diff --git a/.gitattributes b/.gitattributes index c1748938270eba6430599859bd9e252bca0b81fb..8df582c3feab16b697f8998a9560b3e441cd1bfe 100644 --- a/.gitattributes +++ b/.gitattributes @@ -684,3 +684,71 @@ overlay25/clips/event_24.jpg filter=lfs diff=lfs merge=lfs -text overlay25/clips/event_24.mp4 filter=lfs diff=lfs merge=lfs -text overlay25/clips/event_25.jpg filter=lfs diff=lfs merge=lfs -text overlay25/clips/event_25.mp4 filter=lfs diff=lfs merge=lfs -text +low_review/clips/event_01_context.jpg filter=lfs diff=lfs merge=lfs -text +low_review/clips/event_01_context.mp4 filter=lfs diff=lfs merge=lfs -text +low_review/clips/event_02_context.jpg filter=lfs diff=lfs merge=lfs -text +low_review/clips/event_02_context.mp4 filter=lfs diff=lfs merge=lfs -text +low_review/clips/event_03_context.jpg filter=lfs diff=lfs merge=lfs -text +low_review/clips/event_03_context.mp4 filter=lfs diff=lfs merge=lfs -text +low_review/clips/event_04_context.jpg filter=lfs diff=lfs merge=lfs -text 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LOW 跟踪异常 · 人工审核

118 个待判定区间 · 33 个代表样例 · 三视角 Z-up 叠加

+ + + + + +
+

审核步骤：跳到异常 → 0.25× 慢放或逐帧 → 对照三视角和轨迹 → 选择意见并备注。 +红色时间条是异常区间。所有样例当前仍为 SKIP；审核意见不会自动修改数据集。

+

意见只保存在当前浏览器，不会同步到服务器；请导出 JSON 留存或发给代码 Agent。

+
分类说明、完整索引和审核注意事项

短区间大跳变／锚点难以接回 (54) · 短区间前后预测不一致 (24) · 反复闪跳／多次切换 (17) · 重复位姿／疑似保持旧值 (9) · 较长缺口／混合异常 (11) · 分段边界／上下文不足 (3)

这些区间涉及 1533 个不同手侧位姿行、1649 个相邻手侧变化；左右手分别计数，不能当成全局时间戳数量。107 个区间不超过 1.1 秒；原始位姿中非有限值／零四元数行数为 0。LOW 表示算法无法可靠重建，不能将其直接理解为 NaN 缺测或真实硬件丢失。

投影关联：45/118 个区间至少一个相机出现图像内部外侧 10% 的边缘投影；35/118 出现画外投影；0/118 无法投影。前两项可重叠，不能相加，也不能推断丢失原因。

上排：原始 mocap；下排：当前已发布 pose。每个选中异常均保持 SKIP，未新增修复；下排上下文可能包含其他邻近已接受的修复。上下两排使用相同真实画面，左／中／右三个相机。红色 ACTIVE 标记表示当前帧位于所选异常区间，并标明受影响侧；XYZ 轴使用标准预览渲染器。

分类描述可观测轨迹特征；物理原因尚未确认，不能仅凭分类认定遮挡、硬件丢失或真实高速动作。原始投影本身可能受损，离画面边缘近仅是关联；无效投影、画外投影不等于遮挡证据。采用已发布且明确声明 Z-up 的标定，不额外旋转；视频时间使用片段内行号 / 30 fps。无有限 pose 时不画该侧投影；下排消失不表示传感器在真实场景中消失。

固定数据版本：360392a1c3aed8dffcacf66f350acff5d168dec1。边界窗口不跨片段拼接；短区间展示完整异常和可用上下文，长区间展示入段／出段。

全部 118 区间索引：JSON（分类规则与全部数值） · CSV · 视频范围、校验和与标定清单 · 所选样本 · 分析报告 · 代码 Agent 使用说明

短区间大跳变／锚点难以接回 — 54 个区间

排除其他优先类别后，原候选重建仍超过每帧30°或50 mm。常见一步跳到另一条轨迹；不是已确认的单帧尖峰。

展示 6 个不同区间。

1. old_data/motherboard/meta/2026-05-11/episode_015.parquet::left:4887-4887:branch_discontinuity

SKIP · LOW · 受影响侧：left · 原方法 unrepaired_ambiguous_branch

片段内区间：行 4887–4887（含端点），162.900–162.900 s；区间时长 0.033 s / 1 帧。源序列行 4887–4887，源区间时长 0.033 s。

完整源视频 left · 完整源视频 middle · 完整源视频 right

上下文预览：4.000 s / 120 帧，行 [4827, 4947)

原始轨迹数值图（位置与逐帧转角）原始轨迹图
数值证据、次级标签与原始拒绝原因
{
+  "original_rejection": {
+    "anchor_rotation_deg": 178.93210935758725,
+    "anchor_translation_mm": 45.07439877936902,
+    "branch_unambiguous": true,
+    "duration_frames": 1,
+    "fit_converged": true,
+    "fit_iterations": 0,
+    "left_anchor": 4886,
+    "left_context_frames": 15,
+    "observed_inlier_frames": 0,
+    "physical": false,
+    "prediction_rotation_max_deg": 89.46605467879363,
+    "prediction_translation_max_mm": 22.53719938968451,
+    "reconstructed_max_step_rotation_deg": 89.46605467879361,
+    "reconstructed_max_step_translation_mm": 22.53719938968451,
+    "rejection": "nonphysical_reconstruction",
+    "replaced_frames": 1,
+    "right_anchor": 4888,
+    "right_context_frames": 15,
+    "rotation_inlier_threshold_deg": 2.0,
+    "rotation_residual_p95_deg": 89.46605467879363,
+    "translation_inlier_threshold_mm": 3.0,
+    "translation_residual_p95_mm": 22.53719938968451
+  },
+  "metrics": {
+    "source_frames": 1,
+    "local_frames": 1,
+    "source_seconds": 0.03333333333333333,
+    "local_seconds": 0.03333333333333333,
+    "truncated_source_interval": false,
+    "insufficient_context": false,
+    "left_context_available": 4887,
+    "right_context_available": 1071,
+    "max_identical_pose_run": 1,
+    "large_step_count": 1,
+    "detector_seed_count": 1,
+    "raw_max_step_rotation_deg": 178.93210935758725,
+    "raw_max_step_translation_mm": 45.07439877936902,
+    "nonfinite_or_zero_quaternion_frames": 0,
+    "rejection": "nonphysical_reconstruction",
+    "reconstructed_max_step_rotation_deg": 89.46605467879361,
+    "reconstructed_max_step_translation_mm": 22.53719938968451,
+    "prediction_rotation_max_deg": 89.46605467879363,
+    "prediction_translation_max_mm": 22.53719938968451
+  },
+  "projection": {
+    "event": {
+      "left": {
+        "interior": 1,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "middle": {
+        "interior": 0,
+        "in_image_edge": 1,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "right": {
+        "interior": 0,
+        "in_image_edge": 1,
+        "off_image": 0,
+        "unprojectable": 0
+      }
+    },
+    "event_edge_any": true,
+    "event_off_image_any": false,
+    "event_unprojectable_any": false,
+    "outer_context": {
+      "left": {
+        "interior": 10,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "middle": {
+        "interior": 0,
+        "in_image_edge": 10,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "right": {
+        "interior": 0,
+        "in_image_edge": 10,
+        "off_image": 0,
+        "unprojectable": 0
+      }
+    },
+    "outer_context_edge_any": true,
+    "outer_context_off_image_any": false,
+    "outer_context_unprojectable_any": false
+  },
+  "diagnostic_tags": [
+    "rgb_camera_edge_projection"
+  ]
+}

2. data/validation/meta/2026-09-09/episode_003.parquet::left:4542-4542:branch_discontinuity

SKIP · LOW · 受影响侧：left · 原方法 unrepaired_ambiguous_branch

片段内区间：行 4542–4542（含端点），151.400–151.400 s；区间时长 0.033 s / 1 帧。源序列行 4542–4542，源区间时长 0.033 s。

完整源视频 left · 完整源视频 middle · 完整源视频 right

上下文预览：4.000 s / 120 帧，行 [4482, 4602)

原始轨迹数值图（位置与逐帧转角）原始轨迹图
数值证据、次级标签与原始拒绝原因
{
+  "original_rejection": {
+    "anchor_rotation_deg": 173.1242003934215,
+    "anchor_translation_mm": 184.60309901770208,
+    "branch_unambiguous": true,
+    "duration_frames": 1,
+    "fit_converged": true,
+    "fit_iterations": 0,
+    "left_anchor": 4541,
+    "left_context_frames": 15,
+    "observed_inlier_frames": 0,
+    "physical": false,
+    "prediction_rotation_max_deg": 86.56210019671074,
+    "prediction_translation_max_mm": 92.30154950885104,
+    "reconstructed_max_step_rotation_deg": 86.5621001967108,
+    "reconstructed_max_step_translation_mm": 92.30154950885104,
+    "rejection": "nonphysical_reconstruction",
+    "replaced_frames": 1,
+    "right_anchor": 4543,
+    "right_context_frames": 15,
+    "rotation_inlier_threshold_deg": 2.0,
+    "rotation_residual_p95_deg": 86.56210019671073,
+    "translation_inlier_threshold_mm": 3.0,
+    "translation_residual_p95_mm": 92.30154950885104
+  },
+  "metrics": {
+    "source_frames": 1,
+    "local_frames": 1,
+    "source_seconds": 0.03333333333333333,
+    "local_seconds": 0.03333333333333333,
+    "truncated_source_interval": false,
+    "insufficient_context": false,
+    "left_context_available": 4542,
+    "right_context_available": 8941,
+    "max_identical_pose_run": 1,
+    "large_step_count": 1,
+    "detector_seed_count": 1,
+    "raw_max_step_rotation_deg": 173.12420039342152,
+    "raw_max_step_translation_mm": 184.60309901770208,
+    "nonfinite_or_zero_quaternion_frames": 0,
+    "rejection": "nonphysical_reconstruction",
+    "reconstructed_max_step_rotation_deg": 86.5621001967108,
+    "reconstructed_max_step_translation_mm": 92.30154950885104,
+    "prediction_rotation_max_deg": 86.56210019671074,
+    "prediction_translation_max_mm": 92.30154950885104
+  },
+  "projection": {
+    "event": {
+      "left": {
+        "interior": 1,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "middle": {
+        "interior": 1,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "right": {
+        "interior": 1,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      }
+    },
+    "event_edge_any": false,
+    "event_off_image_any": false,
+    "event_unprojectable_any": false,
+    "outer_context": {
+      "left": {
+        "interior": 10,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "middle": {
+        "interior": 10,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "right": {
+        "interior": 10,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      }
+    },
+    "outer_context_edge_any": false,
+    "outer_context_off_image_any": false,
+    "outer_context_unprojectable_any": false
+  },
+  "diagnostic_tags": []
+}

3. old_data/pushT/meta/2026-06-18/episode_003.parquet::left:3138-3138:branch_discontinuity

SKIP · LOW · 受影响侧：left · 原方法 unrepaired_ambiguous_branch

片段内区间：行 3138–3138（含端点），104.600–104.600 s；区间时长 0.033 s / 1 帧。源序列行 3138–3138，源区间时长 0.033 s。

完整源视频 left · 完整源视频 middle · 完整源视频 right

上下文预览：4.000 s / 120 帧，行 [3078, 3198)

原始轨迹数值图（位置与逐帧转角）原始轨迹图
数值证据、次级标签与原始拒绝原因
{
+  "original_rejection": {
+    "anchor_rotation_deg": 60.176405532084324,
+    "anchor_translation_mm": 22.538053702987337,
+    "branch_unambiguous": true,
+    "duration_frames": 1,
+    "fit_converged": true,
+    "fit_iterations": 0,
+    "left_anchor": 3137,
+    "left_context_frames": 15,
+    "observed_inlier_frames": 0,
+    "physical": false,
+    "prediction_rotation_max_deg": 30.088202766042162,
+    "prediction_translation_max_mm": 11.269026851493669,
+    "reconstructed_max_step_rotation_deg": 30.088202766042116,
+    "reconstructed_max_step_translation_mm": 11.269026851493669,
+    "rejection": "nonphysical_reconstruction",
+    "replaced_frames": 1,
+    "right_anchor": 3139,
+    "right_context_frames": 15,
+    "rotation_inlier_threshold_deg": 12.0,
+    "rotation_residual_p95_deg": 29.83372999897996,
+    "translation_inlier_threshold_mm": 6.814843157965481,
+    "translation_residual_p95_mm": 10.490905761078583
+  },
+  "metrics": {
+    "source_frames": 1,
+    "local_frames": 1,
+    "source_seconds": 0.03333333333333333,
+    "local_seconds": 0.03333333333333333,
+    "truncated_source_interval": false,
+    "insufficient_context": false,
+    "left_context_available": 3138,
+    "right_context_available": 11427,
+    "max_identical_pose_run": 1,
+    "large_step_count": 1,
+    "detector_seed_count": 1,
+    "raw_max_step_rotation_deg": 59.921767201528965,
+    "raw_max_step_translation_mm": 21.751049090676002,
+    "nonfinite_or_zero_quaternion_frames": 0,
+    "rejection": "nonphysical_reconstruction",
+    "reconstructed_max_step_rotation_deg": 30.088202766042116,
+    "reconstructed_max_step_translation_mm": 11.269026851493669,
+    "prediction_rotation_max_deg": 30.088202766042162,
+    "prediction_translation_max_mm": 11.269026851493669
+  },
+  "projection": {
+    "event": {
+      "left": {
+        "interior": 1,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "middle": {
+        "interior": 1,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "right": {
+        "interior": 0,
+        "in_image_edge": 1,
+        "off_image": 0,
+        "unprojectable": 0
+      }
+    },
+    "event_edge_any": true,
+    "event_off_image_any": false,
+    "event_unprojectable_any": false,
+    "outer_context": {
+      "left": {
+        "interior": 5,
+        "in_image_edge": 5,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "middle": {
+        "interior": 10,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "right": {
+        "interior": 0,
+        "in_image_edge": 5,
+        "off_image": 5,
+        "unprojectable": 0
+      }
+    },
+    "outer_context_edge_any": true,
+    "outer_context_off_image_any": true,
+    "outer_context_unprojectable_any": false
+  },
+  "diagnostic_tags": [
+    "rgb_camera_edge_projection"
+  ]
+}

4. old_data/motherboard/meta/2026-05-11/episode_014.parquet::left:2091-2091:branch_discontinuity

SKIP · LOW · 受影响侧：left · 原方法 unrepaired_ambiguous_branch

片段内区间：行 2091–2091（含端点），69.700–69.700 s；区间时长 0.033 s / 1 帧。源序列行 2091–2091，源区间时长 0.033 s。

完整源视频 left · 完整源视频 middle · 完整源视频 right

上下文预览：4.000 s / 120 帧，行 [2031, 2151)

