{
  "control_delta_chi2_threshold": 9.0,
  "controls": [
    {
      "axis": 0,
      "baseline_holdout_rmse": 0.0005059106347166161,
      "delta_chi2": 2315.3731799750676,
      "detected": true,
      "family": "gyro",
      "magnitude": 0.017453292519943295,
      "parameter": "imu_rotation",
      "perturbed_holdout_rmse": 0.0027158273322769808,
      "sign": -1,
      "unit": "rad"
    },
    {
      "axis": 0,
      "baseline_holdout_rmse": 0.0005059106347166161,
      "delta_chi2": 2641.7934956702347,
      "detected": true,
      "family": "gyro",
      "magnitude": 0.017453292519943295,
      "parameter": "imu_rotation",
      "perturbed_holdout_rmse": 0.0028947297921404235,
      "sign": 1,
      "unit": "rad"
    },
    {
      "axis": 1,
      "baseline_holdout_rmse": 0.0005059106347166161,
      "delta_chi2": 5187.349997314619,
      "detected": true,
      "family": "gyro",
      "magnitude": 0.017453292519943295,
      "parameter": "imu_rotation",
      "perturbed_holdout_rmse": 0.00402579766158979,
      "sign": -1,
      "unit": "rad"
    },
    {
      "axis": 1,
      "baseline_holdout_rmse": 0.0005059106347166161,
      "delta_chi2": 4437.002809464824,
      "detected": true,
      "family": "gyro",
      "magnitude": 0.017453292519943295,
      "parameter": "imu_rotation",
      "perturbed_holdout_rmse": 0.0037282340604398354,
      "sign": 1,
      "unit": "rad"
    },
    {
      "axis": 2,
      "baseline_holdout_rmse": 0.0005059106347166161,
      "delta_chi2": 3329.468840797866,
      "detected": true,
      "family": "gyro",
      "magnitude": 0.017453292519943295,
      "parameter": "imu_rotation",
      "perturbed_holdout_rmse": 0.003239454005812215,
      "sign": -1,
      "unit": "rad"
    },
    {
      "axis": 2,
      "baseline_holdout_rmse": 0.0005059106347166161,
      "delta_chi2": 3455.0796325208366,
      "detected": true,
      "family": "gyro",
      "magnitude": 0.017453292519943295,
      "parameter": "imu_rotation",
      "perturbed_holdout_rmse": 0.003298532316094681,
      "sign": 1,
      "unit": "rad"
    },
    {
      "axis": 0,
      "baseline_holdout_rmse": 0.0005059106347166161,
      "delta_chi2": 501.1410405578969,
      "detected": true,
      "family": "gyro",
      "magnitude": 0.005,
      "parameter": "gyro_bias",
      "perturbed_holdout_rmse": 0.001340505229394836,
      "sign": -1,
      "unit": "rad/s"
    },
    {
      "axis": 0,
      "baseline_holdout_rmse": 0.0005059106347166161,
      "delta_chi2": 360.42704996784585,
      "detected": true,
      "family": "gyro",
      "magnitude": 0.005,
      "parameter": "gyro_bias",
      "perturbed_holdout_rmse": 0.0011680148753207278,
      "sign": 1,
      "unit": "rad/s"
    },
    {
      "axis": 1,
      "baseline_holdout_rmse": 0.0005059106347166161,
      "delta_chi2": 481.05028333231184,
      "detected": true,
      "family": "gyro",
      "magnitude": 0.005,
      "parameter": "gyro_bias",
      "perturbed_holdout_rmse": 0.0013172604873624002,
      "sign": -1,
      "unit": "rad/s"
    },
    {
      "axis": 1,
      "baseline_holdout_rmse": 0.0005059106347166161,
      "delta_chi2": 374.8263455454706,
      "detected": true,
      "family": "gyro",
      "magnitude": 0.005,
      "parameter": "gyro_bias",
      "perturbed_holdout_rmse": 0.0011868178389591603,
      "sign": 1,
      "unit": "rad/s"
    },
    {
      "axis": 2,
      "baseline_holdout_rmse": 0.0005059106347166161,
      "delta_chi2": 450.1705146973218,
      "detected": true,
      "family": "gyro",
      "magnitude": 0.005,
      "parameter": "gyro_bias",
      "perturbed_holdout_rmse": 0.0012807107023108824,
      "sign": -1,
      "unit": "rad/s"
    },
    {
      "axis": 2,
      "baseline_holdout_rmse": 0.0005059106347166161,
      "delta_chi2": 408.8074544579227,
      "detected": true,
      "family": "gyro",
      "magnitude": 0.005,
      "parameter": "gyro_bias",
      "perturbed_holdout_rmse": 0.0012300522317273692,
      "sign": 1,
      "unit": "rad/s"
    },
    {
      "baseline_holdout_rmse": 0.0005059106347166161,
      "delta_chi2": 3585.5201192557406,
      "detected": true,
      "family": "gyro",
      "magnitude": 0.005,
      "parameter": "imu_clock_offset",
