Agents

Re-estimates per-stream clock offset against the reference topic and opens a finding when residual skew exceeds 5 ms.

Fits extrinsics from motion alone and compares against the stored transform. Proposes a sweep when the delta stops being explainable by noise.

Flags gaps rather than filling them. Marks the affected window in every downstream product so nothing inherits an invented sample.

Replays a fixed session set through the current fusion config and reports pose-error deltas against the last accepted build.