原始轨迹数值图（位置与逐帧转角）原始轨迹图
数值证据、次级标签与原始拒绝原因
{
+  "original_rejection": {
+    "anchor_rotation_deg": 168.19500564948964,
+    "anchor_translation_mm": 58.17413557781018,
+    "branch_unambiguous": true,
+    "duration_frames": 1,
+    "fit_converged": true,
+    "fit_iterations": 0,
+    "left_anchor": 2090,
+    "left_context_frames": 15,
+    "observed_inlier_frames": 0,
+    "physical": false,
+    "prediction_rotation_max_deg": 84.09750282474482,
+    "prediction_translation_max_mm": 29.08706778890509,
+    "reconstructed_max_step_rotation_deg": 84.09750282474481,
+    "reconstructed_max_step_translation_mm": 29.08706778890509,
+    "rejection": "nonphysical_reconstruction",
+    "replaced_frames": 1,
+    "right_anchor": 2092,
+    "right_context_frames": 15,
+    "rotation_inlier_threshold_deg": 2.0,
+    "rotation_residual_p95_deg": 84.09750282474484,
+    "translation_inlier_threshold_mm": 3.0,
+    "translation_residual_p95_mm": 29.08706778890509
+  },
+  "metrics": {
+    "source_frames": 1,
+    "local_frames": 1,
+    "source_seconds": 0.03333333333333333,
+    "local_seconds": 0.03333333333333333,
+    "truncated_source_interval": false,
+    "insufficient_context": false,
+    "left_context_available": 2091,
+    "right_context_available": 324,
+    "max_identical_pose_run": 1,
+    "large_step_count": 1,
+    "detector_seed_count": 1,
+    "raw_max_step_rotation_deg": 168.19500564948964,
+    "raw_max_step_translation_mm": 58.17413557781018,
+    "nonfinite_or_zero_quaternion_frames": 0,
+    "rejection": "nonphysical_reconstruction",
+    "reconstructed_max_step_rotation_deg": 84.09750282474481,
+    "reconstructed_max_step_translation_mm": 29.08706778890509,
+    "prediction_rotation_max_deg": 84.09750282474482,
+    "prediction_translation_max_mm": 29.08706778890509
+  },
+  "projection": {
+    "event": {
+      "left": {
+        "interior": 1,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "middle": {
+        "interior": 0,
+        "in_image_edge": 1,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "right": {
+        "interior": 0,
+        "in_image_edge": 1,
+        "off_image": 0,
+        "unprojectable": 0
+      }
+    },
+    "event_edge_any": true,
+    "event_off_image_any": false,
+    "event_unprojectable_any": false,
+    "outer_context": {
+      "left": {
+        "interior": 10,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "middle": {
+        "interior": 0,
+        "in_image_edge": 10,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "right": {
+        "interior": 0,
+        "in_image_edge": 10,
+        "off_image": 0,
+        "unprojectable": 0
+      }
+    },
+    "outer_context_edge_any": true,
+    "outer_context_off_image_any": false,
+    "outer_context_unprojectable_any": false
+  },
+  "diagnostic_tags": [
+    "rgb_camera_edge_projection"
+  ]
+}

5. old_data/motherboard/meta/2026-05-11/episode_013.parquet::left:5877-5877:branch_discontinuity

SKIP · LOW · 受影响侧：left · 原方法 unrepaired_ambiguous_branch

片段内区间：行 5877–5877（含端点），195.900–195.900 s；区间时长 0.033 s / 1 帧。源序列行 5877–5877，源区间时长 0.033 s。

完整源视频 left · 完整源视频 middle · 完整源视频 right

上下文预览：4.000 s / 120 帧，行 [5817, 5937)

原始轨迹数值图（位置与逐帧转角）原始轨迹图
数值证据、次级标签与原始拒绝原因
{
+  "original_rejection": {
+    "anchor_rotation_deg": 161.013299894793,
+    "anchor_translation_mm": 87.88724722061447,
+    "branch_unambiguous": true,
+    "duration_frames": 1,
+    "fit_converged": true,
+    "fit_iterations": 0,
+    "left_anchor": 5876,
+    "left_context_frames": 15,
+    "observed_inlier_frames": 0,
+    "physical": false,
+    "prediction_rotation_max_deg": 80.5066499473965,
+    "prediction_translation_max_mm": 43.943623610307235,
+    "reconstructed_max_step_rotation_deg": 80.50664994739647,
+    "reconstructed_max_step_translation_mm": 43.943623610307235,
+    "rejection": "nonphysical_reconstruction",
+    "replaced_frames": 1,
+    "right_anchor": 5878,
+    "right_context_frames": 15,
+    "rotation_inlier_threshold_deg": 2.0,
+    "rotation_residual_p95_deg": 80.5066499473965,
+    "translation_inlier_threshold_mm": 3.0,
+    "translation_residual_p95_mm": 43.943623610307235
+  },
+  "metrics": {
+    "source_frames": 1,
+    "local_frames": 1,
+    "source_seconds": 0.03333333333333333,
+    "local_seconds": 0.03333333333333333,
+    "truncated_source_interval": false,
+    "insufficient_context": false,
+    "left_context_available": 5877,
+    "right_context_available": 6846,
+    "max_identical_pose_run": 1,
+    "large_step_count": 1,
+    "detector_seed_count": 1,
+    "raw_max_step_rotation_deg": 161.01329989479297,
+    "raw_max_step_translation_mm": 87.88724722061447,
+    "nonfinite_or_zero_quaternion_frames": 0,
+    "rejection": "nonphysical_reconstruction",
+    "reconstructed_max_step_rotation_deg": 80.50664994739647,
+    "reconstructed_max_step_translation_mm": 43.943623610307235,
+    "prediction_rotation_max_deg": 80.5066499473965,
+    "prediction_translation_max_mm": 43.943623610307235
+  },
+  "projection": {
+    "event": {
+      "left": {
+        "interior": 1,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "middle": {
+        "interior": 1,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "right": {
+        "interior": 1,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      }
+    },
+    "event_edge_any": false,
+    "event_off_image_any": false,
+    "event_unprojectable_any": false,
+    "outer_context": {
+      "left": {
+        "interior": 10,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "middle": {
+        "interior": 5,
+        "in_image_edge": 0,
+        "off_image": 5,
+        "unprojectable": 0
+      },
+      "right": {
+        "interior": 10,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      }
+    },
+    "outer_context_edge_any": false,
+    "outer_context_off_image_any": true,
+    "outer_context_unprojectable_any": false
+  },
+  "diagnostic_tags": []
+}

6. old_data/motherboard/meta/2026-05-10/episode_001.parquet::left:7124-7124:branch_discontinuity

SKIP · LOW · 受影响侧：left · 原方法 unrepaired_ambiguous_branch

片段内区间：行 7124–7124（含端点），237.467–237.467 s；区间时长 0.033 s / 1 帧。源序列行 7124–7124，源区间时长 0.033 s。

完整源视频 left · 完整源视频 middle · 完整源视频 right

上下文预览：4.000 s / 120 帧，行 [7064, 7184)

原始轨迹数值图（位置与逐帧转角）原始轨迹图
数值证据、次级标签与原始拒绝原因
{
+  "original_rejection": {
+    "anchor_rotation_deg": 159.6409231099266,
+    "anchor_translation_mm": 82.1978926987488,
+    "branch_unambiguous": true,
+    "duration_frames": 1,
+    "fit_converged": true,
+    "fit_iterations": 0,
+    "left_anchor": 7123,
+    "left_context_frames": 15,
+    "observed_inlier_frames": 0,
+    "physical": false,
+    "prediction_rotation_max_deg": 79.8204615549633,
+    "prediction_translation_max_mm": 41.0989463493744,
+    "reconstructed_max_step_rotation_deg": 79.82046155496327,
+    "reconstructed_max_step_translation_mm": 41.0989463493744,
+    "rejection": "nonphysical_reconstruction",
+    "replaced_frames": 1,
+    "right_anchor": 7125,
+    "right_context_frames": 15,
+    "rotation_inlier_threshold_deg": 2.0,
+    "rotation_residual_p95_deg": 79.82046155496329,
+    "translation_inlier_threshold_mm": 3.0,
+    "translation_residual_p95_mm": 41.0989463493744
+  },
+  "metrics": {
+    "source_frames": 1,
+    "local_frames": 1,
+    "source_seconds": 0.03333333333333333,
+    "local_seconds": 0.03333333333333333,
+    "truncated_source_interval": false,
+    "insufficient_context": false,
+    "left_context_available": 7124,
+    "right_context_available": 496,
+    "max_identical_pose_run": 1,
+    "large_step_count": 1,
+    "detector_seed_count": 1,
+    "raw_max_step_rotation_deg": 159.6409231099266,
+    "raw_max_step_translation_mm": 82.1978926987488,
+    "nonfinite_or_zero_quaternion_frames": 0,
+    "rejection": "nonphysical_reconstruction",
+    "reconstructed_max_step_rotation_deg": 79.82046155496327,
+    "reconstructed_max_step_translation_mm": 41.0989463493744,
+    "prediction_rotation_max_deg": 79.8204615549633,
+    "prediction_translation_max_mm": 41.0989463493744
+  },
+  "projection": {
+    "event": {
+      "left": {
+        "interior": 1,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "middle": {
+        "interior": 1,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "right": {
+        "interior": 1,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      }
+    },
+    "event_edge_any": false,
+    "event_off_image_any": false,
+    "event_unprojectable_any": false,
+    "outer_context": {
+      "left": {
+        "interior": 10,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "middle": {
+        "interior": 10,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "right": {
+        "interior": 10,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      }
+    },
+    "outer_context_edge_any": false,
+    "outer_context_off_image_any": false,
+    "outer_context_unprojectable_any": false
+  },
+  "diagnostic_tags": []
+}

短区间前后预测不一致 — 24 个区间

短区间内大幅跳变不密集，但前向与后向预测相差超过15°或30 mm；平滑插值不等于真实运动。

展示 6 个不同区间。

7. data/motherboard/meta/2026-09-12/episode_000_seg00.parquet::right:18241-18269:known_gap

SKIP · LOW · 受影响侧：right · 原方法 unrepaired_ambiguous_branch

片段内区间：行 18241–18269（含端点），608.033–608.967 s；区间时长 0.967 s / 29 帧。源序列行 18241–18269，源区间时长 0.967 s。

完整源视频 left · 完整源视频 middle · 完整源视频 right

上下文预览：4.000 s / 120 帧，行 [18195, 18315)

原始轨迹数值图（位置与逐帧转角）原始轨迹图
数值证据、次级标签与原始拒绝原因
{
+  "original_rejection": {
+    "branch_unambiguous": true,
+    "duration_frames": 29,
+    "fit_converged": true,
+    "fit_iterations": 2,
+    "left_anchor": 18240,
+    "left_context_frames": 15,
+    "observed_inlier_frames": 0,
+    "physical": true,
+    "prediction_rotation_max_deg": 25.834501740871318,
+    "prediction_translation_max_mm": 15.090656088135642,
+    "reconstructed_max_step_rotation_deg": 1.1326677708465143,
+    "reconstructed_max_step_translation_mm": 0.5728805670187909,
+    "rejection": "incompatible_two_sided_prediction",
+    "replaced_frames": 29,
+    "right_anchor": 18270,
+    "right_context_frames": 15,
+    "rotation_inlier_threshold_deg": 5.304836298218591,
+    "rotation_residual_p95_deg": 17.994014368462977,
+    "translation_inlier_threshold_mm": 4.795698479997411,
+    "translation_residual_p95_mm": 6.951045398426912
+  },
+  "metrics": {
+    "source_frames": 29,
+    "local_frames": 29,
+    "source_seconds": 0.9666666666666667,
+    "local_seconds": 0.9666666666666667,
+    "truncated_source_interval": false,
+    "insufficient_context": false,
+    "left_context_available": 18241,
+    "right_context_available": 20150,
+    "max_identical_pose_run": 1,
+    "large_step_count": 0,
+    "detector_seed_count": 0,
+    "raw_max_step_rotation_deg": 20.31462039479269,
+    "raw_max_step_translation_mm": 6.651271088974094,
+    "nonfinite_or_zero_quaternion_frames": 0,
+    "rejection": "incompatible_two_sided_prediction",
+    "reconstructed_max_step_rotation_deg": 1.1326677708465143,
+    "reconstructed_max_step_translation_mm": 0.5728805670187909,
+    "prediction_rotation_max_deg": 25.834501740871318,
+    "prediction_translation_max_mm": 15.090656088135642
+  },
+  "projection": {
+    "event": {
+      "left": {
+        "interior": 29,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "middle": {
+        "interior": 29,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "right": {
+        "interior": 29,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      }
+    },
+    "event_edge_any": false,
+    "event_off_image_any": false,
+    "event_unprojectable_any": false,
+    "outer_context": {
+      "left": {
+        "interior": 10,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "middle": {
+        "interior": 10,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "right": {
+        "interior": 10,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      }
+    },
+    "outer_context_edge_any": false,
+    "outer_context_off_image_any": false,
+    "outer_context_unprojectable_any": false
+  },
+  "diagnostic_tags": []
+}

8. data/rope/meta/2026-09-11/episode_000_seg03.parquet::left:11587-11592:branch_discontinuity

SKIP · LOW · 受影响侧：left · 原方法 unrepaired_ambiguous_branch

片段内区间：行 572–577（含端点），19.067–19.233 s；区间时长 0.200 s / 6 帧。源序列行 11587–11592，源区间时长 0.200 s。

完整源视频 left · 完整源视频 middle · 完整源视频 right

上下文预览：4.000 s / 120 帧，行 [515, 635)

原始轨迹数值图（位置与逐帧转角）原始轨迹图
数值证据、次级标签与原始拒绝原因
{
+  "original_rejection": {
+    "branch_unambiguous": true,
+    "duration_frames": 6,
+    "fit_converged": true,
+    "fit_iterations": 2,
+    "left_anchor": 11586,
+    "left_context_frames": 15,
+    "observed_inlier_frames": 0,
+    "physical": true,
+    "prediction_rotation_max_deg": 24.203162546258113,
+    "prediction_translation_max_mm": 89.48696400820927,
+    "reconstructed_max_step_rotation_deg": 5.043562399061748,
+    "reconstructed_max_step_translation_mm": 12.410288031310655,
+    "rejection": "incompatible_two_sided_prediction",
+    "replaced_frames": 6,
+    "right_anchor": 11593,
+    "right_context_frames": 15,
+    "rotation_inlier_threshold_deg": 5.905907178923561,
+    "rotation_residual_p95_deg": 66.39521701459724,
+    "translation_inlier_threshold_mm": 13.41213148001669,
+    "translation_residual_p95_mm": 24.60265834943603
+  },
+  "metrics": {
+    "source_frames": 6,
+    "local_frames": 6,
+    "source_seconds": 0.2,
+    "local_seconds": 0.2,
+    "truncated_source_interval": false,
+    "insufficient_context": false,
+    "left_context_available": 572,
+    "right_context_available": 1006,
+    "max_identical_pose_run": 1,
+    "large_step_count": 2,
+    "detector_seed_count": 2,
+    "raw_max_step_rotation_deg": 66.7063070740053,
+    "raw_max_step_translation_mm": 27.307043018281963,
+    "nonfinite_or_zero_quaternion_frames": 0,
+    "rejection": "incompatible_two_sided_prediction",
+    "reconstructed_max_step_rotation_deg": 5.043562399061748,
+    "reconstructed_max_step_translation_mm": 12.410288031310655,
+    "prediction_rotation_max_deg": 24.203162546258113,
+    "prediction_translation_max_mm": 89.48696400820927
+  },
+  "projection": {
+    "event": {
+      "left": {
+        "interior": 6,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "middle": {
+        "interior": 6,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "right": {
+        "interior": 6,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      }
+    },
+    "event_edge_any": false,
+    "event_off_image_any": false,
+    "event_unprojectable_any": false,
+    "outer_context": {
+      "left": {
+        "interior": 10,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "middle": {
+        "interior": 10,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "right": {
+        "interior": 10,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      }
+    },
+    "outer_context_edge_any": false,
+    "outer_context_off_image_any": false,
+    "outer_context_unprojectable_any": false
+  },
+  "diagnostic_tags": []
+}

9. old_data/pushT/meta/2026-06-18/episode_002.parquet::right:301-320:branch_discontinuity

SKIP · LOW · 受影响侧：right · 原方法 unrepaired_ambiguous_branch

片段内区间：行 301–320（含端点），10.033–10.667 s；区间时长 0.667 s / 20 帧。源序列行 301–320，源区间时长 0.667 s。

完整源视频 left · 完整源视频 middle · 完整源视频 right

上下文预览：4.000 s / 120 帧，行 [251, 371)