      "perturbed_holdout_rmse": 0.0033587825081464818,
      "sign": -1,
      "unit": "s"
    },
    {
      "baseline_holdout_rmse": 0.0005059106347166161,
      "delta_chi2": 2236.1817940145042,
      "detected": true,
      "family": "gyro",
      "magnitude": 0.005,
      "parameter": "imu_clock_offset",
      "perturbed_holdout_rmse": 0.0026706187648022637,
      "sign": 1,
      "unit": "s"
    },
    {
      "axis": 0,
      "baseline_holdout_rmse": 0.030101972770661716,
      "delta_chi2": 21.187046005654214,
      "detected": true,
      "family": "accel",
      "magnitude": 0.05,
      "parameter": "lever_arm",
      "perturbed_holdout_rmse": 0.035777336567221756,
      "sign": -1,
      "unit": "m"
    },
    {
      "axis": 0,
      "baseline_holdout_rmse": 0.030101972770661716,
      "delta_chi2": 45.98046845143371,
      "detected": true,
      "family": "accel",
      "magnitude": 0.05,
      "parameter": "lever_arm",
      "perturbed_holdout_rmse": 0.04144332028423336,
      "sign": 1,
      "unit": "m"
    },
    {
      "axis": 1,
      "baseline_holdout_rmse": 0.030101972770661716,
      "delta_chi2": 66.01086883703381,
      "detected": true,
      "family": "accel",
      "magnitude": 0.05,
      "parameter": "lever_arm",
      "perturbed_holdout_rmse": 0.04550853161820407,
      "sign": -1,
      "unit": "m"
    },
    {
      "axis": 1,
      "baseline_holdout_rmse": 0.030101972770661716,
      "delta_chi2": 74.64851533351163,
      "detected": true,
      "family": "accel",
      "magnitude": 0.05,
      "parameter": "lever_arm",
      "perturbed_holdout_rmse": 0.04715353121310509,
      "sign": 1,
      "unit": "m"
    },
    {
      "axis": 2,
      "baseline_holdout_rmse": 0.030101972770661716,
      "delta_chi2": 36.52160296654621,
      "detected": true,
      "family": "accel",
      "magnitude": 0.05,
      "parameter": "lever_arm",
      "perturbed_holdout_rmse": 0.03937800960645277,
      "sign": -1,
      "unit": "m"
    },
    {
      "axis": 2,
      "baseline_holdout_rmse": 0.030101972770661716,
      "delta_chi2": 73.85614088621635,
      "detected": true,
      "family": "accel",
      "magnitude": 0.05,
      "parameter": "lever_arm",
      "perturbed_holdout_rmse": 0.04700502555454677,
      "sign": 1,
      "unit": "m"
    },
    {
      "axis": 0,
      "baseline_holdout_rmse": 0.030101972770661716,
      "delta_chi2": 725.1010807808075,
      "detected": true,
      "family": "accel",
      "magnitude": 0.2,
      "parameter": "accel_bias",
      "perturbed_holdout_rmse": 0.11705567132877125,
      "sign": -1,
      "unit": "m/s^2"
    },
    {
      "axis": 0,
      "baseline_holdout_rmse": 0.030101972770661716,
      "delta_chi2": 786.0100303303046,
      "detected": true,
      "family": "accel",
      "magnitude": 0.2,
      "parameter": "accel_bias",
      "perturbed_holdout_rmse": 0.12156024846062416,
      "sign": 1,
      "unit": "m/s^2"
    },
    {
      "axis": 1,
      "baseline_holdout_rmse": 0.030101972770661716,
      "delta_chi2": 767.3395677045336,
      "detected": true,
      "family": "accel",
      "magnitude": 0.2,
      "parameter": "accel_bias",
      "perturbed_holdout_rmse": 0.12019740119315887,
      "sign": -1,
      "unit": "m/s^2"
    },
    {
      "axis": 1,
      "baseline_holdout_rmse": 0.030101972770661716,
      "delta_chi2": 743.7715434065757,
      "detected": true,
      "family": "accel",
      "magnitude": 0.2,
      "parameter": "accel_bias",
      "perturbed_holdout_rmse": 0.11845467041214017,
      "sign": 1,
      "unit": "m/s^2"
    },
    {
      "axis": 2,
      "baseline_holdout_rmse": 0.030101972770661716,
      "delta_chi2": 808.78967549227,
      "detected": true,
      "family": "accel",
      "magnitude": 0.2,
      "parameter": "accel_bias",
      "perturbed_holdout_rmse": 0.1232026288029643,
      "sign": -1,
      "unit": "m/s^2"
    },
    {
      "axis": 2,
      "baseline_holdout_rmse": 0.030101972770661716,
      "delta_chi2": 702.3214356188419,
      "detected": true,
      "family": "accel",
      "magnitude": 0.2,
      "parameter": "accel_bias",
      "perturbed_holdout_rmse": 0.11532578398639648,
      "sign": 1,
      "unit": "m/s^2"
    },
    {
