{
  "benchmark_id": "public_kitti_icp_neighbors_point",
  "bootstrap_samples": 1,
  "bootstrap_seed": 0,
  "limitations": [
    "Declared scan pairs from one public sequence; no reference extrinsic or accuracy claim.",
    "Spatially capped voxel centroids are identical for both methods; this does not measure whole raw-cloud registration or the full calibrate CLI pipeline.",
    "All iterations and diagnostic settings are unchanged between methods. Solver convergence/degeneracy status remains visible in every full payload.",
    "Three timing repetitions are not independent accuracy trials or confidence. Host and process/OS caches are shared; no portable speed guarantee.",
    "Input capture and preparation cost is recorded separately, charged once for this experiment, not included in solver wall: {\"0000000000:0000000115\": 1.8943217999767512}",
    "Local paths are normalized to ${WORKSPACE_ROOT} and ${DATASET_ROOT}. Every complete numerical payload and original input/config/output digest is unchanged. Output digests bind canonical JSON payloads, not a standalone result file."
  ],
  "methods": [
    {
      "implementation": "calibrex_native",
      "label": "exhaustive",
      "method_id": "exhaustive",
      "source_commit": "f959c684c3f4e4ec24a884cd4cea8545d44baa4a",
      "tool_name": "Calibrex",
      "tool_version": "0.5.1"
    },
    {
      "implementation": "calibrex_native",
      "label": "indexed",
      "method_id": "indexed",
      "source_commit": "d2f49e4",
      "tool_name": "Calibrex",
      "tool_version": "0.5.1"
    }
  ],
  "metrics": [
    {
      "direction": "lower",
      "display_scale": 1.0,
      "interpretation": "Complete solver call with all diagnostics",
      "label": "wall_seconds",
      "name": "wall_seconds",
      "primary": true,
      "unit": "s"
    },
    {
      "direction": "higher",
      "display_scale": 1.0,
      "interpretation": "Exact complete pinned solver payload",
      "label": "numerical_parity",
      "name": "numerical_parity",
      "primary": false,
      "unit": "ratio"
    }
  ],
  "protocol": {
    "data_license": "KITTI raw dataset terms; raw scans are not redistributed",
    "dataset_id": "2011_09_30_drive_0018_sync",
    "dataset_source_sha256": "d2ecf11c8b0e6c450df575307ccd7d04850c73100f3a88af895e734d027b2d79",
    "failure_policy": "Retain mismatches as failures; exit nonzero after saving evidence",
    "initial_estimate_policy": "Identity for both methods; no reference pose",
    "protocol_id": "public_kitti_icp_neighbors/v0.1",
    "split_policy": "Unchanged native spatial source holdout; target rematched per pose",
    "splits": [
      {
        "fit_count": 403,
        "fit_ids_sha256": "01edfef039be83ea8683c44dbe16213f6c5388b38305fbcea5c21d69c3bc1154",
        "holdout_count": 97,
        "holdout_ids_sha256": "6405cdff4b8e0a8523c18810e407ff88ca5efab51ada48413579b667bbdde56f",
        "seed": 0,
        "split_id": "0000000000-0000000115-cap-500-repeat-01"
      },
      {
        "fit_count": 403,
        "fit_ids_sha256": "01edfef039be83ea8683c44dbe16213f6c5388b38305fbcea5c21d69c3bc1154",
        "holdout_count": 97,
        "holdout_ids_sha256": "6405cdff4b8e0a8523c18810e407ff88ca5efab51ada48413579b667bbdde56f",
        "seed": 0,
        "split_id": "0000000000-0000000115-cap-500-repeat-02"
      },
      {
        "fit_count": 403,
        "fit_ids_sha256": "01edfef039be83ea8683c44dbe16213f6c5388b38305fbcea5c21d69c3bc1154",
        "holdout_count": 97,
        "holdout_ids_sha256": "6405cdff4b8e0a8523c18810e407ff88ca5efab51ada48413579b667bbdde56f",
        "seed": 0,
        "split_id": "0000000000-0000000115-cap-500-repeat-03"
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      {
        "fit_count": 1197,
        "fit_ids_sha256": "e1c12f5e79fe93a4a3d268a3a53f733629151aeb0d50d66d3f8736899453a0cd",
        "holdout_count": 303,
        "holdout_ids_sha256": "3e4c18ac48a220502bd130b296283d5f7e0be11ff902b355a2b7f7c5e97e900a",
        "seed": 0,
        "split_id": "0000000000-0000000115-cap-1500-repeat-01"
      },
      {
        "fit_count": 1197,
        "fit_ids_sha256": "e1c12f5e79fe93a4a3d268a3a53f733629151aeb0d50d66d3f8736899453a0cd",
        "holdout_count": 303,
        "holdout_ids_sha256": "3e4c18ac48a220502bd130b296283d5f7e0be11ff902b355a2b7f7c5e97e900a",
        "seed": 0,
        "split_id": "0000000000-0000000115-cap-1500-repeat-02"
      },
      {
        "fit_count": 1197,
        "fit_ids_sha256": "e1c12f5e79fe93a4a3d268a3a53f733629151aeb0d50d66d3f8736899453a0cd",
        "holdout_count": 303,
        "holdout_ids_sha256": "3e4c18ac48a220502bd130b296283d5f7e0be11ff902b355a2b7f7c5e97e900a",
        "seed": 0,
        "split_id": "0000000000-0000000115-cap-1500-repeat-03"
      },
      {
        "fit_count": 2392,
        "fit_ids_sha256": "be73b63af78b0001f3a89c5b176c75a6c54ee9a13fb46415581698169b4897ab",
        "holdout_count": 608,
