{"schemaVersion":1,"generatedAt":"2026-09-22T09:38:56.629620+00:00","human":{"counts":{"comparisons":8,"positive":3,"negative":5,"real_contiguous_comparisons":4,"edited_controls":4,"cross_performance_positive":2,"same_performance_additional_segment_positive":1},"independence":{"actual_distinct_visible_performances":3,"capture_sources":2,"new_human_subject_identity_inference":false,"note":"Two spatially distinct people in one DVIDS group recording plus one separately filmed Commons performance. Shared DVIDS camera, instruction and session; later Commons segment is the same performance. Eight cases are not eight independent people or trials."},"statusCounts":{"unknown":8},"confusion":{"positive":{"meets_contract":0,"incorrect":0,"unknown":3},"negative":{"meets_contract":0,"incorrect":0,"unknown":5}},"metrics":{"decided":0,"total":8,"decision_coverage":0.0,"negative_detection_count":0,"negative_total":5},"results":{"created_at_utc":"2026-09-22T09:21:53.597950+00:00","counts":{"comparisons":8,"positive":3,"negative":5,"real_contiguous_comparisons":4,"edited_controls":4,"cross_performance_positive":2,"same_performance_additional_segment_positive":1},"independence":{"actual_distinct_visible_performances":3,"capture_sources":2,"new_human_subject_identity_inference":false,"note":"Two spatially distinct people in one DVIDS group recording plus one separately filmed Commons performance. Shared DVIDS camera, instruction and session; later Commons segment is the same performance. Eight cases are not eight independent people or trials."},"confusion":{"true_positive":0,"false_negative":0,"true_negative":0,"false_positive":0,"unknown_positive":3,"unknown_negative":5},"metrics":{"decided":0,"total":8,"decision_coverage":0.0,"negative_detection_count":0,"negative_total":5},"scope":"Frozen arms-only repeated-posture contract; labels were assistant visual drafts before pose inference. No test-label tuning.","freeze_sha256":"efc191be3cad61cda754ef9be28bce2b73c848c22259158af541d7d9bf95b2ec","matcher_sha256":"7b168ca963abd419feeee6c69918217c408c8cd098f2d46a4e9a2bba0fb9b1e7","extractor_sha256":"a203bb3e42325d0922504cac734f0372a54ec48f87662b6bbdea097a8f86aadc","cases":[{"id":"right_two_cycles","reference_id":"reference_center","candidate_id":"right_two_cycles","expected":"positive","required_sequence":["arms_low","arms_high","arms_low","arms_high","arms_low"],"group":"real_contiguous_segment","label_basis":"visible ordered two-cycle arm sequence; no requirement of identical joint angles, landing mechanics, or exercise quality","title":"DVIDS 우측 인물: 두 번의 팔 올리기","status":"unknown","reason":"reference_contract_not_observable","outcome":"unknown_positive","completed_stages":4,"required_stages":5,"coverage":0.939394,"reference_issues":["insufficient_reference_visibility:0","insufficient_reference_dwell:1","insufficient_reference_visibility:1","insufficient_reference_dwell:3","insufficient_reference_visibility:3","insufficient_reference_dwell:4","insufficient_reference_visibility:4"]},{"id":"commons_two_cycles","reference_id":"reference_center","candidate_id":"commons_two_cycles","expected":"positive","required_sequence":["arms_low","arms_high","arms_low","arms_high","arms_low"],"group":"real_contiguous_segment","label_basis":"visible ordered two-cycle arm sequence; no requirement of identical joint angles, landing mechanics, or exercise quality","title":"별도 촬영: 두 번의 팔 올리기","status":"unknown","reason":"reference_contract_not_observable","outcome":"unknown_positive","completed_stages":3,"required_stages":5,"coverage":1.0,"reference_issues":["insufficient_reference_visibility:0","insufficient_reference_dwell:1","insufficient_reference_visibility:1","insufficient_reference_dwell:3","insufficient_reference_visibility:3","insufficient_reference_dwell:4","insufficient_reference_visibility:4"]},{"id":"commons_later_two_cycles","reference_id":"reference_center","candidate_id":"commons_later_two_cycles","expected":"positive","required_sequence":["arms_low","arms_high","arms_low","arms_high","arms_low"],"group":"real_contiguous_segment","label_basis":"visible ordered two-cycle arm sequence; no requirement of identical joint angles, landing mechanics, or exercise quality","title":"같은 Commons 수행의 뒤쪽 두 반복","status":"unknown","reason":"reference_contract_not_observable","outcome":"unknown_positive","completed_stages":3,"required_stages":5,"coverage":1.0,"reference_issues":["insufficient_reference_visibility:0","insufficient_reference_dwell:1","insufficient_reference_visibility:1","insufficient_reference_dwell:3","insufficient_reference_visibility:3","insufficient_reference_dwell:4","insufficient_reference_visibility:4"]},{"id":"right_standing","reference_id":"reference_center","candidate_id":"right_standing","expected":"negative","required_sequence":["arms_low","arms_high","arms_low","arms_high","arms_low"],"group":"real_contiguous_segment","label_basis":"visible ordered two-cycle arm sequence; no requirement of identical joint angles, landing mechanics, or exercise quality","title":"실제 비수행 구간: 손을 허리에 두고 서 있기","status":"unknown","reason":"reference_contract_not_observable","outcome":"unknown_negative","completed_stages":1,"required_stages":5,"coverage":0.272727,"reference_issues":["insufficient_reference_visibility:0","insufficient_reference_dwell:1","insufficient_reference_visibility:1","insufficient_reference_dwell:3","insufficient_reference_visibility:3","insufficient_reference_dwell:4","insufficient_reference_visibility:4"]},{"id":"right_one_cycle","reference_id":"reference_center","candidate_id":"right_one_cycle","expected":"negative","required_sequence":["arms_low","arms_high","arms_low","arms_high","arms_low"],"group":"deterministic_control","label_basis":"visible ordered two-cycle arm sequence; no requirement of identical joint angles, landing mechanics, or exercise quality","title":"한 번만 수행: 후반 반복을 잘라낸 대조군","status":"unknown","reason":"reference_contract_not_observable","outcome":"unknown_negative","completed_stages":3,"required_stages":5,"coverage":1.0,"reference_issues":["insufficient_reference_visibility:0","insufficient_reference_dwell:1","insufficient_reference_visibility:1","insufficient_reference_dwell:3","insufficient_reference_visibility:3","insufficient_reference_dwell:4","insufficient_reference_visibility:4"]},{"id":"commons_one_cycle","reference_id":"reference_center","candidate_id":"commons_one_cycle","expected":"negative","required_sequence":["arms_low","arms_high","arms_low","arms_high","arms_low"],"group":"deterministic_control","label_basis":"visible ordered two-cycle arm sequence; no requirement of identical joint angles, landing mechanics, or exercise quality","title":"한 번만 수행: 별도 촬영의 후반 반복 