      "axis": 0,
      "baseline_holdout_rmse": 0.030101972770661716,
      "delta_chi2": 855.5337576325951,
      "detected": true,
      "family": "accel",
      "magnitude": 0.2,
      "parameter": "gravity",
      "perturbed_holdout_rmse": 0.12650606037318218,
      "sign": -1,
      "unit": "m/s^2"
    },
    {
      "axis": 0,
      "baseline_holdout_rmse": 0.030101972770661716,
      "delta_chi2": 655.5773534785179,
      "detected": true,
      "family": "accel",
      "magnitude": 0.2,
      "parameter": "gravity",
      "perturbed_holdout_rmse": 0.11169217020406935,
      "sign": 1,
      "unit": "m/s^2"
    },
    {
      "axis": 1,
      "baseline_holdout_rmse": 0.030101972770661716,
      "delta_chi2": 819.8288377671008,
      "detected": true,
      "family": "accel",
      "magnitude": 0.2,
      "parameter": "gravity",
      "perturbed_holdout_rmse": 0.12399071130527252,
      "sign": -1,
      "unit": "m/s^2"
    },
    {
      "axis": 1,
      "baseline_holdout_rmse": 0.030101972770661716,
      "delta_chi2": 691.2822733440114,
      "detected": true,
      "family": "accel",
      "magnitude": 0.2,
      "parameter": "gravity",
      "perturbed_holdout_rmse": 0.11447806648459155,
      "sign": 1,
      "unit": "m/s^2"
    },
    {
      "axis": 2,
      "baseline_holdout_rmse": 0.030101972770661716,
      "delta_chi2": 716.2190655969385,
      "detected": true,
      "family": "accel",
      "magnitude": 0.2,
      "parameter": "gravity",
      "perturbed_holdout_rmse": 0.11638422893935459,
      "sign": -1,
      "unit": "m/s^2"
    },
    {
      "axis": 2,
      "baseline_holdout_rmse": 0.030101972770661716,
      "delta_chi2": 794.8920455141619,
      "detected": true,
      "family": "accel",
      "magnitude": 0.2,
      "parameter": "gravity",
      "perturbed_holdout_rmse": 0.1222032546629986,
      "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": 0.030101972770661716,
  "holdout_gyro_count": 4,
  "holdout_gyro_rmse": 0.0005059106347166161,
  "holdout_scheme": "interleaved: every third gyro window and accelerometer sample",
  "holdout_to_oracle_ratio_limit": 1.5,
  "interpolation": "screw_linear",
  "iterations": 28,
  "knot_count": 7,
  "knot_spacing_sec": 1.0,
  "lidar_measurement_count": 480,
  "max_trajectory_rotation_error_deg": 0.17527525405377234,
  "max_trajectory_translation_error_m": 0.006502386694668772,
  "oracle_holdout_accel_rmse_m_s2": 0.02921868858472836,
  "oracle_holdout_gyro_rmse": 0.0005140760104639486,
  "parameters": [
    {
      "error": [
        -0.0007882181635212188,
        -0.0010810815457314952,
        -0.0011595317971475388
      ],
      "error_budget": 0.008726646259971648,
      "error_norm": 0.0017704629819406455,
      "estimate": [
        0.03925633313215288,
        -0.03107699022138473,
        0.04880726126528334
      ],
      "initial": [
        0.0,
        0.0,
        0.0
      ],
      "max_normalized_error": 1.7809903153677509,
      "name": "imu_rotation",
      "std": [
        0.0008793036798349585,
        0.000616511220063129,
        0.000651060136117647
      ],
      "truth": [
        0.04,
        -0.03,
        0.05
      ],
      "unit": "rad",
      "within_budget": true
    },
    {
      "error": [
        -0.0006982184376848402,
        0.0003605432265907484,
        -0.00017168866612197325
      ],
      "error_budget": 0.002,
      "error_norm": 0.0008043490554717331,
      "estimate": [
        0.00730178156231516,
        -0.005639456773409252,
        0.009828311333878027
      ],
      "initial": [
        0.0,
        0.0,
        0.0
      ],
      "max_normalized_error": 2.2429969076056926,
      "name": "gyro_bias",
      "std": [
        0.0003112881856043929,
        0.000413464715632394,
        0.00035865297713179106
      ],
      "truth": [
        0.008,
        -0.006,
        0.01
      ],
      "unit": "rad/s",
      "within_budget": true
    },
    {
      "error": [
        -0.00440218545014355,
        -0.0028431049808778086,
        0.008328758928484281
      ],
      "error_budget": 0.03,
      "error_norm": 0.009840259547316545,
      "estimate": [
        0.09559781454985646,
        -0.0628431049808778,
        0.15832875892848428
