{
  "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"
}