{
  "control_delta_chi2_threshold": 9.0,
  "controls": [
    {
      "axis": 0,
      "baseline_holdout_rmse": 0.0004883028051549637,
      "delta_chi2": 2349.293226533595,
      "detected": true,
      "family": "gyro",
      "magnitude": 0.017453292519943295,
      "parameter": "imu_rotation",
      "perturbed_holdout_rmse": 0.002731760659558778,
      "sign": -1,
      "unit": "rad"
    },
    {
      "axis": 0,
      "baseline_holdout_rmse": 0.0004883028051549637,
      "delta_chi2": 2609.286350498623,
      "detected": true,
      "family": "gyro",
      "magnitude": 0.017453292519943295,
      "parameter": "imu_rotation",
      "perturbed_holdout_rmse": 0.0028743686536882272,
      "sign": 1,
      "unit": "rad"
    },
    {
      "axis": 1,
      "baseline_holdout_rmse": 0.0004883028051549637,
      "delta_chi2": 5221.032780861907,
      "detected": true,
      "family": "gyro",
      "magnitude": 0.017453292519943295,
      "parameter": "imu_rotation",
      "perturbed_holdout_rmse": 0.004036473142567973,
      "sign": -1,
      "unit": "rad"
    },
    {
      "axis": 1,
      "baseline_holdout_rmse": 0.0004883028051549637,
      "delta_chi2": 4403.183417621823,
      "detected": true,
      "family": "gyro",
      "magnitude": 0.017453292519943295,
      "parameter": "imu_rotation",
      "perturbed_holdout_rmse": 0.0037119036408168396,
      "sign": 1,
      "unit": "rad"
    },
    {
      "axis": 2,
      "baseline_holdout_rmse": 0.0004883028051549637,
      "delta_chi2": 3374.837450355233,
      "detected": true,
      "family": "gyro",
      "magnitude": 0.017453292519943295,
      "parameter": "imu_rotation",
      "perturbed_holdout_rmse": 0.00325823031558,
      "sign": -1,
      "unit": "rad"
    },
    {
      "axis": 2,
      "baseline_holdout_rmse": 0.0004883028051549637,
      "delta_chi2": 3409.897590639554,
      "detected": true,
      "family": "gyro",
      "magnitude": 0.017453292519943295,
      "parameter": "imu_rotation",
      "perturbed_holdout_rmse": 0.003274732770889685,
      "sign": 1,
      "unit": "rad"
    },
    {
      "axis": 0,
      "baseline_holdout_rmse": 0.0004883028051549637,
      "delta_chi2": 504.2243524901152,
      "detected": true,
      "family": "gyro",
      "magnitude": 0.005,
      "parameter": "gyro_bias",
      "perturbed_holdout_rmse": 0.001337508696580815,
      "sign": -1,
      "unit": "rad/s"
    },
    {
      "axis": 0,
      "baseline_holdout_rmse": 0.0004883028051549637,
      "delta_chi2": 357.34151130016295,
      "detected": true,
      "family": "gyro",
      "magnitude": 0.005,
      "parameter": "gyro_bias",
      "perturbed_holdout_rmse": 0.0011564016502799567,
      "sign": 1,
      "unit": "rad/s"
    },
    {
      "axis": 1,
      "baseline_holdout_rmse": 0.0004883028051549637,
      "delta_chi2": 467.751608267578,
      "detected": true,
      "family": "gyro",
      "magnitude": 0.005,
      "parameter": "gyro_bias",
      "perturbed_holdout_rmse": 0.0012949037898411636,
      "sign": -1,
      "unit": "rad/s"
    },
    {
      "axis": 1,
      "baseline_holdout_rmse": 0.0004883028051549637,
      "delta_chi2": 388.12595756470387,
      "detected": true,
      "family": "gyro",
      "magnitude": 0.005,
      "parameter": "gyro_bias",
      "perturbed_holdout_rmse": 0.0011966315009365543,
      "sign": 1,
      "unit": "rad/s"
    },
    {
      "axis": 2,
      "baseline_holdout_rmse": 0.0004883028051549637,
      "delta_chi2": 453.51787512761774,
      "detected": true,
      "family": "gyro",
      "magnitude": 0.005,
      "parameter": "gyro_bias",
      "perturbed_holdout_rmse": 0.0012778916603294783,
      "sign": -1,
