_poses.json
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+}
diff --git a/trajectories/random_v2/real_209_06_f139/trajectory_caption.txt b/trajectories/random_v2/real_209_06_f139/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e92e53dbce5d853fa8aa89d80f1ab75d68f7f030
--- /dev/null
+++ b/trajectories/random_v2/real_209_06_f139/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Walk left, walk right, look down, turn right, look down, look down, walk right, turn left.
+向左走，向右走，向下看，向右转，向下看，向下看，向右走，向左转。
diff --git a/trajectories/random_v2/real_209_06_f49/action_sequence.json b/trajectories/random_v2/real_209_06_f49/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7cf95e96c9d0fdb73bbe6943897de4567dd0e7c
--- /dev/null
+++ b/trajectories/random_v2/real_209_06_f49/action_sequence.json
@@ -0,0 +1,150 @@
+{
+  "trajectory_id": "rand_real_209_06_f49",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_06",
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+    2.5,
+    2.5625,
+    2.625,
+    2.6875,
+    2.75,
+    2.8125,
+    2.875,
+    2.9375,
+    3.0
+  ],
+  "container_duration_s": 3.0625,
+  "pts_span_s": 3.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "A",
+    "D",
+    "K"
+  ],
+  "segments": [
+    {
+      "key": "A",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "D",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Walk left, walk right, look down.",
+  "camera_motion_caption_zh": "向左走，向右走，向下看。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.45,
+  "max_rotation_deg": 9.999999999999998,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_06_f49/camera_poses.json b/trajectories/random_v2/real_209_06_f49/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac2bdfd2e1444ea478b9436da7543659ed866622
--- /dev/null
+++ b/trajectories/random_v2/real_209_06_f49/camera_poses.json
@@ -0,0 +1,2554 @@
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+}
diff --git a/trajectories/random_v2/real_209_06_f49/trajectory_caption.txt b/trajectories/random_v2/real_209_06_f49/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5f57e20ffca8939d2e11fd6fbf2b6b901a25ec2a
--- /dev/null
+++ b/trajectories/random_v2/real_209_06_f49/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Walk left, walk right, look down.
+向左走，向右走，向下看。
diff --git a/trajectories/random_v2/real_209_06_f81/action_sequence.json b/trajectories/random_v2/real_209_06_f81/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..a58d966922bc8652d59badb218c9248fdca330f4
--- /dev/null
+++ b/trajectories/random_v2/real_209_06_f81/action_sequence.json
@@ -0,0 +1,202 @@
+{
+  "trajectory_id": "rand_real_209_06_f81",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_06",
+  "reference_fps": 16,
+  "reference_frames": 81,
+  "frame_pts_s": [
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+  "container_duration_s": 5.0625,
+  "pts_span_s": 5.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "A",
+    "D",
+    "K",
+    "L",
+    "K"
+  ],
+  "segments": [
+    {
+      "key": "A",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "D",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Walk left, walk right, look down, turn right, look down.",
+  "camera_motion_caption_zh": "向左走，向右走，向下看，向右转，向下看。",
+  "net_yaw_deg": 15.0,
+  "max_translation_nominal_m": 0.45,
+  "max_rotation_deg": 24.9541202522322,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_06_f81/camera_poses.json b/trajectories/random_v2/real_209_06_f81/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..13b7cb19b1b896e82ebb9f019f0ca9477d226999
--- /dev/null
+++ b/trajectories/random_v2/real_209_06_f81/camera_poses.json
@@ -0,0 +1,4218 @@
+{
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+}
diff --git a/trajectories/random_v2/real_209_06_f81/trajectory_caption.txt b/trajectories/random_v2/real_209_06_f81/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d955917304df19e9ac370617e147554e3391e677
--- /dev/null
+++ b/trajectories/random_v2/real_209_06_f81/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Walk left, walk right, look down, turn right, look down.
+向左走，向右走，向下看，向右转，向下看。
diff --git a/trajectories/random_v2/real_209_07_f125/action_sequence.json b/trajectories/random_v2/real_209_07_f125/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..67676791f2f3dbad1d9d62a42efaecfd0f11ca61
--- /dev/null
+++ b/trajectories/random_v2/real_209_07_f125/action_sequence.json
@@ -0,0 +1,266 @@
+{
+  "trajectory_id": "rand_real_209_07_f125",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
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+  "container_duration_s": 7.8125,
+  "pts_span_s": 7.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "I",
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+    "D",
+    "L",
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+      "end_s": 6,
+      "pose_transition_end_s": 5.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "A",
+      "start_frame": 96,
+      "end_frame_inclusive": 111,
+      "start_s": 6,
+      "end_s": 7,
+      "pose_transition_end_s": 6.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 13,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look up, walk left, walk right, turn right, look down, turn right, walk left.",
+  "camera_motion_caption_zh": "向上看，向左走，向右走，向右转，向下看，向右转，向左走。",
+  "net_yaw_deg": 30.0,
+  "max_translation_nominal_m": 0.45,
+  "max_rotation_deg": 29.885188195683938,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_07_f125/camera_poses.json b/trajectories/random_v2/real_209_07_f125/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..19d04a633e37f5c8503312f91be4a524fef5d47a
--- /dev/null
+++ b/trajectories/random_v2/real_209_07_f125/camera_poses.json
@@ -0,0 +1,6506 @@
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diff --git a/trajectories/random_v2/real_209_07_f125/trajectory_caption.txt b/trajectories/random_v2/real_209_07_f125/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cd814ea36ed135534d3f287f7a86313cb57dbe09
--- /dev/null
+++ b/trajectories/random_v2/real_209_07_f125/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look up, walk left, walk right, turn right, look down, turn right, walk left.
+向上看，向左走，向右走，向右转，向下看，向右转，向左走。
diff --git a/trajectories/random_v2/real_209_07_f13/action_sequence.json b/trajectories/random_v2/real_209_07_f13/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..fcdc5b59ce899a6b32b09b4f3f39231e2f8a5292
--- /dev/null
+++ b/trajectories/random_v2/real_209_07_f13/action_sequence.json
@@ -0,0 +1,82 @@
+{
+  "trajectory_id": "rand_real_209_07_f13",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_07",
+  "reference_fps": 16,
+  "reference_frames": 13,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
+    0.125,
+    0.1875,
+    0.25,
+    0.3125,
+    0.375,
+    0.4375,
+    0.5,
+    0.5625,
+    0.625,
+    0.6875,
+    0.75
+  ],
+  "container_duration_s": 0.8125,
+  "pts_span_s": 0.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [],
+  "segments": [],
+  "remainder_hold_frames": 13,
+  "zero_action": true,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Stay still.",
+  "camera_motion_caption_zh": "保持不动。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 0.0,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_07_f13/camera_poses.json b/trajectories/random_v2/real_209_07_f13/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdfef31c2c39d0765f3cad74f10a399cb797d643
--- /dev/null
+++ b/trajectories/random_v2/real_209_07_f13/camera_poses.json
@@ -0,0 +1,682 @@
+{
+  "canonical_c2w": [
+    [
+      [
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+        0.0,
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+      ],
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+        1.0
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+    [
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+    [
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+    [
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+    [
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+      [
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+    [
+      [
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+      [
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+    [
+      [
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+      [
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+        0.0,
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+    ]
+  ],
+  "opencv_c2w_wiw_units": [
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
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+    [
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+      [
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+      [
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+    ],
+    [
+      [
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+      [
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+    [
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+    [
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+    ],
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+    ],
+    [
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+      [
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+      [
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+      [
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+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
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+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
+      ],
+      [
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+        0.0,
+        1.0,
+        0.0
+      ],
+      [
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+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
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+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
+      ],
+      [
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+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ]
+  ]
+}
diff --git a/trajectories/random_v2/real_209_07_f13/trajectory_caption.txt b/trajectories/random_v2/real_209_07_f13/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9971208d2581b3c605469d863ca8aa7e2497c20a
--- /dev/null
+++ b/trajectories/random_v2/real_209_07_f13/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Stay still.
+保持不动。
diff --git a/trajectories/random_v2/real_209_07_f139/action_sequence.json b/trajectories/random_v2/real_209_07_f139/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..39bcdaed8a29d4bfb3a85b7c0297b1ea2b01f1b7
--- /dev/null
+++ b/trajectories/random_v2/real_209_07_f139/action_sequence.json
@@ -0,0 +1,290 @@
+{
+  "trajectory_id": "rand_real_209_07_f139",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_07",
+  "reference_fps": 16,
+  "reference_frames": 139,
+  "frame_pts_s": [
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+    2.625,
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+    2.875,
+    2.9375,
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+    3.0625,
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+    3.6875,
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+    4.3125,
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+    4.625,
+    4.6875,
+    4.75,
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+    4.875,
+    4.9375,
+    5.0,
+    5.0625,
+    5.125,
+    5.1875,
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+    5.5625,
+    5.625,
+    5.6875,
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+    5.875,
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+    8.375,
+    8.4375,
+    8.5,
+    8.5625,
+    8.625
+  ],
+  "container_duration_s": 8.6875,
+  "pts_span_s": 8.625,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "I",
+    "A",
+    "D",
+    "L",
+    "K",
+    "L",
+    "A",
+    "I"
+  ],
+  "segments": [
+    {
+      "key": "I",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "A",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "D",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 80,
+      "end_frame_inclusive": 95,
+      "start_s": 5,
+      "end_s": 6,
+      "pose_transition_end_s": 5.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "A",
+      "start_frame": 96,
+      "end_frame_inclusive": 111,
+      "start_s": 6,
+      "end_s": 7,
+      "pose_transition_end_s": 6.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 112,
+      "end_frame_inclusive": 127,
+      "start_s": 7,
+      "end_s": 8,
+      "pose_transition_end_s": 7.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 11,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look up, walk left, walk right, turn right, look down, turn right, walk left, look up.",
+  "camera_motion_caption_zh": "向上看，向左走，向右走，向右转，向下看，向右转，向左走，向上看。",
+  "net_yaw_deg": 30.0,
+  "max_translation_nominal_m": 0.45,
+  "max_rotation_deg": 31.36859110938234,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_07_f139/camera_poses.json b/trajectories/random_v2/real_209_07_f139/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..10a16966f1f37e2130e4b5d7acab993cab323cae
--- /dev/null
+++ b/trajectories/random_v2/real_209_07_f139/camera_poses.json
@@ -0,0 +1,7234 @@
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+}
diff --git a/trajectories/random_v2/real_209_07_f139/trajectory_caption.txt b/trajectories/random_v2/real_209_07_f139/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d2822293f451e97a72cf75e4790db3bdea74ea62
--- /dev/null
+++ b/trajectories/random_v2/real_209_07_f139/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look up, walk left, walk right, turn right, look down, turn right, walk left, look up.
+向上看，向左走，向右走，向右转，向下看，向右转，向左走，向上看。
diff --git a/trajectories/random_v2/real_209_07_f49/action_sequence.json b/trajectories/random_v2/real_209_07_f49/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..14eb2a54a92ae1d367905d6e11b411c598f671ad
--- /dev/null
+++ b/trajectories/random_v2/real_209_07_f49/action_sequence.json
@@ -0,0 +1,150 @@
+{
+  "trajectory_id": "rand_real_209_07_f49",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_07",
+  "reference_fps": 16,
+  "reference_frames": 49,
+  "frame_pts_s": [
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+    2.875,
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+    3.0
+  ],
+  "container_duration_s": 3.0625,
+  "pts_span_s": 3.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "I",
+    "A",
+    "D"
+  ],
+  "segments": [
+    {
+      "key": "I",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
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+      "duration_s": 1
+    },
+    {
+      "key": "A",
+      "start_frame": 16,
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+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "D",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look up, walk left, walk right.",
+  "camera_motion_caption_zh": "向上看，向左走，向右走。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.45,
+  "max_rotation_deg": 9.999999999999998,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_07_f49/camera_poses.json b/trajectories/random_v2/real_209_07_f49/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf6949928e8e1867ad27f7f3cad0652397678024
--- /dev/null
+++ b/trajectories/random_v2/real_209_07_f49/camera_poses.json
@@ -0,0 +1,2554 @@
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+}
diff --git a/trajectories/random_v2/real_209_07_f49/trajectory_caption.txt b/trajectories/random_v2/real_209_07_f49/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ffb26797f2f23236652f11687453c1f5212f1606
--- /dev/null
+++ b/trajectories/random_v2/real_209_07_f49/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look up, walk left, walk right.
+向上看，向左走，向右走。
diff --git a/trajectories/random_v2/real_209_07_f81/action_sequence.json b/trajectories/random_v2/real_209_07_f81/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..6fe28f5ef4f80da82277d9add4d955db1b3b514b
--- /dev/null
+++ b/trajectories/random_v2/real_209_07_f81/action_sequence.json
@@ -0,0 +1,202 @@
+{
+  "trajectory_id": "rand_real_209_07_f81",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_07",
+  "reference_fps": 16,
+  "reference_frames": 81,
+  "frame_pts_s": [
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+  ],
+  "container_duration_s": 5.0625,
+  "pts_span_s": 5.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "I",
+    "A",
+    "D",
+    "L",
+    "K"
+  ],
+  "segments": [
+    {
+      "key": "I",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "A",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "D",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look up, walk left, walk right, turn right, look down.",
+  "camera_motion_caption_zh": "向上看，向左走，向右走，向右转，向下看。",
+  "net_yaw_deg": 15.0,
+  "max_translation_nominal_m": 0.45,
+  "max_rotation_deg": 18.011882178082473,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_07_f81/camera_poses.json b/trajectories/random_v2/real_209_07_f81/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..a90f609bdca8db86686589806533a444de946107
--- /dev/null
+++ b/trajectories/random_v2/real_209_07_f81/camera_poses.json
@@ -0,0 +1,4218 @@
+{
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+}
diff --git a/trajectories/random_v2/real_209_07_f81/trajectory_caption.txt b/trajectories/random_v2/real_209_07_f81/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..42c49f001661d9285c665137bd9f521e7b990cfe
--- /dev/null
+++ b/trajectories/random_v2/real_209_07_f81/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look up, walk left, walk right, turn right, look down.
+向上看，向左走，向右走，向右转，向下看。
diff --git a/trajectories/random_v2/real_209_08_f125/action_sequence.json b/trajectories/random_v2/real_209_08_f125/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4390ec2714520c11817f2771c2b91ae248ae30c
--- /dev/null
+++ b/trajectories/random_v2/real_209_08_f125/action_sequence.json
@@ -0,0 +1,266 @@
+{
+  "trajectory_id": "rand_real_209_08_f125",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_08",
+  "reference_fps": 16,
+  "reference_frames": 125,
+  "frame_pts_s": [
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+  "container_duration_s": 7.8125,
+  "pts_span_s": 7.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "J",
+    "W",
+    "K",
+    "K",
+    "J",
+    "I",
+    "K"
+  ],
+  "segments": [
+    {
+      "key": "J",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "W",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 80,
+      "end_frame_inclusive": 95,
+      "start_s": 5,
+      "end_s": 6,
+      "pose_transition_end_s": 5.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 96,
+      "end_frame_inclusive": 111,
+      "start_s": 6,
+      "end_s": 7,
+      "pose_transition_end_s": 6.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 13,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Turn left, walk forward, look down, look down, turn left, look up, look down.",
+  "camera_motion_caption_zh": "向左转，向前走，向下看，向下看，向左转，向上看，向下看。",
+  "net_yaw_deg": -30.0,
+  "max_translation_nominal_m": 0.45,
+  "max_rotation_deg": 35.92772025966271,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_08_f125/camera_poses.json b/trajectories/random_v2/real_209_08_f125/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..1567da8de7beab4d3899fcf623adc9ee2c55d83b
--- /dev/null
+++ b/trajectories/random_v2/real_209_08_f125/camera_poses.json
@@ -0,0 +1,6506 @@
+{
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+}
diff --git a/trajectories/random_v2/real_209_08_f125/trajectory_caption.txt b/trajectories/random_v2/real_209_08_f125/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9c67f936a989417fc804d79e6d76cc92e87112eb
--- /dev/null
+++ b/trajectories/random_v2/real_209_08_f125/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Turn left, walk forward, look down, look down, turn left, look up, look down.
+向左转，向前走，向下看，向下看，向左转，向上看，向下看。
diff --git a/trajectories/random_v2/real_209_08_f13/action_sequence.json b/trajectories/random_v2/real_209_08_f13/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..62d81a4bcd635f40330f0e3dd88522856c01e256
--- /dev/null
+++ b/trajectories/random_v2/real_209_08_f13/action_sequence.json
@@ -0,0 +1,82 @@
+{
+  "trajectory_id": "rand_real_209_08_f13",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_08",
+  "reference_fps": 16,
+  "reference_frames": 13,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
+    0.125,
+    0.1875,
+    0.25,
+    0.3125,
+    0.375,
+    0.4375,
+    0.5,
+    0.5625,
+    0.625,
+    0.6875,
+    0.75
+  ],
+  "container_duration_s": 0.8125,
+  "pts_span_s": 0.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [],
+  "segments": [],
+  "remainder_hold_frames": 13,
+  "zero_action": true,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Stay still.",
+  "camera_motion_caption_zh": "保持不动。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 0.0,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_08_f13/camera_poses.json b/trajectories/random_v2/real_209_08_f13/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdfef31c2c39d0765f3cad74f10a399cb797d643
--- /dev/null
+++ b/trajectories/random_v2/real_209_08_f13/camera_poses.json
@@ -0,0 +1,682 @@
+{
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+}
diff --git a/trajectories/random_v2/real_209_08_f13/trajectory_caption.txt b/trajectories/random_v2/real_209_08_f13/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9971208d2581b3c605469d863ca8aa7e2497c20a
--- /dev/null
+++ b/trajectories/random_v2/real_209_08_f13/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Stay still.
+保持不动。
diff --git a/trajectories/random_v2/real_209_08_f139/action_sequence.json b/trajectories/random_v2/real_209_08_f139/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..84d23d12c4994b86120342e7f5248fcca0d65905
--- /dev/null
+++ b/trajectories/random_v2/real_209_08_f139/action_sequence.json
@@ -0,0 +1,290 @@
+{
+  "trajectory_id": "rand_real_209_08_f139",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_08",
+  "reference_fps": 16,
+  "reference_frames": 139,
+  "frame_pts_s": [
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+  "pts_span_s": 8.625,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "J",
+    "W",
+    "K",
+    "K",
+    "J",
+    "I",
+    "K",
+    "L"
+  ],
+  "segments": [
+    {
+      "key": "J",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "W",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 80,
+      "end_frame_inclusive": 95,
+      "start_s": 5,
+      "end_s": 6,
+      "pose_transition_end_s": 5.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 96,
+      "end_frame_inclusive": 111,
+      "start_s": 6,
+      "end_s": 7,
+      "pose_transition_end_s": 6.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 112,
+      "end_frame_inclusive": 127,
+      "start_s": 7,
+      "end_s": 8,
+      "pose_transition_end_s": 7.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 11,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Turn left, walk forward, look down, look down, turn left, look up, look down, turn right.",
+  "camera_motion_caption_zh": "向左转，向前走，向下看，向下看，向左转，向上看，向下看，向右转。",
+  "net_yaw_deg": -15.0,
+  "max_translation_nominal_m": 0.45,
+  "max_rotation_deg": 35.92772025966271,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_08_f139/camera_poses.json b/trajectories/random_v2/real_209_08_f139/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..efb1d62f81e7b145ef7d4ca9640b2adfea04f636
--- /dev/null
+++ b/trajectories/random_v2/real_209_08_f139/camera_poses.json
@@ -0,0 +1,7234 @@
+{
+  "canonical_c2w": [
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+}
diff --git a/trajectories/random_v2/real_209_08_f139/trajectory_caption.txt b/trajectories/random_v2/real_209_08_f139/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..771b15f2a811986e9d9e56958a6350acb7b761fc
--- /dev/null
+++ b/trajectories/random_v2/real_209_08_f139/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Turn left, walk forward, look down, look down, turn left, look up, look down, turn right.
+向左转，向前走，向下看，向下看，向左转，向上看，向下看，向右转。
diff --git a/trajectories/random_v2/real_209_08_f49/action_sequence.json b/trajectories/random_v2/real_209_08_f49/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..045efd746a549a5847507b3ce487c10ffc427f60
--- /dev/null
+++ b/trajectories/random_v2/real_209_08_f49/action_sequence.json
@@ -0,0 +1,150 @@
+{
+  "trajectory_id": "rand_real_209_08_f49",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_08",
+  "reference_fps": 16,
+  "reference_frames": 49,
+  "frame_pts_s": [
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+  ],
+  "container_duration_s": 3.0625,
+  "pts_span_s": 3.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "J",
+    "W",
+    "K"
+  ],
+  "segments": [
+    {
+      "key": "J",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "W",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Turn left, walk forward, look down.",
+  "camera_motion_caption_zh": "向左转，向前走，向下看。",
+  "net_yaw_deg": -15.0,
+  "max_translation_nominal_m": 0.45,
+  "max_rotation_deg": 18.011882178082473,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_08_f49/camera_poses.json b/trajectories/random_v2/real_209_08_f49/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..21267e1bfb3b46153269e221519f056731b53ebe
--- /dev/null
+++ b/trajectories/random_v2/real_209_08_f49/camera_poses.json
@@ -0,0 +1,2554 @@
+{
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+}
diff --git a/trajectories/random_v2/real_209_08_f49/trajectory_caption.txt b/trajectories/random_v2/real_209_08_f49/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9ee518df72516949672e8faa00ff5b0678cb9386
--- /dev/null
+++ b/trajectories/random_v2/real_209_08_f49/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Turn left, walk forward, look down.
+向左转，向前走，向下看。
diff --git a/trajectories/random_v2/real_209_08_f81/action_sequence.json b/trajectories/random_v2/real_209_08_f81/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..00aecc0ba29397c19069e7895387c27c01322ca3
--- /dev/null
+++ b/trajectories/random_v2/real_209_08_f81/action_sequence.json
@@ -0,0 +1,202 @@
+{
+  "trajectory_id": "rand_real_209_08_f81",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_08",
+  "reference_fps": 16,
+  "reference_frames": 81,
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+  "container_duration_s": 5.0625,
+  "pts_span_s": 5.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "J",
+    "W",
+    "K",
+    "K",
+    "J"
+  ],
+  "segments": [
+    {
+      "key": "J",
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+    {
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+      "duration_s": 1
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+    {
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+      "duration_s": 1
+    },
+    {
+      "key": "K",
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+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
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+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Turn left, walk forward, look down, look down, turn left.",
+  "camera_motion_caption_zh": "向左转，向前走，向下看，向下看，向左转。",
+  "net_yaw_deg": -30.0,
+  "max_translation_nominal_m": 0.45,
+  "max_rotation_deg": 35.927720259662706,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_08_f81/camera_poses.json b/trajectories/random_v2/real_209_08_f81/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..212176ab9893b8eab63e404f6cf1d140abb55743
--- /dev/null
+++ b/trajectories/random_v2/real_209_08_f81/camera_poses.json
@@ -0,0 +1,4218 @@
+{
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diff --git a/trajectories/random_v2/real_209_08_f81/trajectory_caption.txt b/trajectories/random_v2/real_209_08_f81/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ba55124784bfb1ec83d83083c682a092b6334f8e
--- /dev/null
+++ b/trajectories/random_v2/real_209_08_f81/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Turn left, walk forward, look down, look down, turn left.
+向左转，向前走，向下看，向下看，向左转。
diff --git a/trajectories/random_v2/real_209_09_f125/action_sequence.json b/trajectories/random_v2/real_209_09_f125/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..41e7bb16122e56bbf7bfcb643d4beea9545505bf
--- /dev/null
+++ b/trajectories/random_v2/real_209_09_f125/action_sequence.json
@@ -0,0 +1,266 @@
+{
+  "trajectory_id": "rand_real_209_09_f125",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
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+  "parameters": {
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+    "pitch_deg_per_action": 10.0,
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+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "I",
+    "L",
+    "W",
+    "S",
+    "K",
+    "J",
+    "K"
+  ],
+  "segments": [
+    {
+      "key": "I",
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+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 16,
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+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "W",
+      "start_frame": 32,
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+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "S",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 64,
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+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 80,
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+      "start_s": 5,
+      "end_s": 6,
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+      "duration_s": 1
+    },
+    {
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+      "end_frame_inclusive": 111,
+      "start_s": 6,
+      "end_s": 7,
+      "pose_transition_end_s": 6.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 13,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look up, turn right, walk forward, walk backward, look down, turn left, look down.",
+  "camera_motion_caption_zh": "向上看，向右转，向前走，向后走，向下看，向左转，向下看。",
+  "net_yaw_deg": 0.0,
+  "max_translation_nominal_m": 0.45,
+  "max_rotation_deg": 18.011882178082473,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_09_f125/camera_poses.json b/trajectories/random_v2/real_209_09_f125/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..c52c7e17a5d9cc93a2788b681909714f5e76bbf6
--- /dev/null
+++ b/trajectories/random_v2/real_209_09_f125/camera_poses.json
@@ -0,0 +1,6506 @@
+{
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+}
diff --git a/trajectories/random_v2/real_209_09_f125/trajectory_caption.txt b/trajectories/random_v2/real_209_09_f125/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b3658e7f4422275574501a5cca17d71efdd0a60f
--- /dev/null
+++ b/trajectories/random_v2/real_209_09_f125/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look up, turn right, walk forward, walk backward, look down, turn left, look down.
+向上看，向右转，向前走，向后走，向下看，向左转，向下看。
diff --git a/trajectories/random_v2/real_209_09_f13/action_sequence.json b/trajectories/random_v2/real_209_09_f13/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..c04370348eeb74e67294af5098641150cd3814f2
--- /dev/null
+++ b/trajectories/random_v2/real_209_09_f13/action_sequence.json
@@ -0,0 +1,82 @@
+{
+  "trajectory_id": "rand_real_209_09_f13",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_09",
+  "reference_fps": 16,
+  "reference_frames": 13,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
+    0.125,
+    0.1875,
+    0.25,
+    0.3125,
+    0.375,
+    0.4375,
+    0.5,
+    0.5625,
+    0.625,
+    0.6875,
+    0.75
+  ],
+  "container_duration_s": 0.8125,
+  "pts_span_s": 0.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [],
+  "segments": [],
+  "remainder_hold_frames": 13,
+  "zero_action": true,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Stay still.",
+  "camera_motion_caption_zh": "保持不动。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 0.0,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_09_f13/camera_poses.json b/trajectories/random_v2/real_209_09_f13/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdfef31c2c39d0765f3cad74f10a399cb797d643
--- /dev/null
+++ b/trajectories/random_v2/real_209_09_f13/camera_poses.json
@@ -0,0 +1,682 @@
+{
+  "canonical_c2w": [
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+}
diff --git a/trajectories/random_v2/real_209_09_f13/trajectory_caption.txt b/trajectories/random_v2/real_209_09_f13/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9971208d2581b3c605469d863ca8aa7e2497c20a
--- /dev/null
+++ b/trajectories/random_v2/real_209_09_f13/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Stay still.
+保持不动。
diff --git a/trajectories/random_v2/real_209_09_f139/action_sequence.json b/trajectories/random_v2/real_209_09_f139/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..726c0d00a9399910667a5d44a287d5e673bf413b
--- /dev/null
+++ b/trajectories/random_v2/real_209_09_f139/action_sequence.json
@@ -0,0 +1,290 @@
+{
+  "trajectory_id": "rand_real_209_09_f139",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_09",
+  "reference_fps": 16,
+  "reference_frames": 139,
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+  "pts_span_s": 8.625,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "I",
+    "L",
+    "W",
+    "S",
+    "K",
+    "J",
+    "K",
+    "J"
+  ],
+  "segments": [
+    {
+      "key": "I",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "W",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "S",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 80,
+      "end_frame_inclusive": 95,
+      "start_s": 5,
+      "end_s": 6,
+      "pose_transition_end_s": 5.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 96,
+      "end_frame_inclusive": 111,
+      "start_s": 6,
+      "end_s": 7,
+      "pose_transition_end_s": 6.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 112,
+      "end_frame_inclusive": 127,
+      "start_s": 7,
+      "end_s": 8,
+      "pose_transition_end_s": 7.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 11,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look up, turn right, walk forward, walk backward, look down, turn left, look down, turn left.",
+  "camera_motion_caption_zh": "向上看，向右转，向前走，向后走，向下看，向左转，向下看，向左转。",
+  "net_yaw_deg": -15.0,
+  "max_translation_nominal_m": 0.45,
+  "max_rotation_deg": 18.382383238396567,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_09_f139/camera_poses.json b/trajectories/random_v2/real_209_09_f139/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..71613e2add770c9196c1bee0bc4935598f4d0db1
--- /dev/null
+++ b/trajectories/random_v2/real_209_09_f139/camera_poses.json
@@ -0,0 +1,7234 @@
+{
+  "canonical_c2w": [
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+}
diff --git a/trajectories/random_v2/real_209_09_f139/trajectory_caption.txt b/trajectories/random_v2/real_209_09_f139/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f87a17d98bd82f345a51e3605068b5c19474b82a
--- /dev/null
+++ b/trajectories/random_v2/real_209_09_f139/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look up, turn right, walk forward, walk backward, look down, turn left, look down, turn left.
+向上看，向右转，向前走，向后走，向下看，向左转，向下看，向左转。
diff --git a/trajectories/random_v2/real_209_09_f49/action_sequence.json b/trajectories/random_v2/real_209_09_f49/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..975f961f0d3abb67ab6f8146036459cad483bf94
--- /dev/null
+++ b/trajectories/random_v2/real_209_09_f49/action_sequence.json
@@ -0,0 +1,150 @@
+{
+  "trajectory_id": "rand_real_209_09_f49",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_09",
+  "reference_fps": 16,
+  "reference_frames": 49,
+  "frame_pts_s": [
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+    3.0
+  ],
+  "container_duration_s": 3.0625,
+  "pts_span_s": 3.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "I",
+    "L",
+    "W"
+  ],
+  "segments": [
+    {
+      "key": "I",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "W",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look up, turn right, walk forward.",
+  "camera_motion_caption_zh": "向上看，向右转，向前走。",
+  "net_yaw_deg": 15.0,
+  "max_translation_nominal_m": 0.45,
+  "max_rotation_deg": 18.011882178082473,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_09_f49/camera_poses.json b/trajectories/random_v2/real_209_09_f49/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea6bb7982446dcf1321586e074e93cb63cfebfd1
--- /dev/null
+++ b/trajectories/random_v2/real_209_09_f49/camera_poses.json
@@ -0,0 +1,2554 @@
+{
+  "canonical_c2w": [
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+}
diff --git a/trajectories/random_v2/real_209_09_f49/trajectory_caption.txt b/trajectories/random_v2/real_209_09_f49/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c0ee05ffdad648f2a105e4cd2df514d0b1f7b1fa
--- /dev/null
+++ b/trajectories/random_v2/real_209_09_f49/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look up, turn right, walk forward.
+向上看，向右转，向前走。
diff --git a/trajectories/random_v2/real_209_09_f81/action_sequence.json b/trajectories/random_v2/real_209_09_f81/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..f03e070b3fcda97f563bb98f09d0f378fe686a3f
--- /dev/null
+++ b/trajectories/random_v2/real_209_09_f81/action_sequence.json
@@ -0,0 +1,202 @@
+{
+  "trajectory_id": "rand_real_209_09_f81",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_09",
+  "reference_fps": 16,
+  "reference_frames": 81,
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+  "container_duration_s": 5.0625,
+  "pts_span_s": 5.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "I",
+    "L",
+    "W",
+    "S",
+    "K"
+  ],
+  "segments": [
+    {
+      "key": "I",
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+      "start_s": 0,
+      "end_s": 1,
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+    },
+    {
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+      "duration_s": 1
+    },
+    {
+      "key": "W",
+      "start_frame": 32,
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+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "S",
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+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 64,
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+      "start_s": 4,
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+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look up, turn right, walk forward, walk backward, look down.",
+  "camera_motion_caption_zh": "向上看，向右转，向前走，向后走，向下看。",
+  "net_yaw_deg": 15.0,
+  "max_translation_nominal_m": 0.45,
+  "max_rotation_deg": 18.011882178082473,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_09_f81/camera_poses.json b/trajectories/random_v2/real_209_09_f81/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..c993ddc30a2056ae88639aa7ca53c1a44a1f98ad
--- /dev/null
+++ b/trajectories/random_v2/real_209_09_f81/camera_poses.json
@@ -0,0 +1,4218 @@
+{
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diff --git a/trajectories/random_v2/real_209_09_f81/trajectory_caption.txt b/trajectories/random_v2/real_209_09_f81/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f4a9641e7fa91af9e956805accae7aeb97f2fd3d
--- /dev/null
+++ b/trajectories/random_v2/real_209_09_f81/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look up, turn right, walk forward, walk backward, look down.
+向上看，向右转，向前走，向后走，向下看。
diff --git a/trajectories/random_v2/real_209_10_f125/action_sequence.json b/trajectories/random_v2/real_209_10_f125/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ac0dac7814c63ea14ce57304eaccf346d069268
--- /dev/null
+++ b/trajectories/random_v2/real_209_10_f125/action_sequence.json
@@ -0,0 +1,266 @@
+{
+  "trajectory_id": "rand_real_209_10_f125",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
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+    "pitch_deg_per_action": 10.0,
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+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "D",
+    "K",
+    "I",
+    "D",
+    "I",
+    "K",
+    "K"
+  ],
+  "segments": [
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+      "key": "D",
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+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 16,
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+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
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+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "D",
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+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
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+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 80,
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+      "start_s": 5,
+      "end_s": 6,
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+      "duration_s": 1
+    },
+    {
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+      "end_frame_inclusive": 111,
+      "start_s": 6,
+      "end_s": 7,
+      "pose_transition_end_s": 6.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 13,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Walk right, look down, look up, walk right, look up, look down, look down.",
+  "camera_motion_caption_zh": "向右走，向下看，向上看，向右走，向上看，向下看，向下看。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.9,
+  "max_rotation_deg": 10.000000000000002,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_10_f125/camera_poses.json b/trajectories/random_v2/real_209_10_f125/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1e57cd771406af5d5df5b82b4dc847995d5bef3
--- /dev/null
+++ b/trajectories/random_v2/real_209_10_f125/camera_poses.json
@@ -0,0 +1,6506 @@
+{
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+}
diff --git a/trajectories/random_v2/real_209_10_f125/trajectory_caption.txt b/trajectories/random_v2/real_209_10_f125/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..aadb17d8d96b7cd60053055e52f64a330185a0a4
--- /dev/null
+++ b/trajectories/random_v2/real_209_10_f125/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Walk right, look down, look up, walk right, look up, look down, look down.
+向右走，向下看，向上看，向右走，向上看，向下看，向下看。
diff --git a/trajectories/random_v2/real_209_10_f13/action_sequence.json b/trajectories/random_v2/real_209_10_f13/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e0e278f4754ac9e36a34ae8008e6e43616127bd
--- /dev/null
+++ b/trajectories/random_v2/real_209_10_f13/action_sequence.json
@@ -0,0 +1,82 @@
+{
+  "trajectory_id": "rand_real_209_10_f13",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_10",
+  "reference_fps": 16,
+  "reference_frames": 13,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
+    0.125,
+    0.1875,
+    0.25,
+    0.3125,
+    0.375,
+    0.4375,
+    0.5,
+    0.5625,
+    0.625,
+    0.6875,
+    0.75
+  ],
+  "container_duration_s": 0.8125,
+  "pts_span_s": 0.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [],
+  "segments": [],
+  "remainder_hold_frames": 13,
+  "zero_action": true,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Stay still.",
+  "camera_motion_caption_zh": "保持不动。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 0.0,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_10_f13/camera_poses.json b/trajectories/random_v2/real_209_10_f13/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdfef31c2c39d0765f3cad74f10a399cb797d643
--- /dev/null
+++ b/trajectories/random_v2/real_209_10_f13/camera_poses.json
@@ -0,0 +1,682 @@
+{
+  "canonical_c2w": [
+    [
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+      ],
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+}
diff --git a/trajectories/random_v2/real_209_10_f13/trajectory_caption.txt b/trajectories/random_v2/real_209_10_f13/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9971208d2581b3c605469d863ca8aa7e2497c20a
--- /dev/null
+++ b/trajectories/random_v2/real_209_10_f13/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Stay still.
+保持不动。
diff --git a/trajectories/random_v2/real_209_10_f139/action_sequence.json b/trajectories/random_v2/real_209_10_f139/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c2a199ab75b9f06d81b9f1e4cc9b1c29b8a3040
--- /dev/null
+++ b/trajectories/random_v2/real_209_10_f139/action_sequence.json
@@ -0,0 +1,290 @@
+{
+  "trajectory_id": "rand_real_209_10_f139",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_10",
+  "reference_fps": 16,
+  "reference_frames": 139,
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+  "container_duration_s": 8.6875,
+  "pts_span_s": 8.625,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "D",
+    "K",
+    "I",
+    "D",
+    "I",
+    "K",
+    "K",
+    "I"
+  ],
+  "segments": [
+    {
+      "key": "D",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "D",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 80,
+      "end_frame_inclusive": 95,
+      "start_s": 5,
+      "end_s": 6,
+      "pose_transition_end_s": 5.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 96,
+      "end_frame_inclusive": 111,
+      "start_s": 6,
+      "end_s": 7,
+      "pose_transition_end_s": 6.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 112,
+      "end_frame_inclusive": 127,
+      "start_s": 7,
+      "end_s": 8,
+      "pose_transition_end_s": 7.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 11,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Walk right, look down, look up, walk right, look up, look down, look down, look up.",
+  "camera_motion_caption_zh": "向右走，向下看，向上看，向右走，向上看，向下看，向下看，向上看。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.9,
+  "max_rotation_deg": 10.000000000000002,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_10_f139/camera_poses.json b/trajectories/random_v2/real_209_10_f139/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f4652ef7d9258170b3f8d97d4cfa07c86567b1d
--- /dev/null
+++ b/trajectories/random_v2/real_209_10_f139/camera_poses.json
@@ -0,0 +1,7234 @@
+{
+  "canonical_c2w": [
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
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+}
diff --git a/trajectories/random_v2/real_209_10_f139/trajectory_caption.txt b/trajectories/random_v2/real_209_10_f139/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3faa19135625d1ead9f2d2b1cf190b2551d79ab0
--- /dev/null
+++ b/trajectories/random_v2/real_209_10_f139/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Walk right, look down, look up, walk right, look up, look down, look down, look up.
+向右走，向下看，向上看，向右走，向上看，向下看，向下看，向上看。
diff --git a/trajectories/random_v2/real_209_10_f49/action_sequence.json b/trajectories/random_v2/real_209_10_f49/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..326c96da5c9f16eccb74e9686ee145af59d803c9
--- /dev/null
+++ b/trajectories/random_v2/real_209_10_f49/action_sequence.json
@@ -0,0 +1,150 @@
+{
+  "trajectory_id": "rand_real_209_10_f49",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_10",
+  "reference_fps": 16,
+  "reference_frames": 49,
+  "frame_pts_s": [
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+    2.875,
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+    3.0
+  ],
+  "container_duration_s": 3.0625,
+  "pts_span_s": 3.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "D",
+    "K",
+    "I"
+  ],
+  "segments": [
+    {
+      "key": "D",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Walk right, look down, look up.",
+  "camera_motion_caption_zh": "向右走，向下看，向上看。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.45,
+  "max_rotation_deg": 9.999999999999998,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_10_f49/camera_poses.json b/trajectories/random_v2/real_209_10_f49/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..beeaa7bdc23ba9fdf708a70cfc48304181256445
--- /dev/null
+++ b/trajectories/random_v2/real_209_10_f49/camera_poses.json
@@ -0,0 +1,2554 @@
+{
+  "canonical_c2w": [
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+}
diff --git a/trajectories/random_v2/real_209_10_f49/trajectory_caption.txt b/trajectories/random_v2/real_209_10_f49/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fb45dd7f646d2670623d1594d02f275d457bb27a
--- /dev/null
+++ b/trajectories/random_v2/real_209_10_f49/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Walk right, look down, look up.
+向右走，向下看，向上看。
diff --git a/trajectories/random_v2/real_209_10_f81/action_sequence.json b/trajectories/random_v2/real_209_10_f81/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..68e442e36251433c4a836c7c152e22942c3cc003
--- /dev/null
+++ b/trajectories/random_v2/real_209_10_f81/action_sequence.json
@@ -0,0 +1,202 @@
+{
+  "trajectory_id": "rand_real_209_10_f81",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_10",
+  "reference_fps": 16,
+  "reference_frames": 81,
+  "frame_pts_s": [
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+  "container_duration_s": 5.0625,
+  "pts_span_s": 5.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "D",
+    "K",
+    "I",
+    "D",
+    "I"
+  ],
+  "segments": [
+    {
+      "key": "D",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "D",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Walk right, look down, look up, walk right, look up.",
+  "camera_motion_caption_zh": "向右走，向下看，向上看，向右走，向上看。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.9,
+  "max_rotation_deg": 9.999999999999998,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_10_f81/camera_poses.json b/trajectories/random_v2/real_209_10_f81/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..073fbbc38f6340ef6c01bbb1f1fef8ebc8807a90
--- /dev/null
+++ b/trajectories/random_v2/real_209_10_f81/camera_poses.json
@@ -0,0 +1,4218 @@
+{
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+}
diff --git a/trajectories/random_v2/real_209_10_f81/trajectory_caption.txt b/trajectories/random_v2/real_209_10_f81/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a57e4459f08f84804f7413f71c7f1cd95f3f8c7e
--- /dev/null
+++ b/trajectories/random_v2/real_209_10_f81/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Walk right, look down, look up, walk right, look up.
+向右走，向下看，向上看，向右走，向上看。
diff --git a/trajectories/random_v2/real_209_11_f125/action_sequence.json b/trajectories/random_v2/real_209_11_f125/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..01b45c2d2d7ddad88051cb5b3259f8bd03c4c95a
--- /dev/null
+++ b/trajectories/random_v2/real_209_11_f125/action_sequence.json
@@ -0,0 +1,266 @@
+{
+  "trajectory_id": "rand_real_209_11_f125",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_11",
+  "reference_fps": 16,
+  "reference_frames": 125,
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+  "parameters": {
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+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
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+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "I",
+    "K",
+    "A",
+    "D",
+    "A",
+    "K",
+    "S"
+  ],
+  "segments": [
+    {
+      "key": "I",
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+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 16,
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+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "A",
+      "start_frame": 32,
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+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "D",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "A",
+      "start_frame": 64,
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+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 80,
+      "end_frame_inclusive": 95,
+      "start_s": 5,
+      "end_s": 6,
+      "pose_transition_end_s": 5.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "S",
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+      "end_frame_inclusive": 111,
+      "start_s": 6,
+      "end_s": 7,
+      "pose_transition_end_s": 6.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 13,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look up, look down, walk left, walk right, walk left, look down, walk backward.",
+  "camera_motion_caption_zh": "向上看，向下看，向左走，向右走，向左走，向下看，向后走。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.6363961030678928,
+  "max_rotation_deg": 9.999999999999998,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_11_f125/camera_poses.json b/trajectories/random_v2/real_209_11_f125/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5eee5e1eba1e8be8f7746bedf91a9bdd0d1114d
--- /dev/null
+++ b/trajectories/random_v2/real_209_11_f125/camera_poses.json
@@ -0,0 +1,6506 @@
+{
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+}
diff --git a/trajectories/random_v2/real_209_11_f125/trajectory_caption.txt b/trajectories/random_v2/real_209_11_f125/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6c861037157f640cf936e20d5eafa21074c209ae
--- /dev/null
+++ b/trajectories/random_v2/real_209_11_f125/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look up, look down, walk left, walk right, walk left, look down, walk backward.
+向上看，向下看，向左走，向右走，向左走，向下看，向后走。
diff --git a/trajectories/random_v2/real_209_11_f13/action_sequence.json b/trajectories/random_v2/real_209_11_f13/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..771e9a2e1cea21d9ca32c52e73d86b08b68d16d6
--- /dev/null
+++ b/trajectories/random_v2/real_209_11_f13/action_sequence.json
@@ -0,0 +1,82 @@
+{
+  "trajectory_id": "rand_real_209_11_f13",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_11",
+  "reference_fps": 16,
+  "reference_frames": 13,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
+    0.125,
+    0.1875,
+    0.25,
+    0.3125,
+    0.375,
+    0.4375,
+    0.5,
+    0.5625,
+    0.625,
+    0.6875,
+    0.75
+  ],
+  "container_duration_s": 0.8125,
+  "pts_span_s": 0.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [],
+  "segments": [],
+  "remainder_hold_frames": 13,
+  "zero_action": true,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Stay still.",
+  "camera_motion_caption_zh": "保持不动。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 0.0,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_11_f13/camera_poses.json b/trajectories/random_v2/real_209_11_f13/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdfef31c2c39d0765f3cad74f10a399cb797d643
--- /dev/null
+++ b/trajectories/random_v2/real_209_11_f13/camera_poses.json
@@ -0,0 +1,682 @@
+{
+  "canonical_c2w": [
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+    [
+      [
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+  ],
+  "opencv_c2w_wiw_units": [
+    [
+      [
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+      [
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+      [
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+      [
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+    ],
+    [
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+      [
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+      [
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+    ]
+  ]
+}
diff --git a/trajectories/random_v2/real_209_11_f13/trajectory_caption.txt b/trajectories/random_v2/real_209_11_f13/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9971208d2581b3c605469d863ca8aa7e2497c20a
--- /dev/null
+++ b/trajectories/random_v2/real_209_11_f13/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Stay still.
+保持不动。
diff --git a/trajectories/random_v2/real_209_11_f139/action_sequence.json b/trajectories/random_v2/real_209_11_f139/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ec23650144cde74ed25c0d71a1b891132bbb41b
--- /dev/null
+++ b/trajectories/random_v2/real_209_11_f139/action_sequence.json
@@ -0,0 +1,290 @@
+{
+  "trajectory_id": "rand_real_209_11_f139",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_11",
+  "reference_fps": 16,
+  "reference_frames": 139,
+  "frame_pts_s": [
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+    8.4375,
+    8.5,
+    8.5625,
+    8.625
+  ],
+  "container_duration_s": 8.6875,
+  "pts_span_s": 8.625,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "I",
+    "K",
+    "A",
+    "D",
+    "A",
+    "K",
+    "S",
+    "J"
+  ],
+  "segments": [
+    {
+      "key": "I",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "A",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "D",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "A",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 80,
+      "end_frame_inclusive": 95,
+      "start_s": 5,
+      "end_s": 6,
+      "pose_transition_end_s": 5.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "S",
+      "start_frame": 96,
+      "end_frame_inclusive": 111,
+      "start_s": 6,
+      "end_s": 7,
+      "pose_transition_end_s": 6.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 112,
+      "end_frame_inclusive": 127,
+      "start_s": 7,
+      "end_s": 8,
+      "pose_transition_end_s": 7.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 11,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look up, look down, walk left, walk right, walk left, look down, walk backward, turn left.",
+  "camera_motion_caption_zh": "向上看，向下看，向左走，向右走，向左走，向下看，向后走，向左转。",
+  "net_yaw_deg": -15.0,
+  "max_translation_nominal_m": 0.6363961030678928,
+  "max_rotation_deg": 18.011882178082473,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_11_f139/camera_poses.json b/trajectories/random_v2/real_209_11_f139/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..b325d35d251de39196b6dd849a31284e5c75bdeb
--- /dev/null
+++ b/trajectories/random_v2/real_209_11_f139/camera_poses.json
@@ -0,0 +1,7234 @@
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+}
diff --git a/trajectories/random_v2/real_209_11_f139/trajectory_caption.txt b/trajectories/random_v2/real_209_11_f139/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..436d406223748a6f2ae8b7f8cd2703011ccc14d3
--- /dev/null
+++ b/trajectories/random_v2/real_209_11_f139/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look up, look down, walk left, walk right, walk left, look down, walk backward, turn left.
+向上看，向下看，向左走，向右走，向左走，向下看，向后走，向左转。
diff --git a/trajectories/random_v2/real_209_11_f49/action_sequence.json b/trajectories/random_v2/real_209_11_f49/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..085e90d6a3294f77547e74199d3040cf45d457bd
--- /dev/null
+++ b/trajectories/random_v2/real_209_11_f49/action_sequence.json
@@ -0,0 +1,150 @@
+{
+  "trajectory_id": "rand_real_209_11_f49",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_11",
+  "reference_fps": 16,
+  "reference_frames": 49,
+  "frame_pts_s": [
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+    2.625,
+    2.6875,
+    2.75,
+    2.8125,
+    2.875,
+    2.9375,
+    3.0
+  ],
+  "container_duration_s": 3.0625,
+  "pts_span_s": 3.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "I",
+    "K",
+    "A"
+  ],
+  "segments": [
+    {
+      "key": "I",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "A",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look up, look down, walk left.",
+  "camera_motion_caption_zh": "向上看，向下看，向左走。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.45,
+  "max_rotation_deg": 9.999999999999998,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_11_f49/camera_poses.json b/trajectories/random_v2/real_209_11_f49/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..30c5fc5e73cdeffadcab0b10fc1b23c1caeda6ad
--- /dev/null
+++ b/trajectories/random_v2/real_209_11_f49/camera_poses.json
@@ -0,0 +1,2554 @@
+{
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+}
diff --git a/trajectories/random_v2/real_209_11_f49/trajectory_caption.txt b/trajectories/random_v2/real_209_11_f49/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e36f1a4046e26be10c7578ff50a83c25fa4a78a9
--- /dev/null
+++ b/trajectories/random_v2/real_209_11_f49/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look up, look down, walk left.