잘라내기","status":"unknown","reason":"reference_contract_not_observable","outcome":"unknown_negative","completed_stages":2,"required_stages":5,"coverage":1.0,"reference_issues":["insufficient_reference_visibility:0","insufficient_reference_dwell:1","insufficient_reference_visibility:1","insufficient_reference_dwell:3","insufficient_reference_visibility:3","insufficient_reference_dwell:4","insufficient_reference_visibility:4"]},{"id":"right_missing_middle","reference_id":"reference_center","candidate_id":"right_missing_middle","expected":"negative","required_sequence":["arms_low","arms_high","arms_low","arms_high","arms_low"],"group":"deterministic_control","label_basis":"visible ordered two-cycle arm sequence; no requirement of identical joint angles, landing mechanics, or exercise quality","title":"중간 내려오기 삭제: 편집 대조군","status":"unknown","reason":"reference_contract_not_observable","outcome":"unknown_negative","completed_stages":3,"required_stages":5,"coverage":1.0,"reference_issues":["insufficient_reference_visibility:0","insufficient_reference_dwell:1","insufficient_reference_visibility:1","insufficient_reference_dwell:3","insufficient_reference_visibility:3","insufficient_reference_dwell:4","insufficient_reference_visibility:4"]},{"id":"right_frozen_low","reference_id":"reference_center","candidate_id":"right_frozen_low","expected":"negative","required_sequence":["arms_low","arms_high","arms_low","arms_high","arms_low"],"group":"deterministic_control","label_basis":"visible ordered two-cycle arm sequence; no requirement of identical joint angles, landing mechanics, or exercise quality","title":"내린 팔 정지: 반복 프레임 대조군","status":"unknown","reason":"reference_contract_not_observable","outcome":"unknown_negative","completed_stages":3,"required_stages":5,"coverage":1.0,"reference_issues":["insufficient_reference_visibility:0","insufficient_reference_dwell:1","insufficient_reference_visibility:1","insufficient_reference_dwell:3","insufficient_reference_visibility:3","insufficient_reference_dwell:4","insufficient_reference_visibility:4"]}],"limitations":["Small purposively selected case study; no statistical generalization or clinical exercise assessment.","Reference has a smaller background person; dominant foreground performer is the intended target.","DVIDS is only 15 fps and the candidate has a small body in a wide shot; confidence failure is an honest UNKNOWN.","Different arm bend and camera geometry are real nuisance factors; semantic positives do not imply small normalized joint distance.","Candidate visible-core durations vary with speed. Their labels are semantic drafts, not evidence that a particular model or dwell threshold will accept them.","No v2 pose predictions or outcomes were consulted to choose these clips or labels."]},"limitations":["Small purposively selected case study; no statistical generalization or clinical exercise assessment.","Reference has a smaller background person; dominant foreground performer is the intended target.","DVIDS is only 15 fps and the candidate has a small body in a wide shot; confidence failure is an honest UNKNOWN.","Different arm bend and camera geometry are real nuisance factors; semantic positives do not imply small normalized joint distance.","Candidate visible-core durations vary with speed. Their labels are semantic drafts, not evidence that a particular model or dwell threshold will accept them.","No v2 pose predictions or outcomes were consulted to choose these clips or labels."]},"development":{"counts":{"unknown":9,"meets_contract":5,"incorrect":7},"summary":{"created_at_utc":"2026-09-22T09:10:24.576906+00:00","scope":"Declared development regression; all these V1 outputs were previously seen. Not held-out evaluation.","config":{"confidence":0.3,"mean_tolerance":0.28,"part_tolerance":0.45,"joint_tolerance":0.8,"minimum_coverage":0.8,"minimum_reference_core_s":0.12,"minimum_unique_frames":2,"dwell_fraction_of_reference":0.4,"minimum_dwell_s":0.12,"maximum_dwell_s":0.6,"sample_hz":12.0,"profile":"body"},"code_sha256":"7b168ca963abd419feeee6c69918217c408c8cd098f2d46a4e9a2bba0fb9b1e7","cases":[{"id":"real_identity","title":"원본 동일 입력","group":"real_dance","expected":"aligned","v1_status":"aligned","v2_status":"unknown","reason":"reference_contract_not_observable","completed":7,"required":9,"coverage":0.967742},{"id":"real_slow_135","title":"전체 속도 1.35배 느리게","group":"real_dance","expected":"aligned","v1_status":"aligned","v2_status":"unknown","reason":"reference_contract_not_observable","completed":9,"required":9,"coverage":0.904762},{"id":"real_tempo_local","title":"구간별 속도 변화","group":"real_dance","expected":"aligned","v1_status":"aligned","v2_status":"unknown","reason":"reference_contract_not_observable","completed":6,"required":9,"coverage":0.903226},{"id":"real_order_swap","title":"동작 구간 순서 교환","group":"real_dance","expected":"needs_review","v1_status":"aligned","v2_status":"unknown","reason":"reference_contract_not_observable","completed":7,"required":9,"coverage":0.870968},{"id":"real_skip_middle","title":"중간 동작 생략","group":"real_dance","expected":"needs_review","v1_status":"aligned","v2_status":"unknown","reason":"reference_contract_not_observable","completed":4,"required":9,"coverage":0.826087},{"id":"real_freeze_middle","title":"중간 프레임 정지","group":"real_dance","expected":"needs_review","v1_status":"aligned","v2_status":"unknown","reason":"reference_contract_not_observable","completed":6,"required":9,"coverage":0.870968},{"id":"real_mirror","title":"좌우 반전 · 엄격한 좌우 대응","group":"real_dance","expected":"needs_review","v1_status":"unknown","v2_status":"unknown","reason":"reference_contract_not_observable","completed":5,"required":9,"coverage":0.806452},{"id":"real_occluded","title":"중간 구간 영상 소실 · 전체 검정 프레임","group":"real_dance","expected":"visibility_loss","v1_status":"unknown","v2_status":"unknown","reason":"reference_contract_not_observable","completed":3,"required":9,"coverage":0.354839},{"id":"generated_identity","title":"원본 동일 입력","group":"generated_controls","expected":"aligned","v1_status":"aligned","v2_status":"meets_contract","reason":"all_required_stages_observed_in_order","completed":6,"required":6,"coverage":1.0},{"id":"generated_slow_135","title":"전체 속도 1.35배 느리게","group":"generated_controls","expected":"aligned","v1_status":"aligned","v2_status":"meets_contract","reason":"all_required_stages_observed_in_order","completed":6,"required":6,"coverage":1.0},{"id":"generated_tempo_local","title":"구간별 속도 변화","group":"generated_controls","expected":"aligned","v1_status":"aligned","v2_status":"meets_contract","reason":"all_required_stages_observed_in_order","completed":6,"required":6,"coverage":1.0},{"id":"generated_order_swap","title":"동작 구간 순서 교환","group":"generated_controls","expected":"needs_review","v1_status":"needs_review","v2_status":"incorrect","reason":"required_stage_or_order_not_met","completed":5,"required":6,"coverage":1.0},{"id":"generated_skip_middle","title":"중간 동작 생략","group":"generated_controls","expected":"needs_review","v1_status":"aligned","v2_status":"incorrect","reason":"required_stage_or_order_not_met","completed":5,"required":6,"coverage":1.0},{"id":"generated_freeze_middle","title":"중간 프레임 정지","group":"generated_controls","expected":"needs_review","v1_status":"needs_review","v2_status":"incorrect","reason":"required_stage_or_order_not_met","completed":5,"required":6,"coverage":1.0},{"id":"generated_mirror","title":"좌우 