旧 V9：170110 实际融合回执（2026-09-03 目录）

原路径：/SSD2/yangzijing/v9_s9l10_demo_runs_20260903_fixed/20260818T170110.207199+0800/source_00000/run_manifest.json
SHA256：ce66333896b77182733396dc5c238c7445a089f2cd601d22675d5bbdf59840de

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 832       "pooled_video_slot_rejected": [
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 837       "reprojection_tolerance_px": 0.0,
 838       "retained_before_pooled_guard_slots": 19,
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 840       "schema_version": "egoview_v9_formal_v7_quality_floor_v2",
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 842       "sensor_depth_used": false,
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 844       "weak_evidence_fallback_slots": 45
 845     },
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 847     "foundationhand_checkpoint": "/SSD2/jiasen/foundation_hand/world_adapter_artifacts/world_trajectory_v1_20260829/parent/step_0405000_final.pt",
 848     "foundationhand_checkpoint_sha256": "29018790a9c72454dd41b088d910ecd7488f4eaa85b9675e67d16f6ef139bf24",
 849     "foundationhand_model": "FoundationHand-S9L10 (1e-6)",
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 851     "foundationhand_training_stage": "last2_1e6",
 852     "frames": 873,
 853     "post_selector_state_correction": "whole coherent geometry block falls back to the same-slot Formal V7 wrist-root contract unless S9/Fusion3 is no worse under both per-frame and pooled-video RGB reprojection and projected-span checks",
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4327           "schema_version": "egoview_v9_s9l10_rgb_presence_adapter_v8",
4328           "score_threshold": 0.35,
4329           "semantic_handoff_anchor_slots": 26,
4330           "semantic_handoff_dual_track_frames_preserved": 0,
4331           "semantic_handoff_frames_corrected": 0,
4332           "semantic_handoff_slots_restored": 0,
4333           "semantic_handoff_slots_suppressed": 0,
4334           "sensor_depth_used": false,
4335           "spatial_duplicate_anchor_frames": 0,
4336           "strong_single_frame_slots": 473,
4337           "suppressed_unmatched_slots": 109,
4338           "temporal_confirmed_direct_slots": 493,
4339           "thresholds": {
4340             "distinct_keypoint_separation_box_diagonals": 0.08,
4341             "duplicate_keypoint_p90_box_diagonals": 0.08,
4342             "duplicate_keypoint_separation_box_diagonals": 0.04,
4343             "duplicate_override_maximum_winner_error_box_diagonals": 0.35,
4344             "duplicate_override_minimum_anchors": 2,
4345             "duplicate_override_minimum_margin_box_diagonals": 0.5,
4346             "maximum_continuous_presence_bridge_missing_frames": 13,
4347             "maximum_cross_semantic_exit_grace_frames": 4,
4348             "maximum_duplicate_propagation_frames": 12,
4349             "maximum_presence_bridge_missing_frames": 8,
4350             "maximum_presence_exit_grace_frames": 1,
4351             "maximum_provider_center_span_image_diagonals": 0.2,
4352             "maximum_provider_center_step_image_diagonals": 0.08,
4353             "maximum_semantic_handoff_dual_track_lead_frames": 3,
4354             "maximum_semantic_handoff_frames": 24,
4355             "maximum_spatial_duplicate_provider_separation_image_diagonals": 0.05,
4356             "maximum_two_hand_bracket_frames": 2,
4357             "maximum_unconfirmed_overlap_context_gap_frames": 2,
4358             "maximum_unconfirmed_overlap_frames": 24,
4359             "maximum_weak_anchor_gap_frames": 2,
4360             "minimum_detector_confidence": 0.3,
4361             "minimum_duplicate_anchor_fraction": 0.25,
4362             "minimum_duplicate_box_iou": 0.1,
4363             "minimum_presence_burst_direct_frames": 3,
4364             "minimum_provider_pair_separation_image_diagonals": 0.08,
4365             "minimum_same_context_overlap_winner_frames": 2,
4366             "minimum_same_context_overlap_winner_margin_frames": 2,
4367             "minimum_semantic_handoff_anchor_frames": 2,
4368             "minimum_semantic_handoff_dual_track_frames": 2,
4369             "minimum_semantic_handoff_margin_box_diagonals": 0.1,
4370             "minimum_spatial_duplicate_box_iou": 0.2,
4371             "minimum_two_hand_bijective_frames_for_bridge": 2,
4372             "minimum_unconfirmed_overlap_winner_frames": 2,
4373             "minimum_unconfirmed_overlap_winner_margin_frames": 2,
4374             "presence_bottom_edge_inside_fraction": 0.25,
4375             "presence_bottom_edge_ratio": 0.98,
4376             "presence_burst_window_frames": 5,
4377             "presence_geometry_center_box_diagonals": 0.65,
4378             "presence_geometry_inside_fraction": 0.5,
4379             "presence_provider_mmpose_error_box_diagonals": 0.65,
4380             "provider_match_margin_box_diagonals": 0.2