+向上看，向下看，向左走。
diff --git a/trajectories/random_v2/real_209_11_f81/action_sequence.json b/trajectories/random_v2/real_209_11_f81/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..2422b72b02a5e431e4edbdec4d22666620d212ea
--- /dev/null
+++ b/trajectories/random_v2/real_209_11_f81/action_sequence.json
@@ -0,0 +1,202 @@
+{
+  "trajectory_id": "rand_real_209_11_f81",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
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+    4.3125,
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+    4.875,
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+    5.0
+  ],
+  "container_duration_s": 5.0625,
+  "pts_span_s": 5.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "I",
+    "K",
+    "A",
+    "D",
+    "A"
+  ],
+  "segments": [
+    {
+      "key": "I",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "A",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "D",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "A",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look up, look down, walk left, walk right, walk left.",
+  "camera_motion_caption_zh": "向上看，向下看，向左走，向右走，向左走。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.45,
+  "max_rotation_deg": 9.999999999999998,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_11_f81/camera_poses.json b/trajectories/random_v2/real_209_11_f81/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..e84f4f41ccf068144d2839c487c4919767389038
--- /dev/null
+++ b/trajectories/random_v2/real_209_11_f81/camera_poses.json
@@ -0,0 +1,4218 @@
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+}
diff --git a/trajectories/random_v2/real_209_11_f81/trajectory_caption.txt b/trajectories/random_v2/real_209_11_f81/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9b4e8c15b383e2c8920f2684a2645e104b20a22a
--- /dev/null
+++ b/trajectories/random_v2/real_209_11_f81/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look up, look down, walk left, walk right, walk left.
+向上看，向下看，向左走，向右走，向左走。
diff --git a/trajectories/random_v2/real_209_12_f125/action_sequence.json b/trajectories/random_v2/real_209_12_f125/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..fec39f3286d4a12db33e203f38194c1925bca493
--- /dev/null
+++ b/trajectories/random_v2/real_209_12_f125/action_sequence.json
@@ -0,0 +1,266 @@
+{
+  "trajectory_id": "rand_real_209_12_f125",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_12",
+  "reference_fps": 16,
+  "reference_frames": 125,
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+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "K",
+    "S",
+    "J",
+    "A",
+    "J",
+    "L",
+    "K"
+  ],
+  "segments": [
+    {
+      "key": "K",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "S",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "A",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 80,
+      "end_frame_inclusive": 95,
+      "start_s": 5,
+      "end_s": 6,
+      "pose_transition_end_s": 5.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 96,
+      "end_frame_inclusive": 111,
+      "start_s": 6,
+      "end_s": 7,
+      "pose_transition_end_s": 6.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 13,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look down, walk backward, turn left, walk left, turn left, turn right, look down.",
+  "camera_motion_caption_zh": "向下看，向后走，向左转，向左走，向左转，向右转，向下看。",
+  "net_yaw_deg": -15.0,
+  "max_translation_nominal_m": 0.7140180062621116,
+  "max_rotation_deg": 31.58644830271884,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_12_f125/camera_poses.json b/trajectories/random_v2/real_209_12_f125/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..e29ae207b4e14a948c8005d32d4f6861f0452015
--- /dev/null
+++ b/trajectories/random_v2/real_209_12_f125/camera_poses.json
@@ -0,0 +1,6506 @@
+{
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+}
diff --git a/trajectories/random_v2/real_209_12_f125/trajectory_caption.txt b/trajectories/random_v2/real_209_12_f125/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5cac2bf705614431083e9f9eab678bda75798a88
--- /dev/null
+++ b/trajectories/random_v2/real_209_12_f125/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look down, walk backward, turn left, walk left, turn left, turn right, look down.
+向下看，向后走，向左转，向左走，向左转，向右转，向下看。
diff --git a/trajectories/random_v2/real_209_12_f13/action_sequence.json b/trajectories/random_v2/real_209_12_f13/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..95319c17d8b06ad21aad6a1195a71e58df781214
--- /dev/null
+++ b/trajectories/random_v2/real_209_12_f13/action_sequence.json
@@ -0,0 +1,82 @@
+{
+  "trajectory_id": "rand_real_209_12_f13",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_12",
+  "reference_fps": 16,
+  "reference_frames": 13,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
+    0.125,
+    0.1875,
+    0.25,
+    0.3125,
+    0.375,
+    0.4375,
+    0.5,
+    0.5625,
+    0.625,
+    0.6875,
+    0.75
+  ],
+  "container_duration_s": 0.8125,
+  "pts_span_s": 0.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [],
+  "segments": [],
+  "remainder_hold_frames": 13,
+  "zero_action": true,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Stay still.",
+  "camera_motion_caption_zh": "保持不动。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 0.0,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_12_f13/camera_poses.json b/trajectories/random_v2/real_209_12_f13/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdfef31c2c39d0765f3cad74f10a399cb797d643
--- /dev/null
+++ b/trajectories/random_v2/real_209_12_f13/camera_poses.json
@@ -0,0 +1,682 @@
+{
+  "canonical_c2w": [
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+}
diff --git a/trajectories/random_v2/real_209_12_f13/trajectory_caption.txt b/trajectories/random_v2/real_209_12_f13/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9971208d2581b3c605469d863ca8aa7e2497c20a
--- /dev/null
+++ b/trajectories/random_v2/real_209_12_f13/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Stay still.
+保持不动。
diff --git a/trajectories/random_v2/real_209_12_f139/action_sequence.json b/trajectories/random_v2/real_209_12_f139/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..8fbce968a333c9a6ceaff56bccaf76ad28f761aa
--- /dev/null
+++ b/trajectories/random_v2/real_209_12_f139/action_sequence.json
@@ -0,0 +1,290 @@
+{
+  "trajectory_id": "rand_real_209_12_f139",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_12",
+  "reference_fps": 16,
+  "reference_frames": 139,
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+  "container_duration_s": 8.6875,
+  "pts_span_s": 8.625,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "K",
+    "S",
+    "J",
+    "A",
+    "J",
+    "L",
+    "K",
+    "I"
+  ],
+  "segments": [
+    {
+      "key": "K",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "S",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "A",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 80,
+      "end_frame_inclusive": 95,
+      "start_s": 5,
+      "end_s": 6,
+      "pose_transition_end_s": 5.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 96,
+      "end_frame_inclusive": 111,
+      "start_s": 6,
+      "end_s": 7,
+      "pose_transition_end_s": 6.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 112,
+      "end_frame_inclusive": 127,
+      "start_s": 7,
+      "end_s": 8,
+      "pose_transition_end_s": 7.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 11,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look down, walk backward, turn left, walk left, turn left, turn right, look down, look up.",
+  "camera_motion_caption_zh": "向下看，向后走，向左转，向左走，向左转，向右转，向下看，向上看。",
+  "net_yaw_deg": -15.0,
+  "max_translation_nominal_m": 0.7140180062621116,
+  "max_rotation_deg": 31.58644830271884,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_12_f139/camera_poses.json b/trajectories/random_v2/real_209_12_f139/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..d516d13fe79092af106e5858912545b4000bc1dc
--- /dev/null
+++ b/trajectories/random_v2/real_209_12_f139/camera_poses.json
@@ -0,0 +1,7234 @@
+{
+  "canonical_c2w": [
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+}
diff --git a/trajectories/random_v2/real_209_12_f139/trajectory_caption.txt b/trajectories/random_v2/real_209_12_f139/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3c6f895e60efaa88e900d0706c9bc993674ba257
--- /dev/null
+++ b/trajectories/random_v2/real_209_12_f139/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look down, walk backward, turn left, walk left, turn left, turn right, look down, look up.
+向下看，向后走，向左转，向左走，向左转，向右转，向下看，向上看。
diff --git a/trajectories/random_v2/real_209_12_f49/action_sequence.json b/trajectories/random_v2/real_209_12_f49/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..098855506f62cb7cebb1efe5bdedb29d28b0bccf
--- /dev/null
+++ b/trajectories/random_v2/real_209_12_f49/action_sequence.json
@@ -0,0 +1,150 @@
+{
+  "trajectory_id": "rand_real_209_12_f49",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_12",
+  "reference_fps": 16,
+  "reference_frames": 49,
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+    2.625,
+    2.6875,
+    2.75,
+    2.8125,
+    2.875,
+    2.9375,
+    3.0
+  ],
+  "container_duration_s": 3.0625,
+  "pts_span_s": 3.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "K",
+    "S",
+    "J"
+  ],
+  "segments": [
+    {
+      "key": "K",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "S",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look down, walk backward, turn left.",
+  "camera_motion_caption_zh": "向下看，向后走，向左转。",
+  "net_yaw_deg": -15.0,
+  "max_translation_nominal_m": 0.45000000000000007,
+  "max_rotation_deg": 18.011882178082473,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_12_f49/camera_poses.json b/trajectories/random_v2/real_209_12_f49/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..8758c4fc01493138179d812745d5a4ebe7207d05
--- /dev/null
+++ b/trajectories/random_v2/real_209_12_f49/camera_poses.json
@@ -0,0 +1,2554 @@
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+}
diff --git a/trajectories/random_v2/real_209_12_f49/trajectory_caption.txt b/trajectories/random_v2/real_209_12_f49/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e33e9077960ea958743e5ce5b7536da79b45ccbe
--- /dev/null
+++ b/trajectories/random_v2/real_209_12_f49/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look down, walk backward, turn left.
+向下看，向后走，向左转。
diff --git a/trajectories/random_v2/real_209_12_f81/action_sequence.json b/trajectories/random_v2/real_209_12_f81/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..382fd56884d955a97347c3c94d8637733bead8b3
--- /dev/null
+++ b/trajectories/random_v2/real_209_12_f81/action_sequence.json
@@ -0,0 +1,202 @@
+{
+  "trajectory_id": "rand_real_209_12_f81",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_12",
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+  "container_duration_s": 5.0625,
+  "pts_span_s": 5.0,
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+  "parameters": {
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+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
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+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
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+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look down, walk backward, turn left, walk left, turn left.",
+  "camera_motion_caption_zh": "向下看，向后走，向左转，向左走，向左转。",
+  "net_yaw_deg": -30.0,
+  "max_translation_nominal_m": 0.7140180062621116,
+  "max_rotation_deg": 31.58644830271884,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_12_f81/camera_poses.json b/trajectories/random_v2/real_209_12_f81/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff8e630b5d365ca4cb11b1e36f7efbad92a66244
--- /dev/null
+++ b/trajectories/random_v2/real_209_12_f81/camera_poses.json
@@ -0,0 +1,4218 @@
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diff --git a/trajectories/random_v2/real_209_12_f81/trajectory_caption.txt b/trajectories/random_v2/real_209_12_f81/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..95628352cc3177c1286e4e7be64dd54c6bf4a708
--- /dev/null
+++ b/trajectories/random_v2/real_209_12_f81/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look down, walk backward, turn left, walk left, turn left.
+向下看，向后走，向左转，向左走，向左转。
diff --git a/trajectories/random_v2/real_209_13_f125/action_sequence.json b/trajectories/random_v2/real_209_13_f125/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b7b69458592162ca7a3476d89fa6356297c431d
--- /dev/null
+++ b/trajectories/random_v2/real_209_13_f125/action_sequence.json
@@ -0,0 +1,266 @@
+{
+  "trajectory_id": "rand_real_209_13_f125",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_13",
+  "reference_fps": 16,
+  "reference_frames": 125,
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+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
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+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "I",
+    "K",
+    "A",
+    "K",
+    "W",
+    "L",
+    "J"
+  ],
+  "segments": [
+    {
+      "key": "I",
+      "start_frame": 0,
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+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 16,
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+      "duration_s": 1
+    },
+    {
+      "key": "A",
+      "start_frame": 32,
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+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "W",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 80,
+      "end_frame_inclusive": 95,
+      "start_s": 5,
+      "end_s": 6,
+      "pose_transition_end_s": 5.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 96,
+      "end_frame_inclusive": 111,
+      "start_s": 6,
+      "end_s": 7,
+      "pose_transition_end_s": 6.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 13,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look up, look down, walk left, look down, walk forward, turn right, turn left.",
+  "camera_motion_caption_zh": "向上看，向下看，向左走，向下看，向前走，向右转，向左转。",
+  "net_yaw_deg": 0.0,
+  "max_translation_nominal_m": 0.6363961030678928,
+  "max_rotation_deg": 18.011882178082473,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_13_f125/camera_poses.json b/trajectories/random_v2/real_209_13_f125/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa156b40fb6480e7f4b13fe3cb3f41ac50000046
--- /dev/null
+++ b/trajectories/random_v2/real_209_13_f125/camera_poses.json
@@ -0,0 +1,6506 @@
+{
+  "canonical_c2w": [
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+}
diff --git a/trajectories/random_v2/real_209_13_f125/trajectory_caption.txt b/trajectories/random_v2/real_209_13_f125/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..51f1bd18ece4f2c4533a1cdf83224c9c5c830678
--- /dev/null
+++ b/trajectories/random_v2/real_209_13_f125/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look up, look down, walk left, look down, walk forward, turn right, turn left.
+向上看，向下看，向左走，向下看，向前走，向右转，向左转。
diff --git a/trajectories/random_v2/real_209_13_f13/action_sequence.json b/trajectories/random_v2/real_209_13_f13/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..effb1966e805ed2c705161781353cd68dd017c9d
--- /dev/null
+++ b/trajectories/random_v2/real_209_13_f13/action_sequence.json
@@ -0,0 +1,82 @@
+{
+  "trajectory_id": "rand_real_209_13_f13",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_13",
+  "reference_fps": 16,
+  "reference_frames": 13,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
+    0.125,
+    0.1875,
+    0.25,
+    0.3125,
+    0.375,
+    0.4375,
+    0.5,
+    0.5625,
+    0.625,
+    0.6875,
+    0.75
+  ],
+  "container_duration_s": 0.8125,
+  "pts_span_s": 0.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [],
+  "segments": [],
+  "remainder_hold_frames": 13,
+  "zero_action": true,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Stay still.",
+  "camera_motion_caption_zh": "保持不动。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 0.0,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_13_f13/camera_poses.json b/trajectories/random_v2/real_209_13_f13/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdfef31c2c39d0765f3cad74f10a399cb797d643
--- /dev/null
+++ b/trajectories/random_v2/real_209_13_f13/camera_poses.json
@@ -0,0 +1,682 @@
+{
+  "canonical_c2w": [
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+}
diff --git a/trajectories/random_v2/real_209_13_f13/trajectory_caption.txt b/trajectories/random_v2/real_209_13_f13/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9971208d2581b3c605469d863ca8aa7e2497c20a
--- /dev/null
+++ b/trajectories/random_v2/real_209_13_f13/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Stay still.
+保持不动。
diff --git a/trajectories/random_v2/real_209_13_f139/action_sequence.json b/trajectories/random_v2/real_209_13_f139/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ecdcdd5e692bc37e8955c4a5077eabca955b870
--- /dev/null
+++ b/trajectories/random_v2/real_209_13_f139/action_sequence.json
@@ -0,0 +1,290 @@
+{
+  "trajectory_id": "rand_real_209_13_f139",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_13",
+  "reference_fps": 16,
+  "reference_frames": 139,
+  "frame_pts_s": [
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+  "container_duration_s": 8.6875,
+  "pts_span_s": 8.625,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "I",
+    "K",
+    "A",
+    "K",
+    "W",
+    "L",
+    "J",
+    "K"
+  ],
+  "segments": [
+    {
+      "key": "I",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "A",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "W",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 80,
+      "end_frame_inclusive": 95,
+      "start_s": 5,
+      "end_s": 6,
+      "pose_transition_end_s": 5.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 96,
+      "end_frame_inclusive": 111,
+      "start_s": 6,
+      "end_s": 7,
+      "pose_transition_end_s": 6.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 112,
+      "end_frame_inclusive": 127,
+      "start_s": 7,
+      "end_s": 8,
+      "pose_transition_end_s": 7.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 11,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look up, look down, walk left, look down, walk forward, turn right, turn left, look down.",
+  "camera_motion_caption_zh": "向上看，向下看，向左走，向下看，向前走，向右转，向左转，向下看。",
+  "net_yaw_deg": 0.0,
+  "max_translation_nominal_m": 0.6363961030678928,
+  "max_rotation_deg": 20.0,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_13_f139/camera_poses.json b/trajectories/random_v2/real_209_13_f139/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..f84aca0c453aa990b6af480b8e7c8e60e8172ca0
--- /dev/null
+++ b/trajectories/random_v2/real_209_13_f139/camera_poses.json
@@ -0,0 +1,7234 @@
+{
+  "canonical_c2w": [
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+}
diff --git a/trajectories/random_v2/real_209_13_f139/trajectory_caption.txt b/trajectories/random_v2/real_209_13_f139/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d58e3af570fa2f5e760aa06c7b5d998829e338da
--- /dev/null
+++ b/trajectories/random_v2/real_209_13_f139/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look up, look down, walk left, look down, walk forward, turn right, turn left, look down.
+向上看，向下看，向左走，向下看，向前走，向右转，向左转，向下看。
diff --git a/trajectories/random_v2/real_209_13_f49/action_sequence.json b/trajectories/random_v2/real_209_13_f49/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc6dcc108dd50ea8e4fd46fcfc042bf281c5d9b2
--- /dev/null
+++ b/trajectories/random_v2/real_209_13_f49/action_sequence.json
@@ -0,0 +1,150 @@
+{
+  "trajectory_id": "rand_real_209_13_f49",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_13",
+  "reference_fps": 16,
+  "reference_frames": 49,
+  "frame_pts_s": [
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+    2.8125,
+    2.875,
+    2.9375,
+    3.0
+  ],
+  "container_duration_s": 3.0625,
+  "pts_span_s": 3.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "I",
+    "K",
+    "A"
+  ],
+  "segments": [
+    {
+      "key": "I",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "A",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look up, look down, walk left.",
+  "camera_motion_caption_zh": "向上看，向下看，向左走。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.45,
+  "max_rotation_deg": 9.999999999999998,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_13_f49/camera_poses.json b/trajectories/random_v2/real_209_13_f49/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..30c5fc5e73cdeffadcab0b10fc1b23c1caeda6ad
--- /dev/null
+++ b/trajectories/random_v2/real_209_13_f49/camera_poses.json
@@ -0,0 +1,2554 @@
+{
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+}
diff --git a/trajectories/random_v2/real_209_13_f49/trajectory_caption.txt b/trajectories/random_v2/real_209_13_f49/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e36f1a4046e26be10c7578ff50a83c25fa4a78a9
--- /dev/null
+++ b/trajectories/random_v2/real_209_13_f49/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look up, look down, walk left.
+向上看，向下看，向左走。
diff --git a/trajectories/random_v2/real_209_13_f81/action_sequence.json b/trajectories/random_v2/real_209_13_f81/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..814bdd5b38020359a3051bb892b17eb80dd4ebb2
--- /dev/null
+++ b/trajectories/random_v2/real_209_13_f81/action_sequence.json
@@ -0,0 +1,202 @@
+{
+  "trajectory_id": "rand_real_209_13_f81",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_13",
+  "reference_fps": 16,
+  "reference_frames": 81,
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+  ],
+  "container_duration_s": 5.0625,
+  "pts_span_s": 5.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "I",
+    "K",
+    "A",
+    "K",
+    "W"
+  ],
+  "segments": [
+    {
+      "key": "I",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "A",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "W",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look up, look down, walk left, look down, walk forward.",
+  "camera_motion_caption_zh": "向上看，向下看，向左走，向下看，向前走。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.6363961030678928,
+  "max_rotation_deg": 9.999999999999998,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_13_f81/camera_poses.json b/trajectories/random_v2/real_209_13_f81/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..db66d65650fee9aa6161f514f1b76b66f4bbe939
--- /dev/null
+++ b/trajectories/random_v2/real_209_13_f81/camera_poses.json
@@ -0,0 +1,4218 @@
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+}
diff --git a/trajectories/random_v2/real_209_13_f81/trajectory_caption.txt b/trajectories/random_v2/real_209_13_f81/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9d3034dfe40b075b903f811d635f766ccbc64c2e
--- /dev/null
+++ b/trajectories/random_v2/real_209_13_f81/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look up, look down, walk left, look down, walk forward.
+向上看，向下看，向左走，向下看，向前走。
diff --git a/trajectories/random_v2/real_209_14_f125/action_sequence.json b/trajectories/random_v2/real_209_14_f125/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed8d35b85505f97a08fa4e1198014bb7c94db62e
--- /dev/null
+++ b/trajectories/random_v2/real_209_14_f125/action_sequence.json
@@ -0,0 +1,266 @@
+{
+  "trajectory_id": "rand_real_209_14_f125",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_14",
+  "reference_fps": 16,
+  "reference_frames": 125,
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+  "parameters": {
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+    "pitch_deg_per_action": 10.0,
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+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "I",
+    "D",
+    "K",
+    "K",
+    "K",
+    "L",
+    "I"
+  ],
+  "segments": [
+    {
+      "key": "I",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "D",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 80,
+      "end_frame_inclusive": 95,
+      "start_s": 5,
+      "end_s": 6,
+      "pose_transition_end_s": 5.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 96,
+      "end_frame_inclusive": 111,
+      "start_s": 6,
+      "end_s": 7,
+      "pose_transition_end_s": 6.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 13,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look up, walk right, look down, look down, look down, turn right, look up.",
+  "camera_motion_caption_zh": "向上看，向右走，向下看，向下看，向下看，向右转，向上看。",
+  "net_yaw_deg": 15.0,
+  "max_translation_nominal_m": 0.45,
+  "max_rotation_deg": 24.954120252232205,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_14_f125/camera_poses.json b/trajectories/random_v2/real_209_14_f125/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..0025cd48a5657475ee715b2417becc45d7c39b5e
--- /dev/null
+++ b/trajectories/random_v2/real_209_14_f125/camera_poses.json
@@ -0,0 +1,6506 @@
+{
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+}
diff --git a/trajectories/random_v2/real_209_14_f125/trajectory_caption.txt b/trajectories/random_v2/real_209_14_f125/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f954ff15f233c6cf460f2ffd68998bf321d557da
--- /dev/null
+++ b/trajectories/random_v2/real_209_14_f125/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look up, walk right, look down, look down, look down, turn right, look up.
+向上看，向右走，向下看，向下看，向下看，向右转，向上看。
diff --git a/trajectories/random_v2/real_209_14_f13/action_sequence.json b/trajectories/random_v2/real_209_14_f13/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..761f42fd0700c8cbcb1df7e5fc443e8274ecf829
--- /dev/null
+++ b/trajectories/random_v2/real_209_14_f13/action_sequence.json
@@ -0,0 +1,82 @@
+{
+  "trajectory_id": "rand_real_209_14_f13",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_14",
+  "reference_fps": 16,
+  "reference_frames": 13,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
+    0.125,
+    0.1875,
+    0.25,
+    0.3125,
+    0.375,
+    0.4375,
+    0.5,
+    0.5625,
+    0.625,
+    0.6875,
+    0.75
+  ],
+  "container_duration_s": 0.8125,
+  "pts_span_s": 0.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [],
+  "segments": [],
+  "remainder_hold_frames": 13,
+  "zero_action": true,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Stay still.",
+  "camera_motion_caption_zh": "保持不动。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 0.0,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_14_f13/camera_poses.json b/trajectories/random_v2/real_209_14_f13/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdfef31c2c39d0765f3cad74f10a399cb797d643
--- /dev/null
+++ b/trajectories/random_v2/real_209_14_f13/camera_poses.json
@@ -0,0 +1,682 @@
+{
+  "canonical_c2w": [
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
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+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
+      ],
+      [
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+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
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+        1.0,
+        0.0,
+        0.0
+      ],
+      [
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+        0.0,
+        1.0,
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+      [
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+        0.0,
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+    ],
+    [
+      [
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+        0.0,
+        0.0
+      ],
+      [
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+        1.0,
+        0.0,
+        0.0
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+      [
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+        0.0,
+        1.0,
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+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
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+    ],
+    [
+      [
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+      [
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+      [
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+    ],
+    [
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+      [
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+      [
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+      [
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+        0.0,
+        0.0,
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+    ],
+    [
+      [
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+        0.0,
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+      [
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+        1.0,
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+      [
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+        1.0,
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+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
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+      [
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+        1.0,
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+      [
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+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
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+        1.0,
+        0.0,
+        0.0
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+      [
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+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ]
+  ],
+  "opencv_c2w_wiw_units": [
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
+      ],
+      [
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+        1.0,
+        0.0
+      ],
+      [
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+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
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+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
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+        1.0,
+        0.0,
+        0.0
+      ],
+      [
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+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
+      ],
+      [
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+        1.0,
+        0.0
+      ],
+      [
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+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
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+      [
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+        1.0,
+        0.0,
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+      [
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+      ],
+      [
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+        0.0,
+        0.0,
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+    ],
+    [
+      [
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+        0.0,
+        0.0
+      ],
+      [
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+        1.0,
+        0.0,
+        0.0
+      ],
+      [
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+        1.0,
+        0.0
+      ],
+      [
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+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
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+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
+      ],
+      [
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+        0.0,
+        1.0,
+        0.0
+      ],
+      [
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+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
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+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
+      ],
+      [
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+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ]
+  ]
+}
diff --git a/trajectories/random_v2/real_209_14_f13/trajectory_caption.txt b/trajectories/random_v2/real_209_14_f13/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9971208d2581b3c605469d863ca8aa7e2497c20a
--- /dev/null
+++ b/trajectories/random_v2/real_209_14_f13/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Stay still.
+保持不动。
diff --git a/trajectories/random_v2/real_209_14_f139/action_sequence.json b/trajectories/random_v2/real_209_14_f139/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a96e4a78b9a68b3fc6ce76d83ad704e88794cc1
--- /dev/null
+++ b/trajectories/random_v2/real_209_14_f139/action_sequence.json
@@ -0,0 +1,290 @@
+{
+  "trajectory_id": "rand_real_209_14_f139",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_14",
+  "reference_fps": 16,
+  "reference_frames": 139,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
+    0.125,
+    0.1875,
+    0.25,
+    0.3125,
+    0.375,
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+    0.5625,
+    0.625,
+    0.6875,
+    0.75,
+    0.8125,
+    0.875,
+    0.9375,
+    1.0,
+    1.0625,
+    1.125,
+    1.1875,
+    1.25,
+    1.3125,
+    1.375,
+    1.4375,
+    1.5,
+    1.5625,
+    1.625,
+    1.6875,
+    1.75,
+    1.8125,
+    1.875,
+    1.9375,
+    2.0,
+    2.0625,
+    2.125,
+    2.1875,
+    2.25,
+    2.3125,
+    2.375,
+    2.4375,
+    2.5,
+    2.5625,
+    2.625,
+    2.6875,
+    2.75,
+    2.8125,
+    2.875,
+    2.9375,
+    3.0,
+    3.0625,
+    3.125,
+    3.1875,
+    3.25,
+    3.3125,
+    3.375,
+    3.4375,
+    3.5,
+    3.5625,
+    3.625,
+    3.6875,
+    3.75,
+    3.8125,
+    3.875,
+    3.9375,
+    4.0,
+    4.0625,
+    4.125,
+    4.1875,
+    4.25,
+    4.3125,
+    4.375,
+    4.4375,
+    4.5,
+    4.5625,
+    4.625,
+    4.6875,
+    4.75,
+    4.8125,
+    4.875,
+    4.9375,
+    5.0,
+    5.0625,
+    5.125,
+    5.1875,
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+    5.3125,
+    5.375,
+    5.4375,
+    5.5,
+    5.5625,
+    5.625,
+    5.6875,
+    5.75,
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+    5.875,
+    5.9375,
+    6.0,
+    6.0625,
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+    6.1875,
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+    6.375,
+    6.4375,
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+    6.5625,
+    6.625,
+    6.6875,
+    6.75,
+    6.8125,
+    6.875,
+    6.9375,
+    7.0,
+    7.0625,
+    7.125,
+    7.1875,
+    7.25,
+    7.3125,
+    7.375,
+    7.4375,
+    7.5,
+    7.5625,
+    7.625,
+    7.6875,
+    7.75,
+    7.8125,
+    7.875,
+    7.9375,
+    8.0,
+    8.0625,
+    8.125,
+    8.1875,
+    8.25,
+    8.3125,
+    8.375,
+    8.4375,
+    8.5,
+    8.5625,
+    8.625
+  ],
+  "container_duration_s": 8.6875,
+  "pts_span_s": 8.625,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "I",
+    "D",
+    "K",
+    "K",
+    "K",
+    "L",
+    "I",
+    "S"
+  ],
+  "segments": [
+    {
+      "key": "I",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "D",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 80,
+      "end_frame_inclusive": 95,
+      "start_s": 5,
+      "end_s": 6,
+      "pose_transition_end_s": 5.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 96,
+      "end_frame_inclusive": 111,
+      "start_s": 6,
+      "end_s": 7,
+      "pose_transition_end_s": 6.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "S",
+      "start_frame": 112,
+      "end_frame_inclusive": 127,
+      "start_s": 7,
+      "end_s": 8,
+      "pose_transition_end_s": 7.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 11,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look up, walk right, look down, look down, look down, turn right, look up, walk backward.",
+  "camera_motion_caption_zh": "向上看，向右走，向下看，向下看，向下看，向右转，向上看，向后走。",
+  "net_yaw_deg": 15.0,
+  "max_translation_nominal_m": 0.5493366582443845,
+  "max_rotation_deg": 24.954120252232205,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_14_f139/camera_poses.json b/trajectories/random_v2/real_209_14_f139/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..e998d98ab1bd1c29c1ebc5a5b46722654eb5d03e
--- /dev/null
+++ b/trajectories/random_v2/real_209_14_f139/camera_poses.json
@@ -0,0 +1,7234 @@
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+}
diff --git a/trajectories/random_v2/real_209_14_f139/trajectory_caption.txt b/trajectories/random_v2/real_209_14_f139/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..427bd477bfc8b0b1efc672ed552cd75e60285ae5
--- /dev/null
+++ b/trajectories/random_v2/real_209_14_f139/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look up, walk right, look down, look down, look down, turn right, look up, walk backward.
+向上看，向右走，向下看，向下看，向下看，向右转，向上看，向后走。
diff --git a/trajectories/random_v2/real_209_14_f49/action_sequence.json b/trajectories/random_v2/real_209_14_f49/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..db0fe6bb3151cfe22841f47c33423caddc9fc638
--- /dev/null
+++ b/trajectories/random_v2/real_209_14_f49/action_sequence.json
@@ -0,0 +1,150 @@
+{
+  "trajectory_id": "rand_real_209_14_f49",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_14",
+  "reference_fps": 16,
+  "reference_frames": 49,
+  "frame_pts_s": [
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+    2.875,
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+    3.0
+  ],
+  "container_duration_s": 3.0625,
+  "pts_span_s": 3.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "I",
+    "D",
+    "K"
+  ],
+  "segments": [
+    {
+      "key": "I",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "D",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look up, walk right, look down.",
+  "camera_motion_caption_zh": "向上看，向右走，向下看。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.45,
+  "max_rotation_deg": 9.999999999999998,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_14_f49/camera_poses.json b/trajectories/random_v2/real_209_14_f49/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ea659ef7f0e2c88f42e03ef72fb2427342ae7a6
--- /dev/null
+++ b/trajectories/random_v2/real_209_14_f49/camera_poses.json
@@ -0,0 +1,2554 @@
+{
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+}
diff --git a/trajectories/random_v2/real_209_14_f49/trajectory_caption.txt b/trajectories/random_v2/real_209_14_f49/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0246a391bdab65ad8e5229db7036228421b5c778
--- /dev/null
+++ b/trajectories/random_v2/real_209_14_f49/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look up, walk right, look down.
+向上看，向右走，向下看。
diff --git a/trajectories/random_v2/real_209_14_f81/action_sequence.json b/trajectories/random_v2/real_209_14_f81/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a2a688ef2d214ddd8249a6eb70e06542c96395d
--- /dev/null
+++ b/trajectories/random_v2/real_209_14_f81/action_sequence.json
@@ -0,0 +1,202 @@
+{
+  "trajectory_id": "rand_real_209_14_f81",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_14",
+  "reference_fps": 16,
+  "reference_frames": 81,
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+  "container_duration_s": 5.0625,
+  "pts_span_s": 5.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "I",
+    "D",
+    "K",
+    "K",
+    "K"
+  ],
+  "segments": [
+    {
+      "key": "I",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "D",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look up, walk right, look down, look down, look down.",
+  "camera_motion_caption_zh": "向上看，向右走，向下看，向下看，向下看。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.45,
+  "max_rotation_deg": 20.0,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_14_f81/camera_poses.json b/trajectories/random_v2/real_209_14_f81/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..8740f99f292ab29554e2e7289c52b976e491121a
--- /dev/null
+++ b/trajectories/random_v2/real_209_14_f81/camera_poses.json
@@ -0,0 +1,4218 @@
+{
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+}
diff --git a/trajectories/random_v2/real_209_14_f81/trajectory_caption.txt b/trajectories/random_v2/real_209_14_f81/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..90077e03d48b7dee45b4bccdc989f55a6aac5816
--- /dev/null
+++ b/trajectories/random_v2/real_209_14_f81/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look up, walk right, look down, look down, look down.
+向上看，向右走，向下看，向下看，向下看。
diff --git a/trajectories/random_v2/real_209_15_f125/action_sequence.json b/trajectories/random_v2/real_209_15_f125/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..79ada36de9e993065d22b8ab21ca8a1d41529182
--- /dev/null
+++ b/trajectories/random_v2/real_209_15_f125/action_sequence.json
@@ -0,0 +1,266 @@
+{
+  "trajectory_id": "rand_real_209_15_f125",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
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+  "parameters": {
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+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
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+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "D",
+    "L",
+    "I",
+    "K",
+    "J",
+    "J",
+    "W"
+  ],
+  "segments": [
+    {
+      "key": "D",
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+      "start_s": 0,
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+      "duration_s": 1
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+    {
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+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 80,
+      "end_frame_inclusive": 95,
+      "start_s": 5,
+      "end_s": 6,
+      "pose_transition_end_s": 5.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "W",
+      "start_frame": 96,
+      "end_frame_inclusive": 111,
+      "start_s": 6,
+      "end_s": 7,
+      "pose_transition_end_s": 6.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 13,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Walk right, turn right, look up, look down, turn left, turn left, walk forward.",
+  "camera_motion_caption_zh": "向右走，向右转，向上看，向下看，向左转，向左转，向前走。",
+  "net_yaw_deg": -15.0,
+  "max_translation_nominal_m": 0.5478852861078486,
+  "max_rotation_deg": 18.011882178082473,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_15_f125/camera_poses.json b/trajectories/random_v2/real_209_15_f125/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..e76c43cfd736b10e805417681c1f197b38d8f48c
--- /dev/null
+++ b/trajectories/random_v2/real_209_15_f125/camera_poses.json
@@ -0,0 +1,6506 @@
+{
+  "canonical_c2w": [
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+}
diff --git a/trajectories/random_v2/real_209_15_f125/trajectory_caption.txt b/trajectories/random_v2/real_209_15_f125/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..35b2756b46674f7881f4e3a25f5c4e8c8ddaed98
--- /dev/null
+++ b/trajectories/random_v2/real_209_15_f125/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Walk right, turn right, look up, look down, turn left, turn left, walk forward.
+向右走，向右转，向上看，向下看，向左转，向左转，向前走。
diff --git a/trajectories/random_v2/real_209_15_f13/action_sequence.json b/trajectories/random_v2/real_209_15_f13/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..34c2d59009824914ae3584015b3281563e699bde
--- /dev/null
+++ b/trajectories/random_v2/real_209_15_f13/action_sequence.json
@@ -0,0 +1,82 @@
+{
+  "trajectory_id": "rand_real_209_15_f13",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_15",
+  "reference_fps": 16,
+  "reference_frames": 13,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
+    0.125,
+    0.1875,
+    0.25,
+    0.3125,
+    0.375,
+    0.4375,
+    0.5,
+    0.5625,
+    0.625,
+    0.6875,
+    0.75
+  ],
+  "container_duration_s": 0.8125,
+  "pts_span_s": 0.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [],
+  "segments": [],
+  "remainder_hold_frames": 13,
+  "zero_action": true,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Stay still.",
+  "camera_motion_caption_zh": "保持不动。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 0.0,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_15_f13/camera_poses.json b/trajectories/random_v2/real_209_15_f13/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdfef31c2c39d0765f3cad74f10a399cb797d643
--- /dev/null
+++ b/trajectories/random_v2/real_209_15_f13/camera_poses.json
@@ -0,0 +1,682 @@
+{
+  "canonical_c2w": [
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+}
diff --git a/trajectories/random_v2/real_209_15_f13/trajectory_caption.txt b/trajectories/random_v2/real_209_15_f13/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9971208d2581b3c605469d863ca8aa7e2497c20a
--- /dev/null
+++ b/trajectories/random_v2/real_209_15_f13/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Stay still.
+保持不动。
diff --git a/trajectories/random_v2/real_209_15_f139/action_sequence.json b/trajectories/random_v2/real_209_15_f139/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..50b9e0a324afa7dbee070f5b73c783a77139e482
--- /dev/null
+++ b/trajectories/random_v2/real_209_15_f139/action_sequence.json
@@ -0,0 +1,290 @@
+{
+  "trajectory_id": "rand_real_209_15_f139",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_15",
+  "reference_fps": 16,
+  "reference_frames": 139,
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+  "container_duration_s": 8.6875,
+  "pts_span_s": 8.625,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "D",
+    "L",
+    "I",
+    "K",
+    "J",
+    "J",
+    "W",
+    "S"
+  ],
+  "segments": [
+    {
+      "key": "D",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 80,
+      "end_frame_inclusive": 95,
+      "start_s": 5,
+      "end_s": 6,
+      "pose_transition_end_s": 5.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "W",
+      "start_frame": 96,
+      "end_frame_inclusive": 111,
+      "start_s": 6,
+      "end_s": 7,
+      "pose_transition_end_s": 6.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "S",
+      "start_frame": 112,
+      "end_frame_inclusive": 127,
+      "start_s": 7,
+      "end_s": 8,
+      "pose_transition_end_s": 7.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 11,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Walk right, turn right, look up, look down, turn left, turn left, walk forward, walk backward.",
+  "camera_motion_caption_zh": "向右走，向右转，向上看，向下看，向左转，向左转，向前走，向后走。",
+  "net_yaw_deg": -15.0,
+  "max_translation_nominal_m": 0.5478852861078486,
+  "max_rotation_deg": 18.011882178082473,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_15_f139/camera_poses.json b/trajectories/random_v2/real_209_15_f139/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4604e70e98db486caebc7f75198562a7c4e067e
--- /dev/null
+++ b/trajectories/random_v2/real_209_15_f139/camera_poses.json
@@ -0,0 +1,7234 @@
+{
+  "canonical_c2w": [
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
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+}
diff --git a/trajectories/random_v2/real_209_15_f139/trajectory_caption.txt b/trajectories/random_v2/real_209_15_f139/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ef321aaf7411fa429462a526693fdd2cd075019a
--- /dev/null
+++ b/trajectories/random_v2/real_209_15_f139/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Walk right, turn right, look up, look down, turn left, turn left, walk forward, walk backward.
+向右走，向右转，向上看，向下看，向左转，向左转，向前走，向后走。
diff --git a/trajectories/random_v2/real_209_15_f49/action_sequence.json b/trajectories/random_v2/real_209_15_f49/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f50e94a46dd2c3d7a393c877cf70825a81ada89
--- /dev/null
+++ b/trajectories/random_v2/real_209_15_f49/action_sequence.json
@@ -0,0 +1,150 @@
+{
+  "trajectory_id": "rand_real_209_15_f49",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_15",
+  "reference_fps": 16,
+  "reference_frames": 49,
+  "frame_pts_s": [
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+    2.6875,
+    2.75,
+    2.8125,
+    2.875,
+    2.9375,
+    3.0
+  ],
+  "container_duration_s": 3.0625,
+  "pts_span_s": 3.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "D",
+    "L",
+    "I"
+  ],
+  "segments": [
+    {
+      "key": "D",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Walk right, turn right, look up.",
+  "camera_motion_caption_zh": "向右走，向右转，向上看。",
+  "net_yaw_deg": 15.0,
+  "max_translation_nominal_m": 0.45,
+  "max_rotation_deg": 18.011882178082473,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_15_f49/camera_poses.json b/trajectories/random_v2/real_209_15_f49/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1dbb7a0897be9b7bf2c2d314e2a417cdd9fd197
--- /dev/null
+++ b/trajectories/random_v2/real_209_15_f49/camera_poses.json
@@ -0,0 +1,2554 @@
+{
+  "canonical_c2w": [
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+        1.0,
+        0.0,
+        0.0,
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+      ],
+      [
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+}
diff --git a/trajectories/random_v2/real_209_15_f49/trajectory_caption.txt b/trajectories/random_v2/real_209_15_f49/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..15c742249f9a7be1b269f556915e96780687b4aa
--- /dev/null
+++ b/trajectories/random_v2/real_209_15_f49/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Walk right, turn right, look up.
+向右走，向右转，向上看。
diff --git a/trajectories/random_v2/real_209_15_f81/action_sequence.json b/trajectories/random_v2/real_209_15_f81/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..d47c5d3e85aff5510136f6a87a6cf9cb313559f3
--- /dev/null
+++ b/trajectories/random_v2/real_209_15_f81/action_sequence.json
@@ -0,0 +1,202 @@
+{
+  "trajectory_id": "rand_real_209_15_f81",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_15",
+  "reference_fps": 16,
+  "reference_frames": 81,
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+  "container_duration_s": 5.0625,
+  "pts_span_s": 5.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "D",
+    "L",
+    "I",
+    "K",
+    "J"
+  ],
+  "segments": [
+    {
+      "key": "D",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 16,
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+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Walk right, turn right, look up, look down, turn left.",
+  "camera_motion_caption_zh": "向右走，向右转，向上看，向下看，向左转。",
+  "net_yaw_deg": 0.0,
+  "max_translation_nominal_m": 0.45,
+  "max_rotation_deg": 18.011882178082473,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_15_f81/camera_poses.json b/trajectories/random_v2/real_209_15_f81/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..0666c9ab744a6ab721b0bc02d95ca4521de4f005
--- /dev/null
+++ b/trajectories/random_v2/real_209_15_f81/camera_poses.json
@@ -0,0 +1,4218 @@
+{
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+}
diff --git a/trajectories/random_v2/real_209_15_f81/trajectory_caption.txt b/trajectories/random_v2/real_209_15_f81/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3ecf080a157fb970932ec9c41f67ef4d846f5b71
--- /dev/null
+++ b/trajectories/random_v2/real_209_15_f81/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Walk right, turn right, look up, look down, turn left.
+向右走，向右转，向上看，向下看，向左转。
diff --git a/trajectories/random_v2/real_209_16_f125/action_sequence.json b/trajectories/random_v2/real_209_16_f125/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..80a56b0a4e8402078c0a057997188f94a99c0c89
--- /dev/null
+++ b/trajectories/random_v2/real_209_16_f125/action_sequence.json
@@ -0,0 +1,266 @@
+{
+  "trajectory_id": "rand_real_209_16_f125",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_16",
+  "reference_fps": 16,
+  "reference_frames": 125,
+  "frame_pts_s": [
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+  "container_duration_s": 7.8125,
+  "pts_span_s": 7.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "I",
+    "K",
+    "I",
+    "L",
+    "I",
+    "L",
+    "J"
+  ],
+  "segments": [
+    {
+      "key": "I",
+      "start_frame": 0,
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+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
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+      "start_frame": 32,
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+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 80,
+      "end_frame_inclusive": 95,
+      "start_s": 5,
+      "end_s": 6,
+      "pose_transition_end_s": 5.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 96,
+      "end_frame_inclusive": 111,
+      "start_s": 6,
+      "end_s": 7,
+      "pose_transition_end_s": 6.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 13,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look up, look down, look up, turn right, look up, turn right, turn left.",
+  "camera_motion_caption_zh": "向上看，向下看，向上看，向右转，向上看，向右转，向左转。",
+  "net_yaw_deg": 15.0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 36.02376435616495,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_16_f125/camera_poses.json b/trajectories/random_v2/real_209_16_f125/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c8ccee5e5296e1df77d657f9496e2e49a03a39d
--- /dev/null
+++ b/trajectories/random_v2/real_209_16_f125/camera_poses.json
@@ -0,0 +1,6506 @@
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+}
diff --git a/trajectories/random_v2/real_209_16_f125/trajectory_caption.txt b/trajectories/random_v2/real_209_16_f125/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a8b37eb53e988965af4a72f24a5a3d6002dbb107
--- /dev/null
+++ b/trajectories/random_v2/real_209_16_f125/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look up, look down, look up, turn right, look up, turn right, turn left.
+向上看，向下看，向上看，向右转，向上看，向右转，向左转。
diff --git a/trajectories/random_v2/real_209_16_f13/action_sequence.json b/trajectories/random_v2/real_209_16_f13/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..66c398dc8a592f5bee5a26958e7db4fe58e945d9
--- /dev/null
+++ b/trajectories/random_v2/real_209_16_f13/action_sequence.json
@@ -0,0 +1,82 @@
+{
+  "trajectory_id": "rand_real_209_16_f13",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_16",
+  "reference_fps": 16,
+  "reference_frames": 13,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
+    0.125,
+    0.1875,
+    0.25,
+    0.3125,
+    0.375,
+    0.4375,
+    0.5,
+    0.5625,
+    0.625,
+    0.6875,
+    0.75
+  ],
+  "container_duration_s": 0.8125,
+  "pts_span_s": 0.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [],
+  "segments": [],
+  "remainder_hold_frames": 13,
+  "zero_action": true,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Stay still.",
+  "camera_motion_caption_zh": "保持不动。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 0.0,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_16_f13/camera_poses.json b/trajectories/random_v2/real_209_16_f13/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdfef31c2c39d0765f3cad74f10a399cb797d643
--- /dev/null
+++ b/trajectories/random_v2/real_209_16_f13/camera_poses.json
@@ -0,0 +1,682 @@
+{
+  "canonical_c2w": [
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
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+      [
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+        0.0,
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+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
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+        0.0,
+        0.0
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+      [
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+        1.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ]
+  ],
+  "opencv_c2w_wiw_units": [
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ]
+  ]
+}
diff --git a/trajectories/random_v2/real_209_16_f13/trajectory_caption.txt b/trajectories/random_v2/real_209_16_f13/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9971208d2581b3c605469d863ca8aa7e2497c20a
--- /dev/null
+++ b/trajectories/random_v2/real_209_16_f13/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Stay still.