반전 · 엄격한 좌우 대응","group":"generated_controls","expected":"needs_review","v1_status":"needs_review","v2_status":"incorrect","reason":"required_stage_or_order_not_met","completed":5,"required":6,"coverage":1.0},{"id":"generated_occluded","title":"중간 구간 영상 소실 · 전체 검정 프레임","group":"generated_controls","expected":"visibility_loss","v1_status":"unknown","v2_status":"unknown","reason":"candidate_observation_insufficient","completed":4,"required":6,"coverage":0.4},{"id":"generated_independent","title":"같은 지시, 별도 생성 영상","group":"independent_generated","expected":"qualitative_review","v1_status":"aligned","v2_status":"meets_contract","reason":"all_required_stages_observed_in_order","completed":6,"required":6,"coverage":1.0},{"id":"pose_correct_overhead","title":"양팔 머리 위 · 일치 예시","group":"pose_cases","expected":"aligned","v1_status":"aligned","v2_status":"meets_contract","reason":"all_required_stages_observed_in_order","completed":1,"required":1,"coverage":1.0},{"id":"pose_wrong_one_arm","title":"한쪽 팔만 머리 위","group":"pose_cases","expected":"needs_review","v1_status":"needs_review","v2_status":"incorrect","reason":"required_stage_or_order_not_met","completed":0,"required":1,"coverage":1.0},{"id":"pose_wrong_horizontal","title":"양팔 수평 · 다른 자세","group":"pose_cases","expected":"needs_review","v1_status":"needs_review","v2_status":"incorrect","reason":"required_stage_or_order_not_met","completed":0,"required":1,"coverage":1.0},{"id":"pose_wrong_neutral","title":"양팔 아래 · 다른 자세","group":"pose_cases","expected":"needs_review","v1_status":"needs_review","v2_status":"incorrect","reason":"required_stage_or_order_not_met","completed":0,"required":1,"coverage":1.0}]}},"control":{"summary":{"schema_version":1,"created_at_utc":"2026-09-22T09:06:07.605168+00:00","experiment":"Video-derived planar upper-body imitation with physical torque dynamics","mujoco":"3.13.0","python":"3.12.14","configuration_sha256":"a5c1323c02bc27c5fa54b08375658def70712d88825db5e8b8c896f8ca9571b3","reference":{"created_at_utc":"2026-09-22T09:05:06.102386+00:00","source":"motion_compliance/results/generated_reference/poses.json","source_sha256":"9d0fbf5edc9a3d24d65655c580dcf5626febb69b51e0a3a4d29c0c854daa1b5d","source_video_sha256":"b2683b717df3ca0685de11c707f1ea80ce1a5b099c51892b86da631733546201","source_fps":24.0,"joint_names":["left_shoulder","left_elbow","right_shoulder","right_elbow"],"confidence_threshold":0.3,"valid_fraction":[1.0,1.0,1.0,1.0],"raw_clipping_fraction_per_joint":[0.0,0.00346,0.0,0.00692],"smoothed_clipping_fraction_per_joint":[0.0,0.0,0.0,0.0],"clipping_fraction":0.0,"raw_angle_range_degrees":[[-153.709406,-127.312972,6.514775,-157.73789],[7.602186,164.35232,164.253343,156.12288]],"joint_limits_degrees":[175.0,150.0,175.0,150.0],"retargeting":"Frontal image-plane arm directions relative to image torso; elbow is signed projected forearm-minus-upper-arm angle. Image screen-right maps to world +x. No 3D lifting.","filter":"Gaussian sigma0.12s at source rate, clip to hinge limits, linear interpolation, integration-grid Gaussian sigma0.016s.","timing":"Video starts at simulation1s; 1s pre-roll and ~1s end hold.14s total.","limitations":["2D projection cannot recover depth or axial rotation.","Fixed torso and planar arms omit legs, balance, locomotion, hands and physical contacts.","Synthetic reference is not human motion-capture ground truth."]},"episodes":160,"seeds":[100,101,102,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119],"conditions":[{"condition":"nominal","policies":{"open_loop":{"episodes":20,"rmse_deg_mean":69.551542,"rmse_deg_sd":14.892578,"completion_count":0,"completion_fraction":0.0,"stage_completion_fraction":0.27,"recovered_count":null,"recovery_time_mean_s":null,"recovery_denominator_note":"Mean among recovered episodes only; see recovered_count. Nominal/gain conditions have no impulse.","peak_error_deg_max":241.472038,"peak_joint_limit_violation_deg_max":4.489075,"mean_saturation_fraction":0.003571,"mean_absolute_mechanical_work_j":92.243095},"feedback":{"episodes":20,"rmse_deg_mean":0.65987,"rmse_deg_sd":0.0,"completion_count":20,"completion_fraction":1.0,"stage_completion_fraction":1.0,"recovered_count":null,"recovery_time_mean_s":null,"recovery_denominator_note":"Mean among recovered episodes only; see recovered_count. Nominal/gain conditions have no impulse.","peak_error_deg_max":12.100295,"peak_joint_limit_violation_deg_max":0.0,"mean_saturation_fraction":0.006035,"mean_absolute_mechanical_work_j":69.794017}},"paired_rmse_improvement_deg":{"mean":68.891672,"ci95_percentile":[62.783718,74.962152],"method":"Paired-seed nonparametric bootstrap,10000 resamples; internal simulator replicates, not real-world confidence."},"paired_completion_difference":{"mean":1.0,"ci95_percentile":[1.0,1.0],"method":"Paired-seed nonparametric bootstrap,10000 resamples; internal simulator replicates, not real-world confidence."}},{"condition":"impulse","policies":{"open_loop":{"episodes":20,"rmse_deg_mean":60.429488,"rmse_deg_sd":12.097385,"completion_count":0,"completion_fraction":0.0,"stage_completion_fraction":0.22,"recovered_count":20,"recovery_time_mean_s":6.755761,"recovery_denominator_note":"Mean among recovered episodes only; see recovered_count. Nominal/gain conditions have no impulse.","peak_error_deg_max":241.472038,"peak_joint_limit_violation_deg_max":5.197704,"mean_saturation_fraction":0.003571,"mean_absolute_mechanical_work_j":97.660174},"feedback":{"episodes":20,"rmse_deg_mean":0.745641,"rmse_deg_sd":0.023544,"completion_count":20,"completion_fraction":1.0,"stage_completion_fraction":1.0,"recovered_count":20,"recovery_time_mean_s":0.000861,"recovery_denominator_note":"Mean among recovered episodes only; see recovered_count. Nominal/gain conditions have no impulse.","peak_error_deg_max":12.100295,"peak_joint_limit_violation_deg_max":0.0,"mean_saturation_fraction":0.006035,"mean_absolute_mechanical_work_j":70.296497}},"paired_rmse_improvement_deg":{"mean":59.683847,"ci95_percentile":[54.971026,65.209599],"method":"Paired-seed nonparametric bootstrap,10000 resamples; internal simulator replicates, not real-world confidence."},"paired_completion_difference":{"mean":1.0,"ci95_percentile":[1.0,1.0],"method":"Paired-seed nonparametric bootstrap,10000 resamples; internal simulator replicates, not real-world confidence."}},{"condition":"actuator_gain","policies":{"open_loop":{"episodes":20,"rmse_deg_mean":56.266145,"rmse_deg_sd":0.635255,"completion_count":0,"completion_fraction":0.0,"stage_completion_fraction":0.2,"recovered_count":null,"recovery_time_mean_s":null,"recovery_denominator_note":"Mean among recovered episodes only; see recovered_count. Nominal/gain conditions have no impulse.","peak_error_deg_max":183.342303,"peak_joint_limit_violation_deg_max":0.0,"mean_saturation_fraction":0.003571,"mean_absolute_mechanical_work_j":68.231997},"feedback":{"episodes":20,"rmse_deg_mean":2.310474,"rmse_deg_sd":0.535672,"completion_count":20,"completion_fraction":1.0,"stage_completion_fraction":1.0,"recovered_count":null,"recovery_time_mean_s":null,"recovery_denominator_note":"Mean among recovered episodes only; see recovered_count. Nominal/gain conditions have no impulse.","peak_error_deg_max":39.756033,"peak_joint_limit_violation_deg_max":0.0,"mean_saturation_fraction":0.013909,"mean_absolute_mechanical_work_j":73.057073}},"paired_rmse_improvement_deg":{"mean":53.955671,"ci95_percentile":[53.696334,54.233934],"method":"Paired-seed nonparametric bootstrap,10000 resamples; internal simulator replicates, not real-world confidence."