4381           },
4382           "trusted_mmpose_target_slots": 473,
4383           "two_hand_bijective_confirmation_frames": 163,
4384           "two_hand_counterevidence_frames": 169,
4385           "unconfirmed_overlap_frames_suppressed": 0,
4386           "unconfirmed_overlap_slots_suppressed": 0,
4387           "v7_evidence_reordered_to_provider_slots": false,
4388           "v7_handed_mano_slots_reordered": false,
4389           "weak_direct_slots": 495
4390         },
4391         "schema_version": "egoview_v9_historical_t16_compatibility_v1"
4392       },
4393       "identity_association": {
4394         "ground_truth_used": false,
4395         "method": "declared_left_right_semantics_with_v8_spatial_diagnostic",
4396         "provider_hand_slots": [
4397           "left",
4398           "right"
4399         ],
4400         "provider_slots_reordered": false,
4401         "reason": "S9L10 and Formal V7 both declare fixed [left,right] MANO slots; image proximity cannot exchange handed MANO parameters",
4402         "schema_version": "egoview_v9_fixed_semantic_slot_association_v1",
4403         "spatial_diagnostic": {
4404           "box_weight": 0.15,
4405           "depth_used": false,
4406           "frames": 873,
4407           "frames_with_box_evidence": 408,
4408           "frames_with_joint_evidence": 341,
4409           "frames_without_2d_evidence": 465,
4410           "ground_truth_used": false,
4411           "identity_frames": 654,
4412           "mapping_direction": "v7_slot_for_fh",
4413           "method": "two_state_viterbi_identity_swap",
4414           "min_dwell_frames": 3,
4415           "min_joint_count": 4,
4416           "raster_transform": "identity",
4417           "schema_version": "egoview_v8_identity_association_v1",
4418           "score_threshold": 0.35,
4419           "source_image_size_hw": [
4420             1080,
4421             1920
4422           ],
4423           "state_transitions": 14,
4424           "swapped_frames": 219,
4425           "switch_penalty_px": 88.11628680329193
4426         },
4427         "spatial_diagnostic_swapped_frames": 219,
4428         "spatial_diagnostic_transition_count": 14,
4429         "v7_hand_slots": [
4430           "left",
4431           "right"
4432         ],
4433         "v7_handed_mano_slots_reordered": false,
4434         "v7_slot_for_foundationhand": "identity"
4435       },
4436       "materialization_seconds": 12.786675140960142,
4437       "maximum_wrist_error_m": 0.0,
4438       "post_selector_state_correction_applied_in_this_stage": false,
4439       "presence_source": "direct-RGB temporally confirmed fixed-semantic Formal V7 presence, strict duplicate collapse, and finite S9L10 geometry",
4440       "provider_presence_slots": 527,
4441       "raster_transform": "identity",
4442       "receipt_scope": "raw locked-selector output before the V9 quality floor",
4443       "root_depth_source": "raw pre-quality FoundationHand-S9L10 (1e-6)",
4444       "root_source": "raw pre-quality FoundationHand-S9L10 (1e-6)",
4445       "root_xy_source": "S9L10 provider camera adapter before the locked selector",
4446       "schema_version": "egoview_v9_fusion3_materialization_v1",
4447       "selected_block_fields": [
4448         "joints_camera_m",
4449         "vertices_camera_m",
4450         "global_orient_camera_aa",
4451         "hand_pose_aa",
4452         "betas"
4453       ],
4454       "selected_outside_direct_slots": 11,
4455       "selected_v7_pose_slots": 107,
4456       "selector": {
4457         "abs_probability_threshold": 0.6,
4458         "eligible": true,
4459         "macro_normalized_delta": -0.01673935749647845,
4460         "maximum_regression_mm": -0.0061344186718557125,
4461         "model_config": {
4462           "l2_regularization": 2.0,
4463           "learning_rate": 0.05,
4464           "max_depth": 2,
4465           "max_iter": 80,
4466           "min_samples_leaf": 20,
4467           "name": "hgb_d2_i80_l20"
4468         },
4469         "per_dataset": {
4470           "arctic": {
4471             "delta_mm": {
4472               "absolute_mpjpe_mm": -0.0061344186718557125,
4473               "root_relative_mpjpe_mm": -0.49170101987758486
4474             },
4475             "fallback_mean_mm": {
4476               "absolute_mpjpe_mm": 41.21420641120378,
4477               "root_relative_mpjpe_mm": 24.564386285537168
4478             },
4479             "full_calibration_rows": 192,
4480             "fusion_mean_mm": {
4481               "absolute_mpjpe_mm": 41.20807199253193,
4482               "root_relative_mpjpe_mm": 24.072685265659583
4483             },
4484             "paired_candidate_rows": 177,
4485             "selected_candidate_rows": 27
4486           },
4487           "hoi4d": {
4488             "delta_mm": {
4489               "absolute_mpjpe_mm": -1.1669890915878938,
4490               "root_relative_mpjpe_mm": -0.1483211768955961
