# LUCID visual design — revision 13

The 179-second submission and professor-review film use one timeline. See REVIEW_TRANSCRIPT.md for exact narration and chapter logic.

| Time | Visual treatment | Purpose |
|---|---|---|
| 0–15 s | Six selected physical push moments; complete take already running at right | Establish physical deployment immediately; make edits and continuity distinguishable |
| 15–28 s | Recorded G1 skeletons and measured tracking plots | Motivate the balance between exposure and learnability; explain the command–execution gap |
| 28–43 s | Command path, shared encoder, normalized latent discrepancy | Follow where the information comes from and how it becomes training feedback |
| 43–52 s | Denoising recipe and frozen encoder | Explain how the comparison is learned before policy training |
| 52–65 s | PI and independent return backoff feeding one intensity; six G1 channel cards | Show adaptive randomization without a lengthy arithmetic example |
| 65–78 s | Parallel evaluation replay and train-to-test delay ruler | Explain the experiment scale and the unseen-delay test separately |
| 78–95 s | Completion bars with intervals | Present 73.8% versus 52.1% under unseen +60 ms |
| 95–119 s | Full six-second walking and turning comparisons | Inspect selected +40 ms behavior with LUCID, reference, and filtered-error PI |
| 119–130 s | Representation and live-feedback ablations | Tie the outcome back to the proposed components |
| 130–166 s | Same physical take expands; independent manuscript benchmark at right | Show continuous behavior and the separate 38/60 versus 23/60 aggregate |
| 166–179 s | LUCID robot lettering and prominent onboard architecture | End on policy + low-level controller; encoder and scheduler stay in training |

The supplied process film contributes staged information flow, dark method panels, and robot lettering. Exact G1 forward-kinematics poses and source comparison videos remain. Latent vectors, channel icons and controller diagrams illustrate the method; they are not logged feature measurements. The lettering is choreographed. Numerical controller exercises remain available in the interactive website.

The right panel contains the physical robot, elapsed timer, randomized added-delay condition and active contact labels. Privacy-processing notes and confirmation status are retained in metadata rather than presented as part of the film.