Passive Tabletop Falsification Lab Protocol

Purpose

The tabletop lab is an offline evidence source for ADR-0211 falsification. It is not a live robotics stack and it does not authorize CORE-controlled actuation.

Hardware Target

Event camera for sparse brightness-change deltas.
RGB/depth camera for reference visual frames.
AprilTag calibration board and object tags for pose witness evidence.
IMU/contact/proprioception logger for afferent sensorimotor evidence.

First Lab Mode

Only passive, human-moved objects are allowed. The lab records logs, imports them offline, compiles afferent units, builds ObservationFrames, and runs falsification scenarios.

passive environment movement
  -> offline witness logs
  -> deterministic import
  -> afferent compilers
  -> ObservationFrame sequence
  -> FalsificationScenario report

Acceptance Gates

The same captured log imports to the same frame-sequence hash.
AprilTag/GTSAM-style pose outputs remain witness evidence only.
Event-vision and sensorimotor deltas remain compiler-native.
No raw camera frame, event stream, PCM, trajectory, or actuator trace enters ObservationFrame or falsification traces.
No CORE motor command path is mounted.

Deferred

Repeated capture statistics, hardware-noise envelopes, live device readers, robot actuation, and motor decoder work require later ADRs. Exact replay remains the first gate.

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