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"dataset_version": "1.0.0",
"status": "released",
"release_type": "self-contained",
"source_data_commit": "d4ba9d7",
"frame_base_seed": 20260712,
"window_base_seed": 20260714,
"window_length": 30,
"camera_id": 2,
"translation_unit": "centimetres",
"euler_unit": "degrees",
"euler_matrix_order": "Rz(yaw) @ Ry(pitch) @ Rx(roll)",
"transform_convention": "column vectors: p_B = R_B_from_A @ p_A + t_B_from_A",
"composition": "T_init = delta_cam @ T_gt @ inverse(delta_lidar)",
"decalibration_target": "T_init @ inverse(T_gt)",
"corrected_transform": "inverse(predicted_T_decal) @ T_init",
"stereo_baseline": "frozen-v1 x-only P[0,3]/P[0,0]; not full K^-1 P[:,3]",
"splits": {
"train": [
"00",
"01",
"02",
"04",
"05",
"06",
"08"
],
"validation": [
"07"
],
"test": [
"09",
"10"
]
},
"source_train_includes_validation": true,
"excluded_sequences": [
"03"
],
"paper_alpha_test_drive_overlaps_training_sequence": "08",
"stage5_frames": {
"train": 18507,
"validation": 1101,
"test": 2792
},
"metrics": {
"translation": "mean absolute error over axes and samples, cm",
"rotation": "mean SO(3) geodesic angle, degrees"
},
"frozen_native_distribution_matches_usual_relative": false,
"published_unical_accuracy_reproduced": false,
"relative_protocol_seed_rule": "torch.Generator seed = sample_seed modulo 2**63 (relative_seed=0)",
"date_released": "2026-10-17"
}
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