原始轨迹数值图（位置与逐帧转角）原始轨迹图
数值证据、次级标签与原始拒绝原因
{
+  "original_rejection": {
+    "branch_unambiguous": true,
+    "duration_frames": 20,
+    "fit_converged": true,
+    "fit_iterations": 2,
+    "left_anchor": 300,
+    "left_context_frames": 15,
+    "observed_inlier_frames": 0,
+    "physical": true,
+    "prediction_rotation_max_deg": 20.771798891634713,
+    "prediction_translation_max_mm": 45.27084587953922,
+    "reconstructed_max_step_rotation_deg": 0.8164163465165032,
+    "reconstructed_max_step_translation_mm": 2.997444792093935,
+    "rejection": "incompatible_two_sided_prediction",
+    "replaced_frames": 20,
+    "right_anchor": 321,
+    "right_context_frames": 15,
+    "rotation_inlier_threshold_deg": 8.968667571343923,
+    "rotation_residual_p95_deg": 24.968234658045215,
+    "translation_inlier_threshold_mm": 18.86277735323535,
+    "translation_residual_p95_mm": 88.24430543192815
+  },
+  "metrics": {
+    "source_frames": 20,
+    "local_frames": 20,
+    "source_seconds": 0.6666666666666666,
+    "local_seconds": 0.6666666666666666,
+    "truncated_source_interval": false,
+    "insufficient_context": false,
+    "left_context_available": 301,
+    "right_context_available": 13300,
+    "max_identical_pose_run": 1,
+    "large_step_count": 1,
+    "detector_seed_count": 3,
+    "raw_max_step_rotation_deg": 22.015113233354928,
+    "raw_max_step_translation_mm": 79.78905906595088,
+    "nonfinite_or_zero_quaternion_frames": 0,
+    "rejection": "incompatible_two_sided_prediction",
+    "reconstructed_max_step_rotation_deg": 0.8164163465165032,
+    "reconstructed_max_step_translation_mm": 2.997444792093935,
+    "prediction_rotation_max_deg": 20.771798891634713,
+    "prediction_translation_max_mm": 45.27084587953922
+  },
+  "projection": {
+    "event": {
+      "left": {
+        "interior": 20,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "middle": {
+        "interior": 20,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "right": {
+        "interior": 20,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      }
+    },
+    "event_edge_any": false,
+    "event_off_image_any": false,
+    "event_unprojectable_any": false,
+    "outer_context": {
+      "left": {
+        "interior": 10,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "middle": {
+        "interior": 10,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "right": {
+        "interior": 10,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      }
+    },
+    "outer_context_edge_any": false,
+    "outer_context_off_image_any": false,
+    "outer_context_unprojectable_any": false
+  },
+  "diagnostic_tags": []
+}

10. data/validation/meta/2026-09-09/episode_003.parquet::right:4261-4271:branch_discontinuity

SKIP · LOW · 受影响侧：right · 原方法 unrepaired_ambiguous_branch

片段内区间：行 4261–4271（含端点），142.033–142.367 s；区间时长 0.367 s / 11 帧。源序列行 4261–4271，源区间时长 0.367 s。

完整源视频 left · 完整源视频 middle · 完整源视频 right

上下文预览：4.000 s / 120 帧，行 [4206, 4326)

原始轨迹数值图（位置与逐帧转角）原始轨迹图
数值证据、次级标签与原始拒绝原因
{
+  "original_rejection": {
+    "branch_unambiguous": true,
+    "duration_frames": 11,
+    "fit_converged": true,
+    "fit_iterations": 2,
+    "left_anchor": 4260,
+    "left_context_frames": 15,
+    "observed_inlier_frames": 0,
+    "physical": true,
+    "prediction_rotation_max_deg": 16.053186186919707,
+    "prediction_translation_max_mm": 173.08896437664598,
+    "reconstructed_max_step_rotation_deg": 1.4483872365855668,
+    "reconstructed_max_step_translation_mm": 13.858846084873601,
+    "rejection": "incompatible_two_sided_prediction",
+    "replaced_frames": 11,
+    "right_anchor": 4272,
+    "right_context_frames": 15,
+    "rotation_inlier_threshold_deg": 2.0,
+    "rotation_residual_p95_deg": 142.990337593129,
+    "translation_inlier_threshold_mm": 15.50974498042483,
+    "translation_residual_p95_mm": 37.202415142682966
+  },
+  "metrics": {
+    "source_frames": 11,
+    "local_frames": 11,
+    "source_seconds": 0.36666666666666664,
+    "local_seconds": 0.36666666666666664,
+    "truncated_source_interval": false,
+    "insufficient_context": false,
+    "left_context_available": 4261,
+    "right_context_available": 9212,
+    "max_identical_pose_run": 1,
+    "large_step_count": 2,
+    "detector_seed_count": 2,
+    "raw_max_step_rotation_deg": 143.81874163315635,
+    "raw_max_step_translation_mm": 40.18353938880119,
+    "nonfinite_or_zero_quaternion_frames": 0,
+    "rejection": "incompatible_two_sided_prediction",
+    "reconstructed_max_step_rotation_deg": 1.4483872365855668,
+    "reconstructed_max_step_translation_mm": 13.858846084873601,
+    "prediction_rotation_max_deg": 16.053186186919707,
+    "prediction_translation_max_mm": 173.08896437664598
+  },
+  "projection": {
+    "event": {
+      "left": {
+        "interior": 0,
+        "in_image_edge": 0,
+        "off_image": 11,
+        "unprojectable": 0
+      },
+      "middle": {
+        "interior": 0,
+        "in_image_edge": 0,
+        "off_image": 11,
+        "unprojectable": 0
+      },
+      "right": {
+        "interior": 11,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      }
+    },
+    "event_edge_any": false,
+    "event_off_image_any": true,
+    "event_unprojectable_any": false,
+    "outer_context": {
+      "left": {
+        "interior": 0,
+        "in_image_edge": 0,
+        "off_image": 10,
+        "unprojectable": 0
+      },
+      "middle": {
+        "interior": 0,
+        "in_image_edge": 0,
+        "off_image": 10,
+        "unprojectable": 0
+      },
+      "right": {
+        "interior": 10,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      }
+    },
+    "outer_context_edge_any": false,
+    "outer_context_off_image_any": true,
+    "outer_context_unprojectable_any": false
+  },
+  "diagnostic_tags": [
+    "rgb_camera_off_image_projection"
+  ]
+}

11. old_data/motherboard/meta/2026-05-11/episode_013.parquet::left:10088-10109:known_gap

SKIP · LOW · 受影响侧：left · 原方法 unrepaired_ambiguous_branch

片段内区间：行 10088–10109（含端点），336.267–336.967 s；区间时长 0.733 s / 22 帧。源序列行 10088–10109，源区间时长 0.733 s。

完整源视频 left · 完整源视频 middle · 完整源视频 right

上下文预览：4.000 s / 120 帧，行 [10039, 10159)

原始轨迹数值图（位置与逐帧转角）原始轨迹图
数值证据、次级标签与原始拒绝原因
{
+  "original_rejection": {
+    "branch_unambiguous": true,
+    "duration_frames": 22,
+    "fit_converged": true,
+    "fit_iterations": 2,
+    "left_anchor": 10087,
+    "left_context_frames": 15,
+    "observed_inlier_frames": 0,
+    "physical": true,
+    "prediction_rotation_max_deg": 133.56426349552356,
+    "prediction_translation_max_mm": 37.25103169552997,
+    "reconstructed_max_step_rotation_deg": 4.7378909418728625,
+    "reconstructed_max_step_translation_mm": 1.3801651647398634,
+    "rejection": "incompatible_two_sided_prediction",
+    "replaced_frames": 22,
+    "right_anchor": 10110,
+    "right_context_frames": 15,
+    "rotation_inlier_threshold_deg": 12.0,
+    "rotation_residual_p95_deg": 37.21708596505604,
+    "translation_inlier_threshold_mm": 10.809013331710933,
+    "translation_residual_p95_mm": 10.396775907361999
+  },
+  "metrics": {
+    "source_frames": 22,
+    "local_frames": 22,
+    "source_seconds": 0.7333333333333333,
+    "local_seconds": 0.7333333333333333,
+    "truncated_source_interval": false,
+    "insufficient_context": false,
+    "left_context_available": 10088,
+    "right_context_available": 2614,
+    "max_identical_pose_run": 2,
+    "large_step_count": 0,
+    "detector_seed_count": 0,
+    "raw_max_step_rotation_deg": 24.859759534617584,
+    "raw_max_step_translation_mm": 6.784011805894587,
+    "nonfinite_or_zero_quaternion_frames": 0,
+    "rejection": "incompatible_two_sided_prediction",
+    "reconstructed_max_step_rotation_deg": 4.7378909418728625,
+    "reconstructed_max_step_translation_mm": 1.3801651647398634,
+    "prediction_rotation_max_deg": 133.56426349552356,
+    "prediction_translation_max_mm": 37.25103169552997
+  },
+  "projection": {
+    "event": {
+      "left": {
+        "interior": 0,
+        "in_image_edge": 0,
+        "off_image": 22,
+        "unprojectable": 0
+      },
+      "middle": {
+        "interior": 0,
+        "in_image_edge": 0,
+        "off_image": 22,
+        "unprojectable": 0
+      },
+      "right": {
+        "interior": 0,
+        "in_image_edge": 22,
+        "off_image": 0,
+        "unprojectable": 0
+      }
+    },
+    "event_edge_any": true,
+    "event_off_image_any": true,
+    "event_unprojectable_any": false,
+    "outer_context": {
+      "left": {
+        "interior": 0,
+        "in_image_edge": 0,
+        "off_image": 10,
+        "unprojectable": 0
+      },
+      "middle": {
+        "interior": 0,
+        "in_image_edge": 0,
+        "off_image": 10,
+        "unprojectable": 0
+      },
+      "right": {
+        "interior": 0,
+        "in_image_edge": 10,
+        "off_image": 0,
+        "unprojectable": 0
+      }
+    },
+    "outer_context_edge_any": true,
+    "outer_context_off_image_any": true,
+    "outer_context_unprojectable_any": false
+  },
+  "diagnostic_tags": [
+    "rgb_camera_edge_projection",
+    "rgb_camera_off_image_projection"
+  ]
+}

12. data/rope/meta/2026-09-14/episode_002_seg03.parquet::right:14048-14054:branch_discontinuity

SKIP · LOW · 受影响侧：right · 原方法 unrepaired_ambiguous_branch

片段内区间：行 3691–3697（含端点），123.033–123.233 s；区间时长 0.233 s / 7 帧。源序列行 14048–14054，源区间时长 0.233 s。

完整源视频 left · 完整源视频 middle · 完整源视频 right

上下文预览：4.000 s / 120 帧，行 [3634, 3754)

原始轨迹数值图（位置与逐帧转角）原始轨迹图
数值证据、次级标签与原始拒绝原因
{
+  "original_rejection": {
+    "branch_unambiguous": true,
+    "duration_frames": 7,
+    "fit_converged": true,
+    "fit_iterations": 2,
+    "left_anchor": 14047,
+    "left_context_frames": 15,
+    "observed_inlier_frames": 0,
+    "physical": true,
+    "prediction_rotation_max_deg": 30.58478351274292,
+    "prediction_translation_max_mm": 126.7372179232362,
+    "reconstructed_max_step_rotation_deg": 2.6311817651576,
+    "reconstructed_max_step_translation_mm": 10.177574234741419,
+    "rejection": "incompatible_two_sided_prediction",
+    "replaced_frames": 7,
+    "right_anchor": 14055,
+    "right_context_frames": 15,
+    "rotation_inlier_threshold_deg": 5.099946951738856,
+    "rotation_residual_p95_deg": 48.281013046616984,
+    "translation_inlier_threshold_mm": 11.407784075524958,
+    "translation_residual_p95_mm": 30.5972761916881
+  },
+  "metrics": {
+    "source_frames": 7,
+    "local_frames": 7,
+    "source_seconds": 0.23333333333333334,
+    "local_seconds": 0.23333333333333334,
+    "truncated_source_interval": false,
+    "insufficient_context": false,
+    "left_context_available": 3691,
+    "right_context_available": 814,
+    "max_identical_pose_run": 1,
+    "large_step_count": 2,
+    "detector_seed_count": 2,
+    "raw_max_step_rotation_deg": 43.92690127404824,
+    "raw_max_step_translation_mm": 16.23869944695147,
+    "nonfinite_or_zero_quaternion_frames": 0,
+    "rejection": "incompatible_two_sided_prediction",
+    "reconstructed_max_step_rotation_deg": 2.6311817651576,
+    "reconstructed_max_step_translation_mm": 10.177574234741419,
+    "prediction_rotation_max_deg": 30.58478351274292,
+    "prediction_translation_max_mm": 126.7372179232362
+  },
+  "projection": {
+    "event": {
+      "left": {
+        "interior": 7,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "middle": {
+        "interior": 7,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "right": {
+        "interior": 7,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      }
+    },
+    "event_edge_any": false,
+    "event_off_image_any": false,
+    "event_unprojectable_any": false,
+    "outer_context": {
+      "left": {
+        "interior": 10,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "middle": {
+        "interior": 10,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "right": {
+        "interior": 10,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      }
+    },
+    "outer_context_edge_any": false,
+    "outer_context_off_image_any": false,
+    "outer_context_unprojectable_any": false
+  },
+  "diagnostic_tags": []
+}

反复闪跳／多次切换 — 17 个区间

含相邻锚点的窗口中，至少3个逐帧变化超过30°或50 mm，且未被长区间或重复位姿类别优先收纳。

展示 6 个不同区间。

13. old_data/motherboard/meta/2026-05-10/episode_002.parquet::left:9205-9237:known_gap

SKIP · LOW · 受影响侧：left · 原方法 unrepaired_ambiguous_branch

片段内区间：行 9205–9237（含端点），306.833–307.900 s；区间时长 1.100 s / 33 帧。源序列行 9205–9237，源区间时长 1.100 s。

完整源视频 left · 完整源视频 middle · 完整源视频 right

上下文预览：4.000 s / 120 帧，行 [9161, 9281)

原始轨迹数值图（位置与逐帧转角）原始轨迹图
数值证据、次级标签与原始拒绝原因
{
+  "original_rejection": {
+    "branch_unambiguous": true,
+    "duration_frames": 33,
+    "fit_converged": true,
+    "fit_iterations": 2,
+    "left_anchor": 9204,
+    "left_context_frames": 15,
+    "observed_inlier_frames": 0,
+    "physical": true,
+    "prediction_rotation_max_deg": 41.12242227824259,
+    "prediction_translation_max_mm": 93.45049251800818,
+    "reconstructed_max_step_rotation_deg": 1.1944331698558237,
+    "reconstructed_max_step_translation_mm": 3.9153587609116376,
+    "rejection": "incompatible_two_sided_prediction",
+    "replaced_frames": 33,
+    "right_anchor": 9238,
+    "right_context_frames": 15,
+    "rotation_inlier_threshold_deg": 4.929367187733037,
+    "rotation_residual_p95_deg": 67.08179257887073,
+    "translation_inlier_threshold_mm": 5.7842902395895806,
+    "translation_residual_p95_mm": 302.8708726841903
+  },
+  "metrics": {
+    "source_frames": 33,
+    "local_frames": 33,
+    "source_seconds": 1.1,
+    "local_seconds": 1.1,
+    "truncated_source_interval": false,
+    "insufficient_context": false,
+    "left_context_available": 9205,
+    "right_context_available": 1237,
+    "max_identical_pose_run": 1,
+    "large_step_count": 8,
+    "detector_seed_count": 6,
+    "raw_max_step_rotation_deg": 25.532857637147487,
+    "raw_max_step_translation_mm": 87.50636056955449,
+    "nonfinite_or_zero_quaternion_frames": 0,
+    "rejection": "incompatible_two_sided_prediction",
+    "reconstructed_max_step_rotation_deg": 1.1944331698558237,
+    "reconstructed_max_step_translation_mm": 3.9153587609116376,
+    "prediction_rotation_max_deg": 41.12242227824259,
+    "prediction_translation_max_mm": 93.45049251800818
+  },
+  "projection": {
+    "event": {
+      "left": {
+        "interior": 33,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "middle": {
+        "interior": 33,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "right": {
+        "interior": 33,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      }
+    },
+    "event_edge_any": false,
+    "event_off_image_any": false,
+    "event_unprojectable_any": false,
+    "outer_context": {
+      "left": {
+        "interior": 10,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "middle": {
+        "interior": 10,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "right": {
+        "interior": 10,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      }
+    },
+    "outer_context_edge_any": false,
+    "outer_context_off_image_any": false,
+    "outer_context_unprojectable_any": false
+  },
+  "diagnostic_tags": [
+    "repeated_physical_limit_steps"
+  ]
+}