        "holdout_ids_sha256": "39a86d72c242c9f79cb72f0f71744e550b1c41c0117deda0c82bc293e7f0a843",
        "seed": 0,
        "split_id": "0000000000-0000000115-cap-3000-repeat-01"
      },
      {
        "fit_count": 2392,
        "fit_ids_sha256": "be73b63af78b0001f3a89c5b176c75a6c54ee9a13fb46415581698169b4897ab",
        "holdout_count": 608,
        "holdout_ids_sha256": "39a86d72c242c9f79cb72f0f71744e550b1c41c0117deda0c82bc293e7f0a843",
        "seed": 0,
        "split_id": "0000000000-0000000115-cap-3000-repeat-02"
      },
      {
        "fit_count": 2392,
        "fit_ids_sha256": "be73b63af78b0001f3a89c5b176c75a6c54ee9a13fb46415581698169b4897ab",
        "holdout_count": 608,
        "holdout_ids_sha256": "39a86d72c242c9f79cb72f0f71744e550b1c41c0117deda0c82bc293e7f0a843",
        "seed": 0,
        "split_id": "0000000000-0000000115-cap-3000-repeat-03"
      }
    ],
    "tuning_policy": "Frozen 0.5 m voxel centroids, caps [500, 1500, 3000], options SHA256 70db4256465c0d72eef4fc2cfe94b69cdbdb4ca9122d3eda7bc8d3e29109a3fc; alternate method order"
  },
  "provenance": {
    "command": "tools/benchmark_icp_neighbors.py ${DATASET_ROOT}/kitti_raw/2011_09_30/2011_09_30_drive_0018_sync --output-dir outputs/public-kitti-icp-neighbors-v1 --sizes 500 1500 3000 --repeats 3 --pair 0000000000:0000000115",
    "data_verified": true,
    "generated_at": "2026-10-11T10:21:51.914893+00:00",
    "generator": "tools.benchmark_icp_neighbors",
    "generator_version": "v0.1",
    "git_commit": "d2f49e4",
    "source_artifacts": {
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      "${DATASET_ROOT}/kitti_raw/2011_09_30/2011_09_30_drive_0018_sync/velodyne_points/data/0000000115.bin": "213948bd8c54c925aca7eb9f3b3c36e95e586b52ee8d9d64056c4fc4aeb12b2d",
      "${WORKSPACE_ROOT}/tools/benchmark_icp_neighbors.py": "c02fd592272cbfd108f1840eff83704adf72e2d3bc9fa75d8ac2503ada5faefe",
      "baseline.chen_medioni_point_to_plane_icp_solver.py.txt": "8aae182ba3c469857d9efaad1013159fd3fede8f2ae97bc857bf489e71fb5ee8",
      "baseline.robust_point_to_point_icp_solver.py.txt": "5abfb47c196c2c2f23f03b8e0643664dbbd516cf97c4eb06aaa66b8840f11877",
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      "committed:src/calibrex/evaluation/holdout.py": "6df7f5c3187fda94a4e8ae63a35405d81ed98bcf1a7f1f5a75081930d354e055",
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      "original_definition": "206a4486ae535bef4827b4e5cbeb858ded710b0e042b371c9c7ab9ac43580b27",
      "prepared:0000000000-0000000115-cap-1500": "834976de1c8b6cffc98af181699305e0e1dd06651f18b639390d2b811a204401",
      "prepared:0000000000-0000000115-cap-3000": "aecc7b81cebc800d604e488e27f47bd2d980308e91307227917121c84a38bbfb",
      "prepared:0000000000-0000000115-cap-500": "a6cf520d1d0be6acff4e923b0f5f3870fed1f42947fda622677d7b7b26232936",
      "published:baseline.chen_medioni_point_to_plane_icp_solver.py.txt": "8aae182ba3c469857d9efaad1013159fd3fede8f2ae97bc857bf489e71fb5ee8",
      "published:baseline.robust_point_to_point_icp_solver.py.txt": "5abfb47c196c2c2f23f03b8e0643664dbbd516cf97c4eb06aaa66b8840f11877",
      "published:publication-launcher.py.txt": "dcf5b8e5c305c89194135f47dd1f90b63811a28528c26b2228012cf437a169d0",
      "src/calibrex/core/geometry.py": "6597695de33360d44b8b18e457f84355df3ace30837462f4b9501193879d66aa",
      "src/calibrex/evaluation/holdout.py": "24c0eee5b132cf535dbbfb98ceb4b5f5e1b9ebafce68962a6cef8cff6ff30854",
      "src/calibrex/solvers/_exact_neighbors.py": "f8f700817336bd956dabe4dbc25c7d647b2f1693efc67d18aa57e4f6a53e7ccf",
      "src/calibrex/solvers/chen_medioni_point_to_plane_icp_solver.py": "fd1c64e48da3c79675fc38b2e737ace59cf15d5f7bbafa318c98a8c7b1a29807",
      "src/calibrex/solvers/native_registration_comparison_solver.py": "5763f1afe1ab62819952ead26c7c77242c246ad678643191af551f0363321960",
      "src/calibrex/solvers/robust_point_to_point_icp_solver.py": "920d1ae2a937038e8315eb6d270d2d307bc3d6a118ff0e72459d82a30cda1411"
    }
  },
  "reference_method_id": "exhaustive",
  "schema_version": "slac.benchmark_definition/v0.1",
  "title": "Public KITTI complete point ICP neighbor search",
  "trials": [
    {
      "method_id": "exhaustive",
      "metrics": {
        "numerical_parity": 1.0,
        "wall_seconds": 0.9565156000317074
      },
      "provenance": {
        "command": "tools/benchmark_icp_neighbors.py ${DATASET_ROOT}/kitti_raw/2011_09_30/2011_09_30_drive_0018_sync --output-dir outputs/public-kitti-icp-neighbors-v1 --sizes 500 1500 3000 --repeats 3 --pair 0000000000:0000000115",
        "config_sha256": "70db4256465c0d72eef4fc2cfe94b69cdbdb4ca9122d3eda7bc8d3e29109a3fc",
        "execution_host": "Windows-11-10.0.26300-SP0",
        "input_sha256": "a6cf520d1d0be6acff4e923b0f5f3870fed1f42947fda622677d7b7b26232936",
        "notes": [
          "Order: ['exhaustive', 'indexed']; repeat 1; shared host; no separate warmup.",
          "Source/target counts: 500/500; NumPy 2.3.4; SciPy 1.17.1.",