+保持不动。
diff --git a/trajectories/random_v2/real_209_16_f139/action_sequence.json b/trajectories/random_v2/real_209_16_f139/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c067661a9d7a41582b94cfb5bedb077ccc8f658
--- /dev/null
+++ b/trajectories/random_v2/real_209_16_f139/action_sequence.json
@@ -0,0 +1,290 @@
+{
+  "trajectory_id": "rand_real_209_16_f139",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_16",
+  "reference_fps": 16,
+  "reference_frames": 139,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
+    0.125,
+    0.1875,
+    0.25,
+    0.3125,
+    0.375,
+    0.4375,
+    0.5,
+    0.5625,
+    0.625,
+    0.6875,
+    0.75,
+    0.8125,
+    0.875,
+    0.9375,
+    1.0,
+    1.0625,
+    1.125,
+    1.1875,
+    1.25,
+    1.3125,
+    1.375,
+    1.4375,
+    1.5,
+    1.5625,
+    1.625,
+    1.6875,
+    1.75,
+    1.8125,
+    1.875,
+    1.9375,
+    2.0,
+    2.0625,
+    2.125,
+    2.1875,
+    2.25,
+    2.3125,
+    2.375,
+    2.4375,
+    2.5,
+    2.5625,
+    2.625,
+    2.6875,
+    2.75,
+    2.8125,
+    2.875,
+    2.9375,
+    3.0,
+    3.0625,
+    3.125,
+    3.1875,
+    3.25,
+    3.3125,
+    3.375,
+    3.4375,
+    3.5,
+    3.5625,
+    3.625,
+    3.6875,
+    3.75,
+    3.8125,
+    3.875,
+    3.9375,
+    4.0,
+    4.0625,
+    4.125,
+    4.1875,
+    4.25,
+    4.3125,
+    4.375,
+    4.4375,
+    4.5,
+    4.5625,
+    4.625,
+    4.6875,
+    4.75,
+    4.8125,
+    4.875,
+    4.9375,
+    5.0,
+    5.0625,
+    5.125,
+    5.1875,
+    5.25,
+    5.3125,
+    5.375,
+    5.4375,
+    5.5,
+    5.5625,
+    5.625,
+    5.6875,
+    5.75,
+    5.8125,
+    5.875,
+    5.9375,
+    6.0,
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+    6.125,
+    6.1875,
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+    6.3125,
+    6.375,
+    6.4375,
+    6.5,
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+    6.625,
+    6.6875,
+    6.75,
+    6.8125,
+    6.875,
+    6.9375,
+    7.0,
+    7.0625,
+    7.125,
+    7.1875,
+    7.25,
+    7.3125,
+    7.375,
+    7.4375,
+    7.5,
+    7.5625,
+    7.625,
+    7.6875,
+    7.75,
+    7.8125,
+    7.875,
+    7.9375,
+    8.0,
+    8.0625,
+    8.125,
+    8.1875,
+    8.25,
+    8.3125,
+    8.375,
+    8.4375,
+    8.5,
+    8.5625,
+    8.625
+  ],
+  "container_duration_s": 8.6875,
+  "pts_span_s": 8.625,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "I",
+    "K",
+    "I",
+    "L",
+    "I",
+    "L",
+    "J",
+    "K"
+  ],
+  "segments": [
+    {
+      "key": "I",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 80,
+      "end_frame_inclusive": 95,
+      "start_s": 5,
+      "end_s": 6,
+      "pose_transition_end_s": 5.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 96,
+      "end_frame_inclusive": 111,
+      "start_s": 6,
+      "end_s": 7,
+      "pose_transition_end_s": 6.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 112,
+      "end_frame_inclusive": 127,
+      "start_s": 7,
+      "end_s": 8,
+      "pose_transition_end_s": 7.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 11,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look up, look down, look up, turn right, look up, turn right, turn left, look down.",
+  "camera_motion_caption_zh": "向上看，向下看，向上看，向右转，向上看，向右转，向左转，向下看。",
+  "net_yaw_deg": 15.0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 36.02376435616495,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_16_f139/camera_poses.json b/trajectories/random_v2/real_209_16_f139/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..777a2289e00fbfe69fa70c2b3a0586a1b2546799
--- /dev/null
+++ b/trajectories/random_v2/real_209_16_f139/camera_poses.json
@@ -0,0 +1,7234 @@
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+}
diff --git a/trajectories/random_v2/real_209_16_f139/trajectory_caption.txt b/trajectories/random_v2/real_209_16_f139/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fe236224a5bbc622f5d29925bf099dc80ed1100c
--- /dev/null
+++ b/trajectories/random_v2/real_209_16_f139/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look up, look down, look up, turn right, look up, turn right, turn left, look down.
+向上看，向下看，向上看，向右转，向上看，向右转，向左转，向下看。
diff --git a/trajectories/random_v2/real_209_16_f49/action_sequence.json b/trajectories/random_v2/real_209_16_f49/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..368c5db263d071b0901bdeea9da80af8f93bc234
--- /dev/null
+++ b/trajectories/random_v2/real_209_16_f49/action_sequence.json
@@ -0,0 +1,150 @@
+{
+  "trajectory_id": "rand_real_209_16_f49",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_16",
+  "reference_fps": 16,
+  "reference_frames": 49,
+  "frame_pts_s": [
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+    0.125,
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+    2.8125,
+    2.875,
+    2.9375,
+    3.0
+  ],
+  "container_duration_s": 3.0625,
+  "pts_span_s": 3.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "I",
+    "K",
+    "I"
+  ],
+  "segments": [
+    {
+      "key": "I",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look up, look down, look up.",
+  "camera_motion_caption_zh": "向上看，向下看，向上看。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 9.999999999999998,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_16_f49/camera_poses.json b/trajectories/random_v2/real_209_16_f49/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..89ed0c638ea380d2331e5939ba63ee02533cb746
--- /dev/null
+++ b/trajectories/random_v2/real_209_16_f49/camera_poses.json
@@ -0,0 +1,2554 @@
+{
+  "canonical_c2w": [
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+}
diff --git a/trajectories/random_v2/real_209_16_f49/trajectory_caption.txt b/trajectories/random_v2/real_209_16_f49/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4b4b6f76f9612ffe88c173be71afb0e4901269d8
--- /dev/null
+++ b/trajectories/random_v2/real_209_16_f49/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look up, look down, look up.
+向上看，向下看，向上看。
diff --git a/trajectories/random_v2/real_209_16_f81/action_sequence.json b/trajectories/random_v2/real_209_16_f81/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0f85674f4b2a59d4b786325f80e9fbb709f5273
--- /dev/null
+++ b/trajectories/random_v2/real_209_16_f81/action_sequence.json
@@ -0,0 +1,202 @@
+{
+  "trajectory_id": "rand_real_209_16_f81",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_16",
+  "reference_fps": 16,
+  "reference_frames": 81,
+  "frame_pts_s": [
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+  ],
+  "container_duration_s": 5.0625,
+  "pts_span_s": 5.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "I",
+    "K",
+    "I",
+    "L",
+    "I"
+  ],
+  "segments": [
+    {
+      "key": "I",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look up, look down, look up, turn right, look up.",
+  "camera_motion_caption_zh": "向上看，向下看，向上看，向右转，向上看。",
+  "net_yaw_deg": 15.0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 24.954120252232205,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_16_f81/camera_poses.json b/trajectories/random_v2/real_209_16_f81/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a7e8f2ff4405f4c59863287abb624af0f585d38
--- /dev/null
+++ b/trajectories/random_v2/real_209_16_f81/camera_poses.json
@@ -0,0 +1,4218 @@
+{
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+}
diff --git a/trajectories/random_v2/real_209_16_f81/trajectory_caption.txt b/trajectories/random_v2/real_209_16_f81/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..37b20cd42a6c4f172eaa45017b5a9d3e1527266b
--- /dev/null
+++ b/trajectories/random_v2/real_209_16_f81/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look up, look down, look up, turn right, look up.
+向上看，向下看，向上看，向右转，向上看。
diff --git a/trajectories/random_v2/real_209_17_f125/action_sequence.json b/trajectories/random_v2/real_209_17_f125/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..05a70b8e54596ecf68d875eddaa5f0dee88b741a
--- /dev/null
+++ b/trajectories/random_v2/real_209_17_f125/action_sequence.json
@@ -0,0 +1,266 @@
+{
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+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
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+    {
+      "key": "L",
+      "start_frame": 80,
+      "end_frame_inclusive": 95,
+      "start_s": 5,
+      "end_s": 6,
+      "pose_transition_end_s": 5.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 96,
+      "end_frame_inclusive": 111,
+      "start_s": 6,
+      "end_s": 7,
+      "pose_transition_end_s": 6.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 13,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look down, walk right, turn right, walk right, turn right, turn right, look up.",
+  "camera_motion_caption_zh": "向下看，向右走，向右转，向右走，向右转，向右转，向上看。",
+  "net_yaw_deg": 45.0,
+  "max_translation_nominal_m": 0.8923003752364294,
+  "max_rotation_deg": 46.041322888178925,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_17_f125/camera_poses.json b/trajectories/random_v2/real_209_17_f125/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..ccf765ffc1f78d15b1e47ddb74c2b7d40b2ce7d0
--- /dev/null
+++ b/trajectories/random_v2/real_209_17_f125/camera_poses.json
@@ -0,0 +1,6506 @@
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+}
diff --git a/trajectories/random_v2/real_209_17_f125/trajectory_caption.txt b/trajectories/random_v2/real_209_17_f125/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..391984cd489b0764de451b9cf2e3a17279140140
--- /dev/null
+++ b/trajectories/random_v2/real_209_17_f125/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look down, walk right, turn right, walk right, turn right, turn right, look up.
+向下看，向右走，向右转，向右走，向右转，向右转，向上看。
diff --git a/trajectories/random_v2/real_209_17_f13/action_sequence.json b/trajectories/random_v2/real_209_17_f13/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..48acfa0455f2727a874dcb61dd262471168fe31f
--- /dev/null
+++ b/trajectories/random_v2/real_209_17_f13/action_sequence.json
@@ -0,0 +1,82 @@
+{
+  "trajectory_id": "rand_real_209_17_f13",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_17",
+  "reference_fps": 16,
+  "reference_frames": 13,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
+    0.125,
+    0.1875,
+    0.25,
+    0.3125,
+    0.375,
+    0.4375,
+    0.5,
+    0.5625,
+    0.625,
+    0.6875,
+    0.75
+  ],
+  "container_duration_s": 0.8125,
+  "pts_span_s": 0.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [],
+  "segments": [],
+  "remainder_hold_frames": 13,
+  "zero_action": true,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Stay still.",
+  "camera_motion_caption_zh": "保持不动。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 0.0,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_17_f13/camera_poses.json b/trajectories/random_v2/real_209_17_f13/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdfef31c2c39d0765f3cad74f10a399cb797d643
--- /dev/null
+++ b/trajectories/random_v2/real_209_17_f13/camera_poses.json
@@ -0,0 +1,682 @@
+{
+  "canonical_c2w": [
+    [
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+    ],
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+      [
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+        0.0,
+        1.0,
+        0.0
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+      [
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+        0.0,
+        1.0
+      ]
+    ]
+  ]
+}
diff --git a/trajectories/random_v2/real_209_17_f13/trajectory_caption.txt b/trajectories/random_v2/real_209_17_f13/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9971208d2581b3c605469d863ca8aa7e2497c20a
--- /dev/null
+++ b/trajectories/random_v2/real_209_17_f13/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Stay still.
+保持不动。
diff --git a/trajectories/random_v2/real_209_17_f139/action_sequence.json b/trajectories/random_v2/real_209_17_f139/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..28593f3182594bfc8fdeb80149beac4ea836b002
--- /dev/null
+++ b/trajectories/random_v2/real_209_17_f139/action_sequence.json
@@ -0,0 +1,290 @@
+{
+  "trajectory_id": "rand_real_209_17_f139",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_17",
+  "reference_fps": 16,
+  "reference_frames": 139,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
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+  "container_duration_s": 8.6875,
+  "pts_span_s": 8.625,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "K",
+    "D",
+    "L",
+    "D",
+    "L",
+    "L",
+    "I",
+    "S"
+  ],
+  "segments": [
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+      "key": "K",
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+      "start_s": 0,
+      "end_s": 1,
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+      "duration_s": 1
+    },
+    {
+      "key": "D",
+      "start_frame": 16,
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+      "end_s": 2,
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+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "D",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 80,
+      "end_frame_inclusive": 95,
+      "start_s": 5,
+      "end_s": 6,
+      "pose_transition_end_s": 5.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 96,
+      "end_frame_inclusive": 111,
+      "start_s": 6,
+      "end_s": 7,
+      "pose_transition_end_s": 6.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "S",
+      "start_frame": 112,
+      "end_frame_inclusive": 127,
+      "start_s": 7,
+      "end_s": 8,
+      "pose_transition_end_s": 7.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 11,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look down, walk right, turn right, walk right, turn right, turn right, look up, walk backward.",
+  "camera_motion_caption_zh": "向下看，向右走，向右转，向右走，向右转，向右转，向上看，向后走。",
+  "net_yaw_deg": 45.0,
+  "max_translation_nominal_m": 0.8923003752364294,
+  "max_rotation_deg": 46.041322888178925,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_17_f139/camera_poses.json b/trajectories/random_v2/real_209_17_f139/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..d18eb1221aab1f5b2362f4c37de5a1072ac112b9
--- /dev/null
+++ b/trajectories/random_v2/real_209_17_f139/camera_poses.json
@@ -0,0 +1,7234 @@
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+}
diff --git a/trajectories/random_v2/real_209_17_f139/trajectory_caption.txt b/trajectories/random_v2/real_209_17_f139/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7dbc1b6bf1f404425cae9d682fbcdbbe02d6b23a
--- /dev/null
+++ b/trajectories/random_v2/real_209_17_f139/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look down, walk right, turn right, walk right, turn right, turn right, look up, walk backward.
+向下看，向右走，向右转，向右走，向右转，向右转，向上看，向后走。
diff --git a/trajectories/random_v2/real_209_17_f49/action_sequence.json b/trajectories/random_v2/real_209_17_f49/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..c50a1fb13d2b3c2e5e4abf882c603ccb85bb3f5f
--- /dev/null
+++ b/trajectories/random_v2/real_209_17_f49/action_sequence.json
@@ -0,0 +1,150 @@
+{
+  "trajectory_id": "rand_real_209_17_f49",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_17",
+  "reference_fps": 16,
+  "reference_frames": 49,
+  "frame_pts_s": [
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+    2.875,
+    2.9375,
+    3.0
+  ],
+  "container_duration_s": 3.0625,
+  "pts_span_s": 3.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "K",
+    "D",
+    "L"
+  ],
+  "segments": [
+    {
+      "key": "K",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "D",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look down, walk right, turn right.",
+  "camera_motion_caption_zh": "向下看，向右走，向右转。",
+  "net_yaw_deg": 15.0,
+  "max_translation_nominal_m": 0.45,
+  "max_rotation_deg": 18.011882178082473,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_17_f49/camera_poses.json b/trajectories/random_v2/real_209_17_f49/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..de605ec694e8f597f7e4b95938b4b5d5468376c9
--- /dev/null
+++ b/trajectories/random_v2/real_209_17_f49/camera_poses.json
@@ -0,0 +1,2554 @@
+{
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+}
diff --git a/trajectories/random_v2/real_209_17_f49/trajectory_caption.txt b/trajectories/random_v2/real_209_17_f49/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0bfedb8396ceffeb46191babf8b17ad2ae4fde49
--- /dev/null
+++ b/trajectories/random_v2/real_209_17_f49/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look down, walk right, turn right.
+向下看，向右走，向右转。
diff --git a/trajectories/random_v2/real_209_17_f81/action_sequence.json b/trajectories/random_v2/real_209_17_f81/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..27847d6126f85be81ec498b9e553035ca7dbd3fd
--- /dev/null
+++ b/trajectories/random_v2/real_209_17_f81/action_sequence.json
@@ -0,0 +1,202 @@
+{
+  "trajectory_id": "rand_real_209_17_f81",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_17",
+  "reference_fps": 16,
+  "reference_frames": 81,
+  "frame_pts_s": [
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+  ],
+  "container_duration_s": 5.0625,
+  "pts_span_s": 5.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "K",
+    "D",
+    "L",
+    "D",
+    "L"
+  ],
+  "segments": [
+    {
+      "key": "K",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "D",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "D",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look down, walk right, turn right, walk right, turn right.",
+  "camera_motion_caption_zh": "向下看，向右走，向右转，向右走，向右转。",
+  "net_yaw_deg": 30.0,
+  "max_translation_nominal_m": 0.8923003752364294,
+  "max_rotation_deg": 31.58644830271884,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_17_f81/camera_poses.json b/trajectories/random_v2/real_209_17_f81/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..787fe265c8ea6376309838b84248861db53e47d7
--- /dev/null
+++ b/trajectories/random_v2/real_209_17_f81/camera_poses.json
@@ -0,0 +1,4218 @@
+{
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diff --git a/trajectories/random_v2/real_209_17_f81/trajectory_caption.txt b/trajectories/random_v2/real_209_17_f81/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e28136839d96a67d09a2c17a666ebfcc6715437c
--- /dev/null
+++ b/trajectories/random_v2/real_209_17_f81/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look down, walk right, turn right, walk right, turn right.
+向下看，向右走，向右转，向右走，向右转。
diff --git a/trajectories/random_v2/real_209_18_f125/action_sequence.json b/trajectories/random_v2/real_209_18_f125/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..7cb6919b24cdc501b4580ffba68779ffee983eb2
--- /dev/null
+++ b/trajectories/random_v2/real_209_18_f125/action_sequence.json
@@ -0,0 +1,266 @@
+{
+  "trajectory_id": "rand_real_209_18_f125",
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+  "protocol": "v2bench-protocol-v2-random-ijkl",
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+    7.4375,
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+    7.5625,
+    7.625,
+    7.6875,
+    7.75
+  ],
+  "container_duration_s": 7.8125,
+  "pts_span_s": 7.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "D",
+    "K",
+    "K",
+    "D",
+    "L",
+    "J",
+    "L"
+  ],
+  "segments": [
+    {
+      "key": "D",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "D",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 80,
+      "end_frame_inclusive": 95,
+      "start_s": 5,
+      "end_s": 6,
+      "pose_transition_end_s": 5.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 96,
+      "end_frame_inclusive": 111,
+      "start_s": 6,
+      "end_s": 7,
+      "pose_transition_end_s": 6.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 13,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Walk right, look down, look down, walk right, turn right, turn left, turn right.",
+  "camera_motion_caption_zh": "向右走，向下看，向下看，向右走，向右转，向左转，向右转。",
+  "net_yaw_deg": 15.0,
+  "max_translation_nominal_m": 0.9,
+  "max_rotation_deg": 24.9541202522322,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_18_f125/camera_poses.json b/trajectories/random_v2/real_209_18_f125/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce86f9a576c0faac2ed19383b0f74e2d2e19e21d
--- /dev/null
+++ b/trajectories/random_v2/real_209_18_f125/camera_poses.json
@@ -0,0 +1,6506 @@
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+}
diff --git a/trajectories/random_v2/real_209_18_f125/trajectory_caption.txt b/trajectories/random_v2/real_209_18_f125/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fdd3a422d3894513d8abaa5c186b8ece02dd42a8
--- /dev/null
+++ b/trajectories/random_v2/real_209_18_f125/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Walk right, look down, look down, walk right, turn right, turn left, turn right.
+向右走，向下看，向下看，向右走，向右转，向左转，向右转。
diff --git a/trajectories/random_v2/real_209_18_f13/action_sequence.json b/trajectories/random_v2/real_209_18_f13/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..f40ac714c48980c0527550634e8a3c1029146e83
--- /dev/null
+++ b/trajectories/random_v2/real_209_18_f13/action_sequence.json
@@ -0,0 +1,82 @@
+{
+  "trajectory_id": "rand_real_209_18_f13",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_18",
+  "reference_fps": 16,
+  "reference_frames": 13,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
+    0.125,
+    0.1875,
+    0.25,
+    0.3125,
+    0.375,
+    0.4375,
+    0.5,
+    0.5625,
+    0.625,
+    0.6875,
+    0.75
+  ],
+  "container_duration_s": 0.8125,
+  "pts_span_s": 0.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [],
+  "segments": [],
+  "remainder_hold_frames": 13,
+  "zero_action": true,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Stay still.",
+  "camera_motion_caption_zh": "保持不动。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 0.0,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_18_f13/camera_poses.json b/trajectories/random_v2/real_209_18_f13/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdfef31c2c39d0765f3cad74f10a399cb797d643
--- /dev/null
+++ b/trajectories/random_v2/real_209_18_f13/camera_poses.json
@@ -0,0 +1,682 @@
+{
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+}
diff --git a/trajectories/random_v2/real_209_18_f13/trajectory_caption.txt b/trajectories/random_v2/real_209_18_f13/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9971208d2581b3c605469d863ca8aa7e2497c20a
--- /dev/null
+++ b/trajectories/random_v2/real_209_18_f13/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Stay still.
+保持不动。
diff --git a/trajectories/random_v2/real_209_18_f139/action_sequence.json b/trajectories/random_v2/real_209_18_f139/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..72174bec97d1f5d9a18b53e39567c3d68b367486
--- /dev/null
+++ b/trajectories/random_v2/real_209_18_f139/action_sequence.json
@@ -0,0 +1,290 @@
+{
+  "trajectory_id": "rand_real_209_18_f139",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_18",
+  "reference_fps": 16,
+  "reference_frames": 139,
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+  "container_duration_s": 8.6875,
+  "pts_span_s": 8.625,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "D",
+    "K",
+    "K",
+    "D",
+    "L",
+    "J",
+    "L",
+    "J"
+  ],
+  "segments": [
+    {
+      "key": "D",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "D",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 80,
+      "end_frame_inclusive": 95,
+      "start_s": 5,
+      "end_s": 6,
+      "pose_transition_end_s": 5.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 96,
+      "end_frame_inclusive": 111,
+      "start_s": 6,
+      "end_s": 7,
+      "pose_transition_end_s": 6.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 112,
+      "end_frame_inclusive": 127,
+      "start_s": 7,
+      "end_s": 8,
+      "pose_transition_end_s": 7.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 11,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Walk right, look down, look down, walk right, turn right, turn left, turn right, turn left.",
+  "camera_motion_caption_zh": "向右走，向下看，向下看，向右走，向右转，向左转，向右转，向左转。",
+  "net_yaw_deg": 0.0,
+  "max_translation_nominal_m": 0.9,
+  "max_rotation_deg": 24.9541202522322,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_18_f139/camera_poses.json b/trajectories/random_v2/real_209_18_f139/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1877d1c9555f799b401af7b00844b539f563d3f
--- /dev/null
+++ b/trajectories/random_v2/real_209_18_f139/camera_poses.json
@@ -0,0 +1,7234 @@
+{
+  "canonical_c2w": [
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diff --git a/trajectories/random_v2/real_209_18_f139/trajectory_caption.txt b/trajectories/random_v2/real_209_18_f139/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a8fef6290fca14fd155cf057186cc2a2619dc3bb
--- /dev/null
+++ b/trajectories/random_v2/real_209_18_f139/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Walk right, look down, look down, walk right, turn right, turn left, turn right, turn left.
+向右走，向下看，向下看，向右走，向右转，向左转，向右转，向左转。
diff --git a/trajectories/random_v2/real_209_18_f49/action_sequence.json b/trajectories/random_v2/real_209_18_f49/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..58c1074263c120548968ddb9e846e55e2a87785c
--- /dev/null
+++ b/trajectories/random_v2/real_209_18_f49/action_sequence.json
@@ -0,0 +1,150 @@
+{
+  "trajectory_id": "rand_real_209_18_f49",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_18",
+  "reference_fps": 16,
+  "reference_frames": 49,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
+    0.125,
+    0.1875,
+    0.25,
+    0.3125,
+    0.375,
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+    0.5625,
+    0.625,
+    0.6875,
+    0.75,
+    0.8125,
+    0.875,
+    0.9375,
+    1.0,
+    1.0625,
+    1.125,
+    1.1875,
+    1.25,
+    1.3125,
+    1.375,
+    1.4375,
+    1.5,
+    1.5625,
+    1.625,
+    1.6875,
+    1.75,
+    1.8125,
+    1.875,
+    1.9375,
+    2.0,
+    2.0625,
+    2.125,
+    2.1875,
+    2.25,
+    2.3125,
+    2.375,
+    2.4375,
+    2.5,
+    2.5625,
+    2.625,
+    2.6875,
+    2.75,
+    2.8125,
+    2.875,
+    2.9375,
+    3.0
+  ],
+  "container_duration_s": 3.0625,
+  "pts_span_s": 3.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "D",
+    "K",
+    "K"
+  ],
+  "segments": [
+    {
+      "key": "D",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Walk right, look down, look down.",
+  "camera_motion_caption_zh": "向右走，向下看，向下看。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.45,
+  "max_rotation_deg": 20.0,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_18_f49/camera_poses.json b/trajectories/random_v2/real_209_18_f49/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e76802386622e17a44162fbe0596b478b7a8182
--- /dev/null
+++ b/trajectories/random_v2/real_209_18_f49/camera_poses.json
@@ -0,0 +1,2554 @@
+{
+  "canonical_c2w": [
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+}
diff --git a/trajectories/random_v2/real_209_18_f49/trajectory_caption.txt b/trajectories/random_v2/real_209_18_f49/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b855f86c7461a5f5113f8177dc99dc3f741326c8
--- /dev/null
+++ b/trajectories/random_v2/real_209_18_f49/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Walk right, look down, look down.
+向右走，向下看，向下看。
diff --git a/trajectories/random_v2/real_209_18_f81/action_sequence.json b/trajectories/random_v2/real_209_18_f81/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a1b0405b400b9e0cd2fbc15134b0ff2089d6d11
--- /dev/null
+++ b/trajectories/random_v2/real_209_18_f81/action_sequence.json
@@ -0,0 +1,202 @@
+{
+  "trajectory_id": "rand_real_209_18_f81",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_18",
+  "reference_fps": 16,
+  "reference_frames": 81,
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+  ],
+  "container_duration_s": 5.0625,
+  "pts_span_s": 5.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "D",
+    "K",
+    "K",
+    "D",
+    "L"
+  ],
+  "segments": [
+    {
+      "key": "D",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
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+      "duration_s": 1
+    },
+    {
+      "key": "K",
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+      "start_s": 1,
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+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 32,
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+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "D",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Walk right, look down, look down, walk right, turn right.",
+  "camera_motion_caption_zh": "向右走，向下看，向下看，向右走，向右转。",
+  "net_yaw_deg": 15.0,
+  "max_translation_nominal_m": 0.9,
+  "max_rotation_deg": 24.9541202522322,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_18_f81/camera_poses.json b/trajectories/random_v2/real_209_18_f81/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..2dc3f9aa5be274916439dd695314476e616047f0
--- /dev/null
+++ b/trajectories/random_v2/real_209_18_f81/camera_poses.json
@@ -0,0 +1,4218 @@
+{
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+}
diff --git a/trajectories/random_v2/real_209_18_f81/trajectory_caption.txt b/trajectories/random_v2/real_209_18_f81/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..42dbe215550b985ccebb47dc1c82a0bb1277489a
--- /dev/null
+++ b/trajectories/random_v2/real_209_18_f81/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Walk right, look down, look down, walk right, turn right.
+向右走，向下看，向下看，向右走，向右转。
diff --git a/trajectories/random_v2/real_209_19_f125/action_sequence.json b/trajectories/random_v2/real_209_19_f125/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf04e77c10df6b7aded34cc5d609efa367b428db
--- /dev/null
+++ b/trajectories/random_v2/real_209_19_f125/action_sequence.json
@@ -0,0 +1,266 @@
+{
+  "trajectory_id": "rand_real_209_19_f125",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
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+  ],
+  "container_duration_s": 7.8125,
+  "pts_span_s": 7.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "K",
+    "I",
+    "J",
+    "I",
+    "J",
+    "L",
+    "S"
+  ],
+  "segments": [
+    {
+      "key": "K",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 80,
+      "end_frame_inclusive": 95,
+      "start_s": 5,
+      "end_s": 6,
+      "pose_transition_end_s": 5.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "S",
+      "start_frame": 96,
+      "end_frame_inclusive": 111,
+      "start_s": 6,
+      "end_s": 7,
+      "pose_transition_end_s": 6.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 13,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look down, look up, turn left, look up, turn left, turn right, walk backward.",
+  "camera_motion_caption_zh": "向下看，向上看，向左转，向上看，向左转，向右转，向后走。",
+  "net_yaw_deg": -15.0,
+  "max_translation_nominal_m": 0.45000000000000007,
+  "max_rotation_deg": 31.58644830271885,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_19_f125/camera_poses.json b/trajectories/random_v2/real_209_19_f125/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..4bf8dccd4aa5be3050d2e7bf7dbbee79bf56d938
--- /dev/null
+++ b/trajectories/random_v2/real_209_19_f125/camera_poses.json
@@ -0,0 +1,6506 @@
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diff --git a/trajectories/random_v2/real_209_19_f125/trajectory_caption.txt b/trajectories/random_v2/real_209_19_f125/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7ebee7d4882abf969409c4528bda0a9b895bca63
--- /dev/null
+++ b/trajectories/random_v2/real_209_19_f125/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look down, look up, turn left, look up, turn left, turn right, walk backward.
+向下看，向上看，向左转，向上看，向左转，向右转，向后走。
diff --git a/trajectories/random_v2/real_209_19_f13/action_sequence.json b/trajectories/random_v2/real_209_19_f13/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..969e9cc8edfe55e2ccaa2bec9208e9d5dd91eb0e
--- /dev/null
+++ b/trajectories/random_v2/real_209_19_f13/action_sequence.json
@@ -0,0 +1,82 @@
+{
+  "trajectory_id": "rand_real_209_19_f13",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_19",
+  "reference_fps": 16,
+  "reference_frames": 13,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
+    0.125,
+    0.1875,
+    0.25,
+    0.3125,
+    0.375,
+    0.4375,
+    0.5,
+    0.5625,
+    0.625,
+    0.6875,
+    0.75
+  ],
+  "container_duration_s": 0.8125,
+  "pts_span_s": 0.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [],
+  "segments": [],
+  "remainder_hold_frames": 13,
+  "zero_action": true,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Stay still.",
+  "camera_motion_caption_zh": "保持不动。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 0.0,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_19_f13/camera_poses.json b/trajectories/random_v2/real_209_19_f13/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdfef31c2c39d0765f3cad74f10a399cb797d643
--- /dev/null
+++ b/trajectories/random_v2/real_209_19_f13/camera_poses.json
@@ -0,0 +1,682 @@
+{
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+}
diff --git a/trajectories/random_v2/real_209_19_f13/trajectory_caption.txt b/trajectories/random_v2/real_209_19_f13/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9971208d2581b3c605469d863ca8aa7e2497c20a
--- /dev/null
+++ b/trajectories/random_v2/real_209_19_f13/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Stay still.
+保持不动。
diff --git a/trajectories/random_v2/real_209_19_f139/action_sequence.json b/trajectories/random_v2/real_209_19_f139/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..145e7e555bd0e2130f39b1dca50bd42c58f972a5
--- /dev/null
+++ b/trajectories/random_v2/real_209_19_f139/action_sequence.json
@@ -0,0 +1,290 @@
+{
+  "trajectory_id": "rand_real_209_19_f139",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_19",
+  "reference_fps": 16,
+  "reference_frames": 139,
+  "frame_pts_s": [
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+  ],
+  "container_duration_s": 8.6875,
+  "pts_span_s": 8.625,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "K",
+    "I",
+    "J",
+    "I",
+    "J",
+    "L",
+    "S",
+    "D"
+  ],
+  "segments": [
+    {
+      "key": "K",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 80,
+      "end_frame_inclusive": 95,
+      "start_s": 5,
+      "end_s": 6,
+      "pose_transition_end_s": 5.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "S",
+      "start_frame": 96,
+      "end_frame_inclusive": 111,
+      "start_s": 6,
+      "end_s": 7,
+      "pose_transition_end_s": 6.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "D",
+      "start_frame": 112,
+      "end_frame_inclusive": 127,
+      "start_s": 7,
+      "end_s": 8,
+      "pose_transition_end_s": 7.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 11,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look down, look up, turn left, look up, turn left, turn right, walk backward, walk right.",
+  "camera_motion_caption_zh": "向下看，向上看，向左转，向上看，向左转，向右转，向后走，向右走。",
+  "net_yaw_deg": -15.0,
+  "max_translation_nominal_m": 0.6363961030678927,
+  "max_rotation_deg": 31.58644830271885,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_19_f139/camera_poses.json b/trajectories/random_v2/real_209_19_f139/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..c82e86901f5195e4541ae45b14dcf752e54bc6da
--- /dev/null
+++ b/trajectories/random_v2/real_209_19_f139/camera_poses.json
@@ -0,0 +1,7234 @@
+{
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+}
diff --git a/trajectories/random_v2/real_209_19_f139/trajectory_caption.txt b/trajectories/random_v2/real_209_19_f139/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..34989d68c7f8882fe37aafe7864b961857bade19
--- /dev/null
+++ b/trajectories/random_v2/real_209_19_f139/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look down, look up, turn left, look up, turn left, turn right, walk backward, walk right.
+向下看，向上看，向左转，向上看，向左转，向右转，向后走，向右走。
diff --git a/trajectories/random_v2/real_209_19_f49/action_sequence.json b/trajectories/random_v2/real_209_19_f49/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..40fac17c3573d29a0c7691b201bd8fd373b54d03
--- /dev/null
+++ b/trajectories/random_v2/real_209_19_f49/action_sequence.json
@@ -0,0 +1,150 @@
+{
+  "trajectory_id": "rand_real_209_19_f49",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_19",
+  "reference_fps": 16,
+  "reference_frames": 49,
+  "frame_pts_s": [
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+    2.875,
+    2.9375,
+    3.0
+  ],
+  "container_duration_s": 3.0625,
+  "pts_span_s": 3.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "K",
+    "I",
+    "J"
+  ],
+  "segments": [
+    {
+      "key": "K",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look down, look up, turn left.",
+  "camera_motion_caption_zh": "向下看，向上看，向左转。",
+  "net_yaw_deg": -15.0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 14.999999999999998,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_19_f49/camera_poses.json b/trajectories/random_v2/real_209_19_f49/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6262daeba22d9f21bbd8e32e2cc4cf4cac7d0f1
--- /dev/null
+++ b/trajectories/random_v2/real_209_19_f49/camera_poses.json
@@ -0,0 +1,2554 @@
+{
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+    ]
+  ]
+}
diff --git a/trajectories/random_v2/real_209_19_f49/trajectory_caption.txt b/trajectories/random_v2/real_209_19_f49/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..63ba052bf22506ace58eb6a3412f98e15775ca52
--- /dev/null
+++ b/trajectories/random_v2/real_209_19_f49/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look down, look up, turn left.
+向下看，向上看，向左转。
diff --git a/trajectories/random_v2/real_209_19_f81/action_sequence.json b/trajectories/random_v2/real_209_19_f81/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..4dc9ceb6b63f551ccc2d075ddf37d2f8803f6a6d
--- /dev/null
+++ b/trajectories/random_v2/real_209_19_f81/action_sequence.json
@@ -0,0 +1,202 @@
+{
+  "trajectory_id": "rand_real_209_19_f81",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_19",
+  "reference_fps": 16,
+  "reference_frames": 81,
+  "frame_pts_s": [
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+    4.9375,
+    5.0
+  ],
+  "container_duration_s": 5.0625,
+  "pts_span_s": 5.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "K",
+    "I",
+    "J",
+    "I",
+    "J"
+  ],
+  "segments": [
+    {
+      "key": "K",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look down, look up, turn left, look up, turn left.",
+  "camera_motion_caption_zh": "向下看，向上看，向左转，向上看，向左转。",
+  "net_yaw_deg": -30.0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 31.58644830271885,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_19_f81/camera_poses.json b/trajectories/random_v2/real_209_19_f81/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc60a8ccb6cedd581a9a044758db4a40e6b21979
--- /dev/null
+++ b/trajectories/random_v2/real_209_19_f81/camera_poses.json
@@ -0,0 +1,4218 @@
+{
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+}
diff --git a/trajectories/random_v2/real_209_19_f81/trajectory_caption.txt b/trajectories/random_v2/real_209_19_f81/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2c7b8a8d253ee772d931c64df989557c90f742d6
--- /dev/null
+++ b/trajectories/random_v2/real_209_19_f81/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look down, look up, turn left, look up, turn left.
+向下看，向上看，向左转，向上看，向左转。
diff --git a/trajectories/random_v2/real_209_20_f125/action_sequence.json b/trajectories/random_v2/real_209_20_f125/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..0552376d554c80d7c8287be486c392f19b71cc71
--- /dev/null
+++ b/trajectories/random_v2/real_209_20_f125/action_sequence.json
@@ -0,0 +1,266 @@
+{
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+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
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+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Turn left, walk left, look up, turn right, look down, turn left, turn left.",
+  "camera_motion_caption_zh": "向左转，向左走，向上看，向右转，向下看，向左转，向左转。",
+  "net_yaw_deg": -30.0,
+  "max_translation_nominal_m": 0.45,
+  "max_rotation_deg": 30.334163887487748,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_20_f125/camera_poses.json b/trajectories/random_v2/real_209_20_f125/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d36e2945ca7f02eb6ca191ce9b798ada64cf48e
--- /dev/null
+++ b/trajectories/random_v2/real_209_20_f125/camera_poses.json
@@ -0,0 +1,6506 @@
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+}
diff --git a/trajectories/random_v2/real_209_20_f125/trajectory_caption.txt b/trajectories/random_v2/real_209_20_f125/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..455275cf4e23673d8c1ad644c06f3f9228492591
--- /dev/null
+++ b/trajectories/random_v2/real_209_20_f125/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Turn left, walk left, look up, turn right, look down, turn left, turn left.
+向左转，向左走，向上看，向右转，向下看，向左转，向左转。
diff --git a/trajectories/random_v2/real_209_20_f13/action_sequence.json b/trajectories/random_v2/real_209_20_f13/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ea96aa6405d93cce58071b3c3cfa24e32e8a742
--- /dev/null
+++ b/trajectories/random_v2/real_209_20_f13/action_sequence.json
@@ -0,0 +1,82 @@
+{
+  "trajectory_id": "rand_real_209_20_f13",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_20",
+  "reference_fps": 16,
+  "reference_frames": 13,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
+    0.125,
+    0.1875,
+    0.25,
+    0.3125,
+    0.375,
+    0.4375,
+    0.5,
+    0.5625,
+    0.625,
+    0.6875,
+    0.75
+  ],
+  "container_duration_s": 0.8125,
+  "pts_span_s": 0.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [],
+  "segments": [],
+  "remainder_hold_frames": 13,
+  "zero_action": true,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Stay still.",
+  "camera_motion_caption_zh": "保持不动。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 0.0,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_20_f13/camera_poses.json b/trajectories/random_v2/real_209_20_f13/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdfef31c2c39d0765f3cad74f10a399cb797d643
--- /dev/null
+++ b/trajectories/random_v2/real_209_20_f13/camera_poses.json
@@ -0,0 +1,682 @@
+{
+  "canonical_c2w": [
+    [
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+      [
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+        0.0,
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+    ]
+  ]
+}
diff --git a/trajectories/random_v2/real_209_20_f13/trajectory_caption.txt b/trajectories/random_v2/real_209_20_f13/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9971208d2581b3c605469d863ca8aa7e2497c20a
--- /dev/null
+++ b/trajectories/random_v2/real_209_20_f13/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Stay still.
+保持不动。
diff --git a/trajectories/random_v2/real_209_20_f139/action_sequence.json b/trajectories/random_v2/real_209_20_f139/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2e6e7e8561adad88ba5e78ea961c89ca1764250
--- /dev/null
+++ b/trajectories/random_v2/real_209_20_f139/action_sequence.json
@@ -0,0 +1,290 @@
+{
+  "trajectory_id": "rand_real_209_20_f139",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_20",
+  "reference_fps": 16,
+  "reference_frames": 139,
+  "frame_pts_s": [
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+  "container_duration_s": 8.6875,
+  "pts_span_s": 8.625,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "J",
+    "A",
+    "I",
+    "L",
+    "K",
+    "J",
+    "J",
+    "L"
+  ],
+  "segments": [
+    {
+      "key": "J",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "A",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 80,
+      "end_frame_inclusive": 95,
+      "start_s": 5,
+      "end_s": 6,
+      "pose_transition_end_s": 5.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 96,
+      "end_frame_inclusive": 111,
+      "start_s": 6,
+      "end_s": 7,
+      "pose_transition_end_s": 6.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 112,
+      "end_frame_inclusive": 127,
+      "start_s": 7,
+      "end_s": 8,
+      "pose_transition_end_s": 7.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 11,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Turn left, walk left, look up, turn right, look down, turn left, turn left, turn right.",
+  "camera_motion_caption_zh": "向左转，向左走，向上看，向右转，向下看，向左转，向左转，向右转。",
+  "net_yaw_deg": -15.0,
+  "max_translation_nominal_m": 0.45,
+  "max_rotation_deg": 30.334163887487748,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_20_f139/camera_poses.json b/trajectories/random_v2/real_209_20_f139/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ff94f1be09881af5d64daa91ccfcd0712349f1b
--- /dev/null
+++ b/trajectories/random_v2/real_209_20_f139/camera_poses.json
@@ -0,0 +1,7234 @@
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+}
diff --git a/trajectories/random_v2/real_209_20_f139/trajectory_caption.txt b/trajectories/random_v2/real_209_20_f139/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fc00c5a4e9af155fc0e310def328cb61633277c1
--- /dev/null
+++ b/trajectories/random_v2/real_209_20_f139/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Turn left, walk left, look up, turn right, look down, turn left, turn left, turn right.
+向左转，向左走，向上看，向右转，向下看，向左转，向左转，向右转。
diff --git a/trajectories/random_v2/real_209_20_f49/action_sequence.json b/trajectories/random_v2/real_209_20_f49/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..6152237ad2e9f4a3db237855e254589227fd7063
--- /dev/null
+++ b/trajectories/random_v2/real_209_20_f49/action_sequence.json
@@ -0,0 +1,150 @@
+{
+  "trajectory_id": "rand_real_209_20_f49",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_20",
+  "reference_fps": 16,
+  "reference_frames": 49,
+  "frame_pts_s": [
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+    3.0
+  ],
+  "container_duration_s": 3.0625,
+  "pts_span_s": 3.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "J",
+    "A",
+    "I"
+  ],
+  "segments": [
+    {
+      "key": "J",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "A",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Turn left, walk left, look up.",
+  "camera_motion_caption_zh": "向左转，向左走，向上看。",
+  "net_yaw_deg": -15.0,
+  "max_translation_nominal_m": 0.45,
+  "max_rotation_deg": 18.011882178082473,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_20_f49/camera_poses.json b/trajectories/random_v2/real_209_20_f49/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3e239f5f74694a37841ac95a1d20c7f776980bd
--- /dev/null
+++ b/trajectories/random_v2/real_209_20_f49/camera_poses.json
@@ -0,0 +1,2554 @@
+{
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+}
diff --git a/trajectories/random_v2/real_209_20_f49/trajectory_caption.txt b/trajectories/random_v2/real_209_20_f49/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..871f548a4bacbf05130f4ff7be95eaff51baca9b
--- /dev/null
+++ b/trajectories/random_v2/real_209_20_f49/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Turn left, walk left, look up.
+向左转，向左走，向上看。
diff --git a/trajectories/random_v2/real_209_20_f81/action_sequence.json b/trajectories/random_v2/real_209_20_f81/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..59579e315a7e357de4d9f69877840191ede10530
--- /dev/null
+++ b/trajectories/random_v2/real_209_20_f81/action_sequence.json
@@ -0,0 +1,202 @@
+{
+  "trajectory_id": "rand_real_209_20_f81",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_20",
+  "reference_fps": 16,
+  "reference_frames": 81,
+  "frame_pts_s": [
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+  "container_duration_s": 5.0625,
+  "pts_span_s": 5.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "J",
+    "A",
+    "I",
+    "L",
+    "K"
+  ],
+  "segments": [
+    {
+      "key": "J",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "A",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Turn left, walk left, look up, turn right, look down.",
+  "camera_motion_caption_zh": "向左转，向左走，向上看，向右转，向下看。",
+  "net_yaw_deg": 0.0,
+  "max_translation_nominal_m": 0.45,
+  "max_rotation_deg": 18.011882178082473,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_20_f81/camera_poses.json b/trajectories/random_v2/real_209_20_f81/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..28ccbb6505d095b098b336f95dd86405f7726a9d
--- /dev/null
+++ b/trajectories/random_v2/real_209_20_f81/camera_poses.json
@@ -0,0 +1,4218 @@
+{
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+}
diff --git a/trajectories/random_v2/real_209_20_f81/trajectory_caption.txt b/trajectories/random_v2/real_209_20_f81/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cb0fed82d1d2d1c2e33ea7b55aaf14445970b8f1
--- /dev/null
+++ b/trajectories/random_v2/real_209_20_f81/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Turn left, walk left, look up, turn right, look down.
+向左转，向左走，向上看，向右转，向下看。
diff --git a/trajectories/random_v2/real_209_21_f125/action_sequence.json b/trajectories/random_v2/real_209_21_f125/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7baae2ed2e81ec57e03e3b13b24701bf64b123a
--- /dev/null
+++ b/trajectories/random_v2/real_209_21_f125/action_sequence.json
@@ -0,0 +1,266 @@
+{
+  "trajectory_id": "rand_real_209_21_f125",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_21",
+  "reference_fps": 16,
+  "reference_frames": 125,
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+  "parameters": {
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+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
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+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "A",
+    "K",
+    "A",
+    "K",
+    "J",
+    "S",
+    "L"
+  ],
+  "segments": [
+    {
+      "key": "A",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "A",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "S",
+      "start_frame": 80,
+      "end_frame_inclusive": 95,
+      "start_s": 5,
+      "end_s": 6,
+      "pose_transition_end_s": 5.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 96,
+      "end_frame_inclusive": 111,
+      "start_s": 6,
+      "end_s": 7,
+      "pose_transition_end_s": 6.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 13,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Walk left, look down, walk left, look down, turn left, walk backward, turn right.",
+  "camera_motion_caption_zh": "向左走，向下看，向左走，向下看，向左转，向后走，向右转。",
+  "net_yaw_deg": 0.0,
+  "max_translation_nominal_m": 0.9,
+  "max_rotation_deg": 24.9541202522322,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_21_f125/camera_poses.json b/trajectories/random_v2/real_209_21_f125/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..17bf86c1e4969dc203bfc92441eabe548dce244d
--- /dev/null
+++ b/trajectories/random_v2/real_209_21_f125/camera_poses.json
@@ -0,0 +1,6506 @@
+{
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+  ]
+}
diff --git a/trajectories/random_v2/real_209_21_f125/trajectory_caption.txt b/trajectories/random_v2/real_209_21_f125/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..36534b544161ef0e90c0364bd49b0552c81c694a
--- /dev/null
+++ b/trajectories/random_v2/real_209_21_f125/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Walk left, look down, walk left, look down, turn left, walk backward, turn right.
+向左走，向下看，向左走，向下看，向左转，向后走，向右转。
diff --git a/trajectories/random_v2/real_209_21_f13/action_sequence.json b/trajectories/random_v2/real_209_21_f13/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..80e48a955324179eb26adacef6f9f5524470a97b
--- /dev/null
+++ b/trajectories/random_v2/real_209_21_f13/action_sequence.json
@@ -0,0 +1,82 @@
+{
+  "trajectory_id": "rand_real_209_21_f13",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_21",
+  "reference_fps": 16,
+  "reference_frames": 13,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
+    0.125,
+    0.1875,
+    0.25,
+    0.3125,
+    0.375,
+    0.4375,
+    0.5,
+    0.5625,
+    0.625,
+    0.6875,
+    0.75
+  ],
+  "container_duration_s": 0.8125,
+  "pts_span_s": 0.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [],
+  "segments": [],
+  "remainder_hold_frames": 13,
+  "zero_action": true,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Stay still.",
+  "camera_motion_caption_zh": "保持不动。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 0.0,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_21_f13/camera_poses.json b/trajectories/random_v2/real_209_21_f13/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdfef31c2c39d0765f3cad74f10a399cb797d643
--- /dev/null
+++ b/trajectories/random_v2/real_209_21_f13/camera_poses.json
@@ -0,0 +1,682 @@
+{
+  "canonical_c2w": [
+    [
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+  "opencv_c2w_wiw_units": [
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+      [
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+        1.0,
+        0.0
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+      [
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+        0.0,
+        1.0
+      ]
+    ]
+  ]
+}
diff --git a/trajectories/random_v2/real_209_21_f13/trajectory_caption.txt b/trajectories/random_v2/real_209_21_f13/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9971208d2581b3c605469d863ca8aa7e2497c20a
--- /dev/null
+++ b/trajectories/random_v2/real_209_21_f13/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Stay still.
+保持不动。
diff --git a/trajectories/random_v2/real_209_21_f139/action_sequence.json b/trajectories/random_v2/real_209_21_f139/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..d325c7211432a7a663eafae322a7b2434087ab37
--- /dev/null
+++ b/trajectories/random_v2/real_209_21_f139/action_sequence.json
@@ -0,0 +1,290 @@
+{
+  "trajectory_id": "rand_real_209_21_f139",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_21",
+  "reference_fps": 16,
+  "reference_frames": 139,
+  "frame_pts_s": [
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+    0.0625,
+    0.125,
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+    1.625,
+    1.6875,
+    1.75,
+    1.8125,
+    1.875,
+    1.9375,
+    2.0,
+    2.0625,
+    2.125,
+    2.1875,
+    2.25,
+    2.3125,
+    2.375,
+    2.4375,
+    2.5,
+    2.5625,
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+  "container_duration_s": 8.6875,
+  "pts_span_s": 8.625,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "A",
+    "K",
+    "A",
+    "K",
+    "J",
+    "S",
+    "L",
+    "J"
+  ],
+  "segments": [
+    {
+      "key": "A",
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+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "A",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "S",
+      "start_frame": 80,
+      "end_frame_inclusive": 95,
+      "start_s": 5,
+      "end_s": 6,
+      "pose_transition_end_s": 5.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 96,
+      "end_frame_inclusive": 111,
+      "start_s": 6,
+      "end_s": 7,
+      "pose_transition_end_s": 6.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 112,
+      "end_frame_inclusive": 127,
+      "start_s": 7,
+      "end_s": 8,
+      "pose_transition_end_s": 7.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 11,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Walk left, look down, walk left, look down, turn left, walk backward, turn right, turn left.",
+  "camera_motion_caption_zh": "向左走，向下看，向左走，向下看，向左转，向后走，向右转，向左转。",
+  "net_yaw_deg": -15.0,
+  "max_translation_nominal_m": 0.9,
+  "max_rotation_deg": 24.9541202522322,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_21_f139/camera_poses.json b/trajectories/random_v2/real_209_21_f139/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf2f2df8ddeffa31a74b85ec8773827d7ddb62b3
--- /dev/null
+++ b/trajectories/random_v2/real_209_21_f139/camera_poses.json
@@ -0,0 +1,7234 @@
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+}
diff --git a/trajectories/random_v2/real_209_21_f139/trajectory_caption.txt b/trajectories/random_v2/real_209_21_f139/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..af7c9748a0669eca9522aa2a0198735d4bae6142
--- /dev/null
+++ b/trajectories/random_v2/real_209_21_f139/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Walk left, look down, walk left, look down, turn left, walk backward, turn right, turn left.
