{ "report_schema_version": "1.5", "tool_version": "0.12.2", "dataset": { "path": "D:\\workbuddy-data\\tmp\\fineart_subset", "num_episodes": 6, "total_frames": 13949, "modalities": [ "state", "images.cam_high", "images.cam_low", "images.cam_left_wrist", "images.cam_right_wrist" ], "num_tasks": 151, "tasks": { "0": "Apply microfiber cloth", "1": "Arrange a breakfast setting", "2": "Build produce basket", "3": "Clean tablet", "4": "Coil cords", "5": "Coiling cords", "6": "Fold Laundry from Bin", "7": "Fold kitchen towel into neat rectangle", "8": "Fold laundry", "9": "Fold microfiber towels", "10": "Fold towel", "11": "Hang clothes", "12": "Hang tools onto peg board", "13": "Insert USB", "14": "Insert battery", "15": "Nest bowls inside each other", "16": "Nest bowls inside each other by size order", "17": "Nest measuring cups in basket", "18": "Organize cables in duct", "19": "Organize candy in baskets", "20": "Organize office supplies on shelf", "21": "Organize paper", "22": "Pack items into zip bag", "23": "Pack medical supplies into shirt", "24": "Pack school essentials", "25": "Pick & Place Cloths", "26": "Pick & Place Dice", "27": "Pick & Place First Aid Supplies", "28": "Pick & Place Food Item", "29": "Pick & Place Fruit", "30": "Pick & Place Garden tools in Gardening bag", "31": "Pick & Place Kitchen Items", "32": "Pick & Place Kitchen Sink Supplies", "33": "Pick & Place Makeup Brushes", "34": "Pick & Place Makeup Supplies", "35": "Pick & Place Markers", "36": "Pick & Place Medicine items", "37": "Pick & Place Mini bowls", "38": "Pick & Place Mini shaped plates", "39": "Pick & Place Nail Polish", "40": "Pick & Place Office Desk Supplies", "41": "Pick & Place Office items", "42": "Pick & Place Paint Supplies", "43": "Pick & Place School Supplies", "44": "Pick & Place Sports Items", "45": "Pick & Place Tea", "46": "Pick & Place Toothbrushes", "47": "Pick & Place Toys", "48": "Pick & Place Travel size toiletries", "49": "Pick & Place USB Port", "50": "Pick & Place Utensil", "51": "Pick & Place candle stick holders", "52": "Pick & Place donuts", "53": "Pick & Place food coloring", "54": "Pick & Place hat", "55": "Pick & Place toothbrushing station", "56": "Pick & place jewel cases by type", "57": "Pick & place medical supplies in basket/bin", "58": "Pick & place school supplies into a supply box", "59": "Pick & place silicon tubes, Sealant and Lysol wipes", "60": "Pick and place Granola Bars by type", "61": "Pick and place Stapler, Stapler remover, tape", "62": "Pick and place Stevia / Truvia into bins", "63": "Pick and place USB-C Cables", "64": "Pick and place cans onto a shelf", "65": "Pick and place caps into container", "66": "Pick and place flowers into a vace then onto a shelf", "67": "Pick and place items into bin", "68": "Pick and place medicine bottles into bin by pill shape (circle, oval)", "69": "Pick and place medicine bottles onto shelf by color", "70": "Pick and place office supplies into organizer", "71": "Pick and place pill bottles into a basket", "72": "Pick and place plate/cup/fork/spoon on tray", "73": "Pick and place rubber bands into bin", "74": "Pick and place slides into bin", "75": "Pick and place slides into the shelf", "76": "Pick and place slippers onto the shelf", "77": "Pick and place trash into bin", "78": "Pick and placing Produce into tupperware", "79": "Place and stack bowls onto a shelf", "80": "Place and stack plates onto a shelf", "81": "Place canned beverage on shelf", "82": "Place coffee mugs", "83": "Plug in charger", "84": "Plug in charger adapters", "85": "Plug in charger cables", "86": "Put items in baskets/containers", "87": "Roll bandage", "88": "Roll microfiber towels into tight, uniform cylinder then place into a basket", "89": "Roll napkin", "90": "Roll towel", "91": "Roll towel into tight, uniform cylinder", "92": "Screw lightbulb", "93": "Set table place", "94": "Set up tray", "95": "Shelf spices", "96": "Sort & place blocks by color", "97": "Sort HDMI cables", "98": "Sort Halloween decoration", "99": "Sort Items/Unsort Items", "100": "Sort Maruchan noodles", "101": "Sort adapters and digital timers", "102": "Sort batteries", "103": "Sort blocks", "104": "Sort blocks by size", "105": "Sort cables", "106": "Sort cables into bins", "107": "Sort candy", "108": "Sort candy by brand, put in halloween buckets", "109": "Sort caps", "110": "Sort charging adapters and watches", "111": "Sort clothes", "112": "Sort crayons", "113": "Sort crayons/erasers/pens/pencils in bins", "114": "Sort dishes", "115": "Sort flowers into vase by color", "116": "Sort game pieces by color", "117": "Sort items", "118": "Sort microfiber towel by color & place in baskets", "119": "Sort pens & pencils", "120": "Sort popcorn bags into baskets", "121": "Sort produce into baskets", "122": "Sort rubber bands", "123": "Sort rubber bands into baskets", "124": "Sort silicone sealant tubes", "125": "Sort silverware", "126": "Sort silverware by color (type)", "127": "Sort soda cans", "128": "Sort spices by type", "129": "Sort spring keychains", "130": "Sort spring keychains into baskets", "131": "Sort towels by color in basket", "132": "Stack baskets on shelf by color", "133": "Stack canned seafood by type on shelf", "134": "Stack caps by color", "135": "Stack caps on shelf", "136": "Stack cereal on shelf", "137": "Stack plastic plates", "138": "Stack small to large cups/mugs on shelf", "139": "Stock candles and holders on shelf", "140": "Stock candles and vases on shelf", "141": "Stock candles on shelf", "142": "Stock shelves", "143": "Unhang clothes", "144": "Unpack backpack", "145": "Unpack boxes", "146": "Ziptie cables", "147": "place trash/remove bag and relplace", "148": "prefit tool cases", "149": "sort vases onto shelf", "150": "wrap mug" } }, "summary": { "total_episodes": 6, "verdict_counts": { "PASS": 6, "REVIEW": 0, "EXCLUDE": 0, "UNVERIFIABLE": 0 }, "pass_rate": 1.0, "exclude_episodes": [], "review_episodes": [], "unverifiable_episodes": [] }, "unverifiable_episodes": [], "audit_effective": true, "three_layer_aggregates": { "layer1_integrity": { "missing_dropout": { "total_episodes": 6, "available": 6, "passed": 6, "failed": 0, "na": 0, "pass_rate": 1.0 }, "invalid_values": { "total_episodes": 6, "available": 6, "passed": 6, "failed": 0, "na": 0, "pass_rate": 1.0 }, "schema_consistency": { "total_episodes": 6, "available": 6, "passed": 6, "failed": 0, "na": 0, "pass_rate": 1.0 }, "timestamp_validity": { "total_episodes": 6, "available": 6, "passed": 6, "failed": 0, "na": 0, "pass_rate": 1.0 }, "joint_limit": { "total_episodes": 6, "available": 0, "passed": 0, "failed": 0, "na": 6, "pass_rate": null }, "video_frame_integrity": { "total_episodes": 6, "available": 6, "passed": 6, "failed": 0, "na": 0, "pass_rate": 1.0 }, "video_freeze": { "total_episodes": 6, "available": 6, "passed": 6, "failed": 0, "na": 0, "pass_rate": 1.0 }, "video_timestamp_alignment": { "total_episodes": 6, "available": 6, "passed": 6, "failed": 0, "na": 0, "pass_rate": 1.0 }, "video_stream_presence": { "total_episodes": 6, "available": 6, "passed": 6, "failed": 0, "na": 0, "pass_rate": 1.0 } }, "layer2_temporal_motion": { "timestamp_validity": { "median_dt_ms": { "median": 33.33282470703125, "p95": 33.33282470703125, "p99": 33.33282470703125 }, "available_episodes": 6 }, "sensor_synchronization": { "available_episodes": 0, "na_episodes": 6, "worst_p95_offset_ms": { "median": 0.0, "p95": 0.0, "p99": 0.0 } }, "velocity_acceleration": { "velocity_p95": { "median": 2.1744943375910726, "p95": 2.318730788683737, "p99": 2.3266310500588445 }, "available_episodes": 6 }, "action_discontinuity": { "total_spikes": 108, "episodes_with_spikes": 5, "spike_count_distribution": { "median": 18.0, "p95": 41.75, "p99": 46.75000000000001 }, "available_episodes": 6 }, "temporal_structure": { "available_episodes": 6, "idle_total_ratio": { "p5": 0.7800590546255286, "median": 0.812094475246615, "p95": 0.8612392659565684 }, "idle_prefix_ratio": { "p5": 0.017402062001013907, "median": 0.028143246050341037, "p95": 0.15284944419408142 }, "active_run_p50": { "p5": 6.5, "median": 7.5, "p95": 10.375 }, "active_run_p90": { "p5": 21.550000000000004, "median": 27.20000000000001, "p95": 41.775000000000006 }, "active_run_max": { "p5": 31.75, "median": 40.5, "p95": 49.25 }, "transition_count": { "p5": 22.75, "median": 42.0, "p95": 57.0 }, "valid_window_ratio_5": { "p5": 0.09595384847294836, "median": 0.14551713440244368, "p95": 0.18237281305055553 }, "valid_window_ratio_10": { "p5": 0.05297529888213919, "median": 0.09636316477331038, "p95": 0.13913024961118578 }, "valid_window_ratio_20": { "p5": 0.015883379420639235, "median": 0.0428701523044157, "p95": 0.07916998289364813 } } }, "layer3_dataset_utility": { "idle_ratio": { "idle_ratio": { "p5": 0.7800590546255286, "median": 0.812094475246615, "p95": 0.8612392659565684 }, "effective_motion_ratio": { "p5": 0.13876073404343156, "median": 0.1879055247533849, "p95": 0.21994094537447137 }, "available_episodes": 6 }, "coverage": { "state_space_occupancy": { "p5": 0.084, "median": 0.1035, "p95": 0.11499999999999999 }, "available_episodes": 6 }, "distribution": { "duration_sec": { "p5": 50.974998474121094, "median": 86.95000076293945, "p95": 95.85833549499512 }, "path_length": { "p5": 39.32107301865109, "median": 59.40357424349649, "p95": 74.2193387878934 }, "available_episodes": 6 } } }, "video_quality": { "execution_tier": "fast", "video_quality_executed": false, "episodes_sampled": 0, "frames_sampled": 0, "video_quality_note": "Visual quality skipped (Fast Audit). Use --video-quality or --full to enable." }, "dataset_summary": { "total_episodes": 6, "episodes_with_data": 6, "idle_ratio": { "median": 0.8121, "p10": 0.7835, "p90": 0.8538 }, "sensor_sync": null, "visual_quality": null, "action_unit": "radians" }, "hero_metrics": { "sensor_synchronization": { "median_p95_offset_ms": 0.0, "p95_p95_offset_ms": 0.0, "max_p95_offset_ms": 0.0, "interpretation": "na", "available_episodes": 0, "na_episodes": 6 }, "action_discontinuity": { "total_spikes": 108, "affected_episodes": 5, "interpretation": "measured", "available_episodes": 6, "na_episodes": 0 }, "state_space_occupancy": { "median_occupancy": 0.1035, "min_occupancy": 0.084, "max_occupancy": 0.11499999999999999, "range": [ 0.084, 0.11499999999999999 ], "interpretation": "low", "available_episodes": 6, "na_episodes": 0 } }, "top_observations": [ { "metric": "action_discontinuity", "description": "Observed action discontinuity: 108 spike(s) across 5 episode(s) (83%); statistical risk signal, not confirmed corruption", "significance": "high", "evidence_level": "RISK_SIGNAL", "layer": "temporal_motion", "affected_episodes": 5, "affected_ratio": 0.8333333333333334, "hero": true, "rank": 1 }, { "metric": "idle_ratio", "description": "Observed low effective motion: median 18.8% effective motion (81.2% idle); statistical risk signal", "significance": "medium", "evidence_level": "RISK_SIGNAL", "layer": "dataset_utility", "affected_episodes": 6, "affected_ratio": 1.0, "rank": 2 }, { "metric": "state_space_occupancy", "description": "State-space occupancy: median = 10.3% across episodes (6/6 episodes)", "significance": "low", "evidence_level": "RISK_SIGNAL", "layer": "dataset_utility", "affected_episodes": 6, "affected_ratio": 1.0, "hero": true, "rank": 3 }, { "metric": "velocity_acceleration", "description": "Observed extreme acceleration spikes: 108 across 5 episode(s); statistical risk signal", "significance": "low", "evidence_level": "RISK_SIGNAL", "layer": "temporal_motion", "affected_episodes": 5, "affected_ratio": 0.8333333333333334, "rank": 4 }, { "metric": "sensor_synchronization", "description": "Sensor sync: N/A (no per-stream timestamps in any episode)", "significance": "info", "evidence_level": "UNVERIFIABLE", "layer": "temporal_motion", "affected_episodes": 0, "affected_ratio": 0.0, "na_episodes": 6, "hero": true, "rank": 5 } ], "skipped_by_missing_dep": {}, "acceptance_summary": { "schema_version": "1.0", "generated_at": "2026-11-03T16:08:50+08:00", "dataset": { "path": "D:\\workbuddy-data\\tmp\\fineart_subset", "num_episodes": 6, "total_frames": 13949, "fps": 30, "robot": "unknown", "modalities": [ "state", "images.cam_high", "images.cam_low", "images.cam_left_wrist", "images.cam_right_wrist" ] }, "verdict_distribution": { "pass": 6, "review": 0, "exclude": 0, "total": 6, "pass_rate": 1.0 }, "baseline_percentiles": { "duration_sec": { "unit": "s", "p10": 51.58333206176758, "p50": 86.95000076293945, "p90": 93.85000228881836, "min": 50.36666488647461, "max": 97.86666870117188, "available_episodes": 6 }, "effective_motion_ratio": { "unit": "ratio", "p10": 0.14620833677373185, "p50": 0.1879055247533849, "p90": 0.2165052673723194, "min": 0.13131313131313127, "max": 0.22337662337662334, "available_episodes": 6 }, "spike_count": { "unit": "count", "p10": 0.5, "p50": 18.0, "p90": 35.5, "min": 0.0, "max": 48.0, "available_episodes": 6 } }, "runtime_outliers": { "method": "tukey_iqr", "reference": "[SLE] score_lerobot_episodes is_time_outlier(mode='iqr')", "tukey_k": 1.5, "available_episodes": 6, "q1": 61.22499942779541, "q3": 89.22500228881836, "iqr": 28.00000286102295, "lower_fence": 19.224995136260986, "upper_fence": 131.22500658035278, "degenerate": false, "count": 