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joint re-triangulated from the other two drones, reprojected into the held-out drone, compared with that drone's 2D detection; mm = px x depth / focal length","per_drone":{"drone1":{"px":{"50":10.7,"90":26.9},"mm":{"50":37.4,"90":95.6}},"drone2":{"px":{"50":11.6,"90":28.6},"mm":{"50":42.8,"90":109.3}},"drone3":{"px":{"50":11.7,"90":25.7},"mm":{"50":38.8,"90":85.8}}},"overall":{"px":{"50":11.3,"90":27.1},"mm":{"50":39.8,"90":96.2}},"per_joint_mm_median":{"nose":69.2,"left_eye":39.8,"right_eye":67.3,"left_ear":21.0,"right_ear":25.5,"left_shoulder":27.7,"right_shoulder":48.5,"left_elbow":21.0,"right_elbow":45.9,"left_wrist":41.4,"right_wrist":61.9,"left_hip":50.5,"right_hip":80.3,"left_knee":39.7,"right_knee":37.1,"left_ankle":30.5,"right_ankle":29.0}},"meta":{"clip":"autelica_sample_jogturn","captured":"2026-09-30","place":"park, San Francisco Bay Area","subject":"founder (consented)","capture":"3 x DJI Neo 2, factory settings, no markers, no calibration target","frames":240,"fps":29.97002997002997,"duration_s":8.008,"licence":"CC BY 4.0","attribution":"Autelica (autelica.com)","robot":"Unitree G1 29-DoF; physics: MuJoCo, G1 torque limits; simulation only"},"robot":{"clip":"neo2_F_jogturn","policy":"data/robot_neo2/eval/neo2_F_jogturn_a.onnx","motion":"data/robot_neo2/motions/neo2_F_jogturn.npz","label":"","engine":"plain MuJoCo 3.11.0 (CPU), dt 0.005 s, policy 50 Hz, torque limits on (actuator forcerange), free base","protocol":"run 0 nominal; runs 1.. randomised: friction U(0.4,1.0), mass/inertia x U(0.9,1.1) per body, kp/kd x U(0.8,1.2) per actuator, command delay 0-20 ms, training observation noise, start noise (root +-5 cm, rpy +-0.1/0.1/0.2 rad, joints +-0.1 rad, root vel +-0.2 m/s), pushes every 1-3 s (+-0.5 m/s xy, +-0.2 m/s z)","fall_rule":"pelvis < 0.35 m, pelvis 0.35 m below the reference, or torso tilt > max(60 deg, reference torso tilt + 25 deg)","success_rule":"no fall over the whole clip; strict = no fall and max pelvis xy error < 1.0 m","eval_wall_s":8.8}}