# RQM Compute Actuator Alignment Correction

> RQM Compute Actuator Alignment Correction is a paid API for AI agents from jobs.rqmtechnologies.com, paid per call via x402, $0.01/call, status unknown (last checked 2026-09-14).

Computes a bounded constant additive-offset actuator alignment correction from commanded-vs-observed pairs, subject to caller-specified RMSE and absolute correction limits

## Facts

- Endpoint: POST https://jobs.rqmtechnologies.com/x402/buyer-jobs/robotics.compute-actuator-alignment-correction.v1
- Price: $0.01/call
- Payment: x402
- Status: unknown
- Last checked: 2026-09-14
- Activations on Zero: 0
- Tags: x402
- Canonical page: https://www.zero.xyz/c/rqm-compute-actuator-alignment-correction-51369077
- Structured record (JSON): https://api.zero.xyz/v1/capabilities/cap_IWsdnugC26cCxRANOIBKz

Status and success rate cover calls made through Zero and Zero's own probes. Third-party monitors may report differently.

## How to call it through Zero

Zero handles the 402 payment challenge and records the run. With the Zero CLI installed (`npm i -g @zeroxyz/cli`):

```sh
zero fetch --capability rqm-compute-actuator-alignment-correction-51369077 -d '<json body>'
```

Example prompt: Compute an actuator alignment correction using a constant additive offset model for these 50 commanded-vs-observed joint angle pairs, with a maximum absolute correction of 0.5 and a maximum post-correction RMSE of 0.05 — I need this before running the simulation.

## When to prefer this

Use this endpoint when you need a pre-simulation or pre-operator-review actuator alignment correction computed under an explicit constant additive offset model, with hard bounds on both the correction magnitude and residual RMSE. Prefer this over generic regression or calibration tools when you need guaranteed bounded outputs and a well-defined additive model. Do not use this to directly command hardware or to infer a physical model that was not declared in the request.

## Known failure modes

- Insufficient observations (fewer than 2 commanded/observed pairs) returns a validation error
- Commanded and observed arrays of mismatched lengths cause a schema rejection
- Computed correction exceeds maximum_absolute_correction limit — correction rejected with bounds violation
- Post-correction RMSE exceeds maximum_post_correction_rmse — result flagged as out of tolerance
- Observations arrays exceed 12 elements per item — schema validation failure
- Payment not attached or insufficient — x402 payment required error
- Idempotency key malformed — request rejected

## How this service works

Problem: Compute a bounded actuator alignment correction from these observations and caller acceptance limits. Input: JSON with observations, model, rules. Result: correction parameters, pre/post residuals, applicability verdict. Limits: Software/model evidence only; 65536 request bytes; 5 s execution.

## Output

Returns a bounded actuator alignment correction value computed under the constant additive offset model, along with validation against the caller's specified maximum absolute correction and maximum post-correction RMSE limits. The result is suitable for use as a pre-simulation or pre-review correction offset, not for direct hardware actuation.

## Request schema (JSON Schema)

```json
{
 "type": "object",
 "properties": {
  "request": {
   "type": "object",
   "title": "AlignmentRequest",
   "required": [
    "observations",
    "model",
    "rules"
   ],
   "properties": {
    "model": {
     "enum": [
      "constant_additive_offset",
      "robust_median_offset"
     ],
     "type": "string",
     "title": "Model"
    },
    "rules": {
     "type": "object",
     "title": "AlignmentRules",
     "required": [
      "maximum_post_correction_rmse",
      "maximum_absolute_correction"
     ],
     "properties": {
      "maximum_absolute_correction": {
       "type": "number",
       "title": "Maximum Absolute Correction",
       "maximum": 1000000000,
       "minimum": 0
      },
      "maximum_post_correction_rmse": {
       "type": "number",
       "title": "Maximum Post Correction Rmse",
       "maximum": 1000000000,
       "minimum": 0
      }
     },
     "additionalProperties": false
    },
    "observations": {
     "type": "array",
     "items": {
      "type": "object",
      "title": "AlignmentObservation",
      "required": [
       "commanded",
       "observed"
      ],
      "properties": {
       "observed": {
        "type": "array",
        "items": {
         "type": "number"
        },
        "title": "Observed",
        "maxItems": 12,
        "minItems": 1
       },
       "commanded": {
        "type": "array",
        "items": {
         "type": "number"
        },
        "title": "Commanded",
        "maxItems": 12,
        "minItems": 1
       }
      },
      "additionalProperties": false
     },
     "title": "Observations",
     "maxItems": 4096,
     "minItems": 2
    },
    "holdout_observations": {
     "type": "array",
     "items": {
      "type": "object",
      "title": "AlignmentObservation",
      "required": [
       "commanded",
       "observed"
      ],
      "properties": {
       "observed": {
        "type": "array",
        "items": {
         "type": "number"
        },
        "title": "Observed",
        "maxItems": 12,
        "minItems": 1
       },
       "commanded": {
        "type": "array",
        "items": {
         "type": "number"
        },
        "title": "Commanded",
        "maxItems": 12,
        "minItems": 1
       }
      },
      "additionalProperties": false
     },
     "title": "Holdout Observations",
     "maxItems": 4096
    }
   },
   "additionalProperties": false
  },
  "schema_version": {
   "const": "rqm.jobs.bazaar-buyer-job-request.v1"
  },
  "idempotency_k
… (truncated)
```

## More

- Live health (JSON, refreshed every minute): https://www.zero.xyz/c/rqm-compute-actuator-alignment-correction-51369077/health.json
- [Zero catalog index](https://www.zero.xyz/llms.txt)
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