1 rollouts.replay.directed_orbit

rollouts.replay.directed_orbit

Receipt-backed directed-orbit selection over canonical candidate shells.

The selector changes only which already valid, Oracle-measured action is committed. Candidate generation retains pose, mask, and family provenance; Oracle evaluation retains reconstruction labels. Signed progress is rebuilt from each trajectory’s committed camera centres, so sibling branches never share mutable controller state.

1.1 Classes

Name Description
DirectedOrbitDecision Compact selector values and geometric eligibility evidence.
OrbitProgress Angular and radial progress reconstructed from committed camera centres.

1.1.1 DirectedOrbitDecision

rollouts.replay.directed_orbit.DirectedOrbitDecision(
    scores,
    eligible,
    increments_rad,
    radial_eligible,
    progress,
    remaining_rad,
)

Compact selector values and geometric eligibility evidence.

1.1.1.1 Attributes

Name Description
scores Unique-winner selector scores aligned with compact hard-valid rows.
eligible Forward-progress eligibility as Tensor["V", bool].
increments_rad Direction-aligned wrapped increments as Tensor["V", float].
radial_eligible Bypass radius-envelope membership as Tensor["V", bool].
progress Branch-local progress before the candidate action is committed.
remaining_rad Positive directed angle remaining before one revolution completes.

1.1.2 OrbitProgress

rollouts.replay.directed_orbit.OrbitProgress(
    signed_net_rad,
    absolute_travel_rad,
    backtracking_rad,
    initial_radius_m,
    final_radius_m,
    maximum_relative_radius_drift,
)

Angular and radial progress reconstructed from committed camera centres.

1.1.2.1 Attributes

Name Description
signed_net_rad Direction-aligned net angular progress in radians.
absolute_travel_rad Sum of absolute wrapped angular increments in radians.
backtracking_rad Sum of increments opposite the configured direction in radians.
initial_radius_m Root world-horizontal target standoff in metres.
final_radius_m Current world-horizontal target standoff in metres.
maximum_relative_radius_drift Maximum absolute radius change divided by the root radius.

1.2 Functions

Name Description
committed_orbit_progress Measure one branch using only its root and committed camera centres.
directed_camera_history Anchor committed camera centres at the physical camera, not the rig.
directed_orbit_complete Return whether committed signed progress reaches one revolution.
score_directed_orbit_candidates Rank finite forward-progress rows for one concrete directed mode.

1.2.1 committed_orbit_progress

rollouts.replay.directed_orbit.committed_orbit_progress(
    centers_world,
    *,
    target_center_world,
    direction,
)

Measure one branch using only its root and committed camera centres.

1.2.2 directed_camera_history

rollouts.replay.directed_orbit.directed_camera_history(
    trajectory,
    *,
    root_camera_center_world,
)

Anchor committed camera centres at the physical camera, not the rig.

Replay trajectories retain a corrected rig root for Oracle state. Their selected poses are world-from-camera poses, so orbit geometry must replace only the first history row with the calibrated physical root camera.

1.2.3 directed_orbit_complete

rollouts.replay.directed_orbit.directed_orbit_complete(progress)

Return whether committed signed progress reaches one revolution.

1.2.4 score_directed_orbit_candidates

rollouts.replay.directed_orbit.score_directed_orbit_candidates(
    candidates,
    candidate_scores,
    *,
    valid_poses,
    trajectory,
    root_camera_center_world,
    target_center_world,
    direction,
    policy,
)

Rank finite forward-progress rows for one concrete directed mode.

directed_orbit_only admits target-orbit rows. The bypass mode also admits lateral-target-bypass rows within |r_candidate-r_root| <= min(0.25 r_root, 1 metre). Oracle scores decide only whether a row has a finite measured label; they do not enter the angular objective. The winning compact row is deterministic under an exact geometric tie.

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