      "unit": "rad/s"
    },
    {
      "axis": 2,
      "baseline_holdout_rmse": 0.0004883028051549637,
      "delta_chi2": 405.4601582565278,
      "detected": true,
      "family": "gyro",
      "magnitude": 0.005,
      "parameter": "gyro_bias",
      "perturbed_holdout_rmse": 0.0012186999697058457,
      "sign": 1,
      "unit": "rad/s"
    },
    {
      "baseline_holdout_rmse": 0.0004883028051549637,
      "delta_chi2": 3566.842124312127,
      "detected": true,
      "family": "gyro",
      "magnitude": 0.005,
      "parameter": "imu_clock_offset",
      "perturbed_holdout_rmse": 0.003347607976119963,
      "sign": -1,
      "unit": "s"
    },
    {
      "baseline_holdout_rmse": 0.0004883028051549637,
      "delta_chi2": 2254.6294926529627,
      "detected": true,
      "family": "gyro",
      "magnitude": 0.005,
      "parameter": "imu_clock_offset",
      "perturbed_holdout_rmse": 0.00267795170222132,
      "sign": 1,
      "unit": "s"
    },
    {
      "axis": 0,
      "baseline_holdout_rmse": 0.0295772747217196,
      "delta_chi2": 20.673183483830766,
      "detected": true,
      "family": "accel",
      "magnitude": 0.05,
      "parameter": "lever_arm",
      "perturbed_holdout_rmse": 0.03520846581396087,
      "sign": -1,
      "unit": "m"
    },
    {
      "axis": 0,
      "baseline_holdout_rmse": 0.0295772747217196,
      "delta_chi2": 46.52102090636597,
      "detected": true,
      "family": "accel",
      "magnitude": 0.05,
      "parameter": "lever_arm",
      "perturbed_holdout_rmse": 0.04117978111196507,
      "sign": 1,
      "unit": "m"
    },
    {
      "axis": 1,
      "baseline_holdout_rmse": 0.0295772747217196,
      "delta_chi2": 67.46260181629356,
      "detected": true,
      "family": "accel",
      "magnitude": 0.05,
      "parameter": "lever_arm",
      "perturbed_holdout_rmse": 0.04544592041761887,
      "sign": -1,
      "unit": "m"
    },
    {
      "axis": 1,
      "baseline_holdout_rmse": 0.0295772747217196,
      "delta_chi2": 73.17207371209973,
      "detected": true,
      "family": "accel",
      "magnitude": 0.05,
      "parameter": "lever_arm",
      "perturbed_holdout_rmse": 0.0465412405185028,
      "sign": 1,
      "unit": "m"
    },
    {
      "axis": 2,
      "baseline_holdout_rmse": 0.0295772747217196,
      "delta_chi2": 36.58139700842117,
      "detected": true,
      "family": "accel",
      "magnitude": 0.05,
      "parameter": "lever_arm",
      "perturbed_holdout_rmse": 0.038991912556561835,
      "sign": -1,
      "unit": "m"
    },
    {
      "axis": 2,
      "baseline_holdout_rmse": 0.0295772747217196,
      "delta_chi2": 73.77122310735881,
      "detected": true,
      "family": "accel",
      "magnitude": 0.05,
      "parameter": "lever_arm",
      "perturbed_holdout_rmse": 0.04665469208582719,
      "sign": 1,
      "unit": "m"
    },
    {
      "axis": 0,
      "baseline_holdout_rmse": 0.0295772747217196,
      "delta_chi2": 726.3290737738505,
      "detected": true,
      "family": "accel",
      "magnitude": 0.2,
      "parameter": "accel_bias",
      "perturbed_holdout_rmse": 0.11701447376325223,
      "sign": -1,
      "unit": "m/s^2"
    },
    {
      "axis": 0,
      "baseline_holdout_rmse": 0.0295772747217196,
      "delta_chi2": 784.7820373372613,
      "detected": true,
      "family": "accel",
      "magnitude": 0.2,
      "parameter": "accel_bias",
      "perturbed_holdout_rmse": 0.12134211946601219,
      "sign": 1,
      "unit": "m/s^2"
    },
    {
      "axis": 1,
      "baseline_holdout_rmse": 0.0295772747217196,
      "delta_chi2": 763.6900275755503,
      "detected": true,
      "family": "accel",
      "magnitude": 0.2,
