{
  "schema_version": 1,
  "status": "complete",
  "dataset_repo": "OneWorld-AI/RoboMIND2.0-processed",
  "audited_revision": "72877243ff25e5f484ea216a1d684b65d1c0d7d0",
  "audit_completed_at": "2026-10-23T23:18:05.704283+00:00",
  "episodes": 134537,
  "frames": 42559113,
  "camera_frames": 127677339,
  "coverage": {
    "numeric": {
      "expected_episodes": 134537,
      "checked_episodes": 134537,
      "missing_episodes": 0
    },
    "video": {
      "expected_episodes": 134537,
      "checked_episodes": 134537,
      "missing_episodes": 0
    },
    "eef_temporal": {
      "expected_episodes": 134537,
      "checked_episodes": 134537,
      "missing_episodes": 0
    }
  },
  "audit_execution_errors": 0,
  "episodes_removed": 0,
  "data_payload_modified": false,
  "unique_flagged_episodes": 35070,
  "unique_review_episodes": 59839,
  "flagged_episode_hours": 225.00808369278676,
  "flag_counts": {
    "command_spikes": 21259,
    "state_spikes": 20898,
    "tracking_below_70_percent": 15214,
    "eef_state_position_isolated_spike": 200,
    "eef_state_rotation_isolated_spike": 222,
    "state_glitch": 332,
    "command_glitch": 110,
    "duplicate_recorded_payload": 57,
    "video_stall_over_20_percent": 13,
    "eef_command_position_isolated_spike": 10,
    "eef_command_rotation_isolated_spike": 3,
    "black_frames": 9,
    "reversed_lag": 2,
    "idle_end_trim_over_70_percent": 1
  },
  "review_counts": {
    "native_pose_fk_rotation_disagreement": 38743,
    "native_pose_fk_position_disagreement": 23539,
    "workspace_outlier": 985
  },
  "by_robot": {
    "AgileX": {
      "episodes": 21111,
      "unique_threshold_failures": 20294,
      "failure_counts": {
        "command_spikes": 20227,
        "state_spikes": 19892,
        "tracking_below_70_percent": 818,
        "eef_state_position_isolated_spike": 195,
        "eef_state_rotation_isolated_spike": 220,
        "state_glitch": 323,
        "command_glitch": 102,
        "duplicate_recorded_payload": 56,
        "eef_command_position_isolated_spike": 6,
        "eef_command_rotation_isolated_spike": 1,
        "black_frames": 8,
        "video_stall_over_20_percent": 11
      }
    },
    "Franka": {
      "episodes": 66685,
      "unique_threshold_failures": 14747,
      "failure_counts": {
        "tracking_below_70_percent": 14374,
        "command_spikes": 1032,
        "state_spikes": 1006,
        "command_glitch": 5,
        "eef_command_position_isolated_spike": 4,
        "eef_state_position_isolated_spike": 4,
        "state_glitch": 7,
        "reversed_lag": 2,
        "eef_command_rotation_isolated_spike": 2,
        "eef_state_rotation_isolated_spike": 2,
        "idle_end_trim_over_70_percent": 1
      }
    },
    "UR5": {
      "episodes": 46741,
      "unique_threshold_failures": 29,
      "failure_counts": {
        "video_stall_over_20_percent": 2,
        "tracking_below_70_percent": 22,
        "duplicate_recorded_payload": 1,
        "command_glitch": 3,
        "state_glitch": 2,
        "eef_state_position_isolated_spike": 1,
        "black_frames": 1
      }
    }
  },
  "eef_spike_candidates": {
    "state": 232,
    "command": 10,
    "either": 232
  },
  "duplicates": {
    "groups": 48,
    "additional_episode_candidates": 57,
    "cross_split_groups": 11
  },
  "applicability_by_robot": {
    "UR5": {
      "tracking:scored": 46741,
      "native_fk_arm:compared_native_source": 93482
    },
    "AgileX": {
      "tracking:scored": 20561,
      "native_fk_arm:no_usable_native_ground_truth": 36222,
      "tracking:not_independent_copied_commands": 550,
      "native_fk_arm:invalid_native_pose_shape": 1100,
      "native_fk_arm:compared_native_source": 4900
    },
    "Franka": {
      "tracking:scored": 66684,
      "native_fk_arm:compared_native_source": 133370,
      "tracking:insufficient_command_motion": 1
    }
  },
  "black_camera_frames": {
    "UR5": 3,
    "AgileX": 60,
    "Franka": 0
  },
  "methods": [
    "audit/methods/joint_video.json",
    "audit/methods/eef_temporal.json",
    "audit/methods/workspace_bounds.json"
  ],
  "interpretation": "Threshold flags and review candidates, not an automatic exclusion list or task success/failure labels. Counts overlap. Broad acceleration/jerk flags are heuristic. Native-pose/FK disagreements are review-only. No data payloads were repaired or removed.",
  "limitations": [
    "Not an exact reproduction of an unspecified S1/S2/S3 implementation.",
    "Checks flag candidates for review; valid rare motion, stationary views and tasks can trigger them.",
    "Audits retained processed frames; anomalies exclusively in source frames dropped during export are out of scope.",
    "AgiBot has no independently verified FK model; physical calibration and image/pose reprojection are not certified."
  ]
}