          "Wall includes index/normal preparation, iterations, holdout, all diagnostics and as_dict; excludes input capture/downsampling and benchmark serialization.",
          "Complete numerical payload: {\"condition_number\": 20.71346321933589, \"correspondence_count\": 95, \"correspondence_policy\": \"nearest neighbor with optional mutual check and trimming\", \"frame_convention\": \"p_target = R_target_source p_source + t_target_source\", \"history\": [{\"correspondence_count\": 85, \"iteration\": 0, \"rmse_m\": 0.80820441573706, \"step_rotation_rad\": 0.012774974228306583, \"step_translation_m\": 0.15225711281581877}, {\"correspondence_count\": 93, \"iteration\": 1, \"rmse_m\": 0.7981438381558464, \"step_rotation_rad\": 0.006164482575852843, \"step_translation_m\": 0.0568134574462116}, {\"correspondence_count\": 93, \"iteration\": 2, \"rmse_m\": 0.780259671100121, \"step_rotation_rad\": 0.0027028409429284425, \"step_translation_m\": 0.05526150879842971}, {\"correspondence_count\": 93, \"iteration\": 3, \"rmse_m\": 0.7766554689487342, \"step_rotation_rad\": 0.004550689756551667, \"step_translation_m\": 0.030287784777532776}, {\"correspondence_count\": 95, \"iteration\": 4, \"rmse_m\": 0.7868215240306062, \"step_rotation_rad\": 0.0009654877856284161, \"step_translation_m\": 0.02178402754337242}, {\"correspondence_count\": 95, \"iteration\": 5, \"rmse_m\": 0.7864051170264961, \"step_rotation_rad\": 0.0, \"step_translation_m\": 2.3075552236602768e-15}], \"holdout_rmse_m\": 3.4972844366950904, \"holdout_source_ids\": [\"source:-143:35:-6\", \"source:-117:-8:-7\", \"source:-113:22:-4\", \"source:-97:20:-3\", \"source:-94:-11:-5\", \"source:-93:18:0\", \"source:-90:-12:-2\", \"source:-86:-24:0\", \"source:-82:-33:-1\", \"source:-80:-23:-2\", \"source:-72:-16:-2\", \"source:-67:-37:-3\", \"source:-63:-33:-2\", \"source:-55:-11:-4\", \"source:-49:-20:-1\", \"source:-42:3:-5\", \"source:-40:-18:-4\", \"source:-40:21:0\", \"source:-37:-11:-4\", \"source:-36:-10:-4\", \"source:-33:5:-5\", \"source:-33:18:-1\", \"source:-34:18:-1\", \"source:-32:-3:-5\", \"source:-32:22:0\", \"source:-31:29:-4\", \"source:-32:38:0\", \"source:-29:-33:-2\", \"source:-29:-18:-3\", \"source:-30:33:0\", \"source:-25:-32:-5\", \"source:-26:15:-4\", \"source:-23:-26:-4\", \"source:-24:29:-2\", \"source:-21:29:-2\", \"source:-20:-32:1\", \"source:-19:36:1\", \"source:-17:-22:-4\", \"source:-17:-15:-3\", \"source:-18:-16:-4\", \"source:-15:-26:-4\", \"source:-16:-25:-4\", \"source:-16:-15:-1\", \"source:-16:6:-5\", \"source:-15:36:1\", \"source:-12:29:-3\", \"source:-10:-14:-4\", \"source:-7:-11:-2\", \"source:-4:37:0\", \"source:-2:-27:-3\", \"source:-1:20:-2\", \"source:4:-12:-1\", \"source:5:14:-1\", \"source:4:20:0\", \"source:6:-14:-2\", \"source:7:14:-1\", \"source:9:-10:-4\", \"source:9:32:-3\", \"source:10:-17:-1\", \"source:11:-12:-4\", \"source:10:11:-4\", \"source:11:30:-3\", \"source:14:-11:-4\", \"source:15:18:-3\", \"source:16:6:-3\", \"source:18:-14:-4\", \"source:23:-29:-3\", \"source:22:-28:-4\", \"source:23:7:-3\", \"source:24:-28:-4\", \"source:25:9:-3\", \"source:25:32:-3\", \"source:26:22:-3\", \"source:28:-12:0\", \"source:28:42:1\", \"source:29:48:-1\", \"source:29:61:1\", \"source:31:-46:1\", \"source:35:94:3\", \"source:39:32:1\", \"source:39:37:2\", \"source:39:58:2\", \"source:40:14:-3\", \"source:46:-9:-3\", \"source:46:86:0\", \"source:49:22:1\", \"source:52:2:-3\", \"source:57:-9:0\", \"source:56:17:-2\", \"source:57:23:0\", \"source:84:11:-1\", \"source:86:23:2\", \"source:91:15:3\", \"source:99:26:1\", \"source:105:4:-2\", \"source:108:-10:2\", \"source:125:13:0\"], \"information_rank\": 6, \"information_singular_values\": [185.95422125247842, 162.67257606807382, 92.32434922095023, 9.746794344808965, 9.473892554212648, 8.977456801086324], \"inlier_fraction\": 0.23573200992555832, \"method\": \"trimmed_mutual_point_to_point_icp/v0.1\", \"multi_start_trials\": [{\"amount\": 0.05, \"direction\": \"x\", \"distinct_solution\": false, \"equivalent_holdout\": true, \"holdout_rmse_m\": 3.4972844366950904, \"solution_rotation_delta_deg\": 0.0, 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9.718415738830587e-16, \"status\": \"converged\", \"symmetry_ambiguous\": false, \"unit\": \"rad\"}, {\"amount\": 0.08726646259971647, \"direction\": \"pitch\", \"distinct_solution\": true, \"equivalent_holdout\": false, \"holdout_rmse_m\": 3.490734098572058, \"solution_rotation_delta_deg\": 0.7572712230669002, \"solution_translation_delta_m\": 0.07111735084394359, \"status\": \"converged\", \"symmetry_ambiguous\": false, \"unit\": \"rad\"}, {\"amount\": 0.08726646259971647, \"direction\": \"yaw\", \"distinct_solution\": true, \"equivalent_holdout\": false, \"holdout_rmse_m\": 3.7068868773588743, \"solution_rotation_delta_deg\": 3.297650773584431, \"solution_translation_delta_m\": 0.14619105756253084, \"status\": \"converged\", \"symmetry_ambiguous\": false, \"unit\": \"rad\"}], \"reason\": \"transform increment fell below tolerance\", \"rematching_diagnostics\": {\"correspondence_jaccards\": [0.9947368421052631, 0.9947368421052631, 1.0, 0.9687466087900163, 0.9584373304395009, 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        ],