},"paired_completion_difference":{"mean":1.0,"ci95_percentile":[1.0,1.0],"method":"Paired-seed nonparametric bootstrap,10000 resamples; internal simulator replicates, not real-world confidence."}},{"condition":"combined","policies":{"open_loop":{"episodes":20,"rmse_deg_mean":60.63258,"rmse_deg_sd":1.078537,"completion_count":0,"completion_fraction":0.0,"stage_completion_fraction":0.06,"recovered_count":18,"recovery_time_mean_s":6.730572,"recovery_denominator_note":"Mean among recovered episodes only; see recovered_count. Nominal/gain conditions have no impulse.","peak_error_deg_max":218.154691,"peak_joint_limit_violation_deg_max":0.636029,"mean_saturation_fraction":0.003571,"mean_absolute_mechanical_work_j":68.30837},"feedback":{"episodes":20,"rmse_deg_mean":13.933933,"rmse_deg_sd":8.008443,"completion_count":8,"completion_fraction":0.4,"stage_completion_fraction":0.81,"recovered_count":20,"recovery_time_mean_s":1.080961,"recovery_denominator_note":"Mean among recovered episodes only; see recovered_count. Nominal/gain conditions have no impulse.","peak_error_deg_max":126.866482,"peak_joint_limit_violation_deg_max":0.0,"mean_saturation_fraction":0.08204,"mean_absolute_mechanical_work_j":102.261729}},"paired_rmse_improvement_deg":{"mean":46.698647,"ci95_percentile":[43.438489,49.845255],"method":"Paired-seed nonparametric bootstrap,10000 resamples; internal simulator replicates, not real-world confidence."},"paired_completion_difference":{"mean":0.4,"ci95_percentile":[0.2,0.6],"method":"Paired-seed nonparametric bootstrap,10000 resamples; internal simulator replicates, not real-world confidence."}}],"evaluation_wall_s":18.599439,"artifacts":{"frozen":"frozen_config.json","episodes":"results/episodes.json","trajectory_folder":"results/trajectories","baseline_video":"results/open_loop.mp4","feedback_video":"results/feedback.mp4","comparison_video":"results/comparison.mp4"},"scope":["Physical simulation, not a real robot trial.","Four planar arm DOF; fixed torso and disabled collision contacts.","Online correction uses ideal joint encoders, not camera feedback.","Only reference motion originates from video perception; no learned control policy.","Development and evaluation seeds separate stochastic simulator trials, not humans or unseen reference motions.","Whole reference is available offline; successful control does not establish full choreography correctness."]},"assets":{"video":"media/control-comparison.mp4","preview":"media/control-preview.jpg","plot":"media/control-tracking.png"}},"ablation":{"summary":{"schema_version":1,"created_at_utc":"2026-09-22T09:16:40.648130+00:00","configuration_sha256":"c3ef9d5fbce230d4b87a109e53ccffade53f6dc01f4008f5a213c7c11364c0e5","experiment":"Separately frozen same-gain PD-only versus FF+PD ablation after initial benchmark","episodes":240,"seeds":[200,201,202,203,204,205,206,207,208,209,210,211,212,213,214,215,216,217,218,219],"conditions":[{"condition":"nominal","policies":{"ff_only":{"episodes":20,"rmse_deg_mean":69.60432,"rmse_deg_sd":15.149352,"completion_count":0,"completion_fraction":0.0,"stage_completion_fraction":0.28,"peak_error_deg_max":241.472038,"peak_joint_limit_violation_deg_max":4.489075,"mean_saturation_fraction":0.003571,"recovered_count":null,"recovery_time_mean_s":null,"mean_absolute_mechanical_work_j":92.173555},"pd_only":{"episodes":20,"rmse_deg_mean":3.109925,"rmse_deg_sd":0.0,"completion_count":20,"completion_fraction":1.0,"stage_completion_fraction":1.0,"peak_error_deg_max":23.631739,"peak_joint_limit_violation_deg_max":0.0,"mean_saturation_fraction":0.006678,"recovered_count":null,"recovery_time_mean_s":null,"mean_absolute_mechanical_work_j":75.775025},"ff_pd":{"episodes":20,"rmse_deg_mean":0.65987,"rmse_deg_sd":0.0,"completion_count":20,"completion_fraction":1.0,"stage_completion_fraction":1.0,"peak_error_deg_max":12.100295,"peak_joint_limit_violation_deg_max":0.0,"mean_saturation_fraction":0.006035,"recovered_count":null,"recovery_time_mean_s":null,"mean_absolute_mechanical_work_j":69.795376}},"feedforward_rmse_improvement_deg":{"mean":2.450055,"ci95_percentile":[2.450055,2.450055],"method":"Paired-seed nonparametric bootstrap,10000 resamples; internal simulator replicates, not real-world confidence."},"feedforward_completion_difference":{"mean":0.0,"ci95_percentile":[0.0,0.0],"method":"Paired-seed nonparametric bootstrap,10000 resamples; internal simulator replicates, not real-world confidence."},"feedforward_rmse_better_seed_count":20},{"condition":"impulse","policies":{"ff_only":{"episodes":20,"rmse_deg_mean":65.757425,"rmse_deg_sd":14.475472,"completion_count":0,"completion_fraction":0.0,"stage_completion_fraction":0.21,"peak_error_deg_max":241.472038,"peak_joint_limit_violation_deg_max":6.505233,"mean_saturation_fraction":0.003571,"recovered_count":20,"recovery_time_mean_s":6.852484,"mean_absolute_mechanical_work_j":97.661674},"pd_only":{"episodes":20,"rmse_deg_mean":3.130867,"rmse_deg_sd":0.020902,"completion_count":20,"completion_fraction":1.0,"stage_completion_fraction":1.0,"peak_error_deg_max":23.631739,"peak_joint_limit_violation_deg_max":0.0,"mean_saturation_fraction":0.006678,"recovered_count":20,"recovery_time_mean_s":0.000884,"mean_absolute_mechanical_work_j":76.275557},"ff_pd":{"episodes":20,"rmse_deg_mean":0.762369,"rmse_deg_sd":0.017698,"completion_count":20,"completion_fraction":1.0,"stage_completion_fraction":1.0,"peak_error_deg_max":12.100295,"peak_joint_limit_violation_deg_max":0.0,"mean_saturation_fraction":0.006035,"recovered_count":20,"recovery_time_mean_s":0.000884,"mean_absolute_mechanical_work_j":70.292774}},"feedforward_rmse_improvement_deg":{"mean":2.368498,"ci95_percentile":[2.356476,2.380003],"method":"Paired-seed nonparametric bootstrap,10000 resamples; internal simulator replicates, not real-world confidence."},"feedforward_completion_difference":{"mean":0.0,"ci95_percentile":[0.0,0.0],"method":"Paired-seed nonparametric bootstrap,10000 resamples; internal simulator replicates, not real-world confidence."