0, "truncated": false, "episodes": [] }, "calibration": { "tier1_metrics": [ "duration_sec", "effective_motion_ratio", "spike_count" ], "tier1_source": "rda.calibration.portable.PORTABLE_METRICS", "tier1_rho_vs_full_set": 0.96, "note": "Tier-1 portable metrics are cross-platform comparable; platform-specific metrics (velocity_p95, path_length) are excluded from the baseline on purpose." }, "not_checked": {}, "interpretation_note": "This block presents measurements and relative baselines only. It does not issue an accept/reject decision \u2014 that judgement belongs to the data acceptance party. RDA measures and presents; it does not adjudicate semantics." }, "episodes": [ { "episode_index": 0, "num_frames": 2596, "verdict": "PASS", "task_index": 51, "task_description": "Pick & Place candle stick holders", "task_description_redacted": false, "exclude_reasons": [], "unverifiable_reasons": [], "metrics": { "missing_dropout": { "availability": "available", "measurement": { "score_compat": 1.0, "missing_frames": 0, "dropout_count": 0 }, "assessment": { "status": "pass", "severity": null, "reason": null }, "details": { "expected_frames": 2596, "missing_frames": 0, "dropout_features": [], "by_feature_frame_count": { "observation.state": 2596, "action.action": 2596 }, "missing_detection_method": "timestamp_gap_inference", "gap_count": 0, "gap_positions": [], "gap_total_duration": 0.0 }, "message": "No missing frames or dropout detected across 2 features.", "evidence_level": "HARD_FAIL", "verifiability": "Verified", "passed": true, "score": 1.0, "has_finding": false }, "invalid_values": { "availability": "available", "measurement": { "score_compat": 1.0, "invalid_count": 0, "total_cells": 72688 }, "assessment": { "status": "pass", "severity": null, "reason": null }, "details": { "checked_features": [ "observation.state", "action.action" ], "nan_count": 0, "inf_count": 0, "total_cells": 72688, "by_feature": { "observation.state": { "nan_count": 0, "inf_count": 0, "total_cells": 36344 }, "action.action": { "nan_count": 0, "inf_count": 0, "total_cells": 36344 } } }, "message": "No NaN or Inf values found across 2 features.", "evidence_level": "HARD_FAIL", "verifiability": "Verified", "passed": true, "score": 1.0, "has_finding": false }, "schema_consistency": { "availability": "available", "measurement": { "score_compat": 1.0, "mismatch_count": 0 }, "assessment": { "status": "pass", "severity": null, "reason": null }, "details": { "num_frames": 2596, "features": { "observation.state": { "dtype": "float32", "shape": [ 14 ], "first_dim": 2596 }, "action.action": { "dtype": "float32", "shape": [ 14 ], "first_dim": 2596 } }, "length_mismatches": [], "dimension_mismatches": [] }, "message": "All 2 features have consistent shape within the episode.", "evidence_level": "HARD_FAIL", "verifiability": "Verified", "passed": true, "score": 1.0, "has_finding": false }, "timestamp_validity": { "availability": "available", "measurement": { "score_compat": 1.0, "duplicates": 0, "median_dt_ms": 33.33282470703125 }, "assessment": { "status": "pass", "severity": null, "reason": null }, "details": { "num_frames": 2596, "monotonic": true, "duplicate_count": 0, "negative_delta_count": 0, "dt_ms": { "median": 33.33282470703125, "p95": 33.336639404296875, "p99": 33.3404541015625, "max": 33.3404541015625, "mean": 33.333333333333336, "std": 0.001310549316791117 }, "gap_count": 0, "gap_positions": [], "gap_total_duration": 0.0 }, "message": "Timestamps are monotonically increasing; median dt = 33.33 ms, max dt = 33.34 ms.", "evidence_level": "HARD_FAIL", "verifiability": "Verified", "passed": true, "score": 1.0, "has_finding": false }, "joint_limit": { "availability": "not_available", "measurement": {}, "assessment": { "status": "na", "severity": null, "reason": "joint_limits_not_provided" }, "details": { "violations": 0, "approaching": 0, "by_joint": {}, "joints_checked": 0, "approach_threshold_used": 0.02, "consecutive_frames_used": 3, "jump_multiplier_used": 2.0, "min_margin_ratio": 1.0, "max_jump_ratio": 0.0 }, "message": "Joint limits not provided; skipping check.", "evidence_level": "HARD_FAIL", "verifiability": "Not verifiable", "passed": false, "score": 0.0, "has_finding": false }, "video_frame_integrity": { "availability": "available", "measurement": { "score_compat": 1.0, "checked_count": 4, "mismatch_count": 0 }, "assessment": { "status": "pass", "severity": null, "reason": null }, "details": { "checked": [ { "feature": "observation.images.cam_high", "video_path": "videos\\observation.images.cam_high\\chunk-000\\file-000.mp4", "video_frames": 2597, "parquet_frames": 2596, "delta": 0, "chunked": true, "from_timestamp": 0.0, "to_timestamp": 86.53333333333333, "episode_video_frames": 2596, "end_frame": 2596, "file_truncated": false, "episode_meta_length": 2596 }, { "feature": "observation.images.cam_left_wrist", "video_path": "videos\\observation.images.cam_left_wrist\\chunk-000\\file-000.mp4", "video_frames": 2597, "parquet_frames": 2596, "delta": 0, "chunked": true, "from_timestamp": 0.0, "to_timestamp": 86.53333333333333, "episode_video_frames": 2596, "end_frame": 2596, "file_truncated": false, "episode_meta_length": 2596 }, { "feature": "observation.images.cam_low", "video_path": "videos\\observation.images.cam_low\\chunk-000\\file-000.mp4", "video_frames": 2597, "parquet_frames": 2596, "delta": 0, "chunked": true, "from_timestamp": 0.0, "to_timestamp": 86.53333333333333, "episode_video_frames": 2596, "end_frame": 2596, "file_truncated": false, "episode_meta_length": 2596 }, { "feature": "observation.images.cam_right_wrist", "video_path": "videos\\observation.images.cam_right_wrist\\chunk-000\\file-000.mp4", "video_frames": 2596, "parquet_frames": 2596, "delta": 0, "chunked": true, "from_timestamp": 0.0, "to_timestamp": 86.53333333333333, "episode_video_frames": 2596, "end_frame": 2596, "file_truncated": false, "episode_meta_length": 2596 } ], "mismatched": [], "unreadable_features": [], "tolerances": { "soft": 0.01, "hard": 0.05, "profile": "default" } }, "message": "Video/parquet frame counts match across 4 video feature(s): observation.images.cam_high=2597, observation.images.cam_left_wrist=2597, observation.images.cam_low=2597, observation.images.cam_right_wrist=2596.", "evidence_level": "HARD_FAIL", "verifiability": "Verified", "passed": true, "score": 1.0, "has_finding": false }, "video_freeze": { "availability": "available", "measurement": { "score_compat": 1.0, "checked_features": 4, "freeze_region_count": 0 }, "assessment": { "status": "pass", "severity": null, "reason": null }, "details": { "checked_features": 4, "freeze_regions": [], "freeze_region_count": 0, "freeze_motion_source": "action", "state_cross_validated_segments": 0, "stream_motion_profile": { "observation.images.cam_high": { "frames": 2596, "median_diff": 0.1218, "p90_diff": 0.4069, "duplicate_eps": 0.0074, "duplicate_ratio": 0.0012 }, "observation.images.cam_left_wrist": { "frames": 2596, "median_diff": 1.4404, "p90_diff": 12.3249, "duplicate_eps": 0.01, "duplicate_ratio": 0.0015 }, "observation.images.cam_low": { "frames": 2596, "median_diff": 0.4785, "p90_diff": 1.6331, "duplicate_eps": 0.01, "duplicate_ratio": 0.0004 }, "observation.images.cam_right_wrist": { "frames": 2596, "median_diff": 2.5732, "p90_diff": 13.537, "duplicate_eps": 0.01, "duplicate_ratio": 0.0 } }, "params": { "decode": "64x64 gray", "min_freeze_seconds": 0.5, "criterion": "duplicate frames (camera re-sent the previous frame)", "epsilon": "duplicate eps = min(max(floor, 0.25 x p10), max(floor, min(0.5 x p25, 0.01))) on mean |frame[i+1] - frame[i]|", "profile_duplicate_floor": 0.002 } }, "message": "No duplicated-frame spans in 4 camera stream(s); no camera re-sent a frame while the arm was moving.", "evidence_level": "HARD_FAIL", "verifiability": "Verified", "passed": true, "score": 1.0, "has_finding": false }, "video_timestamp_alignment": { "availability": "available", "measurement": { "score_compat": 1.0, "worst_delta_ratio": 0.0004, "checked_count": 4 }, "assessment": { "status": "pass", "severity": null, "reason": null }, "details": { "checked": [ { "feature": "observation.images.cam_high", "video_span_sec": 86.5333, "parquet_span_sec": 86.5, "delta_sec": 0.0333, "delta_ratio": 0.0004 }, { "feature": "observation.images.cam_left_wrist", "video_span_sec": 86.5333, "parquet_span_sec": 86.5, "delta_sec": 0.0333, "delta_ratio": 0.0004 }, { "feature": "observation.images.cam_low", "video_span_sec": 86.5333, "parquet_span_sec": 86.5, "delta_sec": 0.0333, "delta_ratio": 0.0004 }, { "feature": "observation.images.cam_right_wrist", "video_span_sec": 86.5333, "parquet_span_sec": 86.5, "delta_sec": 0.0333, "delta_ratio": 0.0004 } ], "tolerances": { "soft": 0.05, "hard": 0.1, "profile": "default" } }, "message": "Video/parquet timeline spans consistent across 4 camera stream(s) (worst drift +0.0%).", "evidence_level": "HARD_FAIL", "verifiability": "Verified", "passed": true, "score": 1.0, "has_finding": false }, "video_stream_presence": { "availability": "available", "measurement": { "score_compat": 1.0, "stream_count": 4 }, "assessment": { "status": "pass", "severity": null, "reason": null }, "details": { "expected_streams": [ "observation.images.cam_high", "observation.images.cam_left_wrist", "observation.images.cam_low", "observation.images.cam_right_wrist" ], "verified": [ "observation.images.cam_high", "observation.images.cam_left_wrist", "observation.images.cam_low", "observation.images.cam_right_wrist" ], "missing": [], "broken": [] }, "message": "All 4 camera stream(s) present and readable.", "evidence_level": "HARD_FAIL", "verifiability": "Verified", "passed": true, "score": 1.0, "has_finding": false }, "numeric_sanity": { "availability": "available", "measurement": { "score_compat": 1.0, "warning_count": 0, "features_checked": 2 }, "assessment": { "status": "pass", "severity": null, "reason": null }, "details": { "checked_features": [ "observation.state", "action.action" ], "warnings": [], "thresholds": { "angle_limit": 3.2, "force_limit": 10000.0, "torque_limit": 1000.0, "velocity_limit": 100.0 } }, "message": "All 2 numeric features are within expected ranges.", "evidence_level": "RISK_SIGNAL", "verifiability": "Verified", "passed": true, "score": 1.0, "has_finding": false }, "sensor_synchronization": { "availability": "not_available", "measurement": {}, "assessment": { "status": "na", "severity": null, "reason": "stream_timestamps_not_provided" }, "details": { "streams": [], "pairs": [] }, "message": "Sensor sync: N/A (no per-stream timestamps provided)", "evidence_level": "UNVERIFIABLE", "verifiability": "Not verifiable", "passed": false, "score": 0.0, "has_finding": false }, "sampling_jitter": { "availability": "available", "measurement": { "score_compat": 1.0, "cv": 3.931647950373351e-05, "cv_raw": 3.931647950373351e-05, "jitter_ms": 0.001310549316791117, "jitter_ratio": 3.931647950373351e-05, "gap_count": 0 }, "assessment": { "status": "pass", "severity": null, "reason": null, "baseline": { "method": "robust_cv_excluding_gaps", "scope": "episode", "reference_population": 2595, "gaps_excluded": 0 } }, "details": { "mean_interval_ms": 33.333333333333336, "jitter_ms": 0.001310549316791117, "jitter_ratio": 3.931647950373351e-05, "cv_raw": 3.931647950373351e-05, "gap_count": 0, "dt_ms": { "median": 33.33282470703125, "p95": 33.336639404296875, "p99": 33.3404541015625, "max": 33.3404541015625 } }, "message": "Sampling jitter robust CV = 0.0000 (no gaps detected; raw CV = 0.0000, mean dt = 33.33 ms).", "evidence_level": "RISK_SIGNAL", "verifiability": "Verified", "passed": true, "score": 1.0, "has_finding": false }, "velocity_acceleration": { "availability": "available", "measurement": { "score_compat": 1.0, "velocity_p50": 0.4460080027143055, "velocity_p95": 2.0554360663881592, "velocity_p99": 3.2310242275875747, "velocity_max": 7.084576544503772, "acceleration_spikes": 48, "acceleration_spike_rate": 0.01848998459167951 }, "assessment": { "status": "pass", "severity": null, "reason": null }, "details": { "velocity_stats": { "median": 0.4460080027143055, "p95": 2.0554360663881592, "p99": 3.2310242275875747, "max": 7.084576544503772, "mean": 0.6754886583053573 }, "acceleration_stats": { "median": 0.15285758276096192, "p95": 0.5412588634925407, "p99": 0.9429199113970625, "max": 2.3752741428983453 }, "extreme_spike_count": 48 }, "message": "Velocity: p50=0.4460, p95=2.0554, p99=3.2310, extreme accel spikes = 48.", "evidence_level": 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structure: idle_total=79.0%, idle_prefix=2.2%, active_run_p50=6f, valid_window(seq=10)=10.3%.", "evidence_level": "RISK_SIGNAL", "verifiability": "Verified", "passed": true, "score": 1.0, "has_finding": false }, "pii_scan": { "availability": "available", "measurement": { "finding_count": 0, "high_severity_count": 0, "surfaces_scanned": 19, "types_found": [], "video_scanned": false, "score_compat": 1.0 }, "assessment": { "status": "pass", "severity": null, "reason": null }, "details": { "findings": [], "not_scanned": [ "video_not_scanned_pass_pii_video_to_enable" ], "not_scanned_detail": [ "video_not_scanned_pass_pii_video_to_enable \u2014 video frames were NOT scanned \u2014 pass --pii-video to include them" ], "redaction_policy": "identifiers are