4491             },
4492             "fallback_mean_mm": {
4493               "absolute_mpjpe_mm": 68.50090694306468,
4494               "root_relative_mpjpe_mm": 23.256458701342495
4495             },
4496             "full_calibration_rows": 192,
4497             "fusion_mean_mm": {
4498               "absolute_mpjpe_mm": 67.33391785147678,
4499               "root_relative_mpjpe_mm": 23.1081375244469
4500             },
4501             "paired_candidate_rows": 187,
4502             "selected_candidate_rows": 23
4503           },
4504           "hot3d": {
4505             "delta_mm": {
4506               "absolute_mpjpe_mm": -0.34315427335928206,
4507               "root_relative_mpjpe_mm": -1.1681441756853488
4508             },
4509             "fallback_mean_mm": {
4510               "absolute_mpjpe_mm": 48.20397425130548,
4511               "root_relative_mpjpe_mm": 23.48598007437763
4512             },
4513             "full_calibration_rows": 352,
4514             "fusion_mean_mm": {
4515               "absolute_mpjpe_mm": 47.8608199779462,
4516               "root_relative_mpjpe_mm": 22.31783589869228
4517             },
4518             "paired_candidate_rows": 306,
4519             "selected_candidate_rows": 95
4520           }
4521         },
4522         "require_direct": false,
4523         "rr_probability_threshold": 0.35,
4524         "selected_candidate_rows": 145
4525       },
4526       "selector_model": "/SSD2/yangzijing/egoview-v7-factorized-fusion-20260804/pose_selector.joblib",
4527       "selector_model_sha256": "a0688d7d25c0d2cfbe111bdd5888344c865baa1bba7d33262d9508e4c755e79d",
4528       "selector_policy": "/SSD2/yangzijing/egoview-v7-factorized-fusion-20260804/locked_policy.json",
4529       "selector_policy_sha256": "e77276e19450b56089ff4680ab84e4e111ef0ad531eb700564c9332041241ac3",
4530       "sensor_depth_used": false,
4531       "slot_compatibility": "fixed declared [left,right] MANO semantics; the frozen V8 spatial association is retained as a diagnostic and never exchanges handed geometry",
4532       "v7_input_contract": "full_frame_rgb_with_per_hand_detector_crop_reconstruction",
4533       "v7_slots_reordered_to_foundationhand_identity": false
4534     },
4535     "receipt_scope": "final V9 hand geometry after the RGB quality floor",
4536     "root_depth_source": "per-slot S9L10 or Formal V7 quality floor",
4537     "root_source": "per-slot S9L10/Fusion3 or Formal V7 quality floor",
4538     "root_xy_source": "per-slot S9L10 same-slot RGB adapter or Formal V7 wrist root",
4539     "s9_or_fused_retained_slots": 19,
4540     "schema_version": "egoview_v9_fusion3_final_v1",
4541     "selector_model_sha256": "a0688d7d25c0d2cfbe111bdd5888344c865baa1bba7d33262d9508e4c755e79d",
4542     "selector_policy_sha256": "e77276e19450b56089ff4680ab84e4e111ef0ad531eb700564c9332041241ac3"
4543   },
4544   "input": {
4545     "fps": 30.0,
4546     "frames": 873,
4547     "prepared_manifest": "/SSD2/yangzijing/egoview-v9-foundationhand-s9l10-20260901/artifacts/v9_eval/prepared/20260818T170110.207199+0800/source_00000/prepared_manifest.json",
4548     "prepared_manifest_sha256": "883bbacddfc5f18a3401aa7546e516a170ab0021181d2b511a23d9b0fb932f69",
4549     "recording_id": "20260818T170110.207199+0800/source_00000",
4550     "rgb_transform": "sbs_left_eye",
4551     "source_frame_identity_verified": true,
4552     "source_video": "/SSD2/yangzijing/uploads/ego0824_raw_clips_20260901/ego0824_raw_clips/20260818T170110.207199+0800/source_00000.mp4",
4553     "source_video_sha256": "84897ecca07dd0b638d764af30748b060afbd817a44589ffbe68524ab9c64aee",
4554     "stereo_eye": "left"
4555   },
4556   "model_invocations": {
4557     "da3": 0,
4558     "foundationhand_prediction_reused": 1,
4559     "foundationhand_s9l10": 1,
4560     "fusion3_selector": 1,
4561     "hawor": 0,
4562     "mmpose": 0,
4563     "quality_adapter": 0,
4564     "scene_scale": 0,
4565     "v5": 0,
4566     "vipe": 0
4567   },
4568   "outputs": {
4569     "demo": {
4570       "aligned_scene_prediction_digest": "32fa2a293caa3dca7ecd1056beb91ce1f5883a8f1dd440a0fb683324c9f0385c",
4571       "base_v5_prediction_digest": "7c64bd9364e10a7b3bffbfe011b33be91075e05d618a4557346f0bedb44fd231",
4572       "batch_contract": "one complete PredictionState passed once; sequential frame drawing is limited to dynamic OpenGL rendering and video encoding",
4573       "camera_hand_source": "V9 fixed-semantic Fusion3 with Formal V7 RGB quality floor",
4574       "da3_absolute_z_used_as_hand_target": false,
4575       "da3_modifies_hand": false,
4576       "demo_visibility": {
4577         "hidden_hand_slots": 0,
4578         "hidden_unique_frames": 0,
4579         "interpolation_runs": {
4580           "left": [
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4582               "bounded_after_by_direct_observation": true,
4583               "bounded_before_by_direct_observation": true,
