## Collection metrics

100 episodes, 62850 frames at 30 fps, 2095 s of demonstration. Generated 2026-09-03T02:40:41Z by fanuc_control.data_utils.metrics v1. Definitions and thresholds: docs/metrics.md.

| Pose channel | value | note |
|---|---|---|
| identical consecutive poses | 0.0% | old corpus 18% (cache frozen during moves) |
| exact-linear ramp frames | 23.4% | old corpus 79% (interpolated) |
| stationary frames (joint speed < 0.5 deg/s) | 39.2% | RMI stop-and-go corpus 39% |
| stationary run length p50 / p90 / max (frames) | 10 / 50 / 88 | a run >= 30 is a whole ACT chunk |
| frames inside stationary runs >= 30 | 21.5% | hover fixed point; was 21% |
| 'stay put' 30-row action chunks | 15.7% | label ambiguity at rest; was 15% |
| joint speed p50 / p90 / max (deg/s) | 4.2 / 51.0 / 80.9 | |

| Grasp geometry | value | note |
|---|---|---|
| episodes with a close / release | 100 / 100 | |
| close above descent bottom p50 / p90 / max (mm) | 0.06 / 0.10 / 0.15 | old corpus 35.1 mm in 99/99; limit 3 |
| frames at depth before the close p50 / p90 / max | 13 / 13 / 14 | the settle before grip |
| z at close p50 / p90 / max (mm) | -126.5 / -126.5 / -126.5 | |
| z at release p50 / p90 / max (mm) | -125.0 / -125.0 / -125.0 | |

| Placement (x, y at the close) | value |
|---|---|
| closes measured | 100 |
| x range (mm) | [159.4, 465.14] |
| y range (mm) | [343.42, 536.02] |
| inside the randomiser region | 100%  |

| Sync and yield (collection_stats.jsonl) | value | note |
|---|---|---|
| yield (kept / attempts) | 100 / 102 = 98% | |
| discards | {'unknown': 2} | |
| repaired frame ticks (total, episodes) | 1, 1 | duplicated frames over a sampler hole |
| pose cadence p50 / p90 / max (ms) | 8.00 / 8.00 / 8.00 | 8.00 nominal |
| pose worst gap p50 / p90 / max (ms) | 8.0 / 8.0 / 24.0 | recorder refuses > 40 under a frame |
| pose sequence gaps | 3 | |
| pose receive jitter p50 / p90 / max (ms) | 9.6 / 14.8 / 21.4 | absorbed by the controller clock |
| close above depth p50 / p90 / max (mm) | 0.06 / 0.10 / 0.15 | recorder refuses > 3 |
| depth lead before close p50 / p90 / max (ms) | 433 / 433 / 466 | |
| inter-camera skew p50 / p90 / max (ms) | 50 / 51 / 53 | recorder refuses > 100 |
| wrist camera vs pose lag median / |median| / max|.| (ms) | 11.4 / 28.5 / 124.3 (corr 0.41, n 74) | + = camera later |

| Camera | files | frames | rows | match | brightness median | clipped |
|---|---|---|---|---|---|---|
| observation.images.gripper | 3 | 62850 | 62850 | True | 42 | 0.06% |
| observation.images.cam0 | 5 | 62850 | 62850 | True | 131 | 1.70% |
| observation.images.cam1 | 7 | 62850 | 62850 | True | 35 | 1.15% |
| observation.images.cam2 | 7 | 62850 | 62850 | True | 20 | 2.31% |

**Flags:** stationary frames 39.2% > 30.0%; frames in stationary runs >= 30 21.5% > 10.0%; stay-put 30-row chunks 15.7% > 5.0%; pose stream sequence gaps: 3; observation.images.cam1: median brightness 35; observation.images.cam2: median brightness 20