      "parameter": "accel_bias",
      "perturbed_holdout_rmse": 0.11979857269405426,
      "sign": -1,
      "unit": "m/s^2"
    },
    {
      "axis": 1,
      "baseline_holdout_rmse": 0.0295772747217196,
      "delta_chi2": 747.4210835355594,
      "detected": true,
      "family": "accel",
      "magnitude": 0.2,
      "parameter": "accel_bias",
      "perturbed_holdout_rmse": 0.11859426211694299,
      "sign": 1,
      "unit": "m/s^2"
    },
    {
      "axis": 2,
      "baseline_holdout_rmse": 0.0295772747217196,
      "delta_chi2": 808.8323272946755,
      "detected": true,
      "family": "accel",
      "magnitude": 0.2,
      "parameter": "accel_bias",
      "perturbed_holdout_rmse": 0.12307853930765267,
      "sign": -1,
      "unit": "m/s^2"
    },
    {
      "axis": 2,
      "baseline_holdout_rmse": 0.0295772747217196,
      "delta_chi2": 702.2787838164337,
      "detected": true,
      "family": "accel",
      "magnitude": 0.2,
      "parameter": "accel_bias",
      "perturbed_holdout_rmse": 0.11518667539472337,
      "sign": 1,
      "unit": "m/s^2"
    },
    {
      "axis": 0,
      "baseline_holdout_rmse": 0.0295772747217196,
      "delta_chi2": 853.592531729665,
      "detected": true,
      "family": "accel",
      "magnitude": 0.2,
      "parameter": "gravity",
      "perturbed_holdout_rmse": 0.12624663480157744,
      "sign": -1,
      "unit": "m/s^2"
    },
    {
      "axis": 0,
      "baseline_holdout_rmse": 0.0295772747217196,
      "delta_chi2": 657.5185793814493,
      "detected": true,
      "family": "accel",
      "magnitude": 0.2,
      "parameter": "gravity",
      "perturbed_holdout_rmse": 0.11170534556533988,
      "sign": 1,
      "unit": "m/s^2"
    },
    {
      "axis": 1,
      "baseline_holdout_rmse": 0.0295772747217196,
      "delta_chi2": 821.9836908803061,
      "detected": true,
      "family": "accel",
      "magnitude": 0.2,
      "parameter": "gravity",
      "perturbed_holdout_rmse": 0.12401777987414002,
      "sign": -1,
      "unit": "m/s^2"
    },
    {
      "axis": 1,
      "baseline_holdout_rmse": 0.0295772747217196,
      "delta_chi2": 689.1274202308047,
      "detected": true,
      "family": "accel",
      "magnitude": 0.2,
      "parameter": "gravity",
      "perturbed_holdout_rmse": 0.1141748102765411,
      "sign": 1,
      "unit": "m/s^2"
    },
    {
      "axis": 2,
      "baseline_holdout_rmse": 0.0295772747217196,
      "delta_chi2": 716.8502587515771,
      "detected": true,
      "family": "accel",
      "magnitude": 0.2,
      "parameter": "gravity",
      "perturbed_holdout_rmse": 0.1162975230338782,
      "sign": -1,
      "unit": "m/s^2"
    },
    {
      "axis": 2,
      "baseline_holdout_rmse": 0.0295772747217196,
      "delta_chi2": 794.260852359523,
      "detected": true,
      "family": "accel",
      "magnitude": 0.2,
      "parameter": "gravity",
      "perturbed_holdout_rmse": 0.12202943564066492,
      "sign": 1,
      "unit": "m/s^2"
    }
  ],
  "data_source": "synthetic",
  "entangled_correlation_threshold": 0.9,
  "fit_status": "converged",
  "gyro_residual": "preintegrated_window_rad",
  "holdout_accel_count": 17,
  "holdout_accel_rmse_m_s2": 0.0295772747217196,
  "holdout_gyro_count": 4,
  "holdout_gyro_rmse": 0.0004883028051549637,
  "holdout_scheme": "interleaved: every third gyro window and accelerometer sample",
  "holdout_to_oracle_ratio_limit": 1.5,
  "interpolation": "screw_linear",
  "iterations": 29,
  "knot_count": 7,
  "knot_spacing_sec": 1.0,
  "lidar_measurement_count": 480,
  "max_trajectory_rotation_error_deg": 0.16357192720829986,
  "max_trajectory_translation_error_m": 0.005859983592877528,
  "oracle_holdout_accel_rmse_m_s2": 0.02807927278602646,