        "output_sha256": "1e2ab6b10f7e4b9c231a9e224a75efc177fee8830b5892cc9d66e4c7cfb7626a"
      },
      "runtime_seconds": 0.9565156000317074,
      "split_id": "0000000000-0000000115-cap-500-repeat-01",
      "status": "success"
    },
    {
      "method_id": "indexed",
      "metrics": {
        "numerical_parity": 1.0,
        "wall_seconds": 0.4283663000096567
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      "provenance": {
        "command": "tools/benchmark_icp_neighbors.py ${DATASET_ROOT}/kitti_raw/2011_09_30/2011_09_30_drive_0018_sync --output-dir outputs/public-kitti-icp-neighbors-v1 --sizes 500 1500 3000 --repeats 3 --pair 0000000000:0000000115",
        "config_sha256": "70db4256465c0d72eef4fc2cfe94b69cdbdb4ca9122d3eda7bc8d3e29109a3fc",
        "execution_host": "Windows-11-10.0.26300-SP0",
        "input_sha256": "a6cf520d1d0be6acff4e923b0f5f3870fed1f42947fda622677d7b7b26232936",
        "notes": [
          "Order: ['exhaustive', 'indexed']; repeat 1; shared host; no separate warmup.",
          "Source/target counts: 500/500; NumPy 2.3.4; SciPy 1.17.1.",
          "Wall includes index/normal preparation, iterations, holdout, all diagnostics and as_dict; excludes input capture/downsampling and benchmark serialization.",
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        ],
        "output_sha256": "1e2ab6b10f7e4b9c231a9e224a75efc177fee8830b5892cc9d66e4c7cfb7626a"
      },
      "runtime_seconds": 0.4283663000096567,
      "split_id": "0000000000-0000000115-cap-500-repeat-01",
      "status": "success"
    },
    {
      "method_id": "indexed",
      "metrics": {
        "numerical_parity": 1.0,
        "wall_seconds": 0.49257049994776025
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      "provenance": {
        "command": "tools/benchmark_icp_neighbors.py ${DATASET_ROOT}/kitti_raw/2011_09_30/2011_09_30_drive_0018_sync --output-dir outputs/public-kitti-icp-neighbors-v1 --sizes 500 1500 3000 --repeats 3 --pair 0000000000:0000000115",
        "config_sha256": "70db4256465c0d72eef4fc2cfe94b69cdbdb4ca9122d3eda7bc8d3e29109a3fc",
        "execution_host": "Windows-11-10.0.26300-SP0",
        "input_sha256": "a6cf520d1d0be6acff4e923b0f5f3870fed1f42947fda622677d7b7b26232936",
        "notes": [
          "Order: ['indexed', 'exhaustive']; repeat 2; shared host; no separate warmup.",
          "Source/target counts: 500/500; NumPy 2.3.4; SciPy 1.17.1.",
          "Wall includes index/normal preparation, iterations, holdout, all diagnostics and as_dict; excludes input capture/downsampling and benchmark serialization.",
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        ],
        "output_sha256": "1e2ab6b10f7e4b9c231a9e224a75efc177fee8830b5892cc9d66e4c7cfb7626a"
      },
      "runtime_seconds": 0.49257049994776025,
      "split_id": "0000000000-0000000115-cap-500-repeat-02",
      "status": "success"
    },
    {
      "method_id": "exhaustive",
      "metrics": {
        "numerical_parity": 1.0,
        "wall_seconds": 1.9181124999886379
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      "provenance": {
        "command": "tools/benchmark_icp_neighbors.py ${DATASET_ROOT}/kitti_raw/2011_09_30/2011_09_30_drive_0018_sync --output-dir outputs/public-kitti-icp-neighbors-v1 --sizes 500 1500 3000 --repeats 3 --pair 0000000000:0000000115",
        "config_sha256": "70db4256465c0d72eef4fc2cfe94b69cdbdb4ca9122d3eda7bc8d3e29109a3fc",
        "execution_host": "Windows-11-10.0.26300-SP0",
        "input_sha256": "a6cf520d1d0be6acff4e923b0f5f3870fed1f42947fda622677d7b7b26232936",
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          "Order: ['indexed', 'exhaustive']; repeat 2; shared host; no separate warmup.",
          "Source/target counts: 500/500; NumPy 2.3.4; SciPy 1.17.1.",
          "Wall includes index/normal preparation, iterations, holdout, all diagnostics and as_dict; excludes input capture/downsampling and benchmark serialization.",
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        ],
        "output_sha256": "1e2ab6b10f7e4b9c231a9e224a75efc177fee8830b5892cc9d66e4c7cfb7626a"
      },
      "runtime_seconds": 1.9181124999886379,
      "split_id": "0000000000-0000000115-cap-500-repeat-02",
      "status": "success"
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    {
      "method_id": "exhaustive",
      "metrics": {
        "numerical_parity": 1.0,
        "wall_seconds": 1.513741300033871
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      "provenance": {
        "command": "tools/benchmark_icp_neighbors.py ${DATASET_ROOT}/kitti_raw/2011_09_30/2011_09_30_drive_0018_sync --output-dir outputs/public-kitti-icp-neighbors-v1 --sizes 500 1500 3000 --repeats 3 --pair 0000000000:0000000115",
