# RQM Reconstruct Smoothed Trajectory

> RQM Reconstruct Smoothed Trajectory is a paid API for AI agents from jobs.rqmtechnologies.com, paid per call via x402, $0.01/call, status unknown (last checked 2026-09-15).

Applies a centered moving-average smoothing model to a bounded sequence of timestamped numeric poses and returns the reconstructed trajectory with residual analysis.

## Facts

- Endpoint: POST https://jobs.rqmtechnologies.com/x402/buyer-jobs/robotics.reconstruct-smoothed-trajectory.v1
- Price: $0.01/call
- Payment: x402
- Status: unknown
- Last checked: 2026-09-15
- Activations on Zero: 0
- Tags: x402
- Canonical page: https://www.zero.xyz/c/rqm-reconstruct-smoothed-trajectory-44bc7f23
- Structured record (JSON): https://api.zero.xyz/v1/capabilities/cap_vsh1TI97o5Es1epcvoNMw

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-reconstruct-smoothed-trajectory-44bc7f23 -d '<json body>'
```

Example prompt: Smooth this robot arm trajectory using a centered moving-average with a window of 5 samples and a maximum RMSE of 0.02 — here are the 120 timestamped pose samples covering 0 to 30 seconds.

## When to prefer this

Use this endpoint when you have a bounded sequence of timestamped numeric pose samples (up to 4096, up to 12 dimensions each) and need to apply a centered moving-average smoothing model with explicit RMSE constraints. It is ideal for pre-processing noisy robot or sensor trajectories before kinematic validation or motion planning. Do not use it to synthesize or interpolate missing data, extrapolate motion, or certify physical feasibility of a trajectory.

## Known failure modes

- RMSE exceeds the specified maximum_rmse threshold — reconstruction rejected with a constraint violation error
- Fewer than 2 samples provided — request rejected as below minimum sample count
- More than 4096 samples provided — request rejected as above maximum sample count
- Window size outside 1–31 range — validation error returned
- Pose vector dimension exceeds 12 — validation error on values array
- Timestamp outside 0–86400 second range — validation error
- Duplicate or out-of-order timestamps — may cause undefined smoothing behavior
- Payment not provided or insufficient — x402 payment required error

## How this service works

Problem: Reconstruct this bounded trajectory under the supplied smoothing model and residual rule. Input: JSON with samples, model, rules. Result: smoothed trajectory, residual RMSE, caller-rule verdict. Limits: Software/model evidence only; 65536 request bytes; 5 s execution.

## Output

Returns the reconstructed smoothed trajectory as an array of timestamped pose vectors after applying the centered moving-average filter, along with residual information and RMSE metrics indicating how closely the smoothed output fits the original samples within the specified bounds.

## Request schema (JSON Schema)

```json
{
 "type": "object",
 "properties": {
  "request": {
   "type": "object",
   "title": "SmoothTrajectoryRequest",
   "required": [
    "samples",
    "model",
    "rules"
   ],
   "properties": {
    "model": {
     "enum": [
      "centered_moving_average",
      "centered_median",
      "exponential"
     ],
     "type": "string",
     "title": "Model"
    },
    "rules": {
     "type": "object",
     "title": "SmoothingRules",
     "required": [
      "window_samples",
      "maximum_rmse"
     ],
     "properties": {
      "maximum_rmse": {
       "type": "number",
       "title": "Maximum Rmse",
       "maximum": 1000000000,
       "minimum": 0
      },
      "window_samples": {
       "type": "integer",
       "title": "Window Samples",
       "maximum": 31,
       "minimum": 1
      }
     },
     "additionalProperties": false
    },
    "samples": {
     "type": "array",
     "items": {
      "type": "object",
      "title": "TimedVector",
      "required": [
       "timestamp_s",
       "values"
      ],
      "properties": {
       "values": {
        "type": "array",
        "items": {
         "type": "number"
        },
        "title": "Values",
        "maxItems": 12,
        "minItems": 1
       },
       "timestamp_s": {
        "type": "number",
        "title": "Timestamp S",
        "maximum": 86400,
        "minimum": 0
       }
      },
      "additionalProperties": false
     },
     "title": "Samples",
     "maxItems": 4096,
     "minItems": 2
    },
    "exponential_alpha": {
     "type": "number",
     "title": "Exponential Alpha",
     "default": 0.25,
     "maximum": 1,
     "exclusiveMinimum": 0
    }
   },
   "additionalProperties": false
  },
  "schema_version": {
   "const": "rqm.jobs.bazaar-buyer-job-request.v1"
  },
  "idempotency_key": {
   "type": "string",
   "pattern": "^[A-Za-z0-9][A-Za-z0-9._:-]*$",
   "maxLength": 128,
   "minLength": 1
  },
  "max_total_price": {
   "type": "string",
   "pattern": "^(?:0|[1-9]\\d{0,13})(?:\\.\\d{1,6})?$"
  }
 }
}
```

## More

- Live health (JSON, refreshed every minute): https://www.zero.xyz/c/rqm-reconstruct-smoothed-trajectory-44bc7f23/health.json
- [Zero catalog index](https://www.zero.xyz/llms.txt)
- [Other services from jobs.rqmtechnologies.com](https://www.zero.xyz/host/jobs.rqmtechnologies.com/llms.txt)