},"feedforward_rmse_better_seed_count":20},{"condition":"actuator_gain","policies":{"ff_only":{"episodes":20,"rmse_deg_mean":56.254505,"rmse_deg_sd":0.680165,"completion_count":0,"completion_fraction":0.0,"stage_completion_fraction":0.2,"peak_error_deg_max":182.249632,"peak_joint_limit_violation_deg_max":0.0,"mean_saturation_fraction":0.003571,"recovered_count":null,"recovery_time_mean_s":null,"mean_absolute_mechanical_work_j":69.170979},"pd_only":{"episodes":20,"rmse_deg_mean":4.748575,"rmse_deg_sd":0.526685,"completion_count":20,"completion_fraction":1.0,"stage_completion_fraction":1.0,"peak_error_deg_max":50.553408,"peak_joint_limit_violation_deg_max":0.0,"mean_saturation_fraction":0.014978,"recovered_count":null,"recovery_time_mean_s":null,"mean_absolute_mechanical_work_j":79.624177},"ff_pd":{"episodes":20,"rmse_deg_mean":2.306172,"rmse_deg_sd":0.575402,"completion_count":20,"completion_fraction":1.0,"stage_completion_fraction":1.0,"peak_error_deg_max":40.425282,"peak_joint_limit_violation_deg_max":0.0,"mean_saturation_fraction":0.014287,"recovered_count":null,"recovery_time_mean_s":null,"mean_absolute_mechanical_work_j":73.044235}},"feedforward_rmse_improvement_deg":{"mean":2.442403,"ci95_percentile":[2.405071,2.47698],"method":"Paired-seed nonparametric bootstrap,10000 resamples; internal simulator replicates, not real-world confidence."},"feedforward_completion_difference":{"mean":0.0,"ci95_percentile":[0.0,0.0],"method":"Paired-seed nonparametric bootstrap,10000 resamples; internal simulator replicates, not real-world confidence."},"feedforward_rmse_better_seed_count":20},{"condition":"combined","policies":{"ff_only":{"episodes":20,"rmse_deg_mean":60.502641,"rmse_deg_sd":0.860157,"completion_count":0,"completion_fraction":0.0,"stage_completion_fraction":0.04,"peak_error_deg_max":227.64246,"peak_joint_limit_violation_deg_max":2.201981,"mean_saturation_fraction":0.003571,"recovered_count":16,"recovery_time_mean_s":6.589926,"mean_absolute_mechanical_work_j":67.532125},"pd_only":{"episodes":20,"rmse_deg_mean":11.65609,"rmse_deg_sd":5.781486,"completion_count":13,"completion_fraction":0.65,"stage_completion_fraction":0.89,"peak_error_deg_max":123.531592,"peak_joint_limit_violation_deg_max":0.0,"mean_saturation_fraction":0.059884,"recovered_count":20,"recovery_time_mean_s":0.568484,"mean_absolute_mechanical_work_j":106.803674},"ff_pd":{"episodes":20,"rmse_deg_mean":10.023668,"rmse_deg_sd":6.498092,"completion_count":14,"completion_fraction":0.7,"stage_completion_fraction":0.9,"peak_error_deg_max":126.373242,"peak_joint_limit_violation_deg_max":0.0,"mean_saturation_fraction":0.062004,"recovered_count":20,"recovery_time_mean_s":0.523484,"mean_absolute_mechanical_work_j":100.469333}},"feedforward_rmse_improvement_deg":{"mean":1.632422,"ci95_percentile":[1.299007,1.963721],"method":"Paired-seed nonparametric bootstrap,10000 resamples; internal simulator replicates, not real-world confidence."},"feedforward_completion_difference":{"mean":0.05,"ci95_percentile":[0.0,0.15],"method":"Paired-seed nonparametric bootstrap,10000 resamples; internal simulator replicates, not real-world confidence."},"feedforward_rmse_better_seed_count":20}],"compute_wall_s":27.799148,"limitations":["Designed after original evaluation; fresh internal simulator seeds, not external validation.","Same gains across PD-only and FF+PD, not separately optimized policies.","One synthetic video-derived reference and four planar arm DOF only.","No change to main benchmark controller gains, torque limits, metrics or stage windows."]},"assets":{"video":"media/control-comparison.mp4","preview":"media/control-preview.jpg","plot":"media/control-tracking.png"}},"cases":[{"id":"right_two_cycles","title":"DVIDS 우측 인물: 두 번의 팔 올리기","expected":"positive","group":"real_contiguous_segment","status":"unknown","reason":"reference_contract_not_observable","completed":4,"required":5,"coverage":0.939394,"referenceId":"reference_center","candidateId":"right_two_cycles","dataUrl":"data/cases/right_two_cycles.json"},{"id":"commons_two_cycles","title":"별도 촬영: 두 번의 팔 올리기","expected":"positive","group":"real_contiguous_segment","status":"unknown","reason":"reference_contract_not_observable","completed":3,"required":5,"coverage":1.0,"referenceId":"reference_center","candidateId":"commons_two_cycles","dataUrl":"data/cases/commons_two_cycles.json"},{"id":"commons_later_two_cycles","title":"같은 Commons 수행의 뒤쪽 두 반복","expected":"positive","group":"real_contiguous_segment","status":"unknown","reason":"reference_contract_not_observable","completed":3,"required":5,"coverage":1.0,"referenceId":"reference_center","candidateId":"commons_later_two_cycles","dataUrl":"data/cases/commons_later_two_cycles.json"},{"id":"right_standing","title":"실제 비수행 구간: 손을 허리에 두고 서 있기","expected":"negative","group":"real_contiguous_segment","status":"unknown","reason":"reference_contract_not_observable","completed":1,"required":5,"coverage":0.272727,"referenceId":"reference_center","candidateId":"right_standing","dataUrl":"data/cases/right_standing.json"},{"id":"right_one_cycle","title":"한 번만 수행: 후반 반복을 잘라낸 대조군","expected":"negative","group":"deterministic_control","status":"unknown","reason":"reference_contract_not_observable","completed":3,"required":5,"coverage":1.0,"referenceId":"reference_center","candidateId":"right_one_cycle","dataUrl":"data/cases/right_one_cycle.json"},{"id":"commons_one_cycle","title":"한 번만 수행: 별도 촬영의 후반 반복 잘라내기","expected":"negative","group":"deterministic_control","status":"unknown","reason":"reference_contract_not_observable","completed":2,"required":5,"coverage":1.0,"referenceId":"reference_center","candidateId":"commons_one_cycle","dataUrl":"data/cases/commons_one_cycle.json"},{"id":"right_missing_middle","title":"중간 내려오기 삭제: 편집 대조군","expected":"negative","group":"deterministic_control","status":"unknown","reason":"reference_contract_not_observable","completed":3,"required":5,"coverage":1.0,"referenceId":"reference_center","candidateId":"right_missing_middle","dataUrl":"data/cases/right_missing_middle.json"},{"id":"right_frozen_low","title":"내린 팔 정지: 반복 프레임 대조군","expected":"negative","group":"deterministic_control","status":"unknown","reason":"reference_contract_not_observable","completed":3,"required":5,"coverage":1.0,"referenceId":"reference_center","candidateId":"right_frozen_low","dataUrl":"data/cases/right_frozen_low.json"}],"assets":{"report":"report.html","bundle":"downloads/motion-check-v2-experiment.zip","bundleManifest":"downloads/package-manifest.json"},"method":{"frozenEvaluation":{"frozen_at_utc":"2026-09-22T09:11:14.919342+00:00","code_sha256":"7b168ca963abd419feeee6c69918217c408c8cd098f2d46a4e9a2bba0fb9b1e7","development_summary_sha256":"ab5f7c850a4365ab1d5b3590d2f496d30de6a417bb12ea901f427498990aeb06","profiles":{"body":{"confidence":0.3,"mean_tolerance":0.28,"part_tolerance":0.45,"joint_tolerance":0.8,"minimum_coverage":0.8,"minimum_reference_core_s":0.12,"minimum_unique_frames":2,"dwell_fraction_of_reference":0.4,"minimum_dwell_s":0.12,"maximum_dwell_s":0.6,"sample_hz":12.0,"profile":"body"},"arms":{"confidence":0.3,"mean_tolerance":0.28,"part_tolerance":0.45,"joint_tolerance":0.8,"minimum_coverage":0.8,"minimum_reference_core_s":0.12,"minimum_unique_frames":2,"dwell_fraction_of_reference":0.4,"minimum_dwell_s":0.12,"maximum_dwell_s":0.6,"sample_hz":12.0,"profile":"arms"}},"human_evaluation_profile":"arms","scope":"All 21 V1 comparisons were seen and used as declared development regressions. New real source crops have not been pose-inferred or scored. Human evaluation uses an arms-only ordered posture contract; it does not grade jumping-jack leg placement.","minimum_evidence_rationale":"At least two distinct observed frames and a 0.12s floor allow brief peaks in continuous movement. Longer reference holds require40% of core duration, capped0.60s. No invisible gap fills dwell.","post_freeze_policy":"Run new data once after the assistant visual labels are frozen. Report all outcomes without tuning to their labels."