  "oracle_holdout_gyro_rmse": 0.0004764117930243034,
  "parameters": [
    {
      "error": [
        -0.0010368996479980014,
        -0.000845206112147183,
        -0.0010326326462592483
      ],
      "error_budget": 0.008726646259971648,
      "error_norm": 0.0016899303045243355,
      "estimate": [
        0.0389999223410934,
        -0.03084994241932221,
        0.048935051827137324
      ],
      "initial": [
        0.0,
        0.0,
        0.0
      ],
      "max_normalized_error": 1.3711030110726865,
      "name": "imu_rotation",
      "std": [
        0.0009594820653020556,
        0.0006164424593349361,
        0.0007719269576061191
      ],
      "truth": [
        0.04,
        -0.03,
        0.05
      ],
      "unit": "rad",
      "within_budget": true
    },
    {
      "error": [
        -0.0005880841026943903,
        0.000288555710400467,
        -7.307326078449979e-05
      ],
      "error_budget": 0.002,
      "error_norm": 0.0006591259449363709,
      "estimate": [
        0.00741191589730561,
        -0.005711444289599533,
        0.0099269267392155
      ],
      "initial": [
        0.0,
        0.0,
        0.0
      ],
      "max_normalized_error": 1.9857789985140075,
      "name": "gyro_bias",
      "std": [
        0.0002961478105743206,
        0.0003886568866166625,
        0.0003513635202141523
      ],
      "truth": [
        0.008,
        -0.006,
        0.01
      ],
      "unit": "rad/s",
      "within_budget": true
    },
    {
      "error": [
        -0.001058735998543489,
        -0.001905173787334194,
        0.007601529578523586
      ],
      "error_budget": 0.03,
      "error_norm": 0.007907835418603891,
      "estimate": [
        0.09894126400145652,
        -0.06190517378733419,
        0.15760152957852358
      ],
      "initial": [
        0.0,
        0.0,
        0.0
      ],
      "max_normalized_error": 0.8872780626933618,
      "name": "lever_arm",
      "std": [
        0.012083342933328273,
        0.009503642364249332,
        0.0085672461634506
      ],
      "truth": [
        0.1,
        -0.06,
        0.15
      ],
      "unit": "m",
      "within_budget": true
    },
    {
      "error": [
        -0.0006266761493275239
      ],
      "error_budget": 0.002,
      "error_norm": 0.0006266761493275239,
      "estimate": [
        0.006373323850672476
      ],
      "initial": [
        0.0
      ],
      "max_normalized_error": 3.32170666235498,
      "name": "imu_clock_offset",
      "std": [
        0.0001886608942414052
      ],
      "truth": [
        0.007
      ],
      "unit": "s",
      "within_budget": true
    },
    {
      "error": [
        0.005461174342789879,
        0.001445287873142194,
        -0.004827585628398891
      ],
      "error_budget": 0.06,
      "error_norm": 0.007430939727794989,
      "estimate": [
        0.06546117434278988,
        -0.04855471212685781,
        0.03517241437160111
      ],
      "initial": [
        0.0,
        0.0,
        0.0
      ],
      "max_normalized_error": 0.44161273208777174,
      "name": "accel_bias",
      "std": [
        0.02108070860682709,
        0.01113739431161702,
        0.010931717492781424
      ],
      "truth": [
        0.06,
        -0.05,
        0.04
      ],
      "unit": "m/s^2",
      "within_budget": true
    },
    {
      "error": [
        0.003668444048549092,
        -0.0014466798527261924,
        -0.003054380464787343
      ],
      "error_budget": 0.1,
      "error_norm": 0.004987945905610212,
      "estimate": [
        0.003668444048549092,
        -0.0014466798527261924,
        -9.813054380464788
      ],
      "initial": [