masked; 'fingerprint' is the first 12 hex chars of SHA-256 over the raw hit, for cross-episode dedupe", "detectors": [ "cn_resident_id", "cn_mobile", "email", "mac_address", "ipv4", "geolocation_features" ], "coverage_limits": "text surfaces, 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No OCR / licence-plate recognition, no voice biometrics, no consent or licensing review." }, "message": "No PII indicators found \u2014 but some surfaces were NOT scanned.", "evidence_level": "RISK_SIGNAL", "verifiability": "Verified", "passed": true, "score": 1.0, "has_finding": false } } }, { "episode_index": 1, "num_frames": 2696, "verdict": "PASS", "task_index": 51, "task_description": "Pick & Place candle stick holders", "task_description_redacted": false, "exclude_reasons": [], "unverifiable_reasons": [], "metrics": { "missing_dropout": { "availability": "available", "measurement": { "score_compat": 1.0, "missing_frames": 0, "dropout_count": 0 }, "assessment": { "status": "pass", "severity": null, "reason": null }, "details": { "expected_frames": 2696, "missing_frames": 0, "dropout_features": [], "by_feature_frame_count": { "observation.state": 2696, "action.action": 2696 }, "missing_detection_method": "timestamp_gap_inference", "gap_count": 0, "gap_positions": [], "gap_total_duration": 0.0 }, "message": "No missing frames or dropout detected across 2 features.", "evidence_level": "HARD_FAIL", "verifiability": "Verified", "passed": true, "score": 1.0, "has_finding": false }, "invalid_values": { "availability": "available", "measurement": { "score_compat": 1.0, "invalid_count": 0, "total_cells": 75488 }, "assessment": { "status": "pass", "severity": null, "reason": null }, "details": { "checked_features": [ "observation.state", "action.action" ], "nan_count": 0, "inf_count": 0, "total_cells": 75488, "by_feature": { "observation.state": { "nan_count": 0, "inf_count": 0, "total_cells": 37744 }, "action.action": { "nan_count": 0, "inf_count": 0, "total_cells": 37744 } } }, "message": "No NaN or Inf values found across 2 features.", "evidence_level": "HARD_FAIL", "verifiability": "Verified", "passed": true, "score": 1.0, "has_finding": false }, "schema_consistency": { "availability": "available", "measurement": { "score_compat": 1.0, "mismatch_count": 0 }, "assessment": { "status": "pass", "severity": null, "reason": null }, "details": { "num_frames": 2696, "features": { "observation.state": { "dtype": "float32", "shape": [ 14 ], "first_dim": 2696 }, "action.action": { "dtype": "float32", "shape": [ 14 ], "first_dim": 2696 } }, "length_mismatches": [], "dimension_mismatches": [] }, "message": "All 2 features have consistent shape within the episode.", "evidence_level": "HARD_FAIL", "verifiability": "Verified", "passed": true, "score": 1.0, "has_finding": false }, "timestamp_validity": { "availability": "available", "measurement": { "score_compat": 1.0, "duplicates": 0, "median_dt_ms": 33.33282470703125 }, "assessment": { "status": "pass", "severity": null, "reason": null }, "details": { "num_frames": 2696, "monotonic": true, "duplicate_count": 0, "negative_delta_count": 0, "dt_ms": { "median": 33.33282470703125, "p95": 33.336639404296875, "p99": 33.3404541015625, "max": 33.3404541015625, "mean": 33.33333427698139, "std": 0.0013395661775080592 }, "gap_count": 0, "gap_positions": [], "gap_total_duration": 0.0 }, "message": "Timestamps are monotonically increasing; median dt = 33.33 ms, max dt = 33.34 ms.", "evidence_level": "HARD_FAIL", "verifiability": "Verified", "passed": true, "score": 1.0, "has_finding": false }, "joint_limit": { "availability": "not_available", "measurement": {}, "assessment": { "status": "na", "severity": null, "reason": "joint_limits_not_provided" }, "details": { "violations": 0, "approaching": 0, "by_joint": {}, "joints_checked": 0, "approach_threshold_used": 0.02, "consecutive_frames_used": 3, "jump_multiplier_used": 2.0, "min_margin_ratio": 1.0, "max_jump_ratio": 0.0 }, "message": "Joint limits not provided; skipping check.", "evidence_level": "HARD_FAIL", "verifiability": "Not verifiable", "passed": false, "score": 0.0, "has_finding": false }, "video_frame_integrity": { "availability": "available", "measurement": { "score_compat": 1.0, "checked_count": 4, "mismatch_count": 0 }, "assessment": { "status": "pass", "severity": null, "reason": null }, "details": { "checked": [ { "feature": "observation.images.cam_high", "video_path": "videos\\observation.images.cam_high\\chunk-000\\file-001.mp4", "video_frames": 2696, "parquet_frames": 2696, "delta": 0, "chunked": true, "from_timestamp": 0.0, "to_timestamp": 89.86666666666666, "episode_video_frames": 2696, "end_frame": 2696, "file_truncated": false, "episode_meta_length": 2696 }, { "feature": "observation.images.cam_left_wrist", "video_path": "videos\\observation.images.cam_left_wrist\\chunk-000\\file-001.mp4", "video_frames": 2696, "parquet_frames": 2696, "delta": 0, "chunked": true, "from_timestamp": 0.0, "to_timestamp": 89.86666666666666, "episode_video_frames": 2696, "end_frame": 2696, "file_truncated": false, "episode_meta_length": 2696 }, { "feature": "observation.images.cam_low", "video_path": "videos\\observation.images.cam_low\\chunk-000\\file-001.mp4", "video_frames": 2696, "parquet_frames": 2696, "delta": 0, "chunked": true, "from_timestamp": 0.0, "to_timestamp": 89.86666666666666, "episode_video_frames": 2696, "end_frame": 2696, "file_truncated": false, "episode_meta_length": 2696 }, { "feature": "observation.images.cam_right_wrist", "video_path": "videos\\observation.images.cam_right_wrist\\chunk-000\\file-001.mp4", "video_frames": 2696, "parquet_frames": 2696, "delta": 0, "chunked": true, "from_timestamp": 0.0, "to_timestamp": 89.86666666666666, "episode_video_frames": 2696, "end_frame": 2696, "file_truncated": false, "episode_meta_length": 2696 } ], "mismatched": [], "unreadable_features": [], "tolerances": { "soft": 0.01, "hard": 0.05, "profile": "default" } }, "message": "Video/parquet frame counts match across 4 video feature(s): observation.images.cam_high=2696, observation.images.cam_left_wrist=2696, observation.images.cam_low=2696, observation.images.cam_right_wrist=2696.", "evidence_level": "HARD_FAIL", "verifiability": "Verified", "passed": true, "score": 1.0, "has_finding": false }, "video_freeze": { "availability": "available", "measurement": { "score_compat": 1.0, "checked_features": 4, "freeze_region_count": 0 }, "assessment": { "status": "pass", "severity": null, "reason": null }, "details": { "checked_features": 4, "freeze_regions": [], "freeze_region_count": 0, "freeze_motion_source": "action", "state_cross_validated_segments": 0, "stream_motion_profile": { "observation.images.cam_high": { "frames": 2696, "median_diff": 0.1753, "p90_diff": 0.8143, "duplicate_eps": 0.0073, "duplicate_ratio": 0.0237 }, "observation.images.cam_left_wrist": { "frames": 2696, "median_diff": 2.9675, "p90_diff": 11.9474, "duplicate_eps": 0.01, "duplicate_ratio": 0.0 }, "observation.images.cam_low": { "frames": 2696, "median_diff": 0.4165, "p90_diff": 1.6776, "duplicate_eps": 0.01, "duplicate_ratio": 0.0022 }, "observation.images.cam_right_wrist": { "frames": 2696, "median_diff": 1.7673, "p90_diff": 9.2024, "duplicate_eps": 0.01, "duplicate_ratio": 0.0071 } }, "params": { "decode": "64x64 gray", "min_freeze_seconds": 0.5, "criterion": "duplicate frames (camera re-sent the previous frame)", "epsilon": "duplicate eps = min(max(floor, 0.25 x p10), max(floor, min(0.5 x p25, 0.01))) on mean |frame[i+1] - frame[i]|", "profile_duplicate_floor": 0.002 } }, "message": "No duplicated-frame spans in 4 camera stream(s); no camera re-sent a frame while the arm was moving.", "evidence_level": "HARD_FAIL", "verifiability": "Verified", "passed": true, "score": 1.0, "has_finding": false }, "video_timestamp_alignment": { "availability": "available", "measurement": { "score_compat": 1.0, "worst_delta_ratio": 0.0004, "checked_count": 4 }, "assessment": { "status": "pass", "severity": null, "reason": null }, "details": { "checked": [ { "feature": "observation.images.cam_high", "video_span_sec": 89.8667, "parquet_span_sec": 89.8333, "delta_sec": 0.0333, "delta_ratio": 0.0004 }, { "feature": "observation.images.cam_left_wrist", "video_span_sec": 89.8667, "parquet_span_sec": 89.8333, "delta_sec": 0.0333, "delta_ratio": 0.0004 }, { "feature": "observation.images.cam_low", "video_span_sec": 89.8667, "parquet_span_sec": 89.8333, "delta_sec": 0.0333, "delta_ratio": 0.0004 }, { "feature": "observation.images.cam_right_wrist", "video_span_sec": 89.8667, "parquet_span_sec": 89.8333, "delta_sec": 0.0333, "delta_ratio": 0.0004 } ], "tolerances": { "soft": 0.05, "hard": 0.1, "profile": "default" } }, "message": "Video/parquet timeline spans consistent across 4 camera stream(s) (worst drift +0.0%).", "evidence_level": "HARD_FAIL", "verifiability": "Verified", "passed": true, "score": 1.0, "has_finding": false }, "video_stream_presence": { "availability": "available", "measurement": { "score_compat": 1.0, "stream_count": 4 }, "assessment": { "status": "pass", "severity": null, "reason": null }, "details": { "expected_streams": [ "observation.images.cam_high", "observation.images.cam_left_wrist", "observation.images.cam_low", "observation.images.cam_right_wrist" ], "verified": [ "observation.images.cam_high", "observation.images.cam_left_wrist", "observation.images.cam_low", "observation.images.cam_right_wrist" ], "missing": [], "broken": [] }, "message": "All 4 camera stream(s) present and readable.", "evidence_level": "HARD_FAIL", "verifiability": "Verified", "passed": true, "score": 1.0, "has_finding": false }, "numeric_sanity": { "availability": "available", "measurement": { "score_compat": 1.0, "warning_count": 0, "features_checked": 2 }, "assessment": { "status": "pass", "severity": null, "reason": null }, "details": { "checked_features": [ "observation.state", "action.action" ], "warnings": [], "thresholds": { "angle_limit": 3.2, "force_limit": 10000.0, "torque_limit": 1000.0, "velocity_limit": 100.0 } }, "message": "All 2 numeric features are within expected ranges.", "evidence_level": "RISK_SIGNAL", "verifiability": "Verified", "passed": true, "score": 1.0, "has_finding": false }, "sensor_synchronization": { "availability": "not_available", "measurement": {}, "assessment": { "status": "na", "severity": null, "reason": "stream_timestamps_not_provided" }, "details": { "streams": [], "pairs": [] }, "message": "Sensor sync: N/A (no per-stream timestamps provided)", "evidence_level": "UNVERIFIABLE", "verifiability": "Not verifiable", "passed": false, "score": 0.0, "has_finding": false }, "sampling_jitter": { "availability": "available", "measurement": { "score_compat": 1.0, "cv": 4.018698418757069e-05, "cv_raw": 4.018698418757069e-05, "jitter_ms": 0.0013395661775080592, "jitter_ratio": 4.018698418757069e-05, "gap_count": 0 }, "assessment": { "status": "pass", "severity": null, "reason": null, "baseline": { "method": "robust_cv_excluding_gaps", "scope": "episode", "reference_population": 2695, "gaps_excluded": 0 } }, "details": { "mean_interval_ms": 33.33333427698139, "jitter_ms": 0.0013395661775080592, "jitter_ratio": 4.018698418757069e-05, "cv_raw": 4.018698418757069e-05, "gap_count": 0, "dt_ms": { "median": 33.33282470703125, "p95": 33.336639404296875, "p99": 33.3404541015625, "max": 33.3404541015625 } }, "message": "Sampling jitter robust CV = 0.0000 (no gaps detected; raw CV = 0.0000, mean dt = 33.33 ms).", "evidence_level": "RISK_SIGNAL", "verifiability": "Verified", "passed": true, "score": 1.0, "has_finding": false }, "velocity_acceleration": { "availability": "available", "measurement": { "score_compat": 1.0, "velocity_p50": 0.5310280327443698, "velocity_p95": 2.3286061154026214, "velocity_p99": 3.309662614175602, "velocity_max": 4.955036074611787, "acceleration_spikes": 14, "acceleration_spike_rate": 0.0051928783382789315 }, "assessment": { "status": "pass", "severity": null, "reason": null }, "details": { "velocity_stats": { "median": 0.5310280327443698, "p95": 2.3286061154026214, "p99": 3.309662614175602, "max": 4.955036074611787, "mean": 0.7842576711771323 }, "acceleration_stats": { "median": 0.15254578558559173, "p95": 0.49095854887842144, "p99": 0.6814620233369403, "max": 1.0068412379274554 }, "extreme_spike_count": 14 }, "message": "Velocity: p50=0.5310, p95=2.3286, p99=3.3097, extreme accel spikes = 14.", "evidence_level": "RISK_SIGNAL", "verifiability": "Verified", "passed": true, "score": 1.0, "has_finding": false }, "action_discontinuity": { "availability": "available", "measurement": { "score_compat": 1.0, "spike_count": 14, "spike_rate": 0.005196733481811433, "p95_delta": 0.07761901945643657, "p99_delta": 0.11032116493571974, "max_delta": 0.1651677116373715, "max_second_delta": 0.03356134259096087, "affected_joints": 12, "total_joints": 14, "by_joint": { "joint_8": { "spike_count": 1133, "max_second_delta": 0.0195845328271389 }, "joint_6": { "spike_count": 572, "max_second_delta": 0.001259447424672544 }, "joint_13": { "spike_count": 530, "max_second_delta": 0.0012613607104867697 }, "joint_7": { "spike_count": 528, "max_second_delta": 0.009006977081298828 }, "joint_4": { "spike_count": 448, "max_second_delta": 0.02643042802810669 }, "joint_1": { "spike_count": 424, "max_second_delta": 