        "config_sha256": "70db4256465c0d72eef4fc2cfe94b69cdbdb4ca9122d3eda7bc8d3e29109a3fc",
        "execution_host": "Windows-11-10.0.26300-SP0",
        "input_sha256": "a6cf520d1d0be6acff4e923b0f5f3870fed1f42947fda622677d7b7b26232936",
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          "Order: ['exhaustive', 'indexed']; repeat 3; shared host; no separate warmup.",
          "Source/target counts: 500/500; NumPy 2.3.4; SciPy 1.17.1.",
          "Wall includes index/normal preparation, iterations, holdout, all diagnostics and as_dict; excludes input capture/downsampling and benchmark serialization.",
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        ],
        "output_sha256": "1e2ab6b10f7e4b9c231a9e224a75efc177fee8830b5892cc9d66e4c7cfb7626a"
      },
      "runtime_seconds": 1.513741300033871,
      "split_id": "0000000000-0000000115-cap-500-repeat-03",
      "status": "success"
    },
    {
      "method_id": "indexed",
      "metrics": {
        "numerical_parity": 1.0,
        "wall_seconds": 0.29906190000474453
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      "provenance": {
        "command": "tools/benchmark_icp_neighbors.py ${DATASET_ROOT}/kitti_raw/2011_09_30/2011_09_30_drive_0018_sync --output-dir outputs/public-kitti-icp-neighbors-v1 --sizes 500 1500 3000 --repeats 3 --pair 0000000000:0000000115",
        "config_sha256": "70db4256465c0d72eef4fc2cfe94b69cdbdb4ca9122d3eda7bc8d3e29109a3fc",
        "execution_host": "Windows-11-10.0.26300-SP0",
        "input_sha256": "a6cf520d1d0be6acff4e923b0f5f3870fed1f42947fda622677d7b7b26232936",
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          "Order: ['exhaustive', 'indexed']; repeat 3; shared host; no separate warmup.",
          "Source/target counts: 500/500; NumPy 2.3.4; SciPy 1.17.1.",
          "Wall includes index/normal preparation, iterations, holdout, all diagnostics and as_dict; excludes input capture/downsampling and benchmark serialization.",
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        ],
        "output_sha256": "1e2ab6b10f7e4b9c231a9e224a75efc177fee8830b5892cc9d66e4c7cfb7626a"
      },
      "runtime_seconds": 0.29906190000474453,
      "split_id": "0000000000-0000000115-cap-500-repeat-03",
      "status": "success"
    },
    {
      "method_id": "indexed",
      "metrics": {
        "numerical_parity": 1.0,
        "wall_seconds": 1.653190299984999
      },
      "provenance": {
        "command": "tools/benchmark_icp_neighbors.py ${DATASET_ROOT}/kitti_raw/2011_09_30/2011_09_30_drive_0018_sync --output-dir outputs/public-kitti-icp-neighbors-v1 --sizes 500 1500 3000 --repeats 3 --pair 0000000000:0000000115",
        "config_sha256": "70db4256465c0d72eef4fc2cfe94b69cdbdb4ca9122d3eda7bc8d3e29109a3fc",
        "execution_host": "Windows-11-10.0.26300-SP0",
        "input_sha256": "834976de1c8b6cffc98af181699305e0e1dd06651f18b639390d2b811a204401",
        "notes": [
          "Order: ['indexed', 'exhaustive']; repeat 1; shared host; no separate warmup.",
          "Source/target counts: 1500/1500; NumPy 2.3.4; SciPy 1.17.1.",
          "Wall includes index/normal preparation, iterations, holdout, all diagnostics and as_dict; excludes input capture/downsampling and benchmark serialization.",
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        ],
        "output_sha256": "2070779314d9552b21939f302e0002102c28b3151c5cedccabdad79b1f42a8a5"
      },
      "runtime_seconds": 1.653190299984999,
      "split_id": "0000000000-0000000115-cap-1500-repeat-01",
      "status": "success"
    },
    {
      "method_id": "exhaustive",
      "metrics": {
        "numerical_parity": 1.0,
        "wall_seconds": 18.238222200016025
      },
      "provenance": {
        "command": "tools/benchmark_icp_neighbors.py ${DATASET_ROOT}/kitti_raw/2011_09_30/2011_09_30_drive_0018_sync --output-dir outputs/public-kitti-icp-neighbors-v1 --sizes 500 1500 3000 --repeats 3 --pair 0000000000:0000000115",
        "config_sha256": "70db4256465c0d72eef4fc2cfe94b69cdbdb4ca9122d3eda7bc8d3e29109a3fc",
        "execution_host": "Windows-11-10.0.26300-SP0",
        "input_sha256": "834976de1c8b6cffc98af181699305e0e1dd06651f18b639390d2b811a204401",
        "notes": [
          "Order: ['indexed', 'exhaustive']; repeat 1; shared host; no separate warmup.",
          "Source/target counts: 1500/1500; NumPy 2.3.4; SciPy 1.17.1.",
          "Wall includes index/normal preparation, iterations, holdout, all diagnostics and as_dict; excludes input capture/downsampling and benchmark serialization.",
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        ],
        "output_sha256": "2070779314d9552b21939f302e0002102c28b3151c5cedccabdad79b1f42a8a5"
      },
      "runtime_seconds": 18.238222200016025,
      "split_id": "0000000000-0000000115-cap-1500-repeat-01",
      "status": "success"
    },
    {
      "method_id": "exhaustive",