14. data/rope/meta/2026-09-14/episode_001_seg00.parquet::right:931-940:branch_discontinuity

SKIP · LOW · 受影响侧：right · 原方法 unrepaired_ambiguous_branch

片段内区间：行 530–539（含端点），17.667–17.967 s；区间时长 0.333 s / 10 帧。源序列行 931–940，源区间时长 0.333 s。

完整源视频 left · 完整源视频 middle · 完整源视频 right

上下文预览：4.000 s / 120 帧，行 [475, 595)

原始轨迹数值图（位置与逐帧转角）原始轨迹图
数值证据、次级标签与原始拒绝原因
{
+  "original_rejection": {
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+    "duration_frames": 10,
+    "fit_converged": true,
+    "fit_iterations": 2,
+    "left_anchor": 930,
+    "left_context_frames": 15,
+    "observed_inlier_frames": 1,
+    "physical": true,
+    "prediction_rotation_max_deg": 41.385191716229656,
+    "prediction_translation_max_mm": 185.7874568149193,
+    "reconstructed_max_step_rotation_deg": 4.991231934302335,
+    "reconstructed_max_step_translation_mm": 15.972088606891433,
+    "rejection": "incompatible_two_sided_prediction",
+    "replaced_frames": 9,
+    "right_anchor": 941,
+    "right_context_frames": 15,
+    "rotation_inlier_threshold_deg": 12.0,
+    "rotation_residual_p95_deg": 33.73542370190596,
+    "translation_inlier_threshold_mm": 16.736216074186327,
+    "translation_residual_p95_mm": 28.40525650782247
+  },
+  "metrics": {
+    "source_frames": 10,
+    "local_frames": 10,
+    "source_seconds": 0.3333333333333333,
+    "local_seconds": 0.3333333333333333,
+    "truncated_source_interval": false,
+    "insufficient_context": false,
+    "left_context_available": 530,
+    "right_context_available": 892,
+    "max_identical_pose_run": 1,
+    "large_step_count": 3,
+    "detector_seed_count": 3,
+    "raw_max_step_rotation_deg": 37.62950637844545,
+    "raw_max_step_translation_mm": 17.58801250117101,
+    "nonfinite_or_zero_quaternion_frames": 0,
+    "rejection": "incompatible_two_sided_prediction",
+    "reconstructed_max_step_rotation_deg": 4.991231934302335,
+    "reconstructed_max_step_translation_mm": 15.972088606891433,
+    "prediction_rotation_max_deg": 41.385191716229656,
+    "prediction_translation_max_mm": 185.7874568149193
+  },
+  "projection": {
+    "event": {
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+    "event_edge_any": false,
+    "event_off_image_any": false,
+    "event_unprojectable_any": false,
+    "outer_context": {
+      "left": {
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+        "unprojectable": 0
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+      "middle": {
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+        "unprojectable": 0
+      },
+      "right": {
+        "interior": 10,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      }
+    },
+    "outer_context_edge_any": false,
+    "outer_context_off_image_any": false,
+    "outer_context_unprojectable_any": false
+  },
+  "diagnostic_tags": [
+    "repeated_physical_limit_steps"
+  ]
+}

15. data/motherboard/meta/2026-09-11/episode_005_seg00.parquet::right:988-1010:known_gap

SKIP · LOW · 受影响侧：right · 原方法 unrepaired_ambiguous_branch

片段内区间：行 988–1010（含端点），32.933–33.667 s；区间时长 0.767 s / 23 帧。源序列行 988–1010，源区间时长 0.767 s。

完整源视频 left · 完整源视频 middle · 完整源视频 right

上下文预览：4.000 s / 120 帧，行 [939, 1059)

原始轨迹数值图（位置与逐帧转角）原始轨迹图
数值证据、次级标签与原始拒绝原因
{
+  "original_rejection": {
+    "branch_unambiguous": true,
+    "duration_frames": 23,
+    "fit_converged": true,
+    "fit_iterations": 2,
+    "left_anchor": 987,
+    "left_context_frames": 15,
+    "observed_inlier_frames": 0,
+    "physical": true,
+    "prediction_rotation_max_deg": 25.666901571080622,
+    "prediction_translation_max_mm": 81.05492076501436,
+    "reconstructed_max_step_rotation_deg": 0.8517370673452712,
+    "reconstructed_max_step_translation_mm": 2.5927819723783916,
+    "rejection": "incompatible_two_sided_prediction",
+    "replaced_frames": 23,
+    "right_anchor": 1011,
+    "right_context_frames": 15,
+    "rotation_inlier_threshold_deg": 2.4168308174733784,
+    "rotation_residual_p95_deg": 73.18756471123928,
+    "translation_inlier_threshold_mm": 4.032219895902639,
+    "translation_residual_p95_mm": 31.845096119858983
+  },
+  "metrics": {
+    "source_frames": 23,
+    "local_frames": 23,
+    "source_seconds": 0.7666666666666667,
+    "local_seconds": 0.7666666666666667,
+    "truncated_source_interval": false,
+    "insufficient_context": false,
+    "left_context_available": 988,
+    "right_context_available": 2147,
+    "max_identical_pose_run": 1,
+    "large_step_count": 7,
+    "detector_seed_count": 7,
+    "raw_max_step_rotation_deg": 74.48308114314918,
+    "raw_max_step_translation_mm": 23.759736948283106,
+    "nonfinite_or_zero_quaternion_frames": 0,
+    "rejection": "incompatible_two_sided_prediction",
+    "reconstructed_max_step_rotation_deg": 0.8517370673452712,
+    "reconstructed_max_step_translation_mm": 2.5927819723783916,
+    "prediction_rotation_max_deg": 25.666901571080622,
+    "prediction_translation_max_mm": 81.05492076501436
+  },
+  "projection": {
+    "event": {
+      "left": {
+        "interior": 23,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "middle": {
+        "interior": 23,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "right": {
+        "interior": 23,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      }
+    },
+    "event_edge_any": false,
+    "event_off_image_any": false,
+    "event_unprojectable_any": false,
+    "outer_context": {
+      "left": {
+        "interior": 10,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "middle": {
+        "interior": 10,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "right": {
+        "interior": 10,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      }
+    },
+    "outer_context_edge_any": false,
+    "outer_context_off_image_any": false,
+    "outer_context_unprojectable_any": false
+  },
+  "diagnostic_tags": [
+    "repeated_physical_limit_steps"
+  ]
+}

16. data/validation/meta/2026-09-09/episode_007.parquet::left:1821-1833:branch_discontinuity

SKIP · LOW · 受影响侧：left · 原方法 unrepaired_ambiguous_branch

片段内区间：行 1821–1833（含端点），60.700–61.100 s；区间时长 0.433 s / 13 帧。源序列行 1821–1833，源区间时长 0.433 s。

完整源视频 left · 完整源视频 middle · 完整源视频 right

上下文预览：4.000 s / 120 帧，行 [1767, 1887)

原始轨迹数值图（位置与逐帧转角）原始轨迹图
数值证据、次级标签与原始拒绝原因
{
+  "original_rejection": {
+    "branch_unambiguous": true,
+    "duration_frames": 13,
+    "fit_converged": true,
+    "fit_iterations": 2,
+    "left_anchor": 1820,
+    "left_context_frames": 15,
+    "observed_inlier_frames": 0,
+    "physical": true,
+    "prediction_rotation_max_deg": 9.240581419421837,
+    "prediction_translation_max_mm": 39.5746706129019,
+    "reconstructed_max_step_rotation_deg": 0.8573109593137522,
+    "reconstructed_max_step_translation_mm": 6.297036303028612,
+    "rejection": "incompatible_two_sided_prediction",
+    "replaced_frames": 13,
+    "right_anchor": 1834,
+    "right_context_frames": 15,
+    "rotation_inlier_threshold_deg": 2.0,
+    "rotation_residual_p95_deg": 139.20541046732117,
+    "translation_inlier_threshold_mm": 7.457798522319662,
+    "translation_residual_p95_mm": 39.38277410990059
+  },
+  "metrics": {
+    "source_frames": 13,
+    "local_frames": 13,
+    "source_seconds": 0.43333333333333335,
+    "local_seconds": 0.43333333333333335,
+    "truncated_source_interval": false,
+    "insufficient_context": false,
+    "left_context_available": 1821,
+    "right_context_available": 2655,
+    "max_identical_pose_run": 1,
+    "large_step_count": 4,
+    "detector_seed_count": 4,
+    "raw_max_step_rotation_deg": 145.3346194496329,
+    "raw_max_step_translation_mm": 44.22825085937999,
+    "nonfinite_or_zero_quaternion_frames": 0,
+    "rejection": "incompatible_two_sided_prediction",
+    "reconstructed_max_step_rotation_deg": 0.8573109593137522,
+    "reconstructed_max_step_translation_mm": 6.297036303028612,
+    "prediction_rotation_max_deg": 9.240581419421837,
+    "prediction_translation_max_mm": 39.5746706129019
+  },
+  "projection": {
+    "event": {
+      "left": {
+        "interior": 13,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "middle": {
+        "interior": 12,
+        "in_image_edge": 1,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "right": {
+        "interior": 9,
+        "in_image_edge": 4,
+        "off_image": 0,
+        "unprojectable": 0
+      }
+    },
+    "event_edge_any": true,
+    "event_off_image_any": false,
+    "event_unprojectable_any": false,
+    "outer_context": {
+      "left": {
+        "interior": 10,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "middle": {
+        "interior": 10,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "right": {
+        "interior": 10,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      }
+    },
+    "outer_context_edge_any": false,
+    "outer_context_off_image_any": false,
+    "outer_context_unprojectable_any": false
+  },
+  "diagnostic_tags": [
+    "repeated_physical_limit_steps",
+    "rgb_camera_edge_projection"
+  ]
+}

17. old_data/pushT/meta/2026-06-18/episode_002.parquet::left:971-990:branch_discontinuity

SKIP · LOW · 受影响侧：left · 原方法 unrepaired_ambiguous_branch

片段内区间：行 971–990（含端点），32.367–33.000 s；区间时长 0.667 s / 20 帧。源序列行 971–990，源区间时长 0.667 s。

完整源视频 left · 完整源视频 middle · 完整源视频 right

上下文预览：4.000 s / 120 帧，行 [921, 1041)

原始轨迹数值图（位置与逐帧转角）原始轨迹图
数值证据、次级标签与原始拒绝原因
{
+  "original_rejection": {
+    "branch_unambiguous": true,
+    "duration_frames": 20,
+    "fit_converged": true,
+    "fit_iterations": 2,
+    "left_anchor": 970,
+    "left_context_frames": 15,
+    "observed_inlier_frames": 0,
+    "physical": true,
+    "prediction_rotation_max_deg": 46.65565562737393,
+    "prediction_translation_max_mm": 168.59034269658986,
+    "reconstructed_max_step_rotation_deg": 2.9466926655012373,
+    "reconstructed_max_step_translation_mm": 10.373368570253607,
+    "rejection": "incompatible_two_sided_prediction",
+    "replaced_frames": 20,
+    "right_anchor": 991,
+    "right_context_frames": 15,
+    "rotation_inlier_threshold_deg": 4.968948032074547,
+    "rotation_residual_p95_deg": 34.28591038267104,
+    "translation_inlier_threshold_mm": 12.18450432694194,
+    "translation_residual_p95_mm": 160.65846081863037
+  },
+  "metrics": {
+    "source_frames": 20,
+    "local_frames": 20,
+    "source_seconds": 0.6666666666666666,
+    "local_seconds": 0.6666666666666666,
+    "truncated_source_interval": false,
+    "insufficient_context": false,
+    "left_context_available": 971,
+    "right_context_available": 12630,
+    "max_identical_pose_run": 1,
+    "large_step_count": 3,
+    "detector_seed_count": 3,
+    "raw_max_step_rotation_deg": 34.08959904430724,
+    "raw_max_step_translation_mm": 159.6568609706877,
+    "nonfinite_or_zero_quaternion_frames": 0,
+    "rejection": "incompatible_two_sided_prediction",
+    "reconstructed_max_step_rotation_deg": 2.9466926655012373,
+    "reconstructed_max_step_translation_mm": 10.373368570253607,
+    "prediction_rotation_max_deg": 46.65565562737393,
+    "prediction_translation_max_mm": 168.59034269658986
+  },
+  "projection": {
+    "event": {
+      "left": {
+        "interior": 20,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "middle": {
+        "interior": 20,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "right": {
+        "interior": 20,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      }
+    },
+    "event_edge_any": false,
+    "event_off_image_any": false,
+    "event_unprojectable_any": false,
+    "outer_context": {
+      "left": {
+        "interior": 10,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "middle": {
+        "interior": 10,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "right": {
+        "interior": 10,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      }
+    },
+    "outer_context_edge_any": false,
+    "outer_context_off_image_any": false,
+    "outer_context_unprojectable_any": false
+  },
+  "diagnostic_tags": [
+    "repeated_physical_limit_steps"
+  ]
+}

18. old_data/motherboard/meta/2026-05-11/episode_013.parquet::left:5902-5904:branch_discontinuity

SKIP · LOW · 受影响侧：left · 原方法 unrepaired_ambiguous_branch

片段内区间：行 5902–5904（含端点），196.733–196.800 s；区间时长 0.100 s / 3 帧。源序列行 5902–5904，源区间时长 0.100 s。

完整源视频 left · 完整源视频 middle · 完整源视频 right

上下文预览：4.000 s / 120 帧，行 [5843, 5963)

原始轨迹数值图（位置与逐帧转角）原始轨迹图
数值证据、次级标签与原始拒绝原因
{
+  "original_rejection": {
+    "anchor_rotation_deg": 165.05837676579475,
+    "anchor_translation_mm": 28.877907935002348,
+    "branch_unambiguous": true,
+    "duration_frames": 3,
+    "fit_converged": true,
+    "fit_iterations": 0,
+    "left_anchor": 5901,
+    "left_context_frames": 15,
+    "observed_inlier_frames": 3,
+    "physical": false,
+    "prediction_rotation_max_deg": 41.26459419144869,
+    "prediction_translation_max_mm": 7.219476983750587,
+    "reconstructed_max_step_rotation_deg": 41.264594191448666,
+    "reconstructed_max_step_translation_mm": 7.219476983750587,
+    "rejection": "nonphysical_reconstruction",
+    "replaced_frames": 0,
+    "right_anchor": 5905,
+    "right_context_frames": 15,
+    "rotation_inlier_threshold_deg": 2.0,
+    "rotation_residual_p95_deg": 2.9108900601956455e-14,
+    "translation_inlier_threshold_mm": 3.0,
+    "translation_residual_p95_mm": 0.0
+  },
+  "metrics": {
+    "source_frames": 3,
+    "local_frames": 3,
+    "source_seconds": 0.1,
+    "local_seconds": 0.1,
+    "truncated_source_interval": false,
+    "insufficient_context": false,
+    "left_context_available": 5902,
+    "right_context_available": 6819,
+    "max_identical_pose_run": 1,
+    "large_step_count": 4,
+    "detector_seed_count": 4,
+    "raw_max_step_rotation_deg": 41.264594191448694,
+    "raw_max_step_translation_mm": 7.219476983750587,
+    "nonfinite_or_zero_quaternion_frames": 0,
+    "rejection": "nonphysical_reconstruction",
+    "reconstructed_max_step_rotation_deg": 41.264594191448666,
+    "reconstructed_max_step_translation_mm": 7.219476983750587,
+    "prediction_rotation_max_deg": 41.26459419144869,
+    "prediction_translation_max_mm": 7.219476983750587
+  },
+  "projection": {
+    "event": {
+      "left": {
+        "interior": 3,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "middle": {
+        "interior": 1,
+        "in_image_edge": 2,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "right": {
+        "interior": 2,
+        "in_image_edge": 1,
+        "off_image": 0,
+        "unprojectable": 0
+      }
+    },
+    "event_edge_any": true,
+    "event_off_image_any": false,
+    "event_unprojectable_any": false,
+    "outer_context": {
+      "left": {
+        "interior": 10,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "middle": {
+        "interior": 5,
+        "in_image_edge": 5,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "right": {
+        "interior": 5,
+        "in_image_edge": 5,
+        "off_image": 0,
+        "unprojectable": 0
+      }
+    },
+    "outer_context_edge_any": true,
+    "outer_context_off_image_any": false,
+    "outer_context_unprojectable_any": false
+  },
+  "diagnostic_tags": [
+    "repeated_physical_limit_steps",
+    "rgb_camera_edge_projection"
+  ]
+}