0.014330131583847106 }, "joint_11": { "spike_count": 417, "max_second_delta": 0.021143734455108643 }, "joint_5": { "spike_count": 312, "max_second_delta": 0.014748302288353443 }, "joint_10": { "spike_count": 296, "max_second_delta": 0.029270410537719727 }, "joint_0": { "spike_count": 259, "max_second_delta": 0.007710933685302734 }, "joint_12": { "spike_count": 216, "max_second_delta": 0.018234659801237285 }, "joint_3": { "spike_count": 207, "max_second_delta": 0.028892099857330322 } } }, "assessment": { "status": "pass", "severity": null, "reason": null, "baseline": { "method": "MAD_zscore", "scope": "episode", "threshold": 5.0, "reference_population": 2694 } }, "details": { "action_shape": [ 2696, 14 ], "spike_count": 14, "max_delta": 0.1651677116373715, "max_second_delta": 0.03356134259096087, "spike_indices": [ 113, 823, 1853, 2419, 2420, 2421, 2422, 2424, 2429, 2430, 2431, 2447, 2452, 2527 ], "delta_stats": { "median": 0.01770066432998773, "p95": 0.07761901945643657, "p99": 0.11032116493571974, "max": 0.1651677116373715, "mean": 0.02614186298268573 }, "delta2_stats": { "median": 0.005084781930720905, "p95": 0.016365035248182856, "p99": 0.022717593226555012, "max": 0.03356134259096087, "mean": 0.006226226060173243 }, "by_joint": { "joint_0": { "spike_count": 259, "max_second_delta": 0.007710933685302734 }, "joint_1": { "spike_count": 424, "max_second_delta": 0.014330131583847106 }, "joint_3": { "spike_count": 207, "max_second_delta": 0.028892099857330322 }, "joint_4": { "spike_count": 448, "max_second_delta": 0.02643042802810669 }, "joint_5": { "spike_count": 312, "max_second_delta": 0.014748302288353443 }, "joint_6": { "spike_count": 572, "max_second_delta": 0.001259447424672544 }, "joint_7": { "spike_count": 528, "max_second_delta": 0.009006977081298828 }, "joint_8": { "spike_count": 1133, "max_second_delta": 0.0195845328271389 }, "joint_10": { "spike_count": 296, "max_second_delta": 0.029270410537719727 }, "joint_11": { "spike_count": 417, "max_second_delta": 0.021143734455108643 }, "joint_12": { "spike_count": 216, "max_second_delta": 0.018234659801237285 }, "joint_13": { "spike_count": 530, "max_second_delta": 0.0012613607104867697 } } }, "message": "Action discontinuity: 14 spike(s) (0.52% of steps, 12 joint(s) affected); median \u0394a = 0.0177, median \u0394\u00b2a = 0.0051.", "evidence_level": "RISK_SIGNAL", "verifiability": "Verified", "passed": true, "score": 1.0, "has_finding": false }, "video_stream_span_consistency": { "availability": "available", "measurement": { "spans_sec": { "observation.images.cam_high": 89.8667, "observation.images.cam_left_wrist": 89.8667, "observation.images.cam_low": 89.8667, "observation.images.cam_right_wrist": 89.8667 }, "median_span_sec": 89.8667, "drifts": { "observation.images.cam_high": 0.0, "observation.images.cam_left_wrist": 0.0, "observation.images.cam_low": 0.0, "observation.images.cam_right_wrist": 0.0 }, "max_drift": 0.0 }, "assessment": { "status": "pass", "severity": null, "reason": null }, "details": { "drift_threshold_note": "diagnostic only \u2014 does not affect verdict by default" }, "message": "Span consistency: median=89.87s, max drift=0.00% across 4 streams.", "evidence_level": "RISK_SIGNAL", "verifiability": "Measured", "passed": true, "score": 1.0, "has_finding": false }, "video_stream_temporal_offset": { "availability": "available", "measurement": { "measured": true, "pairwise": { "observation.images.cam_high_vs_observation.images.cam_left_wrist": { "offset_median_ms": 0.0, "offset_p95_ms": 0.0, "offset_p99_ms": 0.0, "offset_max_ms": 0.0, "offset_std_ms": 0.0, "signed_median_ms": 0.0 }, "observation.images.cam_high_vs_observation.images.cam_low": { "offset_median_ms": 0.0, "offset_p95_ms": 0.0, "offset_p99_ms": 0.0, "offset_max_ms": 0.0, "offset_std_ms": 0.0, "signed_median_ms": 0.0 }, "observation.images.cam_high_vs_observation.images.cam_right_wrist": { "offset_median_ms": 0.0, "offset_p95_ms": 0.0, "offset_p99_ms": 0.0, "offset_max_ms": 0.0, "offset_std_ms": 0.0, "signed_median_ms": 0.0 }, "observation.images.cam_left_wrist_vs_observation.images.cam_low": { "offset_median_ms": 0.0, "offset_p95_ms": 0.0, "offset_p99_ms": 0.0, "offset_max_ms": 0.0, "offset_std_ms": 0.0, "signed_median_ms": 0.0 }, "observation.images.cam_left_wrist_vs_observation.images.cam_right_wrist": { "offset_median_ms": 0.0, "offset_p95_ms": 0.0, "offset_p99_ms": 0.0, "offset_max_ms": 0.0, "offset_std_ms": 0.0, "signed_median_ms": 0.0 }, "observation.images.cam_low_vs_observation.images.cam_right_wrist": { "offset_median_ms": 0.0, "offset_p95_ms": 0.0, "offset_p99_ms": 0.0, "offset_max_ms": 0.0, "offset_std_ms": 0.0, "signed_median_ms": 0.0 } }, "worst_p95_offset_ms": 0.0, "worst_max_offset_ms": 0.0 }, "assessment": { "status": "pass", "severity": null, "reason": null }, "details": {}, "message": "Temporal offset: worst p95=0.0ms, worst max=0.0ms across 6 pair(s).", "evidence_level": "RISK_SIGNAL", "verifiability": "Measured", "passed": true, "score": 1.0, "has_finding": false }, "video_stream_temporal_drift": { "availability": "available", "measurement": { "measured": true, "pairwise": { "observation.images.cam_high_vs_observation.images.cam_left_wrist": { "drift_rate_ms_per_min": 0.0, "r_squared": 0.0 }, "observation.images.cam_high_vs_observation.images.cam_low": { "drift_rate_ms_per_min": 0.0, "r_squared": 0.0 }, "observation.images.cam_high_vs_observation.images.cam_right_wrist": { "drift_rate_ms_per_min": 0.0, "r_squared": 0.0 }, "observation.images.cam_left_wrist_vs_observation.images.cam_low": { "drift_rate_ms_per_min": 0.0, "r_squared": 0.0 }, "observation.images.cam_left_wrist_vs_observation.images.cam_right_wrist": { "drift_rate_ms_per_min": 0.0, "r_squared": 0.0 }, "observation.images.cam_low_vs_observation.images.cam_right_wrist": { 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No OCR / licence-plate recognition, no voice biometrics, no consent or licensing review." }, "message": "No PII indicators found \u2014 but some surfaces were NOT scanned.", "evidence_level": "RISK_SIGNAL", "verifiability": "Verified", "passed": true, "score": 1.0, "has_finding": false } } }, { "episode_index": 2, "num_frames": 2623, "verdict": "PASS", "task_index": 51, "task_description": "Pick & Place candle stick holders", "task_description_redacted": false, "exclude_reasons": [], "unverifiable_reasons": [], "metrics": { "missing_dropout": { "availability": "available", "measurement": { "score_compat": 1.0, "missing_frames": 0, "dropout_count": 0 }, "assessment": { "status": "pass", "severity": null, "reason": null }, "details": { "expected_frames": 2623, "missing_frames": 0, "dropout_features": [], "by_feature_frame_count": { "observation.state": 2623, "action.action": 2623 }, "missing_detection_method": "timestamp_gap_inference", "gap_count": 0, "gap_positions": [], "gap_total_duration": 0.0 }, "message": "No missing frames or dropout detected across 2 features.", "evidence_level": "HARD_FAIL", "verifiability": "Verified", "passed": true, "score": 1.0, "has_finding": false }, "invalid_values": { "availability": "available", "measurement": { "score_compat": 1.0, "invalid_count": 0, "total_cells": 73444 }, "assessment": { "status": "pass", "severity": null, "reason": null }, "details": { "checked_features": [ "observation.state", "action.action" ], "nan_count": 0, "inf_count": 0, "total_cells": 73444, "by_feature": { "observation.state": { "nan_count": 0, "inf_count": 0, "total_cells": 36722 }, "action.action": { "nan_count": 0, "inf_count": 0, "total_cells": 36722 } } }, "message": "No NaN or Inf values found across 2 features.", "evidence_level": "HARD_FAIL", "verifiability": "Verified", "passed": true, "score": 1.0, "has_finding": false }, "schema_consistency": { "availability": "available", "measurement": { "score_compat": 1.0, "mismatch_count": 0 }, "assessment": { "status": "pass", "severity": null, "reason": null }, "details": { "num_frames": 2623, "features": { "observation.state": { "dtype": "float32", "shape": [ 14 ], "first_dim": 2623 }, "action.action": { "dtype": "float32", "shape": [ 14 ], "first_dim": 2623 } }, "length_mismatches": [], "dimension_mismatches": [] }, "message": "All 2 features have consistent shape within the episode.", "evidence_level": "HARD_FAIL", "verifiability": "Verified", "passed": true, "score": 1.0, "has_finding": false }, "timestamp_validity": { "availability": "available", "measurement": { "score_compat": 1.0, "duplicates": 0, "median_dt_ms": 33.33282470703125 }, "assessment": { "status": "pass", "severity": null, "reason": null }, "details": { "num_frames": 2623, "monotonic": true, "duplicate_count": 0, "negative_delta_count": 0, "dt_ms": { "median": 33.33282470703125, "p95": 33.336639404296875, "p99": 33.3404541015625, "max": 33.3404541015625, "mean": 33.33333391528562, "std": 0.0013194681947711572 }, "gap_count": 0, "gap_positions": [], "gap_total_duration": 0.0 }, "message": "Timestamps are monotonically increasing; median dt = 33.33 ms, max dt = 33.34 ms.", "evidence_level": "HARD_FAIL", "verifiability": "Verified", "passed": true, "score": 1.0, "has_finding": false }, "joint_limit": { "availability": "not_available", "measurement": {}, "assessment": { "status": "na", "severity": null, "reason": "joint_limits_not_provided" }, "details": { "violations": 0, "approaching": 0, "by_joint": {}, "joints_checked": 0, "approach_threshold_used": 0.02, "consecutive_frames_used": 3, "jump_multiplier_used": 2.0, "min_margin_ratio": 1.0, "max_jump_ratio": 0.0 }, "message": "Joint limits not provided; skipping check.", "evidence_level": "HARD_FAIL", "verifiability": "Not verifiable", "passed": false, "score": 0.0, "has_finding": false }, "video_frame_integrity": { "availability": "available", "measurement": { "score_compat": 1.0, "checked_count": 4, "mismatch_count": 0 }, "assessment": { "status": "pass", "severity": null, "reason": null }, "details": { "checked": [ { "feature": "observation.images.cam_high", "video_path": "videos\\observation.images.cam_high\\chunk-000\\file-002.mp4", "video_frames": 2623, "parquet_frames": 2623, "delta": 0, "chunked": true, "from_timestamp": 0.0, "to_timestamp": 87.43333333333334, "episode_video_frames": 2623, "end_frame": 2623, "file_truncated": false, "episode_meta_length": 2623 }, { "feature": "observation.images.cam_left_wrist", "video_path": "videos\\observation.images.cam_left_wrist\\chunk-000\\file-002.mp4", "video_frames": 2623, "parquet_frames": 2623, "delta": 0, "chunked": true, "from_timestamp": 0.0, "to_timestamp": 87.43333333333334, "episode_video_frames": 2623, "end_frame": 2623, "file_truncated": false, "episode_meta_length": 2623 }, { "feature": "observation.images.cam_low", "video_path": "videos\\observation.images.cam_low\\chunk-000\\file-002.mp4", "video_frames": 2624, "parquet_frames": 2623, "delta": 0, "chunked": true, "from_timestamp": 0.0, "to_timestamp": 87.43333333333334, "episode_video_frames": 2623, "end_frame": 2623, "file_truncated": false, "episode_meta_length": 2623 }, { "feature": "observation.images.cam_right_wrist", "video_path": "videos\\observation.images.cam_right_wrist\\chunk-000\\file-002.mp4", "video_frames": 2623, "parquet_frames": 2623, "delta": 0, "chunked": true, "from_timestamp": 0.0, "to_timestamp": 87.43333333333334, "episode_video_frames": 2623, "end_frame": 2623, "file_truncated": false, "episode_meta_length": 2623 } ], "mismatched": [], "unreadable_features": [], "tolerances": { "soft": 0.01, "hard": 0.05, "profile": "default" } }, "message": "Video/parquet frame counts match across 4 video feature(s): observation.images.cam_high=2623, observation.images.cam_left_wrist=2623, observation.images.cam_low=2624, observation.images.cam_right_wrist=2623.", "evidence_level": "HARD_FAIL", "verifiability": "Verified", "passed": true, "score": 1.0, "has_finding": false }, "video_freeze": { "availability": "available", "measurement": { "score_compat": 1.0, "checked_features": 4, "freeze_region_count": 0 }, "assessment": { "status": "pass", "severity": null, "reason": null }, "details": { "checked_features": 4, "freeze_regions": [], "freeze_region_count": 0, "freeze_motion_source": "action", "state_cross_validated_segments": 0, "stream_motion_profile": { "observation.images.cam_high": { "frames": 2623, "median_diff": 0.1555, "p90_diff": 0.5897, "duplicate_eps": 0.0093, "duplicate_ratio": 0.0084 }, "observation.images.cam_left_wrist": { "frames": 2623, "median_diff": 1.337, "p90_diff": 11.2001, "duplicate_eps": 0.01, "duplicate_ratio": 0.0 }, "observation.images.cam_low": { "frames": 2623, "median_diff": 0.3517, "p90_diff": 1.6158, "duplicate_eps": 0.01, "duplicate_ratio": 0.0046 }, "observation.images.cam_right_wrist": { "frames": 2623, "median_diff": 1.3906, "p90_diff": 8.1767, "duplicate_eps": 0.01, "duplicate_ratio": 0.0019 } }, "params": { "decode": "64x64 gray", "min_freeze_seconds": 0.5, "criterion": "duplicate frames (camera re-sent the previous frame)", "epsilon": "duplicate eps = min(max(floor, 0.25 x p10), max(floor, min(0.5 x p25, 0.01))) on mean |frame[i+1] - frame[i]|", "profile_duplicate_floor": 0.002 } }, "message": "No duplicated-frame spans in 4 camera stream(s); no camera re-sent a frame while the arm was moving.", "evidence_level": "HARD_FAIL", "verifiability": "Verified", "passed": true, "score": 