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14. ±180° wraparound census & shortest-arc error — confirmed/banked (measured 2026-08-05)

Tag: wrap-census · idea #14 · index

  • Hypothesis: truth chunks wrapping the ±180° boundary inject ~360°-scale discontinuities into BOTH raw-degree training targets and MAE; a wrap census may explain a measurable slice of panel MAE.
  • Measured (write-up, instrument probes/probe_wrap_census.py, anchors in-probe): panel — 16/17,204 wrap frames (0.093%, under the 0.1% gate) carrying 0.0720 of the 5.8026 pooled chunk_mae (1.24%; shortest-arc re-score 5.7498). Corpus — 81/42,872 episodes (0.19%) across 23 repos; kevin510 systemically corrupted (40/40 eps), willnorris/bbox-2 a separate state-stream glitch. wrist_roll dominates (204 action jumps), matching the SO101 calibration story (lerobot#1255, PR#777, fixed in 0.6.0).
  • Consequences: unwrap-at-load training arm killed (0.19% cannot move a 40k pair); shortest-arc metric proposal → owner sign-off (moves every anchor); kevin510 + willnorris/bbox-2 flagged for any future curated-v1 exclusion list.