重复位姿／疑似保持旧值 — 9 个区间

短区间内至少连续4帧七维位姿完全相同。可能是保持旧值、重采样或静止；仅凭重复值不能确证硬件丢失。

展示 6 个不同区间。

19. old_data/motherboard/meta/2026-05-11/episode_013.parquet::left:7708-7737:gap_with_discontinuity

SKIP · LOW · 受影响侧：left · 原方法 unrepaired_ambiguous_branch

片段内区间：行 7708–7737（含端点），256.933–257.900 s；区间时长 1.000 s / 30 帧。源序列行 7708–7737，源区间时长 1.000 s。

完整源视频 left · 完整源视频 middle · 完整源视频 right

上下文预览：4.000 s / 120 帧，行 [7663, 7783)

原始轨迹数值图（位置与逐帧转角）原始轨迹图
数值证据、次级标签与原始拒绝原因
{
+  "original_rejection": {
+    "branch_unambiguous": true,
+    "duration_frames": 30,
+    "fit_converged": true,
+    "fit_iterations": 2,
+    "left_anchor": 7707,
+    "left_context_frames": 15,
+    "observed_inlier_frames": 0,
+    "physical": true,
+    "prediction_rotation_max_deg": 26.769306980806345,
+    "prediction_translation_max_mm": 72.971750738771,
+    "reconstructed_max_step_rotation_deg": 0.9958612642752535,
+    "reconstructed_max_step_translation_mm": 3.4623766618927765,
+    "rejection": "incompatible_two_sided_prediction",
+    "replaced_frames": 30,
+    "right_anchor": 7738,
+    "right_context_frames": 15,
+    "rotation_inlier_threshold_deg": 3.258690183899019,
+    "rotation_residual_p95_deg": 91.91825795478442,
+    "translation_inlier_threshold_mm": 3.0,
+    "translation_residual_p95_mm": 78.5596738957753
+  },
+  "metrics": {
+    "source_frames": 30,
+    "local_frames": 30,
+    "source_seconds": 1.0,
+    "local_seconds": 1.0,
+    "truncated_source_interval": false,
+    "insufficient_context": false,
+    "left_context_available": 7708,
+    "right_context_available": 4986,
+    "max_identical_pose_run": 9,
+    "large_step_count": 7,
+    "detector_seed_count": 7,
+    "raw_max_step_rotation_deg": 169.41151608766705,
+    "raw_max_step_translation_mm": 76.77122180393548,
+    "nonfinite_or_zero_quaternion_frames": 0,
+    "rejection": "incompatible_two_sided_prediction",
+    "reconstructed_max_step_rotation_deg": 0.9958612642752535,
+    "reconstructed_max_step_translation_mm": 3.4623766618927765,
+    "prediction_rotation_max_deg": 26.769306980806345,
+    "prediction_translation_max_mm": 72.971750738771
+  },
+  "projection": {
+    "event": {
+      "left": {
+        "interior": 0,
+        "in_image_edge": 8,
+        "off_image": 22,
+        "unprojectable": 0
+      },
+      "middle": {
+        "interior": 0,
+        "in_image_edge": 0,
+        "off_image": 30,
+        "unprojectable": 0
+      },
+      "right": {
+        "interior": 0,
+        "in_image_edge": 0,
+        "off_image": 30,
+        "unprojectable": 0
+      }
+    },
+    "event_edge_any": true,
+    "event_off_image_any": true,
+    "event_unprojectable_any": false,
+    "outer_context": {
+      "left": {
+        "interior": 0,
+        "in_image_edge": 5,
+        "off_image": 5,
+        "unprojectable": 0
+      },
+      "middle": {
+        "interior": 0,
+        "in_image_edge": 5,
+        "off_image": 5,
+        "unprojectable": 0
+      },
+      "right": {
+        "interior": 0,
+        "in_image_edge": 10,
+        "off_image": 0,
+        "unprojectable": 0
+      }
+    },
+    "outer_context_edge_any": true,
+    "outer_context_off_image_any": true,
+    "outer_context_unprojectable_any": false
+  },
+  "diagnostic_tags": [
+    "repeated_physical_limit_steps",
+    "identical_pose_run",
+    "rgb_camera_edge_projection",
+    "rgb_camera_off_image_projection"
+  ]
+}

20. data/validation/meta/2026-09-09/episode_003.parquet::right:2930-2946:branch_discontinuity

SKIP · LOW · 受影响侧：right · 原方法 unrepaired_ambiguous_branch

片段内区间：行 2930–2946（含端点），97.667–98.200 s；区间时长 0.567 s / 17 帧。源序列行 2930–2946，源区间时长 0.567 s。

完整源视频 left · 完整源视频 middle · 完整源视频 right

上下文预览：4.000 s / 120 帧，行 [2878, 2998)

原始轨迹数值图（位置与逐帧转角）原始轨迹图
数值证据、次级标签与原始拒绝原因
{
+  "original_rejection": {
+    "branch_unambiguous": true,
+    "duration_frames": 17,
+    "fit_converged": true,
+    "fit_iterations": 2,
+    "left_anchor": 2929,
+    "left_context_frames": 15,
+    "observed_inlier_frames": 0,
+    "physical": true,
+    "prediction_rotation_max_deg": 34.710951609612444,
+    "prediction_translation_max_mm": 110.32572581947338,
+    "reconstructed_max_step_rotation_deg": 1.6677943752100086,
+    "reconstructed_max_step_translation_mm": 6.26158102091709,
+    "rejection": "incompatible_two_sided_prediction",
+    "replaced_frames": 17,
+    "right_anchor": 2947,
+    "right_context_frames": 15,
+    "rotation_inlier_threshold_deg": 7.206824417213069,
+    "rotation_residual_p95_deg": 136.55256303787763,
+    "translation_inlier_threshold_mm": 8.79620057955859,
+    "translation_residual_p95_mm": 52.98974616359749
+  },
+  "metrics": {
+    "source_frames": 17,
+    "local_frames": 17,
+    "source_seconds": 0.5666666666666667,
+    "local_seconds": 0.5666666666666667,
+    "truncated_source_interval": false,
+    "insufficient_context": false,
+    "left_context_available": 2930,
+    "right_context_available": 10537,
+    "max_identical_pose_run": 4,
+    "large_step_count": 6,
+    "detector_seed_count": 6,
+    "raw_max_step_rotation_deg": 136.29734194297032,
+    "raw_max_step_translation_mm": 55.363022245581874,
+    "nonfinite_or_zero_quaternion_frames": 0,
+    "rejection": "incompatible_two_sided_prediction",
+    "reconstructed_max_step_rotation_deg": 1.6677943752100086,
+    "reconstructed_max_step_translation_mm": 6.26158102091709,
+    "prediction_rotation_max_deg": 34.710951609612444,
+    "prediction_translation_max_mm": 110.32572581947338
+  },
+  "projection": {
+    "event": {
+      "left": {
+        "interior": 17,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "middle": {
+        "interior": 17,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "right": {
+        "interior": 17,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      }
+    },
+    "event_edge_any": false,
+    "event_off_image_any": false,
+    "event_unprojectable_any": false,
+    "outer_context": {
+      "left": {
+        "interior": 10,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "middle": {
+        "interior": 10,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "right": {
+        "interior": 10,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      }
+    },
+    "outer_context_edge_any": false,
+    "outer_context_off_image_any": false,
+    "outer_context_unprojectable_any": false
+  },
+  "diagnostic_tags": [
+    "repeated_physical_limit_steps",
+    "identical_pose_run"
+  ]
+}

21. old_data/motherboard/meta/2026-05-11/episode_015.parquet::left:2144-2170:known_gap

SKIP · LOW · 受影响侧：left · 原方法 unrepaired_ambiguous_branch

片段内区间：行 2144–2170（含端点），71.467–72.333 s；区间时长 0.900 s / 27 帧。源序列行 2144–2170，源区间时长 0.900 s。

完整源视频 left · 完整源视频 middle · 完整源视频 right

上下文预览：4.000 s / 120 帧，行 [2097, 2217)

原始轨迹数值图（位置与逐帧转角）原始轨迹图
数值证据、次级标签与原始拒绝原因
{
+  "original_rejection": {
+    "branch_unambiguous": true,
+    "duration_frames": 27,
+    "fit_converged": true,
+    "fit_iterations": 2,
+    "left_anchor": 2143,
+    "left_context_frames": 15,
+    "observed_inlier_frames": 0,
+    "physical": true,
+    "prediction_rotation_max_deg": 23.24384180675123,
+    "prediction_translation_max_mm": 121.6324153454414,
+    "reconstructed_max_step_rotation_deg": 0.7132086924892955,
+    "reconstructed_max_step_translation_mm": 6.3447143063017615,
+    "rejection": "incompatible_two_sided_prediction",
+    "replaced_frames": 27,
+    "right_anchor": 2171,
+    "right_context_frames": 15,
+    "rotation_inlier_threshold_deg": 2.0,
+    "rotation_residual_p95_deg": 103.05412134504903,
+    "translation_inlier_threshold_mm": 3.0,
+    "translation_residual_p95_mm": 113.11155828169609
+  },
+  "metrics": {
+    "source_frames": 27,
+    "local_frames": 27,
+    "source_seconds": 0.9,
+    "local_seconds": 0.9,
+    "truncated_source_interval": false,
+    "insufficient_context": false,
+    "left_context_available": 2144,
+    "right_context_available": 3788,
+    "max_identical_pose_run": 22,
+    "large_step_count": 2,
+    "detector_seed_count": 2,
+    "raw_max_step_rotation_deg": 103.09076318248337,
+    "raw_max_step_translation_mm": 114.57063927814522,
+    "nonfinite_or_zero_quaternion_frames": 0,
+    "rejection": "incompatible_two_sided_prediction",
+    "reconstructed_max_step_rotation_deg": 0.7132086924892955,
+    "reconstructed_max_step_translation_mm": 6.3447143063017615,
+    "prediction_rotation_max_deg": 23.24384180675123,
+    "prediction_translation_max_mm": 121.6324153454414
+  },
+  "projection": {
+    "event": {
+      "left": {
+        "interior": 27,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "middle": {
+        "interior": 0,
+        "in_image_edge": 0,
+        "off_image": 27,
+        "unprojectable": 0
+      },
+      "right": {
+        "interior": 27,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      }
+    },
+    "event_edge_any": false,
+    "event_off_image_any": true,
+    "event_unprojectable_any": false,
+    "outer_context": {
+      "left": {
+        "interior": 10,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "middle": {
+        "interior": 0,
+        "in_image_edge": 5,
+        "off_image": 5,
+        "unprojectable": 0
+      },
+      "right": {
+        "interior": 5,
+        "in_image_edge": 5,
+        "off_image": 0,
+        "unprojectable": 0
+      }
+    },
+    "outer_context_edge_any": true,
+    "outer_context_off_image_any": true,
+    "outer_context_unprojectable_any": false
+  },
+  "diagnostic_tags": [
+    "identical_pose_run",
+    "rgb_camera_off_image_projection"
+  ]
+}

22. old_data/motherboard/meta/2026-05-11/episode_005.parquet::left:12816-12843:known_gap

SKIP · LOW · 受影响侧：left · 原方法 unrepaired_ambiguous_branch

片段内区间：行 12816–12843（含端点），427.200–428.100 s；区间时长 0.933 s / 28 帧。源序列行 12816–12843，源区间时长 0.933 s。

完整源视频 left · 完整源视频 middle · 完整源视频 right

上下文预览：4.000 s / 120 帧，行 [12770, 12890)

原始轨迹数值图（位置与逐帧转角）原始轨迹图
数值证据、次级标签与原始拒绝原因
{
+  "original_rejection": {
+    "branch_unambiguous": true,
+    "duration_frames": 28,
+    "fit_converged": true,
+    "fit_iterations": 2,
+    "left_anchor": 12815,
+    "left_context_frames": 15,
+    "observed_inlier_frames": 0,
+    "physical": true,
+    "prediction_rotation_max_deg": 32.799091136986576,
+    "prediction_translation_max_mm": 262.32533203398003,
+    "reconstructed_max_step_rotation_deg": 0.9328984662287972,
+    "reconstructed_max_step_translation_mm": 9.811746160366878,
+    "rejection": "incompatible_two_sided_prediction",
+    "replaced_frames": 28,
+    "right_anchor": 12844,
+    "right_context_frames": 15,
+    "rotation_inlier_threshold_deg": 5.195630263217018,
+    "rotation_residual_p95_deg": 125.44032682753532,
+    "translation_inlier_threshold_mm": 8.459077330962762,
+    "translation_residual_p95_mm": 47.35942928949366
+  },
+  "metrics": {
+    "source_frames": 28,
+    "local_frames": 28,
+    "source_seconds": 0.9333333333333333,
+    "local_seconds": 0.9333333333333333,
+    "truncated_source_interval": false,
+    "insufficient_context": false,
+    "left_context_available": 12816,
+    "right_context_available": 1654,
+    "max_identical_pose_run": 9,
+    "large_step_count": 7,
+    "detector_seed_count": 8,
+    "raw_max_step_rotation_deg": 174.18442755257587,
+    "raw_max_step_translation_mm": 46.7260096499644,
+    "nonfinite_or_zero_quaternion_frames": 0,
+    "rejection": "incompatible_two_sided_prediction",
+    "reconstructed_max_step_rotation_deg": 0.9328984662287972,
+    "reconstructed_max_step_translation_mm": 9.811746160366878,
+    "prediction_rotation_max_deg": 32.799091136986576,
+    "prediction_translation_max_mm": 262.32533203398003
+  },
+  "projection": {
+    "event": {
+      "left": {
+        "interior": 1,
+        "in_image_edge": 8,
+        "off_image": 19,
+        "unprojectable": 0
+      },
+      "middle": {
+        "interior": 0,
+        "in_image_edge": 0,
+        "off_image": 28,
+        "unprojectable": 0
+      },
+      "right": {
+        "interior": 2,
+        "in_image_edge": 16,
+        "off_image": 10,
+        "unprojectable": 0
+      }
+    },
+    "event_edge_any": true,
+    "event_off_image_any": true,
+    "event_unprojectable_any": false,
+    "outer_context": {
+      "left": {
+        "interior": 7,
+        "in_image_edge": 3,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "middle": {
+        "interior": 0,
+        "in_image_edge": 8,
+        "off_image": 2,
+        "unprojectable": 0
+      },
+      "right": {
+        "interior": 10,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      }
+    },
+    "outer_context_edge_any": true,
+    "outer_context_off_image_any": true,
+    "outer_context_unprojectable_any": false
+  },
+  "diagnostic_tags": [
+    "repeated_physical_limit_steps",
+    "identical_pose_run",
+    "rgb_camera_edge_projection",
+    "rgb_camera_off_image_projection"
+  ]
+}

