原路径：/SSD2/yangzijing/egoview-v9-foundationhand-s9l10-20260901/artifacts/v9_jitter_audit_20260908/20260907-171916/v9_pipeline_jitter_audit.md
SHA256：e8f7069f7fa83203f338fcc7b75379d2e51d05befa3e313c59f94765e56a5b4f
1 # V9 pipeline jitter audit 2 3 - Status: `complete` 4 - Frames: 1131 5 - Common valid hand slots: 2249 6 - Model: FoundationHand-S9L10 (1e-6) 7 - Checkpoint SHA256: `29018790a9c72454dd41b088d910ecd7488f4eaa85b9675e67d16f6ef139bf24` 8 9 ## Stage metrics 10 11 All rows use identical frame/hand support. Acceleration is a second finite difference; local MANO motion subtracts the wrist root before differencing. 12 13 | Stage | Root step p90 / max (px) | Root accel p90 / max (px/frame^2) | Mesh accel p90 / max (px/frame^2) | Local vertex step p90 / max (mm) | 14 |---|---:|---:|---:|---:| 15 | `s9l10_network_raw` | 22.143 / 59.844 | 19.313 / 80.251 | 20.970 / 76.529 | 11.065 / 45.685 | 16 | `s9l10_after_camera_xy_adapter` | 18.071 / 53.880 | 7.889 / 33.428 | 16.716 / 73.296 | 11.065 / 45.685 | 17 | `fusion3_raw_selector` | 18.071 / 53.880 | 7.889 / 33.428 | 17.755 / 73.296 | 12.321 / 45.685 | 18 | `formal_v7` | 17.415 / 669.761 | 11.043 / 1337.359 | 10.650 / 1218.368 | 12.575 / 39.841 | 19 | `final_shared_state` | 17.415 / 51.027 | 11.043 / 67.128 | 10.650 / 41.856 | 12.575 / 39.841 | 20 | `rendered_left_panel` | 13.118 / 36.596 | 8.021 / 48.328 | 7.864 / 30.772 | 12.597 / 39.902 | 21 22 ## Source attribution 23 24 - Final valid slots: 2249 25 - Final Formal V7 slots: 2248 26 - Final S9/Fusion3 slots: 1 27 - Final source transitions: 2 28 29 ## S9L10 stride-phase control 30 31 Expected center-window switch phase: frame ID modulo 4 equals 2. 32 33 | Raw S9 metric | Switch p90 | Other-phase median p90 | Ratio | Worst phase | 34 |---|---:|---:|---:|---:| 35 | `projected_root_step_px` | 24.528 | 21.277 | 1.153 | 2 | 36 | `projected_mesh_center_step_px` | 27.799 | 22.938 | 1.212 | 2 | 37 | `root_relative_vertex_step_mm` | 13.568 | 10.095 | 1.344 | 2 | 38 39 ## Findings 40 41 - `final_provider_attribution`: Final rendered geometry is Formal V7 dominated; visible final jitter cannot be attributed to direct S9L10 output alone. 42 - `s9l10_center_stitch_phase`: Raw S9L10 has a center-stitch seam signal at the expected window switch phase. 43 - `camera_xy_control`: This isolates the V9 camera-XY adapter's root-track effect. 44 - `display_only_control`: This compares before/after display alignment under the same rendered intrinsics, isolating the MMPose residual offset from camera-K scaling. 45 - `final_extreme_guard`: This measures whether final temporal guards remove Formal V7 extremes. 46 - `actual_ablation_stride1`: Actual rerun control is bound to the same RGB/modality identity; positive reductions mean the denser stitching configuration reduced jitter. 47 48 ## Actual S9L10 ablations 49 50 ### `stride1` (offline stride 1) 51 52 | Metric | Production stride-4 p90 | Ablation p90 | Relative reduction | 53 |---|---:|---:|---:| 54 | `projected_root_step_px` | 22.143 | 22.268 | -0.56% | 55 | `projected_root_acceleration_px_per_frame2` | 19.313 | 19.042 | 1.40% | 56 | `projected_mesh_center_step_px` | 24.937 | 25.229 | -1.17% | 57 | `projected_mesh_center_acceleration_px_per_frame2` | 20.970 | 20.494 | 2.27% | 58 | `root_relative_vertex_step_mm` | 11.065 | 10.938 | 1.15% | 59 | `root_relative_vertex_acceleration_mm_per_frame2` | 13.624 | 12.781 | 6.19% | 60 61 ## Bound inputs 62 63 - `run_manifest`: `99f636c27bbc0cea1d81bb7a65846e6ed7a248d7753705486e02c14970d6ab0d` (/SSD2/yangzijing/v9_stereo_demo_runs_20260907/20260907-171916_v9_final/run_manifest.json) 64 - `bundle`: `739b2389f7c865c667f89a3b298a92d790b14bd9325925cc9dbf4f7c4afecc1d` (/SSD2/yangzijing/v9_stereo_demo_runs_20260907/20260907-171916_v9_final/v9_training_bundle.npz) 65 - `bundle_receipt`: `ba3c54c0a6bf01b3cf822488e89b3d29a6d53db03084b76a241b5aa257f36c84` (/SSD2/yangzijing/v9_stereo_demo_runs_20260907/20260907-171916_v9_final/v9_training_bundle.json) 66 - `s9l10_report`: `80b96772264843058de89f41d5167ae962970247ae52505bea12632b9561aafe` (/SSD2/yangzijing/v9_stereo_demo_work_20260907/20260907-171916_final/foundationhand_s9l10/modalities_c8cb70a9fe2a0f462893738e5d5c3c8edaf4e2c1ca6a7ffc05972c19cc9fa6fa/foundationhand_s9l10_report.json) 67 - `s9l10_prediction`: `4e35b7176fcdb7ce002446ed68a329bfb59220f5dfbd973cca0453dd9ed6be5c` (/SSD2/yangzijing/v9_stereo_demo_work_20260907/20260907-171916_final/foundationhand_s9l10/modalities_c8cb70a9fe2a0f462893738e5d5c3c8edaf4e2c1ca6a7ffc05972c19cc9fa6fa/foundationhand_s9l10_predictions.npz) 68 - `fusion3_s9l10_copy`: `4e35b7176fcdb7ce002446ed68a329bfb59220f5dfbd973cca0453dd9ed6be5c` (/SSD2/yangzijing/v9_stereo_demo_work_20260907/20260907-171916_final/fusion3_compatibility/foundationhand_s9l10_predictions.npz) 69 - `camera_xy_arrays`: `036009c6bb0176ab9f2d2a344400fbe81019e0a428cc490e3ba7270e00ca86c7` (/SSD2/yangzijing/v9_stereo_demo_work_20260907/20260907-171916_final/fusion3_compatibility/v9_foundationhand_camera_xy_adapter.npz) 70 - `camera_xy_receipt`: `4a7d16d867e645390b5667050521624fa6013ce6f05fb88ec855425c8ad4a47d` (/SSD2/yangzijing/v9_stereo_demo_work_20260907/20260907-171916_final/fusion3_compatibility/v9_foundationhand_camera_xy_adapter.json) 71 - `raw_selector`: `dc81d26b8a232cf4c427c83ad716e101c9bdfc4f246cfe2c34ecb7648da55e01` (/SSD2/yangzijing/v9_stereo_demo_work_20260907/20260907-171916_final/fusion3_compatibility/v9_fusion3_raw_selection.npz) 72 - `formal_v7`: `22216d37dce745a7d4e0f47b5eacb0b5054765779918387aa7c44861374ad2ae` (/SSD2/yangzijing/v9_stereo_demo_work_20260907/20260907-171916_final/fusion3_compatibility/fusion/predictions/formal_v7.npz) 73 - `historical_fusion_receipt`: `cd607f6ef14deb9a69c097d47283a031b96553d3cdc9e645961b05c7899f3da7` (/SSD2/yangzijing/v9_stereo_demo_work_20260907/20260907-171916_final/fusion3_compatibility/fusion/fusion_receipt.json) 74 - `fusion_materialization_receipt`: `9bee075e89f063ca6367d4b40941c01c2c70063a2c2fb3850090f04c61f73e14` (/SSD2/yangzijing/v9_stereo_demo_work_20260907/20260907-171916_final/fusion3_compatibility/v9_fusion3_materialization.json) 75 - `fusion_final_receipt`: `1367ab2b4bc1d632ff66ca6aa9adc6e46f787491b4ebc33bbfd510f80e6fe7fe` (/SSD2/yangzijing/v9_stereo_demo_work_20260907/20260907-171916_final/fusion3_compatibility/v9_fusion3_final.json) 76 - `selection_receipt`: `3658bef3aa8cb95a718323aa4075c02f66b36c3b94519884678758d9b2a5b1d2` (/SSD2/yangzijing/v9_stereo_demo_work_20260907/20260907-171916_final/fusion3_compatibility/selection.json) 77 - `s9l10_ablation_stride1_prediction`: `fec8cffcbbf3543389e5a7bcc92ba9be74e4461f114e53f23a72bda2e5797b49` (/SSD2/yangzijing/egoview-v9-foundationhand-s9l10-20260901/artifacts/v9_jitter_audit_20260908/20260907-171916/stride1/foundationhand_s9l10_stride1_predictions.npz) 78 - `s9l10_ablation_stride1_report`: `392325c24061071521c34e9ca9c9356da740755ebabcefafb5c405e9fe9dbcdb` (/SSD2/yangzijing/egoview-v9-foundationhand-s9l10-20260901/artifacts/v9_jitter_audit_20260908/20260907-171916/stride1/foundationhand_s9l10_stride1_report.json)