+向左走，向下看，向左走，向下看，向左转，向后走，向右转，向左转。
diff --git a/trajectories/random_v2/real_209_21_f49/action_sequence.json b/trajectories/random_v2/real_209_21_f49/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9ab2d0a2441bb87f02b6b03a405182451cce4cd
--- /dev/null
+++ b/trajectories/random_v2/real_209_21_f49/action_sequence.json
@@ -0,0 +1,150 @@
+{
+  "trajectory_id": "rand_real_209_21_f49",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_21",
+  "reference_fps": 16,
+  "reference_frames": 49,
+  "frame_pts_s": [
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+  ],
+  "container_duration_s": 3.0625,
+  "pts_span_s": 3.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "A",
+    "K",
+    "A"
+  ],
+  "segments": [
+    {
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+    },
+    {
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+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
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+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Walk left, look down, walk left.",
+  "camera_motion_caption_zh": "向左走，向下看，向左走。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.9,
+  "max_rotation_deg": 9.999999999999998,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_21_f49/camera_poses.json b/trajectories/random_v2/real_209_21_f49/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..56f593618ea137717393309335163433921c553d
--- /dev/null
+++ b/trajectories/random_v2/real_209_21_f49/camera_poses.json
@@ -0,0 +1,2554 @@
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+}
diff --git a/trajectories/random_v2/real_209_21_f49/trajectory_caption.txt b/trajectories/random_v2/real_209_21_f49/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5c4d02839318e269632cdd25a93de56c34d1a470
--- /dev/null
+++ b/trajectories/random_v2/real_209_21_f49/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Walk left, look down, walk left.
+向左走，向下看，向左走。
diff --git a/trajectories/random_v2/real_209_21_f81/action_sequence.json b/trajectories/random_v2/real_209_21_f81/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..2962079bd537e34d82faa93989e701b9ccd85963
--- /dev/null
+++ b/trajectories/random_v2/real_209_21_f81/action_sequence.json
@@ -0,0 +1,202 @@
+{
+  "trajectory_id": "rand_real_209_21_f81",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_21",
+  "reference_fps": 16,
+  "reference_frames": 81,
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+  "container_duration_s": 5.0625,
+  "pts_span_s": 5.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "A",
+    "K",
+    "A",
+    "K",
+    "J"
+  ],
+  "segments": [
+    {
+      "key": "A",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
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+      "duration_s": 1
+    },
+    {
+      "key": "K",
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+      "start_s": 1,
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+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "A",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Walk left, look down, walk left, look down, turn left.",
+  "camera_motion_caption_zh": "向左走，向下看，向左走，向下看，向左转。",
+  "net_yaw_deg": -15.0,
+  "max_translation_nominal_m": 0.9,
+  "max_rotation_deg": 24.9541202522322,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_21_f81/camera_poses.json b/trajectories/random_v2/real_209_21_f81/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb30f8ae3bb3d16cff5f74d92334b73032f0403e
--- /dev/null
+++ b/trajectories/random_v2/real_209_21_f81/camera_poses.json
@@ -0,0 +1,4218 @@
+{
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+}
diff --git a/trajectories/random_v2/real_209_21_f81/trajectory_caption.txt b/trajectories/random_v2/real_209_21_f81/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bedcddd6faf2d81c393a2a1bf8389dde867d0e07
--- /dev/null
+++ b/trajectories/random_v2/real_209_21_f81/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Walk left, look down, walk left, look down, turn left.
+向左走，向下看，向左走，向下看，向左转。
diff --git a/trajectories/random_v2/real_209_22_f125/action_sequence.json b/trajectories/random_v2/real_209_22_f125/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..c94b323b800d27c70361d930c028459c2daf05ad
--- /dev/null
+++ b/trajectories/random_v2/real_209_22_f125/action_sequence.json
@@ -0,0 +1,266 @@
+{
+  "trajectory_id": "rand_real_209_22_f125",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
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+  "container_duration_s": 7.8125,
+  "pts_span_s": 7.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "K",
+    "J",
+    "S",
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+    "L",
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+  ],
+  "segments": [
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+    {
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+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 80,
+      "end_frame_inclusive": 95,
+      "start_s": 5,
+      "end_s": 6,
+      "pose_transition_end_s": 5.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 96,
+      "end_frame_inclusive": 111,
+      "start_s": 6,
+      "end_s": 7,
+      "pose_transition_end_s": 6.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 13,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look down, turn left, walk backward, look up, turn right, turn left, turn right.",
+  "camera_motion_caption_zh": "向下看，向左转，向后走，向上看，向右转，向左转，向右转。",
+  "net_yaw_deg": 0.0,
+  "max_translation_nominal_m": 0.45,
+  "max_rotation_deg": 18.011882178082473,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_22_f125/camera_poses.json b/trajectories/random_v2/real_209_22_f125/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..02b92e78ef4effde06fd6ffa0871cf2a154d6afc
--- /dev/null
+++ b/trajectories/random_v2/real_209_22_f125/camera_poses.json
@@ -0,0 +1,6506 @@
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+}
diff --git a/trajectories/random_v2/real_209_22_f125/trajectory_caption.txt b/trajectories/random_v2/real_209_22_f125/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..edde4c5df52b456586cfd4236678c45389328a77
--- /dev/null
+++ b/trajectories/random_v2/real_209_22_f125/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look down, turn left, walk backward, look up, turn right, turn left, turn right.
+向下看，向左转，向后走，向上看，向右转，向左转，向右转。
diff --git a/trajectories/random_v2/real_209_22_f13/action_sequence.json b/trajectories/random_v2/real_209_22_f13/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..c005001f20e41b3f0a01ee154ffa34faef1e1ccb
--- /dev/null
+++ b/trajectories/random_v2/real_209_22_f13/action_sequence.json
@@ -0,0 +1,82 @@
+{
+  "trajectory_id": "rand_real_209_22_f13",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_22",
+  "reference_fps": 16,
+  "reference_frames": 13,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
+    0.125,
+    0.1875,
+    0.25,
+    0.3125,
+    0.375,
+    0.4375,
+    0.5,
+    0.5625,
+    0.625,
+    0.6875,
+    0.75
+  ],
+  "container_duration_s": 0.8125,
+  "pts_span_s": 0.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [],
+  "segments": [],
+  "remainder_hold_frames": 13,
+  "zero_action": true,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Stay still.",
+  "camera_motion_caption_zh": "保持不动。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 0.0,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_22_f13/camera_poses.json b/trajectories/random_v2/real_209_22_f13/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdfef31c2c39d0765f3cad74f10a399cb797d643
--- /dev/null
+++ b/trajectories/random_v2/real_209_22_f13/camera_poses.json
@@ -0,0 +1,682 @@
+{
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+}
diff --git a/trajectories/random_v2/real_209_22_f13/trajectory_caption.txt b/trajectories/random_v2/real_209_22_f13/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9971208d2581b3c605469d863ca8aa7e2497c20a
--- /dev/null
+++ b/trajectories/random_v2/real_209_22_f13/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Stay still.
+保持不动。
diff --git a/trajectories/random_v2/real_209_22_f139/action_sequence.json b/trajectories/random_v2/real_209_22_f139/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..7513b6b857da860a4fc946b7b641e6d88f640edb
--- /dev/null
+++ b/trajectories/random_v2/real_209_22_f139/action_sequence.json
@@ -0,0 +1,290 @@
+{
+  "trajectory_id": "rand_real_209_22_f139",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_22",
+  "reference_fps": 16,
+  "reference_frames": 139,
+  "frame_pts_s": [
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+  "container_duration_s": 8.6875,
+  "pts_span_s": 8.625,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "K",
+    "J",
+    "S",
+    "I",
+    "L",
+    "J",
+    "L",
+    "A"
+  ],
+  "segments": [
+    {
+      "key": "K",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "S",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 80,
+      "end_frame_inclusive": 95,
+      "start_s": 5,
+      "end_s": 6,
+      "pose_transition_end_s": 5.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 96,
+      "end_frame_inclusive": 111,
+      "start_s": 6,
+      "end_s": 7,
+      "pose_transition_end_s": 6.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "A",
+      "start_frame": 112,
+      "end_frame_inclusive": 127,
+      "start_s": 7,
+      "end_s": 8,
+      "pose_transition_end_s": 7.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 11,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look down, turn left, walk backward, look up, turn right, turn left, turn right, walk left.",
+  "camera_motion_caption_zh": "向下看，向左转，向后走，向上看，向右转，向左转，向右转，向左走。",
+  "net_yaw_deg": 0.0,
+  "max_translation_nominal_m": 0.5493366582443843,
+  "max_rotation_deg": 18.011882178082473,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_22_f139/camera_poses.json b/trajectories/random_v2/real_209_22_f139/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..6fdcf99cac48ab4df8409115105a6e28e2a1a315
--- /dev/null
+++ b/trajectories/random_v2/real_209_22_f139/camera_poses.json
@@ -0,0 +1,7234 @@
+{
+  "canonical_c2w": [
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+}
diff --git a/trajectories/random_v2/real_209_22_f139/trajectory_caption.txt b/trajectories/random_v2/real_209_22_f139/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7d811b107de8de91e273a7522cbdebfe737b6021
--- /dev/null
+++ b/trajectories/random_v2/real_209_22_f139/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look down, turn left, walk backward, look up, turn right, turn left, turn right, walk left.
+向下看，向左转，向后走，向上看，向右转，向左转，向右转，向左走。
diff --git a/trajectories/random_v2/real_209_22_f49/action_sequence.json b/trajectories/random_v2/real_209_22_f49/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..cfe3da00586dfac3e93e5c81bafb109852e00843
--- /dev/null
+++ b/trajectories/random_v2/real_209_22_f49/action_sequence.json
@@ -0,0 +1,150 @@
+{
+  "trajectory_id": "rand_real_209_22_f49",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_22",
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+  "container_duration_s": 3.0625,
+  "pts_span_s": 3.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
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+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "K",
+    "J",
+    "S"
+  ],
+  "segments": [
+    {
+      "key": "K",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "S",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look down, turn left, walk backward.",
+  "camera_motion_caption_zh": "向下看，向左转，向后走。",
+  "net_yaw_deg": -15.0,
+  "max_translation_nominal_m": 0.45,
+  "max_rotation_deg": 18.011882178082473,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_22_f49/camera_poses.json b/trajectories/random_v2/real_209_22_f49/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..21381e42b4f68ffa6dd7244059e7d2e62d6ccf7f
--- /dev/null
+++ b/trajectories/random_v2/real_209_22_f49/camera_poses.json
@@ -0,0 +1,2554 @@
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+}
diff --git a/trajectories/random_v2/real_209_22_f49/trajectory_caption.txt b/trajectories/random_v2/real_209_22_f49/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..911ea1890c6c096b4d7ca9fb53471decb3f84db6
--- /dev/null
+++ b/trajectories/random_v2/real_209_22_f49/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look down, turn left, walk backward.
+向下看，向左转，向后走。
diff --git a/trajectories/random_v2/real_209_22_f81/action_sequence.json b/trajectories/random_v2/real_209_22_f81/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..401d0ecf85ae3a3173ecd3c2b76eccbfcbe54b12
--- /dev/null
+++ b/trajectories/random_v2/real_209_22_f81/action_sequence.json
@@ -0,0 +1,202 @@
+{
+  "trajectory_id": "rand_real_209_22_f81",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_22",
+  "reference_fps": 16,
+  "reference_frames": 81,
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+  "container_duration_s": 5.0625,
+  "pts_span_s": 5.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
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+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "K",
+    "J",
+    "S",
+    "I",
+    "L"
+  ],
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+      "duration_s": 1
+    },
+    {
+      "key": "S",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look down, turn left, walk backward, look up, turn right.",
+  "camera_motion_caption_zh": "向下看，向左转，向后走，向上看，向右转。",
+  "net_yaw_deg": 0.0,
+  "max_translation_nominal_m": 0.45,
+  "max_rotation_deg": 18.011882178082473,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_22_f81/camera_poses.json b/trajectories/random_v2/real_209_22_f81/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..949505f6086a9767a21fd750c07e63ed241d7d6a
--- /dev/null
+++ b/trajectories/random_v2/real_209_22_f81/camera_poses.json
@@ -0,0 +1,4218 @@
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+}
diff --git a/trajectories/random_v2/real_209_22_f81/trajectory_caption.txt b/trajectories/random_v2/real_209_22_f81/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b9240ca529517640d4411391562eaba479bef1b4
--- /dev/null
+++ b/trajectories/random_v2/real_209_22_f81/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look down, turn left, walk backward, look up, turn right.
+向下看，向左转，向后走，向上看，向右转。
diff --git a/trajectories/random_v2/real_209_23_f125/action_sequence.json b/trajectories/random_v2/real_209_23_f125/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4e56aa1b8333a90ff9f0c2bbf657828cac2fdd3
--- /dev/null
+++ b/trajectories/random_v2/real_209_23_f125/action_sequence.json
@@ -0,0 +1,266 @@
+{
+  "trajectory_id": "rand_real_209_23_f125",
+  "family": "random_ijkl70",
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+  "pts_span_s": 7.75,
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+  "parameters": {
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+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
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+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "W",
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+    "W",
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+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "W",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 80,
+      "end_frame_inclusive": 95,
+      "start_s": 5,
+      "end_s": 6,
+      "pose_transition_end_s": 5.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 96,
+      "end_frame_inclusive": 111,
+      "start_s": 6,
+      "end_s": 7,
+      "pose_transition_end_s": 6.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 13,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Walk forward, turn left, walk forward, turn left, turn left, look up, look up.",
+  "camera_motion_caption_zh": "向前走，向左转，向前走，向左转，向左转，向上看，向上看。",
+  "net_yaw_deg": -45.0,
+  "max_translation_nominal_m": 0.8923003752364294,
+  "max_rotation_deg": 49.032470775389854,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_23_f125/camera_poses.json b/trajectories/random_v2/real_209_23_f125/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..10138972d4272e09be610fac39cf1c00356cd4a4
--- /dev/null
+++ b/trajectories/random_v2/real_209_23_f125/camera_poses.json
@@ -0,0 +1,6506 @@
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+}
diff --git a/trajectories/random_v2/real_209_23_f125/trajectory_caption.txt b/trajectories/random_v2/real_209_23_f125/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..87727f750f849e9f4bf3b183ccdd7a1d0026ab43
--- /dev/null
+++ b/trajectories/random_v2/real_209_23_f125/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Walk forward, turn left, walk forward, turn left, turn left, look up, look up.
+向前走，向左转，向前走，向左转，向左转，向上看，向上看。
diff --git a/trajectories/random_v2/real_209_23_f13/action_sequence.json b/trajectories/random_v2/real_209_23_f13/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..55db601d0b15a49810a1537706c984adb714dd8f
--- /dev/null
+++ b/trajectories/random_v2/real_209_23_f13/action_sequence.json
@@ -0,0 +1,82 @@
+{
+  "trajectory_id": "rand_real_209_23_f13",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_23",
+  "reference_fps": 16,
+  "reference_frames": 13,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
+    0.125,
+    0.1875,
+    0.25,
+    0.3125,
+    0.375,
+    0.4375,
+    0.5,
+    0.5625,
+    0.625,
+    0.6875,
+    0.75
+  ],
+  "container_duration_s": 0.8125,
+  "pts_span_s": 0.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [],
+  "segments": [],
+  "remainder_hold_frames": 13,
+  "zero_action": true,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Stay still.",
+  "camera_motion_caption_zh": "保持不动。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 0.0,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_23_f13/camera_poses.json b/trajectories/random_v2/real_209_23_f13/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdfef31c2c39d0765f3cad74f10a399cb797d643
--- /dev/null
+++ b/trajectories/random_v2/real_209_23_f13/camera_poses.json
@@ -0,0 +1,682 @@
+{
+  "canonical_c2w": [
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+}
diff --git a/trajectories/random_v2/real_209_23_f13/trajectory_caption.txt b/trajectories/random_v2/real_209_23_f13/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9971208d2581b3c605469d863ca8aa7e2497c20a
--- /dev/null
+++ b/trajectories/random_v2/real_209_23_f13/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Stay still.
+保持不动。
diff --git a/trajectories/random_v2/real_209_23_f139/action_sequence.json b/trajectories/random_v2/real_209_23_f139/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6d3940d33cfdf37a9b6654536d0e18e1c6bcbb5
--- /dev/null
+++ b/trajectories/random_v2/real_209_23_f139/action_sequence.json
@@ -0,0 +1,290 @@
+{
+  "trajectory_id": "rand_real_209_23_f139",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_23",
+  "reference_fps": 16,
+  "reference_frames": 139,
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+  "container_duration_s": 8.6875,
+  "pts_span_s": 8.625,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "W",
+    "J",
+    "W",
+    "J",
+    "J",
+    "I",
+    "I",
+    "L"
+  ],
+  "segments": [
+    {
+      "key": "W",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "W",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 80,
+      "end_frame_inclusive": 95,
+      "start_s": 5,
+      "end_s": 6,
+      "pose_transition_end_s": 5.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 96,
+      "end_frame_inclusive": 111,
+      "start_s": 6,
+      "end_s": 7,
+      "pose_transition_end_s": 6.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 112,
+      "end_frame_inclusive": 127,
+      "start_s": 7,
+      "end_s": 8,
+      "pose_transition_end_s": 7.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 11,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Walk forward, turn left, walk forward, turn left, turn left, look up, look up, turn right.",
+  "camera_motion_caption_zh": "向前走，向左转，向前走，向左转，向左转，向上看，向上看，向右转。",
+  "net_yaw_deg": -30.0,
+  "max_translation_nominal_m": 0.8923003752364294,
+  "max_rotation_deg": 49.032470775389854,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_23_f139/camera_poses.json b/trajectories/random_v2/real_209_23_f139/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..2520756269cb087e8b0a8398ca8b94ab98b2c8ad
--- /dev/null
+++ b/trajectories/random_v2/real_209_23_f139/camera_poses.json
@@ -0,0 +1,7234 @@
+{
+  "canonical_c2w": [
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+        0.0
+      ],
+      [
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+}
diff --git a/trajectories/random_v2/real_209_23_f139/trajectory_caption.txt b/trajectories/random_v2/real_209_23_f139/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5570c0eecb3521a0745cd9fefa9108852bd93d2a
--- /dev/null
+++ b/trajectories/random_v2/real_209_23_f139/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Walk forward, turn left, walk forward, turn left, turn left, look up, look up, turn right.
+向前走，向左转，向前走，向左转，向左转，向上看，向上看，向右转。
diff --git a/trajectories/random_v2/real_209_23_f49/action_sequence.json b/trajectories/random_v2/real_209_23_f49/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9e6ef8388e21f1657664ff6baf89b8b657df94a
--- /dev/null
+++ b/trajectories/random_v2/real_209_23_f49/action_sequence.json
@@ -0,0 +1,150 @@
+{
+  "trajectory_id": "rand_real_209_23_f49",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_23",
+  "reference_fps": 16,
+  "reference_frames": 49,
+  "frame_pts_s": [
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+    2.875,
+    2.9375,
+    3.0
+  ],
+  "container_duration_s": 3.0625,
+  "pts_span_s": 3.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "W",
+    "J",
+    "W"
+  ],
+  "segments": [
+    {
+      "key": "W",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "W",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Walk forward, turn left, walk forward.",
+  "camera_motion_caption_zh": "向前走，向左转，向前走。",
+  "net_yaw_deg": -15.0,
+  "max_translation_nominal_m": 0.8923003752364294,
+  "max_rotation_deg": 14.999999999999998,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_23_f49/camera_poses.json b/trajectories/random_v2/real_209_23_f49/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..04509b327feb5d68e32c7119ed8505213ce37158
--- /dev/null
+++ b/trajectories/random_v2/real_209_23_f49/camera_poses.json
@@ -0,0 +1,2554 @@
+{
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+}
diff --git a/trajectories/random_v2/real_209_23_f49/trajectory_caption.txt b/trajectories/random_v2/real_209_23_f49/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d7c14717003f37991577d503084535e254569925
--- /dev/null
+++ b/trajectories/random_v2/real_209_23_f49/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Walk forward, turn left, walk forward.
+向前走，向左转，向前走。
diff --git a/trajectories/random_v2/real_209_23_f81/action_sequence.json b/trajectories/random_v2/real_209_23_f81/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..540875011e64df48af4861fcfd45fc9ee992fb0d
--- /dev/null
+++ b/trajectories/random_v2/real_209_23_f81/action_sequence.json
@@ -0,0 +1,202 @@
+{
+  "trajectory_id": "rand_real_209_23_f81",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_209_23",
+  "reference_fps": 16,
+  "reference_frames": 81,
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+    4.125,
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+    4.8125,
+    4.875,
+    4.9375,
+    5.0
+  ],
+  "container_duration_s": 5.0625,
+  "pts_span_s": 5.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "W",
+    "J",
+    "W",
+    "J",
+    "J"
+  ],
+  "segments": [
+    {
+      "key": "W",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "W",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Walk forward, turn left, walk forward, turn left, turn left.",
+  "camera_motion_caption_zh": "向前走，向左转，向前走，向左转，向左转。",
+  "net_yaw_deg": -45.0,
+  "max_translation_nominal_m": 0.8923003752364294,
+  "max_rotation_deg": 44.99999999999999,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_209_23_f81/camera_poses.json b/trajectories/random_v2/real_209_23_f81/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf344a167b3f0595d13c641a509b5be479cf312b
--- /dev/null
+++ b/trajectories/random_v2/real_209_23_f81/camera_poses.json
@@ -0,0 +1,4218 @@
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+        2.9488887394336025
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+}
diff --git a/trajectories/random_v2/real_209_23_f81/trajectory_caption.txt b/trajectories/random_v2/real_209_23_f81/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a53d90b0e48b1c4390e28cd2e8f5ae259b44876a
--- /dev/null
+++ b/trajectories/random_v2/real_209_23_f81/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Walk forward, turn left, walk forward, turn left, turn left.
+向前走，向左转，向前走，向左转，向左转。
diff --git a/trajectories/random_v2/real_345_01_f13/action_sequence.json b/trajectories/random_v2/real_345_01_f13/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb1620ddc3423d7d232cee241ddca17e856e0b84
--- /dev/null
+++ b/trajectories/random_v2/real_345_01_f13/action_sequence.json
@@ -0,0 +1,82 @@
+{
+  "trajectory_id": "rand_real_345_01_f13",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_345_01",
+  "reference_fps": 16,
+  "reference_frames": 13,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
+    0.125,
+    0.1875,
+    0.25,
+    0.3125,
+    0.375,
+    0.4375,
+    0.5,
+    0.5625,
+    0.625,
+    0.6875,
+    0.75
+  ],
+  "container_duration_s": 0.8125,
+  "pts_span_s": 0.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [],
+  "segments": [],
+  "remainder_hold_frames": 13,
+  "zero_action": true,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Stay still.",
+  "camera_motion_caption_zh": "保持不动。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 0.0,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_345_01_f13/camera_poses.json b/trajectories/random_v2/real_345_01_f13/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdfef31c2c39d0765f3cad74f10a399cb797d643
--- /dev/null
+++ b/trajectories/random_v2/real_345_01_f13/camera_poses.json
@@ -0,0 +1,682 @@
+{
+  "canonical_c2w": [
+    [
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+  ],
+  "opencv_c2w_wiw_units": [
+    [
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+      [
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+    ],
+    [
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+      [
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+        1.0,
+        0.0,
+        0.0
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+      [
+        0.0,
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+        1.0,
+        0.0
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+      [
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+        0.0,
+        0.0,
+        1.0
+      ]
+    ]
+  ]
+}
diff --git a/trajectories/random_v2/real_345_01_f13/trajectory_caption.txt b/trajectories/random_v2/real_345_01_f13/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9971208d2581b3c605469d863ca8aa7e2497c20a
--- /dev/null
+++ b/trajectories/random_v2/real_345_01_f13/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Stay still.
+保持不动。
diff --git a/trajectories/random_v2/real_345_01_f221/action_sequence.json b/trajectories/random_v2/real_345_01_f221/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9e849b571f8b319e963d1b826c76ebb585a0716
--- /dev/null
+++ b/trajectories/random_v2/real_345_01_f221/action_sequence.json
@@ -0,0 +1,422 @@
+{
+  "trajectory_id": "rand_real_345_01_f221",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
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+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
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+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "W",
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+    "L",
+    "W",
+    "W",
+    "I",
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+    {
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+      "duration_s": 1
+    },
+    {
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+      "duration_s": 1
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+    {
+      "key": "L",
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+      "start_s": 10,
+      "end_s": 11,
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+      "duration_s": 1
+    },
+    {
+      "key": "D",
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+      "duration_s": 1
+    },
+    {
+      "key": "D",
+      "start_frame": 192,
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+      "start_s": 12,
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+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 13,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Walk forward, look up, turn right, walk forward, walk forward, look up, look down, look up, walk left, look up, turn right, walk right, walk right.",
+  "camera_motion_caption_zh": "向前走，向上看，向右转，向前走，向前走，向上看，向下看，向上看，向左走，向上看，向右转，向右走，向右走。",
+  "net_yaw_deg": 30.0,
+  "max_translation_nominal_m": 1.445248332427992,
+  "max_rotation_deg": 42.3450801619693,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_345_01_f221/camera_poses.json b/trajectories/random_v2/real_345_01_f221/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ce4e520b77b2f3234f799ca48fcd00a8bd8c01f
--- /dev/null
+++ b/trajectories/random_v2/real_345_01_f221/camera_poses.json
@@ -0,0 +1,11498 @@
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+}
diff --git a/trajectories/random_v2/real_345_01_f221/trajectory_caption.txt b/trajectories/random_v2/real_345_01_f221/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f41dceff6f63db7d8f815111957fa78f3f2087ee
--- /dev/null
+++ b/trajectories/random_v2/real_345_01_f221/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Walk forward, look up, turn right, walk forward, walk forward, look up, look down, look up, walk left, look up, turn right, walk right, walk right.
+向前走，向上看，向右转，向前走，向前走，向上看，向下看，向上看，向左走，向上看，向右转，向右走，向右走。
diff --git a/trajectories/random_v2/real_345_01_f230/action_sequence.json b/trajectories/random_v2/real_345_01_f230/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb2b6e14b54b9bfb22b2031b6ae7d24a315bc3c4
--- /dev/null
+++ b/trajectories/random_v2/real_345_01_f230/action_sequence.json
@@ -0,0 +1,441 @@
+{
+  "trajectory_id": "rand_real_345_01_f230",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_345_01",
+  "reference_fps": 16,
+  "reference_frames": 230,
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+  "pts_span_s": 14.3125,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
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+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "W",
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+    "L",
+    "W",
+    "W",
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+    {
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+    {
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+    {
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+    {
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+    {
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+    {
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+    },
+    {
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+    {
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+    }
+  ],
+  "remainder_hold_frames": 6,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Walk forward, look up, turn right, walk forward, walk forward, look up, look down, look up, walk left, look up, turn right, walk right, walk right, walk forward.",
+  "camera_motion_caption_zh": "向前走，向上看，向右转，向前走，向前走，向上看，向下看，向上看，向左走，向上看，向右转，向右走，向右走，向前走。",
+  "net_yaw_deg": 30.0,
+  "max_translation_nominal_m": 1.5749927299898323,
+  "max_rotation_deg": 42.3450801619693,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_345_01_f230/camera_poses.json b/trajectories/random_v2/real_345_01_f230/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..9deea09484fc4386c09a4b5b0d1aed7700731d8d
--- /dev/null
+++ b/trajectories/random_v2/real_345_01_f230/camera_poses.json
@@ -0,0 +1,11966 @@
+{
+  "canonical_c2w": [
+    [
+      [
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+      ],
+      [
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+}
diff --git a/trajectories/random_v2/real_345_01_f230/trajectory_caption.txt b/trajectories/random_v2/real_345_01_f230/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d69422e4e338f46a71c8858073555f7c434ac90c
--- /dev/null
+++ b/trajectories/random_v2/real_345_01_f230/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Walk forward, look up, turn right, walk forward, walk forward, look up, look down, look up, walk left, look up, turn right, walk right, walk right, walk forward.
+向前走，向上看，向右转，向前走，向前走，向上看，向下看，向上看，向左走，向上看，向右转，向右走，向右走，向前走。
diff --git a/trajectories/random_v2/real_345_01_f49/action_sequence.json b/trajectories/random_v2/real_345_01_f49/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..481e742814a3c6b928979c54200f10a29512ae14
--- /dev/null
+++ b/trajectories/random_v2/real_345_01_f49/action_sequence.json
@@ -0,0 +1,150 @@
+{
+  "trajectory_id": "rand_real_345_01_f49",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_345_01",
+  "reference_fps": 16,
+  "reference_frames": 49,
+  "frame_pts_s": [
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+    2.875,
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+    3.0
+  ],
+  "container_duration_s": 3.0625,
+  "pts_span_s": 3.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "W",
+    "I",
+    "L"
+  ],
+  "segments": [
+    {
+      "key": "W",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Walk forward, look up, turn right.",
+  "camera_motion_caption_zh": "向前走，向上看，向右转。",
+  "net_yaw_deg": 15.0,
+  "max_translation_nominal_m": 0.45,
+  "max_rotation_deg": 18.011882178082473,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_345_01_f49/camera_poses.json b/trajectories/random_v2/real_345_01_f49/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b5e7cbd1c334cd27205642a84928e073024c9d9
--- /dev/null
+++ b/trajectories/random_v2/real_345_01_f49/camera_poses.json
@@ -0,0 +1,2554 @@
+{
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+  ]
+}
diff --git a/trajectories/random_v2/real_345_01_f49/trajectory_caption.txt b/trajectories/random_v2/real_345_01_f49/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5bd435b469edda51ae751db6df50015d5458cfb7
--- /dev/null
+++ b/trajectories/random_v2/real_345_01_f49/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Walk forward, look up, turn right.
+向前走，向上看，向右转。
diff --git a/trajectories/random_v2/real_345_01_f81/action_sequence.json b/trajectories/random_v2/real_345_01_f81/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ec0062e207d705b962d0d023ca1a524c8216fca
--- /dev/null
+++ b/trajectories/random_v2/real_345_01_f81/action_sequence.json
@@ -0,0 +1,202 @@
+{
+  "trajectory_id": "rand_real_345_01_f81",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_345_01",
+  "reference_fps": 16,
+  "reference_frames": 81,
+  "frame_pts_s": [
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+    5.0
+  ],
+  "container_duration_s": 5.0625,
+  "pts_span_s": 5.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "W",
+    "I",
+    "L",
+    "W",
+    "W"
+  ],
+  "segments": [
+    {
+      "key": "W",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "W",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "W",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Walk forward, look up, turn right, walk forward, walk forward.",
+  "camera_motion_caption_zh": "向前走，向上看，向右转，向前走，向前走。",
+  "net_yaw_deg": 15.0,
+  "max_translation_nominal_m": 1.3352952881205715,
+  "max_rotation_deg": 18.011882178082473,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_345_01_f81/camera_poses.json b/trajectories/random_v2/real_345_01_f81/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..519996bbb16ac33da7e70933617224efcbb0a98d
--- /dev/null
+++ b/trajectories/random_v2/real_345_01_f81/camera_poses.json
@@ -0,0 +1,4218 @@
+{
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+}
diff --git a/trajectories/random_v2/real_345_01_f81/trajectory_caption.txt b/trajectories/random_v2/real_345_01_f81/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..eddd33a02defbe9342386e50ccaecb3341ca519d
--- /dev/null
+++ b/trajectories/random_v2/real_345_01_f81/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Walk forward, look up, turn right, walk forward, walk forward.
+向前走，向上看，向右转，向前走，向前走。
diff --git a/trajectories/random_v2/real_345_03_f13/action_sequence.json b/trajectories/random_v2/real_345_03_f13/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..ffea3294a05f7f7f79ddea0258cc513b1d8d18d7
--- /dev/null
+++ b/trajectories/random_v2/real_345_03_f13/action_sequence.json
@@ -0,0 +1,82 @@
+{
+  "trajectory_id": "rand_real_345_03_f13",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_345_03",
+  "reference_fps": 16,
+  "reference_frames": 13,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
+    0.125,
+    0.1875,
+    0.25,
+    0.3125,
+    0.375,
+    0.4375,
+    0.5,
+    0.5625,
+    0.625,
+    0.6875,
+    0.75
+  ],
+  "container_duration_s": 0.8125,
+  "pts_span_s": 0.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [],
+  "segments": [],
+  "remainder_hold_frames": 13,
+  "zero_action": true,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Stay still.",
+  "camera_motion_caption_zh": "保持不动。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 0.0,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_345_03_f13/camera_poses.json b/trajectories/random_v2/real_345_03_f13/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdfef31c2c39d0765f3cad74f10a399cb797d643
--- /dev/null
+++ b/trajectories/random_v2/real_345_03_f13/camera_poses.json
@@ -0,0 +1,682 @@
+{
+  "canonical_c2w": [
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+  ]
+}
diff --git a/trajectories/random_v2/real_345_03_f13/trajectory_caption.txt b/trajectories/random_v2/real_345_03_f13/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9971208d2581b3c605469d863ca8aa7e2497c20a
--- /dev/null
+++ b/trajectories/random_v2/real_345_03_f13/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Stay still.
+保持不动。
diff --git a/trajectories/random_v2/real_345_03_f221/action_sequence.json b/trajectories/random_v2/real_345_03_f221/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..b383c60eef736922243893c34225dbe6e0530b7a
--- /dev/null
+++ b/trajectories/random_v2/real_345_03_f221/action_sequence.json
@@ -0,0 +1,422 @@
+{
+  "trajectory_id": "rand_real_345_03_f221",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_345_03",
+  "reference_fps": 16,
+  "reference_frames": 221,
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+  ],
+  "container_duration_s": 13.8125,
+  "pts_span_s": 13.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "D",
+    "D",
+    "K",
+    "I",
+    "K",
+    "S",
+    "K",
+    "L",
+    "W",
+    "K",
+    "W",
+    "J",
+    "W"
+  ],
+  "segments": [
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+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
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+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
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+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "S",
+      "start_frame": 80,
+      "end_frame_inclusive": 95,
+      "start_s": 5,
+      "end_s": 6,
+      "pose_transition_end_s": 5.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 96,
+      "end_frame_inclusive": 111,
+      "start_s": 6,
+      "end_s": 7,
+      "pose_transition_end_s": 6.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 112,
+      "end_frame_inclusive": 127,
+      "start_s": 7,
+      "end_s": 8,
+      "pose_transition_end_s": 7.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "W",
+      "start_frame": 128,
+      "end_frame_inclusive": 143,
+      "start_s": 8,
+      "end_s": 9,
+      "pose_transition_end_s": 8.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 144,
+      "end_frame_inclusive": 159,
+      "start_s": 9,
+      "end_s": 10,
+      "pose_transition_end_s": 9.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "W",
+      "start_frame": 160,
+      "end_frame_inclusive": 175,
+      "start_s": 10,
+      "end_s": 11,
+      "pose_transition_end_s": 10.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 176,
+      "end_frame_inclusive": 191,
+      "start_s": 11,
+      "end_s": 12,
+      "pose_transition_end_s": 11.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "W",
+      "start_frame": 192,
+      "end_frame_inclusive": 207,
+      "start_s": 12,
+      "end_s": 13,
+      "pose_transition_end_s": 12.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 13,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Walk right, walk right, look down, look up, look down, walk backward, look down, turn right, walk forward, look down, walk forward, turn left, walk forward.",
+  "camera_motion_caption_zh": "向右走，向右走，向下看，向上看，向下看，向后走，向下看，向右转，向前走，向下看，向前走，向左转，向前走。",
+  "net_yaw_deg": 0.0,
+  "max_translation_nominal_m": 1.4403067171344432,
+  "max_rotation_deg": 33.46386313025449,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_345_03_f221/camera_poses.json b/trajectories/random_v2/real_345_03_f221/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..11c1bf1179058055271c91cc15275bd725693079
--- /dev/null
+++ b/trajectories/random_v2/real_345_03_f221/camera_poses.json
@@ -0,0 +1,11498 @@
+{
+  "canonical_c2w": [
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
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+        0.0
+      ],
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+        1.0,
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+      ],
+      [
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+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
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+    ]
+  ]
+}
diff --git a/trajectories/random_v2/real_345_03_f221/trajectory_caption.txt b/trajectories/random_v2/real_345_03_f221/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a196bbbc46fe6821601bb9dbdf1acff2bce067f8
--- /dev/null
+++ b/trajectories/random_v2/real_345_03_f221/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Walk right, walk right, look down, look up, look down, walk backward, look down, turn right, walk forward, look down, walk forward, turn left, walk forward.
+向右走，向右走，向下看，向上看，向下看，向后走，向下看，向右转，向前走，向下看，向前走，向左转，向前走。
diff --git a/trajectories/random_v2/real_345_03_f230/action_sequence.json b/trajectories/random_v2/real_345_03_f230/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..46fb44d834c353eecfaa6b0f74bff7cf654a4432
--- /dev/null
+++ b/trajectories/random_v2/real_345_03_f230/action_sequence.json
@@ -0,0 +1,441 @@
+{
+  "trajectory_id": "rand_real_345_03_f230",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_345_03",
+  "reference_fps": 16,
+  "reference_frames": 230,
+  "frame_pts_s": [
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+  ],
+  "container_duration_s": 14.375,
+  "pts_span_s": 14.3125,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "D",
+    "D",
+    "K",
+    "I",
+    "K",
+    "S",
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+    "W",
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+    "J",
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+  ],
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+    {
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+    },
+    {
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+    },
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+    },
+    {
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+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    },
+    {
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+      "end_frame_inclusive": 95,
+      "start_s": 5,
+      "end_s": 6,
+      "pose_transition_end_s": 5.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
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+      "end_frame_inclusive": 111,
+      "start_s": 6,
+      "end_s": 7,
+      "pose_transition_end_s": 6.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 112,
+      "end_frame_inclusive": 127,
+      "start_s": 7,
+      "end_s": 8,
+      "pose_transition_end_s": 7.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "W",
+      "start_frame": 128,
+      "end_frame_inclusive": 143,
+      "start_s": 8,
+      "end_s": 9,
+      "pose_transition_end_s": 8.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
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+      "end_frame_inclusive": 159,
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+      "end_s": 10,
+      "pose_transition_end_s": 9.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "W",
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+      "end_frame_inclusive": 175,
+      "start_s": 10,
+      "end_s": 11,
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+      "duration_s": 1
+    },
+    {
+      "key": "J",
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+      "end_s": 12,
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+      "duration_s": 1
+    },
+    {
+      "key": "W",
+      "start_frame": 192,
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+      "end_s": 13,
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+      "duration_s": 1
+    },
+    {
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+      "start_s": 13,
+      "end_s": 14,
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+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 6,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Walk right, walk right, look down, look up, look down, walk backward, look down, turn right, walk forward, look down, walk forward, turn left, walk forward, turn right.",
+  "camera_motion_caption_zh": "向右走，向右走，向下看，向上看，向下看，向后走，向下看，向右转，向前走，向下看，向前走，向左转，向前走，向右转。",
+  "net_yaw_deg": 15.0,
+  "max_translation_nominal_m": 1.4403067171344432,
+  "max_rotation_deg": 33.46386313025449,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_345_03_f230/camera_poses.json b/trajectories/random_v2/real_345_03_f230/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5fdc137a4248533de14c6522847c27176935563
--- /dev/null
+++ b/trajectories/random_v2/real_345_03_f230/camera_poses.json
@@ -0,0 +1,11966 @@
+{
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+}
diff --git a/trajectories/random_v2/real_345_03_f230/trajectory_caption.txt b/trajectories/random_v2/real_345_03_f230/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6f657bf23fdb3c5e4b51e5afd06b310de55216b4
--- /dev/null
+++ b/trajectories/random_v2/real_345_03_f230/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Walk right, walk right, look down, look up, look down, walk backward, look down, turn right, walk forward, look down, walk forward, turn left, walk forward, turn right.
+向右走，向右走，向下看，向上看，向下看，向后走，向下看，向右转，向前走，向下看，向前走，向左转，向前走，向右转。
diff --git a/trajectories/random_v2/real_345_03_f49/action_sequence.json b/trajectories/random_v2/real_345_03_f49/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..674f5b507f40dcef833ff402e34e64a2e5da9349
--- /dev/null
+++ b/trajectories/random_v2/real_345_03_f49/action_sequence.json
@@ -0,0 +1,150 @@
+{
+  "trajectory_id": "rand_real_345_03_f49",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_345_03",
+  "reference_fps": 16,
+  "reference_frames": 49,
+  "frame_pts_s": [
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+    2.625,
+    2.6875,
+    2.75,
+    2.8125,
+    2.875,
+    2.9375,
+    3.0
+  ],
+  "container_duration_s": 3.0625,
+  "pts_span_s": 3.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "D",
+    "D",
+    "K"
+  ],
+  "segments": [
+    {
+      "key": "D",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "D",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Walk right, walk right, look down.",
+  "camera_motion_caption_zh": "向右走，向右走，向下看。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.9,
+  "max_rotation_deg": 9.999999999999998,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_345_03_f49/camera_poses.json b/trajectories/random_v2/real_345_03_f49/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..9dc6c4a28299f2b0d8f864e4af6cf4455a70c6a9
--- /dev/null
+++ b/trajectories/random_v2/real_345_03_f49/camera_poses.json
@@ -0,0 +1,2554 @@
+{
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+}
diff --git a/trajectories/random_v2/real_345_03_f49/trajectory_caption.txt b/trajectories/random_v2/real_345_03_f49/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d71dcea3ad0e3065290979ca3c43ac96392795ad
--- /dev/null
+++ b/trajectories/random_v2/real_345_03_f49/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Walk right, walk right, look down.
+向右走，向右走，向下看。
diff --git a/trajectories/random_v2/real_345_03_f81/action_sequence.json b/trajectories/random_v2/real_345_03_f81/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..6dea948714e7275af7658f8488c965bd0eb0462d
--- /dev/null
+++ b/trajectories/random_v2/real_345_03_f81/action_sequence.json
@@ -0,0 +1,202 @@
+{
+  "trajectory_id": "rand_real_345_03_f81",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_345_03",
+  "reference_fps": 16,
+  "reference_frames": 81,
+  "frame_pts_s": [
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+  ],
+  "container_duration_s": 5.0625,
+  "pts_span_s": 5.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "D",
+    "D",
+    "K",
+    "I",
+    "K"
+  ],
+  "segments": [
+    {
+      "key": "D",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "D",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Walk right, walk right, look down, look up, look down.",
+  "camera_motion_caption_zh": "向右走，向右走，向下看，向上看，向下看。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.9,
+  "max_rotation_deg": 9.999999999999998,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_345_03_f81/camera_poses.json b/trajectories/random_v2/real_345_03_f81/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..4edd4f88bd846d802b45207597af411d4cd97464
--- /dev/null
+++ b/trajectories/random_v2/real_345_03_f81/camera_poses.json
@@ -0,0 +1,4218 @@
+{
+  "canonical_c2w": [
+    [
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+}
diff --git a/trajectories/random_v2/real_345_03_f81/trajectory_caption.txt b/trajectories/random_v2/real_345_03_f81/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f8b29a883b14d39736185da4909e7b603239e33
--- /dev/null
+++ b/trajectories/random_v2/real_345_03_f81/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Walk right, walk right, look down, look up, look down.
+向右走，向右走，向下看，向上看，向下看。
diff --git a/trajectories/random_v2/real_345_04_f13/action_sequence.json b/trajectories/random_v2/real_345_04_f13/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..03ce324f1c636e041532c8bc992fd3c60f135dce
--- /dev/null
+++ b/trajectories/random_v2/real_345_04_f13/action_sequence.json
@@ -0,0 +1,82 @@
+{
+  "trajectory_id": "rand_real_345_04_f13",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_345_04",
+  "reference_fps": 16,
+  "reference_frames": 13,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
+    0.125,
+    0.1875,
+    0.25,
+    0.3125,
+    0.375,
+    0.4375,
+    0.5,
+    0.5625,
+    0.625,
+    0.6875,
+    0.75
+  ],
+  "container_duration_s": 0.8125,
+  "pts_span_s": 0.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [],
+  "segments": [],
+  "remainder_hold_frames": 13,
+  "zero_action": true,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Stay still.",
+  "camera_motion_caption_zh": "保持不动。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 0.0,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_345_04_f13/camera_poses.json b/trajectories/random_v2/real_345_04_f13/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdfef31c2c39d0765f3cad74f10a399cb797d643
--- /dev/null
+++ b/trajectories/random_v2/real_345_04_f13/camera_poses.json
@@ -0,0 +1,682 @@
+{
+  "canonical_c2w": [
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+  ],
+  "opencv_c2w_wiw_units": [
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+    ],
+    [
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+      [
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+        1.0,
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+      [
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+    ]
+  ]
+}
diff --git a/trajectories/random_v2/real_345_04_f13/trajectory_caption.txt b/trajectories/random_v2/real_345_04_f13/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9971208d2581b3c605469d863ca8aa7e2497c20a
--- /dev/null
+++ b/trajectories/random_v2/real_345_04_f13/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Stay still.
+保持不动。
diff --git a/trajectories/random_v2/real_345_04_f221/action_sequence.json b/trajectories/random_v2/real_345_04_f221/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..21c9d070a0892ec33ededebc10456e33bac3f67b
--- /dev/null
+++ b/trajectories/random_v2/real_345_04_f221/action_sequence.json
@@ -0,0 +1,422 @@
+{
+  "trajectory_id": "rand_real_345_04_f221",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_345_04",
+  "reference_fps": 16,
+  "reference_frames": 221,
+  "frame_pts_s": [
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+    13.4375,
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+    13.5625,
+    13.625,
+    13.6875,
+    13.75
+  ],
+  "container_duration_s": 13.8125,
+  "pts_span_s": 13.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "A",
+    "S",
+    "D",
+    "J",
+    "W",
+    "J",
+    "A",
+    "K",
+    "J",
+    "S",
+    "D",
+    "W",
+    "S"
+  ],
+  "segments": [
+    {
+      "key": "A",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "S",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "D",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "W",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 80,
+      "end_frame_inclusive": 95,
+      "start_s": 5,
+      "end_s": 6,
+      "pose_transition_end_s": 5.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "A",
+      "start_frame": 96,
+      "end_frame_inclusive": 111,
+      "start_s": 6,
+      "end_s": 7,
+      "pose_transition_end_s": 6.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 112,
+      "end_frame_inclusive": 127,
+      "start_s": 7,
+      "end_s": 8,
+      "pose_transition_end_s": 7.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 128,
+      "end_frame_inclusive": 143,
+      "start_s": 8,
+      "end_s": 9,
+      "pose_transition_end_s": 8.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "S",
+      "start_frame": 144,
+      "end_frame_inclusive": 159,
+      "start_s": 9,
+      "end_s": 10,
+      "pose_transition_end_s": 9.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "D",
+      "start_frame": 160,
+      "end_frame_inclusive": 175,
+      "start_s": 10,
+      "end_s": 11,
+      "pose_transition_end_s": 10.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "W",
+      "start_frame": 176,
+      "end_frame_inclusive": 191,
+      "start_s": 11,
+      "end_s": 12,
+      "pose_transition_end_s": 11.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "S",
+      "start_frame": 192,
+      "end_frame_inclusive": 207,
+      "start_s": 12,
+      "end_s": 13,
+      "pose_transition_end_s": 12.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 13,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Walk left, walk backward, walk right, turn left, walk forward, turn left, walk left, look down, turn left, walk backward, walk right, walk forward, walk backward.",
+  "camera_motion_caption_zh": "向左走，向后走，向右走，向左转，向前走，向左转，向左走，向下看，向左转，向后走，向右走，向前走，向后走。",
+  "net_yaw_deg": -45.0,
+  "max_translation_nominal_m": 0.6363961030678927,
+  "max_rotation_deg": 46.041322888178925,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_345_04_f221/camera_poses.json b/trajectories/random_v2/real_345_04_f221/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd4a085f3cc1921d276005ff69e8d4c12e9f34d1
--- /dev/null
+++ b/trajectories/random_v2/real_345_04_f221/camera_poses.json
@@ -0,0 +1,11498 @@
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+        -0.7871562906289881
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+  ]
+}
diff --git a/trajectories/random_v2/real_345_04_f221/trajectory_caption.txt b/trajectories/random_v2/real_345_04_f221/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..59455394aed0dc7bd029ee3716082d719626aa54
--- /dev/null
+++ b/trajectories/random_v2/real_345_04_f221/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Walk left, walk backward, walk right, turn left, walk forward, turn left, walk left, look down, turn left, walk backward, walk right, walk forward, walk backward.
