{ "schema": "trackguard-public-aggregates-v1", "product": "TrackGuard", "recorded_at": "2026-10-22", "target": { "position_rmse_m": 0.2, "lateral_rmse_m": 0.2, "coverage_percent": 90 }, "windows": [ { "id": "later_laps", "label": "Development laps 6 + 7", "kind": "same-session development", "coverage_percent": 94.8, "planned": 460, "published": 411, "unavailable": 49, "seed_count": 1, "qualified": true, "note": "One continuous run. One initial truth seed. No reset between laps. Consumed development data, not untouched validation.", "position_rmse_m": 0.1747753326636938, "lateral_rmse_m": 0.11421952782837566, "position_median_m": 0.13351518078480298, "position_p95_m": 0.31945388599089014, "position_max_m": 0.5874495693389843, "within20cm_all_planned_percent": 71.24183006535948, "within20cm_count": 327, "scored_planned_excluding_seed": 459, "paired_scored_frames": 410, "longitudinal_rmse_m": 0.13228876131541847, "yaw_rmse_deg": 0.10694967979624358, "absolute_lateral_p95_m": 0.25184152755336653, "absolute_lateral_max_m": 0.5706257251895852, "absolute_longitudinal_p95_m": 0.2595835414358725, "absolute_longitudinal_max_m": 0.39985447463360063, "absolute_yaw_p95_deg": 0.21044725023463787, "absolute_yaw_max_deg": 0.41764192530648103 }, { "id": "lap6", "label": "Development lap 6", "kind": "same-session development", "position_rmse_m": 0.1533886102612008, "lateral_rmse_m": 0.08593158317855984, "coverage_percent": 95.0, "planned": 241, "published": 217, "unavailable": 24, "seed_count": 1, "qualified": true, "note": "First slice of the same continuous run.", "paired_scored_frames": 216, "longitudinal_rmse_m": 0.12705836757289463, "yaw_rmse_deg": 0.1029982072922213, "position_median_m": 0.1265178343356524, "position_p95_m": 0.27155499693744534, "position_max_m": 0.4094843904783589, "absolute_lateral_p95_m": 0.1684383489139666, "absolute_lateral_max_m": 0.4009659950046245, "absolute_longitudinal_p95_m": 0.24847089962561614, "absolute_longitudinal_max_m": 0.37244033839961094, "absolute_yaw_p95_deg": 0.1955197070459805, "absolute_yaw_max_deg": 0.41764192530648103 }, { "id": "lap7", "label": "Development lap 7", "kind": "same-session development", "position_rmse_m": 0.1958587847117569, "lateral_rmse_m": 0.13910438917442194, "coverage_percent": 95.5, "planned": 219, "published": 194, "unavailable": 25, "seed_count": 0, "qualified": true, "note": "Continues lap 6 state. No lap 7 reseed.", "paired_scored_frames": 194, "longitudinal_rmse_m": 0.1378790501170403, "yaw_rmse_deg": 0.11118415371230454, "position_median_m": 0.1433511986053615, "position_p95_m": 0.3540013045793492, "position_max_m": 0.5874495693389843, "absolute_lateral_p95_m": 0.3148103524111429, "absolute_lateral_max_m": 0.5706257251895852, "absolute_longitudinal_p95_m": 0.2966079463838835, "absolute_longitudinal_max_m": 0.39985447463360063, "absolute_yaw_p95_deg": 0.22418593375853907, "absolute_yaw_max_deg": 0.41586262109084154 }, { "id": "stress", "label": "131-second stress window", "kind": "same-session development stress", "position_rmse_m": 0.1847964735, "lateral_rmse_m": 0.099534224, "coverage_percent": 72.0, "planned": 263, "published": 179, "unavailable": 84, "seed_count": 1, "qualified": false, "note": "Separate seeded window. Accuracy passes on published poses, but one-second coverage fails the 90% target. Not ranked." }, { "id": "day", "label": "Day-session blind replay", "kind": "different-session visual initialization", "position_rmse_m": null, "lateral_rmse_m": null, "coverage_percent": 0.0, "planned": 148, "published": 0, "unavailable": 148, "seed_count": 0, "qualified": false, "note": "73.9-second recording, 148 complete groups at 2 Hz. No supplied initial pose or truth labels. 145 geometry rejects and 3 single-camera results; no approved three-camera fix. Fusion never initialized. RMSE unavailable. Different initialization condition from the night benchmark." } ], "runtime": { "source": "Earlier R14 raw geometry profile, not R16 end-to-end latency", "mean_ms": 379.491, "p95_ms": 484.995, "offline_setup_s": 162.451, "hardware": "AMD Ryzen AI 7 350 CPU", "numerical_threads": 2, "sampling_hz": 2, "live_performance_demonstrated": false, "gpu_performance_measured": false }, "methodology": [ "Position RMSE = sqrt(mean(dx^2 + dy^2)) over finite published estimates; the single initial truth seed is excluded from local RMSE.", "Lateral RMSE projects the error across the ground-truth vehicle heading.", "One-second coverage is the percentage of evaluated one-second bins containing at least one pose. It differs from the fraction of published frames.", "The combined publication fraction is 411/460, or 89.35%. Its occupied one-second coverage is 94.8%.", "Unavailable outputs remain in coverage accounting. No later-lap reset or future observation is permitted.", "The nominal 0.20 m uncertainty publication threshold is uncalibrated. It is not a bound on actual position error.", "Day coverage uses 74 camera-time bins because no ground-truth interval is available. It is not an organizer RMSE or ranking score.", "The track-replay graphics show the real sealed R16 development run as derived display pixels and errors. The reference is evaluator-only. All 460 rows and 49 unavailable estimates remain represented; raw world poses and labels stay local.", "No measured hardware cost saving, safety certification, customer deployment, 4090 latency, live 10 Hz performance or independent-session 20 cm result is claimed." ], "measured_replay": { "schema": "trackguard-measured-replay-v1", "path": "data/replay.json", "reference_scope": "Evaluation-only reference after sealed inference", "accuracy_scope": "Published eligible non-seed observations; no lap 7 reseed", "supersedes_synthetic_graphics_note_for": "assets/track-replay* only", "yaw_definition": "Wrapped signed estimate minus reference degrees", "longitudinal_definition": "Signed error along reference heading", "tail_definition": "Linear-interpolated 95th percentile of absolute errors", "new_aggregates_computed_before_rounding": true } }