      "metrics": {
        "numerical_parity": 1.0,
        "wall_seconds": 15.3945623000036
      },
      "provenance": {
        "command": "tools/benchmark_icp_neighbors.py ${DATASET_ROOT}/kitti_raw/2011_09_30/2011_09_30_drive_0018_sync --output-dir outputs/public-kitti-icp-neighbors-v1 --sizes 500 1500 3000 --repeats 3 --pair 0000000000:0000000115",
        "config_sha256": "70db4256465c0d72eef4fc2cfe94b69cdbdb4ca9122d3eda7bc8d3e29109a3fc",
        "execution_host": "Windows-11-10.0.26300-SP0",
        "input_sha256": "834976de1c8b6cffc98af181699305e0e1dd06651f18b639390d2b811a204401",
        "notes": [
          "Order: ['exhaustive', 'indexed']; repeat 2; shared host; no separate warmup.",
          "Source/target counts: 1500/1500; NumPy 2.3.4; SciPy 1.17.1.",
          "Wall includes index/normal preparation, iterations, holdout, all diagnostics and as_dict; excludes input capture/downsampling and benchmark serialization.",
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        ],
        "output_sha256": "2070779314d9552b21939f302e0002102c28b3151c5cedccabdad79b1f42a8a5"
      },
      "runtime_seconds": 15.3945623000036,
      "split_id": "0000000000-0000000115-cap-1500-repeat-02",
      "status": "success"
    },
    {
      "method_id": "indexed",
      "metrics": {
        "numerical_parity": 1.0,
        "wall_seconds": 0.7652734000002965
      },
      "provenance": {
        "command": "tools/benchmark_icp_neighbors.py ${DATASET_ROOT}/kitti_raw/2011_09_30/2011_09_30_drive_0018_sync --output-dir outputs/public-kitti-icp-neighbors-v1 --sizes 500 1500 3000 --repeats 3 --pair 0000000000:0000000115",
        "config_sha256": "70db4256465c0d72eef4fc2cfe94b69cdbdb4ca9122d3eda7bc8d3e29109a3fc",
        "execution_host": "Windows-11-10.0.26300-SP0",
        "input_sha256": "834976de1c8b6cffc98af181699305e0e1dd06651f18b639390d2b811a204401",
        "notes": [
          "Order: ['exhaustive', 'indexed']; repeat 2; shared host; no separate warmup.",
          "Source/target counts: 1500/1500; NumPy 2.3.4; SciPy 1.17.1.",
          "Wall includes index/normal preparation, iterations, holdout, all diagnostics and as_dict; excludes input capture/downsampling and benchmark serialization.",
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        ],
        "output_sha256": "2070779314d9552b21939f302e0002102c28b3151c5cedccabdad79b1f42a8a5"
      },
      "runtime_seconds": 0.7652734000002965,
      "split_id": "0000000000-0000000115-cap-1500-repeat-02",
      "status": "success"
    },
    {
      "method_id": "indexed",
      "metrics": {
        "numerical_parity": 1.0,
        "wall_seconds": 0.7419162000296637
      },
      "provenance": {
        "command": "tools/benchmark_icp_neighbors.py ${DATASET_ROOT}/kitti_raw/2011_09_30/2011_09_30_drive_0018_sync --output-dir outputs/public-kitti-icp-neighbors-v1 --sizes 500 1500 3000 --repeats 3 --pair 0000000000:0000000115",
        "config_sha256": "70db4256465c0d72eef4fc2cfe94b69cdbdb4ca9122d3eda7bc8d3e29109a3fc",
        "execution_host": "Windows-11-10.0.26300-SP0",
        "input_sha256": "834976de1c8b6cffc98af181699305e0e1dd06651f18b639390d2b811a204401",
        "notes": [
          "Order: ['indexed', 'exhaustive']; repeat 3; shared host; no separate warmup.",
          "Source/target counts: 1500/1500; NumPy 2.3.4; SciPy 1.17.1.",
          "Wall includes index/normal preparation, iterations, holdout, all diagnostics and as_dict; excludes input capture/downsampling and benchmark serialization.",
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        ],
        "output_sha256": "2070779314d9552b21939f302e0002102c28b3151c5cedccabdad79b1f42a8a5"
      },
      "runtime_seconds": 0.7419162000296637,
      "split_id": "0000000000-0000000115-cap-1500-repeat-03",
      "status": "success"
    },
    {
      "method_id": "exhaustive",
      "metrics": {
        "numerical_parity": 1.0,
        "wall_seconds": 14.060143699985929
      },
      "provenance": {
        "command": "tools/benchmark_icp_neighbors.py ${DATASET_ROOT}/kitti_raw/2011_09_30/2011_09_30_drive_0018_sync --output-dir outputs/public-kitti-icp-neighbors-v1 --sizes 500 1500 3000 --repeats 3 --pair 0000000000:0000000115",
        "config_sha256": "70db4256465c0d72eef4fc2cfe94b69cdbdb4ca9122d3eda7bc8d3e29109a3fc",
        "execution_host": "Windows-11-10.0.26300-SP0",
        "input_sha256": "834976de1c8b6cffc98af181699305e0e1dd06651f18b639390d2b811a204401",
        "notes": [
          "Order: ['indexed', 'exhaustive']; repeat 3; shared host; no separate warmup.",
          "Source/target counts: 1500/1500; NumPy 2.3.4; SciPy 1.17.1.",
          "Wall includes index/normal preparation, iterations, holdout, all diagnostics and as_dict; excludes input capture/downsampling and benchmark serialization.",
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        ],
        "output_sha256": "2070779314d9552b21939f302e0002102c28b3151c5cedccabdad79b1f42a8a5"