+向左走，向后走，向右走，向左转，向前走，向左转，向左走，向下看，向左转，向后走，向右走，向前走，向后走。
diff --git a/trajectories/random_v2/real_345_04_f230/action_sequence.json b/trajectories/random_v2/real_345_04_f230/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7bf71cfad6a24ea586eebb632b457f0a6ee10f4
--- /dev/null
+++ b/trajectories/random_v2/real_345_04_f230/action_sequence.json
@@ -0,0 +1,441 @@
+{
+  "trajectory_id": "rand_real_345_04_f230",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_345_04",
+  "reference_fps": 16,
+  "reference_frames": 230,
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+  "container_duration_s": 14.375,
+  "pts_span_s": 14.3125,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "A",
+    "S",
+    "D",
+    "J",
+    "W",
+    "J",
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+    {
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+    },
+    {
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+      "duration_s": 1
+    },
+    {
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+      "start_s": 5,
+      "end_s": 6,
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+      "duration_s": 1
+    },
+    {
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+      "end_frame_inclusive": 111,
+      "start_s": 6,
+      "end_s": 7,
+      "pose_transition_end_s": 6.9375,
+      "duration_s": 1
+    },
+    {
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+      "end_frame_inclusive": 127,
+      "start_s": 7,
+      "end_s": 8,
+      "pose_transition_end_s": 7.9375,
+      "duration_s": 1
+    },
+    {
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+      "duration_s": 1
+    },
+    {
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+      "end_s": 10,
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+      "duration_s": 1
+    },
+    {
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+      "duration_s": 1
+    },
+    {
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+      "duration_s": 1
+    },
+    {
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+    },
+    {
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+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 6,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Walk left, walk backward, walk right, turn left, walk forward, turn left, walk left, look down, turn left, walk backward, walk right, walk forward, walk backward, turn left.",
+  "camera_motion_caption_zh": "向左走，向后走，向右走，向左转，向前走，向左转，向左走，向下看，向左转，向后走，向右走，向前走，向后走，向左转。",
+  "net_yaw_deg": -60.0,
+  "max_translation_nominal_m": 0.6363961030678927,
+  "max_rotation_deg": 60.75101305058632,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_345_04_f230/camera_poses.json b/trajectories/random_v2/real_345_04_f230/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c34c8ec2b1d1cd707fcfa2d3798ceb11b853d0e
--- /dev/null
+++ b/trajectories/random_v2/real_345_04_f230/camera_poses.json
@@ -0,0 +1,11966 @@
+{
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+}
diff --git a/trajectories/random_v2/real_345_04_f230/trajectory_caption.txt b/trajectories/random_v2/real_345_04_f230/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..238a2b1b50eb8ebeb3647d62c13383a09904fda5
--- /dev/null
+++ b/trajectories/random_v2/real_345_04_f230/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Walk left, walk backward, walk right, turn left, walk forward, turn left, walk left, look down, turn left, walk backward, walk right, walk forward, walk backward, turn left.
+向左走，向后走，向右走，向左转，向前走，向左转，向左走，向下看，向左转，向后走，向右走，向前走，向后走，向左转。
diff --git a/trajectories/random_v2/real_345_04_f49/action_sequence.json b/trajectories/random_v2/real_345_04_f49/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..66787540cb0b423e6ea61f8664726cf491eb4844
--- /dev/null
+++ b/trajectories/random_v2/real_345_04_f49/action_sequence.json
@@ -0,0 +1,150 @@
+{
+  "trajectory_id": "rand_real_345_04_f49",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_345_04",
+  "reference_fps": 16,
+  "reference_frames": 49,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
+    0.125,
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+    1.625,
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+    1.875,
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+    2.0,
+    2.0625,
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+    2.25,
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+    2.625,
+    2.6875,
+    2.75,
+    2.8125,
+    2.875,
+    2.9375,
+    3.0
+  ],
+  "container_duration_s": 3.0625,
+  "pts_span_s": 3.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "A",
+    "S",
+    "D"
+  ],
+  "segments": [
+    {
+      "key": "A",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "S",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "D",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Walk left, walk backward, walk right.",
+  "camera_motion_caption_zh": "向左走，向后走，向右走。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.6363961030678927,
+  "max_rotation_deg": 0.0,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_345_04_f49/camera_poses.json b/trajectories/random_v2/real_345_04_f49/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..96e10633580679879adb7add45ec2975483780b3
--- /dev/null
+++ b/trajectories/random_v2/real_345_04_f49/camera_poses.json
@@ -0,0 +1,2554 @@
+{
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+}
diff --git a/trajectories/random_v2/real_345_04_f49/trajectory_caption.txt b/trajectories/random_v2/real_345_04_f49/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..db429f6d83486c7abd7841880d814294e74bd0f8
--- /dev/null
+++ b/trajectories/random_v2/real_345_04_f49/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Walk left, walk backward, walk right.
+向左走，向后走，向右走。
diff --git a/trajectories/random_v2/real_345_04_f81/action_sequence.json b/trajectories/random_v2/real_345_04_f81/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c97010da2a8ad028c239d59ba218e11c3f6be8d
--- /dev/null
+++ b/trajectories/random_v2/real_345_04_f81/action_sequence.json
@@ -0,0 +1,202 @@
+{
+  "trajectory_id": "rand_real_345_04_f81",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_345_04",
+  "reference_fps": 16,
+  "reference_frames": 81,
+  "frame_pts_s": [
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+    5.0
+  ],
+  "container_duration_s": 5.0625,
+  "pts_span_s": 5.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "A",
+    "S",
+    "D",
+    "J",
+    "W"
+  ],
+  "segments": [
+    {
+      "key": "A",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "S",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "D",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "W",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Walk left, walk backward, walk right, turn left, walk forward.",
+  "camera_motion_caption_zh": "向左走，向后走，向右走，向左转，向前走。",
+  "net_yaw_deg": -15.0,
+  "max_translation_nominal_m": 0.6363961030678927,
+  "max_rotation_deg": 14.999999999999998,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_345_04_f81/camera_poses.json b/trajectories/random_v2/real_345_04_f81/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2b73d5ce5f17e180ad88dc28685101716aac842
--- /dev/null
+++ b/trajectories/random_v2/real_345_04_f81/camera_poses.json
@@ -0,0 +1,4218 @@
+{
+  "canonical_c2w": [
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
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+        0.0,
+        1.0
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+    ],
+    [
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+      [
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+}
diff --git a/trajectories/random_v2/real_345_04_f81/trajectory_caption.txt b/trajectories/random_v2/real_345_04_f81/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..aadd698855a98054c68061fb77f1b52461413de9
--- /dev/null
+++ b/trajectories/random_v2/real_345_04_f81/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Walk left, walk backward, walk right, turn left, walk forward.
+向左走，向后走，向右走，向左转，向前走。
diff --git a/trajectories/random_v2/real_345_06_f13/action_sequence.json b/trajectories/random_v2/real_345_06_f13/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..07765fc9e9ae3b48ec93a00c40443238f44e3e83
--- /dev/null
+++ b/trajectories/random_v2/real_345_06_f13/action_sequence.json
@@ -0,0 +1,82 @@
+{
+  "trajectory_id": "rand_real_345_06_f13",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_345_06",
+  "reference_fps": 16,
+  "reference_frames": 13,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
+    0.125,
+    0.1875,
+    0.25,
+    0.3125,
+    0.375,
+    0.4375,
+    0.5,
+    0.5625,
+    0.625,
+    0.6875,
+    0.75
+  ],
+  "container_duration_s": 0.8125,
+  "pts_span_s": 0.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [],
+  "segments": [],
+  "remainder_hold_frames": 13,
+  "zero_action": true,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Stay still.",
+  "camera_motion_caption_zh": "保持不动。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 0.0,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_345_06_f13/camera_poses.json b/trajectories/random_v2/real_345_06_f13/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdfef31c2c39d0765f3cad74f10a399cb797d643
--- /dev/null
+++ b/trajectories/random_v2/real_345_06_f13/camera_poses.json
@@ -0,0 +1,682 @@
+{
+  "canonical_c2w": [
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+      ],
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+  ],
+  "opencv_c2w_wiw_units": [
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+    ]
+  ]
+}
diff --git a/trajectories/random_v2/real_345_06_f13/trajectory_caption.txt b/trajectories/random_v2/real_345_06_f13/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9971208d2581b3c605469d863ca8aa7e2497c20a
--- /dev/null
+++ b/trajectories/random_v2/real_345_06_f13/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Stay still.
+保持不动。
diff --git a/trajectories/random_v2/real_345_06_f221/action_sequence.json b/trajectories/random_v2/real_345_06_f221/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e6cfaca05b3f2c172b05f5e38b8d606deae3587
--- /dev/null
+++ b/trajectories/random_v2/real_345_06_f221/action_sequence.json
@@ -0,0 +1,422 @@
+{
+  "trajectory_id": "rand_real_345_06_f221",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_345_06",
+  "reference_fps": 16,
+  "reference_frames": 221,
+  "frame_pts_s": [
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+    13.4375,
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+    13.5625,
+    13.625,
+    13.6875,
+    13.75
+  ],
+  "container_duration_s": 13.8125,
+  "pts_span_s": 13.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "I",
+    "S",
+    "J",
+    "I",
+    "K",
+    "I",
+    "K",
+    "L",
+    "L",
+    "I",
+    "J",
+    "J",
+    "J"
+  ],
+  "segments": [
+    {
+      "key": "I",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "S",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 80,
+      "end_frame_inclusive": 95,
+      "start_s": 5,
+      "end_s": 6,
+      "pose_transition_end_s": 5.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 96,
+      "end_frame_inclusive": 111,
+      "start_s": 6,
+      "end_s": 7,
+      "pose_transition_end_s": 6.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 112,
+      "end_frame_inclusive": 127,
+      "start_s": 7,
+      "end_s": 8,
+      "pose_transition_end_s": 7.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 128,
+      "end_frame_inclusive": 143,
+      "start_s": 8,
+      "end_s": 9,
+      "pose_transition_end_s": 8.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 144,
+      "end_frame_inclusive": 159,
+      "start_s": 9,
+      "end_s": 10,
+      "pose_transition_end_s": 9.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 160,
+      "end_frame_inclusive": 175,
+      "start_s": 10,
+      "end_s": 11,
+      "pose_transition_end_s": 10.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 176,
+      "end_frame_inclusive": 191,
+      "start_s": 11,
+      "end_s": 12,
+      "pose_transition_end_s": 11.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 192,
+      "end_frame_inclusive": 207,
+      "start_s": 12,
+      "end_s": 13,
+      "pose_transition_end_s": 12.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 13,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look up, walk backward, turn left, look up, look down, look up, look down, turn right, turn right, look up, turn left, turn left, turn left.",
+  "camera_motion_caption_zh": "向上看，向后走，向左转，向上看，向下看，向上看，向下看，向右转，向右转，向上看，向左转，向左转，向左转。",
+  "net_yaw_deg": -30.0,
+  "max_translation_nominal_m": 0.45000000000000007,
+  "max_rotation_deg": 35.64469095368347,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_345_06_f221/camera_poses.json b/trajectories/random_v2/real_345_06_f221/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..a98a0ef9d803bf277811be68d1525ea9d197aa62
--- /dev/null
+++ b/trajectories/random_v2/real_345_06_f221/camera_poses.json
@@ -0,0 +1,11498 @@
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+}
diff --git a/trajectories/random_v2/real_345_06_f221/trajectory_caption.txt b/trajectories/random_v2/real_345_06_f221/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4c08c0c7ad5bdf4e1e3a7d12b7e8625777d502f0
--- /dev/null
+++ b/trajectories/random_v2/real_345_06_f221/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look up, walk backward, turn left, look up, look down, look up, look down, turn right, turn right, look up, turn left, turn left, turn left.
+向上看，向后走，向左转，向上看，向下看，向上看，向下看，向右转，向右转，向上看，向左转，向左转，向左转。
diff --git a/trajectories/random_v2/real_345_06_f230/action_sequence.json b/trajectories/random_v2/real_345_06_f230/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..912d7bcf7f7245d8a8d17018cdb00fa6a334ec14
--- /dev/null
+++ b/trajectories/random_v2/real_345_06_f230/action_sequence.json
@@ -0,0 +1,441 @@
+{
+  "trajectory_id": "rand_real_345_06_f230",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_345_06",
+  "reference_fps": 16,
+  "reference_frames": 230,
+  "frame_pts_s": [
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+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
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+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
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+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
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+    {
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+    {
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+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 6,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look up, walk backward, turn left, look up, look down, look up, look down, turn right, turn right, look up, turn left, turn left, turn left, turn right.",
+  "camera_motion_caption_zh": "向上看，向后走，向左转，向上看，向下看，向上看，向下看，向右转，向右转，向上看，向左转，向左转，向左转，向右转。",
+  "net_yaw_deg": -15.0,
+  "max_translation_nominal_m": 0.45000000000000007,
+  "max_rotation_deg": 35.64469095368347,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_345_06_f230/camera_poses.json b/trajectories/random_v2/real_345_06_f230/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..d746528d8ae8012c25e79bc3ffdc533a2442bdc2
--- /dev/null
+++ b/trajectories/random_v2/real_345_06_f230/camera_poses.json
@@ -0,0 +1,11966 @@
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+}
diff --git a/trajectories/random_v2/real_345_06_f230/trajectory_caption.txt b/trajectories/random_v2/real_345_06_f230/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5905faca6b7a3cd12d53c6fdcfe228b0fa7ca17b
--- /dev/null
+++ b/trajectories/random_v2/real_345_06_f230/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look up, walk backward, turn left, look up, look down, look up, look down, turn right, turn right, look up, turn left, turn left, turn left, turn right.
+向上看，向后走，向左转，向上看，向下看，向上看，向下看，向右转，向右转，向上看，向左转，向左转，向左转，向右转。
diff --git a/trajectories/random_v2/real_345_06_f49/action_sequence.json b/trajectories/random_v2/real_345_06_f49/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9ce930b8f5a6c37ffcf82789ed0076e78389bee
--- /dev/null
+++ b/trajectories/random_v2/real_345_06_f49/action_sequence.json
@@ -0,0 +1,150 @@
+{
+  "trajectory_id": "rand_real_345_06_f49",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_345_06",
+  "reference_fps": 16,
+  "reference_frames": 49,
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+  ],
+  "container_duration_s": 3.0625,
+  "pts_span_s": 3.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "I",
+    "S",
+    "J"
+  ],
+  "segments": [
+    {
+      "key": "I",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "S",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look up, walk backward, turn left.",
+  "camera_motion_caption_zh": "向上看，向后走，向左转。",
+  "net_yaw_deg": -15.0,
+  "max_translation_nominal_m": 0.45000000000000007,
+  "max_rotation_deg": 18.011882178082473,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_345_06_f49/camera_poses.json b/trajectories/random_v2/real_345_06_f49/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..45e809cc20d4bb84a4cd672a7d5d129daccea1a8
--- /dev/null
+++ b/trajectories/random_v2/real_345_06_f49/camera_poses.json
@@ -0,0 +1,2554 @@
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+}
diff --git a/trajectories/random_v2/real_345_06_f49/trajectory_caption.txt b/trajectories/random_v2/real_345_06_f49/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7fb7a6409068fed8aae0df348334136780df0339
--- /dev/null
+++ b/trajectories/random_v2/real_345_06_f49/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look up, walk backward, turn left.
+向上看，向后走，向左转。
diff --git a/trajectories/random_v2/real_345_06_f81/action_sequence.json b/trajectories/random_v2/real_345_06_f81/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..1aecd4ce117a6d5f109ba4f907f4e6462db298cd
--- /dev/null
+++ b/trajectories/random_v2/real_345_06_f81/action_sequence.json
@@ -0,0 +1,202 @@
+{
+  "trajectory_id": "rand_real_345_06_f81",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_345_06",
+  "reference_fps": 16,
+  "reference_frames": 81,
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+  ],
+  "container_duration_s": 5.0625,
+  "pts_span_s": 5.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "I",
+    "S",
+    "J",
+    "I",
+    "K"
+  ],
+  "segments": [
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+    },
+    {
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+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
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+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look up, walk backward, turn left, look up, look down.",
+  "camera_motion_caption_zh": "向上看，向后走，向左转，向上看，向下看。",
+  "net_yaw_deg": -15.0,
+  "max_translation_nominal_m": 0.45000000000000007,
+  "max_rotation_deg": 24.9541202522322,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_345_06_f81/camera_poses.json b/trajectories/random_v2/real_345_06_f81/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc811f49fe9b9e334dbf59f568f000c7bc4c72b6
--- /dev/null
+++ b/trajectories/random_v2/real_345_06_f81/camera_poses.json
@@ -0,0 +1,4218 @@
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diff --git a/trajectories/random_v2/real_345_06_f81/trajectory_caption.txt b/trajectories/random_v2/real_345_06_f81/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4e88e08c9929f388d92095d9d0a376cc761692e1
--- /dev/null
+++ b/trajectories/random_v2/real_345_06_f81/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look up, walk backward, turn left, look up, look down.
+向上看，向后走，向左转，向上看，向下看。
diff --git a/trajectories/random_v2/real_345_08_f13/action_sequence.json b/trajectories/random_v2/real_345_08_f13/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c6e89282bbdf59223516abb463ff2116af9566d
--- /dev/null
+++ b/trajectories/random_v2/real_345_08_f13/action_sequence.json
@@ -0,0 +1,82 @@
+{
+  "trajectory_id": "rand_real_345_08_f13",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_345_08",
+  "reference_fps": 16,
+  "reference_frames": 13,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
+    0.125,
+    0.1875,
+    0.25,
+    0.3125,
+    0.375,
+    0.4375,
+    0.5,
+    0.5625,
+    0.625,
+    0.6875,
+    0.75
+  ],
+  "container_duration_s": 0.8125,
+  "pts_span_s": 0.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [],
+  "segments": [],
+  "remainder_hold_frames": 13,
+  "zero_action": true,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Stay still.",
+  "camera_motion_caption_zh": "保持不动。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 0.0,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_345_08_f13/camera_poses.json b/trajectories/random_v2/real_345_08_f13/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdfef31c2c39d0765f3cad74f10a399cb797d643
--- /dev/null
+++ b/trajectories/random_v2/real_345_08_f13/camera_poses.json
@@ -0,0 +1,682 @@
+{
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+  ]
+}
diff --git a/trajectories/random_v2/real_345_08_f13/trajectory_caption.txt b/trajectories/random_v2/real_345_08_f13/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9971208d2581b3c605469d863ca8aa7e2497c20a
--- /dev/null
+++ b/trajectories/random_v2/real_345_08_f13/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Stay still.
+保持不动。
diff --git a/trajectories/random_v2/real_345_08_f221/action_sequence.json b/trajectories/random_v2/real_345_08_f221/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..8adb426de41031c09286ae7c65fce1d7dca49b1e
--- /dev/null
+++ b/trajectories/random_v2/real_345_08_f221/action_sequence.json
@@ -0,0 +1,422 @@
+{
+  "trajectory_id": "rand_real_345_08_f221",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_345_08",
+  "reference_fps": 16,
+  "reference_frames": 221,
+  "frame_pts_s": [
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+  ],
+  "container_duration_s": 13.8125,
+  "pts_span_s": 13.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "J",
+    "A",
+    "L",
+    "I",
+    "S",
+    "J",
+    "I",
+    "A",
+    "D",
+    "I",
+    "L",
+    "D",
+    "W"
+  ],
+  "segments": [
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+      "key": "J",
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+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
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+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
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+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
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+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
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+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    },
+    {
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+      "start_frame": 80,
+      "end_frame_inclusive": 95,
+      "start_s": 5,
+      "end_s": 6,
+      "pose_transition_end_s": 5.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 96,
+      "end_frame_inclusive": 111,
+      "start_s": 6,
+      "end_s": 7,
+      "pose_transition_end_s": 6.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "A",
+      "start_frame": 112,
+      "end_frame_inclusive": 127,
+      "start_s": 7,
+      "end_s": 8,
+      "pose_transition_end_s": 7.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "D",
+      "start_frame": 128,
+      "end_frame_inclusive": 143,
+      "start_s": 8,
+      "end_s": 9,
+      "pose_transition_end_s": 8.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 144,
+      "end_frame_inclusive": 159,
+      "start_s": 9,
+      "end_s": 10,
+      "pose_transition_end_s": 9.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 160,
+      "end_frame_inclusive": 175,
+      "start_s": 10,
+      "end_s": 11,
+      "pose_transition_end_s": 10.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "D",
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+      "start_s": 11,
+      "end_s": 12,
+      "pose_transition_end_s": 11.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "W",
+      "start_frame": 192,
+      "end_frame_inclusive": 207,
+      "start_s": 12,
+      "end_s": 13,
+      "pose_transition_end_s": 12.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 13,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Turn left, walk left, turn right, look up, walk backward, turn left, look up, walk left, walk right, look up, turn right, walk right, walk forward.",
+  "camera_motion_caption_zh": "向左转，向左走，向右转，向上看，向后走，向左转，向上看，向左走，向右走，向上看，向右转，向右走，向前走。",
+  "net_yaw_deg": 0.0,
+  "max_translation_nominal_m": 1.1045989252694228,
+  "max_rotation_deg": 33.46386313025449,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_345_08_f221/camera_poses.json b/trajectories/random_v2/real_345_08_f221/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..05022cbbd177ed96e677b8925a37eef72bd308f7
--- /dev/null
+++ b/trajectories/random_v2/real_345_08_f221/camera_poses.json
@@ -0,0 +1,11498 @@
+{
+  "canonical_c2w": [
+    [
+      [
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+        0.0,
+        0.0
+      ],
+      [
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+}
diff --git a/trajectories/random_v2/real_345_08_f221/trajectory_caption.txt b/trajectories/random_v2/real_345_08_f221/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f772bd5765ee414ad05a6625ad746b3d112d05b2
--- /dev/null
+++ b/trajectories/random_v2/real_345_08_f221/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Turn left, walk left, turn right, look up, walk backward, turn left, look up, walk left, walk right, look up, turn right, walk right, walk forward.
+向左转，向左走，向右转，向上看，向后走，向左转，向上看，向左走，向右走，向上看，向右转，向右走，向前走。
diff --git a/trajectories/random_v2/real_345_08_f230/action_sequence.json b/trajectories/random_v2/real_345_08_f230/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..48e11d16bbf5afde283f9d192e1945e00ffae58e
--- /dev/null
+++ b/trajectories/random_v2/real_345_08_f230/action_sequence.json
@@ -0,0 +1,441 @@
+{
+  "trajectory_id": "rand_real_345_08_f230",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_345_08",
+  "reference_fps": 16,
+  "reference_frames": 230,
+  "frame_pts_s": [
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+  "pts_span_s": 14.3125,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
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+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
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+    {
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+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 160,
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+      "duration_s": 1
+    },
+    {
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+      "duration_s": 1
+    },
+    {
+      "key": "W",
+      "start_frame": 192,
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+      "duration_s": 1
+    },
+    {
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+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 6,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Turn left, walk left, turn right, look up, walk backward, turn left, look up, walk left, walk right, look up, turn right, walk right, walk forward, turn left.",
+  "camera_motion_caption_zh": "向左转，向左走，向右转，向上看，向后走，向左转，向上看，向左走，向右走，向上看，向右转，向右走，向前走，向左转。",
+  "net_yaw_deg": -15.0,
+  "max_translation_nominal_m": 1.1045989252694228,
+  "max_rotation_deg": 33.46386313025449,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_345_08_f230/camera_poses.json b/trajectories/random_v2/real_345_08_f230/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d4bda877e08ec6fdfe22c45ddcad672621a2c69
--- /dev/null
+++ b/trajectories/random_v2/real_345_08_f230/camera_poses.json
@@ -0,0 +1,11966 @@
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+}
diff --git a/trajectories/random_v2/real_345_08_f230/trajectory_caption.txt b/trajectories/random_v2/real_345_08_f230/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..259f3ee31238df24b02ad8b2111a0ef06b346f1e
--- /dev/null
+++ b/trajectories/random_v2/real_345_08_f230/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Turn left, walk left, turn right, look up, walk backward, turn left, look up, walk left, walk right, look up, turn right, walk right, walk forward, turn left.
+向左转，向左走，向右转，向上看，向后走，向左转，向上看，向左走，向右走，向上看，向右转，向右走，向前走，向左转。
diff --git a/trajectories/random_v2/real_345_08_f49/action_sequence.json b/trajectories/random_v2/real_345_08_f49/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8a6c67b1293bd561fcae360cb5a2ed0579b2e80
--- /dev/null
+++ b/trajectories/random_v2/real_345_08_f49/action_sequence.json
@@ -0,0 +1,150 @@
+{
+  "trajectory_id": "rand_real_345_08_f49",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_345_08",
+  "reference_fps": 16,
+  "reference_frames": 49,
+  "frame_pts_s": [
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+    0.0625,
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+    2.8125,
+    2.875,
+    2.9375,
+    3.0
+  ],
+  "container_duration_s": 3.0625,
+  "pts_span_s": 3.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "J",
+    "A",
+    "L"
+  ],
+  "segments": [
+    {
+      "key": "J",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "A",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Turn left, walk left, turn right.",
+  "camera_motion_caption_zh": "向左转，向左走，向右转。",
+  "net_yaw_deg": 0.0,
+  "max_translation_nominal_m": 0.45,
+  "max_rotation_deg": 14.999999999999998,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_345_08_f49/camera_poses.json b/trajectories/random_v2/real_345_08_f49/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..03f8550ce7c0e5e868b0bdf3659dd55f4069067b
--- /dev/null
+++ b/trajectories/random_v2/real_345_08_f49/camera_poses.json
@@ -0,0 +1,2554 @@
+{
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+}
diff --git a/trajectories/random_v2/real_345_08_f49/trajectory_caption.txt b/trajectories/random_v2/real_345_08_f49/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3dceccad6dd0593312c15766ed3221c292358c4f
--- /dev/null
+++ b/trajectories/random_v2/real_345_08_f49/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Turn left, walk left, turn right.
+向左转，向左走，向右转。
diff --git a/trajectories/random_v2/real_345_08_f81/action_sequence.json b/trajectories/random_v2/real_345_08_f81/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0f843c8a6d01c824bdeb063138ed0b1e13188f2
--- /dev/null
+++ b/trajectories/random_v2/real_345_08_f81/action_sequence.json
@@ -0,0 +1,202 @@
+{
+  "trajectory_id": "rand_real_345_08_f81",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_345_08",
+  "reference_fps": 16,
+  "reference_frames": 81,
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+    4.625,
+    4.6875,
+    4.75,
+    4.8125,
+    4.875,
+    4.9375,
+    5.0
+  ],
+  "container_duration_s": 5.0625,
+  "pts_span_s": 5.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "J",
+    "A",
+    "L",
+    "I",
+    "S"
+  ],
+  "segments": [
+    {
+      "key": "J",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "A",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "S",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Turn left, walk left, turn right, look up, walk backward.",
+  "camera_motion_caption_zh": "向左转，向左走，向右转，向上看，向后走。",
+  "net_yaw_deg": 0.0,
+  "max_translation_nominal_m": 0.7129019819785132,
+  "max_rotation_deg": 14.999999999999998,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_345_08_f81/camera_poses.json b/trajectories/random_v2/real_345_08_f81/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..df3d3bc3ad7180593989ecb36d361455e17ef74b
--- /dev/null
+++ b/trajectories/random_v2/real_345_08_f81/camera_poses.json
@@ -0,0 +1,4218 @@
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+}
diff --git a/trajectories/random_v2/real_345_08_f81/trajectory_caption.txt b/trajectories/random_v2/real_345_08_f81/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..24e445ad7449b3977b4d7dc9f3d67e7bdff8c22a
--- /dev/null
+++ b/trajectories/random_v2/real_345_08_f81/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Turn left, walk left, turn right, look up, walk backward.
+向左转，向左走，向右转，向上看，向后走。
diff --git a/trajectories/random_v2/real_345_09_f13/action_sequence.json b/trajectories/random_v2/real_345_09_f13/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..aaf2fdd30e7a9d4bd18798f4022fe9693b283fe1
--- /dev/null
+++ b/trajectories/random_v2/real_345_09_f13/action_sequence.json
@@ -0,0 +1,82 @@
+{
+  "trajectory_id": "rand_real_345_09_f13",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_345_09",
+  "reference_fps": 16,
+  "reference_frames": 13,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
+    0.125,
+    0.1875,
+    0.25,
+    0.3125,
+    0.375,
+    0.4375,
+    0.5,
+    0.5625,
+    0.625,
+    0.6875,
+    0.75
+  ],
+  "container_duration_s": 0.8125,
+  "pts_span_s": 0.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [],
+  "segments": [],
+  "remainder_hold_frames": 13,
+  "zero_action": true,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Stay still.",
+  "camera_motion_caption_zh": "保持不动。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 0.0,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_345_09_f13/camera_poses.json b/trajectories/random_v2/real_345_09_f13/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdfef31c2c39d0765f3cad74f10a399cb797d643
--- /dev/null
+++ b/trajectories/random_v2/real_345_09_f13/camera_poses.json
@@ -0,0 +1,682 @@
+{
+  "canonical_c2w": [
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+  ]
+}
diff --git a/trajectories/random_v2/real_345_09_f13/trajectory_caption.txt b/trajectories/random_v2/real_345_09_f13/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9971208d2581b3c605469d863ca8aa7e2497c20a
--- /dev/null
+++ b/trajectories/random_v2/real_345_09_f13/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Stay still.
+保持不动。
diff --git a/trajectories/random_v2/real_345_09_f221/action_sequence.json b/trajectories/random_v2/real_345_09_f221/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7a945a74a34835f37283cffae1df7eb9d521e61
--- /dev/null
+++ b/trajectories/random_v2/real_345_09_f221/action_sequence.json
@@ -0,0 +1,422 @@
+{
+  "trajectory_id": "rand_real_345_09_f221",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_345_09",
+  "reference_fps": 16,
+  "reference_frames": 221,
+  "frame_pts_s": [
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+  ],
+  "container_duration_s": 13.8125,
+  "pts_span_s": 13.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "L",
+    "W",
+    "L",
+    "D",
+    "K",
+    "I",
+    "I",
+    "S",
+    "J",
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+    "J",
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+  ],
+  "segments": [
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+      "start_s": 0,
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+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
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+    {
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+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
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+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
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+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
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+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    },
+    {
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+      "start_frame": 80,
+      "end_frame_inclusive": 95,
+      "start_s": 5,
+      "end_s": 6,
+      "pose_transition_end_s": 5.9375,
+      "duration_s": 1
+    },
+    {
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+      "start_frame": 96,
+      "end_frame_inclusive": 111,
+      "start_s": 6,
+      "end_s": 7,
+      "pose_transition_end_s": 6.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "S",
+      "start_frame": 112,
+      "end_frame_inclusive": 127,
+      "start_s": 7,
+      "end_s": 8,
+      "pose_transition_end_s": 7.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 128,
+      "end_frame_inclusive": 143,
+      "start_s": 8,
+      "end_s": 9,
+      "pose_transition_end_s": 8.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "S",
+      "start_frame": 144,
+      "end_frame_inclusive": 159,
+      "start_s": 9,
+      "end_s": 10,
+      "pose_transition_end_s": 9.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "D",
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+      "end_frame_inclusive": 175,
+      "start_s": 10,
+      "end_s": 11,
+      "pose_transition_end_s": 10.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
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+      "start_s": 11,
+      "end_s": 12,
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+      "duration_s": 1
+    },
+    {
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+      "start_s": 12,
+      "end_s": 13,
+      "pose_transition_end_s": 12.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 13,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Turn right, walk forward, turn right, walk right, look down, look up, look up, walk backward, turn left, walk backward, walk right, turn left, look up.",
+  "camera_motion_caption_zh": "向右转，向前走，向右转，向右走，向下看，向上看，向上看，向后走，向左转，向后走，向右走，向左转，向上看。",
+  "net_yaw_deg": 0.0,
+  "max_translation_nominal_m": 0.9508017324040889,
+  "max_rotation_deg": 31.58644830271884,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_345_09_f221/camera_poses.json b/trajectories/random_v2/real_345_09_f221/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..ecd82f7b6935480536544fc9433c7515eab7646a
--- /dev/null
+++ b/trajectories/random_v2/real_345_09_f221/camera_poses.json
@@ -0,0 +1,11498 @@
+{
+  "canonical_c2w": [
+    [
+      [
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+        0.0,
+        0.0
+      ],
+      [
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+}
diff --git a/trajectories/random_v2/real_345_09_f221/trajectory_caption.txt b/trajectories/random_v2/real_345_09_f221/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ba98109ddd8fa90698a2b43fe6b12f00bf08a076
--- /dev/null
+++ b/trajectories/random_v2/real_345_09_f221/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Turn right, walk forward, turn right, walk right, look down, look up, look up, walk backward, turn left, walk backward, walk right, turn left, look up.
+向右转，向前走，向右转，向右走，向下看，向上看，向上看，向后走，向左转，向后走，向右走，向左转，向上看。
diff --git a/trajectories/random_v2/real_345_09_f230/action_sequence.json b/trajectories/random_v2/real_345_09_f230/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..87c3d4874cfae827c6a867a15580244a7d89dc79
--- /dev/null
+++ b/trajectories/random_v2/real_345_09_f230/action_sequence.json
@@ -0,0 +1,441 @@
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+      "pose_transition_end_s": 11.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 192,
+      "end_frame_inclusive": 207,
+      "start_s": 12,
+      "end_s": 13,
+      "pose_transition_end_s": 12.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 208,
+      "end_frame_inclusive": 223,
+      "start_s": 13,
+      "end_s": 14,
+      "pose_transition_end_s": 13.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 6,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Turn right, walk forward, turn right, walk right, look down, look up, look up, walk backward, turn left, walk backward, walk right, turn left, look up, look up.",
+  "camera_motion_caption_zh": "向右转，向前走，向右转，向右走，向下看，向上看，向上看，向后走，向左转，向后走，向右走，向左转，向上看，向上看。",
+  "net_yaw_deg": 0.0,
+  "max_translation_nominal_m": 0.9508017324040889,
+  "max_rotation_deg": 31.58644830271884,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_345_09_f230/camera_poses.json b/trajectories/random_v2/real_345_09_f230/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..702631dc48a3d256fd83efc185bcecbc93f1c691
--- /dev/null
+++ b/trajectories/random_v2/real_345_09_f230/camera_poses.json
@@ -0,0 +1,11966 @@
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+}
diff --git a/trajectories/random_v2/real_345_09_f230/trajectory_caption.txt b/trajectories/random_v2/real_345_09_f230/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a720172da581ee37516988555194ca521e6e2ef0
--- /dev/null
+++ b/trajectories/random_v2/real_345_09_f230/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Turn right, walk forward, turn right, walk right, look down, look up, look up, walk backward, turn left, walk backward, walk right, turn left, look up, look up.
+向右转，向前走，向右转，向右走，向下看，向上看，向上看，向后走，向左转，向后走，向右走，向左转，向上看，向上看。
diff --git a/trajectories/random_v2/real_345_09_f49/action_sequence.json b/trajectories/random_v2/real_345_09_f49/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed03f35fc34d61706d1d67c909b2e71194814d04
--- /dev/null
+++ b/trajectories/random_v2/real_345_09_f49/action_sequence.json
@@ -0,0 +1,150 @@
+{
+  "trajectory_id": "rand_real_345_09_f49",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_345_09",
+  "reference_fps": 16,
+  "reference_frames": 49,
+  "frame_pts_s": [
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+    2.875,
+    2.9375,
+    3.0
+  ],
+  "container_duration_s": 3.0625,
+  "pts_span_s": 3.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "L",
+    "W",
+    "L"
+  ],
+  "segments": [
+    {
+      "key": "L",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "W",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Turn right, walk forward, turn right.",
+  "camera_motion_caption_zh": "向右转，向前走，向右转。",
+  "net_yaw_deg": 30.0,
+  "max_translation_nominal_m": 0.45,
+  "max_rotation_deg": 30.000000000000004,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_345_09_f49/camera_poses.json b/trajectories/random_v2/real_345_09_f49/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a79700bd1478c6ebefc35480622b03d4bea92eb
--- /dev/null
+++ b/trajectories/random_v2/real_345_09_f49/camera_poses.json
@@ -0,0 +1,2554 @@
+{
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+}
diff --git a/trajectories/random_v2/real_345_09_f49/trajectory_caption.txt b/trajectories/random_v2/real_345_09_f49/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2a6f1e6514dee72ee594651e9850e82178b491db
--- /dev/null
+++ b/trajectories/random_v2/real_345_09_f49/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Turn right, walk forward, turn right.
+向右转，向前走，向右转。
diff --git a/trajectories/random_v2/real_345_09_f81/action_sequence.json b/trajectories/random_v2/real_345_09_f81/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..e87e72aa54c5f998c39e942342452e6f19f33096
--- /dev/null
+++ b/trajectories/random_v2/real_345_09_f81/action_sequence.json
@@ -0,0 +1,202 @@
+{
+  "trajectory_id": "rand_real_345_09_f81",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_345_09",
+  "reference_fps": 16,
+  "reference_frames": 81,
+  "frame_pts_s": [
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+  ],
+  "container_duration_s": 5.0625,
+  "pts_span_s": 5.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "L",
+    "W",
+    "L",
+    "D",
+    "K"
+  ],
+  "segments": [
+    {
+      "key": "L",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "W",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "D",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Turn right, walk forward, turn right, walk right, look down.",
+  "camera_motion_caption_zh": "向右转，向前走，向右转，向右走，向下看。",
+  "net_yaw_deg": 30.0,
+  "max_translation_nominal_m": 0.5478852861078485,
+  "max_rotation_deg": 31.58644830271884,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_345_09_f81/camera_poses.json b/trajectories/random_v2/real_345_09_f81/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4114c9b24f4d2e1f7dd77636098c5538bcd2d4e
--- /dev/null
+++ b/trajectories/random_v2/real_345_09_f81/camera_poses.json
@@ -0,0 +1,4218 @@
+{
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+}
diff --git a/trajectories/random_v2/real_345_09_f81/trajectory_caption.txt b/trajectories/random_v2/real_345_09_f81/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..87ca0a614e584d49b74c85b2270ef204510989b5
--- /dev/null
+++ b/trajectories/random_v2/real_345_09_f81/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Turn right, walk forward, turn right, walk right, look down.
+向右转，向前走，向右转，向右走，向下看。
diff --git a/trajectories/random_v2/real_345_10_f13/action_sequence.json b/trajectories/random_v2/real_345_10_f13/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..50aa201a92ed96f1882b7296b457362813361925
--- /dev/null
+++ b/trajectories/random_v2/real_345_10_f13/action_sequence.json
@@ -0,0 +1,82 @@
+{
+  "trajectory_id": "rand_real_345_10_f13",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_345_10",
+  "reference_fps": 16,
+  "reference_frames": 13,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
+    0.125,
+    0.1875,
+    0.25,
+    0.3125,
+    0.375,
+    0.4375,
+    0.5,
+    0.5625,
+    0.625,
+    0.6875,
+    0.75
+  ],
+  "container_duration_s": 0.8125,
+  "pts_span_s": 0.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [],
+  "segments": [],
+  "remainder_hold_frames": 13,
+  "zero_action": true,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Stay still.",
+  "camera_motion_caption_zh": "保持不动。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 0.0,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_345_10_f13/camera_poses.json b/trajectories/random_v2/real_345_10_f13/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdfef31c2c39d0765f3cad74f10a399cb797d643
--- /dev/null
+++ b/trajectories/random_v2/real_345_10_f13/camera_poses.json
@@ -0,0 +1,682 @@
+{
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+  ],
+  "opencv_c2w_wiw_units": [
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+    ]
+  ]
+}
diff --git a/trajectories/random_v2/real_345_10_f13/trajectory_caption.txt b/trajectories/random_v2/real_345_10_f13/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9971208d2581b3c605469d863ca8aa7e2497c20a
--- /dev/null
+++ b/trajectories/random_v2/real_345_10_f13/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Stay still.
+保持不动。
diff --git a/trajectories/random_v2/real_345_10_f221/action_sequence.json b/trajectories/random_v2/real_345_10_f221/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf33a27c2a85608c77d55474f79f97de51475ed6
--- /dev/null
+++ b/trajectories/random_v2/real_345_10_f221/action_sequence.json
@@ -0,0 +1,422 @@
+{
+  "trajectory_id": "rand_real_345_10_f221",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_345_10",
+  "reference_fps": 16,
+  "reference_frames": 221,
+  "frame_pts_s": [
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+  ],
+  "container_duration_s": 13.8125,
+  "pts_span_s": 13.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "D",
+    "L",
+    "J",
+    "I",
+    "D",
+    "S",
+    "A",
+    "L",
+    "J",
+    "J",
+    "J",
+    "K",
+    "D"
+  ],
+  "segments": [
+    {
+      "key": "D",
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+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
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+    {
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+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
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+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
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+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "S",
+      "start_frame": 80,
+      "end_frame_inclusive": 95,
+      "start_s": 5,
+      "end_s": 6,
+      "pose_transition_end_s": 5.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "A",
+      "start_frame": 96,
+      "end_frame_inclusive": 111,
+      "start_s": 6,
+      "end_s": 7,
+      "pose_transition_end_s": 6.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 112,
+      "end_frame_inclusive": 127,
+      "start_s": 7,
+      "end_s": 8,
+      "pose_transition_end_s": 7.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 128,
+      "end_frame_inclusive": 143,
+      "start_s": 8,
+      "end_s": 9,
+      "pose_transition_end_s": 8.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 144,
+      "end_frame_inclusive": 159,
+      "start_s": 9,
+      "end_s": 10,
+      "pose_transition_end_s": 9.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 160,
+      "end_frame_inclusive": 175,
+      "start_s": 10,
+      "end_s": 11,
+      "pose_transition_end_s": 10.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 176,
+      "end_frame_inclusive": 191,
+      "start_s": 11,
+      "end_s": 12,
+      "pose_transition_end_s": 11.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "D",
+      "start_frame": 192,
+      "end_frame_inclusive": 207,
+      "start_s": 12,
+      "end_s": 13,
+      "pose_transition_end_s": 12.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 13,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Walk right, turn right, turn left, look up, walk right, walk backward, walk left, turn right, turn left, turn left, turn left, look down, walk right.",
+  "camera_motion_caption_zh": "向右走，向右转，向左转，向上看，向右走，向后走，向左走，向右转，向左转，向左转，向左转，向下看，向右走。",
+  "net_yaw_deg": -30.0,
+  "max_translation_nominal_m": 1.0062305898749053,
+  "max_rotation_deg": 31.58644830271884,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_345_10_f221/camera_poses.json b/trajectories/random_v2/real_345_10_f221/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..9aac22342c21921b4fb17e835b8f3693c79747e1
--- /dev/null
+++ b/trajectories/random_v2/real_345_10_f221/camera_poses.json
@@ -0,0 +1,11498 @@
+{
+  "canonical_c2w": [
+    [
+      [
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+        0.0,
+        0.0
+      ],
+      [
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+}
diff --git a/trajectories/random_v2/real_345_10_f221/trajectory_caption.txt b/trajectories/random_v2/real_345_10_f221/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2864b0b1cd7819169bfb8f279e6c61f6990853d2
--- /dev/null
+++ b/trajectories/random_v2/real_345_10_f221/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Walk right, turn right, turn left, look up, walk right, walk backward, walk left, turn right, turn left, turn left, turn left, look down, walk right.
+向右走，向右转，向左转，向上看，向右走，向后走，向左走，向右转，向左转，向左转，向左转，向下看，向右走。
diff --git a/trajectories/random_v2/real_345_10_f230/action_sequence.json b/trajectories/random_v2/real_345_10_f230/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f4fc6210a7d65754d8cb25e291797398b1394bc
--- /dev/null
+++ b/trajectories/random_v2/real_345_10_f230/action_sequence.json
@@ -0,0 +1,441 @@
+{
+  "trajectory_id": "rand_real_345_10_f230",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_345_10",
+  "reference_fps": 16,
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+  "container_duration_s": 14.375,
+  "pts_span_s": 14.3125,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "D",
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+    "J",
+    "I",
+    "D",
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+    {
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+      "end_s": 6,
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+    {
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+      "end_s": 7,
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+      "duration_s": 1
+    },
+    {
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+      "end_s": 8,
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+      "duration_s": 1
+    },
+    {
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+    },
+    {
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+      "end_s": 10,
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+    },
+    {
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+      "duration_s": 1
+    },
+    {
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+      "end_s": 12,
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+      "duration_s": 1
+    },
+    {
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+      "end_s": 13,
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+      "duration_s": 1
+    },
+    {
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+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 6,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Walk right, turn right, turn left, look up, walk right, walk backward, walk left, turn right, turn left, turn left, turn left, look down, walk right, turn right.",
+  "camera_motion_caption_zh": "向右走，向右转，向左转，向上看，向右走，向后走，向左走，向右转，向左转，向左转，向左转，向下看，向右走，向右转。",
+  "net_yaw_deg": -15.0,
+  "max_translation_nominal_m": 1.0062305898749053,
+  "max_rotation_deg": 31.58644830271884,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_345_10_f230/camera_poses.json b/trajectories/random_v2/real_345_10_f230/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f5c31c47c4a854a16e36dd95ff23bf3c5d0a406
--- /dev/null
+++ b/trajectories/random_v2/real_345_10_f230/camera_poses.json
@@ -0,0 +1,11966 @@
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+}
diff --git a/trajectories/random_v2/real_345_10_f230/trajectory_caption.txt b/trajectories/random_v2/real_345_10_f230/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..105c0c5c05b4d4d92b2fb4c2818f42c1d89c33bd
--- /dev/null
+++ b/trajectories/random_v2/real_345_10_f230/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Walk right, turn right, turn left, look up, walk right, walk backward, walk left, turn right, turn left, turn left, turn left, look down, walk right, turn right.
+向右走，向右转，向左转，向上看，向右走，向后走，向左走，向右转，向左转，向左转，向左转，向下看，向右走，向右转。
diff --git a/trajectories/random_v2/real_345_10_f49/action_sequence.json b/trajectories/random_v2/real_345_10_f49/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..d14955e1ddcc69fbe2003355a877d3d422c51fa9
--- /dev/null
+++ b/trajectories/random_v2/real_345_10_f49/action_sequence.json
@@ -0,0 +1,150 @@
+{
+  "trajectory_id": "rand_real_345_10_f49",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_345_10",
+  "reference_fps": 16,
+  "reference_frames": 49,
+  "frame_pts_s": [
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+    2.625,
+    2.6875,
+    2.75,
+    2.8125,
+    2.875,
+    2.9375,
+    3.0
+  ],
+  "container_duration_s": 3.0625,
+  "pts_span_s": 3.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "D",
+    "L",
+    "J"
+  ],
+  "segments": [
+    {
+      "key": "D",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Walk right, turn right, turn left.",
+  "camera_motion_caption_zh": "向右走，向右转，向左转。",
+  "net_yaw_deg": 0.0,
+  "max_translation_nominal_m": 0.45,
+  "max_rotation_deg": 14.999999999999998,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_345_10_f49/camera_poses.json b/trajectories/random_v2/real_345_10_f49/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..a59cab55f8929d37d4f6eb73f538e7bcda7129f2
--- /dev/null
+++ b/trajectories/random_v2/real_345_10_f49/camera_poses.json
@@ -0,0 +1,2554 @@
+{
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+}
diff --git a/trajectories/random_v2/real_345_10_f49/trajectory_caption.txt b/trajectories/random_v2/real_345_10_f49/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..86156ab9fba6a34c989ad23d9a2261ff28da4ffc
--- /dev/null
+++ b/trajectories/random_v2/real_345_10_f49/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Walk right, turn right, turn left.
