auto-iter 2026-05-13: offload_to_cpu=false (.84 24GB VRAM, no CPU offload needed)

pipeline/config/thresholds.yaml

@@ -1,34 +1,29 @@
-# QA thresholds — tuned from iteration cron
 usbl:
-  min_points_per_segment: 5       # fewer → degraded
-  max_gap_seconds: 30             # gap > this → split segment
-  mad_sigma: 3.0                  # MAD outlier threshold
-  moving_avg_window: 5            # smoothing window
-
+  min_points_per_segment: 5
+  max_gap_seconds: 30
+  mad_sigma: 3.0
+  moving_avg_window: 5
 ingest:
-  min_video_seconds: 120          # shorter segments skipped
-  max_timestamp_delta_seconds: 60 # EXIF vs USBL match tolerance
-
+  min_video_seconds: 120
+  max_timestamp_delta_seconds: 60
 frame_extract:
   fps: 1
   width: 518
   height: 294
-  underwater_r_minus_g: 5        # R < G-5 AND R < B-5 → hors eau
-  trim_min_frames: 8             # skip if fewer underwater frames
-  bottom_visible_pct_min: 25     # abaissé 30→25 — GX019817 (29%) récupérable, iter auto 2026-05-12
-
+  underwater_r_minus_g: 5
+  trim_min_frames: 8
+  bottom_visible_pct_min: 25
 inference:
   ply_conf_threshold: 1.5
   max_frame_num: 1024
   mode: streaming
   keyframe_interval: 1
-  min_frames_for_inference: 32   # fewer frames → RoPE/attention mismatch errors
-  inference_timeout_s: 10800     # 3h (was 7200=2h, GX029818 timed out with 493 frames)
-
+  min_frames_for_inference: 32
+  inference_timeout_s: 10800
+  offload_to_cpu: false
 align:
-  max_translation_m: 500         # sanity check on alignment
-  min_inlier_ratio: 0.3          # umeyama inlier ratio
-
+  max_translation_m: 500
+  min_inlier_ratio: 0.3
 stitch:
   voxel_size: 0.05
   icp_max_distance: 0.5