1 pose_generation.target_counterfactuals

pose_generation.target_counterfactuals

Target-aware oracle RRI scoring for counterfactual rollouts.

This module scores valid candidate rows with target-specific point-mesh RRI. The actor selects an observed/predicted target record upstream; this scorer then uses the matched GT OBB only as an oracle/evaluation crop. Missing GT matches, ambiguous matches, empty mesh crops, sparse current support, or unusable depth are expected invalidity cases and surface as TargetRriInvalidError.

Scene RRI may be emitted as a diagnostic from the same candidate point clouds, but it must not replace target RRI labels in thesis-core rollout stores.

1.1 Theory

Target-conditioned rollout scoring joins two intentionally separate contracts. The actor-visible selector provides a target row and optional target center for candidate sampling; the scorer uses the post-selection GT match only to crop oracle/eval geometry and compute target-RRI labels. Candidate scores therefore measure improvement for the selected target without making GT OBBs, GT mesh crops, or all-candidate renders visible to V1 actor policies.

1.2 Attributes

Name	Description
TARGET_CROP_POLICY_GT_OBB_ORIENTED_ANY_VERTEX_V1	Target crop policy: keep mesh faces with any vertex inside the matched oriented GT OBB.
SCENE_CROP_POLICY_SNIPPET_EXTENT_V1	Scene-RRI crop policy matching the existing snippet occupancy-extent scorer.

1.3 Classes

Name	Description
TargetRriInvalidError	Expected data invalidity that prevents target-RRI labeling for a row.
CounterfactualTargetOracleRriScorerConfig	Config-as-factory wrapper for target-cropped oracle-RRI rollout scoring.
CounterfactualTargetOracleRriScorer	Evaluate valid candidates with target-cropped oracle RRI.