{
  "schema_version": 2,
  "status": "COMPLETE",
  "scope": "Only frozen models under astra_blender/models/M1..M4",
  "reference": "https://wentingw.github.io/astra-world-model-blog/#_5",
  "m1_notice": "M1 model-space metrics use one frozen GT-assisted Sim(3) from five manual camera associations. They are diagnostic and do not represent native metric recovery.",
  "protocols": {
    "table2": "180 fixed views × 19,200 pixels; optical-Z; GT-valid domain; no per-view fitting",
    "table3": {
      "model_surface_samples": 100000,
      "model_surface_seed": 20260923,
      "observed_gt_samples": 100000,
      "observed_gt_seed": 20260925,
      "distance": "exact nearest triangle",
      "bidirectional_mean": "arithmetic mean of model→GT and observed GT→model mean distances"
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      "views": [
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        72,
        108,
        144
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      "resolution": [
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      "metrics": "full-image PSNR, SSIM, LPIPS AlexNet v0.1; no crop/mask/fitting"
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      "scope": "100 seeded views drawn without replacement from the 175 modeling frames remaining after excluding fixed views; these are not unseen modeling inputs",
      "seed": 20260930,
      "excluded_fixed_views": [
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        72,
        108,
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        117,
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      "resolution": [
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      "preprocessing": "GT RGB Lanczos 1280x960 to 640x480; RGB float32 [0,1]; no crop, mask, or color/exposure fitting",
      "metrics": "full-image PSNR, SSIM, LPIPS AlexNet v0.1",
      "aggregation": "arithmetic mean over the same frozen 100 views"
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      "views": [
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        36,
        72,
        108,
        144
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      "depth": {
        "depth": "optical Z in metres",
        "domain": "GT valid_domain and finite GT in [0.1, 30] m",
        "prediction_valid": "finite prediction in [0.1, 30] m",
        "aggregation": "pixel-weighted over all selected frames",
        "missing_penalty": "30 m absolute error for each missing prediction"
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      "scope": "the exact same 100 modeling-frame indices as Table 5; held out only from the fixed-five check",
      "seed": 20260930,
      "selected_indices": [
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        2,
        3,
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      "depth": {
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        "domain": "GT valid_domain and finite GT in [0.1, 30] m",
        "prediction_valid": "finite prediction in [0.1, 30] m",
        "aggregation": "pixel-weighted over all selected frames",
        "missing_penalty": "30 m absolute error for each missing prediction"
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        "method": "M1",
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        "geometry_source": "视觉推断，无测量尺度",
        "modeling_role": "推断布局，编写对象与材质"
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        "method": "M2",
        "allowed_inputs": "完整 RGB 视频；选取 180 帧建模",
        "geometry_source": "ViPE RGB-only 位姿 → pose-conditioned DA3 深度",
        "modeling_role": "将位姿与深度测量组织为对象化场景"
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        "method": "M3",
        "allowed_inputs": "视频、IMU、相机–IMU 标定",
        "geometry_source": "ORB-SLAM3 单目惯性位姿 → pose-conditioned DA3 深度",
        "modeling_role": "结合图像、位姿、深度建模"
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        "method": "M4",
        "allowed_inputs": "视频及 GT camera pose",
        "geometry_source": "GT 位姿 → pose-conditioned DA3 深度",
        "modeling_role": "与 M3 相同类型的建模流程"
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