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Actually, I think it's important the terminal let bad ESC sequences through, or you'll never know there's a problem. In the old days you'd read the manual for physical terminals and use only the codes they recommended, and if you send garbage to the terminal (such as cat'ing a binary file), the behavior's "undefined", which ranges from just passing thru the garbage to hanging the tty firmware.
I think letting the characters past the ESC sequence is informative in determining that there is an issue; it might be fatal to the operation of the program if ESC codes are malformed, so it should be clear something is wrong, and not try to second guess what the user should see. esp. considering all the possible ways an ESC code can be mangled; you can't tell what to ignore and what is non-esc sequence data.
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