23. old_data/motherboard/meta/2026-05-11/episode_013.parquet::left:5995-6005:branch_discontinuity

SKIP · LOW · 受影响侧：left · 原方法 unrepaired_ambiguous_branch

片段内区间：行 5995–6005（含端点），199.833–200.167 s；区间时长 0.367 s / 11 帧。源序列行 5995–6005，源区间时长 0.367 s。

完整源视频 left · 完整源视频 middle · 完整源视频 right

上下文预览：4.000 s / 120 帧，行 [5940, 6060)

原始轨迹数值图（位置与逐帧转角）原始轨迹图
数值证据、次级标签与原始拒绝原因
{
+  "original_rejection": {
+    "branch_unambiguous": true,
+    "duration_frames": 11,
+    "fit_converged": true,
+    "fit_iterations": 2,
+    "left_anchor": 5994,
+    "left_context_frames": 15,
+    "observed_inlier_frames": 0,
+    "physical": true,
+    "prediction_rotation_max_deg": 179.71329810064205,
+    "prediction_translation_max_mm": 124.22132885419711,
+    "reconstructed_max_step_rotation_deg": 22.25135323700068,
+    "reconstructed_max_step_translation_mm": 7.195723636319769,
+    "rejection": "incompatible_two_sided_prediction",
+    "replaced_frames": 11,
+    "right_anchor": 6006,
+    "right_context_frames": 15,
+    "rotation_inlier_threshold_deg": 3.1637993624372127,
+    "rotation_residual_p95_deg": 163.29532849801808,
+    "translation_inlier_threshold_mm": 8.182037724856624,
+    "translation_residual_p95_mm": 52.44600022108973
+  },
+  "metrics": {
+    "source_frames": 11,
+    "local_frames": 11,
+    "source_seconds": 0.36666666666666664,
+    "local_seconds": 0.36666666666666664,
+    "truncated_source_interval": false,
+    "insufficient_context": false,
+    "left_context_available": 5995,
+    "right_context_available": 6718,
+    "max_identical_pose_run": 6,
+    "large_step_count": 2,
+    "detector_seed_count": 2,
+    "raw_max_step_rotation_deg": 169.97989347364816,
+    "raw_max_step_translation_mm": 44.57867460135922,
+    "nonfinite_or_zero_quaternion_frames": 0,
+    "rejection": "incompatible_two_sided_prediction",
+    "reconstructed_max_step_rotation_deg": 22.25135323700068,
+    "reconstructed_max_step_translation_mm": 7.195723636319769,
+    "prediction_rotation_max_deg": 179.71329810064205,
+    "prediction_translation_max_mm": 124.22132885419711
+  },
+  "projection": {
+    "event": {
+      "left": {
+        "interior": 11,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "middle": {
+        "interior": 0,
+        "in_image_edge": 11,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "right": {
+        "interior": 0,
+        "in_image_edge": 11,
+        "off_image": 0,
+        "unprojectable": 0
+      }
+    },
+    "event_edge_any": true,
+    "event_off_image_any": false,
+    "event_unprojectable_any": false,
+    "outer_context": {
+      "left": {
+        "interior": 10,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "middle": {
+        "interior": 0,
+        "in_image_edge": 10,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "right": {
+        "interior": 0,
+        "in_image_edge": 10,
+        "off_image": 0,
+        "unprojectable": 0
+      }
+    },
+    "outer_context_edge_any": true,
+    "outer_context_off_image_any": false,
+    "outer_context_unprojectable_any": false
+  },
+  "diagnostic_tags": [
+    "identical_pose_run",
+    "rgb_camera_edge_projection"
+  ]
+}

24. old_data/motherboard/meta/2026-05-11/episode_013.parquet::left:8165-8186:known_gap

SKIP · LOW · 受影响侧：left · 原方法 unrepaired_ambiguous_branch

片段内区间：行 8165–8186（含端点），272.167–272.867 s；区间时长 0.733 s / 22 帧。源序列行 8165–8186，源区间时长 0.733 s。

完整源视频 left · 完整源视频 middle · 完整源视频 right

上下文预览：4.000 s / 120 帧，行 [8116, 8236)

原始轨迹数值图（位置与逐帧转角）原始轨迹图
数值证据、次级标签与原始拒绝原因
{
+  "original_rejection": {
+    "branch_unambiguous": true,
+    "duration_frames": 22,
+    "fit_converged": true,
+    "fit_iterations": 2,
+    "left_anchor": 8164,
+    "left_context_frames": 15,
+    "observed_inlier_frames": 0,
+    "physical": true,
+    "prediction_rotation_max_deg": 16.722649888629455,
+    "prediction_translation_max_mm": 101.77220556146104,
+    "reconstructed_max_step_rotation_deg": 0.9443104979787291,
+    "reconstructed_max_step_translation_mm": 4.1977553234620295,
+    "rejection": "incompatible_two_sided_prediction",
+    "replaced_frames": 22,
+    "right_anchor": 8187,
+    "right_context_frames": 15,
+    "rotation_inlier_threshold_deg": 12.0,
+    "rotation_residual_p95_deg": 65.42933809259014,
+    "translation_inlier_threshold_mm": 13.206657877971853,
+    "translation_residual_p95_mm": 54.668224693919
+  },
+  "metrics": {
+    "source_frames": 22,
+    "local_frames": 22,
+    "source_seconds": 0.7333333333333333,
+    "local_seconds": 0.7333333333333333,
+    "truncated_source_interval": false,
+    "insufficient_context": false,
+    "left_context_available": 8165,
+    "right_context_available": 4537,
+    "max_identical_pose_run": 8,
+    "large_step_count": 3,
+    "detector_seed_count": 3,
+    "raw_max_step_rotation_deg": 62.57961142046921,
+    "raw_max_step_translation_mm": 54.2985682009594,
+    "nonfinite_or_zero_quaternion_frames": 0,
+    "rejection": "incompatible_two_sided_prediction",
+    "reconstructed_max_step_rotation_deg": 0.9443104979787291,
+    "reconstructed_max_step_translation_mm": 4.1977553234620295,
+    "prediction_rotation_max_deg": 16.722649888629455,
+    "prediction_translation_max_mm": 101.77220556146104
+  },
+  "projection": {
+    "event": {
+      "left": {
+        "interior": 8,
+        "in_image_edge": 14,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "middle": {
+        "interior": 0,
+        "in_image_edge": 17,
+        "off_image": 5,
+        "unprojectable": 0
+      },
+      "right": {
+        "interior": 8,
+        "in_image_edge": 14,
+        "off_image": 0,
+        "unprojectable": 0
+      }
+    },
+    "event_edge_any": true,
+    "event_off_image_any": true,
+    "event_unprojectable_any": false,
+    "outer_context": {
+      "left": {
+        "interior": 0,
+        "in_image_edge": 10,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "middle": {
+        "interior": 0,
+        "in_image_edge": 5,
+        "off_image": 5,
+        "unprojectable": 0
+      },
+      "right": {
+        "interior": 0,
+        "in_image_edge": 5,
+        "off_image": 5,
+        "unprojectable": 0
+      }
+    },
+    "outer_context_edge_any": true,
+    "outer_context_off_image_any": true,
+    "outer_context_unprojectable_any": false
+  },
+  "diagnostic_tags": [
+    "repeated_physical_limit_steps",
+    "identical_pose_run",
+    "rgb_camera_edge_projection",
+    "rgb_camera_off_image_projection"
+  ]
+}

较长缺口／混合异常 — 11 个区间

原始事件超过33帧（1.1秒），可同时包含闪跳、冻结和正常运动。不能把整个事件当成一段可靠可插值轨迹。

展示 6 个不同区间。

25. old_data/motherboard/meta/2026-05-11/episode_016.parquet::left:2448-2597:known_gap

SKIP · LOW · 受影响侧：left · 原方法 unrepaired_ambiguous_branch

片段内区间：行 2448–2597（含端点），81.600–86.567 s；区间时长 5.000 s / 150 帧。源序列行 2448–2597，源区间时长 5.000 s。

部分覆盖：入段与出段各 4 秒；中间过程可能未显示。请打开完整源视频查看整个异常区间；视频长度不是异常持续时间。

完整源视频 left · 完整源视频 middle · 完整源视频 right

入段预览：4.000 s / 120 帧，行 [2388, 2508)

出段预览：4.000 s / 120 帧，行 [2537, 2657)

原始轨迹数值图（位置与逐帧转角）原始轨迹图
数值证据、次级标签与原始拒绝原因
{
+  "original_rejection": {
+    "branch_unambiguous": true,
+    "duration_frames": 150,
+    "fit_converged": true,
+    "fit_iterations": 2,
+    "left_anchor": 2447,
+    "left_context_frames": 15,
+    "observed_inlier_frames": 0,
+    "physical": true,
+    "prediction_rotation_max_deg": 121.71907859540475,
+    "prediction_translation_max_mm": 409.7130149130925,
+    "reconstructed_max_step_rotation_deg": 0.7904680143078135,
+    "reconstructed_max_step_translation_mm": 3.2956659691634163,
+    "rejection": "incompatible_two_sided_prediction",
+    "replaced_frames": 150,
+    "right_anchor": 2598,
+    "right_context_frames": 15,
+    "rotation_inlier_threshold_deg": 12.0,
+    "rotation_residual_p95_deg": 110.88162619979325,
+    "translation_inlier_threshold_mm": 17.008321972108202,
+    "translation_residual_p95_mm": 128.8840009906193
+  },
+  "metrics": {
+    "source_frames": 150,
+    "local_frames": 150,
+    "source_seconds": 5.0,
+    "local_seconds": 5.0,
+    "truncated_source_interval": false,
+    "insufficient_context": false,
+    "left_context_available": 2448,
+    "right_context_available": 9298,
+    "max_identical_pose_run": 7,
+    "large_step_count": 22,
+    "detector_seed_count": 22,
+    "raw_max_step_rotation_deg": 172.42571257639779,
+    "raw_max_step_translation_mm": 128.01135074093716,
+    "nonfinite_or_zero_quaternion_frames": 0,
+    "rejection": "incompatible_two_sided_prediction",
+    "reconstructed_max_step_rotation_deg": 0.7904680143078135,
+    "reconstructed_max_step_translation_mm": 3.2956659691634163,
+    "prediction_rotation_max_deg": 121.71907859540475,
+    "prediction_translation_max_mm": 409.7130149130925
+  },
+  "projection": {
+    "event": {
+      "left": {
+        "interior": 8,
+        "in_image_edge": 138,
+        "off_image": 4,
+        "unprojectable": 0
+      },
+      "middle": {
+        "interior": 0,
+        "in_image_edge": 2,
+        "off_image": 148,
+        "unprojectable": 0
+      },
+      "right": {
+        "interior": 114,
+        "in_image_edge": 26,
+        "off_image": 10,
+        "unprojectable": 0
+      }
+    },
+    "event_edge_any": true,
+    "event_off_image_any": true,
+    "event_unprojectable_any": false,
+    "outer_context": {
+      "left": {
+        "interior": 5,
+        "in_image_edge": 5,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "middle": {
+        "interior": 0,
+        "in_image_edge": 6,
+        "off_image": 4,
+        "unprojectable": 0
+      },
+      "right": {
+        "interior": 5,
+        "in_image_edge": 5,
+        "off_image": 0,
+        "unprojectable": 0
+      }
+    },
+    "outer_context_edge_any": true,
+    "outer_context_off_image_any": true,
+    "outer_context_unprojectable_any": false
+  },
+  "diagnostic_tags": [
+    "longer_than_1.1s",
+    "repeated_physical_limit_steps",
+    "identical_pose_run",
+    "rgb_camera_edge_projection",
+    "rgb_camera_off_image_projection"
+  ]
+}

26. data/motherboard/meta/2026-09-11/episode_007_seg04.parquet::right:24386-24424:known_gap

SKIP · LOW · 受影响侧：right · 原方法 unrepaired_ambiguous_branch

片段内区间：行 357–395（含端点），11.900–13.167 s；区间时长 1.300 s / 39 帧。源序列行 24386–24424，源区间时长 1.300 s。

完整源视频 left · 完整源视频 middle · 完整源视频 right

上下文预览：4.000 s / 120 帧，行 [316, 436)

原始轨迹数值图（位置与逐帧转角）原始轨迹图
数值证据、次级标签与原始拒绝原因
{
+  "original_rejection": {
+    "branch_unambiguous": true,
+    "duration_frames": 39,
+    "fit_converged": true,
+    "fit_iterations": 2,
+    "left_anchor": 24385,
+    "left_context_frames": 15,
+    "observed_inlier_frames": 0,
+    "physical": true,
+    "prediction_rotation_max_deg": 179.096189096651,
+    "prediction_translation_max_mm": 767.7841516153705,
+    "reconstructed_max_step_rotation_deg": 6.742907813169235,
+    "reconstructed_max_step_translation_mm": 19.868959200960454,
+    "rejection": "incompatible_two_sided_prediction",
+    "replaced_frames": 39,
+    "right_anchor": 24425,
+    "right_context_frames": 15,
+    "rotation_inlier_threshold_deg": 12.0,
+    "rotation_residual_p95_deg": 85.52825775634577,
+    "translation_inlier_threshold_mm": 16.78471118697415,
+    "translation_residual_p95_mm": 212.89090747610226
+  },
+  "metrics": {
+    "source_frames": 39,
+    "local_frames": 39,
+    "source_seconds": 1.3,
+    "local_seconds": 1.3,
+    "truncated_source_interval": false,
+    "insufficient_context": false,
+    "left_context_available": 357,
+    "right_context_available": 5982,
+    "max_identical_pose_run": 3,
+    "large_step_count": 0,
+    "detector_seed_count": 3,
+    "raw_max_step_rotation_deg": 14.959463634015819,
+    "raw_max_step_translation_mm": 34.30165044960903,
+    "nonfinite_or_zero_quaternion_frames": 0,
+    "rejection": "incompatible_two_sided_prediction",
+    "reconstructed_max_step_rotation_deg": 6.742907813169235,
+    "reconstructed_max_step_translation_mm": 19.868959200960454,
+    "prediction_rotation_max_deg": 179.096189096651,
+    "prediction_translation_max_mm": 767.7841516153705
+  },
+  "projection": {
+    "event": {
+      "left": {
+        "interior": 39,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "middle": {
+        "interior": 39,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "right": {
+        "interior": 39,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      }
+    },
+    "event_edge_any": false,
+    "event_off_image_any": false,
+    "event_unprojectable_any": false,
+    "outer_context": {
+      "left": {
+        "interior": 10,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "middle": {
+        "interior": 10,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "right": {
+        "interior": 10,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      }
+    },
+    "outer_context_edge_any": false,
+    "outer_context_off_image_any": false,
+    "outer_context_unprojectable_any": false
+  },
+  "diagnostic_tags": [
+    "longer_than_1.1s"
+  ]
+}

27. old_data/motherboard/meta/2026-05-11/episode_013.parquet::left:8050-8112:known_gap

SKIP · LOW · 受影响侧：left · 原方法 unrepaired_ambiguous_branch

片段内区间：行 8050–8112（含端点），268.333–270.400 s；区间时长 2.100 s / 63 帧。源序列行 8050–8112，源区间时长 2.100 s。

完整源视频 left · 完整源视频 middle · 完整源视频 right

上下文预览：4.000 s / 120 帧，行 [8021, 8141)