      },
      "runtime_seconds": 14.060143699985929,
      "split_id": "0000000000-0000000115-cap-1500-repeat-03",
      "status": "success"
    },
    {
      "method_id": "exhaustive",
      "metrics": {
        "numerical_parity": 1.0,
        "wall_seconds": 108.14812440000242
      },
      "provenance": {
        "command": "tools/benchmark_icp_neighbors.py ${DATASET_ROOT}/kitti_raw/2011_09_30/2011_09_30_drive_0018_sync --output-dir outputs/public-kitti-icp-neighbors-v1 --sizes 500 1500 3000 --repeats 3 --pair 0000000000:0000000115",
        "config_sha256": "70db4256465c0d72eef4fc2cfe94b69cdbdb4ca9122d3eda7bc8d3e29109a3fc",
        "execution_host": "Windows-11-10.0.26300-SP0",
        "input_sha256": "aecc7b81cebc800d604e488e27f47bd2d980308e91307227917121c84a38bbfb",
        "notes": [
          "Order: ['exhaustive', 'indexed']; repeat 1; shared host; no separate warmup.",
          "Source/target counts: 3000/3000; NumPy 2.3.4; SciPy 1.17.1.",
          "Wall includes index/normal preparation, iterations, holdout, all diagnostics and as_dict; excludes input capture/downsampling and benchmark serialization.",
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\"source:154:20:5\", \"source:157:-9:0\", \"source:156:10:4\", \"source:157:23:4\"], \"transform_target_source\": {\"rotation_quat_xyzw\": [-0.012913675887511111, 0.005937228413961527, 0.0020503279877045685, 0.9998968859082299], \"translation_m\": [0.16825550534053313, 0.01853044761027197, -0.030211904762064413]}}"
        ],
        "output_sha256": "cfb13db27f697b7002f870e435c9f45306d154ebf5da1fd44bf24589582c46fb"
      },
      "runtime_seconds": 108.14812440000242,
      "split_id": "0000000000-0000000115-cap-3000-repeat-01",
      "status": "success"
    },
    {
      "method_id": "indexed",
      "metrics": {
        "numerical_parity": 1.0,
        "wall_seconds": 4.057658400037326
      },
      "provenance": {
        "command": "tools/benchmark_icp_neighbors.py ${DATASET_ROOT}/kitti_raw/2011_09_30/2011_09_30_drive_0018_sync --output-dir outputs/public-kitti-icp-neighbors-v1 --sizes 500 1500 3000 --repeats 3 --pair 0000000000:0000000115",
        "config_sha256": "70db4256465c0d72eef4fc2cfe94b69cdbdb4ca9122d3eda7bc8d3e29109a3fc",
        "execution_host": "Windows-11-10.0.26300-SP0",
        "input_sha256": "aecc7b81cebc800d604e488e27f47bd2d980308e91307227917121c84a38bbfb",
        "notes": [
          "Order: ['exhaustive', 'indexed']; repeat 1; shared host; no separate warmup.",
          "Source/target counts: 3000/3000; NumPy 2.3.4; SciPy 1.17.1.",
          "Wall includes index/normal preparation, iterations, holdout, all diagnostics and as_dict; excludes input capture/downsampling and benchmark serialization.",
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\"source:154:20:5\", \"source:157:-9:0\", \"source:156:10:4\", \"source:157:23:4\"], \"transform_target_source\": {\"rotation_quat_xyzw\": [-0.012913675887511111, 0.005937228413961527, 0.0020503279877045685, 0.9998968859082299], \"translation_m\": [0.16825550534053313, 0.01853044761027197, -0.030211904762064413]}}"
        ],
        "output_sha256": "cfb13db27f697b7002f870e435c9f45306d154ebf5da1fd44bf24589582c46fb"
      },
      "runtime_seconds": 4.057658400037326,
      "split_id": "0000000000-0000000115-cap-3000-repeat-01",
      "status": "success"
    },
    {
      "method_id": "indexed",
      "metrics": {
        "numerical_parity": 1.0,
        "wall_seconds": 2.4831327999709174
      },
      "provenance": {
        "command": "tools/benchmark_icp_neighbors.py ${DATASET_ROOT}/kitti_raw/2011_09_30/2011_09_30_drive_0018_sync --output-dir outputs/public-kitti-icp-neighbors-v1 --sizes 500 1500 3000 --repeats 3 --pair 0000000000:0000000115",
        "config_sha256": "70db4256465c0d72eef4fc2cfe94b69cdbdb4ca9122d3eda7bc8d3e29109a3fc",
        "execution_host": "Windows-11-10.0.26300-SP0",
        "input_sha256": "aecc7b81cebc800d604e488e27f47bd2d980308e91307227917121c84a38bbfb",
        "notes": [
          "Order: ['indexed', 'exhaustive']; repeat 2; shared host; no separate warmup.",
          "Source/target counts: 3000/3000; NumPy 2.3.4; SciPy 1.17.1.",
          "Wall includes index/normal preparation, iterations, holdout, all diagnostics and as_dict; excludes input capture/downsampling and benchmark serialization.",