4584               "end_frame_index": 83,
4585               "length": 1,
4586               "start_frame_index": 83
4587             },
4588             {
4589               "bounded_after_by_direct_observation": true,
4590               "bounded_before_by_direct_observation": true,
4591               "end_frame_index": 183,
4592               "length": 1,
4593               "start_frame_index": 183
4594             },
4595             {
4596               "bounded_after_by_direct_observation": true,
4597               "bounded_before_by_direct_observation": true,
4598               "end_frame_index": 185,
4599               "length": 1,
4600               "start_frame_index": 185
4601             },
4602             {
4603               "bounded_after_by_direct_observation": true,
4604               "bounded_before_by_direct_observation": true,
4605               "end_frame_index": 191,
4606               "length": 2,
4607               "start_frame_index": 190
4608             },
4609             {
4610               "bounded_after_by_direct_observation": true,
4611               "bounded_before_by_direct_observation": true,
4612               "end_frame_index": 194,
4613               "length": 1,
4614               "start_frame_index": 194
4615             },
4616             {
4617               "bounded_after_by_direct_observation": true,
4618               "bounded_before_by_direct_observation": true,
4619               "end_frame_index": 197,
4620               "length": 1,
4621               "start_frame_index": 197
4622             },
4623             {
4624               "bounded_after_by_direct_observation": true,
4625               "bounded_before_by_direct_observation": true,
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4627               "length": 4,
4628               "start_frame_index": 290
4629             },
4630             {
4631               "bounded_after_by_direct_observation": true,
4632               "bounded_before_by_direct_observation": true,
4633               "end_frame_index": 565,
4634               "length": 2,
4635               "start_frame_index": 564
4636             },
4637             {
4638               "bounded_after_by_direct_observation": true,
4639               "bounded_before_by_direct_observation": true,
4640               "end_frame_index": 597,
4641               "length": 1,
4642               "start_frame_index": 597
4643             }
4644           ],
4645           "right": [
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4647               "bounded_after_by_direct_observation": true,
4648               "bounded_before_by_direct_observation": true,
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4650               "length": 1,
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4652             },
4653             {
4654               "bounded_after_by_direct_observation": true,
4655               "bounded_before_by_direct_observation": true,
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4657               "length": 2,
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4659             },
4660             {
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4662               "bounded_before_by_direct_observation": true,
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4664               "length": 1,
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4666             },
4667             {
4668               "bounded_after_by_direct_observation": true,
4669               "bounded_before_by_direct_observation": true,
4670               "end_frame_index": 268,
4671               "length": 2,
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4673             },
4674             {
4675               "bounded_after_by_direct_observation": true,
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4678               "length": 1,
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4680             },
4681             {
4682               "bounded_after_by_direct_observation": true,
4683               "bounded_before_by_direct_observation": true,
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4685               "length": 2,
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4687             },
4688             {
4689               "bounded_after_by_direct_observation": true,
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4692               "length": 2,
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4694             },
4695             {
4696               "bounded_after_by_direct_observation": true,
4697               "bounded_before_by_direct_observation": true,
4698               "end_frame_index": 705,
4699               "length": 1,
4700               "start_frame_index": 705
4701             }
4702           ]
4703         },
4704         "policy": {
4705           "bounded_short_interpolation_preserved": true,