+向右走，向右转，向左转。
diff --git a/trajectories/random_v2/real_345_10_f81/action_sequence.json b/trajectories/random_v2/real_345_10_f81/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..1865dc23ec5c6e7b009551b39ab32dce55b7417a
--- /dev/null
+++ b/trajectories/random_v2/real_345_10_f81/action_sequence.json
@@ -0,0 +1,202 @@
+{
+  "trajectory_id": "rand_real_345_10_f81",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_345_10",
+  "reference_fps": 16,
+  "reference_frames": 81,
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+  ],
+  "container_duration_s": 5.0625,
+  "pts_span_s": 5.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "D",
+    "L",
+    "J",
+    "I",
+    "D"
+  ],
+  "segments": [
+    {
+      "key": "D",
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+      "start_s": 0,
+      "end_s": 1,
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+      "duration_s": 1
+    },
+    {
+      "key": "L",
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+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "D",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Walk right, turn right, turn left, look up, walk right.",
+  "camera_motion_caption_zh": "向右走，向右转，向左转，向上看，向右走。",
+  "net_yaw_deg": 0.0,
+  "max_translation_nominal_m": 0.8999999999999999,
+  "max_rotation_deg": 14.999999999999998,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_345_10_f81/camera_poses.json b/trajectories/random_v2/real_345_10_f81/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..4540e9b9e90e28082ed2aa58ad195f9a90c6b4f3
--- /dev/null
+++ b/trajectories/random_v2/real_345_10_f81/camera_poses.json
@@ -0,0 +1,4218 @@
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+}
diff --git a/trajectories/random_v2/real_345_10_f81/trajectory_caption.txt b/trajectories/random_v2/real_345_10_f81/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..57fe32fc0d84b534e2b532767799976531fac6bf
--- /dev/null
+++ b/trajectories/random_v2/real_345_10_f81/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Walk right, turn right, turn left, look up, walk right.
+向右走，向右转，向左转，向上看，向右走。
diff --git a/trajectories/random_v2/real_345_11_f13/action_sequence.json b/trajectories/random_v2/real_345_11_f13/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd639f252cecff99dbc8fa2274138514fc320da3
--- /dev/null
+++ b/trajectories/random_v2/real_345_11_f13/action_sequence.json
@@ -0,0 +1,82 @@
+{
+  "trajectory_id": "rand_real_345_11_f13",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_345_11",
+  "reference_fps": 16,
+  "reference_frames": 13,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
+    0.125,
+    0.1875,
+    0.25,
+    0.3125,
+    0.375,
+    0.4375,
+    0.5,
+    0.5625,
+    0.625,
+    0.6875,
+    0.75
+  ],
+  "container_duration_s": 0.8125,
+  "pts_span_s": 0.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [],
+  "segments": [],
+  "remainder_hold_frames": 13,
+  "zero_action": true,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Stay still.",
+  "camera_motion_caption_zh": "保持不动。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 0.0,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_345_11_f13/camera_poses.json b/trajectories/random_v2/real_345_11_f13/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdfef31c2c39d0765f3cad74f10a399cb797d643
--- /dev/null
+++ b/trajectories/random_v2/real_345_11_f13/camera_poses.json
@@ -0,0 +1,682 @@
+{
+  "canonical_c2w": [
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+      [
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+    ]
+  ]
+}
diff --git a/trajectories/random_v2/real_345_11_f13/trajectory_caption.txt b/trajectories/random_v2/real_345_11_f13/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9971208d2581b3c605469d863ca8aa7e2497c20a
--- /dev/null
+++ b/trajectories/random_v2/real_345_11_f13/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Stay still.
+保持不动。
diff --git a/trajectories/random_v2/real_345_11_f221/action_sequence.json b/trajectories/random_v2/real_345_11_f221/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..14916d9afa441ed021f615910618fed6c2a77eff
--- /dev/null
+++ b/trajectories/random_v2/real_345_11_f221/action_sequence.json
@@ -0,0 +1,422 @@
+{
+  "trajectory_id": "rand_real_345_11_f221",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_345_11",
+  "reference_fps": 16,
+  "reference_frames": 221,
+  "frame_pts_s": [
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+    0.0625,
+    0.125,
+    0.1875,
+    0.25,
+    0.3125,
+    0.375,
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+    0.5,
+    0.5625,
+    0.625,
+    0.6875,
+    0.75,
+    0.8125,
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+    1.0,
+    1.0625,
+    1.125,
+    1.1875,
+    1.25,
+    1.3125,
+    1.375,
+    1.4375,
+    1.5,
+    1.5625,
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+  "pts_span_s": 13.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
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+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "L",
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+    "J",
+    "K",
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+      "duration_s": 1
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+      "duration_s": 1
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+    {
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+      "duration_s": 1
+    },
+    {
+      "key": "J",
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+      "duration_s": 1
+    },
+    {
+      "key": "L",
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+      "duration_s": 1
+    },
+    {
+      "key": "S",
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+      "duration_s": 1
+    },
+    {
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+      "duration_s": 1
+    },
+    {
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+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 13,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Turn right, turn left, turn left, look down, walk left, look up, look up, walk backward, turn left, turn right, walk backward, turn right, look down.",
+  "camera_motion_caption_zh": "向右转，向左转，向左转，向下看，向左走，向上看，向上看，向后走，向左转，向右转，向后走，向右转，向下看。",
+  "net_yaw_deg": 0.0,
+  "max_translation_nominal_m": 1.006230589874905,
+  "max_rotation_deg": 31.58644830271884,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_345_11_f221/camera_poses.json b/trajectories/random_v2/real_345_11_f221/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..82cd2eaa3fb5a60fec9ef96d55cec61da0302b06
--- /dev/null
+++ b/trajectories/random_v2/real_345_11_f221/camera_poses.json
@@ -0,0 +1,11498 @@
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+}
diff --git a/trajectories/random_v2/real_345_11_f221/trajectory_caption.txt b/trajectories/random_v2/real_345_11_f221/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ebc6fd1f0f23f1a589a6d68cc0d6fbb566f82766
--- /dev/null
+++ b/trajectories/random_v2/real_345_11_f221/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Turn right, turn left, turn left, look down, walk left, look up, look up, walk backward, turn left, turn right, walk backward, turn right, look down.
+向右转，向左转，向左转，向下看，向左走，向上看，向上看，向后走，向左转，向右转，向后走，向右转，向下看。
diff --git a/trajectories/random_v2/real_345_11_f230/action_sequence.json b/trajectories/random_v2/real_345_11_f230/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..d19e4703c05962ac565b68a4808a2efa30ea95d5
--- /dev/null
+++ b/trajectories/random_v2/real_345_11_f230/action_sequence.json
@@ -0,0 +1,441 @@
+{
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+  "family": "random_ijkl70",
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+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
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+  "remainder_hold_frames": 6,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Turn right, turn left, turn left, look down, walk left, look up, look up, walk backward, turn left, turn right, walk backward, turn right, look down, turn right.",
+  "camera_motion_caption_zh": "向右转，向左转，向左转，向下看，向左走，向上看，向上看，向后走，向左转，向右转，向后走，向右转，向下看，向右转。",
+  "net_yaw_deg": 15.0,
+  "max_translation_nominal_m": 1.006230589874905,
+  "max_rotation_deg": 31.58644830271884,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_345_11_f230/camera_poses.json b/trajectories/random_v2/real_345_11_f230/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a10b76e4b6c5967746b380e739c33ca9c21fe8b
--- /dev/null
+++ b/trajectories/random_v2/real_345_11_f230/camera_poses.json
@@ -0,0 +1,11966 @@
+{
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+}
diff --git a/trajectories/random_v2/real_345_11_f230/trajectory_caption.txt b/trajectories/random_v2/real_345_11_f230/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a772c6681e895478149bf1542e65865a83ca31f3
--- /dev/null
+++ b/trajectories/random_v2/real_345_11_f230/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Turn right, turn left, turn left, look down, walk left, look up, look up, walk backward, turn left, turn right, walk backward, turn right, look down, turn right.
+向右转，向左转，向左转，向下看，向左走，向上看，向上看，向后走，向左转，向右转，向后走，向右转，向下看，向右转。
diff --git a/trajectories/random_v2/real_345_11_f49/action_sequence.json b/trajectories/random_v2/real_345_11_f49/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..00b16ce8f2f68e6f7a428ff2864c972ada6ecc8d
--- /dev/null
+++ b/trajectories/random_v2/real_345_11_f49/action_sequence.json
@@ -0,0 +1,150 @@
+{
+  "trajectory_id": "rand_real_345_11_f49",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_345_11",
+  "reference_fps": 16,
+  "reference_frames": 49,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
+    0.125,
+    0.1875,
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+    2.6875,
+    2.75,
+    2.8125,
+    2.875,
+    2.9375,
+    3.0
+  ],
+  "container_duration_s": 3.0625,
+  "pts_span_s": 3.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "L",
+    "J",
+    "J"
+  ],
+  "segments": [
+    {
+      "key": "L",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Turn right, turn left, turn left.",
+  "camera_motion_caption_zh": "向右转，向左转，向左转。",
+  "net_yaw_deg": -15.0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 14.999999999999998,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_345_11_f49/camera_poses.json b/trajectories/random_v2/real_345_11_f49/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..0669d4dde84804f378e70248bbd766fb120e9ca2
--- /dev/null
+++ b/trajectories/random_v2/real_345_11_f49/camera_poses.json
@@ -0,0 +1,2554 @@
+{
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+}
diff --git a/trajectories/random_v2/real_345_11_f49/trajectory_caption.txt b/trajectories/random_v2/real_345_11_f49/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e6e6544afb91ed97e0e59092ee26139135bdfea9
--- /dev/null
+++ b/trajectories/random_v2/real_345_11_f49/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Turn right, turn left, turn left.
+向右转，向左转，向左转。
diff --git a/trajectories/random_v2/real_345_11_f81/action_sequence.json b/trajectories/random_v2/real_345_11_f81/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f984a78a3e1bfe2de94d33a05042be38aef00cc
--- /dev/null
+++ b/trajectories/random_v2/real_345_11_f81/action_sequence.json
@@ -0,0 +1,202 @@
+{
+  "trajectory_id": "rand_real_345_11_f81",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_345_11",
+  "reference_fps": 16,
+  "reference_frames": 81,
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+  ],
+  "container_duration_s": 5.0625,
+  "pts_span_s": 5.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "L",
+    "J",
+    "J",
+    "K",
+    "A"
+  ],
+  "segments": [
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+    },
+    {
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+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "A",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Turn right, turn left, turn left, look down, walk left.",
+  "camera_motion_caption_zh": "向右转，向左转，向左转，向下看，向左走。",
+  "net_yaw_deg": -15.0,
+  "max_translation_nominal_m": 0.4499999999999999,
+  "max_rotation_deg": 18.011882178082473,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_345_11_f81/camera_poses.json b/trajectories/random_v2/real_345_11_f81/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b6fafdab7df171835bcf5dad319bcf0b64b4de3
--- /dev/null
+++ b/trajectories/random_v2/real_345_11_f81/camera_poses.json
@@ -0,0 +1,4218 @@
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+}
diff --git a/trajectories/random_v2/real_345_11_f81/trajectory_caption.txt b/trajectories/random_v2/real_345_11_f81/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9a31aa13bf60ffe1b33180708de3fdf97a1401b8
--- /dev/null
+++ b/trajectories/random_v2/real_345_11_f81/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Turn right, turn left, turn left, look down, walk left.
+向右转，向左转，向左转，向下看，向左走。
diff --git a/trajectories/random_v2/real_345_14_f13/action_sequence.json b/trajectories/random_v2/real_345_14_f13/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..e30f93f9775b107c166f1055cc97e3778530b33d
--- /dev/null
+++ b/trajectories/random_v2/real_345_14_f13/action_sequence.json
@@ -0,0 +1,82 @@
+{
+  "trajectory_id": "rand_real_345_14_f13",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_345_14",
+  "reference_fps": 16,
+  "reference_frames": 13,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
+    0.125,
+    0.1875,
+    0.25,
+    0.3125,
+    0.375,
+    0.4375,
+    0.5,
+    0.5625,
+    0.625,
+    0.6875,
+    0.75
+  ],
+  "container_duration_s": 0.8125,
+  "pts_span_s": 0.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [],
+  "segments": [],
+  "remainder_hold_frames": 13,
+  "zero_action": true,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Stay still.",
+  "camera_motion_caption_zh": "保持不动。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 0.0,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_345_14_f13/camera_poses.json b/trajectories/random_v2/real_345_14_f13/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdfef31c2c39d0765f3cad74f10a399cb797d643
--- /dev/null
+++ b/trajectories/random_v2/real_345_14_f13/camera_poses.json
@@ -0,0 +1,682 @@
+{
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+      ],
+      [
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+        1.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ]
+  ]
+}
diff --git a/trajectories/random_v2/real_345_14_f13/trajectory_caption.txt b/trajectories/random_v2/real_345_14_f13/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9971208d2581b3c605469d863ca8aa7e2497c20a
--- /dev/null
+++ b/trajectories/random_v2/real_345_14_f13/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Stay still.
+保持不动。
diff --git a/trajectories/random_v2/real_345_14_f221/action_sequence.json b/trajectories/random_v2/real_345_14_f221/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..5fa70c40d183cdbca8dcb88280da02f0ce8da444
--- /dev/null
+++ b/trajectories/random_v2/real_345_14_f221/action_sequence.json
@@ -0,0 +1,422 @@
+{
+  "trajectory_id": "rand_real_345_14_f221",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_345_14",
+  "reference_fps": 16,
+  "reference_frames": 221,
+  "frame_pts_s": [
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+  ],
+  "container_duration_s": 13.8125,
+  "pts_span_s": 13.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "W",
+    "K",
+    "I",
+    "J",
+    "S",
+    "K",
+    "S",
+    "L",
+    "L",
+    "A",
+    "J",
+    "K",
+    "L"
+  ],
+  "segments": [
+    {
+      "key": "W",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
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+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "S",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 80,
+      "end_frame_inclusive": 95,
+      "start_s": 5,
+      "end_s": 6,
+      "pose_transition_end_s": 5.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "S",
+      "start_frame": 96,
+      "end_frame_inclusive": 111,
+      "start_s": 6,
+      "end_s": 7,
+      "pose_transition_end_s": 6.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 112,
+      "end_frame_inclusive": 127,
+      "start_s": 7,
+      "end_s": 8,
+      "pose_transition_end_s": 7.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 128,
+      "end_frame_inclusive": 143,
+      "start_s": 8,
+      "end_s": 9,
+      "pose_transition_end_s": 8.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "A",
+      "start_frame": 144,
+      "end_frame_inclusive": 159,
+      "start_s": 9,
+      "end_s": 10,
+      "pose_transition_end_s": 9.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 160,
+      "end_frame_inclusive": 175,
+      "start_s": 10,
+      "end_s": 11,
+      "pose_transition_end_s": 10.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 176,
+      "end_frame_inclusive": 191,
+      "start_s": 11,
+      "end_s": 12,
+      "pose_transition_end_s": 11.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 192,
+      "end_frame_inclusive": 207,
+      "start_s": 12,
+      "end_s": 13,
+      "pose_transition_end_s": 12.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 13,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Walk forward, look down, look up, turn left, walk backward, look down, walk backward, turn right, turn right, walk left, turn left, look down, turn right.",
+  "camera_motion_caption_zh": "向前走，向下看，向上看，向左转，向后走，向下看，向后走，向右转，向右转，向左走，向左转，向下看，向右转。",
+  "net_yaw_deg": 15.0,
+  "max_translation_nominal_m": 0.47946890106071705,
+  "max_rotation_deg": 24.9541202522322,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_345_14_f221/camera_poses.json b/trajectories/random_v2/real_345_14_f221/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..48e1a3051482332d5c17d9595008328f3b71202d
--- /dev/null
+++ b/trajectories/random_v2/real_345_14_f221/camera_poses.json
@@ -0,0 +1,11498 @@
+{
+  "canonical_c2w": [
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+}
diff --git a/trajectories/random_v2/real_345_14_f221/trajectory_caption.txt b/trajectories/random_v2/real_345_14_f221/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..898ebc0b04d3cc85171b6b1d83e8618b8d681407
--- /dev/null
+++ b/trajectories/random_v2/real_345_14_f221/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Walk forward, look down, look up, turn left, walk backward, look down, walk backward, turn right, turn right, walk left, turn left, look down, turn right.
+向前走，向下看，向上看，向左转，向后走，向下看，向后走，向右转，向右转，向左走，向左转，向下看，向右转。
diff --git a/trajectories/random_v2/real_345_14_f230/action_sequence.json b/trajectories/random_v2/real_345_14_f230/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e01759396f4cb0826aa87121edc62591970881a
--- /dev/null
+++ b/trajectories/random_v2/real_345_14_f230/action_sequence.json
@@ -0,0 +1,441 @@
+{
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+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
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+  "remainder_hold_frames": 6,
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+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Walk forward, look down, look up, turn left, walk backward, look down, walk backward, turn right, turn right, walk left, turn left, look down, turn right, look up.",
+  "camera_motion_caption_zh": "向前走，向下看，向上看，向左转，向后走，向下看，向后走，向右转，向右转，向左走，向左转，向下看，向右转，向上看。",
+  "net_yaw_deg": 15.0,
+  "max_translation_nominal_m": 0.47946890106071705,
+  "max_rotation_deg": 24.9541202522322,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_345_14_f230/camera_poses.json b/trajectories/random_v2/real_345_14_f230/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..4dafe4d173107a613058762d59406f3dd3be25fd
--- /dev/null
+++ b/trajectories/random_v2/real_345_14_f230/camera_poses.json
@@ -0,0 +1,11966 @@
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+}
diff --git a/trajectories/random_v2/real_345_14_f230/trajectory_caption.txt b/trajectories/random_v2/real_345_14_f230/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..51b9a96b4457186f05c6413b5f1ee1e11f169b21
--- /dev/null
+++ b/trajectories/random_v2/real_345_14_f230/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Walk forward, look down, look up, turn left, walk backward, look down, walk backward, turn right, turn right, walk left, turn left, look down, turn right, look up.
+向前走，向下看，向上看，向左转，向后走，向下看，向后走，向右转，向右转，向左走，向左转，向下看，向右转，向上看。
diff --git a/trajectories/random_v2/real_345_14_f49/action_sequence.json b/trajectories/random_v2/real_345_14_f49/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..3965609956fd720bf80d7b4531e79fd99e1586c2
--- /dev/null
+++ b/trajectories/random_v2/real_345_14_f49/action_sequence.json
@@ -0,0 +1,150 @@
+{
+  "trajectory_id": "rand_real_345_14_f49",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_345_14",
+  "reference_fps": 16,
+  "reference_frames": 49,
+  "frame_pts_s": [
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+    3.0
+  ],
+  "container_duration_s": 3.0625,
+  "pts_span_s": 3.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "W",
+    "K",
+    "I"
+  ],
+  "segments": [
+    {
+      "key": "W",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Walk forward, look down, look up.",
+  "camera_motion_caption_zh": "向前走，向下看，向上看。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.45,
+  "max_rotation_deg": 9.999999999999998,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_345_14_f49/camera_poses.json b/trajectories/random_v2/real_345_14_f49/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..a68878089ae39c7b1ae8fe22bf26affdb1a476a8
--- /dev/null
+++ b/trajectories/random_v2/real_345_14_f49/camera_poses.json
@@ -0,0 +1,2554 @@
+{
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+        0.0
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+        1.0000000000000002,
+        1.5
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+      [
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+        0.0,
+        0.0,
+        1.0
+      ]
+    ]
+  ]
+}
diff --git a/trajectories/random_v2/real_345_14_f49/trajectory_caption.txt b/trajectories/random_v2/real_345_14_f49/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c02308ff8a32a11668cceffeee94aa5ecc25a4a4
--- /dev/null
+++ b/trajectories/random_v2/real_345_14_f49/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Walk forward, look down, look up.
+向前走，向下看，向上看。
diff --git a/trajectories/random_v2/real_345_14_f81/action_sequence.json b/trajectories/random_v2/real_345_14_f81/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c5dc29ea2c735632ff0c8a06886342c52f2cf6c
--- /dev/null
+++ b/trajectories/random_v2/real_345_14_f81/action_sequence.json
@@ -0,0 +1,202 @@
+{
+  "trajectory_id": "rand_real_345_14_f81",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_345_14",
+  "reference_fps": 16,
+  "reference_frames": 81,
+  "frame_pts_s": [
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+    4.875,
+    4.9375,
+    5.0
+  ],
+  "container_duration_s": 5.0625,
+  "pts_span_s": 5.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "W",
+    "K",
+    "I",
+    "J",
+    "S"
+  ],
+  "segments": [
+    {
+      "key": "W",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "S",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Walk forward, look down, look up, turn left, walk backward.",
+  "camera_motion_caption_zh": "向前走，向下看，向上看，向左转，向后走。",
+  "net_yaw_deg": -15.0,
+  "max_translation_nominal_m": 0.45,
+  "max_rotation_deg": 14.999999999999998,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_345_14_f81/camera_poses.json b/trajectories/random_v2/real_345_14_f81/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..3fe28321df51e78e3e16678626fb7d7f55fc120d
--- /dev/null
+++ b/trajectories/random_v2/real_345_14_f81/camera_poses.json
@@ -0,0 +1,4218 @@
+{
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+}
diff --git a/trajectories/random_v2/real_345_14_f81/trajectory_caption.txt b/trajectories/random_v2/real_345_14_f81/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ab9de19975a84447c853947f80ed95b651bd8f61
--- /dev/null
+++ b/trajectories/random_v2/real_345_14_f81/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Walk forward, look down, look up, turn left, walk backward.
+向前走，向下看，向上看，向左转，向后走。
diff --git a/trajectories/random_v2/real_345_16_f13/action_sequence.json b/trajectories/random_v2/real_345_16_f13/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..5330515c45e2ca01f4d9e267082d116e2b03ba1b
--- /dev/null
+++ b/trajectories/random_v2/real_345_16_f13/action_sequence.json
@@ -0,0 +1,82 @@
+{
+  "trajectory_id": "rand_real_345_16_f13",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_345_16",
+  "reference_fps": 16,
+  "reference_frames": 13,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
+    0.125,
+    0.1875,
+    0.25,
+    0.3125,
+    0.375,
+    0.4375,
+    0.5,
+    0.5625,
+    0.625,
+    0.6875,
+    0.75
+  ],
+  "container_duration_s": 0.8125,
+  "pts_span_s": 0.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [],
+  "segments": [],
+  "remainder_hold_frames": 13,
+  "zero_action": true,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Stay still.",
+  "camera_motion_caption_zh": "保持不动。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 0.0,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_345_16_f13/camera_poses.json b/trajectories/random_v2/real_345_16_f13/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdfef31c2c39d0765f3cad74f10a399cb797d643
--- /dev/null
+++ b/trajectories/random_v2/real_345_16_f13/camera_poses.json
@@ -0,0 +1,682 @@
+{
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+  ]
+}
diff --git a/trajectories/random_v2/real_345_16_f13/trajectory_caption.txt b/trajectories/random_v2/real_345_16_f13/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9971208d2581b3c605469d863ca8aa7e2497c20a
--- /dev/null
+++ b/trajectories/random_v2/real_345_16_f13/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Stay still.
+保持不动。
diff --git a/trajectories/random_v2/real_345_16_f221/action_sequence.json b/trajectories/random_v2/real_345_16_f221/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..146912552cbb060e72ff90d91b1248e16bf6a036
--- /dev/null
+++ b/trajectories/random_v2/real_345_16_f221/action_sequence.json
@@ -0,0 +1,422 @@
+{
+  "trajectory_id": "rand_real_345_16_f221",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_345_16",
+  "reference_fps": 16,
+  "reference_frames": 221,
+  "frame_pts_s": [
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+  "container_duration_s": 13.8125,
+  "pts_span_s": 13.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "J",
+    "I",
+    "J",
+    "D",
+    "A",
+    "W",
+    "J",
+    "D",
+    "S",
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+  ],
+  "segments": [
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+      "key": "J",
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+      "duration_s": 1
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+    {
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+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
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+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
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+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
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+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "W",
+      "start_frame": 80,
+      "end_frame_inclusive": 95,
+      "start_s": 5,
+      "end_s": 6,
+      "pose_transition_end_s": 5.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
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+      "end_frame_inclusive": 111,
+      "start_s": 6,
+      "end_s": 7,
+      "pose_transition_end_s": 6.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "D",
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+      "end_frame_inclusive": 127,
+      "start_s": 7,
+      "end_s": 8,
+      "pose_transition_end_s": 7.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "S",
+      "start_frame": 128,
+      "end_frame_inclusive": 143,
+      "start_s": 8,
+      "end_s": 9,
+      "pose_transition_end_s": 8.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 144,
+      "end_frame_inclusive": 159,
+      "start_s": 9,
+      "end_s": 10,
+      "pose_transition_end_s": 9.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "A",
+      "start_frame": 160,
+      "end_frame_inclusive": 175,
+      "start_s": 10,
+      "end_s": 11,
+      "pose_transition_end_s": 10.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "W",
+      "start_frame": 176,
+      "end_frame_inclusive": 191,
+      "start_s": 11,
+      "end_s": 12,
+      "pose_transition_end_s": 11.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "S",
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+      "start_s": 12,
+      "end_s": 13,
+      "pose_transition_end_s": 12.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 13,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Turn left, look up, turn left, walk right, walk left, walk forward, turn left, walk right, walk backward, look up, walk left, walk forward, walk backward.",
+  "camera_motion_caption_zh": "向左转，向上看，向左转，向右走，向左走，向前走，向左转，向右走，向后走，向上看，向左走，向前走，向后走。",
+  "net_yaw_deg": -45.0,
+  "max_translation_nominal_m": 0.7140180062621115,
+  "max_rotation_deg": 49.174012358686674,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_345_16_f221/camera_poses.json b/trajectories/random_v2/real_345_16_f221/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..36e432876636e9d6c82ee9b19e834ba13d384a4a
--- /dev/null
+++ b/trajectories/random_v2/real_345_16_f221/camera_poses.json
@@ -0,0 +1,11498 @@
+{
+  "canonical_c2w": [
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+}
diff --git a/trajectories/random_v2/real_345_16_f221/trajectory_caption.txt b/trajectories/random_v2/real_345_16_f221/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..270217b4ee22db539025ba6388ccec1f1ee93226
--- /dev/null
+++ b/trajectories/random_v2/real_345_16_f221/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Turn left, look up, turn left, walk right, walk left, walk forward, turn left, walk right, walk backward, look up, walk left, walk forward, walk backward.
+向左转，向上看，向左转，向右走，向左走，向前走，向左转，向右走，向后走，向上看，向左走，向前走，向后走。
diff --git a/trajectories/random_v2/real_345_16_f230/action_sequence.json b/trajectories/random_v2/real_345_16_f230/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e973da983b3cc2129c4b5516e3b15ed4e72f32d
--- /dev/null
+++ b/trajectories/random_v2/real_345_16_f230/action_sequence.json
@@ -0,0 +1,441 @@
+{
+  "trajectory_id": "rand_real_345_16_f230",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_345_16",
+  "reference_fps": 16,
+  "reference_frames": 230,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
+    0.125,
+    0.1875,
+    0.25,
+    0.3125,
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+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
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+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
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+    {
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+    {
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+      "duration_s": 1
+    },
+    {
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+    {
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+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 6,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Turn left, look up, turn left, walk right, walk left, walk forward, turn left, walk right, walk backward, look up, walk left, walk forward, walk backward, walk backward.",
+  "camera_motion_caption_zh": "向左转，向上看，向左转，向右走，向左走，向前走，向左转，向右走，向后走，向上看，向左走，向前走，向后走，向后走。",
+  "net_yaw_deg": -45.0,
+  "max_translation_nominal_m": 0.7140180062621115,
+  "max_rotation_deg": 49.174012358686674,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_345_16_f230/camera_poses.json b/trajectories/random_v2/real_345_16_f230/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..5bb56d3ae4884c0fc373ab890280c36d7deecbb0
--- /dev/null
+++ b/trajectories/random_v2/real_345_16_f230/camera_poses.json
@@ -0,0 +1,11966 @@
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+}
diff --git a/trajectories/random_v2/real_345_16_f230/trajectory_caption.txt b/trajectories/random_v2/real_345_16_f230/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7111e0b7c5d96a500daf5fd6ff33de302a1a2468
--- /dev/null
+++ b/trajectories/random_v2/real_345_16_f230/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Turn left, look up, turn left, walk right, walk left, walk forward, turn left, walk right, walk backward, look up, walk left, walk forward, walk backward, walk backward.
+向左转，向上看，向左转，向右走，向左走，向前走，向左转，向右走，向后走，向上看，向左走，向前走，向后走，向后走。
diff --git a/trajectories/random_v2/real_345_16_f49/action_sequence.json b/trajectories/random_v2/real_345_16_f49/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..66029f661ade509504f9ecc70dd1b9758c53b666
--- /dev/null
+++ b/trajectories/random_v2/real_345_16_f49/action_sequence.json
@@ -0,0 +1,150 @@
+{
+  "trajectory_id": "rand_real_345_16_f49",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_345_16",
+  "reference_fps": 16,
+  "reference_frames": 49,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
+    0.125,
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+    2.875,
+    2.9375,
+    3.0
+  ],
+  "container_duration_s": 3.0625,
+  "pts_span_s": 3.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "J",
+    "I",
+    "J"
+  ],
+  "segments": [
+    {
+      "key": "J",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Turn left, look up, turn left.",
+  "camera_motion_caption_zh": "向左转，向上看，向左转。",
+  "net_yaw_deg": -30.0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 31.58644830271884,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_345_16_f49/camera_poses.json b/trajectories/random_v2/real_345_16_f49/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1ec8c7bc09d6e55c2fd7c22fbc79aa8cb37b62e
--- /dev/null
+++ b/trajectories/random_v2/real_345_16_f49/camera_poses.json
@@ -0,0 +1,2554 @@
+{
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+}
diff --git a/trajectories/random_v2/real_345_16_f49/trajectory_caption.txt b/trajectories/random_v2/real_345_16_f49/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..be100bc4d231eee2a83c9178956229f009234072
--- /dev/null
+++ b/trajectories/random_v2/real_345_16_f49/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Turn left, look up, turn left.
+向左转，向上看，向左转。
diff --git a/trajectories/random_v2/real_345_16_f81/action_sequence.json b/trajectories/random_v2/real_345_16_f81/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9a78d5e5b888f4df72ef3af6937760c0dcc1550
--- /dev/null
+++ b/trajectories/random_v2/real_345_16_f81/action_sequence.json
@@ -0,0 +1,202 @@
+{
+  "trajectory_id": "rand_real_345_16_f81",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_345_16",
+  "reference_fps": 16,
+  "reference_frames": 81,
+  "frame_pts_s": [
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+  ],
+  "container_duration_s": 5.0625,
+  "pts_span_s": 5.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "J",
+    "I",
+    "J",
+    "D",
+    "A"
+  ],
+  "segments": [
+    {
+      "key": "J",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "D",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "A",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Turn left, look up, turn left, walk right, walk left.",
+  "camera_motion_caption_zh": "向左转，向上看，向左转，向右走，向左走。",
+  "net_yaw_deg": -30.0,
+  "max_translation_nominal_m": 0.45,
+  "max_rotation_deg": 31.58644830271884,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_345_16_f81/camera_poses.json b/trajectories/random_v2/real_345_16_f81/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..475ede8e4492f52b07fb8c349a4678a8ef8dd6c6
--- /dev/null
+++ b/trajectories/random_v2/real_345_16_f81/camera_poses.json
@@ -0,0 +1,4218 @@
+{
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diff --git a/trajectories/random_v2/real_345_16_f81/trajectory_caption.txt b/trajectories/random_v2/real_345_16_f81/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2fcb23baa14b3f925021f3abd92552fc4ce0fa8a
--- /dev/null
+++ b/trajectories/random_v2/real_345_16_f81/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Turn left, look up, turn left, walk right, walk left.
+向左转，向上看，向左转，向右走，向左走。
diff --git a/trajectories/random_v2/real_345_20_f13/action_sequence.json b/trajectories/random_v2/real_345_20_f13/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..4fa7a9abc370805da15d4a54ae76a2a997bc953f
--- /dev/null
+++ b/trajectories/random_v2/real_345_20_f13/action_sequence.json
@@ -0,0 +1,82 @@
+{
+  "trajectory_id": "rand_real_345_20_f13",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_345_20",
+  "reference_fps": 16,
+  "reference_frames": 13,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
+    0.125,
+    0.1875,
+    0.25,
+    0.3125,
+    0.375,
+    0.4375,
+    0.5,
+    0.5625,
+    0.625,
+    0.6875,
+    0.75
+  ],
+  "container_duration_s": 0.8125,
+  "pts_span_s": 0.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [],
+  "segments": [],
+  "remainder_hold_frames": 13,
+  "zero_action": true,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Stay still.",
+  "camera_motion_caption_zh": "保持不动。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 0.0,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_345_20_f13/camera_poses.json b/trajectories/random_v2/real_345_20_f13/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdfef31c2c39d0765f3cad74f10a399cb797d643
--- /dev/null
+++ b/trajectories/random_v2/real_345_20_f13/camera_poses.json
@@ -0,0 +1,682 @@
+{
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+  "opencv_c2w_wiw_units": [
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+      [
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+    ]
+  ]
+}
diff --git a/trajectories/random_v2/real_345_20_f13/trajectory_caption.txt b/trajectories/random_v2/real_345_20_f13/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9971208d2581b3c605469d863ca8aa7e2497c20a
--- /dev/null
+++ b/trajectories/random_v2/real_345_20_f13/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Stay still.
+保持不动。
diff --git a/trajectories/random_v2/real_345_20_f221/action_sequence.json b/trajectories/random_v2/real_345_20_f221/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7f5332d61f704645be2b9d5b0314691cf1d647c
--- /dev/null
+++ b/trajectories/random_v2/real_345_20_f221/action_sequence.json
@@ -0,0 +1,422 @@
+{
+  "trajectory_id": "rand_real_345_20_f221",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_345_20",
+  "reference_fps": 16,
+  "reference_frames": 221,
+  "frame_pts_s": [
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+  ],
+  "container_duration_s": 13.8125,
+  "pts_span_s": 13.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "K",
+    "J",
+    "W",
+    "D",
+    "L",
+    "L",
+    "K",
+    "L",
+    "L",
+    "A",
+    "L",
+    "I",
+    "S"
+  ],
+  "segments": [
+    {
+      "key": "K",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 16,
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+      "duration_s": 1
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+    {
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+      "duration_s": 1
+    },
+    {
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+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 80,
+      "end_frame_inclusive": 95,
+      "start_s": 5,
+      "end_s": 6,
+      "pose_transition_end_s": 5.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 96,
+      "end_frame_inclusive": 111,
+      "start_s": 6,
+      "end_s": 7,
+      "pose_transition_end_s": 6.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 112,
+      "end_frame_inclusive": 127,
+      "start_s": 7,
+      "end_s": 8,
+      "pose_transition_end_s": 7.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 128,
+      "end_frame_inclusive": 143,
+      "start_s": 8,
+      "end_s": 9,
+      "pose_transition_end_s": 8.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "A",
+      "start_frame": 144,
+      "end_frame_inclusive": 159,
+      "start_s": 9,
+      "end_s": 10,
+      "pose_transition_end_s": 9.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 160,
+      "end_frame_inclusive": 175,
+      "start_s": 10,
+      "end_s": 11,
+      "pose_transition_end_s": 10.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 176,
+      "end_frame_inclusive": 191,
+      "start_s": 11,
+      "end_s": 12,
+      "pose_transition_end_s": 11.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "S",
+      "start_frame": 192,
+      "end_frame_inclusive": 207,
+      "start_s": 12,
+      "end_s": 13,
+      "pose_transition_end_s": 12.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 13,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look down, turn left, walk forward, walk right, turn right, turn right, look down, turn right, turn right, walk left, turn right, look up, walk backward.",
+  "camera_motion_caption_zh": "向下看，向左转，向前走，向右走，向右转，向右转，向下看，向右转，向右转，向左走，向右转，向上看，向后走。",
+  "net_yaw_deg": 60.0,
+  "max_translation_nominal_m": 0.8669128024081801,
+  "max_rotation_deg": 63.11624763483267,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_345_20_f221/camera_poses.json b/trajectories/random_v2/real_345_20_f221/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc2bfb5fa23c7b4c9b2e576f80801b5a2abc4d65
--- /dev/null
+++ b/trajectories/random_v2/real_345_20_f221/camera_poses.json
@@ -0,0 +1,11498 @@
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+}
diff --git a/trajectories/random_v2/real_345_20_f221/trajectory_caption.txt b/trajectories/random_v2/real_345_20_f221/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..faf1baf1c730a432dd5e7770fe748e433a5ca8ed
--- /dev/null
+++ b/trajectories/random_v2/real_345_20_f221/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look down, turn left, walk forward, walk right, turn right, turn right, look down, turn right, turn right, walk left, turn right, look up, walk backward.
+向下看，向左转，向前走，向右走，向右转，向右转，向下看，向右转，向右转，向左走，向右转，向上看，向后走。
diff --git a/trajectories/random_v2/real_345_20_f230/action_sequence.json b/trajectories/random_v2/real_345_20_f230/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae5523c4f41d8ddd00cc04dfec8d6060c4b851dc
--- /dev/null
+++ b/trajectories/random_v2/real_345_20_f230/action_sequence.json
@@ -0,0 +1,441 @@
+{
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+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
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+    "pitch_deg_per_action": 10.0,
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+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
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+  "remainder_hold_frames": 6,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look down, turn left, walk forward, walk right, turn right, turn right, look down, turn right, turn right, walk left, turn right, look up, walk backward, turn right.",
+  "camera_motion_caption_zh": "向下看，向左转，向前走，向右走，向右转，向右转，向下看，向右转，向右转，向左走，向右转，向上看，向后走，向右转。",
+  "net_yaw_deg": 75.0,
+  "max_translation_nominal_m": 0.8669128024081801,
+  "max_rotation_deg": 75.28564696717345,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_345_20_f230/camera_poses.json b/trajectories/random_v2/real_345_20_f230/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..df6f6c32710a90c9cfc602b2e66ba18de8d924d5
--- /dev/null
+++ b/trajectories/random_v2/real_345_20_f230/camera_poses.json
@@ -0,0 +1,11966 @@
+{
+  "canonical_c2w": [
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+}
diff --git a/trajectories/random_v2/real_345_20_f230/trajectory_caption.txt b/trajectories/random_v2/real_345_20_f230/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5b14d7ca889c7176108868ef3e5b1a461be39656
--- /dev/null
+++ b/trajectories/random_v2/real_345_20_f230/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look down, turn left, walk forward, walk right, turn right, turn right, look down, turn right, turn right, walk left, turn right, look up, walk backward, turn right.
+向下看，向左转，向前走，向右走，向右转，向右转，向下看，向右转，向右转，向左走，向右转，向上看，向后走，向右转。
diff --git a/trajectories/random_v2/real_345_20_f49/action_sequence.json b/trajectories/random_v2/real_345_20_f49/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..98dc9e32b16f347e12c60f48ffbaece6c9ecc31d
--- /dev/null
+++ b/trajectories/random_v2/real_345_20_f49/action_sequence.json
@@ -0,0 +1,150 @@
+{
+  "trajectory_id": "rand_real_345_20_f49",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_345_20",
+  "reference_fps": 16,
+  "reference_frames": 49,
+  "frame_pts_s": [
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+    3.0
+  ],
+  "container_duration_s": 3.0625,
+  "pts_span_s": 3.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "K",
+    "J",
+    "W"
+  ],
+  "segments": [
+    {
+      "key": "K",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "W",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look down, turn left, walk forward.",
+  "camera_motion_caption_zh": "向下看，向左转，向前走。",
+  "net_yaw_deg": -15.0,
+  "max_translation_nominal_m": 0.45,
+  "max_rotation_deg": 18.011882178082473,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_345_20_f49/camera_poses.json b/trajectories/random_v2/real_345_20_f49/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e60dd33035e4a7948d60f0bb1344420f88b1806
--- /dev/null
+++ b/trajectories/random_v2/real_345_20_f49/camera_poses.json
@@ -0,0 +1,2554 @@
+{
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+}
diff --git a/trajectories/random_v2/real_345_20_f49/trajectory_caption.txt b/trajectories/random_v2/real_345_20_f49/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..37946c5fc7d807367ef8714803dc7a5cbefe6444
--- /dev/null
+++ b/trajectories/random_v2/real_345_20_f49/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look down, turn left, walk forward.
+向下看，向左转，向前走。
diff --git a/trajectories/random_v2/real_345_20_f81/action_sequence.json b/trajectories/random_v2/real_345_20_f81/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb13899c8ec026b76b480e64d4f6b2b1db3ae10e
--- /dev/null
+++ b/trajectories/random_v2/real_345_20_f81/action_sequence.json
@@ -0,0 +1,202 @@
+{
+  "trajectory_id": "rand_real_345_20_f81",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_345_20",
+  "reference_fps": 16,
+  "reference_frames": 81,
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+  "container_duration_s": 5.0625,
+  "pts_span_s": 5.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "K",
+    "J",
+    "W",
+    "D",
+    "L"
+  ],
+  "segments": [
+    {
+      "key": "K",
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+      "start_s": 0,
+      "end_s": 1,
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+      "duration_s": 1
+    },
+    {
+      "key": "J",
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+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "W",
+      "start_frame": 32,
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+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "D",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look down, turn left, walk forward, walk right, turn right.",
+  "camera_motion_caption_zh": "向下看，向左转，向前走，向右走，向右转。",
+  "net_yaw_deg": 0.0,
+  "max_translation_nominal_m": 0.6363961030678927,
+  "max_rotation_deg": 18.011882178082473,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_345_20_f81/camera_poses.json b/trajectories/random_v2/real_345_20_f81/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..533e7a0f58720dc8927fba2a8bfbce0135012fc2
--- /dev/null
+++ b/trajectories/random_v2/real_345_20_f81/camera_poses.json
@@ -0,0 +1,4218 @@
+{
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+}
diff --git a/trajectories/random_v2/real_345_20_f81/trajectory_caption.txt b/trajectories/random_v2/real_345_20_f81/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c226dccb36989acccb526d94ad93de6c0828c14d
--- /dev/null
+++ b/trajectories/random_v2/real_345_20_f81/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look down, turn left, walk forward, walk right, turn right.
+向下看，向左转，向前走，向右走，向右转。
diff --git a/trajectories/random_v2/real_345_22_f13/action_sequence.json b/trajectories/random_v2/real_345_22_f13/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a6ad7cd07fb3b0f08c4c36f710e4d0470edfc59
--- /dev/null
+++ b/trajectories/random_v2/real_345_22_f13/action_sequence.json
@@ -0,0 +1,82 @@
+{
+  "trajectory_id": "rand_real_345_22_f13",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_345_22",
+  "reference_fps": 16,
+  "reference_frames": 13,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
+    0.125,
+    0.1875,
+    0.25,
+    0.3125,
+    0.375,
+    0.4375,
+    0.5,
+    0.5625,
+    0.625,
+    0.6875,
+    0.75
+  ],
+  "container_duration_s": 0.8125,
+  "pts_span_s": 0.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [],
+  "segments": [],
+  "remainder_hold_frames": 13,
+  "zero_action": true,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Stay still.",
+  "camera_motion_caption_zh": "保持不动。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 0.0,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_345_22_f13/camera_poses.json b/trajectories/random_v2/real_345_22_f13/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdfef31c2c39d0765f3cad74f10a399cb797d643
--- /dev/null
+++ b/trajectories/random_v2/real_345_22_f13/camera_poses.json
@@ -0,0 +1,682 @@
+{
+  "canonical_c2w": [
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+    [
+      [
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+      [
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+      [
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+      [
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+    ],
+    [
+      [
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+    ]
+  ]
+}
diff --git a/trajectories/random_v2/real_345_22_f13/trajectory_caption.txt b/trajectories/random_v2/real_345_22_f13/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9971208d2581b3c605469d863ca8aa7e2497c20a
--- /dev/null
+++ b/trajectories/random_v2/real_345_22_f13/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Stay still.
+保持不动。
diff --git a/trajectories/random_v2/real_345_22_f221/action_sequence.json b/trajectories/random_v2/real_345_22_f221/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..82fcadcbbb1e489d4d38ec1d897c231a0a68eb00
--- /dev/null
+++ b/trajectories/random_v2/real_345_22_f221/action_sequence.json
@@ -0,0 +1,422 @@
+{
+  "trajectory_id": "rand_real_345_22_f221",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_345_22",
+  "reference_fps": 16,
+  "reference_frames": 221,
+  "frame_pts_s": [
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+  ],
+  "container_duration_s": 13.8125,
+  "pts_span_s": 13.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "D",
+    "K",
+    "S",
+    "D",
+    "L",
+    "S",
+    "K",
+    "K",
+    "I",
+    "I",
+    "J",
+    "L",
+    "I"
+  ],
+  "segments": [
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+      "key": "D",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
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+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "S",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
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+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "S",
+      "start_frame": 80,
+      "end_frame_inclusive": 95,
+      "start_s": 5,
+      "end_s": 6,
+      "pose_transition_end_s": 5.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 96,
+      "end_frame_inclusive": 111,
+      "start_s": 6,
+      "end_s": 7,
+      "pose_transition_end_s": 6.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 112,
+      "end_frame_inclusive": 127,
+      "start_s": 7,
+      "end_s": 8,
+      "pose_transition_end_s": 7.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 128,
+      "end_frame_inclusive": 143,
+      "start_s": 8,
+      "end_s": 9,
+      "pose_transition_end_s": 8.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 144,
+      "end_frame_inclusive": 159,
+      "start_s": 9,
+      "end_s": 10,
+      "pose_transition_end_s": 9.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 160,
+      "end_frame_inclusive": 175,
+      "start_s": 10,
+      "end_s": 11,
+      "pose_transition_end_s": 10.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 176,
+      "end_frame_inclusive": 191,
+      "start_s": 11,
+      "end_s": 12,
+      "pose_transition_end_s": 11.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 192,
+      "end_frame_inclusive": 207,
+      "start_s": 12,
+      "end_s": 13,
+      "pose_transition_end_s": 12.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 13,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Walk right, look down, walk backward, walk right, turn right, walk backward, look down, look down, look up, look up, turn left, turn right, look up.",
+  "camera_motion_caption_zh": "向右走，向下看，向后走，向右走，向右转，向后走，向下看，向下看，向上看，向上看，向左转，向右转，向上看。",
+  "net_yaw_deg": 15.0,
+  "max_translation_nominal_m": 1.1817599304063542,
+  "max_rotation_deg": 33.46386313025449,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_345_22_f221/camera_poses.json b/trajectories/random_v2/real_345_22_f221/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..a763a1f55ef896805c409d92000bdef886261477
--- /dev/null
+++ b/trajectories/random_v2/real_345_22_f221/camera_poses.json
@@ -0,0 +1,11498 @@
+{
+  "canonical_c2w": [
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+}
diff --git a/trajectories/random_v2/real_345_22_f221/trajectory_caption.txt b/trajectories/random_v2/real_345_22_f221/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2f510383c53d368d5bfc12146cdda6a889e1f49a
--- /dev/null
+++ b/trajectories/random_v2/real_345_22_f221/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Walk right, look down, walk backward, walk right, turn right, walk backward, look down, look down, look up, look up, turn left, turn right, look up.
+向右走，向下看，向后走，向右走，向右转，向后走，向下看，向下看，向上看，向上看，向左转，向右转，向上看。
diff --git a/trajectories/random_v2/real_345_22_f230/action_sequence.json b/trajectories/random_v2/real_345_22_f230/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..4134a4e4e543b0acceb4041c127e5537d8daebc4
--- /dev/null
+++ b/trajectories/random_v2/real_345_22_f230/action_sequence.json
@@ -0,0 +1,441 @@
+{
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+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_345_22",
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+  "pts_span_s": 14.3125,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
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+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "D",
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+    "S",
+    "D",
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+    {
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+    {
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+    },
+    {
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+    {
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+    },
+    {
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+    },
+    {
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+    },
+    {
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+  ],
+  "remainder_hold_frames": 6,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Walk right, look down, walk backward, walk right, turn right, walk backward, look down, look down, look up, look up, turn left, turn right, look up, look down.",
+  "camera_motion_caption_zh": "向右走，向下看，向后走，向右走，向右转，向后走，向下看，向下看，向上看，向上看，向左转，向右转，向上看，向下看。",
+  "net_yaw_deg": 15.0,
+  "max_translation_nominal_m": 1.1817599304063542,
+  "max_rotation_deg": 33.46386313025449,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_345_22_f230/camera_poses.json b/trajectories/random_v2/real_345_22_f230/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..be096953438136199dea446fd142293e9c452bf1
--- /dev/null
+++ b/trajectories/random_v2/real_345_22_f230/camera_poses.json
@@ -0,0 +1,11966 @@
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diff --git a/trajectories/random_v2/real_345_22_f230/trajectory_caption.txt b/trajectories/random_v2/real_345_22_f230/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6948e6d60d829625077edf9d97f190a53b8476db
--- /dev/null
+++ b/trajectories/random_v2/real_345_22_f230/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Walk right, look down, walk backward, walk right, turn right, walk backward, look down, look down, look up, look up, turn left, turn right, look up, look down.