          "Complete numerical payload: {\"condition_number\": 20.41718012725418, \"correspondence_count\": 627, \"correspondence_policy\": \"nearest neighbor with optional mutual check and trimming\", \"frame_convention\": \"p_target = R_target_source p_source + t_target_source\", \"history\": [{\"correspondence_count\": 635, \"iteration\": 0, \"rmse_m\": 0.49930237368195296, \"step_rotation_rad\": 0.009085316159902577, \"step_translation_m\": 0.07060595597044933}, {\"correspondence_count\": 632, \"iteration\": 1, \"rmse_m\": 0.45404612478907197, \"step_rotation_rad\": 0.009565787879785702, \"step_translation_m\": 0.02848802104248055}, {\"correspondence_count\": 634, \"iteration\": 2, \"rmse_m\": 0.4353047365090745, \"step_rotation_rad\": 0.00554415462398814, \"step_translation_m\": 0.022129477474937913}, {\"correspondence_count\": 639, \"iteration\": 3, \"rmse_m\": 0.4359652011832242, \"step_rotation_rad\": 0.002493099793392032, \"step_translation_m\": 0.01427796398390766}, 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\"source:154:20:5\", \"source:157:-9:0\", \"source:156:10:4\", \"source:157:23:4\"], \"transform_target_source\": {\"rotation_quat_xyzw\": [-0.012913675887511111, 0.005937228413961527, 0.0020503279877045685, 0.9998968859082299], \"translation_m\": [0.16825550534053313, 0.01853044761027197, -0.030211904762064413]}}"
        ],
        "output_sha256": "cfb13db27f697b7002f870e435c9f45306d154ebf5da1fd44bf24589582c46fb"
      },
      "runtime_seconds": 2.4831327999709174,
      "split_id": "0000000000-0000000115-cap-3000-repeat-02",
      "status": "success"
    },
    {
      "method_id": "exhaustive",
      "metrics": {
        "numerical_parity": 1.0,
        "wall_seconds": 163.601395900012
      },
      "provenance": {
        "command": "tools/benchmark_icp_neighbors.py ${DATASET_ROOT}/kitti_raw/2011_09_30/2011_09_30_drive_0018_sync --output-dir outputs/public-kitti-icp-neighbors-v1 --sizes 500 1500 3000 --repeats 3 --pair 0000000000:0000000115",
        "config_sha256": "70db4256465c0d72eef4fc2cfe94b69cdbdb4ca9122d3eda7bc8d3e29109a3fc",
        "execution_host": "Windows-11-10.0.26300-SP0",
        "input_sha256": "aecc7b81cebc800d604e488e27f47bd2d980308e91307227917121c84a38bbfb",
        "notes": [
          "Order: ['indexed', 'exhaustive']; repeat 2; shared host; no separate warmup.",
          "Source/target counts: 3000/3000; NumPy 2.3.4; SciPy 1.17.1.",
          "Wall includes index/normal preparation, iterations, holdout, all diagnostics and as_dict; excludes input capture/downsampling and benchmark serialization.",
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        ],
        "output_sha256": "cfb13db27f697b7002f870e435c9f45306d154ebf5da1fd44bf24589582c46fb"
      },
      "runtime_seconds": 163.601395900012,
      "split_id": "0000000000-0000000115-cap-3000-repeat-02",
      "status": "success"
    },
    {
      "method_id": "exhaustive",
      "metrics": {
        "numerical_parity": 1.0,
        "wall_seconds": 123.73061379999854
      },
      "provenance": {
        "command": "tools/benchmark_icp_neighbors.py ${DATASET_ROOT}/kitti_raw/2011_09_30/2011_09_30_drive_0018_sync --output-dir outputs/public-kitti-icp-neighbors-v1 --sizes 500 1500 3000 --repeats 3 --pair 0000000000:0000000115",
        "config_sha256": "70db4256465c0d72eef4fc2cfe94b69cdbdb4ca9122d3eda7bc8d3e29109a3fc",
        "execution_host": "Windows-11-10.0.26300-SP0",
        "input_sha256": "aecc7b81cebc800d604e488e27f47bd2d980308e91307227917121c84a38bbfb",
        "notes": [
          "Order: ['exhaustive', 'indexed']; repeat 3; shared host; no separate warmup.",
          "Source/target counts: 3000/3000; NumPy 2.3.4; SciPy 1.17.1.",
          "Wall includes index/normal preparation, iterations, holdout, all diagnostics and as_dict; excludes input capture/downsampling and benchmark serialization.",
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\"source:154:20:5\", \"source:157:-9:0\", \"source:156:10:4\", \"source:157:23:4\"], \"transform_target_source\": {\"rotation_quat_xyzw\": [-0.012913675887511111, 0.005937228413961527, 0.0020503279877045685, 0.9998968859082299], \"translation_m\": [0.16825550534053313, 0.01853044761027197, -0.030211904762064413]}}"
        ],
        "output_sha256": "cfb13db27f697b7002f870e435c9f45306d154ebf5da1fd44bf24589582c46fb"
      },
      "runtime_seconds": 123.73061379999854,
      "split_id": "0000000000-0000000115-cap-3000-repeat-03",
      "status": "success"
    },
    {
      "method_id": "indexed",
      "metrics": {
        "numerical_parity": 1.0,
        "wall_seconds": 4.64912329998333
      },
      "provenance": {
        "command": "tools/benchmark_icp_neighbors.py ${DATASET_ROOT}/kitti_raw/2011_09_30/2011_09_30_drive_0018_sync --output-dir outputs/public-kitti-icp-neighbors-v1 --sizes 500 1500 3000 --repeats 3 --pair 0000000000:0000000115",
        "config_sha256": "70db4256465c0d72eef4fc2cfe94b69cdbdb4ca9122d3eda7bc8d3e29109a3fc",
        "execution_host": "Windows-11-10.0.26300-SP0",
        "input_sha256": "aecc7b81cebc800d604e488e27f47bd2d980308e91307227917121c84a38bbfb",
        "notes": [
          "Order: ['exhaustive', 'indexed']; repeat 3; shared host; no separate warmup.",
          "Source/target counts: 3000/3000; NumPy 2.3.4; SciPy 1.17.1.",
          "Wall includes index/normal preparation, iterations, holdout, all diagnostics and as_dict; excludes input capture/downsampling and benchmark serialization.",
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