4706           "direct_observation_clear_false_positive_reasons": [
4707             "duplicate_box_against_high_quality_peer",
4708             "tiny_low_evidence_island"
4709           ],
4710           "duplicate_maximum_box_area_ratio": 0.05,
4711           "duplicate_maximum_weak_confidence": 0.4,
4712           "duplicate_maximum_weak_quality_tier": 1,
4713           "duplicate_minimum_iou": 0.69,
4714           "duplicate_minimum_peer_quality_tier": 2,
4715           "interpolation_edge_grace_frames": 2,
4716           "low_confidence_or_tier_alone_never_hides_direct_observation": true,
4717           "maximum_interpolation_frames": 8,
4718           "minimum_direct_confidence": 0.3,
4719           "tiny_island_maximum_box_area_ratio": 0.002,
4720           "tiny_island_maximum_direct_confidence": 0.35,
4721           "tiny_island_maximum_frames": 3,
4722           "tiny_island_maximum_quality_tier": 0
4723         },
4724         "policy_origin": "accepted first HOT3D/HOI4D cross-dataset release",
4725         "prediction_state_modified": false,
4726         "reason_counts": {
4727           "formal_invalid": 1219,
4728           "visible": 527
4729         },
4730         "role": "demo_visibility_only",
4731         "schema_version": "egoview_v7_demo_visibility_v1",
4732         "summary_by_side": {
4733           "left": {
4734             "box_interpolated_slots": 14,
4735             "detected_slots": 258,
4736             "detector_observed_slots": 244,
4737             "hidden_detector_observed_slots": 0,
4738             "hidden_frame_indices": [],
4739             "hidden_slots": 0,
4740             "maximum_consecutive_interpolation_frames": 4,
4741             "valid_slots": 258
4742           },
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4745             "detected_slots": 269,
4746             "detector_observed_slots": 257,
4747             "hidden_detector_observed_slots": 0,
4748             "hidden_frame_indices": [],
4749             "hidden_slots": 0,
4750             "maximum_consecutive_interpolation_frames": 2,
4751             "valid_slots": 269
4752           }
4753         },
4754         "training_bundle_modified": false,
4755         "visibility_mask_sha256": "30616a51d5371259c5fe6b62ae8b71f989f51f71d7b282598a7e0d8102413d0a"
4756       },
4757       "display_alignment": {
4758         "camera_up_alignment": 0.913719785135755,
4759         "camera_up_vipe_world": [
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4761           -0.9613543994405923,
4762           -0.21533992663816548
4763         ],
4764         "d_vipe_world_m": 0.9260109576342781,
4765         "display_only": true,
4766         "distance_threshold_m": 0.018,
4767         "inlier_count": 79598,
4768         "inlier_fraction": 0.39753879346941223,
4769         "matrix_from_vipe_world": [
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4772             -0.08737611770629883,
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4775           ],
4776           [
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4778             -0.5406343340873718,
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4781           ],
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4788           [
4789             0.0,
4790             0.0,
4791             0.0,
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4794         ],
4795         "median_camera_height_m": 0.9253895608698609,
4796         "minimum_camera_height_m": 0.05,
4797         "minimum_camera_up_alignment": 0.8,
4798         "normal_vipe_world": [
4799           -0.0474533617137726,
4800           -0.8367078088474337,
4801           -0.5455897919460997
4802         ],
4803         "source": "deterministic_camera_up_support_plane_ransac_display_only",
4804         "v5_world_arrays_modified": false
4805       },
4806       "display_camera_adapter": {
4807         "adapter_kind": "canonical_video_identity",
4808         "display_only": true,
4809         "formal_hand_camera_contract_preserved": true,
4810         "frame_count": 873,
4811         "frame_ids": [
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7002                 " M docs/reference/configuration.md",
7003                 " M tests/test_config.py",
7004                 " M vipe/config/__init__.py",
7005                 " M vipe/config/pipeline.py",
7006                 " M vipe/config/streams.py",
7007                 " M vipe/pipeline/default.py",
7008                 " M vipe/pipeline/processors.py",
7009                 " M vipe/priors/depth/dav3/api.py",
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7011                 " M vipe/priors/depth/dav3/model/heads.py",
7012                 " M vipe/slam/interface.py",
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7014                 "?? configs/pipeline/rgbd_sensor.yaml",
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