原始轨迹数值图（位置与逐帧转角）原始轨迹图
数值证据、次级标签与原始拒绝原因
{
+  "original_rejection": {
+    "branch_unambiguous": true,
+    "duration_frames": 63,
+    "fit_converged": true,
+    "fit_iterations": 2,
+    "left_anchor": 8049,
+    "left_context_frames": 15,
+    "observed_inlier_frames": 0,
+    "physical": true,
+    "prediction_rotation_max_deg": 15.626278070397214,
+    "prediction_translation_max_mm": 178.4082690643574,
+    "reconstructed_max_step_rotation_deg": 0.1938542514576997,
+    "reconstructed_max_step_translation_mm": 2.5265838843893103,
+    "rejection": "incompatible_two_sided_prediction",
+    "replaced_frames": 63,
+    "right_anchor": 8113,
+    "right_context_frames": 15,
+    "rotation_inlier_threshold_deg": 12.0,
+    "rotation_residual_p95_deg": 79.82063480272399,
+    "translation_inlier_threshold_mm": 11.4550101703306,
+    "translation_residual_p95_mm": 73.02856824947223
+  },
+  "metrics": {
+    "source_frames": 63,
+    "local_frames": 63,
+    "source_seconds": 2.1,
+    "local_seconds": 2.1,
+    "truncated_source_interval": false,
+    "insufficient_context": false,
+    "left_context_available": 8050,
+    "right_context_available": 4611,
+    "max_identical_pose_run": 4,
+    "large_step_count": 10,
+    "detector_seed_count": 10,
+    "raw_max_step_rotation_deg": 136.8416775569521,
+    "raw_max_step_translation_mm": 45.4648853771543,
+    "nonfinite_or_zero_quaternion_frames": 0,
+    "rejection": "incompatible_two_sided_prediction",
+    "reconstructed_max_step_rotation_deg": 0.1938542514576997,
+    "reconstructed_max_step_translation_mm": 2.5265838843893103,
+    "prediction_rotation_max_deg": 15.626278070397214,
+    "prediction_translation_max_mm": 178.4082690643574
+  },
+  "projection": {
+    "event": {
+      "left": {
+        "interior": 0,
+        "in_image_edge": 61,
+        "off_image": 2,
+        "unprojectable": 0
+      },
+      "middle": {
+        "interior": 0,
+        "in_image_edge": 21,
+        "off_image": 42,
+        "unprojectable": 0
+      },
+      "right": {
+        "interior": 0,
+        "in_image_edge": 41,
+        "off_image": 22,
+        "unprojectable": 0
+      }
+    },
+    "event_edge_any": true,
+    "event_off_image_any": true,
+    "event_unprojectable_any": false,
+    "outer_context": {
+      "left": {
+        "interior": 0,
+        "in_image_edge": 10,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "middle": {
+        "interior": 0,
+        "in_image_edge": 5,
+        "off_image": 5,
+        "unprojectable": 0
+      },
+      "right": {
+        "interior": 0,
+        "in_image_edge": 10,
+        "off_image": 0,
+        "unprojectable": 0
+      }
+    },
+    "outer_context_edge_any": true,
+    "outer_context_off_image_any": true,
+    "outer_context_unprojectable_any": false
+  },
+  "diagnostic_tags": [
+    "longer_than_1.1s",
+    "repeated_physical_limit_steps",
+    "identical_pose_run",
+    "rgb_camera_edge_projection",
+    "rgb_camera_off_image_projection"
+  ]
+}

28. old_data/motherboard/meta/2026-05-11/episode_014.parquet::left:458-492:known_gap

SKIP · LOW · 受影响侧：left · 原方法 unrepaired_ambiguous_branch

片段内区间：行 458–492（含端点），15.267–16.400 s；区间时长 1.167 s / 35 帧。源序列行 458–492，源区间时长 1.167 s。

完整源视频 left · 完整源视频 middle · 完整源视频 right

上下文预览：4.000 s / 120 帧，行 [415, 535)

原始轨迹数值图（位置与逐帧转角）原始轨迹图
数值证据、次级标签与原始拒绝原因
{
+  "original_rejection": {
+    "branch_unambiguous": true,
+    "duration_frames": 35,
+    "fit_converged": true,
+    "fit_iterations": 2,
+    "left_anchor": 457,
+    "left_context_frames": 15,
+    "observed_inlier_frames": 0,
+    "physical": true,
+    "prediction_rotation_max_deg": 31.30478917987842,
+    "prediction_translation_max_mm": 274.3213416529898,
+    "reconstructed_max_step_rotation_deg": 0.7822830450756628,
+    "reconstructed_max_step_translation_mm": 6.468371201509649,
+    "rejection": "incompatible_two_sided_prediction",
+    "replaced_frames": 35,
+    "right_anchor": 493,
+    "right_context_frames": 15,
+    "rotation_inlier_threshold_deg": 12.0,
+    "rotation_residual_p95_deg": 76.61991311616964,
+    "translation_inlier_threshold_mm": 12.787110173635421,
+    "translation_residual_p95_mm": 84.27302741577937
+  },
+  "metrics": {
+    "source_frames": 35,
+    "local_frames": 35,
+    "source_seconds": 1.1666666666666667,
+    "local_seconds": 1.1666666666666667,
+    "truncated_source_interval": false,
+    "insufficient_context": false,
+    "left_context_available": 458,
+    "right_context_available": 1923,
+    "max_identical_pose_run": 1,
+    "large_step_count": 7,
+    "detector_seed_count": 7,
+    "raw_max_step_rotation_deg": 97.92405117560897,
+    "raw_max_step_translation_mm": 26.019971008427998,
+    "nonfinite_or_zero_quaternion_frames": 0,
+    "rejection": "incompatible_two_sided_prediction",
+    "reconstructed_max_step_rotation_deg": 0.7822830450756628,
+    "reconstructed_max_step_translation_mm": 6.468371201509649,
+    "prediction_rotation_max_deg": 31.30478917987842,
+    "prediction_translation_max_mm": 274.3213416529898
+  },
+  "projection": {
+    "event": {
+      "left": {
+        "interior": 0,
+        "in_image_edge": 18,
+        "off_image": 17,
+        "unprojectable": 0
+      },
+      "middle": {
+        "interior": 0,
+        "in_image_edge": 8,
+        "off_image": 27,
+        "unprojectable": 0
+      },
+      "right": {
+        "interior": 0,
+        "in_image_edge": 33,
+        "off_image": 2,
+        "unprojectable": 0
+      }
+    },
+    "event_edge_any": true,
+    "event_off_image_any": true,
+    "event_unprojectable_any": false,
+    "outer_context": {
+      "left": {
+        "interior": 0,
+        "in_image_edge": 6,
+        "off_image": 4,
+        "unprojectable": 0
+      },
+      "middle": {
+        "interior": 0,
+        "in_image_edge": 0,
+        "off_image": 10,
+        "unprojectable": 0
+      },
+      "right": {
+        "interior": 0,
+        "in_image_edge": 10,
+        "off_image": 0,
+        "unprojectable": 0
+      }
+    },
+    "outer_context_edge_any": true,
+    "outer_context_off_image_any": true,
+    "outer_context_unprojectable_any": false
+  },
+  "diagnostic_tags": [
+    "longer_than_1.1s",
+    "repeated_physical_limit_steps",
+    "rgb_camera_edge_projection",
+    "rgb_camera_off_image_projection"
+  ]
+}

29. old_data/motherboard/meta/2026-05-11/episode_013.parquet::left:5802-5853:known_gap

SKIP · LOW · 受影响侧：left · 原方法 unrepaired_ambiguous_branch

片段内区间：行 5802–5853（含端点），193.400–195.100 s；区间时长 1.733 s / 52 帧。源序列行 5802–5853，源区间时长 1.733 s。

完整源视频 left · 完整源视频 middle · 完整源视频 right

上下文预览：4.000 s / 120 帧，行 [5768, 5888)

原始轨迹数值图（位置与逐帧转角）原始轨迹图
数值证据、次级标签与原始拒绝原因
{
+  "original_rejection": {
+    "branch_unambiguous": true,
+    "duration_frames": 52,
+    "fit_converged": true,
+    "fit_iterations": 2,
+    "left_anchor": 5801,
+    "left_context_frames": 15,
+    "observed_inlier_frames": 0,
+    "physical": true,
+    "prediction_rotation_max_deg": 75.04383142477337,
+    "prediction_translation_max_mm": 201.2946053916627,
+    "reconstructed_max_step_rotation_deg": 2.0133643956083915,
+    "reconstructed_max_step_translation_mm": 5.913753032258238,
+    "rejection": "incompatible_two_sided_prediction",
+    "replaced_frames": 52,
+    "right_anchor": 5854,
+    "right_context_frames": 15,
+    "rotation_inlier_threshold_deg": 12.0,
+    "rotation_residual_p95_deg": 75.98738196545105,
+    "translation_inlier_threshold_mm": 20.0,
+    "translation_residual_p95_mm": 52.445319964019134
+  },
+  "metrics": {
+    "source_frames": 52,
+    "local_frames": 52,
+    "source_seconds": 1.7333333333333334,
+    "local_seconds": 1.7333333333333334,
+    "truncated_source_interval": false,
+    "insufficient_context": false,
+    "left_context_available": 5802,
+    "right_context_available": 6870,
+    "max_identical_pose_run": 2,
+    "large_step_count": 14,
+    "detector_seed_count": 14,
+    "raw_max_step_rotation_deg": 119.54778227956992,
+    "raw_max_step_translation_mm": 40.82363157352666,
+    "nonfinite_or_zero_quaternion_frames": 0,
+    "rejection": "incompatible_two_sided_prediction",
+    "reconstructed_max_step_rotation_deg": 2.0133643956083915,
+    "reconstructed_max_step_translation_mm": 5.913753032258238,
+    "prediction_rotation_max_deg": 75.04383142477337,
+    "prediction_translation_max_mm": 201.2946053916627
+  },
+  "projection": {
+    "event": {
+      "left": {
+        "interior": 0,
+        "in_image_edge": 52,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "middle": {
+        "interior": 0,
+        "in_image_edge": 27,
+        "off_image": 25,
+        "unprojectable": 0
+      },
+      "right": {
+        "interior": 9,
+        "in_image_edge": 30,
+        "off_image": 13,
+        "unprojectable": 0
+      }
+    },
+    "event_edge_any": true,
+    "event_off_image_any": true,
+    "event_unprojectable_any": false,
+    "outer_context": {
+      "left": {
+        "interior": 2,
+        "in_image_edge": 8,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "middle": {
+        "interior": 0,
+        "in_image_edge": 3,
+        "off_image": 7,
+        "unprojectable": 0
+      },
+      "right": {
+        "interior": 5,
+        "in_image_edge": 0,
+        "off_image": 5,
+        "unprojectable": 0
+      }
+    },
+    "outer_context_edge_any": true,
+    "outer_context_off_image_any": true,
+    "outer_context_unprojectable_any": false
+  },
+  "diagnostic_tags": [
+    "longer_than_1.1s",
+    "repeated_physical_limit_steps",
+    "rgb_camera_edge_projection",
+    "rgb_camera_off_image_projection"
+  ]
+}

30. old_data/motherboard/meta/2026-05-11/episode_016.parquet::left:4936-5002:known_gap

SKIP · LOW · 受影响侧：left · 原方法 unrepaired_ambiguous_branch

片段内区间：行 4936–5002（含端点），164.533–166.733 s；区间时长 2.233 s / 67 帧。源序列行 4936–5002，源区间时长 2.233 s。

完整源视频 left · 完整源视频 middle · 完整源视频 right

上下文预览：4.000 s / 120 帧，行 [4909, 5029)

原始轨迹数值图（位置与逐帧转角）原始轨迹图
数值证据、次级标签与原始拒绝原因
{
+  "original_rejection": {
+    "branch_unambiguous": true,
+    "duration_frames": 67,
+    "fit_converged": true,
+    "fit_iterations": 2,
+    "left_anchor": 4935,
+    "left_context_frames": 15,
+    "observed_inlier_frames": 0,
+    "physical": true,
+    "prediction_rotation_max_deg": 40.5809842944561,
+    "prediction_translation_max_mm": 5.5619465775679635e-14,
+    "reconstructed_max_step_rotation_deg": 0.4513559088786942,
+    "reconstructed_max_step_translation_mm": 1.4602565082047776,
+    "rejection": "incompatible_two_sided_prediction",
+    "replaced_frames": 67,
+    "right_anchor": 5003,
+    "right_context_frames": 15,
+    "rotation_inlier_threshold_deg": 2.0,
+    "rotation_residual_p95_deg": 124.01904633043839,
+    "translation_inlier_threshold_mm": 3.0,
+    "translation_residual_p95_mm": 42.873797666955845
+  },
+  "metrics": {
+    "source_frames": 67,
+    "local_frames": 67,
+    "source_seconds": 2.2333333333333334,
+    "local_seconds": 2.2333333333333334,
+    "truncated_source_interval": false,
+    "insufficient_context": false,
+    "left_context_available": 4936,
+    "right_context_available": 6893,
+    "max_identical_pose_run": 15,
+    "large_step_count": 14,
+    "detector_seed_count": 14,
+    "raw_max_step_rotation_deg": 115.48599832141828,
+    "raw_max_step_translation_mm": 40.79776739406478,
+    "nonfinite_or_zero_quaternion_frames": 0,
+    "rejection": "incompatible_two_sided_prediction",
+    "reconstructed_max_step_rotation_deg": 0.4513559088786942,
+    "reconstructed_max_step_translation_mm": 1.4602565082047776,
+    "prediction_rotation_max_deg": 40.5809842944561,
+    "prediction_translation_max_mm": 5.5619465775679635e-14
+  },
+  "projection": {
+    "event": {
+      "left": {
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+        "in_image_edge": 42,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "middle": {
+        "interior": 0,
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+        "off_image": 67,
+        "unprojectable": 0
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+      "right": {
+        "interior": 41,
+        "in_image_edge": 26,
+        "off_image": 0,
+        "unprojectable": 0
+      }
+    },
+    "event_edge_any": true,
+    "event_off_image_any": true,
+    "event_unprojectable_any": false,
+    "outer_context": {
+      "left": {
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+        "in_image_edge": 5,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "middle": {
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+        "in_image_edge": 5,
+        "off_image": 5,
+        "unprojectable": 0
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+      "right": {
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+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      }
+    },
+    "outer_context_edge_any": true,
+    "outer_context_off_image_any": true,
+    "outer_context_unprojectable_any": false
+  },
+  "diagnostic_tags": [
+    "longer_than_1.1s",
+    "repeated_physical_limit_steps",
+    "identical_pose_run",
+    "rgb_camera_edge_projection",
+    "rgb_camera_off_image_projection"
+  ]
+}

分段边界／上下文不足 — 3 个区间

本段左右任一侧不足5帧上下文，或原始事件被分段裁短。这是可审核上下文限制，不一定是原算法拒绝原因。

展示 3 个不同区间；该类少于 5 例，全部展示。

31. data/motherboard/meta/2026-09-12/episode_000_seg00.parquet::right:38409-38434:known_gap

SKIP · LOW · 受影响侧：right · 原方法 unrepaired_ambiguous_branch

片段内区间：行 38409–38419（含端点），1280.300–1280.633 s；区间时长 0.367 s / 11 帧。源序列行 38409–38434，源区间时长 0.867 s。

完整源视频 left · 完整源视频 middle · 完整源视频 right

上下文预览：4.000 s / 120 帧，行 [38300, 38420)