},"frozenExtractor":{"frozen_at_utc":"2026-09-22T09:15:36.498687+00:00","extractor_sha256":"a203bb3e42325d0922504cac734f0372a54ec48f87662b6bbdea097a8f86aadc","selection":"largest bbox area>=2x runner-up; unknown otherwise","rationale":"Frozen data metadata states a smaller background person in the reference crop. Intended foreground subject fixed by source review, before any new pose inference. Stage matcher/config remains unchanged.","no_new_pose_predictions_viewed":true},"dataFreeze":{"frozen_utc":"2026-09-22T09:14:49.434075+00:00","prediction_blind":true,"v2_pose_inference_performed_by_builder":false,"files":[{"path":"manifest.json","sha256":"22e29f01f980b9f92467ee8ec48c47bdfebc7da8ba0cfaaad7651b13bb3ed78d"},{"path":"clips/reference_center/source.mp4","sha256":"721302fa8e26070a071765bdf142ec7612c1320655f6e65cdc4e33a2959250f7"},{"path":"clips/reference_center/annotations.json","sha256":"124602062cf0f2a9682f7b9bf54fa77f24679c468d7562b9f236bab17077174a"},{"path":"clips/right_two_cycles/source.mp4","sha256":"73868d358216f44ddab72be9cf4d20f78fe749c113fff8b3ea405aab1deafa5a"},{"path":"clips/right_two_cycles/annotations.json","sha256":"64cdcd898b50f4effc05df5f5fc9b497c027f776c462c42537e7627edd89da47"},{"path":"clips/commons_two_cycles/source.mp4","sha256":"7740344b0b0a0505e0c3d4fd643712cc0e335d88f9cf509ce5f324390cdc6cf0"},{"path":"clips/commons_two_cycles/annotations.json","sha256":"3edbceadbc68b992f89d14f1639643b472dfca728b07254b2185a72700aa3a45"},{"path":"clips/commons_later_two_cycles/source.mp4","sha256":"13f2350eef2dff4f022030c860955e8f1940bee12d47edec33e1f691fd6d49d0"},{"path":"clips/commons_later_two_cycles/annotations.json","sha256":"7955e08ec3d53d8c10cbcda3dcd1576e0cb0b26e1e840e258e7a83e75edd05e0"},{"path":"clips/right_standing/source.mp4","sha256":"eabc969ea175aff1008bf37e7868c2a064276857758bca8b4a06c044ee592907"},{"path":"clips/right_standing/annotations.json","sha256":"376a4f32bc9d8e44056b8dae28c1c125acd44a4638ca58d71cc97ad28a7123ce"},{"path":"clips/right_one_cycle/source.mp4","sha256":"5255589711c97bf7c55ec75a8d07742ce698432db179a22533e5a9b28cbae2db"},{"path":"clips/right_one_cycle/annotations.json","sha256":"17da04591786d3b8a7f4cf21f9e4b84c0c56f793cc778ee5357a378c7cb08392"},{"path":"clips/commons_one_cycle/source.mp4","sha256":"af68253ba25b1b453f00dda1fff423e40c0f37913a05ec85760d7d0486f50854"},{"path":"clips/commons_one_cycle/annotations.json","sha256":"97ceb7e5d5e2f8333e4fb23a36c3f61cbd76d2b46b512b5a7a9b26e7b399316a"},{"path":"clips/right_missing_middle/source.mp4","sha256":"bb48e3ea2625230c282b86331f5b8af7c8d6edcd61d8f5734bb233f02d716c23"},{"path":"clips/right_missing_middle/annotations.json","sha256":"28e0acd6af6e13cb2a754a048a12cd24eb64c99214fab9131d2d9aba14ae0ec8"},{"path":"clips/right_frozen_low/source.mp4","sha256":"ff4f56c3b390285b3f064d40dedf48a67c2ede49dcd7c2e5c25a2e7cda00c87c"},{"path":"clips/right_frozen_low/annotations.json","sha256":"10829a6e5af068ccbe5debc8ffa5ef65bb7239217fa986b0236fbc4f77d5dfb0"},{"path":"sources/provenance.json","sha256":"b15160feb403a781299f1e6affec63137063ad3dfed7a52f1ba493201a0e5984"},{"path":"sources/dvids_154450/LICENSE.media.txt","sha256":"047765b1f3586feae8a7f609a7004f301b98f8e5cf6eaad7ac4f27246c014525"},{"path":"sources/commons_jumping_jacks/LICENSE.media.txt","sha256":"8c4df19a9de8e9e2c71b34f3d6bfb41bc3484001a5ad7597049e48720e3093cd"},{"path":"build_real_validation.py","sha256":"1feae11b6a423157b115481e642888a40426a98677871a47e7396a2864fd5ecc"}]},"task":"arms_low -> arms_high -> arms_low -> arms_high -> arms_low","scope":"arms-only ordered requirements; independently reported physical torque simulation"},"sources":{"reviewed_utc_date":"2026-09-22","new_download_bytes":75531332,"download_limit_bytes":100000000,"dvids":{"title":"Fit for Duty: Calisthenics & Stretching","source_page":"https://www.dvidshub.net/video/154450/fit-duty-calisthenics-stretching","published_date":"2007-12-04","credit":"Courtesy video, U.S. government / DVIDS","rights":"Public domain label on the official item; DVIDS use conditions apply","rights_url":"https://www.dvidshub.net/about/copyright","required_display_disclaimer":"The appearance of U.S. Department of War (DoW) visual information does not imply or constitute DoW endorsement.","full_review_download":{"url":"https://d34w7g4gy10iej.cloudfront.net/video/0712/DOD_100484504/DOD_100484504-486x274-300k.mp4","path":"sources/dvids_154450/source.mp4","bytes":69828540,"sha256":"24b7161522bb6664e75e07a93d2cd784176661d6b41adb9f35c2bf951d4f826c"},"hls_master_url":"https://www.dvidshub.net/video/154450.m3u8","hls_variant_url":"https://d34w7g4gy10iej.cloudfront.net/video/0712/DOD_100484504/DOD_100484504-640x360-691k-hls.m3u8","downloaded_segments":[{"index":44,"url":"https://d34w7g4gy10iej.cloudfront.net/video/0712/DOD_100484504/DOD_100484504-640x360-691k-hls44.ts","bytes":308696,"sha256":"954a5382980f76a6ce3ece33125e2e60c1f957ca9b18b406b0cf834f9ab77020"},{"index":45,"url":"https://d34w7g4gy10iej.cloudfront.net/video/0712/DOD_100484504/DOD_100484504-640x360-691k-hls45.ts","bytes":364532,"sha256":"ae3efe11c2e7f45ec4f7ea67e7e540c0037527a02ea939cf2575f9f9414ce323"},{"index":23,"start_s":69,"end_s":72,"url":"https://d34w7g4gy10iej.cloudfront.net/video/0712/DOD_100484504/DOD_100484504-640x360-691k-hls23.ts","bytes":337272,"sha256":"3998b2c677486cdf37f01d784584e490d6ac75ec73761f0b1decc3e3467d5b98"},{"index":24,"start_s":72,"end_s":75,"url":"https://d34w7g4gy10iej.cloudfront.net/video/0712/DOD_100484504/DOD_100484504-640x360-691k-hls24.ts","bytes":349116,"sha256":"833d9e812b85590f8ebb054ceab23546196ab627addd426e0466e0dbd7e0d48f"},{"index":25,"start_s":75,"end_s":78,"url":"https://d34w7g4gy10iej.cloudfront.net/video/0712/DOD_100484504/DOD_100484504-640x360-691k-hls25.ts","bytes":351184,"sha256":"cf619d1e791c1143d3eafe7947b792ccff941501e1995479ed69f0e279d53f26"},{"index":26,"start_s":78,"end_s":81,"url":"https://d34w7g4gy10iej.cloudfront.net/video/0712/DOD_100484504/DOD_100484504-640x360-691k-hls26.ts","bytes":306440,"sha256":"48062bf44ced481cc1a15363e79da2a6ec6216aff129e6136cb0f93779975d5a"},{"index":27,"start_s":81,"end_s":84,"url":"https://d34w7g4gy10iej.cloudfront.net/video/0712/DOD_100484504/DOD_100484504-640x360-691k-hls27.ts","bytes":321292,"sha256":"a5f6553dbbb41c2cd653d772c5ff37e65f6d4d15b34915fa6af9a0b3d8656b8a"},{"index":28,"start_s":84,"end_s":87,"url":"https://d34w7g4gy10iej.cloudfront.net/video/0712/DOD_100484504/DOD_100484504-640x360-691k-hls28.ts","bytes":314900,"sha256":"b4b1a1c712849a1f