1.0, "has_finding": false }, "video_timestamp_alignment": { "availability": "available", "measurement": { "score_compat": 1.0, "worst_delta_ratio": 0.0004, "checked_count": 4 }, "assessment": { "status": "pass", "severity": null, "reason": null }, "details": { "checked": [ { "feature": "observation.images.cam_high", "video_span_sec": 87.4333, "parquet_span_sec": 87.4, "delta_sec": 0.0333, "delta_ratio": 0.0004 }, { "feature": "observation.images.cam_left_wrist", "video_span_sec": 87.4333, "parquet_span_sec": 87.4, "delta_sec": 0.0333, "delta_ratio": 0.0004 }, { "feature": "observation.images.cam_low", "video_span_sec": 87.4333, "parquet_span_sec": 87.4, "delta_sec": 0.0333, "delta_ratio": 0.0004 }, { "feature": "observation.images.cam_right_wrist", "video_span_sec": 87.4333, "parquet_span_sec": 87.4, "delta_sec": 0.0333, "delta_ratio": 0.0004 } ], "tolerances": { "soft": 0.05, "hard": 0.1, "profile": "default" } }, "message": "Video/parquet timeline spans consistent across 4 camera stream(s) (worst drift +0.0%).", "evidence_level": "HARD_FAIL", "verifiability": "Verified", "passed": true, "score": 1.0, "has_finding": false }, "video_stream_presence": { "availability": "available", "measurement": { "score_compat": 1.0, "stream_count": 4 }, "assessment": { "status": "pass", "severity": null, "reason": null }, "details": { "expected_streams": [ "observation.images.cam_high", "observation.images.cam_left_wrist", "observation.images.cam_low", "observation.images.cam_right_wrist" ], "verified": [ "observation.images.cam_high", "observation.images.cam_left_wrist", "observation.images.cam_low", "observation.images.cam_right_wrist" ], "missing": [], "broken": [] }, "message": "All 4 camera stream(s) present and readable.", "evidence_level": "HARD_FAIL", "verifiability": "Verified", "passed": true, "score": 1.0, "has_finding": false }, "numeric_sanity": { "availability": "available", "measurement": { "score_compat": 1.0, "warning_count": 0, "features_checked": 2 }, "assessment": { "status": "pass", "severity": null, "reason": null }, "details": { "checked_features": [ "observation.state", "action.action" ], "warnings": [], "thresholds": { "angle_limit": 3.2, "force_limit": 10000.0, "torque_limit": 1000.0, "velocity_limit": 100.0 } }, "message": "All 2 numeric features are within expected ranges.", "evidence_level": "RISK_SIGNAL", "verifiability": "Verified", "passed": true, "score": 1.0, "has_finding": false }, "sensor_synchronization": { "availability": "not_available", "measurement": {}, "assessment": { "status": "na", "severity": null, "reason": "stream_timestamps_not_provided" }, "details": { "streams": [], "pairs": [] }, "message": "Sensor sync: N/A (no per-stream timestamps provided)", "evidence_level": "UNVERIFIABLE", "verifiability": "Not verifiable", "passed": false, "score": 0.0, "has_finding": false }, "sampling_jitter": { "availability": "available", "measurement": { "score_compat": 1.0, "cv": 3.958404515205394e-05, "cv_raw": 3.958404515205394e-05, "jitter_ms": 0.0013194681947711572, "jitter_ratio": 3.958404515205394e-05, "gap_count": 0 }, "assessment": { "status": "pass", "severity": null, "reason": null, "baseline": { "method": "robust_cv_excluding_gaps", "scope": "episode", "reference_population": 2622, "gaps_excluded": 0 } }, "details": { "mean_interval_ms": 33.33333391528562, "jitter_ms": 0.0013194681947711572, "jitter_ratio": 3.958404515205394e-05, "cv_raw": 3.958404515205394e-05, "gap_count": 0, "dt_ms": { "median": 33.33282470703125, "p95": 33.336639404296875, "p99": 33.3404541015625, "max": 33.3404541015625 } }, "message": "Sampling jitter robust CV = 0.0000 (no gaps detected; raw CV = 0.0000, mean dt = 33.33 ms).", "evidence_level": "RISK_SIGNAL", "verifiability": "Verified", "passed": true, "score": 1.0, "has_finding": false }, "velocity_acceleration": { "availability": "available", "measurement": { "score_compat": 1.0, "velocity_p50": 0.5456961395845641, "velocity_p95": 1.9219526450885673, "velocity_p99": 2.5552009545342447, "velocity_max": 3.3960285425937933, "acceleration_spikes": 22, "acceleration_spike_rate": 0.008387342737323675 }, "assessment": { "status": "pass", "severity": null, "reason": null }, "details": { "velocity_stats": { "median": 0.5456961395845641, "p95": 1.9219526450885673, "p99": 2.5552009545342447, "max": 3.3960285425937933, "mean": 0.6908167195274587 }, "acceleration_stats": { "median": 0.1485956403434842, "p95": 0.43394469166201, "p99": 0.6738452250638163, "max": 1.5382315767544277 }, "extreme_spike_count": 22 }, "message": "Velocity: p50=0.5457, p95=1.9220, p99=2.5552, extreme accel spikes = 22.", "evidence_level": "RISK_SIGNAL", "verifiability": "Verified", "passed": true, "score": 1.0, "has_finding": false }, "action_discontinuity": { "availability": "available", "measurement": { "score_compat": 1.0, "spike_count": 22, "spike_rate": 0.008393742846241892, "p95_delta": 0.06406541674559542, "p99_delta": 0.0851732839234907, "max_delta": 0.11319922411035371, "max_second_delta": 0.05127360350677563, "affected_joints": 11, "total_joints": 14, "by_joint": { "joint_6": { "spike_count": 1013, "max_second_delta": 0.0013704905286431313 }, "joint_8": { "spike_count": 635, "max_second_delta": 0.00898277759552002 }, "joint_12": { "spike_count": 613, "max_second_delta": 0.02902752161026001 }, "joint_3": { "spike_count": 609, "max_second_delta": 0.025208644568920135 }, "joint_5": { "spike_count": 421, "max_second_delta": 0.050412217155098915 }, "joint_4": { "spike_count": 407, "max_second_delta": 0.03693722188472748 }, "joint_11": { "spike_count": 348, "max_second_delta": 0.021094143390655518 }, "joint_10": { "spike_count": 277, "max_second_delta": 0.019780874252319336 }, "joint_1": { "spike_count": 205, "max_second_delta": 0.0075380802154541016 }, "joint_0": { "spike_count": 155, "max_second_delta": 0.008693307638168335 }, "joint_7": { "spike_count": 139, "max_second_delta": 0.007010668516159058 } } }, "assessment": { "status": "review", "severity": "low", "reason": "Spike count 22 > 16: moderate action discontinuity (above Youden optimal threshold)" }, "details": { "action_shape": [ 2623, 14 ], "spike_count": 22, "max_delta": 0.11319922411035371, "max_second_delta": 0.05127360350677563, "spike_indices": [ 38, 423, 424, 425, 427, 622, 1277, 1312, 1323, 1324, 1326, 1327, 1328, 1329, 2176, 2177, 2180, 2181, 2182, 2187, 2189, 2191 ], "delta_stats": { "median": 0.018190374250366712, "p95": 0.06406541674559542, "p99": 0.0851732839234907, "max": 0.11319922411035371, "mean": 0.023026980320706606 }, "delta2_stats": { "median": 0.004953112431798418, "p95": 0.014464965031372618, "p99": 0.022461164766722205, "max": 0.05127360350677563, "mean": 0.005946838571597893 }, "by_joint": { "joint_0": { "spike_count": 155, "max_second_delta": 0.008693307638168335 }, "joint_1": { "spike_count": 205, "max_second_delta": 0.0075380802154541016 }, "joint_3": { "spike_count": 609, "max_second_delta": 0.025208644568920135 }, "joint_4": { "spike_count": 407, "max_second_delta": 0.03693722188472748 }, "joint_5": { "spike_count": 421, "max_second_delta": 0.050412217155098915 }, "joint_6": { "spike_count": 1013, "max_second_delta": 0.0013704905286431313 }, "joint_7": { "spike_count": 139, "max_second_delta": 0.007010668516159058 }, "joint_8": { "spike_count": 635, "max_second_delta": 0.00898277759552002 }, "joint_10": { "spike_count": 277, "max_second_delta": 0.019780874252319336 }, "joint_11": { "spike_count": 348, "max_second_delta": 0.021094143390655518 }, "joint_12": { "spike_count": 613, "max_second_delta": 0.02902752161026001 } } }, "message": "Action discontinuity: 22 spike(s) (0.84% of steps, 11 joint(s) affected); median \u0394a = 0.0182, median \u0394\u00b2a = 0.0050.", "evidence_level": "RISK_SIGNAL", "verifiability": "Verified", "passed": false, "score": 1.0, "has_finding": true }, "video_stream_span_consistency": { "availability": "available", "measurement": { "spans_sec": { "observation.images.cam_high": 87.4333, "observation.images.cam_left_wrist": 87.4333, "observation.images.cam_low": 87.4333, "observation.images.cam_right_wrist": 87.4333 }, "median_span_sec": 87.4333, "drifts": { "observation.images.cam_high": 0.0, "observation.images.cam_left_wrist": 0.0, "observation.images.cam_low": 0.0, "observation.images.cam_right_wrist": 0.0 }, "max_drift": 0.0 }, "assessment": { "status": "pass", "severity": null, "reason": null }, 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0.0, "signed_median_ms": 0.0 }, "observation.images.cam_left_wrist_vs_observation.images.cam_low": { "offset_median_ms": 0.0, "offset_p95_ms": 0.0, "offset_p99_ms": 0.0, "offset_max_ms": 0.0, "offset_std_ms": 0.0, "signed_median_ms": 0.0 }, "observation.images.cam_left_wrist_vs_observation.images.cam_right_wrist": { "offset_median_ms": 0.0, "offset_p95_ms": 0.0, "offset_p99_ms": 0.0, "offset_max_ms": 0.0, "offset_std_ms": 0.0, "signed_median_ms": 0.0 }, "observation.images.cam_low_vs_observation.images.cam_right_wrist": { "offset_median_ms": 0.0, "offset_p95_ms": 0.0, "offset_p99_ms": 0.0, "offset_max_ms": 0.0, "offset_std_ms": 0.0, "signed_median_ms": 0.0 } }, "worst_p95_offset_ms": 0.0, "worst_max_offset_ms": 0.0 }, "assessment": { "status": "pass", "severity": null, "reason": null }, "details": {}, "message": "Temporal offset: worst p95=0.0ms, worst max=0.0ms across 6 pair(s).", "evidence_level": "RISK_SIGNAL", "verifiability": "Measured", "passed": true, "score": 1.0, "has_finding": false }, "video_stream_temporal_drift": { "availability": "available", "measurement": { "measured": true, "pairwise": { "observation.images.cam_high_vs_observation.images.cam_left_wrist": { "drift_rate_ms_per_min": 0.0, "r_squared": 0.0 }, "observation.images.cam_high_vs_observation.images.cam_low": { "drift_rate_ms_per_min": 0.0, "r_squared": 0.0 }, "observation.images.cam_high_vs_observation.images.cam_right_wrist": { "drift_rate_ms_per_min": 0.0, "r_squared": 0.0 }, "observation.images.cam_left_wrist_vs_observation.images.cam_low": { "drift_rate_ms_per_min": 0.0, "r_squared": 0.0 }, "observation.images.cam_left_wrist_vs_observation.images.cam_right_wrist": { "drift_rate_ms_per_min": 0.0, "r_squared": 0.0 }, "observation.images.cam_low_vs_observation.images.cam_right_wrist": { "drift_rate_ms_per_min": 0.0, "r_squared": 0.0 } }, "window_size_sec": 5.0, "num_windows": 17 }, "assessment": { "status": "pass", "severity": null, "reason": null }, "details": {}, "message": 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No OCR / licence-plate recognition, no voice biometrics, no consent or licensing review." }, "message": "No PII indicators found \u2014 but some surfaces were NOT scanned.", "evidence_level": "RISK_SIGNAL", "verifiability": "Verified", "passed": true, "score": 1.0, "has_finding": false } } }, { "episode_index": 3, "num_frames": 1512, "verdict": "PASS", "task_index": 139, "task_description": "Stock candles and holders on shelf", "task_description_redacted": false, "exclude_reasons": [], "unverifiable_reasons": [], "metrics": { "missing_dropout": { "availability": "available", "measurement": { "score_compat": 1.0, "missing_frames": 0, "dropout_count": 0 }, "assessment": { "status": "pass", "severity": null, "reason": null }, "details": { "expected_frames": 1512, "missing_frames": 0, "dropout_features": [], "by_feature_frame_count": { "observation.state": 1512, "action.action": 1512 }, "missing_detection_method": "timestamp_gap_inference", "gap_count": 0, "gap_positions": [], "gap_total_duration": 0.0 }, "message": "No missing frames or dropout detected across 2 features.", "evidence_level": "HARD_FAIL", "verifiability": "Verified", "passed": true, "score": 1.0, "has_finding": false }, "invalid_values": { "availability": "available", "measurement": { "score_compat": 1.0, "invalid_count": 0, "total_cells": 42336 }, "assessment": { "status": "pass", "severity": null, "reason": null }, "details": { "checked_features": [ "observation.state", "action.action" ], "nan_count": 0, "inf_count": 0, "total_cells": 42336, "by_feature": { "observation.state": { "nan_count": 0, "inf_count": 0, "total_cells": 21168 }, "action.action": { "nan_count": 0, "inf_count": 0, "total_cells": 21168 } } }, "message": "No NaN or Inf values found across 2 features.", "evidence_level": "HARD_FAIL", "verifiability": "Verified", "passed": true, "score": 1.0, "has_finding": false }, "schema_consistency": { "availability": "available", "measurement": { "score_compat": 1.0, "mismatch_count": 0 }, "assessment": { "status": "pass", "severity": null, "reason": null }, "details": { "num_frames": 1512, "features": { "observation.state": { "dtype": "float32", "shape": [ 14 ], "first_dim": 1512 }, "action.action": { "dtype": "float32", "shape": [ 14 ], "first_dim": 1512 } }, "length_mismatches": [], "dimension_mismatches": [] }, "message": "All 2 features have consistent shape within the episode.", "evidence_level": "HARD_FAIL", "verifiability": "Verified", "passed": true, "score": 1.0, "has_finding": false }, "timestamp_validity": { "availability": "available", "measurement": { "score_compat": 1.0, "duplicates": 0, "median_dt_ms": 33.33282470703125 }, "assessment": { "status": "pass", "severity": null, "reason": null }, "details": { "num_frames": 