原始轨迹数值图（位置与逐帧转角）原始轨迹图
数值证据、次级标签与原始拒绝原因
{
+  "original_rejection": {
+    "branch_unambiguous": true,
+    "duration_frames": 26,
+    "fit_converged": true,
+    "fit_iterations": 2,
+    "left_anchor": 38408,
+    "left_context_frames": 15,
+    "observed_inlier_frames": 0,
+    "physical": true,
+    "prediction_rotation_max_deg": 91.48977666967491,
+    "prediction_translation_max_mm": 482.74269783409295,
+    "reconstructed_max_step_rotation_deg": 2.2959961154213073,
+    "reconstructed_max_step_translation_mm": 14.468306121058506,
+    "rejection": "incompatible_two_sided_prediction",
+    "replaced_frames": 26,
+    "right_anchor": 38435,
+    "right_context_frames": 15,
+    "rotation_inlier_threshold_deg": 2.4901709260233513,
+    "rotation_residual_p95_deg": 114.0336509687834,
+    "translation_inlier_threshold_mm": 7.385954430037193,
+    "translation_residual_p95_mm": 86.87016362479505
+  },
+  "metrics": {
+    "source_frames": 26,
+    "local_frames": 11,
+    "source_seconds": 0.8666666666666667,
+    "local_seconds": 0.36666666666666664,
+    "truncated_source_interval": true,
+    "insufficient_context": true,
+    "left_context_available": 38409,
+    "right_context_available": 0,
+    "max_identical_pose_run": 1,
+    "large_step_count": 2,
+    "detector_seed_count": 2,
+    "raw_max_step_rotation_deg": 120.35790356591426,
+    "raw_max_step_translation_mm": 34.34219065758638,
+    "nonfinite_or_zero_quaternion_frames": 0,
+    "rejection": "incompatible_two_sided_prediction",
+    "reconstructed_max_step_rotation_deg": 2.2959961154213073,
+    "reconstructed_max_step_translation_mm": 14.468306121058506,
+    "prediction_rotation_max_deg": 91.48977666967491,
+    "prediction_translation_max_mm": 482.74269783409295
+  },
+  "projection": {
+    "event": {
+      "left": {
+        "interior": 0,
+        "in_image_edge": 0,
+        "off_image": 11,
+        "unprojectable": 0
+      },
+      "middle": {
+        "interior": 0,
+        "in_image_edge": 11,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "right": {
+        "interior": 0,
+        "in_image_edge": 5,
+        "off_image": 6,
+        "unprojectable": 0
+      }
+    },
+    "event_edge_any": true,
+    "event_off_image_any": true,
+    "event_unprojectable_any": false,
+    "outer_context": {
+      "left": {
+        "interior": 0,
+        "in_image_edge": 0,
+        "off_image": 5,
+        "unprojectable": 0
+      },
+      "middle": {
+        "interior": 0,
+        "in_image_edge": 1,
+        "off_image": 4,
+        "unprojectable": 0
+      },
+      "right": {
+        "interior": 0,
+        "in_image_edge": 0,
+        "off_image": 5,
+        "unprojectable": 0
+      }
+    },
+    "outer_context_edge_any": true,
+    "outer_context_off_image_any": true,
+    "outer_context_unprojectable_any": false
+  },
+  "diagnostic_tags": [
+    "rgb_camera_edge_projection",
+    "rgb_camera_off_image_projection",
+    "source_interval_clipped_by_segment"
+  ]
+}

32. old_data/motherboard/meta/2026-05-19/episode_002.parquet::right:0-0:branch_discontinuity

SKIP · LOW · 受影响侧：right · 原方法 unrepaired_missing_anchor

片段内区间：行 0–0（含端点），0.000–0.000 s；区间时长 0.033 s / 1 帧。源序列行 0–0，源区间时长 0.033 s。

完整源视频 left · 完整源视频 middle · 完整源视频 right

上下文预览：4.000 s / 120 帧，行 [0, 120)

原始轨迹数值图（位置与逐帧转角）原始轨迹图
数值证据、次级标签与原始拒绝原因
{
+  "original_rejection": {
+    "duration_frames": 1,
+    "left_context_frames": 0,
+    "right_context_frames": 15
+  },
+  "metrics": {
+    "source_frames": 1,
+    "local_frames": 1,
+    "source_seconds": 0.03333333333333333,
+    "local_seconds": 0.03333333333333333,
+    "truncated_source_interval": false,
+    "insufficient_context": true,
+    "left_context_available": 0,
+    "right_context_available": 1709,
+    "max_identical_pose_run": 1,
+    "large_step_count": 1,
+    "detector_seed_count": 1,
+    "raw_max_step_rotation_deg": 146.23787113433,
+    "raw_max_step_translation_mm": 35.601134216460096,
+    "nonfinite_or_zero_quaternion_frames": 0,
+    "rejection": "missing_anchor",
+    "reconstructed_max_step_rotation_deg": null,
+    "reconstructed_max_step_translation_mm": null,
+    "prediction_rotation_max_deg": null,
+    "prediction_translation_max_mm": null
+  },
+  "projection": {
+    "event": {
+      "left": {
+        "interior": 1,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "middle": {
+        "interior": 1,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "right": {
+        "interior": 1,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      }
+    },
+    "event_edge_any": false,
+    "event_off_image_any": false,
+    "event_unprojectable_any": false,
+    "outer_context": {
+      "left": {
+        "interior": 5,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "middle": {
+        "interior": 5,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "right": {
+        "interior": 5,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      }
+    },
+    "outer_context_edge_any": false,
+    "outer_context_off_image_any": false,
+    "outer_context_unprojectable_any": false
+  },
+  "diagnostic_tags": []
+}

33. data/pushT/meta/2026-09-15/episode_000_seg06.parquet::left:15089-15089:branch_discontinuity

SKIP · LOW · 受影响侧：left · 原方法 unrepaired_ambiguous_branch

片段内区间：行 3–3（含端点），0.100–0.100 s；区间时长 0.033 s / 1 帧。源序列行 15089–15089，源区间时长 0.033 s。

完整源视频 left · 完整源视频 middle · 完整源视频 right

上下文预览：4.000 s / 120 帧，行 [0, 120)

原始轨迹数值图（位置与逐帧转角）原始轨迹图
数值证据、次级标签与原始拒绝原因
{
+  "original_rejection": {
+    "anchor_rotation_deg": 114.94241161685481,
+    "anchor_translation_mm": 35.97531308690912,
+    "branch_unambiguous": true,
+    "duration_frames": 1,
+    "fit_converged": true,
+    "fit_iterations": 0,
+    "left_anchor": 15088,
+    "left_context_frames": 15,
+    "observed_inlier_frames": 0,
+    "physical": false,
+    "prediction_rotation_max_deg": 57.471205808427406,
+    "prediction_translation_max_mm": 17.98765654345456,
+    "reconstructed_max_step_rotation_deg": 57.47120580842743,
+    "reconstructed_max_step_translation_mm": 17.98765654345456,
+    "rejection": "nonphysical_reconstruction",
+    "replaced_frames": 1,
+    "right_anchor": 15090,
+    "right_context_frames": 15,
+    "rotation_inlier_threshold_deg": 2.137948847587502,
+    "rotation_residual_p95_deg": 57.31794862706058,
+    "translation_inlier_threshold_mm": 6.411288187347068,
+    "translation_residual_p95_mm": 17.983312029789396
+  },
+  "metrics": {
+    "source_frames": 1,
+    "local_frames": 1,
+    "source_seconds": 0.03333333333333333,
+    "local_seconds": 0.03333333333333333,
+    "truncated_source_interval": false,
+    "insufficient_context": true,
+    "left_context_available": 3,
+    "right_context_available": 1176,
+    "max_identical_pose_run": 1,
+    "large_step_count": 1,
+    "detector_seed_count": 1,
+    "raw_max_step_rotation_deg": 114.78873972493501,
+    "raw_max_step_translation_mm": 35.96954981521145,
+    "nonfinite_or_zero_quaternion_frames": 0,
+    "rejection": "nonphysical_reconstruction",
+    "reconstructed_max_step_rotation_deg": 57.47120580842743,
+    "reconstructed_max_step_translation_mm": 17.98765654345456,
+    "prediction_rotation_max_deg": 57.471205808427406,
+    "prediction_translation_max_mm": 17.98765654345456
+  },
+  "projection": {
+    "event": {
+      "left": {
+        "interior": 1,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "middle": {
+        "interior": 1,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "right": {
+        "interior": 1,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      }
+    },
+    "event_edge_any": false,
+    "event_off_image_any": false,
+    "event_unprojectable_any": false,
+    "outer_context": {
+      "left": {
+        "interior": 8,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "middle": {
+        "interior": 8,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      },
+      "right": {
+        "interior": 8,
+        "in_image_edge": 0,
+        "off_image": 0,
+        "unprojectable": 0
+      }
+    },
+    "outer_context_edge_any": false,
+    "outer_context_off_image_any": false,
+    "outer_context_unprojectable_any": false
+  },
+  "diagnostic_tags": []
+}
\ No newline at end of file diff --git a/low_review/CODE_AGENT_PROMPT.txt b/low_review/CODE_AGENT_PROMPT.txt new file mode 100644 index 0000000000000000000000000000000000000000..09eb66c03426e5850452056db3e432b64e4eeb2c --- /dev/null +++ b/low_review/CODE_AGENT_PROMPT.txt @@ -0,0 +1,15 @@ +Load Hugging Face dataset yxma/React at revision +360392a1c3aed8dffcacf66f350acff5d168dec1. +Read */*/action_repair_events/*/*.json and select review_status == "SKIP" +and policy_accepted == false. There are 118 skipped event occurrences, not frames. +Use remote_path, side, and zero-based inclusive local_start_row/local_end_row. +Never use source start/end directly as segment-local indices. +For joint action training require action_valid[t]; single-hand training uses +action_valid_left/right[t]. action[t] targets row t+1. Every transition in a +temporal window must be valid; never concatenate across excluded transitions +or episode boundaries. The terminal row is invalid. +For force-informed next-pose targets use force_{side}_target_pose_repaired[t+1] +and action_force_valid[t]. Missing force is invalid, not zero force. +Preserve row order, timestamps, raw poses, and existing force columns. +The new LOW categories are descriptive review labels, not new repair approval. +Do not redetect, repair, remove rows, or overwrite original annotations. diff --git a/low_review/REPORT.md b/low_review/REPORT.md new file mode 100644 index 0000000000000000000000000000000000000000..55bca293c5eff8177c3c1f1cd7ac6769d767b06c --- /dev/null +++ b/low_review/REPORT.md @@ -0,0 +1,45 @@ +# 剩余 LOW 区间分类 + +数据版本：360392a1c3aed8dffcacf66f350acff5d168dec1。只分析，不新增修复。 + +{ + "events": 118, + "samples": 33, + "unique_skipped_hand_pose_rows": 1533, + "unique_touching_hand_transitions": 1649, + "original_rejection": { + "incompatible_two_sided_prediction": 60, + "nonphysical_reconstruction": 57, + "missing_anchor": 1 + }, + "original_kind": { + "known_gap": 27, + "gap_with_discontinuity": 3, + "branch_discontinuity": 88 + }, + "raw_invalid_pose_rows": 0, + "shorter_or_equal_33_frames": 107, + "projection": { + "event_edge_any": 45, + "event_off_image_any": 35, + "event_unprojectable_any": 0, + "outer_context_edge_any": 52, + "outer_context_off_image_any": 42 + } +} + +- 短区间大跳变／锚点难以接回：54 个，展示 6 个。排除其他优先类别后，原候选重建仍超过每帧30°或50 mm。常见一步跳到另一条轨迹；不是已确认的单帧尖峰。 +- 短区间前后预测不一致：24 个，展示 6 个。短区间内大幅跳变不密集，但前向与后向预测相差超过15°或30 mm；平滑插值不等于真实运动。 +- 反复闪跳／多次切换：17 个，展示 6 个。含相邻锚点的窗口中，至少3个逐帧变化超过30°或50 mm，且未被长区间或重复位姿类别优先收纳。 +- 重复位姿／疑似保持旧值：9 个，展示 6 个。短区间内至少连续4帧七维位姿完全相同。可能是保持旧值、重采样或静止；仅凭重复值不能确证硬件丢失。 +- 较长缺口／混合异常：11 个，展示 6 个。原始事件超过33帧（1.1秒），可同时包含闪跳、冻结和正常运动。不能把整个事件当成一段可靠可插值轨迹。 +- 分段边界／上下文不足：3 个，展示 3 个。本段左右任一侧不足5帧上下文，或原始事件被分段裁短。这是可审核上下文限制，不一定是原算法拒绝原因。 + +分类互斥但现象可重叠，规则优先级见 analysis.json。较长事件既可有闪跳也可重复旧值。 +相机边缘是 RGB 图像中的投影关联；坏位姿会污染投影，RGB 与 mocap 跟踪相机也不相同，不能据此确认边缘导致丢失。 +source_frames/30 为事件占用时长；local行索引包含结束行。视频长度单独标注。 +原 evidence.replaced_frames 可指被拒绝的候选方案，不表示这些 LOW 区间已经应用修复。 +118 个区间的原始位姿都有有限数值和非零四元数；known_gap 是来源标注，不表示导出数组里一定是 NaN。 +大跳变类54个均为单帧标记，其中52个在前锚点→事件帧→后锚点之间只有一次超限变化，常见阶跃而非立即返回的尖峰。 +原候选修复拒绝原因：57个逐帧超过配置的30°或50mm；60个前后预测差异超过15°或30mm；1个缺失锚点。这些阈值是算法约束，不是物理不可能的证明。 +真正原因可能包含分支切换、旧值保持、遮挡，也可能是快速真实运动导致预测失效；本报告不将这些假设当成已确认原因。 diff --git a/low_review/analysis.json b/low_review/analysis.json new file mode 100644 index 0000000000000000000000000000000000000000..c4140b99908a872698fd468410f2606066d0e5ca --- /dev/null +++ b/low_review/analysis.json @@ -0,0 +1,127639 @@ +{ + "dataset_revision": "360392a1c3aed8dffcacf66f350acff5d168dec1", + "groups": [ + { + "key": "extreme_transition", + "title": "短区间大跳变／锚点难以接回", + "description": "排除其他优先类别后，原候选重建仍超过每帧30°或50 mm。常见一步跳到另一条轨迹；不是已确认的单帧尖峰。", + "count": 54, + "sample_count": 6, + "source_duration_range_seconds": [ + 0.03333333333333333, + 0.03333333333333333 + ] + }, + { + "key": "context_disagreement", + "title": "短区间前后预测不一致", + "description": "短区间内大幅跳变不密集，但前向与后向预测相差超过15°或30 mm；平滑插值不等于真实运动。", + "count": 24, + "sample_count": 6, + "source_duration_range_seconds": [ + 0.2, + 0.9666666666666667 + ] + }, + { + "key": "repeated_jumps", + "title": "反复闪跳／多次切换", + "description": "含相邻锚点的窗口中，至少3个逐帧变化超过30°或50 mm，且未被长区间或重复位姿类别优先收纳。", + "count": 17, + "sample_count": 6, + "source_duration_range_seconds": [ + 0.1, + 1.1 + ] + }, + { + "key": "held_pose", + "title": "重复位姿／疑似保持旧值", + "description": "短区间内至少连续4帧七维位姿完全相同。可能是保持旧值、重采样或静止；仅凭重复值不能确证硬件丢失。", + "count": 9, + "sample_count": 6, + "source_duration_range_seconds": [ + 0.36666666666666664, + 1.0 + ] + }, + { + "key": "long_mixed", + "title": "较长缺口／混合异常", + "description": "原始事件超过33帧（1.1秒），可同时包含闪跳、冻结和正常运动。不能把整个事件当成一段可靠可插值轨迹。", + "count": 11, + "sample_count": 6, + "source_duration_range_seconds": [ + 1.1666666666666667, + 5.0 + ] + }, + { + "key": "boundary_context", + "title": "分段边界／上下文不足", + "description": "本段左右任一侧不足5帧上下文，或原始事件被分段裁短。这是可审核上下文限制，不一定是原算法拒绝原因。", + "count": 3, + "sample_count": 3, + "source_duration_range_seconds": [ + 0.03333333333333333, + 0.8666666666666667 + ] + } + ], + "counts": { + "events": 118, + "samples": 33, + "unique_skipped_hand_pose_rows": 1533, + 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