29a0e53bf749df8680cad889a11c1942eed5f16044954a8a"},{"index":29,"start_s":87,"end_s":90,"url":"https://d34w7g4gy10iej.cloudfront.net/video/0712/DOD_100484504/DOD_100484504-640x360-691k-hls29.ts","bytes":396680,"sha256":"bb51455b638d47fc8ce97b6bfa387b4ebf81f5a8a5caffed90d91708c2d05700"},{"index":30,"start_s":90,"end_s":93,"url":"https://d34w7g4gy10iej.cloudfront.net/video/0712/DOD_100484504/DOD_100484504-640x360-691k-hls30.ts","bytes":301552,"sha256":"615d1aa9badd2e81a26ae8b3f58507fbb80e56e35427a8837bb611ae3c0939c3"},{"index":31,"start_s":93,"end_s":96,"url":"https://d34w7g4gy10iej.cloudfront.net/video/0712/DOD_100484504/DOD_100484504-640x360-691k-hls31.ts","bytes":282188,"sha256":"ec950900603b9ce7a1da63d522a2934dd566cc21f6a1dcaecd074d6abf127d27"},{"index":32,"start_s":96,"end_s":99,"url":"https://d34w7g4gy10iej.cloudfront.net/video/0712/DOD_100484504/DOD_100484504-640x360-691k-hls32.ts","bytes":363028,"sha256":"08b466cd352bdc4ac7f7b989ef3027dfa4764fb08a77d46fd55b35bc9d8c8149"},{"index":33,"start_s":99,"end_s":102,"url":"https://d34w7g4gy10iej.cloudfront.net/video/0712/DOD_100484504/DOD_100484504-640x360-691k-hls33.ts","bytes":352688,"sha256":"bf3465e7aee635a70f99a204205b9a235df709473cfd034402a1ce646e9e5fc7"},{"index":34,"start_s":102,"end_s":105,"url":"https://d34w7g4gy10iej.cloudfront.net/video/0712/DOD_100484504/DOD_100484504-640x360-691k-hls34.ts","bytes":312268,"sha256":"b3d5dd1b8ca8a594bb35071cce5caaa94ea6b225b7b1e10d49627c6dc0ffb80d"},{"index":35,"start_s":105,"end_s":108,"url":"https://d34w7g4gy10iej.cloudfront.net/video/0712/DOD_100484504/DOD_100484504-640x360-691k-hls35.ts","bytes":320916,"sha256":"7c9e5230c02ec366949e9375f88374ee30a928c7a52183b2f124dfeb7e6ac159"},{"index":36,"start_s":108,"end_s":111,"url":"https://d34w7g4gy10iej.cloudfront.net/video/0712/DOD_100484504/DOD_100484504-640x360-691k-hls36.ts","bytes":317344,"sha256":"57f346f7b84402075fd085980b351f9c16e559b2b5278992532f43db53aae05e"},{"index":37,"start_s":111,"end_s":114,"url":"https://d34w7g4gy10iej.cloudfront.net/video/0712/DOD_100484504/DOD_100484504-640x360-691k-hls37.ts","bytes":402696,"sha256":"c8707cd8abbbe831269ac0849255303c29fd9db84a00cee8d148c07ebe229173"}],"changes":"Selected public HLS segments remuxed without audio; derived clips trimmed, cropped and transcoded. Explicit deterministic controls additionally edit temporal frames."},"commons":{"title":"Jumping jacks and burpees","creator":"Taco Fleur","source_page":"https://commons.wikimedia.org/wiki/File:Jumping_jacks_and_burpees.webm","license":"CC BY-SA 4.0","license_url":"https://creativecommons.org/licenses/by-sa/4.0/","original_date":"2017-11-15","path":"sources/commons_jumping_jacks/source.webm","bytes":6544177,"sha256":"1c8370a29c52b5b1538f03f8c63be6cdc9333dea3cbd77cc8f2af0dbe496d5b4","acquisition":"Reused already downloaded original from v1; zero new network video bytes","derived_license":"CC BY-SA 4.0","changes":"Contiguous trims and H.264 transcode with audio removed; one named control truncates the second cycle."}},"papers":[{"id":"tcc_2019","title":"Temporal Cycle-Consistency Learning","authors":"Debidatta Dwibedi, Yusuf Aytar, Jonathan Tompson, Pierre Sermanet, Andrew Zisserman","year":2019,"venue":"CVPR","paper_url":"https://openaccess.thecvf.com/content_CVPR_2019/html/Dwibedi_Temporal_Cycle-Consistency_Learning_CVPR_2019_paper.html","code_url":"https://github.com/google-research/google-research/tree/master/tcc","verified_claim":"Learns frame embeddings through temporal cycle consistency for correspondence and action-phase tasks.","design_use":"Alignment is a useful observable, not proof that every required step occurred.","release_note":"Official code identified in the v1 review; this review did not install or execute its learned model.","implementation_relation":"Conceptual background; not reproduced."},{"id":"lav_2021","title":"Learning by Aligning Videos in Time","authors":"Sanjay Haresh, Sateesh Kumar, Huseyin Coskun, Shahram N. Syed, Andrey Konin, M. Zeeshan Zia, Quoc-Huy Tran","year":2021,"venue":"CVPR","paper_url":"https://openaccess.thecvf.com/content/CVPR2021/papers/Haresh_Learning_by_Aligning_Videos_in_Time_CVPR_2021_paper.pdf","project_url":"https://retrocausal.ai/learning-by-aligning-videos-in-time/","code_url":"https://github.com/trquhuytin/LAV-CVPR21","verified_claim":"Combines Soft-DTW alignment with temporal regularization for self-supervised representation learning.","design_use":"Keep temporal discrimination and coverage visible alongside alignment cost.","release_note":"Official code identified; no trained dance-compliance model executed. Publication year is 2021.","implementation_relation":"Motivation only; a hand-built ordered matcher is not LAV reproduction."},{"id":"finediving_2022","title":"FineDiving: A Fine-Grained Dataset for Procedure-Aware Action Quality Assessment","authors":"Jinglin Xu, Yongming Rao, Xumin Yu, Guangyi Chen, Jie Zhou, Jiwen Lu","year":2022,"venue":"CVPR","paper_url":"https://openaccess.thecvf.com/content/CVPR2022/html/Xu_FineDiving_A_Fine-Grained_Dataset_for_Procedure-Aware_Action_Quality_Assessment_CVPR_2022_paper.html","code_url":"https://github.com/xujinglin/FineDiving","verified_claim":"Uses fine-grained diving procedures and query/exemplar step correspondence for action quality assessment.","design_use":"Report local stage evidence rather than only a whole-clip scalar.","release_note":"Official PyTorch TSA code; dataset access requests a release agreement. README evaluates checkpoints produced by training. Not run here.","limitation":"Sport-specific scoring and annotations do not establish general dance instruction compliance."},{"id":"captaincook4d_2024","title":"CaptainCook4D: A Dataset for Understanding Errors in Procedural Activities","authors":"Rohith Peddi et al.","year":2024,"venue":"NeurIPS Datasets and Benchmarks","paper_url":"https://arxiv.org/abs/2312.14556","project_url":"https://captaincook4d.github.io/captain-cook/","code_url":"https://github.com/CaptainCook4D/","verified_claim":"Provides real procedural recordings with normal/error steps and evaluates error recognition and multistep localization.","design_use":"Freeze independent step/error annotations, including order and outcome, before predictions.","release_note":"Official project links code, data downloader, task graphs and annotations; not downloaded or evaluated here.","limitation":"Cooking is a different domain; object-state errors are not observable from skeletons alone."},{"id":"deepmimic_2018","title":"DeepMimic: Example-Guided Deep Reinforcement Learning of Physics-Based Character Skills","authors":"Xue Bin Peng, Pieter Abbeel, Sergey Levine, Michiel van de Panne","year":2018,"venue":"ACM TOG / SIGGRAPH","doi":"10.1145/3197517.3201311","project_url":"https://xbpeng.github.io/projects/DeepMimic/","paper_url":"https://xbpeng.github.io/projects/DeepMimic/DeepMimic_2018.pdf","code_url":"https://github.com/xbpeng/DeepMimic","current_author_code_url":"https://github.com/xbpeng/MimicKit","verified_claim":"Learns physics-based control policies with reference imitation and task objectives.","design_use":"Evaluate actual state tracking and perturbation recovery, separately from visual similarity.","release_note":"Legacy repository is marked deprecated. Author-linked MimicKit provides implementation and pretrained-model testing instructions; not run here.","limitation":"Four-hinge fixed-base feedforward/PD tracking is not DeepMimic, RL training, or humanoid balance."