1512, "monotonic": true, "duplicate_count": 0, "negative_delta_count": 0, "dt_ms": { "median": 33.33282470703125, "p95": 33.33473205566406, "p99": 33.336639404296875, "max": 33.336639404296875, "mean": 33.33333215517843, "std": 0.0009345048757575571 }, "gap_count": 0, "gap_positions": [], "gap_total_duration": 0.0 }, "message": "Timestamps are monotonically increasing; median dt = 33.33 ms, max dt = 33.34 ms.", "evidence_level": "HARD_FAIL", "verifiability": "Verified", "passed": true, "score": 1.0, "has_finding": false }, "joint_limit": { "availability": "not_available", "measurement": {}, "assessment": { "status": "na", "severity": null, "reason": "joint_limits_not_provided" }, "details": { "violations": 0, "approaching": 0, "by_joint": {}, "joints_checked": 0, "approach_threshold_used": 0.02, "consecutive_frames_used": 3, "jump_multiplier_used": 2.0, "min_margin_ratio": 1.0, "max_jump_ratio": 0.0 }, "message": "Joint limits not provided; skipping check.", "evidence_level": "HARD_FAIL", "verifiability": "Not verifiable", "passed": false, "score": 0.0, "has_finding": false }, "video_frame_integrity": { "availability": "available", "measurement": { "score_compat": 1.0, "checked_count": 4, "mismatch_count": 0 }, "assessment": { "status": "pass", "severity": null, "reason": null }, "details": { "checked": [ { "feature": "observation.images.cam_high", "video_path": "videos\\observation.images.cam_high\\chunk-000\\file-003.mp4", "video_frames": 1512, "parquet_frames": 1512, "delta": 0, "chunked": true, "from_timestamp": 0.0, "to_timestamp": 50.4, "episode_video_frames": 1512, "end_frame": 1512, "file_truncated": false, "episode_meta_length": 1512 }, { "feature": "observation.images.cam_left_wrist", "video_path": "videos\\observation.images.cam_left_wrist\\chunk-000\\file-003.mp4", "video_frames": 1513, "parquet_frames": 1512, "delta": 0, "chunked": true, "from_timestamp": 0.0, "to_timestamp": 50.4, "episode_video_frames": 1512, "end_frame": 1512, "file_truncated": false, "episode_meta_length": 1512 }, { "feature": "observation.images.cam_low", "video_path": "videos\\observation.images.cam_low\\chunk-000\\file-003.mp4", "video_frames": 1513, "parquet_frames": 1512, "delta": 0, "chunked": true, "from_timestamp": 0.0, "to_timestamp": 50.4, "episode_video_frames": 1512, "end_frame": 1512, "file_truncated": false, "episode_meta_length": 1512 }, { "feature": "observation.images.cam_right_wrist", "video_path": "videos\\observation.images.cam_right_wrist\\chunk-000\\file-003.mp4", "video_frames": 1512, "parquet_frames": 1512, "delta": 0, "chunked": true, "from_timestamp": 0.0, "to_timestamp": 50.4, "episode_video_frames": 1512, "end_frame": 1512, "file_truncated": false, "episode_meta_length": 1512 } ], "mismatched": [], "unreadable_features": [], "tolerances": { "soft": 0.01, "hard": 0.05, "profile": "default" } }, "message": "Video/parquet frame counts match across 4 video feature(s): observation.images.cam_high=1512, observation.images.cam_left_wrist=1513, observation.images.cam_low=1513, observation.images.cam_right_wrist=1512.", "evidence_level": "HARD_FAIL", "verifiability": "Verified", "passed": true, "score": 1.0, "has_finding": false }, "video_freeze": { "availability": "available", "measurement": { "score_compat": 1.0, "checked_features": 4, "freeze_region_count": 0 }, "assessment": { "status": "pass", "severity": null, "reason": null }, "details": { "checked_features": 4, "freeze_regions": [], "freeze_region_count": 0, "freeze_motion_source": "action", "state_cross_validated_segments": 0, "stream_motion_profile": { "observation.images.cam_high": { "frames": 1512, "median_diff": 0.1541, "p90_diff": 0.6997, "duplicate_eps": 0.0024, "duplicate_ratio": 0.0086 }, "observation.images.cam_left_wrist": { "frames": 1512, "median_diff": 3.6221, "p90_diff": 12.3811, "duplicate_eps": 0.0092, "duplicate_ratio": 0.002 }, "observation.images.cam_low": { "frames": 1512, "median_diff": 0.5193, "p90_diff": 2.0059, "duplicate_eps": 0.0036, "duplicate_ratio": 0.0364 }, "observation.images.cam_right_wrist": { "frames": 1512, "median_diff": 3.8359, "p90_diff": 15.5117, "duplicate_eps": 0.0057, "duplicate_ratio": 0.0053 } }, "params": { "decode": "64x64 gray", "min_freeze_seconds": 0.5, "criterion": "duplicate frames (camera re-sent the previous frame)", "epsilon": "duplicate eps = min(max(floor, 0.25 x p10), max(floor, min(0.5 x p25, 0.01))) on mean |frame[i+1] - frame[i]|", "profile_duplicate_floor": 0.002 } }, "message": "No duplicated-frame spans in 4 camera stream(s); no camera re-sent a frame while the arm was moving.", "evidence_level": "HARD_FAIL", "verifiability": "Verified", "passed": true, "score": 1.0, "has_finding": false }, "video_timestamp_alignment": { "availability": "available", "measurement": { "score_compat": 1.0, "worst_delta_ratio": 0.0007, "checked_count": 4 }, "assessment": { "status": "pass", "severity": null, "reason": null }, "details": { "checked": [ { "feature": "observation.images.cam_high", "video_span_sec": 50.4, "parquet_span_sec": 50.3667, "delta_sec": 0.0333, "delta_ratio": 0.0007 }, { "feature": "observation.images.cam_left_wrist", "video_span_sec": 50.4, "parquet_span_sec": 50.3667, "delta_sec": 0.0333, "delta_ratio": 0.0007 }, { "feature": "observation.images.cam_low", "video_span_sec": 50.4, "parquet_span_sec": 50.3667, "delta_sec": 0.0333, "delta_ratio": 0.0007 }, { "feature": "observation.images.cam_right_wrist", "video_span_sec": 50.4, "parquet_span_sec": 50.3667, "delta_sec": 0.0333, "delta_ratio": 0.0007 } ], "tolerances": { "soft": 0.05, "hard": 0.1, "profile": "default" } }, "message": "Video/parquet timeline spans consistent across 4 camera stream(s) (worst drift +0.1%).", "evidence_level": "HARD_FAIL", "verifiability": "Verified", "passed": true, "score": 1.0, "has_finding": false }, "video_stream_presence": { "availability": "available", "measurement": { "score_compat": 1.0, "stream_count": 4 }, "assessment": { "status": "pass", "severity": null, "reason": null }, "details": { "expected_streams": [ "observation.images.cam_high", "observation.images.cam_left_wrist", "observation.images.cam_low", "observation.images.cam_right_wrist" ], "verified": [ "observation.images.cam_high", "observation.images.cam_left_wrist", "observation.images.cam_low", "observation.images.cam_right_wrist" ], "missing": [], "broken": [] }, "message": "All 4 camera stream(s) present and readable.", "evidence_level": "HARD_FAIL", "verifiability": "Verified", "passed": true, "score": 1.0, "has_finding": false }, "numeric_sanity": { "availability": "available", "measurement": { "score_compat": 1.0, "warning_count": 0, "features_checked": 2 }, "assessment": { "status": "pass", "severity": null, "reason": null }, "details": { "checked_features": [ "observation.state", "action.action" ], "warnings": [], "thresholds": { "angle_limit": 3.2, "force_limit": 10000.0, "torque_limit": 1000.0, "velocity_limit": 100.0 } }, "message": "All 2 numeric features are within expected ranges.", "evidence_level": "RISK_SIGNAL", "verifiability": "Verified", "passed": true, "score": 1.0, "has_finding": false }, "sensor_synchronization": { "availability": "not_available", "measurement": {}, "assessment": { "status": "na", "severity": null, "reason": "stream_timestamps_not_provided" }, "details": { "streams": [], "pairs": [] }, "message": "Sensor sync: N/A (no per-stream timestamps provided)", "evidence_level": "UNVERIFIABLE", "verifiability": "Not verifiable", "passed": false, "score": 0.0, "has_finding": false }, "sampling_jitter": { "availability": "available", "measurement": { "score_compat": 1.0, "cv": 2.80351472636191e-05, "cv_raw": 2.80351472636191e-05, "jitter_ms": 0.0009345048757575571, "jitter_ratio": 2.80351472636191e-05, "gap_count": 0 }, "assessment": { "status": "pass", "severity": null, "reason": null, "baseline": { "method": "robust_cv_excluding_gaps", "scope": "episode", "reference_population": 1511, "gaps_excluded": 0 } }, "details": { "mean_interval_ms": 33.33333215517843, "jitter_ms": 0.0009345048757575571, "jitter_ratio": 2.80351472636191e-05, "cv_raw": 2.80351472636191e-05, "gap_count": 0, "dt_ms": { "median": 33.33282470703125, "p95": 33.33473205566406, "p99": 33.336639404296875, "max": 33.336639404296875 } }, "message": "Sampling jitter robust CV = 0.0000 (no gaps detected; raw CV = 0.0000, mean dt = 33.33 ms).", "evidence_level": "RISK_SIGNAL", "verifiability": "Verified", "passed": true, "score": 1.0, "has_finding": false }, "velocity_acceleration": { "availability": "available", "measurement": { "score_compat": 1.0, "velocity_p50": 0.5094844261317685, "velocity_p95": 2.289104808527083, "velocity_p99": 2.9818145688785815, "velocity_max": 3.621120579104376, "acceleration_spikes": 0, "acceleration_spike_rate": 0.0 }, "assessment": { "status": "pass", "severity": null, "reason": null }, "details": { "velocity_stats": { "median": 0.5094844261317685, "p95": 2.289104808527083, "p99": 2.9818145688785815, "max": 3.621120579104376, "mean": 0.7613535549618544 }, "acceleration_stats": { "median": 0.1759122361843209, "p95": 0.5384089820041614, "p99": 0.7347426261791917, "max": 1.110344383112056 }, "extreme_spike_count": 0 }, "message": "Velocity: p50=0.5095, p95=2.2891, p99=2.9818, extreme accel spikes = 0.", "evidence_level": "RISK_SIGNAL", "verifiability": "Verified", "passed": true, "score": 1.0, "has_finding": false }, "action_discontinuity": { "availability": "available", "measurement": { "score_compat": 1.0, "spike_count": 0, "spike_rate": 0.0, "p95_delta": 0.07630232931865559, "p99_delta": 0.09939230233330174, "max_delta": 0.12070217750630964, "max_second_delta": 0.037010914686710916, "affected_joints": 14, "total_joints": 14, "by_joint": { "joint_6": { "spike_count": 455, "max_second_delta": 0.0009536234429106116 }, "joint_0": { "spike_count": 425, "max_second_delta": 0.005473494529724121 }, "joint_9": { "spike_count": 398, "max_second_delta": 0.01571430265903473 }, "joint_13": { "spike_count": 350, "max_second_delta": 0.0009396696696057916 }, "joint_12": { "spike_count": 272, "max_second_delta": 0.023222804069519043 }, "joint_2": { "spike_count": 269, "max_second_delta": 0.010627314448356628 }, "joint_11": { "spike_count": 268, "max_second_delta": 0.03146710619330406 }, "joint_4": { "spike_count": 246, "max_second_delta": 0.01697477698326111 }, "joint_1": { "spike_count": 229, "max_second_delta": 0.008121490478515625 }, "joint_10": { "spike_count": 211, "max_second_delta": 0.0232885479927063 }, "joint_8": { "spike_count": 204, "max_second_delta": 0.011332154273986816 }, "joint_3": { "spike_count": 147, "max_second_delta": 0.02173246443271637 }, "joint_7": { "spike_count": 103, "max_second_delta": 0.0077048540115356445 }, "joint_5": { "spike_count": 80, "max_second_delta": 0.02110556256957352 } } }, "assessment": { "status": "pass", "severity": null, "reason": null, "baseline": { "method": "MAD_zscore", "scope": "episode", "threshold": 5.0, "reference_population": 1510 } }, "details": { "action_shape": [ 1512, 14 ], "spike_count": 0, "max_delta": 0.12070217750630964, "max_second_delta": 0.037010914686710916, "spike_indices": [], "delta_stats": { "median": 0.016982555067212652, "p95": 0.07630232931865559, "p99": 0.09939230233330174, "max": 0.12070217750630964, "mean": 0.025378010812087425 }, "delta2_stats": { "median": 0.005863901390289784, "p95": 0.017946323958400224, "p99": 0.02448883655164008, "max": 0.037010914686710916, "mean": 0.006835109388092796 }, "by_joint": { "joint_0": { "spike_count": 425, "max_second_delta": 0.005473494529724121 }, "joint_1": { "spike_count": 229, "max_second_delta": 0.008121490478515625 }, "joint_2": { "spike_count": 269, "max_second_delta": 0.010627314448356628 }, "joint_3": { "spike_count": 147, "max_second_delta": 0.02173246443271637 }, "joint_4": { "spike_count": 246, "max_second_delta": 0.01697477698326111 }, "joint_5": { "spike_count": 80, "max_second_delta": 0.02110556256957352 }, "joint_6": { "spike_count": 455, "max_second_delta": 0.0009536234429106116 }, "joint_7": { "spike_count": 103, "max_second_delta": 0.0077048540115356445 }, "joint_8": { "spike_count": 204, "max_second_delta": 0.011332154273986816 }, "joint_9": { "spike_count": 398, "max_second_delta": 0.01571430265903473 }, "joint_10": { "spike_count": 211, "max_second_delta": 0.0232885479927063 }, "joint_11": { "spike_count": 268, "max_second_delta": 0.03146710619330406 }, "joint_12": { "spike_count": 272, "max_second_delta": 0.023222804069519043 }, "joint_13": { "spike_count": 350, "max_second_delta": 0.0009396696696057916 } } }, "message": "Action discontinuity: 0 spike(s) (0.00% of steps, 14 joint(s) affected); median \u0394a = 0.0170, median \u0394\u00b2a = 0.0059.", "evidence_level": "RISK_SIGNAL", "verifiability": "Verified", "passed": true, "score": 1.0, "has_finding": false }, "video_stream_span_consistency": { "availability": "available", "measurement": { "spans_sec": { "observation.images.cam_high": 50.4, "observation.images.cam_left_wrist": 50.4, "observation.images.cam_low": 50.4, "observation.images.cam_right_wrist": 50.4 }, "median_span_sec": 50.4, "drifts": { "observation.images.cam_high": 0.0, "observation.images.cam_left_wrist": 0.0, "observation.images.cam_low": 0.0, "observation.images.cam_right_wrist": 0.0 }, "max_drift": 0.0 }, "assessment": { "status": "pass", "severity": null, "reason": null }, "details": { "drift_threshold_note": "diagnostic only \u2014 does not affect verdict by default" }, "message": "Span consistency: median=50.40s, max drift=0.00% across 4 streams.", "evidence_level": "RISK_SIGNAL", "verifiability": "Measured", "passed": true, "score": 1.0, "has_finding": false }, "video_stream_temporal_offset": { "availability": "available", "measurement": { "measured": true, "pairwise": { "observation.images.cam_high_vs_observation.images.cam_left_wrist": { "offset_median_ms": 0.0, "offset_p95_ms": 0.0, "offset_p99_ms": 0.0, "offset_max_ms": 0.0, "offset_std_ms": 0.0, "signed_median_ms": 0.0 }, "observation.images.cam_high_vs_observation.images.cam_low": { "offset_median_ms": 0.0, "offset_p95_ms": 0.0, "offset_p99_ms": 0.0, "offset_max_ms": 0.0, "offset_std_ms": 0.0, "signed_median_ms": 0.0 }, "observation.images.cam_high_vs_observation.images.cam_right_wrist": { "offset_median_ms": 0.0, "offset_p95_ms": 0.0, "offset_p99_ms": 0.0, "offset_max_ms": 0.0, "offset_std_ms": 0.0, "signed_median_ms": 0.0 }, "observation.images.cam_left_wrist_vs_observation.images.cam_low": { "offset_median_ms": 0.0, "offset_p95_ms": 0.0, "offset_p99_ms": 0.0, "offset_max_ms": 0.0, "offset_std_ms": 0.0, "signed_median_ms": 0.0 }, "observation.images.cam_left_wrist_vs_observation.images.cam_right_wrist": { "offset_median_ms": 0.0, "offset_p95_ms": 0.0, "offset_p99_ms": 0.0, "offset_max_ms": 0.0, "offset_std_ms": 0.0, "signed_median_ms": 0.0 }, "observation.images.cam_low_vs_observation.images.cam_right_wrist": { "offset_median_ms": 0.0, "offset_p95_ms": 0.0, "offset_p99_ms": 0.0, "offset_max_ms": 0.0, "offset_std_ms": 0.0, "signed_median_ms": 0.0 } }, "worst_p95_offset_ms": 0.0, "worst_max_offset_ms": 0.0 }, "assessment": { 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0.16114058355437666, "valid_window_ratio_10": 0.12109115103127079, "valid_window_ratio_20": 0.0622906898861353, "total_frames": 1512 }, "assessment": { "status": "pass", "severity": null, "reason": null, "baseline": { "method": "action_delta_idle_detection", "scope": "episode", "threshold": 0.04925490456324501, "threshold_method": "mad", "reference_population": 1512 } }, "details": { "total_frames": 1512, "idle_total_ratio": 0.8034414295168762, "idle_prefix_ratio": 0.16468253968253968, "idle_prefix_frames": "249", "active_run_p50": 8.5, "active_run_p90": 33.900000000000006, "active_run_max": 43, "transition_count": 22, "idle_to_active_ratio": 0.01455989410986102, "valid_window_ratio_5": 0.16114058355437666, "valid_window_ratio_10": 0.12109115103127079, "valid_window_ratio_20": 0.0622906898861353, "usable_retention_ratio": 0.11706349206349206, "max_idle_run_frames": 286, "threshold_method": "mad", "threshold": 0.04925490456324501 }, "message": "Temporal structure: idle_total=80.3%, idle_prefix=16.5%, active_run_p50=8f, valid_window(seq=10)=12.1%.", "evidence_level": "RISK_SIGNAL", "verifiability": "Verified", "passed": true, "score": 1.0, "has_finding": false }, "pii_scan": { "availability": "available", "measurement": { "finding_count": 0, "high_severity_count": 0, "surfaces_scanned": 19, "types_found": [], "video_scanned": false, "score_compat": 1.0 }, "assessment": { "status": "pass", "severity": null, "reason": null }, "details": { "findings": [], "not_scanned": [ "video_not_scanned_pass_pii_video_to_enable" ], "not_scanned_detail": [ "video_not_scanned_pass_pii_video_to_enable \u2014 video frames were NOT scanned \u2014 pass --pii-video to include them" ], "redaction_policy": "identifiers are masked; 'fingerprint' is the first 12 hex chars of SHA-256 over the raw hit, for cross-episode dedupe", "detectors": [ "cn_resident_id", "cn_mobile", "email", "mac_address", "ipv4", "geolocation_features" ], "coverage_limits": "text surfaces, numeric features and (opt-in) sampled video frames only. No OCR / licence-plate recognition, no voice biometrics, no consent or licensing review." }, "message": "No PII indicators found \u2014 but some surfaces were NOT scanned.", "evidence_level": "RISK_SIGNAL", "verifiability": "Verified", "passed": true, "score": 1.0, "has_finding": false } } }, { "episode_index": 4, "num_frames": 1585, "verdict": "PASS", "task_index": 51, "task_description": "Pick & Place candle stick holders", "task_description_redacted": false, "exclude_reasons": [], "unverifiable_reasons": [], "metrics": { "missing_dropout": { "availability": "available", "measurement": { "score_compat": 1.0, "missing_frames": 0, "dropout_count": 0 }, "assessment": { "status": "pass", "severity": null, "reason": null }, "details": { "expected_frames": 1585, "missing_frames": 0, "dropout_features": [], "by_feature_frame_count": { "observation.state": 1585, "action.action": 1585 }, "missing_detection_method": "timestamp_gap_inference", "gap_count": 0, "gap_positions": [], "gap_total_duration": 0.0 }, "message": "No missing frames or dropout detected across 2 features.", "evidence_level": "HARD_FAIL", "verifiability": "Verified", "passed": true, "score": 1.0, "has_finding": false }, "invalid_values": { "availability": "available", "measurement": { "score_compat": 1.0, "invalid_count": 0, "total_cells": 44380 }, "assessment": { "status": "pass", "severity": null, "reason": null }, "details": { "checked_features": [ "observation.state", "action.action" ], "nan_count": 0, "inf_count": 0, "total_cells": 44380, "by_feature": { "observation.state": { "nan_count": 0, "inf_count": 0, "total_cells": 22190 }, "action.action": { "nan_count": 0, "inf_count": 0, "total_cells": 22190 } } }, "message": "No NaN or Inf values found across 2 features.", "evidence_level": "HARD_FAIL", "verifiability": "Verified", "passed": true, "score": 1.0, "has_finding": false }, "schema_consistency": { "availability": "available", "measurement": { "score_compat": 1.0, "mismatch_count": 0 }, "assessment": { "status": "pass", "severity": null, "reason": null }, "details": { "num_frames": 1585, "features": { "observation.state": { "dtype": "float32", "shape": [ 14 ], "first_dim": 1585 }, "action.action": { "dtype": "float32", "shape": [ 14 ], "first_dim": 1585 } }, "length_mismatches": [], "dimension_mismatches": [] }, "message": "All 2 features have consistent shape within the episode.", "evidence_level": "HARD_FAIL", "verifiability": "Verified", "passed": true, "score": 1.0, "has_finding": false }, "timestamp_validity": { "availability": "available", "measurement": { "score_compat": 1.0, "duplicates": 0, "median_dt_ms": 33.33282470703125 }, "assessment": { "status": "pass", "severity": null, "reason": null }, "details": { "num_frames": 1585, "monotonic": true, "duplicate_count": 0, "negative_delta_count": 0, "dt_ms": { "median": 33.33282470703125, "p95": 33.336639404296875, "p99": 33.336639404296875, "max": 33.336639404296875, "mean": 33.333332851679636, "std": 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}, "assessment": { "status": "pass", "severity": null, "reason": null }, "details": { "checked": [ { "feature": "observation.images.cam_high", "video_path": "videos\\observation.images.cam_high\\chunk-000\\file-004.mp4", "video_frames": 1585, "parquet_frames": 1585, "delta": 0, "chunked": true, "from_timestamp": 0.0, "to_timestamp": 52.833333333333336, "episode_video_frames": 1585, "end_frame": 1585, "file_truncated": false, "episode_meta_length": 1585 }, { "feature": "observation.images.cam_left_wrist", "video_path": "videos\\observation.images.cam_left_wrist\\chunk-000\\file-004.mp4", "video_frames": 1585, "parquet_frames": 1585, "delta": 0, "chunked": true, "from_timestamp": 0.0, "to_timestamp": 52.833333333333336, "episode_video_frames": 1585, "end_frame": 1585, "file_truncated": false, "episode_meta_length": 1585 }, { "feature": "observation.images.cam_low", "video_path": "videos\\observation.images.cam_low\\chunk-000\\file-004.mp4", "video_frames": 1585, "parquet_frames": 1585, "delta": 0, "chunked": true, "from_timestamp": 0.0, "to_timestamp": 52.833333333333336, "episode_video_frames": 1585, "end_frame": 1585, "file_truncated": false, "episode_meta_length": 1585 }, { "feature": "observation.images.cam_right_wrist", "video_path": "videos\\observation.images.cam_right_wrist\\chunk-000\\file-004.mp4", "video_frames": 1585, "parquet_frames": 1585, "delta": 0, "chunked": true, "from_timestamp": 0.0, "to_timestamp": 52.833333333333336, "episode_video_frames": 1585, "end_frame": 1585, "file_truncated": false, "episode_meta_length": 1585 } ], "mismatched": [], "unreadable_features": [], "tolerances": { "soft": 0.01, "hard": 0.05, "profile": "default" } }, "message": "Video/parquet frame counts match across 4 video feature(s): observation.images.cam_high=1585, observation.images.cam_left_wrist=1585, observation.images.cam_low=1585, observation.images.cam_right_wrist=1585.", "evidence_level": "HARD_FAIL", "verifiability": "Verified", "passed": true, "score": 1.0, "has_finding": false }, "video_freeze": { "availability": "available", "measurement": { "score_compat": 1.0, "checked_features": 4, "freeze_region_count": 0 }, "assessment": { "status": "pass", "severity": null, "reason": null }, "details": { "checked_features": 4, "freeze_regions": [], "freeze_region_count": 0, "freeze_motion_source": "action", "state_cross_validated_segments": 0, "stream_motion_profile": { "observation.images.cam_high": { "frames": 1585, "median_diff": 0.1724, "p90_diff": 0.7449, "duplicate_eps": 0.0065, "duplicate_ratio": 0.0114 }, "observation.images.cam_left_wrist": { "frames": 1585, "median_diff": 4.192, "p90_diff": 12.785, "duplicate_eps": 0.01, "duplicate_ratio": 0.0 }, "observation.images.cam_low": { "frames": 1585, "median_diff": 0.5836, "p90_diff": 2.1234, "duplicate_eps": 0.0046, "duplicate_ratio": 0.012 }, "observation.images.cam_right_wrist": { "frames": 1585, "median_diff": 3.2239, "p90_diff": 11.9978, "duplicate_eps": 0.01, "duplicate_ratio": 0.0057 } }, "params": { "decode": "64x64 gray", "min_freeze_seconds": 0.5, "criterion": "duplicate frames (camera re-sent the previous frame)", "epsilon": "duplicate eps = min(max(floor, 0.25 x p10), max(floor, min(0.5 x p25, 0.01))) on mean |frame[i+1] - frame[i]|", "profile_duplicate_floor": 0.002 } }, "message": "No duplicated-frame spans in 4 camera stream(s); no camera re-sent a frame while the arm was moving.", "evidence_level": "HARD_FAIL", "verifiability": "Verified", "passed": true, "score": 1.0, "has_finding": false }, "video_timestamp_alignment": { "availability": "available", "measurement": { "score_compat": 1.0, "worst_delta_ratio": 0.0006, "checked_count": 4 }, "assessment": { "status": "pass", "severity": null, "reason": null }, "details": { "checked": [ { "feature": "observation.images.cam_high", "video_span_sec": 52.8333, "parquet_span_sec": 52.8, "delta_sec": 0.0333, "delta_ratio": 0.0006 }, { "feature": "observation.images.cam_left_wrist", "video_span_sec": 52.8333, 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}, "assessment": { "status": "pass", "severity": null, "reason": null }, "details": { "checked": [ { "feature": "observation.images.cam_high", "video_path": "videos\\observation.images.cam_high\\chunk-000\\file-005.mp4", "video_frames": 2937, "parquet_frames": 2937, "delta": 0, "chunked": true, "from_timestamp": 0.0, "to_timestamp": 97.9, "episode_video_frames": 2937, "end_frame": 2937, "file_truncated": false, "episode_meta_length": 2937 }, { "feature": "observation.images.cam_left_wrist", "video_path": "videos\\observation.images.cam_left_wrist\\chunk-000\\file-005.mp4", "video_frames": 2937, "parquet_frames": 2937, "delta": 0, "chunked": true, "from_timestamp": 0.0, "to_timestamp": 97.9, "episode_video_frames": 2937, "end_frame": 2937, "file_truncated": false, "episode_meta_length": 2937 }, { "feature": "observation.images.cam_low", "video_path": "videos\\observation.images.cam_low\\chunk-000\\file-005.mp4", "video_frames": 2937, "parquet_frames": 2937, "delta": 0, "chunked": true, 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"available", "measurement": { "score_compat": 1.0, "checked_features": 4, "freeze_region_count": 0 }, "assessment": { "status": "pass", "severity": null, "reason": null }, "details": { "checked_features": 4, "freeze_regions": [], "freeze_region_count": 0, "freeze_motion_source": "action", "state_cross_validated_segments": 0, "stream_motion_profile": { "observation.images.cam_high": { "frames": 2937, "median_diff": 0.156, "p90_diff": 0.5542, "duplicate_eps": 0.0069, "duplicate_ratio": 0.0157 }, "observation.images.cam_left_wrist": { "frames": 2937, "median_diff": 1.8904, "p90_diff": 10.618, "duplicate_eps": 0.01, "duplicate_ratio": 0.0 }, "observation.images.cam_low": { "frames": 2937, "median_diff": 0.4747, "p90_diff": 1.3822, "duplicate_eps": 0.01, "duplicate_ratio": 0.0119 }, "observation.images.cam_right_wrist": { "frames": 2937, "median_diff": 2.3492, "p90_diff": 10.8447, "duplicate_eps": 0.01, "duplicate_ratio": 0.0 } }, "params": { "decode": "64x64 gray", "min_freeze_seconds": 0.5, "criterion": "duplicate frames (camera re-sent the previous frame)", "epsilon": "duplicate eps = min(max(floor, 0.25 x p10), max(floor, min(0.5 x p25, 0.01))) on mean |frame[i+1] - frame[i]|", "profile_duplicate_floor": 0.002 } }, "message": "No duplicated-frame spans