        0.0,
        0.0,
        -9.7
      ],
      "max_normalized_error": 0.3215447905549012,
      "name": "gravity",
      "std": [
        0.01286420466929885,
        0.01903008891857191,
        0.009499082412488445
      ],
      "truth": [
        0.0,
        0.0,
        -9.81
      ],
      "unit": "m/s^2",
      "within_budget": true
    }
  ],
  "policy_reason": "joint LiDAR-IMU recovery meets every error budget within 4 sigma, holdout RMSE stays within 1.5x the truth calibration, and all 32 signed controls are detected; every block pair stays below the entanglement threshold",
  "policy_status": "pass",
  "provenance": {
    "command": [
      "calibrex",
      "trajectory",
      "recover-lidar-imu-joint",
      "--output",
      "docs\\assets\\screw_accelerometer_jacobians\\seed-20261010.json",
      "--seed",
      "20261010",
      "--trajectory",
      "screw_linear"
    ],
    "created_at": "2026-10-20T03:21:10.051271+00:00",
    "generator": "calibrex.evaluation.continuous_time_lidar_imu_joint",
    "generator_version": "0.1",
    "git_commit": "11cd1ca4",
    "seed": 20261010
  },
  "recovery_id": "ct-lidar-imu-joint-synthetic",
  "schema_version": "slac.continuous_time_lidar_imu_joint/v0.1",
  "seed": 20261010,
  "separability": [
    {
      "block_a": "gyro_bias",
      "block_b": "lever_arm",
      "entangled": false,
      "max_abs_correlation": 0.23040223125425102
    },
    {
      "block_a": "gyro_bias",
      "block_b": "imu_clock_offset",
      "entangled": false,
      "max_abs_correlation": 0.13908021524228437
    },
    {
      "block_a": "gyro_bias",
      "block_b": "accel_bias",
      "entangled": false,
      "max_abs_correlation": 0.16268424224776795
    },
    {
      "block_a": "gyro_bias",
      "block_b": "gravity",
      "entangled": false,
      "max_abs_correlation": 0.23766858967398657
    },
    {
      "block_a": "gyro_bias",
      "block_b": "imu_rotation",
      "entangled": false,
      "max_abs_correlation": 0.4132366375774129
    },
    {
      "block_a": "lever_arm",
      "block_b": "imu_clock_offset",
      "entangled": false,
      "max_abs_correlation": 0.10227266272387123
    },
    {
      "block_a": "lever_arm",
      "block_b": "accel_bias",
      "entangled": false,
      "max_abs_correlation": 0.7482642226808477
    },
    {
      "block_a": "lever_arm",
      "block_b": "gravity",
      "entangled": false,
      "max_abs_correlation": 0.6282175816358239
    },
    {
      "block_a": "lever_arm",
      "block_b": "imu_rotation",
      "entangled": false,
      "max_abs_correlation": 0.158312882443952
    },
    {
      "block_a": "imu_clock_offset",
      "block_b": "accel_bias",
      "entangled": false,
      "max_abs_correlation": 0.17210495181411614
    },
    {
      "block_a": "imu_clock_offset",
      "block_b": "gravity",
      "entangled": false,
      "max_abs_correlation": 0.2190398349795059
    },
    {
      "block_a": "imu_clock_offset",
      "block_b": "imu_rotation",
      "entangled": false,
      "max_abs_correlation": 0.10837149150737037
    },
    {
      "block_a": "accel_bias",
      "block_b": "gravity",
      "entangled": false,
      "max_abs_correlation": 0.8679449869907144
    },
    {
      "block_a": "accel_bias",
      "block_b": "imu_rotation",
      "entangled": false,
      "max_abs_correlation": 0.09395579581134302
    },
    {
      "block_a": "gravity",
      "block_b": "imu_rotation",
      "entangled": false,
      "max_abs_correlation": 0.5164942297797778
    }
  ],
  "train_accel_count": 34,
  "train_accel_rmse_m_s2": 0.030686693199211666,
  "train_gyro_count": 7,
  "train_gyro_rmse": 9.073795804954886e-05
}