+向右走，向下看，向后走，向右走，向右转，向后走，向下看，向下看，向上看，向上看，向左转，向右转，向上看，向下看。
diff --git a/trajectories/random_v2/real_345_22_f49/action_sequence.json b/trajectories/random_v2/real_345_22_f49/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa639e08e959fc9b3469e4a8f9b8aa02533b6d64
--- /dev/null
+++ b/trajectories/random_v2/real_345_22_f49/action_sequence.json
@@ -0,0 +1,150 @@
+{
+  "trajectory_id": "rand_real_345_22_f49",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_345_22",
+  "reference_fps": 16,
+  "reference_frames": 49,
+  "frame_pts_s": [
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+    2.875,
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+    3.0
+  ],
+  "container_duration_s": 3.0625,
+  "pts_span_s": 3.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "D",
+    "K",
+    "S"
+  ],
+  "segments": [
+    {
+      "key": "D",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "S",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Walk right, look down, walk backward.",
+  "camera_motion_caption_zh": "向右走，向下看，向后走。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.6363961030678927,
+  "max_rotation_deg": 9.999999999999998,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_345_22_f49/camera_poses.json b/trajectories/random_v2/real_345_22_f49/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e576f8b86d95d618c06f7646cc570f88c3a8c5b
--- /dev/null
+++ b/trajectories/random_v2/real_345_22_f49/camera_poses.json
@@ -0,0 +1,2554 @@
+{
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diff --git a/trajectories/random_v2/real_345_22_f49/trajectory_caption.txt b/trajectories/random_v2/real_345_22_f49/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..016c0ae11f339ccac500f5ecef0532896c23af4c
--- /dev/null
+++ b/trajectories/random_v2/real_345_22_f49/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Walk right, look down, walk backward.
+向右走，向下看，向后走。
diff --git a/trajectories/random_v2/real_345_22_f81/action_sequence.json b/trajectories/random_v2/real_345_22_f81/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7d7bea78b6cf420eeefe94fd83e612a0f5179e7
--- /dev/null
+++ b/trajectories/random_v2/real_345_22_f81/action_sequence.json
@@ -0,0 +1,202 @@
+{
+  "trajectory_id": "rand_real_345_22_f81",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "real_345_22",
+  "reference_fps": 16,
+  "reference_frames": 81,
+  "frame_pts_s": [
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+    4.875,
+    4.9375,
+    5.0
+  ],
+  "container_duration_s": 5.0625,
+  "pts_span_s": 5.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "D",
+    "K",
+    "S",
+    "D",
+    "L"
+  ],
+  "segments": [
+    {
+      "key": "D",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "S",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "D",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Walk right, look down, walk backward, walk right, turn right.",
+  "camera_motion_caption_zh": "向右走，向下看，向后走，向右走，向右转。",
+  "net_yaw_deg": 15.0,
+  "max_translation_nominal_m": 1.0062305898749055,
+  "max_rotation_deg": 18.011882178082473,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/real_345_22_f81/camera_poses.json b/trajectories/random_v2/real_345_22_f81/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7cd9743f7566f40b26fd18135f33cdae2707967
--- /dev/null
+++ b/trajectories/random_v2/real_345_22_f81/camera_poses.json
@@ -0,0 +1,4218 @@
+{
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+}
diff --git a/trajectories/random_v2/real_345_22_f81/trajectory_caption.txt b/trajectories/random_v2/real_345_22_f81/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fffe4f33f066112b2d1e3b9fe0a18011011e1d71
--- /dev/null
+++ b/trajectories/random_v2/real_345_22_f81/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Walk right, look down, walk backward, walk right, turn right.
+向右走，向下看，向后走，向右走，向右转。
diff --git a/trajectories/random_v2/style_001_s3d_f13/action_sequence.json b/trajectories/random_v2/style_001_s3d_f13/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d7202b67466bf4b43ffd3b8348188234aa29b8f
--- /dev/null
+++ b/trajectories/random_v2/style_001_s3d_f13/action_sequence.json
@@ -0,0 +1,82 @@
+{
+  "trajectory_id": "rand_style_001_s3d_f13",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "style_001_s3d",
+  "reference_fps": 16,
+  "reference_frames": 13,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
+    0.125,
+    0.1875,
+    0.25,
+    0.3125,
+    0.375,
+    0.4375,
+    0.5,
+    0.5625,
+    0.625,
+    0.6875,
+    0.75
+  ],
+  "container_duration_s": 0.8125,
+  "pts_span_s": 0.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [],
+  "segments": [],
+  "remainder_hold_frames": 13,
+  "zero_action": true,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Stay still.",
+  "camera_motion_caption_zh": "保持不动。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 0.0,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/style_001_s3d_f13/camera_poses.json b/trajectories/random_v2/style_001_s3d_f13/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdfef31c2c39d0765f3cad74f10a399cb797d643
--- /dev/null
+++ b/trajectories/random_v2/style_001_s3d_f13/camera_poses.json
@@ -0,0 +1,682 @@
+{
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+}
diff --git a/trajectories/random_v2/style_001_s3d_f13/trajectory_caption.txt b/trajectories/random_v2/style_001_s3d_f13/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9971208d2581b3c605469d863ca8aa7e2497c20a
--- /dev/null
+++ b/trajectories/random_v2/style_001_s3d_f13/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Stay still.
+保持不动。
diff --git a/trajectories/random_v2/style_001_s3d_f49/action_sequence.json b/trajectories/random_v2/style_001_s3d_f49/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..4239ec3fad9d7cc9cbe700826a36d8d53d0ef410
--- /dev/null
+++ b/trajectories/random_v2/style_001_s3d_f49/action_sequence.json
@@ -0,0 +1,150 @@
+{
+  "trajectory_id": "rand_style_001_s3d_f49",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "style_001_s3d",
+  "reference_fps": 16,
+  "reference_frames": 49,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
+    0.125,
+    0.1875,
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+    1.0625,
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+    1.1875,
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+    1.3125,
+    1.375,
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+    1.5,
+    1.5625,
+    1.625,
+    1.6875,
+    1.75,
+    1.8125,
+    1.875,
+    1.9375,
+    2.0,
+    2.0625,
+    2.125,
+    2.1875,
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+    2.3125,
+    2.375,
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+    2.5,
+    2.5625,
+    2.625,
+    2.6875,
+    2.75,
+    2.8125,
+    2.875,
+    2.9375,
+    3.0
+  ],
+  "container_duration_s": 3.0625,
+  "pts_span_s": 3.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "L",
+    "I",
+    "D"
+  ],
+  "segments": [
+    {
+      "key": "L",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "D",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Turn right, look up, walk right.",
+  "camera_motion_caption_zh": "向右转，向上看，向右走。",
+  "net_yaw_deg": 15.0,
+  "max_translation_nominal_m": 0.45,
+  "max_rotation_deg": 18.011882178082473,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/style_001_s3d_f49/camera_poses.json b/trajectories/random_v2/style_001_s3d_f49/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..c29e74383db9b12abfeb4ad911a9a41e4c9a0242
--- /dev/null
+++ b/trajectories/random_v2/style_001_s3d_f49/camera_poses.json
@@ -0,0 +1,2554 @@
+{
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+}
diff --git a/trajectories/random_v2/style_001_s3d_f49/trajectory_caption.txt b/trajectories/random_v2/style_001_s3d_f49/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..868feabb95fb08b14c74984b0fb3eb357c958499
--- /dev/null
+++ b/trajectories/random_v2/style_001_s3d_f49/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Turn right, look up, walk right.
+向右转，向上看，向右走。
diff --git a/trajectories/random_v2/style_001_s3d_f77/action_sequence.json b/trajectories/random_v2/style_001_s3d_f77/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c7d75d2df6746382c0944f1c4379879f981421c
--- /dev/null
+++ b/trajectories/random_v2/style_001_s3d_f77/action_sequence.json
@@ -0,0 +1,188 @@
+{
+  "trajectory_id": "rand_style_001_s3d_f77",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "style_001_s3d",
+  "reference_fps": 16,
+  "reference_frames": 77,
+  "frame_pts_s": [
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+  "container_duration_s": 4.8125,
+  "pts_span_s": 4.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "L",
+    "I",
+    "D",
+    "J"
+  ],
+  "segments": [
+    {
+      "key": "L",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "D",
+      "start_frame": 32,
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+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 13,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Turn right, look up, walk right, turn left.",
+  "camera_motion_caption_zh": "向右转，向上看，向右走，向左转。",
+  "net_yaw_deg": 0.0,
+  "max_translation_nominal_m": 0.45,
+  "max_rotation_deg": 18.011882178082473,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/style_001_s3d_f77/camera_poses.json b/trajectories/random_v2/style_001_s3d_f77/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae1dfbbccd4922cad5c7ceb260e8701659d6a900
--- /dev/null
+++ b/trajectories/random_v2/style_001_s3d_f77/camera_poses.json
@@ -0,0 +1,4010 @@
+{
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+}
diff --git a/trajectories/random_v2/style_001_s3d_f77/trajectory_caption.txt b/trajectories/random_v2/style_001_s3d_f77/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fb547245f720323af693e82994151e354df72ad0
--- /dev/null
+++ b/trajectories/random_v2/style_001_s3d_f77/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Turn right, look up, walk right, turn left.
+向右转，向上看，向右走，向左转。
diff --git a/trajectories/random_v2/style_001_s3d_f81/action_sequence.json b/trajectories/random_v2/style_001_s3d_f81/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..144a58b29c86bf9c51f88931a3f4819549432ae8
--- /dev/null
+++ b/trajectories/random_v2/style_001_s3d_f81/action_sequence.json
@@ -0,0 +1,202 @@
+{
+  "trajectory_id": "rand_style_001_s3d_f81",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "style_001_s3d",
+  "reference_fps": 16,
+  "reference_frames": 81,
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+  "container_duration_s": 5.0625,
+  "pts_span_s": 5.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "L",
+    "I",
+    "D",
+    "J",
+    "I"
+  ],
+  "segments": [
+    {
+      "key": "L",
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+      "start_s": 0,
+      "end_s": 1,
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+      "duration_s": 1
+    },
+    {
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+      "start_frame": 16,
+      "end_frame_inclusive": 31,
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+      "end_s": 2,
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+      "duration_s": 1
+    },
+    {
+      "key": "D",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
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+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Turn right, look up, walk right, turn left, look up.",
+  "camera_motion_caption_zh": "向右转，向上看，向右走，向左转，向上看。",
+  "net_yaw_deg": 0.0,
+  "max_translation_nominal_m": 0.45,
+  "max_rotation_deg": 19.828467159669206,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/style_001_s3d_f81/camera_poses.json b/trajectories/random_v2/style_001_s3d_f81/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d59629d7eade66617f6efc9fa88f651536151dd
--- /dev/null
+++ b/trajectories/random_v2/style_001_s3d_f81/camera_poses.json
@@ -0,0 +1,4218 @@
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+}
diff --git a/trajectories/random_v2/style_001_s3d_f81/trajectory_caption.txt b/trajectories/random_v2/style_001_s3d_f81/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..815db4a736ddcca60873d13ccd306943920b5558
--- /dev/null
+++ b/trajectories/random_v2/style_001_s3d_f81/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Turn right, look up, walk right, turn left, look up.
+向右转，向上看，向右走，向左转，向上看。
diff --git a/trajectories/random_v2/style_001_s3d_f94/action_sequence.json b/trajectories/random_v2/style_001_s3d_f94/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e95f0da1e08208c137167ad377ad6a2c88e03d1
--- /dev/null
+++ b/trajectories/random_v2/style_001_s3d_f94/action_sequence.json
@@ -0,0 +1,215 @@
+{
+  "trajectory_id": "rand_style_001_s3d_f94",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "style_001_s3d",
+  "reference_fps": 16,
+  "reference_frames": 94,
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+  "pts_span_s": 5.8125,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "L",
+    "I",
+    "D",
+    "J",
+    "I"
+  ],
+  "segments": [
+    {
+      "key": "L",
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+      "end_s": 1,
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+    },
+    {
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+      "duration_s": 1
+    },
+    {
+      "key": "D",
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+      "start_s": 2,
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+      "duration_s": 1
+    },
+    {
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+      "duration_s": 1
+    },
+    {
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+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 14,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Turn right, look up, walk right, turn left, look up.",
+  "camera_motion_caption_zh": "向右转，向上看，向右走，向左转，向上看。",
+  "net_yaw_deg": 0.0,
+  "max_translation_nominal_m": 0.45,
+  "max_rotation_deg": 19.828467159669206,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/style_001_s3d_f94/camera_poses.json b/trajectories/random_v2/style_001_s3d_f94/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..395d3b6aca5dfd9ac28ff20da8555e5df71567cd
--- /dev/null
+++ b/trajectories/random_v2/style_001_s3d_f94/camera_poses.json
@@ -0,0 +1,4894 @@
+{
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+}
diff --git a/trajectories/random_v2/style_001_s3d_f94/trajectory_caption.txt b/trajectories/random_v2/style_001_s3d_f94/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..815db4a736ddcca60873d13ccd306943920b5558
--- /dev/null
+++ b/trajectories/random_v2/style_001_s3d_f94/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Turn right, look up, walk right, turn left, look up.
+向右转，向上看，向右走，向左转，向上看。
diff --git a/trajectories/random_v2/style_003_s3d_f13/action_sequence.json b/trajectories/random_v2/style_003_s3d_f13/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..1dc38fd28568f2ef2e976e85ac57843b27880391
--- /dev/null
+++ b/trajectories/random_v2/style_003_s3d_f13/action_sequence.json
@@ -0,0 +1,82 @@
+{
+  "trajectory_id": "rand_style_003_s3d_f13",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "style_003_s3d",
+  "reference_fps": 16,
+  "reference_frames": 13,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
+    0.125,
+    0.1875,
+    0.25,
+    0.3125,
+    0.375,
+    0.4375,
+    0.5,
+    0.5625,
+    0.625,
+    0.6875,
+    0.75
+  ],
+  "container_duration_s": 0.8125,
+  "pts_span_s": 0.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [],
+  "segments": [],
+  "remainder_hold_frames": 13,
+  "zero_action": true,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Stay still.",
+  "camera_motion_caption_zh": "保持不动。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 0.0,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/style_003_s3d_f13/camera_poses.json b/trajectories/random_v2/style_003_s3d_f13/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdfef31c2c39d0765f3cad74f10a399cb797d643
--- /dev/null
+++ b/trajectories/random_v2/style_003_s3d_f13/camera_poses.json
@@ -0,0 +1,682 @@
+{
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+  ]
+}
diff --git a/trajectories/random_v2/style_003_s3d_f13/trajectory_caption.txt b/trajectories/random_v2/style_003_s3d_f13/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9971208d2581b3c605469d863ca8aa7e2497c20a
--- /dev/null
+++ b/trajectories/random_v2/style_003_s3d_f13/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Stay still.
+保持不动。
diff --git a/trajectories/random_v2/style_003_s3d_f49/action_sequence.json b/trajectories/random_v2/style_003_s3d_f49/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..171ada9a43722df6cd5e506b18d7204c550b1570
--- /dev/null
+++ b/trajectories/random_v2/style_003_s3d_f49/action_sequence.json
@@ -0,0 +1,150 @@
+{
+  "trajectory_id": "rand_style_003_s3d_f49",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "style_003_s3d",
+  "reference_fps": 16,
+  "reference_frames": 49,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
+    0.125,
+    0.1875,
+    0.25,
+    0.3125,
+    0.375,
+    0.4375,
+    0.5,
+    0.5625,
+    0.625,
+    0.6875,
+    0.75,
+    0.8125,
+    0.875,
+    0.9375,
+    1.0,
+    1.0625,
+    1.125,
+    1.1875,
+    1.25,
+    1.3125,
+    1.375,
+    1.4375,
+    1.5,
+    1.5625,
+    1.625,
+    1.6875,
+    1.75,
+    1.8125,
+    1.875,
+    1.9375,
+    2.0,
+    2.0625,
+    2.125,
+    2.1875,
+    2.25,
+    2.3125,
+    2.375,
+    2.4375,
+    2.5,
+    2.5625,
+    2.625,
+    2.6875,
+    2.75,
+    2.8125,
+    2.875,
+    2.9375,
+    3.0
+  ],
+  "container_duration_s": 3.0625,
+  "pts_span_s": 3.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "A",
+    "J",
+    "W"
+  ],
+  "segments": [
+    {
+      "key": "A",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "W",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Walk left, turn left, walk forward.",
+  "camera_motion_caption_zh": "向左走，向左转，向前走。",
+  "net_yaw_deg": -15.0,
+  "max_translation_nominal_m": 0.7140180062621115,
+  "max_rotation_deg": 14.999999999999998,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/style_003_s3d_f49/camera_poses.json b/trajectories/random_v2/style_003_s3d_f49/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d0d3a1d24868f2dab7d22ac6843390d61192e06
--- /dev/null
+++ b/trajectories/random_v2/style_003_s3d_f49/camera_poses.json
@@ -0,0 +1,2554 @@
+{
+  "canonical_c2w": [
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+}
diff --git a/trajectories/random_v2/style_003_s3d_f49/trajectory_caption.txt b/trajectories/random_v2/style_003_s3d_f49/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f8ad268cc7b8c123281dd07d0a4ec1d5949975a5
--- /dev/null
+++ b/trajectories/random_v2/style_003_s3d_f49/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Walk left, turn left, walk forward.
+向左走，向左转，向前走。
diff --git a/trajectories/random_v2/style_003_s3d_f77/action_sequence.json b/trajectories/random_v2/style_003_s3d_f77/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..2cdb0c3ec6df7cefc6a5aa107423128701bf2aa7
--- /dev/null
+++ b/trajectories/random_v2/style_003_s3d_f77/action_sequence.json
@@ -0,0 +1,188 @@
+{
+  "trajectory_id": "rand_style_003_s3d_f77",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "style_003_s3d",
+  "reference_fps": 16,
+  "reference_frames": 77,
+  "frame_pts_s": [
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+  "container_duration_s": 4.8125,
+  "pts_span_s": 4.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "A",
+    "J",
+    "W",
+    "S"
+  ],
+  "segments": [
+    {
+      "key": "A",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "W",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "S",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 13,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Walk left, turn left, walk forward, walk backward.",
+  "camera_motion_caption_zh": "向左走，向左转，向前走，向后走。",
+  "net_yaw_deg": -15.0,
+  "max_translation_nominal_m": 0.7140180062621115,
+  "max_rotation_deg": 14.999999999999998,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/style_003_s3d_f77/camera_poses.json b/trajectories/random_v2/style_003_s3d_f77/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..5dc152642d09ba8059415b781796d2abb83e859e
--- /dev/null
+++ b/trajectories/random_v2/style_003_s3d_f77/camera_poses.json
@@ -0,0 +1,4010 @@
+{
+  "canonical_c2w": [
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+}
diff --git a/trajectories/random_v2/style_003_s3d_f77/trajectory_caption.txt b/trajectories/random_v2/style_003_s3d_f77/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cc007c71159e68d7e90e4d558368abfde210fd73
--- /dev/null
+++ b/trajectories/random_v2/style_003_s3d_f77/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Walk left, turn left, walk forward, walk backward.
+向左走，向左转，向前走，向后走。
diff --git a/trajectories/random_v2/style_003_s3d_f81/action_sequence.json b/trajectories/random_v2/style_003_s3d_f81/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d73c8d84f440d33c53ac71c5bf69b54a9e3c57d
--- /dev/null
+++ b/trajectories/random_v2/style_003_s3d_f81/action_sequence.json
@@ -0,0 +1,202 @@
+{
+  "trajectory_id": "rand_style_003_s3d_f81",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "style_003_s3d",
+  "reference_fps": 16,
+  "reference_frames": 81,
+  "frame_pts_s": [
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+    4.875,
+    4.9375,
+    5.0
+  ],
+  "container_duration_s": 5.0625,
+  "pts_span_s": 5.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "A",
+    "J",
+    "W",
+    "S",
+    "I"
+  ],
+  "segments": [
+    {
+      "key": "A",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "W",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "S",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Walk left, turn left, walk forward, walk backward, look up.",
+  "camera_motion_caption_zh": "向左走，向左转，向前走，向后走，向上看。",
+  "net_yaw_deg": -15.0,
+  "max_translation_nominal_m": 0.7140180062621115,
+  "max_rotation_deg": 18.011882178082473,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/style_003_s3d_f81/camera_poses.json b/trajectories/random_v2/style_003_s3d_f81/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2f08c6e62a26771f6b1f82a1b1984b3dac56041
--- /dev/null
+++ b/trajectories/random_v2/style_003_s3d_f81/camera_poses.json
@@ -0,0 +1,4218 @@
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+}
diff --git a/trajectories/random_v2/style_003_s3d_f81/trajectory_caption.txt b/trajectories/random_v2/style_003_s3d_f81/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..80d0352c446ab031cd3c2c95e3c726594e51b781
--- /dev/null
+++ b/trajectories/random_v2/style_003_s3d_f81/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Walk left, turn left, walk forward, walk backward, look up.
+向左走，向左转，向前走，向后走，向上看。
diff --git a/trajectories/random_v2/style_003_s3d_f94/action_sequence.json b/trajectories/random_v2/style_003_s3d_f94/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..06655053e5c91e6c282e1db7a260311b5cb42c59
--- /dev/null
+++ b/trajectories/random_v2/style_003_s3d_f94/action_sequence.json
@@ -0,0 +1,215 @@
+{
+  "trajectory_id": "rand_style_003_s3d_f94",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "style_003_s3d",
+  "reference_fps": 16,
+  "reference_frames": 94,
+  "frame_pts_s": [
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+  ],
+  "container_duration_s": 5.875,
+  "pts_span_s": 5.8125,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "A",
+    "J",
+    "W",
+    "S",
+    "I"
+  ],
+  "segments": [
+    {
+      "key": "A",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "W",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "S",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 14,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Walk left, turn left, walk forward, walk backward, look up.",
+  "camera_motion_caption_zh": "向左走，向左转，向前走，向后走，向上看。",
+  "net_yaw_deg": -15.0,
+  "max_translation_nominal_m": 0.7140180062621115,
+  "max_rotation_deg": 18.011882178082473,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/style_003_s3d_f94/camera_poses.json b/trajectories/random_v2/style_003_s3d_f94/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..390d32b5de7b67204ea8d265e57017547ded10a8
--- /dev/null
+++ b/trajectories/random_v2/style_003_s3d_f94/camera_poses.json
@@ -0,0 +1,4894 @@
+{
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+}
diff --git a/trajectories/random_v2/style_003_s3d_f94/trajectory_caption.txt b/trajectories/random_v2/style_003_s3d_f94/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..80d0352c446ab031cd3c2c95e3c726594e51b781
--- /dev/null
+++ b/trajectories/random_v2/style_003_s3d_f94/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Walk left, turn left, walk forward, walk backward, look up.
+向左走，向左转，向前走，向后走，向上看。
diff --git a/trajectories/random_v2/style_007_clay_f13/action_sequence.json b/trajectories/random_v2/style_007_clay_f13/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1d83d57c781ba79ec29a683fa9372bbdca3b066
--- /dev/null
+++ b/trajectories/random_v2/style_007_clay_f13/action_sequence.json
@@ -0,0 +1,82 @@
+{
+  "trajectory_id": "rand_style_007_clay_f13",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "style_007_clay",
+  "reference_fps": 16,
+  "reference_frames": 13,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
+    0.125,
+    0.1875,
+    0.25,
+    0.3125,
+    0.375,
+    0.4375,
+    0.5,
+    0.5625,
+    0.625,
+    0.6875,
+    0.75
+  ],
+  "container_duration_s": 0.8125,
+  "pts_span_s": 0.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [],
+  "segments": [],
+  "remainder_hold_frames": 13,
+  "zero_action": true,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Stay still.",
+  "camera_motion_caption_zh": "保持不动。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 0.0,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/style_007_clay_f13/camera_poses.json b/trajectories/random_v2/style_007_clay_f13/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdfef31c2c39d0765f3cad74f10a399cb797d643
--- /dev/null
+++ b/trajectories/random_v2/style_007_clay_f13/camera_poses.json
@@ -0,0 +1,682 @@
+{
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+    [
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+  ]
+}
diff --git a/trajectories/random_v2/style_007_clay_f13/trajectory_caption.txt b/trajectories/random_v2/style_007_clay_f13/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9971208d2581b3c605469d863ca8aa7e2497c20a
--- /dev/null
+++ b/trajectories/random_v2/style_007_clay_f13/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Stay still.
+保持不动。
diff --git a/trajectories/random_v2/style_007_clay_f49/action_sequence.json b/trajectories/random_v2/style_007_clay_f49/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..50671b86fa1264c67f362905eda788d4561b0de3
--- /dev/null
+++ b/trajectories/random_v2/style_007_clay_f49/action_sequence.json
@@ -0,0 +1,150 @@
+{
+  "trajectory_id": "rand_style_007_clay_f49",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "style_007_clay",
+  "reference_fps": 16,
+  "reference_frames": 49,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
+    0.125,
+    0.1875,
+    0.25,
+    0.3125,
+    0.375,
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+    0.75,
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+    0.875,
+    0.9375,
+    1.0,
+    1.0625,
+    1.125,
+    1.1875,
+    1.25,
+    1.3125,
+    1.375,
+    1.4375,
+    1.5,
+    1.5625,
+    1.625,
+    1.6875,
+    1.75,
+    1.8125,
+    1.875,
+    1.9375,
+    2.0,
+    2.0625,
+    2.125,
+    2.1875,
+    2.25,
+    2.3125,
+    2.375,
+    2.4375,
+    2.5,
+    2.5625,
+    2.625,
+    2.6875,
+    2.75,
+    2.8125,
+    2.875,
+    2.9375,
+    3.0
+  ],
+  "container_duration_s": 3.0625,
+  "pts_span_s": 3.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "J",
+    "K",
+    "W"
+  ],
+  "segments": [
+    {
+      "key": "J",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "W",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Turn left, look down, walk forward.",
+  "camera_motion_caption_zh": "向左转，向下看，向前走。",
+  "net_yaw_deg": -15.0,
+  "max_translation_nominal_m": 0.45,
+  "max_rotation_deg": 18.011882178082473,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/style_007_clay_f49/camera_poses.json b/trajectories/random_v2/style_007_clay_f49/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6f66598d927b6bacab67f09d1bff0ac8a1154e5
--- /dev/null
+++ b/trajectories/random_v2/style_007_clay_f49/camera_poses.json
@@ -0,0 +1,2554 @@
+{
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diff --git a/trajectories/random_v2/style_007_clay_f49/trajectory_caption.txt b/trajectories/random_v2/style_007_clay_f49/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5d7d97f9d56f953bdbce27b1c79873084bdd141b
--- /dev/null
+++ b/trajectories/random_v2/style_007_clay_f49/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Turn left, look down, walk forward.
+向左转，向下看，向前走。
diff --git a/trajectories/random_v2/style_007_clay_f77/action_sequence.json b/trajectories/random_v2/style_007_clay_f77/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c0426e99576564465fd74fa153a419a278ed737
--- /dev/null
+++ b/trajectories/random_v2/style_007_clay_f77/action_sequence.json
@@ -0,0 +1,188 @@
+{
+  "trajectory_id": "rand_style_007_clay_f77",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "style_007_clay",
+  "reference_fps": 16,
+  "reference_frames": 77,
+  "frame_pts_s": [
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+  ],
+  "container_duration_s": 4.8125,
+  "pts_span_s": 4.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "J",
+    "K",
+    "W",
+    "S"
+  ],
+  "segments": [
+    {
+      "key": "J",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "W",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "S",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 13,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Turn left, look down, walk forward, walk backward.",
+  "camera_motion_caption_zh": "向左转，向下看，向前走，向后走。",
+  "net_yaw_deg": -15.0,
+  "max_translation_nominal_m": 0.45,
+  "max_rotation_deg": 18.011882178082473,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/style_007_clay_f77/camera_poses.json b/trajectories/random_v2/style_007_clay_f77/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..65b755253a7b5dcef909308d7c5e8a89fb5f740d
--- /dev/null
+++ b/trajectories/random_v2/style_007_clay_f77/camera_poses.json
@@ -0,0 +1,4010 @@
+{
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+}
diff --git a/trajectories/random_v2/style_007_clay_f77/trajectory_caption.txt b/trajectories/random_v2/style_007_clay_f77/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0866dc07da3b4513d23a3b8958e5bdf784fcf320
--- /dev/null
+++ b/trajectories/random_v2/style_007_clay_f77/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Turn left, look down, walk forward, walk backward.
+向左转，向下看，向前走，向后走。
diff --git a/trajectories/random_v2/style_007_clay_f81/action_sequence.json b/trajectories/random_v2/style_007_clay_f81/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..26ffc7cf2331ab1bff90e140088c7e219e4b9163
--- /dev/null
+++ b/trajectories/random_v2/style_007_clay_f81/action_sequence.json
@@ -0,0 +1,202 @@
+{
+  "trajectory_id": "rand_style_007_clay_f81",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "style_007_clay",
+  "reference_fps": 16,
+  "reference_frames": 81,
+  "frame_pts_s": [
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+  ],
+  "container_duration_s": 5.0625,
+  "pts_span_s": 5.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "J",
+    "K",
+    "W",
+    "S",
+    "I"
+  ],
+  "segments": [
+    {
+      "key": "J",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 16,
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+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "W",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "S",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Turn left, look down, walk forward, walk backward, look up.",
+  "camera_motion_caption_zh": "向左转，向下看，向前走，向后走，向上看。",
+  "net_yaw_deg": -15.0,
+  "max_translation_nominal_m": 0.45,
+  "max_rotation_deg": 18.011882178082473,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/style_007_clay_f81/camera_poses.json b/trajectories/random_v2/style_007_clay_f81/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..c25e4d6d62e93ae37a468a1ffe68f08018ef346e
--- /dev/null
+++ b/trajectories/random_v2/style_007_clay_f81/camera_poses.json
@@ -0,0 +1,4218 @@
+{
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diff --git a/trajectories/random_v2/style_007_clay_f81/trajectory_caption.txt b/trajectories/random_v2/style_007_clay_f81/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d549178687d01c0f09b990831cdb4f3b295588c4
--- /dev/null
+++ b/trajectories/random_v2/style_007_clay_f81/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Turn left, look down, walk forward, walk backward, look up.
+向左转，向下看，向前走，向后走，向上看。
diff --git a/trajectories/random_v2/style_007_clay_f94/action_sequence.json b/trajectories/random_v2/style_007_clay_f94/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..07ba131cb77fcada9e7c4a37918c4553bdcc2c6f
--- /dev/null
+++ b/trajectories/random_v2/style_007_clay_f94/action_sequence.json
@@ -0,0 +1,215 @@
+{
+  "trajectory_id": "rand_style_007_clay_f94",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "style_007_clay",
+  "reference_fps": 16,
+  "reference_frames": 94,
+  "frame_pts_s": [
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+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "J",
+    "K",
+    "W",
+    "S",
+    "I"
+  ],
+  "segments": [
+    {
+      "key": "J",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "W",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "S",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 14,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Turn left, look down, walk forward, walk backward, look up.",
+  "camera_motion_caption_zh": "向左转，向下看，向前走，向后走，向上看。",
+  "net_yaw_deg": -15.0,
+  "max_translation_nominal_m": 0.45,
+  "max_rotation_deg": 18.011882178082473,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/style_007_clay_f94/camera_poses.json b/trajectories/random_v2/style_007_clay_f94/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a58badcdec8c5de1be22cb00aa557a8802d00df
--- /dev/null
+++ b/trajectories/random_v2/style_007_clay_f94/camera_poses.json
@@ -0,0 +1,4894 @@
+{
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+}
diff --git a/trajectories/random_v2/style_007_clay_f94/trajectory_caption.txt b/trajectories/random_v2/style_007_clay_f94/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d549178687d01c0f09b990831cdb4f3b295588c4
--- /dev/null
+++ b/trajectories/random_v2/style_007_clay_f94/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Turn left, look down, walk forward, walk backward, look up.
+向左转，向下看，向前走，向后走，向上看。
diff --git a/trajectories/random_v2/style_008_clay_f13/action_sequence.json b/trajectories/random_v2/style_008_clay_f13/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb7a29ca0a5bc3170e415352ce1612d0a3372c76
--- /dev/null
+++ b/trajectories/random_v2/style_008_clay_f13/action_sequence.json
@@ -0,0 +1,82 @@
+{
+  "trajectory_id": "rand_style_008_clay_f13",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "style_008_clay",
+  "reference_fps": 16,
+  "reference_frames": 13,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
+    0.125,
+    0.1875,
+    0.25,
+    0.3125,
+    0.375,
+    0.4375,
+    0.5,
+    0.5625,
+    0.625,
+    0.6875,
+    0.75
+  ],
+  "container_duration_s": 0.8125,
+  "pts_span_s": 0.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [],
+  "segments": [],
+  "remainder_hold_frames": 13,
+  "zero_action": true,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Stay still.",
+  "camera_motion_caption_zh": "保持不动。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 0.0,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/style_008_clay_f13/camera_poses.json b/trajectories/random_v2/style_008_clay_f13/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdfef31c2c39d0765f3cad74f10a399cb797d643
--- /dev/null
+++ b/trajectories/random_v2/style_008_clay_f13/camera_poses.json
@@ -0,0 +1,682 @@
+{
+  "canonical_c2w": [
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
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+        0.0,
+        1.0
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+    ],
+    [
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+        0.0
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+        1.0,
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+      [
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+        0.0,
+        1.0
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+    ],
+    [
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+    [
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+    [
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+      [
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+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
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+      [
+        0.0,
+        1.0,
+        0.0,
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+        1.0,
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+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
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+      [
+        0.0,
+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
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+        0.0,
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+      [
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+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ]
+  ],
+  "opencv_c2w_wiw_units": [
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
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+    ],
+    [
+      [
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+        0.0
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+      [
+        0.0,
+        1.0,
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+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
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+      [
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+        1.0,
+        0.0
+      ],
+      [
+        0.0,
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+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
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+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
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+      [
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+      [
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+    ],
+    [
+      [
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+      [
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+      [
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+    ],
+    [
+      [
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+      [
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+    [
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+    [
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+    ],
+    [
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+      [
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+      [
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+    [
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+      [
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+        1.0,
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+      [
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+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ]
+  ]
+}
diff --git a/trajectories/random_v2/style_008_clay_f13/trajectory_caption.txt b/trajectories/random_v2/style_008_clay_f13/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9971208d2581b3c605469d863ca8aa7e2497c20a
--- /dev/null
+++ b/trajectories/random_v2/style_008_clay_f13/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Stay still.
+保持不动。
diff --git a/trajectories/random_v2/style_008_clay_f49/action_sequence.json b/trajectories/random_v2/style_008_clay_f49/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..9cf88c7f9cf22ccc5688a8ba92e3b219e0f954b7
--- /dev/null
+++ b/trajectories/random_v2/style_008_clay_f49/action_sequence.json
@@ -0,0 +1,150 @@
+{
+  "trajectory_id": "rand_style_008_clay_f49",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "style_008_clay",
+  "reference_fps": 16,
+  "reference_frames": 49,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
+    0.125,
+    0.1875,
+    0.25,
+    0.3125,
+    0.375,
+    0.4375,
+    0.5,
+    0.5625,
+    0.625,
+    0.6875,
+    0.75,
+    0.8125,
+    0.875,
+    0.9375,
+    1.0,
+    1.0625,
+    1.125,
+    1.1875,
+    1.25,
+    1.3125,
+    1.375,
+    1.4375,
+    1.5,
+    1.5625,
+    1.625,
+    1.6875,
+    1.75,
+    1.8125,
+    1.875,
+    1.9375,
+    2.0,
+    2.0625,
+    2.125,
+    2.1875,
+    2.25,
+    2.3125,
+    2.375,
+    2.4375,
+    2.5,
+    2.5625,
+    2.625,
+    2.6875,
+    2.75,
+    2.8125,
+    2.875,
+    2.9375,
+    3.0
+  ],
+  "container_duration_s": 3.0625,
+  "pts_span_s": 3.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "K",
+    "L",
+    "J"
+  ],
+  "segments": [
+    {
+      "key": "K",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look down, turn right, turn left.",
+  "camera_motion_caption_zh": "向下看，向右转，向左转。",
+  "net_yaw_deg": 0.0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 18.011882178082473,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/style_008_clay_f49/camera_poses.json b/trajectories/random_v2/style_008_clay_f49/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..a327b88879d445f7164b5b25672fbe122bde4658
--- /dev/null
+++ b/trajectories/random_v2/style_008_clay_f49/camera_poses.json
@@ -0,0 +1,2554 @@
+{
+  "canonical_c2w": [
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.9999975276274256,
+        -0.002223676918101317,
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+}
diff --git a/trajectories/random_v2/style_008_clay_f49/trajectory_caption.txt b/trajectories/random_v2/style_008_clay_f49/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b12a600aa7a682388a146eff6ac38f5927bfa398
--- /dev/null
+++ b/trajectories/random_v2/style_008_clay_f49/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look down, turn right, turn left.
+向下看，向右转，向左转。
diff --git a/trajectories/random_v2/style_008_clay_f77/action_sequence.json b/trajectories/random_v2/style_008_clay_f77/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..35f2f04b84d72b86eab2f94008781087881ba61e
--- /dev/null
+++ b/trajectories/random_v2/style_008_clay_f77/action_sequence.json
@@ -0,0 +1,188 @@
+{
+  "trajectory_id": "rand_style_008_clay_f77",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "style_008_clay",
+  "reference_fps": 16,
+  "reference_frames": 77,
+  "frame_pts_s": [
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+  ],
+  "container_duration_s": 4.8125,
+  "pts_span_s": 4.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "K",
+    "L",
+    "J",
+    "I"
+  ],
+  "segments": [
+    {
+      "key": "K",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 13,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look down, turn right, turn left, look up.",
+  "camera_motion_caption_zh": "向下看，向右转，向左转，向上看。",
+  "net_yaw_deg": 0.0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 18.011882178082473,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/style_008_clay_f77/camera_poses.json b/trajectories/random_v2/style_008_clay_f77/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..6bfdd8f605c899cd8bec6a5bea1d0338a5f33b1c
--- /dev/null
+++ b/trajectories/random_v2/style_008_clay_f77/camera_poses.json
@@ -0,0 +1,4010 @@
+{
+  "canonical_c2w": [
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+}
diff --git a/trajectories/random_v2/style_008_clay_f77/trajectory_caption.txt b/trajectories/random_v2/style_008_clay_f77/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..821f02c84113280bcd08b6649c6aeb3e117b21ed
--- /dev/null
+++ b/trajectories/random_v2/style_008_clay_f77/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look down, turn right, turn left, look up.
+向下看，向右转，向左转，向上看。
diff --git a/trajectories/random_v2/style_008_clay_f81/action_sequence.json b/trajectories/random_v2/style_008_clay_f81/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..003c25983b19c2a737e8444282d98e4a8a699f5a
--- /dev/null
+++ b/trajectories/random_v2/style_008_clay_f81/action_sequence.json
@@ -0,0 +1,202 @@
+{
+  "trajectory_id": "rand_style_008_clay_f81",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "style_008_clay",
+  "reference_fps": 16,
+  "reference_frames": 81,
+  "frame_pts_s": [
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+    5.0
+  ],
+  "container_duration_s": 5.0625,
+  "pts_span_s": 5.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "K",
+    "L",
+    "J",
+    "I",
+    "K"
+  ],
+  "segments": [
+    {
+      "key": "K",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look down, turn right, turn left, look up, look down.",
+  "camera_motion_caption_zh": "向下看，向右转，向左转，向上看，向下看。",
+  "net_yaw_deg": 0.0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 18.011882178082473,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/style_008_clay_f81/camera_poses.json b/trajectories/random_v2/style_008_clay_f81/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0cfa9c69636ea71046ff50de7a33247edc9af7c
--- /dev/null
+++ b/trajectories/random_v2/style_008_clay_f81/camera_poses.json
@@ -0,0 +1,4218 @@
+{
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+}
diff --git a/trajectories/random_v2/style_008_clay_f81/trajectory_caption.txt b/trajectories/random_v2/style_008_clay_f81/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..89f24eb4d96f078323a963c5bc62116126bc2565
--- /dev/null
+++ b/trajectories/random_v2/style_008_clay_f81/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look down, turn right, turn left, look up, look down.
+向下看，向右转，向左转，向上看，向下看。
diff --git a/trajectories/random_v2/style_008_clay_f94/action_sequence.json b/trajectories/random_v2/style_008_clay_f94/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..54bd6989595e044fcbdd965d19d5f4239ae07827
--- /dev/null
+++ b/trajectories/random_v2/style_008_clay_f94/action_sequence.json
@@ -0,0 +1,215 @@
+{
+  "trajectory_id": "rand_style_008_clay_f94",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "style_008_clay",
+  "reference_fps": 16,
+  "reference_frames": 94,
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+  "container_duration_s": 5.875,
+  "pts_span_s": 5.8125,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "K",
+    "L",
+    "J",
+    "I",
+    "K"
+  ],
+  "segments": [
+    {
+      "key": "K",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 14,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look down, turn right, turn left, look up, look down.",
+  "camera_motion_caption_zh": "向下看，向右转，向左转，向上看，向下看。",
+  "net_yaw_deg": 0.0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 18.011882178082473,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/style_008_clay_f94/camera_poses.json b/trajectories/random_v2/style_008_clay_f94/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0fd3b9fc92d4d2de569f040de3c325af8b87eea
--- /dev/null
+++ b/trajectories/random_v2/style_008_clay_f94/camera_poses.json
@@ -0,0 +1,4894 @@
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+}
diff --git a/trajectories/random_v2/style_008_clay_f94/trajectory_caption.txt b/trajectories/random_v2/style_008_clay_f94/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..89f24eb4d96f078323a963c5bc62116126bc2565
--- /dev/null
+++ b/trajectories/random_v2/style_008_clay_f94/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look down, turn right, turn left, look up, look down.
+向下看，向右转，向左转，向上看，向下看。
diff --git a/trajectories/random_v2/style_013_felt_f13/action_sequence.json b/trajectories/random_v2/style_013_felt_f13/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..584791e8d3d81638ef9738b045f88d76555bb5bb
--- /dev/null
+++ b/trajectories/random_v2/style_013_felt_f13/action_sequence.json
@@ -0,0 +1,82 @@
+{
+  "trajectory_id": "rand_style_013_felt_f13",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "style_013_felt",
+  "reference_fps": 16,
+  "reference_frames": 13,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
+    0.125,
+    0.1875,
+    0.25,
+    0.3125,
+    0.375,
+    0.4375,
+    0.5,
+    0.5625,
+    0.625,
+    0.6875,
+    0.75
+  ],
+  "container_duration_s": 0.8125,
+  "pts_span_s": 0.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [],
+  "segments": [],
+  "remainder_hold_frames": 13,
+  "zero_action": true,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Stay still.",
+  "camera_motion_caption_zh": "保持不动。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 0.0,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/style_013_felt_f13/camera_poses.json b/trajectories/random_v2/style_013_felt_f13/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdfef31c2c39d0765f3cad74f10a399cb797d643
--- /dev/null
+++ b/trajectories/random_v2/style_013_felt_f13/camera_poses.json
@@ -0,0 +1,682 @@
+{
+  "canonical_c2w": [
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+  ]
+}
diff --git a/trajectories/random_v2/style_013_felt_f13/trajectory_caption.txt b/trajectories/random_v2/style_013_felt_f13/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9971208d2581b3c605469d863ca8aa7e2497c20a
--- /dev/null
+++ b/trajectories/random_v2/style_013_felt_f13/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Stay still.
+保持不动。
diff --git a/trajectories/random_v2/style_013_felt_f49/action_sequence.json b/trajectories/random_v2/style_013_felt_f49/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..88ddefbcbc0533d5b31f462ae3d7757958dff717
--- /dev/null
+++ b/trajectories/random_v2/style_013_felt_f49/action_sequence.json
@@ -0,0 +1,150 @@
+{
+  "trajectory_id": "rand_style_013_felt_f49",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "style_013_felt",
+  "reference_fps": 16,
+  "reference_frames": 49,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
+    0.125,
+    0.1875,
+    0.25,
+    0.3125,
+    0.375,
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+    0.5625,
+    0.625,
+    0.6875,
+    0.75,
+    0.8125,
+    0.875,
+    0.9375,
+    1.0,
+    1.0625,
+    1.125,
+    1.1875,
+    1.25,
+    1.3125,
+    1.375,
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+    1.5,
+    1.5625,
+    1.625,
+    1.6875,
+    1.75,
+    1.8125,
+    1.875,
+    1.9375,
+    2.0,
+    2.0625,
+    2.125,
+    2.1875,
+    2.25,
+    2.3125,
+    2.375,
+    2.4375,
+    2.5,
+    2.5625,
+    2.625,
+    2.6875,
+    2.75,
+    2.8125,
+    2.875,
+    2.9375,
+    3.0
+  ],
+  "container_duration_s": 3.0625,
+  "pts_span_s": 3.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "J",
+    "A",
+    "L"
+  ],
+  "segments": [
+    {
+      "key": "J",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "A",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Turn left, walk left, turn right.",
+  "camera_motion_caption_zh": "向左转，向左走，向右转。",
+  "net_yaw_deg": 0.0,
+  "max_translation_nominal_m": 0.45,
+  "max_rotation_deg": 14.999999999999998,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/style_013_felt_f49/camera_poses.json b/trajectories/random_v2/style_013_felt_f49/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..03f8550ce7c0e5e868b0bdf3659dd55f4069067b
--- /dev/null
+++ b/trajectories/random_v2/style_013_felt_f49/camera_poses.json
@@ -0,0 +1,2554 @@
+{
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+}
diff --git a/trajectories/random_v2/style_013_felt_f49/trajectory_caption.txt b/trajectories/random_v2/style_013_felt_f49/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3dceccad6dd0593312c15766ed3221c292358c4f
--- /dev/null
+++ b/trajectories/random_v2/style_013_felt_f49/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Turn left, walk left, turn right.
+向左转，向左走，向右转。
diff --git a/trajectories/random_v2/style_013_felt_f77/action_sequence.json b/trajectories/random_v2/style_013_felt_f77/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..89e69d4196956e77f3280b3588901cccf70e92a5
--- /dev/null
+++ b/trajectories/random_v2/style_013_felt_f77/action_sequence.json
@@ -0,0 +1,188 @@
+{
+  "trajectory_id": "rand_style_013_felt_f77",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "style_013_felt",
+  "reference_fps": 16,
+  "reference_frames": 77,
+  "frame_pts_s": [
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+  ],
+  "container_duration_s": 4.8125,
+  "pts_span_s": 4.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "J",
+    "A",
+    "L",
+    "J"
+  ],
+  "segments": [
+    {
+      "key": "J",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "A",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 13,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Turn left, walk left, turn right, turn left.",
+  "camera_motion_caption_zh": "向左转，向左走，向右转，向左转。",
+  "net_yaw_deg": -15.0,
+  "max_translation_nominal_m": 0.45,
+  "max_rotation_deg": 14.999999999999998,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/style_013_felt_f77/camera_poses.json b/trajectories/random_v2/style_013_felt_f77/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..301ddd1865a0c1f120bec7d632840e0552de3676
--- /dev/null
+++ b/trajectories/random_v2/style_013_felt_f77/camera_poses.json
@@ -0,0 +1,4010 @@
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+}
diff --git a/trajectories/random_v2/style_013_felt_f77/trajectory_caption.txt b/trajectories/random_v2/style_013_felt_f77/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..133a8d8c5e127e98dbf1ca7895843e41edde07f9
--- /dev/null
+++ b/trajectories/random_v2/style_013_felt_f77/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Turn left, walk left, turn right, turn left.
+向左转，向左走，向右转，向左转。
diff --git a/trajectories/random_v2/style_013_felt_f81/action_sequence.json b/trajectories/random_v2/style_013_felt_f81/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c4a0d8c2b1b492a5e4347d611773053b574493d
--- /dev/null
+++ b/trajectories/random_v2/style_013_felt_f81/action_sequence.json
@@ -0,0 +1,202 @@
+{
+  "trajectory_id": "rand_style_013_felt_f81",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "style_013_felt",
+  "reference_fps": 16,
+  "reference_frames": 81,
+  "frame_pts_s": [
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+  ],
+  "container_duration_s": 5.0625,
+  "pts_span_s": 5.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "J",
+    "A",
+    "L",
+    "J",
+    "S"
+  ],
+  "segments": [
+    {
+      "key": "J",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "A",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "S",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Turn left, walk left, turn right, turn left, walk backward.",
+  "camera_motion_caption_zh": "向左转，向左走，向右转，向左转，向后走。",
+  "net_yaw_deg": -15.0,
+  "max_translation_nominal_m": 0.6363961030678926,
+  "max_rotation_deg": 14.999999999999998,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/style_013_felt_f81/camera_poses.json b/trajectories/random_v2/style_013_felt_f81/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d847ccb9cc1f70bc2cb25844350cc561a4c2eb4
--- /dev/null
+++ b/trajectories/random_v2/style_013_felt_f81/camera_poses.json
@@ -0,0 +1,4218 @@
+{
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+}
diff --git a/trajectories/random_v2/style_013_felt_f81/trajectory_caption.txt b/trajectories/random_v2/style_013_felt_f81/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3bd4a8ee72c077e107c6fbca10c8996b4993feac
--- /dev/null
+++ b/trajectories/random_v2/style_013_felt_f81/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Turn left, walk left, turn right, turn left, walk backward.