},{"id":"amp_2021","title":"AMP: Adversarial Motion Priors for Stylized Physics-Based Character Control","authors":"Xue Bin Peng, Ze Ma, Pieter Abbeel, Sergey Levine, Angjoo Kanazawa","year":2021,"venue":"ACM TOG / SIGGRAPH","doi":"10.1145/3450626.3459670","project_url":"https://xbpeng.github.io/projects/AMP/","code_url":"https://github.com/xbpeng/MimicKit","verified_claim":"Learns an adversarial motion prior from unstructured motion clips to provide style rewards for physical control.","design_use":"Motion naturalness and compliance with a specific ordered reference are distinct objectives.","release_note":"Author project links legacy implementation and MimicKit; no AMP model trained or evaluated here.","limitation":"An explicit PD controller has no learned adversarial prior."},{"id":"mujoco_actuation_docs","title":"MuJoCo Documentation: actuation model and MJCF actuators","authors":"MuJoCo maintainers / Google DeepMind","year":null,"type":"Official versioned software documentation","docs_url":"https://mujoco.readthedocs.io/en/stable/XMLreference.html#actuator-motor","related_urls":["https://mujoco.readthedocs.io/en/stable/XMLreference.html#actuator-position","https://mujoco.readthedocs.io/en/stable/computation/index.html#actuation-model"],"verified_claim":"Motor, position-servo, control-limit and force-limit semantics differ; simulation must report actual actuator and state quantities.","design_use":"Use matched torque motors and caps for feedforward versus encoder-PD ablation, with no state teleportation.","release_note":"Stable documentation is mutable; record installed MuJoCo version and model XML/hash in the run manifest.","limitation":"Successful simulator control is not evidence of hardware execution or sim-to-real transfer."}],"repair":{"summary":{"schema_version":1,"created_at_utc":"2026-09-22T09:28:16.765763+00:00","scope":"posthoc_same_data_not_heldout","configuration_sha256":"60089d7bb6568fe2f696d605b9867603c805e51bb8662b28dd9fac79dc73db7b","config":{"confidence":0.3,"minimum_coverage":0.8,"up_above_nose_torso":0.1,"up_above_shoulder_torso":0.5,"low_hip_allowance_torso":0.15,"minimum_dwell_s":0.12,"minimum_unique_frames":2},"required_sequence":["arms_low","arms_high","arms_low","arms_high","arms_low"],"original_frozen_result":"8/8unknown preserved unchanged; this repair does not replace independent frozen evaluation.","counts":{"comparisons":8,"positive":3,"negative":5,"real_contiguous_comparisons":4,"edited_controls":4,"cross_performance_positive":2,"same_performance_additional_segment_positive":1},"independence":{"actual_distinct_visible_performances":3,"capture_sources":2,"new_human_subject_identity_inference":false,"note":"Two spatially distinct people in one DVIDS group recording plus one separately filmed Commons performance. Shared DVIDS camera, instruction and session; later Commons segment is the same performance. Eight cases are not eight independent people or trials."},"confusion":{"true_positive":0,"false_negative":3,"true_negative":4,"false_positive":0,"unknown_positive":0,"unknown_negative":1},"metrics":{"total":8,"decided":7,"decision_coverage":0.875,"negative_detection_count":4,"negative_total":5},"cases":[{"id":"right_two_cycles","title":"DVIDS 우측 인물: 두 번의 팔 올리기","expected":"positive","original_status":"unknown","status":"incorrect","reason":"literal_two_cycle_contract_not_observed","outcome":"false_negative","completed_stages":1,"required_stages":5,"coverage":0.939394,"nose_visible_fraction":0.939394,"result":"results/semantic_repair/right_two_cycles.json"},{"id":"commons_two_cycles","title":"별도 촬영: 두 번의 팔 올리기","expected":"positive","original_status":"unknown","status":"incorrect","reason":"literal_two_cycle_contract_not_observed","outcome":"false_negative","completed_stages":3,"required_stages":5,"coverage":1.0,"nose_visible_fraction":1.0,"result":"results/semantic_repair/commons_two_cycles.json"},{"id":"commons_later_two_cycles","title":"같은 Commons 수행의 뒤쪽 두 반복","expected":"positive","original_status":"unknown","status":"incorrect","reason":"literal_two_cycle_contract_not_observed","outcome":"false_negative","completed_stages":0,"required_stages":5,"coverage":1.0,"nose_visible_fraction":1.0,"result":"results/semantic_repair/commons_later_two_cycles.json"},{"id":"right_standing","title":"실제 비수행 구간: 손을 허리에 두고 서 있기","expected":"negative","original_status":"unknown","status":"unknown","reason":"candidate_observation_insufficient","outcome":"unknown_negative","completed_stages":1,"required_stages":5,"coverage":0.272727,"nose_visible_fraction":0.151515,"result":"results/semantic_repair/right_standing.json"},{"id":"right_one_cycle","title":"한 번만 수행: 후반 반복을 잘라낸 대조군","expected":"negative","original_status":"unknown","status":"incorrect","reason":"literal_two_cycle_contract_not_observed","outcome":"true_negative","completed_stages":3,"required_stages":5,"coverage":1.0,"nose_visible_fraction":0.944444,"result":"results/semantic_repair/right_one_cycle.json"},{"id":"commons_one_cycle","title":"한 번만 수행: 별도 촬영의 후반 반복 잘라내기","expected":"negative","original_status":"unknown","status":"incorrect","reason":"literal_two_cycle_contract_not_observed","outcome":"true_negative","completed_stages":2,"required_stages":5,"coverage":1.0,"nose_visible_fraction":1.0,"result":"results/semantic_repair/commons_one_cycle.json"},{"id":"right_missing_middle","title":"중간 내려오기 삭제: 편집 대조군","expected":"negative","original_status":"unknown","status":"incorrect","reason":"literal_two_cycle_contract_not_observed","outcome":"true_negative","completed_stages":1,"required_stages":5,"coverage":1.0,"nose_visible_fraction":1.0,"result":"results/semantic_repair/right_missing_middle.json"},{"id":"right_frozen_low","title":"내린 팔 정지: 반복 프레임 대조군","expected":"negative","original_status":"unknown","status":"incorrect","reason":"literal_two_cycle_contract_not_observed","outcome":"true_negative","completed_stages":1,"required_stages":5,"coverage":1.0,"nose_visible_fraction":1.0,"result":"results/semantic_repair/right_frozen_low.json"}],"limitations":["All eight examples had been inspected/evaluated before this repair was designed. Development result only.","Three visible performances from two capture sources; eight cases are not independent people.","Assistant visual draft labels, no expert quality grading.","Literal both-hand height sequence; ignores elbow straightness, legs, landing, balance and full-body form.","Upright camera and nose-height proxy for head boundary.","Pose confidences are detector estimates, not calibrated correctness probabilities."]},"scope":"posthoc_same_data_not_heldout"}}