in 4 camera stream(s); no camera re-sent a frame while the arm was moving.", "evidence_level": "HARD_FAIL", "verifiability": "Verified", "passed": true, "score": 1.0, "has_finding": false }, "video_timestamp_alignment": { "availability": "available", "measurement": { "score_compat": 1.0, "worst_delta_ratio": 0.0003, "checked_count": 4 }, "assessment": { "status": "pass", "severity": null, "reason": null }, "details": { "checked": [ { "feature": "observation.images.cam_high", "video_span_sec": 97.9, "parquet_span_sec": 97.8667, "delta_sec": 0.0333, "delta_ratio": 0.0003 }, { "feature": "observation.images.cam_left_wrist", "video_span_sec": 97.9, "parquet_span_sec": 97.8667, "delta_sec": 0.0333, "delta_ratio": 0.0003 }, { "feature": "observation.images.cam_low", "video_span_sec": 97.9, "parquet_span_sec": 97.8667, "delta_sec": 0.0333, "delta_ratio": 0.0003 }, { "feature": "observation.images.cam_right_wrist", "video_span_sec": 97.9, "parquet_span_sec": 97.8667, "delta_sec": 0.0333, "delta_ratio": 0.0003 } ], "tolerances": { "soft": 0.05, "hard": 0.1, "profile": "default" } }, "message": "Video/parquet timeline spans consistent across 4 camera stream(s) (worst drift +0.0%).", "evidence_level": "HARD_FAIL", "verifiability": "Verified", "passed": true, "score": 1.0, "has_finding": false }, "video_stream_presence": { "availability": "available", "measurement": { "score_compat": 1.0, "stream_count": 4 }, "assessment": { "status": "pass", "severity": null, "reason": null }, "details": { "expected_streams": [ "observation.images.cam_high", "observation.images.cam_left_wrist", "observation.images.cam_low", "observation.images.cam_right_wrist" ], "verified": [ "observation.images.cam_high", "observation.images.cam_left_wrist", "observation.images.cam_low", "observation.images.cam_right_wrist" ], "missing": [], "broken": [] }, "message": "All 4 camera stream(s) present and readable.", "evidence_level": "HARD_FAIL", "verifiability": "Verified", "passed": true, "score": 1.0, "has_finding": false }, "numeric_sanity": { "availability": "available", "measurement": { "score_compat": 1.0, "warning_count": 0, "features_checked": 2 }, "assessment": { "status": "pass", "severity": null, "reason": null }, "details": { "checked_features": [ "observation.state", "action.action" ], "warnings": [], "thresholds": { "angle_limit": 3.2, "force_limit": 10000.0, "torque_limit": 1000.0, "velocity_limit": 100.0 } }, "message": "All 2 numeric features are within expected ranges.", "evidence_level": "RISK_SIGNAL", "verifiability": "Verified", "passed": true, "score": 1.0, "has_finding": false }, "sensor_synchronization": { "availability": "not_available", "measurement": {}, "assessment": { "status": "na", "severity": null, "reason": "stream_timestamps_not_provided" }, "details": { "streams": [], "pairs": [] }, "message": "Sensor sync: N/A (no per-stream timestamps provided)", "evidence_level": "UNVERIFIABLE", "verifiability": "Not verifiable", "passed": false, "score": 0.0, "has_finding": false }, "sampling_jitter": { "availability": "available", "measurement": { "score_compat": 1.0, "cv": 4.182059424172422e-05, "cv_raw": 4.182059424172422e-05, "jitter_ms": 0.0013940198370371117, "jitter_ratio": 4.182059424172422e-05, "gap_count": 0 }, "assessment": { "status": "pass", "severity": null, "reason": null, "baseline": { "method": "robust_cv_excluding_gaps", "scope": "episode", "reference_population": 2936, "gaps_excluded": 0 } }, "details": { "mean_interval_ms": 33.333334026284696, "jitter_ms": 0.0013940198370371117, "jitter_ratio": 4.182059424172422e-05, "cv_raw": 4.182059424172422e-05, "gap_count": 0, "dt_ms": { "median": 33.33282470703125, "p95": 33.336639404296875, "p99": 33.3404541015625, "max": 33.3404541015625 } }, "message": "Sampling jitter robust CV = 0.0000 (no gaps detected; raw CV = 0.0000, mean dt = 33.33 ms).", "evidence_level": "RISK_SIGNAL", "verifiability": "Verified", "passed": true, "score": 1.0, "has_finding": false }, "velocity_acceleration": { "availability": "available", "measurement": { "score_compat": 1.0, "velocity_p50": 0.6294123902547326, "velocity_p95": 2.122583610983561, "velocity_p99": 2.808296320146133, "velocity_max": 4.3089452008974565, "acceleration_spikes": 23, "acceleration_spike_rate": 0.007831120190670752 }, "assessment": { "status": "pass", "severity": null, "reason": null }, "details": { "velocity_stats": { "median": 0.6294123902547326, "p95": 2.122583610983561, "p99": 2.808296320146133, "max": 4.3089452008974565, "mean": 0.7712018895581996 }, "acceleration_stats": { "median": 0.15738139931922898, "p95": 0.5248303459821411, "p99": 0.7466234521449181, "max": 1.2733498001953119 }, "extreme_spike_count": 23 }, "message": "Velocity: p50=0.6294, p95=2.1226, p99=2.8083, extreme accel spikes = 23.", "evidence_level": "RISK_SIGNAL", "verifiability": "Verified", "passed": true, "score": 1.0, "has_finding": false }, "action_discontinuity": { "availability": "available", "measurement": { "score_compat": 1.0, "spike_count": 23, "spike_rate": 0.007836456558773424, "p95_delta": 0.07075297260362078, "p99_delta": 0.09360844896483198, "max_delta": 0.14363136971890292, "max_second_delta": 0.04244740918737716, "affected_joints": 12, "total_joints": 14, "by_joint": { "joint_8": { "spike_count": 625, "max_second_delta": 0.032096499227918684 }, "joint_11": { "spike_count": 518, "max_second_delta": 0.021220117807388306 }, "joint_13": { "spike_count": 466, "max_second_delta": 0.0017443154938519 }, "joint_6": { "spike_count": 431, "max_second_delta": 0.0012381479609757662 }, "joint_4": { "spike_count": 418, "max_second_delta": 0.01665329933166504 }, "joint_10": { "spike_count": 407, "max_second_delta": 0.03896629810333252 }, "joint_5": { "spike_count": 384, "max_second_delta": 0.020288415253162384 }, "joint_3": { "spike_count": 351, "max_second_delta": 0.03056451678276062 }, "joint_1": { "spike_count": 337, "max_second_delta": 0.02384487190283835 }, "joint_12": { "spike_count": 262, "max_second_delta": 0.0309678316116333 }, "joint_7": { "spike_count": 189, "max_second_delta": 0.007799193263053894 }, "joint_0": { "spike_count": 171, "max_second_delta": 0.017696738243103027 } } }, "assessment": { "status": "review", "severity": "low", "reason": "Spike count 23 > 16: moderate action discontinuity (above Youden optimal threshold)" }, "details": { "action_shape": [ 2937, 14 ], "spike_count": 23, "max_delta": 0.14363136971890292, "max_second_delta": 0.04244740918737716, "spike_indices": [ 77, 78, 79, 80, 82, 83, 84, 85, 125, 556, 642, 1396, 2223, 2420, 2460, 2508, 2519, 2520, 2521, 2778, 2787, 2812, 2815 ], "delta_stats": { "median": 0.020980092872794544, "p95": 0.07075297260362078, "p99": 0.09360844896483198, "max": 0.14363136971890292, "mean": 0.025706425902844596 }, "delta2_stats": { "median": 0.005245296346063331, "p95": 0.017493809655968317, "p99": 0.02488372301925668, "max": 0.04244740918737716, "mean": 0.006614476145805581 }, "by_joint": { "joint_0": { "spike_count": 171, "max_second_delta": 0.017696738243103027 }, "joint_1": { "spike_count": 337, "max_second_delta": 0.02384487190283835 }, "joint_3": { "spike_count": 351, "max_second_delta": 0.03056451678276062 }, "joint_4": { "spike_count": 418, "max_second_delta": 0.01665329933166504 }, "joint_5": { "spike_count": 384, "max_second_delta": 0.020288415253162384 }, "joint_6": { "spike_count": 431, "max_second_delta": 0.0012381479609757662 }, "joint_7": { "spike_count": 189, "max_second_delta": 0.007799193263053894 }, "joint_8": { "spike_count": 625, "max_second_delta": 0.032096499227918684 }, "joint_10": { "spike_count": 407, "max_second_delta": 0.03896629810333252 }, "joint_11": { "spike_count": 518, "max_second_delta": 0.021220117807388306 }, "joint_12": { "spike_count": 262, "max_second_delta": 0.0309678316116333 }, "joint_13": { "spike_count": 466, "max_second_delta": 0.0017443154938519 } } }, "message": "Action discontinuity: 23 spike(s) (0.78% of steps, 12 joint(s) affected); median \u0394a = 0.0210, median \u0394\u00b2a = 0.0052.", "evidence_level": "RISK_SIGNAL", "verifiability": "Verified", "passed": false, "score": 1.0, "has_finding": true }, "video_stream_span_consistency": { "availability": "available", "measurement": { "spans_sec": { "observation.images.cam_high": 97.9, "observation.images.cam_left_wrist": 97.9, "observation.images.cam_low": 97.9, "observation.images.cam_right_wrist": 97.9 }, "median_span_sec": 97.9, "drifts": { "observation.images.cam_high": 0.0, "observation.images.cam_left_wrist": 0.0, "observation.images.cam_low": 0.0, "observation.images.cam_right_wrist": 0.0 }, "max_drift": 0.0 }, "assessment": { "status": "pass", "severity": null, "reason": null }, "details": { "drift_threshold_note": "diagnostic only \u2014 does not affect verdict by default" }, "message": "Span consistency: median=97.90s, max drift=0.00% across 4 streams.", "evidence_level": "RISK_SIGNAL", "verifiability": "Measured", "passed": true, "score": 1.0, "has_finding": false }, "video_stream_temporal_offset": { "availability": "available", "measurement": { "measured": true, "pairwise": { "observation.images.cam_high_vs_observation.images.cam_left_wrist": { "offset_median_ms": 0.0, "offset_p95_ms": 0.0, "offset_p99_ms": 0.0, "offset_max_ms": 0.0, "offset_std_ms": 0.0, "signed_median_ms": 0.0 }, "observation.images.cam_high_vs_observation.images.cam_low": { "offset_median_ms": 0.0, "offset_p95_ms": 0.0, "offset_p99_ms": 0.0, "offset_max_ms": 0.0, "offset_std_ms": 0.0, "signed_median_ms": 0.0 }, "observation.images.cam_high_vs_observation.images.cam_right_wrist": { "offset_median_ms": 0.0, "offset_p95_ms": 0.0, "offset_p99_ms": 0.0, "offset_max_ms": 0.0, "offset_std_ms": 0.0, "signed_median_ms": 0.0 }, "observation.images.cam_left_wrist_vs_observation.images.cam_low": { "offset_median_ms": 0.0, "offset_p95_ms": 0.0, "offset_p99_ms": 0.0, "offset_max_ms": 0.0, "offset_std_ms": 0.0, "signed_median_ms": 0.0 }, "observation.images.cam_left_wrist_vs_observation.images.cam_right_wrist": { "offset_median_ms": 0.0, "offset_p95_ms": 0.0, "offset_p99_ms": 0.0, "offset_max_ms": 0.0, "offset_std_ms": 0.0, "signed_median_ms": 0.0 }, "observation.images.cam_low_vs_observation.images.cam_right_wrist": { "offset_median_ms": 0.0, "offset_p95_ms": 0.0, "offset_p99_ms": 0.0, "offset_max_ms": 0.0, "offset_std_ms": 0.0, "signed_median_ms": 0.0 } }, "worst_p95_offset_ms": 0.0, "worst_max_offset_ms": 0.0 }, "assessment": { "status": "pass", "severity": null, "reason": null }, "details": {}, "message": "Temporal offset: worst p95=0.0ms, worst max=0.0ms across 6 pair(s).", "evidence_level": "RISK_SIGNAL", "verifiability": "Measured", "passed": true, "score": 1.0, "has_finding": false }, "video_stream_temporal_drift": { "availability": "available", "measurement": { "measured": true, "pairwise": { "observation.images.cam_high_vs_observation.images.cam_left_wrist": { "drift_rate_ms_per_min": 0.0, "r_squared": 0.0 }, "observation.images.cam_high_vs_observation.images.cam_low": { "drift_rate_ms_per_min": 0.0, "r_squared": 0.0 }, "observation.images.cam_high_vs_observation.images.cam_right_wrist": { "drift_rate_ms_per_min": 0.0, "r_squared": 0.0 }, "observation.images.cam_left_wrist_vs_observation.images.cam_low": { "drift_rate_ms_per_min": 0.0, "r_squared": 0.0 }, "observation.images.cam_left_wrist_vs_observation.images.cam_right_wrist": { "drift_rate_ms_per_min": 0.0, "r_squared": 0.0 }, "observation.images.cam_low_vs_observation.images.cam_right_wrist": { "drift_rate_ms_per_min": 0.0, "r_squared": 0.0 } }, "window_size_sec": 5.0, "num_windows": 19 }, "assessment": { "status": "pass", "severity": null, "reason": null }, "details": {}, "message": "Temporal drift computed across 6 pair(s) with 5.0s windows.", "evidence_level": "RISK_SIGNAL", "verifiability": "Measured", "passed": true, "score": 1.0, "has_finding": false }, "idle_ratio": { "availability": "available", "measurement": { "score_compat": 1.0, "idle_ratio": 0.8388964577656676, "effective_motion_ratio": 0.16110354223433243, "idle_steps": 2463, "total_steps": 2936, "active_frames": 473 }, "assessment": { "status": "review", "severity": "medium", "reason": "Effective motion ratio 0.161 < 0.2: very low motion, possible stuck pattern" }, "details": { "idle_ratio": 0.8388964577656676, "idle_steps": 2463, "total_steps": 2936, "threshold": 0.047741733106459204, "motion_stats": { "median": 0.020980092872794544, "p95": 0.07075297260362078, "p99": 0.09360844896483198, "max": 0.14363136971890292, "mean": 0.025706425902844596, "mad": 0.0159139110354864 }, "threshold_method": "mad", "effective_motion_ratio": 0.16110354223433243, "active_frames": 473 }, "message": 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'fingerprint' is the first 12 hex chars of SHA-256 over the raw hit, for cross-episode dedupe", "detectors": [ "cn_resident_id", "cn_mobile", "email", "mac_address", "ipv4", "geolocation_features" ], "coverage_limits": "text surfaces, numeric features and (opt-in) sampled video frames only. No OCR / licence-plate recognition, no voice biometrics, no consent or licensing review." }, "message": "No PII indicators found \u2014 but some surfaces were NOT scanned.", "evidence_level": "RISK_SIGNAL", "verifiability": "Verified", "passed": true, "score": 1.0, "has_finding": false } } } ] }