+向左转，向左走，向右转，向左转，向后走。
diff --git a/trajectories/random_v2/style_013_felt_f94/action_sequence.json b/trajectories/random_v2/style_013_felt_f94/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..b41fc53c9aed0c174206cebc5419649d8c252980
--- /dev/null
+++ b/trajectories/random_v2/style_013_felt_f94/action_sequence.json
@@ -0,0 +1,215 @@
+{
+  "trajectory_id": "rand_style_013_felt_f94",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "style_013_felt",
+  "reference_fps": 16,
+  "reference_frames": 94,
+  "frame_pts_s": [
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+  ],
+  "container_duration_s": 5.875,
+  "pts_span_s": 5.8125,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "J",
+    "A",
+    "L",
+    "J",
+    "S"
+  ],
+  "segments": [
+    {
+      "key": "J",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "A",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "S",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 14,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Turn left, walk left, turn right, turn left, walk backward.",
+  "camera_motion_caption_zh": "向左转，向左走，向右转，向左转，向后走。",
+  "net_yaw_deg": -15.0,
+  "max_translation_nominal_m": 0.6363961030678926,
+  "max_rotation_deg": 14.999999999999998,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/style_013_felt_f94/camera_poses.json b/trajectories/random_v2/style_013_felt_f94/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..894b84594ccdde57a74cbf72d6fa9ab06293937b
--- /dev/null
+++ b/trajectories/random_v2/style_013_felt_f94/camera_poses.json
@@ -0,0 +1,4894 @@
+{
+  "canonical_c2w": [
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+}
diff --git a/trajectories/random_v2/style_013_felt_f94/trajectory_caption.txt b/trajectories/random_v2/style_013_felt_f94/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3bd4a8ee72c077e107c6fbca10c8996b4993feac
--- /dev/null
+++ b/trajectories/random_v2/style_013_felt_f94/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Turn left, walk left, turn right, turn left, walk backward.
+向左转，向左走，向右转，向左转，向后走。
diff --git a/trajectories/random_v2/style_018_puppet_f13/action_sequence.json b/trajectories/random_v2/style_018_puppet_f13/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..33683ede0666850df05f998a49f3f84ac4175d48
--- /dev/null
+++ b/trajectories/random_v2/style_018_puppet_f13/action_sequence.json
@@ -0,0 +1,82 @@
+{
+  "trajectory_id": "rand_style_018_puppet_f13",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "style_018_puppet",
+  "reference_fps": 16,
+  "reference_frames": 13,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
+    0.125,
+    0.1875,
+    0.25,
+    0.3125,
+    0.375,
+    0.4375,
+    0.5,
+    0.5625,
+    0.625,
+    0.6875,
+    0.75
+  ],
+  "container_duration_s": 0.8125,
+  "pts_span_s": 0.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [],
+  "segments": [],
+  "remainder_hold_frames": 13,
+  "zero_action": true,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Stay still.",
+  "camera_motion_caption_zh": "保持不动。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 0.0,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/style_018_puppet_f13/camera_poses.json b/trajectories/random_v2/style_018_puppet_f13/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdfef31c2c39d0765f3cad74f10a399cb797d643
--- /dev/null
+++ b/trajectories/random_v2/style_018_puppet_f13/camera_poses.json
@@ -0,0 +1,682 @@
+{
+  "canonical_c2w": [
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+        1.0,
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+      ],
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+}
diff --git a/trajectories/random_v2/style_018_puppet_f13/trajectory_caption.txt b/trajectories/random_v2/style_018_puppet_f13/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9971208d2581b3c605469d863ca8aa7e2497c20a
--- /dev/null
+++ b/trajectories/random_v2/style_018_puppet_f13/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Stay still.
+保持不动。
diff --git a/trajectories/random_v2/style_018_puppet_f49/action_sequence.json b/trajectories/random_v2/style_018_puppet_f49/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..512b4190b90728fb79a2796a6c37b298b629fcb0
--- /dev/null
+++ b/trajectories/random_v2/style_018_puppet_f49/action_sequence.json
@@ -0,0 +1,150 @@
+{
+  "trajectory_id": "rand_style_018_puppet_f49",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "style_018_puppet",
+  "reference_fps": 16,
+  "reference_frames": 49,
+  "frame_pts_s": [
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+    2.375,
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+    2.625,
+    2.6875,
+    2.75,
+    2.8125,
+    2.875,
+    2.9375,
+    3.0
+  ],
+  "container_duration_s": 3.0625,
+  "pts_span_s": 3.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "K",
+    "L",
+    "L"
+  ],
+  "segments": [
+    {
+      "key": "K",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look down, turn right, turn right.",
+  "camera_motion_caption_zh": "向下看，向右转，向右转。",
+  "net_yaw_deg": 30.0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 31.58644830271884,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/style_018_puppet_f49/camera_poses.json b/trajectories/random_v2/style_018_puppet_f49/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..da440e9d459343887b1b27c338eb1b3b2c577ee1
--- /dev/null
+++ b/trajectories/random_v2/style_018_puppet_f49/camera_poses.json
@@ -0,0 +1,2554 @@
+{
+  "canonical_c2w": [
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+}
diff --git a/trajectories/random_v2/style_018_puppet_f49/trajectory_caption.txt b/trajectories/random_v2/style_018_puppet_f49/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..92f235b1414544545fd9aceeb4c07bc24433277c
--- /dev/null
+++ b/trajectories/random_v2/style_018_puppet_f49/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look down, turn right, turn right.
+向下看，向右转，向右转。
diff --git a/trajectories/random_v2/style_018_puppet_f77/action_sequence.json b/trajectories/random_v2/style_018_puppet_f77/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9beec79189b7b707739e2e516933e7fadb450fb
--- /dev/null
+++ b/trajectories/random_v2/style_018_puppet_f77/action_sequence.json
@@ -0,0 +1,188 @@
+{
+  "trajectory_id": "rand_style_018_puppet_f77",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "style_018_puppet",
+  "reference_fps": 16,
+  "reference_frames": 77,
+  "frame_pts_s": [
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+  "container_duration_s": 4.8125,
+  "pts_span_s": 4.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "K",
+    "L",
+    "L",
+    "L"
+  ],
+  "segments": [
+    {
+      "key": "K",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 13,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look down, turn right, turn right, turn right.",
+  "camera_motion_caption_zh": "向下看，向右转，向右转，向右转。",
+  "net_yaw_deg": 45.0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 46.041322888178925,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/style_018_puppet_f77/camera_poses.json b/trajectories/random_v2/style_018_puppet_f77/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..bde98887a6759885d8fcfb0fddcdc323c9fac67a
--- /dev/null
+++ b/trajectories/random_v2/style_018_puppet_f77/camera_poses.json
@@ -0,0 +1,4010 @@
+{
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+}
diff --git a/trajectories/random_v2/style_018_puppet_f77/trajectory_caption.txt b/trajectories/random_v2/style_018_puppet_f77/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e1e5580696e2a8afb8eac696bd9b6bd6caf65e66
--- /dev/null
+++ b/trajectories/random_v2/style_018_puppet_f77/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look down, turn right, turn right, turn right.
+向下看，向右转，向右转，向右转。
diff --git a/trajectories/random_v2/style_018_puppet_f81/action_sequence.json b/trajectories/random_v2/style_018_puppet_f81/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..164b5c6498fe39fda01608783a81cc2870b3f7a2
--- /dev/null
+++ b/trajectories/random_v2/style_018_puppet_f81/action_sequence.json
@@ -0,0 +1,202 @@
+{
+  "trajectory_id": "rand_style_018_puppet_f81",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "style_018_puppet",
+  "reference_fps": 16,
+  "reference_frames": 81,
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+  "container_duration_s": 5.0625,
+  "pts_span_s": 5.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
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+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "K",
+    "L",
+    "L",
+    "L",
+    "W"
+  ],
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+    },
+    {
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+      "end_frame_inclusive": 63,
+      "start_s": 3,
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+      "pose_transition_end_s": 3.9375,
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+    {
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+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look down, turn right, turn right, turn right, walk forward.",
+  "camera_motion_caption_zh": "向下看，向右转，向右转，向右转，向前走。",
+  "net_yaw_deg": 45.0,
+  "max_translation_nominal_m": 0.4499999999999999,
+  "max_rotation_deg": 46.041322888178925,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/style_018_puppet_f81/camera_poses.json b/trajectories/random_v2/style_018_puppet_f81/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..f327f4b3ae9362efb9cc4dfc0dfa07c83b7ecfc6
--- /dev/null
+++ b/trajectories/random_v2/style_018_puppet_f81/camera_poses.json
@@ -0,0 +1,4218 @@
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diff --git a/trajectories/random_v2/style_018_puppet_f81/trajectory_caption.txt b/trajectories/random_v2/style_018_puppet_f81/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a169ffc9366dd9f340a72b54801f3afa0e66961e
--- /dev/null
+++ b/trajectories/random_v2/style_018_puppet_f81/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look down, turn right, turn right, turn right, walk forward.
+向下看，向右转，向右转，向右转，向前走。
diff --git a/trajectories/random_v2/style_018_puppet_f94/action_sequence.json b/trajectories/random_v2/style_018_puppet_f94/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..002772a788234eebb495c6d5b5b9ef1df121a7ef
--- /dev/null
+++ b/trajectories/random_v2/style_018_puppet_f94/action_sequence.json
@@ -0,0 +1,215 @@
+{
+  "trajectory_id": "rand_style_018_puppet_f94",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "style_018_puppet",
+  "reference_fps": 16,
+  "reference_frames": 94,
+  "frame_pts_s": [
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+  "pts_span_s": 5.8125,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "K",
+    "L",
+    "L",
+    "L",
+    "W"
+  ],
+  "segments": [
+    {
+      "key": "K",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "L",
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+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
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+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
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+      "start_frame": 64,
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+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 14,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look down, turn right, turn right, turn right, walk forward.",
+  "camera_motion_caption_zh": "向下看，向右转，向右转，向右转，向前走。",
+  "net_yaw_deg": 45.0,
+  "max_translation_nominal_m": 0.4499999999999999,
+  "max_rotation_deg": 46.041322888178925,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/style_018_puppet_f94/camera_poses.json b/trajectories/random_v2/style_018_puppet_f94/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9b0b36e040bb5e9f290ea111ba5cacd826b580b
--- /dev/null
+++ b/trajectories/random_v2/style_018_puppet_f94/camera_poses.json
@@ -0,0 +1,4894 @@
+{
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+        0.6963642403200188,
+        1.0445463604800282
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        0.7071067811865474,
+        0.0,
+        0.7071067811865474,
+        1.0606601717798212
+      ],
+      [
+        -0.12278780396897279,
+        0.9848077530122081,
+        0.12278780396897279,
+        0.1841817059534592
+      ],
+      [
+        -0.6963642403200188,
+        -0.17364817766693033,
+        0.6963642403200188,
+        1.0445463604800282
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ]
+  ]
+}
diff --git a/trajectories/random_v2/style_018_puppet_f94/trajectory_caption.txt b/trajectories/random_v2/style_018_puppet_f94/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a169ffc9366dd9f340a72b54801f3afa0e66961e
--- /dev/null
+++ b/trajectories/random_v2/style_018_puppet_f94/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look down, turn right, turn right, turn right, walk forward.
+向下看，向右转，向右转，向右转，向前走。
diff --git a/trajectories/random_v2/style_021_lowpoly_f13/action_sequence.json b/trajectories/random_v2/style_021_lowpoly_f13/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..b24fc26e28596c84bcfb71c13ac3f7b3d60f42f5
--- /dev/null
+++ b/trajectories/random_v2/style_021_lowpoly_f13/action_sequence.json
@@ -0,0 +1,82 @@
+{
+  "trajectory_id": "rand_style_021_lowpoly_f13",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "style_021_lowpoly",
+  "reference_fps": 16,
+  "reference_frames": 13,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
+    0.125,
+    0.1875,
+    0.25,
+    0.3125,
+    0.375,
+    0.4375,
+    0.5,
+    0.5625,
+    0.625,
+    0.6875,
+    0.75
+  ],
+  "container_duration_s": 0.8125,
+  "pts_span_s": 0.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [],
+  "segments": [],
+  "remainder_hold_frames": 13,
+  "zero_action": true,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Stay still.",
+  "camera_motion_caption_zh": "保持不动。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 0.0,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/style_021_lowpoly_f13/camera_poses.json b/trajectories/random_v2/style_021_lowpoly_f13/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdfef31c2c39d0765f3cad74f10a399cb797d643
--- /dev/null
+++ b/trajectories/random_v2/style_021_lowpoly_f13/camera_poses.json
@@ -0,0 +1,682 @@
+{
+  "canonical_c2w": [
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
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+      [
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+      [
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+        0.0,
+        1.0
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+    ],
+    [
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+      [
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+    ],
+    [
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+      [
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+    [
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+      [
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+    [
+      [
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+      [
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+    [
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+      [
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+      [
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+    [
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+      [
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+      [
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+        1.0
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+    [
+      [
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+        0.0
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+      [
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+        1.0,
+        0.0,
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+      [
+        0.0,
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+        1.0,
+        0.0
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+      [
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+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
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+      [
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+        0.0,
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+      [
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+    [
+      [
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+      [
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+      [
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+    ]
+  ],
+  "opencv_c2w_wiw_units": [
+    [
+      [
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+        0.0,
+        0.0
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+      [
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+    [
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+      [
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+    ],
+    [
+      [
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+      [
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+      [
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+      [
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+    [
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+      [
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+    [
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+    [
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+      [
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+      [
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+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
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+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        1.0,
+        0.0
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+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ]
+  ]
+}
diff --git a/trajectories/random_v2/style_021_lowpoly_f13/trajectory_caption.txt b/trajectories/random_v2/style_021_lowpoly_f13/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9971208d2581b3c605469d863ca8aa7e2497c20a
--- /dev/null
+++ b/trajectories/random_v2/style_021_lowpoly_f13/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Stay still.
+保持不动。
diff --git a/trajectories/random_v2/style_021_lowpoly_f49/action_sequence.json b/trajectories/random_v2/style_021_lowpoly_f49/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..a229b881788216100cd41558d5da355c426b9d89
--- /dev/null
+++ b/trajectories/random_v2/style_021_lowpoly_f49/action_sequence.json
@@ -0,0 +1,150 @@
+{
+  "trajectory_id": "rand_style_021_lowpoly_f49",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "style_021_lowpoly",
+  "reference_fps": 16,
+  "reference_frames": 49,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
+    0.125,
+    0.1875,
+    0.25,
+    0.3125,
+    0.375,
+    0.4375,
+    0.5,
+    0.5625,
+    0.625,
+    0.6875,
+    0.75,
+    0.8125,
+    0.875,
+    0.9375,
+    1.0,
+    1.0625,
+    1.125,
+    1.1875,
+    1.25,
+    1.3125,
+    1.375,
+    1.4375,
+    1.5,
+    1.5625,
+    1.625,
+    1.6875,
+    1.75,
+    1.8125,
+    1.875,
+    1.9375,
+    2.0,
+    2.0625,
+    2.125,
+    2.1875,
+    2.25,
+    2.3125,
+    2.375,
+    2.4375,
+    2.5,
+    2.5625,
+    2.625,
+    2.6875,
+    2.75,
+    2.8125,
+    2.875,
+    2.9375,
+    3.0
+  ],
+  "container_duration_s": 3.0625,
+  "pts_span_s": 3.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "L",
+    "I",
+    "J"
+  ],
+  "segments": [
+    {
+      "key": "L",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Turn right, look up, turn left.",
+  "camera_motion_caption_zh": "向右转，向上看，向左转。",
+  "net_yaw_deg": 0.0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 18.011882178082473,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/style_021_lowpoly_f49/camera_poses.json b/trajectories/random_v2/style_021_lowpoly_f49/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..fced1c93e615351af204fb1a6da932dd95ddf2c6
--- /dev/null
+++ b/trajectories/random_v2/style_021_lowpoly_f49/camera_poses.json
@@ -0,0 +1,2554 @@
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+}
diff --git a/trajectories/random_v2/style_021_lowpoly_f49/trajectory_caption.txt b/trajectories/random_v2/style_021_lowpoly_f49/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4901b6971120c34420dbf6dd042219f515b9dc63
--- /dev/null
+++ b/trajectories/random_v2/style_021_lowpoly_f49/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Turn right, look up, turn left.
+向右转，向上看，向左转。
diff --git a/trajectories/random_v2/style_021_lowpoly_f77/action_sequence.json b/trajectories/random_v2/style_021_lowpoly_f77/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..baf47130858716d9fa62b7da2ec2cceb9bc49b08
--- /dev/null
+++ b/trajectories/random_v2/style_021_lowpoly_f77/action_sequence.json
@@ -0,0 +1,188 @@
+{
+  "trajectory_id": "rand_style_021_lowpoly_f77",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "style_021_lowpoly",
+  "reference_fps": 16,
+  "reference_frames": 77,
+  "frame_pts_s": [
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+  ],
+  "container_duration_s": 4.8125,
+  "pts_span_s": 4.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "L",
+    "I",
+    "J",
+    "J"
+  ],
+  "segments": [
+    {
+      "key": "L",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 13,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Turn right, look up, turn left, turn left.",
+  "camera_motion_caption_zh": "向右转，向上看，向左转，向左转。",
+  "net_yaw_deg": -15.0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 18.011882178082473,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/style_021_lowpoly_f77/camera_poses.json b/trajectories/random_v2/style_021_lowpoly_f77/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..51aa0a432fcb2e26ef0de48545277973efb83ebf
--- /dev/null
+++ b/trajectories/random_v2/style_021_lowpoly_f77/camera_poses.json
@@ -0,0 +1,4010 @@
+{
+  "canonical_c2w": [
+    [
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+      ],
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+}
diff --git a/trajectories/random_v2/style_021_lowpoly_f77/trajectory_caption.txt b/trajectories/random_v2/style_021_lowpoly_f77/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..dde730460cec11a8eae9d015ac8101005dd74678
--- /dev/null
+++ b/trajectories/random_v2/style_021_lowpoly_f77/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Turn right, look up, turn left, turn left.
+向右转，向上看，向左转，向左转。
diff --git a/trajectories/random_v2/style_021_lowpoly_f81/action_sequence.json b/trajectories/random_v2/style_021_lowpoly_f81/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..11a3103e2c2a2d3a299cfc440d0ba4f0df4a1e0a
--- /dev/null
+++ b/trajectories/random_v2/style_021_lowpoly_f81/action_sequence.json
@@ -0,0 +1,202 @@
+{
+  "trajectory_id": "rand_style_021_lowpoly_f81",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "style_021_lowpoly",
+  "reference_fps": 16,
+  "reference_frames": 81,
+  "frame_pts_s": [
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+  "container_duration_s": 5.0625,
+  "pts_span_s": 5.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "L",
+    "I",
+    "J",
+    "J",
+    "K"
+  ],
+  "segments": [
+    {
+      "key": "L",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Turn right, look up, turn left, turn left, look down.",
+  "camera_motion_caption_zh": "向右转，向上看，向左转，向左转，向下看。",
+  "net_yaw_deg": -15.0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 18.011882178082473,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/style_021_lowpoly_f81/camera_poses.json b/trajectories/random_v2/style_021_lowpoly_f81/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..98d467f37e8e3e1a79976adb0c41fcff967345dd
--- /dev/null
+++ b/trajectories/random_v2/style_021_lowpoly_f81/camera_poses.json
@@ -0,0 +1,4218 @@
+{
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diff --git a/trajectories/random_v2/style_021_lowpoly_f81/trajectory_caption.txt b/trajectories/random_v2/style_021_lowpoly_f81/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f3907104943b8d394c6b56011c4e3852f407e941
--- /dev/null
+++ b/trajectories/random_v2/style_021_lowpoly_f81/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Turn right, look up, turn left, turn left, look down.
+向右转，向上看，向左转，向左转，向下看。
diff --git a/trajectories/random_v2/style_021_lowpoly_f94/action_sequence.json b/trajectories/random_v2/style_021_lowpoly_f94/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..a20e2cba7e6e08e3273de241515ba88c40c4294c
--- /dev/null
+++ b/trajectories/random_v2/style_021_lowpoly_f94/action_sequence.json
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+{
+  "trajectory_id": "rand_style_021_lowpoly_f94",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "style_021_lowpoly",
+  "reference_fps": 16,
+  "reference_frames": 94,
+  "frame_pts_s": [
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+  ],
+  "container_duration_s": 5.875,
+  "pts_span_s": 5.8125,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "L",
+    "I",
+    "J",
+    "J",
+    "K"
+  ],
+  "segments": [
+    {
+      "key": "L",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 14,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Turn right, look up, turn left, turn left, look down.",
+  "camera_motion_caption_zh": "向右转，向上看，向左转，向左转，向下看。",
+  "net_yaw_deg": -15.0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 18.011882178082473,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/style_021_lowpoly_f94/camera_poses.json b/trajectories/random_v2/style_021_lowpoly_f94/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..61ef7e76d78e6418c4407579e0ed322e1f8a65a7
--- /dev/null
+++ b/trajectories/random_v2/style_021_lowpoly_f94/camera_poses.json
@@ -0,0 +1,4894 @@
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+}
diff --git a/trajectories/random_v2/style_021_lowpoly_f94/trajectory_caption.txt b/trajectories/random_v2/style_021_lowpoly_f94/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f3907104943b8d394c6b56011c4e3852f407e941
--- /dev/null
+++ b/trajectories/random_v2/style_021_lowpoly_f94/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Turn right, look up, turn left, turn left, look down.
+向右转，向上看，向左转，向左转，向下看。
diff --git a/trajectories/random_v2/style_028_voxel_f13/action_sequence.json b/trajectories/random_v2/style_028_voxel_f13/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..020a1e62dd2f5ec62b8b3a5c1ca7e221412df236
--- /dev/null
+++ b/trajectories/random_v2/style_028_voxel_f13/action_sequence.json
@@ -0,0 +1,82 @@
+{
+  "trajectory_id": "rand_style_028_voxel_f13",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "style_028_voxel",
+  "reference_fps": 16,
+  "reference_frames": 13,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
+    0.125,
+    0.1875,
+    0.25,
+    0.3125,
+    0.375,
+    0.4375,
+    0.5,
+    0.5625,
+    0.625,
+    0.6875,
+    0.75
+  ],
+  "container_duration_s": 0.8125,
+  "pts_span_s": 0.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [],
+  "segments": [],
+  "remainder_hold_frames": 13,
+  "zero_action": true,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Stay still.",
+  "camera_motion_caption_zh": "保持不动。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 0.0,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/style_028_voxel_f13/camera_poses.json b/trajectories/random_v2/style_028_voxel_f13/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdfef31c2c39d0765f3cad74f10a399cb797d643
--- /dev/null
+++ b/trajectories/random_v2/style_028_voxel_f13/camera_poses.json
@@ -0,0 +1,682 @@
+{
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+}
diff --git a/trajectories/random_v2/style_028_voxel_f13/trajectory_caption.txt b/trajectories/random_v2/style_028_voxel_f13/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9971208d2581b3c605469d863ca8aa7e2497c20a
--- /dev/null
+++ b/trajectories/random_v2/style_028_voxel_f13/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Stay still.
+保持不动。
diff --git a/trajectories/random_v2/style_028_voxel_f49/action_sequence.json b/trajectories/random_v2/style_028_voxel_f49/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..83b50e032a12602adcec2695ebbeedc899072b0c
--- /dev/null
+++ b/trajectories/random_v2/style_028_voxel_f49/action_sequence.json
@@ -0,0 +1,150 @@
+{
+  "trajectory_id": "rand_style_028_voxel_f49",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "style_028_voxel",
+  "reference_fps": 16,
+  "reference_frames": 49,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
+    0.125,
+    0.1875,
+    0.25,
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+    0.625,
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+    0.75,
+    0.8125,
+    0.875,
+    0.9375,
+    1.0,
+    1.0625,
+    1.125,
+    1.1875,
+    1.25,
+    1.3125,
+    1.375,
+    1.4375,
+    1.5,
+    1.5625,
+    1.625,
+    1.6875,
+    1.75,
+    1.8125,
+    1.875,
+    1.9375,
+    2.0,
+    2.0625,
+    2.125,
+    2.1875,
+    2.25,
+    2.3125,
+    2.375,
+    2.4375,
+    2.5,
+    2.5625,
+    2.625,
+    2.6875,
+    2.75,
+    2.8125,
+    2.875,
+    2.9375,
+    3.0
+  ],
+  "container_duration_s": 3.0625,
+  "pts_span_s": 3.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "W",
+    "J",
+    "A"
+  ],
+  "segments": [
+    {
+      "key": "W",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "A",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Walk forward, turn left, walk left.",
+  "camera_motion_caption_zh": "向前走，向左转，向左走。",
+  "net_yaw_deg": -15.0,
+  "max_translation_nominal_m": 0.5478852861078486,
+  "max_rotation_deg": 14.999999999999998,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/style_028_voxel_f49/camera_poses.json b/trajectories/random_v2/style_028_voxel_f49/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..a147810bd383708b4b3cd83ce18fb8d04aace8ca
--- /dev/null
+++ b/trajectories/random_v2/style_028_voxel_f49/camera_poses.json
@@ -0,0 +1,2554 @@
+{
+  "canonical_c2w": [
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+}
diff --git a/trajectories/random_v2/style_028_voxel_f49/trajectory_caption.txt b/trajectories/random_v2/style_028_voxel_f49/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1825c630b01866cb282561a42b2599fdda2519a4
--- /dev/null
+++ b/trajectories/random_v2/style_028_voxel_f49/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Walk forward, turn left, walk left.
+向前走，向左转，向左走。
diff --git a/trajectories/random_v2/style_028_voxel_f77/action_sequence.json b/trajectories/random_v2/style_028_voxel_f77/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..02c31ce691163e86bff39ae7b5c257c620bc1f07
--- /dev/null
+++ b/trajectories/random_v2/style_028_voxel_f77/action_sequence.json
@@ -0,0 +1,188 @@
+{
+  "trajectory_id": "rand_style_028_voxel_f77",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "style_028_voxel",
+  "reference_fps": 16,
+  "reference_frames": 77,
+  "frame_pts_s": [
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+  ],
+  "container_duration_s": 4.8125,
+  "pts_span_s": 4.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "W",
+    "J",
+    "A",
+    "K"
+  ],
+  "segments": [
+    {
+      "key": "W",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "A",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 13,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Walk forward, turn left, walk left, look down.",
+  "camera_motion_caption_zh": "向前走，向左转，向左走，向下看。",
+  "net_yaw_deg": -15.0,
+  "max_translation_nominal_m": 0.5478852861078486,
+  "max_rotation_deg": 18.011882178082473,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/style_028_voxel_f77/camera_poses.json b/trajectories/random_v2/style_028_voxel_f77/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..d00bfa003919aefc67fb69eb498f08728d304a2c
--- /dev/null
+++ b/trajectories/random_v2/style_028_voxel_f77/camera_poses.json
@@ -0,0 +1,4010 @@
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+}
diff --git a/trajectories/random_v2/style_028_voxel_f77/trajectory_caption.txt b/trajectories/random_v2/style_028_voxel_f77/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d469ecc01a38de59ace8ddf092edabf411ed3f09
--- /dev/null
+++ b/trajectories/random_v2/style_028_voxel_f77/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Walk forward, turn left, walk left, look down.
+向前走，向左转，向左走，向下看。
diff --git a/trajectories/random_v2/style_028_voxel_f81/action_sequence.json b/trajectories/random_v2/style_028_voxel_f81/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca6733de1cdb4bf8923552647e9c9de9555cf41c
--- /dev/null
+++ b/trajectories/random_v2/style_028_voxel_f81/action_sequence.json
@@ -0,0 +1,202 @@
+{
+  "trajectory_id": "rand_style_028_voxel_f81",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "style_028_voxel",
+  "reference_fps": 16,
+  "reference_frames": 81,
+  "frame_pts_s": [
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+  ],
+  "container_duration_s": 5.0625,
+  "pts_span_s": 5.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "W",
+    "J",
+    "A",
+    "K",
+    "D"
+  ],
+  "segments": [
+    {
+      "key": "W",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "A",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "D",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Walk forward, turn left, walk left, look down, walk right.",
+  "camera_motion_caption_zh": "向前走，向左转，向左走，向下看，向右走。",
+  "net_yaw_deg": -15.0,
+  "max_translation_nominal_m": 0.5478852861078486,
+  "max_rotation_deg": 18.011882178082473,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/style_028_voxel_f81/camera_poses.json b/trajectories/random_v2/style_028_voxel_f81/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..16ea003f20dbc88b21d3bd81dcb8923aefc695ec
--- /dev/null
+++ b/trajectories/random_v2/style_028_voxel_f81/camera_poses.json
@@ -0,0 +1,4218 @@
+{
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+}
diff --git a/trajectories/random_v2/style_028_voxel_f81/trajectory_caption.txt b/trajectories/random_v2/style_028_voxel_f81/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8d3027d6c27d38e96e36e1805f81e9744a5dc858
--- /dev/null
+++ b/trajectories/random_v2/style_028_voxel_f81/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Walk forward, turn left, walk left, look down, walk right.
+向前走，向左转，向左走，向下看，向右走。
diff --git a/trajectories/random_v2/style_028_voxel_f94/action_sequence.json b/trajectories/random_v2/style_028_voxel_f94/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..1cf607ee1a6b57c20bdb89c85425fa500fedf8cb
--- /dev/null
+++ b/trajectories/random_v2/style_028_voxel_f94/action_sequence.json
@@ -0,0 +1,215 @@
+{
+  "trajectory_id": "rand_style_028_voxel_f94",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "style_028_voxel",
+  "reference_fps": 16,
+  "reference_frames": 94,
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+  "container_duration_s": 5.875,
+  "pts_span_s": 5.8125,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "W",
+    "J",
+    "A",
+    "K",
+    "D"
+  ],
+  "segments": [
+    {
+      "key": "W",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "J",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "A",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "D",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 14,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Walk forward, turn left, walk left, look down, walk right.",
+  "camera_motion_caption_zh": "向前走，向左转，向左走，向下看，向右走。",
+  "net_yaw_deg": -15.0,
+  "max_translation_nominal_m": 0.5478852861078486,
+  "max_rotation_deg": 18.011882178082473,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/style_028_voxel_f94/camera_poses.json b/trajectories/random_v2/style_028_voxel_f94/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..66077920c1c3749932eb7abcd7b0c02a59af30b1
--- /dev/null
+++ b/trajectories/random_v2/style_028_voxel_f94/camera_poses.json
@@ -0,0 +1,4894 @@
+{
+  "canonical_c2w": [
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+}
diff --git a/trajectories/random_v2/style_028_voxel_f94/trajectory_caption.txt b/trajectories/random_v2/style_028_voxel_f94/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8d3027d6c27d38e96e36e1805f81e9744a5dc858
--- /dev/null
+++ b/trajectories/random_v2/style_028_voxel_f94/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Walk forward, turn left, walk left, look down, walk right.
+向前走，向左转，向左走，向下看，向右走。
diff --git a/trajectories/random_v2/style_029_figure_f13/action_sequence.json b/trajectories/random_v2/style_029_figure_f13/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6f825caeede0f7365127b5f2d96f77db58751db
--- /dev/null
+++ b/trajectories/random_v2/style_029_figure_f13/action_sequence.json
@@ -0,0 +1,82 @@
+{
+  "trajectory_id": "rand_style_029_figure_f13",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "style_029_figure",
+  "reference_fps": 16,
+  "reference_frames": 13,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
+    0.125,
+    0.1875,
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+    0.5625,
+    0.625,
+    0.6875,
+    0.75
+  ],
+  "container_duration_s": 0.8125,
+  "pts_span_s": 0.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [],
+  "segments": [],
+  "remainder_hold_frames": 13,
+  "zero_action": true,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Stay still.",
+  "camera_motion_caption_zh": "保持不动。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 0.0,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/style_029_figure_f13/camera_poses.json b/trajectories/random_v2/style_029_figure_f13/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdfef31c2c39d0765f3cad74f10a399cb797d643
--- /dev/null
+++ b/trajectories/random_v2/style_029_figure_f13/camera_poses.json
@@ -0,0 +1,682 @@
+{
+  "canonical_c2w": [
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
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+        0.0,
+        1.0,
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+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
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+        0.0,
+        0.0
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+      [
+        0.0,
+        1.0,
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+        0.0
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+        0.0,
+        1.0,
+        0.0
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+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
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+        0.0
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+      [
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+        1.0,
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+        0.0
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+      [
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+        1.0,
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+      [
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+    ],
+    [
+      [
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+        0.0
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+      [
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+        1.0,
+        0.0,
+        0.0
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+        1.0,
+        0.0
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+      [
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+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
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+        0.0,
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+      [
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+      [
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+    [
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+    [
+      [
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+      [
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+      [
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+    [
+      [
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+      [
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+    ],
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
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+      [
+        0.0,
+        1.0,
+        0.0,
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+      [
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+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
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+      [
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+      [
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+    ],
+    [
+      [
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+      [
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+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ]
+  ],
+  "opencv_c2w_wiw_units": [
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
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+    [
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+      [
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+      [
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+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
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+        1.0,
+        0.0,
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+      [
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+      [
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+    ],
+    [
+      [
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+        0.0,
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+      [
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+      [
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+      [
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+    ],
+    [
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+      [
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+    ],
+    [
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+    ],
+    [
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+      [
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+        1.0,
+        0.0,
+        0.0
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+      [
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+        1.0,
+        0.0
+      ],
+      [
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+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
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+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ]
+  ]
+}
diff --git a/trajectories/random_v2/style_029_figure_f13/trajectory_caption.txt b/trajectories/random_v2/style_029_figure_f13/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9971208d2581b3c605469d863ca8aa7e2497c20a
--- /dev/null
+++ b/trajectories/random_v2/style_029_figure_f13/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Stay still.
+保持不动。
diff --git a/trajectories/random_v2/style_029_figure_f49/action_sequence.json b/trajectories/random_v2/style_029_figure_f49/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7accd37d9d5ba3616de0a6ba0839ce42a6f3f8c
--- /dev/null
+++ b/trajectories/random_v2/style_029_figure_f49/action_sequence.json
@@ -0,0 +1,150 @@
+{
+  "trajectory_id": "rand_style_029_figure_f49",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "style_029_figure",
+  "reference_fps": 16,
+  "reference_frames": 49,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
+    0.125,
+    0.1875,
+    0.25,
+    0.3125,
+    0.375,
+    0.4375,
+    0.5,
+    0.5625,
+    0.625,
+    0.6875,
+    0.75,
+    0.8125,
+    0.875,
+    0.9375,
+    1.0,
+    1.0625,
+    1.125,
+    1.1875,
+    1.25,
+    1.3125,
+    1.375,
+    1.4375,
+    1.5,
+    1.5625,
+    1.625,
+    1.6875,
+    1.75,
+    1.8125,
+    1.875,
+    1.9375,
+    2.0,
+    2.0625,
+    2.125,
+    2.1875,
+    2.25,
+    2.3125,
+    2.375,
+    2.4375,
+    2.5,
+    2.5625,
+    2.625,
+    2.6875,
+    2.75,
+    2.8125,
+    2.875,
+    2.9375,
+    3.0
+  ],
+  "container_duration_s": 3.0625,
+  "pts_span_s": 3.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "I",
+    "I",
+    "D"
+  ],
+  "segments": [
+    {
+      "key": "I",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "D",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look up, look up, walk right.",
+  "camera_motion_caption_zh": "向上看，向上看，向右走。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.45,
+  "max_rotation_deg": 20.0,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/style_029_figure_f49/camera_poses.json b/trajectories/random_v2/style_029_figure_f49/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..5414c42fbc89c89e031aedaa4f1cb7f99d6b32ed
--- /dev/null
+++ b/trajectories/random_v2/style_029_figure_f49/camera_poses.json
@@ -0,0 +1,2554 @@
+{
+  "canonical_c2w": [
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        1.0,
+        0.0,
+        0.0
+      ],
+      [
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+        0.0,
+        1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        1.0,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.9999975276274256,
+        0.002223676918101317,
+        0.0
+      ],
+      [
+        0.0,
+        -0.002223676918101317,
+        0.9999975276274256,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    [
+      [
+        0.9999999999999999,
+        0.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.999964036472914,
+        0.008480905658986801,
+        0.0
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+      [
+        0.0,
+        -0.008480905658986801,
+        0.999964036472914,
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+      [
+        0.0,
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+        0.0,
+        1.0
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+    ],
+    [
+      [
+        0.9999999999999999,
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+        0.0,
+        0.0
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+}
diff --git a/trajectories/random_v2/style_029_figure_f49/trajectory_caption.txt b/trajectories/random_v2/style_029_figure_f49/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2dc707c6d82f79d136ba8d123710ea0528a1dff4
--- /dev/null
+++ b/trajectories/random_v2/style_029_figure_f49/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look up, look up, walk right.
+向上看，向上看，向右走。
diff --git a/trajectories/random_v2/style_029_figure_f77/action_sequence.json b/trajectories/random_v2/style_029_figure_f77/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..914a4ef8b69b759876a9963f52d6794bce60b9c5
--- /dev/null
+++ b/trajectories/random_v2/style_029_figure_f77/action_sequence.json
@@ -0,0 +1,188 @@
+{
+  "trajectory_id": "rand_style_029_figure_f77",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "style_029_figure",
+  "reference_fps": 16,
+  "reference_frames": 77,
+  "frame_pts_s": [
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+  "container_duration_s": 4.8125,
+  "pts_span_s": 4.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "I",
+    "I",
+    "D",
+    "K"
+  ],
+  "segments": [
+    {
+      "key": "I",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 16,
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+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "D",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 13,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look up, look up, walk right, look down.",
+  "camera_motion_caption_zh": "向上看，向上看，向右走，向下看。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.45,
+  "max_rotation_deg": 20.0,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/style_029_figure_f77/camera_poses.json b/trajectories/random_v2/style_029_figure_f77/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..98fcf28cce2b62c2c4c765d81a2525e9f267d8a9
--- /dev/null
+++ b/trajectories/random_v2/style_029_figure_f77/camera_poses.json
@@ -0,0 +1,4010 @@
+{
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+}
diff --git a/trajectories/random_v2/style_029_figure_f77/trajectory_caption.txt b/trajectories/random_v2/style_029_figure_f77/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5b76c36c4caac89469ea46f6a9dfe65605218d1a
--- /dev/null
+++ b/trajectories/random_v2/style_029_figure_f77/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look up, look up, walk right, look down.
+向上看，向上看，向右走，向下看。
diff --git a/trajectories/random_v2/style_029_figure_f81/action_sequence.json b/trajectories/random_v2/style_029_figure_f81/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..01f29c720513056ab9f7c560357ea57c5e085b49
--- /dev/null
+++ b/trajectories/random_v2/style_029_figure_f81/action_sequence.json
@@ -0,0 +1,202 @@
+{
+  "trajectory_id": "rand_style_029_figure_f81",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "style_029_figure",
+  "reference_fps": 16,
+  "reference_frames": 81,
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+  "pts_span_s": 5.0,
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+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "I",
+    "I",
+    "D",
+    "K",
+    "D"
+  ],
+  "segments": [
+    {
+      "key": "I",
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+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
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+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "D",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
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+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look up, look up, walk right, look down, walk right.",
+  "camera_motion_caption_zh": "向上看，向上看，向右走，向下看，向右走。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.9,
+  "max_rotation_deg": 20.0,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/style_029_figure_f81/camera_poses.json b/trajectories/random_v2/style_029_figure_f81/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2f8ce4be2be648eddf659e6da2923104a4e0eb8
--- /dev/null
+++ b/trajectories/random_v2/style_029_figure_f81/camera_poses.json
@@ -0,0 +1,4218 @@
+{
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+}
diff --git a/trajectories/random_v2/style_029_figure_f81/trajectory_caption.txt b/trajectories/random_v2/style_029_figure_f81/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8f32092fe80c91a3a6e0bf2ee992b8f2fb09a487
--- /dev/null
+++ b/trajectories/random_v2/style_029_figure_f81/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look up, look up, walk right, look down, walk right.
+向上看，向上看，向右走，向下看，向右走。
diff --git a/trajectories/random_v2/style_029_figure_f94/action_sequence.json b/trajectories/random_v2/style_029_figure_f94/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..201787f7f01399ab008d46064912a5c1eddc9a2f
--- /dev/null
+++ b/trajectories/random_v2/style_029_figure_f94/action_sequence.json
@@ -0,0 +1,215 @@
+{
+  "trajectory_id": "rand_style_029_figure_f94",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "style_029_figure",
+  "reference_fps": 16,
+  "reference_frames": 94,
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+  "container_duration_s": 5.875,
+  "pts_span_s": 5.8125,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "I",
+    "I",
+    "D",
+    "K",
+    "D"
+  ],
+  "segments": [
+    {
+      "key": "I",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "D",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "K",
+      "start_frame": 48,
+      "end_frame_inclusive": 63,
+      "start_s": 3,
+      "end_s": 4,
+      "pose_transition_end_s": 3.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "D",
+      "start_frame": 64,
+      "end_frame_inclusive": 79,
+      "start_s": 4,
+      "end_s": 5,
+      "pose_transition_end_s": 4.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 14,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Look up, look up, walk right, look down, walk right.",
+  "camera_motion_caption_zh": "向上看，向上看，向右走，向下看，向右走。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.9,
+  "max_rotation_deg": 20.0,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/style_029_figure_f94/camera_poses.json b/trajectories/random_v2/style_029_figure_f94/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..c03ce87eddfe155209ee97e17e6c2a6e18b13924
--- /dev/null
+++ b/trajectories/random_v2/style_029_figure_f94/camera_poses.json
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+}
diff --git a/trajectories/random_v2/style_029_figure_f94/trajectory_caption.txt b/trajectories/random_v2/style_029_figure_f94/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8f32092fe80c91a3a6e0bf2ee992b8f2fb09a487
--- /dev/null
+++ b/trajectories/random_v2/style_029_figure_f94/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Look up, look up, walk right, look down, walk right.
+向上看，向上看，向右走，向下看，向右走。
diff --git a/trajectories/random_v2/style_030_figure_f13/action_sequence.json b/trajectories/random_v2/style_030_figure_f13/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d5855103f54c8380635d228867b9999b9fd0116
--- /dev/null
+++ b/trajectories/random_v2/style_030_figure_f13/action_sequence.json
@@ -0,0 +1,82 @@
+{
+  "trajectory_id": "rand_style_030_figure_f13",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "style_030_figure",
+  "reference_fps": 16,
+  "reference_frames": 13,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
+    0.125,
+    0.1875,
+    0.25,
+    0.3125,
+    0.375,
+    0.4375,
+    0.5,
+    0.5625,
+    0.625,
+    0.6875,
+    0.75
+  ],
+  "container_duration_s": 0.8125,
+  "pts_span_s": 0.75,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [],
+  "segments": [],
+  "remainder_hold_frames": 13,
+  "zero_action": true,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Stay still.",
+  "camera_motion_caption_zh": "保持不动。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.0,
+  "max_rotation_deg": 0.0,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/style_030_figure_f13/camera_poses.json b/trajectories/random_v2/style_030_figure_f13/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdfef31c2c39d0765f3cad74f10a399cb797d643
--- /dev/null
+++ b/trajectories/random_v2/style_030_figure_f13/camera_poses.json
@@ -0,0 +1,682 @@
+{
+  "canonical_c2w": [
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+}
diff --git a/trajectories/random_v2/style_030_figure_f13/trajectory_caption.txt b/trajectories/random_v2/style_030_figure_f13/trajectory_caption.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9971208d2581b3c605469d863ca8aa7e2497c20a
--- /dev/null
+++ b/trajectories/random_v2/style_030_figure_f13/trajectory_caption.txt
@@ -0,0 +1,2 @@
+Stay still.
+保持不动。
diff --git a/trajectories/random_v2/style_030_figure_f49/action_sequence.json b/trajectories/random_v2/style_030_figure_f49/action_sequence.json
new file mode 100644
index 0000000000000000000000000000000000000000..833dc5ce39fa30039e3db65ebaf0a6889de53440
--- /dev/null
+++ b/trajectories/random_v2/style_030_figure_f49/action_sequence.json
@@ -0,0 +1,150 @@
+{
+  "trajectory_id": "rand_style_030_figure_f49",
+  "family": "random_ijkl70",
+  "protocol": "v2bench-protocol-v2-random-ijkl",
+  "clip_id": "style_030_figure",
+  "reference_fps": 16,
+  "reference_frames": 49,
+  "frame_pts_s": [
+    0.0,
+    0.0625,
+    0.125,
+    0.1875,
+    0.25,
+    0.3125,
+    0.375,
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+    0.5625,
+    0.625,
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+    0.75,
+    0.8125,
+    0.875,
+    0.9375,
+    1.0,
+    1.0625,
+    1.125,
+    1.1875,
+    1.25,
+    1.3125,
+    1.375,
+    1.4375,
+    1.5,
+    1.5625,
+    1.625,
+    1.6875,
+    1.75,
+    1.8125,
+    1.875,
+    1.9375,
+    2.0,
+    2.0625,
+    2.125,
+    2.1875,
+    2.25,
+    2.3125,
+    2.375,
+    2.4375,
+    2.5,
+    2.5625,
+    2.625,
+    2.6875,
+    2.75,
+    2.8125,
+    2.875,
+    2.9375,
+    3.0
+  ],
+  "container_duration_s": 3.0625,
+  "pts_span_s": 3.0,
+  "coordinate_system": "c2w, X right/Y up/Z forward, left-handed coordinate basis",
+  "parameters": {
+    "translation_nominal_m_per_action": 0.45,
+    "yaw_deg_per_action": 15.0,
+    "pitch_deg_per_action": 10.0,
+    "nominal_m_per_wiw_unit": 0.3,
+    "horizontal_fov_deg": 90,
+    "pitch_limit_deg": 30.0,
+    "sampling": "iid per second: IJKL 0.7 / WASD 0.3, uniform within group; seed 42 + clip_id",
+    "scale_note": "Nominal scene scale only. Depth models apply their documented q05/10 scaling."
+  },
+  "action_sequence": [
+    "D",
+    "I",
+    "A"
+  ],
+  "segments": [
+    {
+      "key": "D",
+      "start_frame": 0,
+      "end_frame_inclusive": 15,
+      "start_s": 0,
+      "end_s": 1,
+      "pose_transition_end_s": 0.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "I",
+      "start_frame": 16,
+      "end_frame_inclusive": 31,
+      "start_s": 1,
+      "end_s": 2,
+      "pose_transition_end_s": 1.9375,
+      "duration_s": 1
+    },
+    {
+      "key": "A",
+      "start_frame": 32,
+      "end_frame_inclusive": 47,
+      "start_s": 2,
+      "end_s": 3,
+      "pose_transition_end_s": 2.9375,
+      "duration_s": 1
+    }
+  ],
+  "remainder_hold_frames": 1,
+  "zero_action": false,
+  "closed_loop": false,
+  "keymap": {
+    "W": {
+      "en": "walk forward",
+      "zh": "向前走"
+    },
+    "S": {
+      "en": "walk backward",
+      "zh": "向后走"
+    },
+    "A": {
+      "en": "walk left",
+      "zh": "向左走"
+    },
+    "D": {
+      "en": "walk right",
+      "zh": "向右走"
+    },
+    "I": {
+      "en": "look up",
+      "zh": "向上看"
+    },
+    "K": {
+      "en": "look down",
+      "zh": "向下看"
+    },
+    "J": {
+      "en": "turn left",
+      "zh": "向左转"
+    },
+    "L": {
+      "en": "turn right",
+      "zh": "向右转"
+    }
+  },
+  "camera_motion_caption_en": "Walk right, look up, walk left.",
+  "camera_motion_caption_zh": "向右走，向上看，向左走。",
+  "net_yaw_deg": 0,
+  "max_translation_nominal_m": 0.45,
+  "max_rotation_deg": 9.999999999999998,
+  "interpolation": "smoothstep per 1-s action; remainder frames hold the final pose",
+  "caption_template_version": "action_only_v2"
+}
diff --git a/trajectories/random_v2/style_030_figure_f49/camera_poses.json b/trajectories/random_v2/style_030_figure_f49/camera_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f76348d86f0d9570fc629e93ca1dbb49f46b79d
--- /dev/null
+++ b/trajectories/random_v2/style_030_figure_f49/camera_poses.json
@@ -0,0 +1,2554 @@
+{
+  "canonical_c2w": [
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