      ],
      "initial": [
        0.0,
        0.0,
        0.0
      ],
      "max_normalized_error": 1.0403240573215022,
      "name": "lever_arm",
      "std": [
        0.011517203089134658,
        0.00909859866077646,
        0.008005927451036881
      ],
      "truth": [
        0.1,
        -0.06,
        0.15
      ],
      "unit": "m",
      "within_budget": true
    },
    {
      "error": [
        -0.0006383230599593887
      ],
      "error_budget": 0.002,
      "error_norm": 0.0006383230599593887,
      "estimate": [
        0.0063616769400406115
      ],
      "initial": [
        0.0
      ],
      "max_normalized_error": 3.3813260754657843,
      "name": "imu_clock_offset",
      "std": [
        0.00018877891268485793
      ],
      "truth": [
        0.007
      ],
      "unit": "s",
      "within_budget": true
    },
    {
      "error": [
        0.005857737660460091,
        0.0015485617109368202,
        -0.005401691301613838
      ],
      "error_budget": 0.06,
      "error_norm": 0.008117228762901944,
      "estimate": [
        0.06585773766046009,
        -0.04845143828906318,
        0.03459830869838616
      ],
      "initial": [
        0.0,
        0.0,
        0.0
      ],
      "max_normalized_error": 0.5425008778373203,
      "name": "accel_bias",
      "std": [
        0.02047360987650038,
        0.011183502071320822,
        0.009957018545569327
      ],
      "truth": [
        0.06,
        -0.05,
        0.04
      ],
      "unit": "m/s^2",
      "within_budget": true
    },
    {
      "error": [
        0.004097257306576608,
        0.0008342975974514405,
        -0.003952346859888323
      ],
      "error_budget": 0.1,
      "error_norm": 0.005753661062165353,
      "estimate": [
        0.004097257306576608,
        0.0008342975974514405,
        -9.813952346859889
      ],
      "initial": [
        0.0,
        0.0,
        -9.7
      ],
      "max_normalized_error": 0.44987167165137326,
      "name": "gravity",
      "std": [
        0.01102928201986747,
        0.01750797671263893,
        0.008785498418649446
      ],
      "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_weighted_objective\\seed-20261010.json",
      "--seed",
      "20261010",
      "--trajectory",
      "screw_linear"
    ],
    "created_at": "2026-10-20T01:37:00.842307+00:00",
    "generator": "calibrex.evaluation.continuous_time_lidar_imu_joint",
    "generator_version": "0.1",
    "git_commit": "63475165",
    "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": 0.09410113608339134
    },
    {
      "block_a": "gyro_bias",
      "block_b": "imu_clock_offset",
      "entangled": false,
      "max_abs_correlation": 0.13705361196112786
    },
    {
      "block_a": "gyro_bias",
      "block_b": "accel_bias",
      "entangled": false,
      "max_abs_correlation": 0.13975229654256058
    },
    {
      "block_a": "gyro_bias",
      "block_b": "gravity",
      "entangled": false,
      "max_abs_correlation": 0.22899413762011284
    },
    {
      "block_a": "gyro_bias",
      "block_b": "imu_rotation",
      "entangled": false,
      "max_abs_correlation": 0.4234865136426704
    },
    {
      "block_a": "lever_arm",
      "block_b": "imu_clock_offset",
      "entangled": false,
      "max_abs_correlation": 0.13821371246798764
    },
    {
      "block_a": "lever_arm",
      "block_b": "accel_bias",
      "entangled": false,
      "max_abs_correlation": 0.7694374031824905
    },
    {
      "block_a": "lever_arm",
      "block_b": "gravity",
      "entangled": false,
      "max_abs_correlation": 0.6774493807988671
    },
    {
      "block_a": "lever_arm",
      "block_b": "imu_rotation",
      "entangled": false,
      "max_abs_correlation": 0.21855327709724137
    },
    {
      "block_a": "imu_clock_offset",
      "block_b": "accel_bias",
      "entangled": false,
      "max_abs_correlation": 0.19661833352996286
    },
    {
      "block_a": "imu_clock_offset",
      "block_b": "gravity",
      "entangled": false,
      "max_abs_correlation": 0.2590477798225851
    },
    {
      "block_a": "imu_clock_offset",
      "block_b": "imu_rotation",
      "entangled": false,
      "max_abs_correlation": 0.11532060388070339
    },
    {
      "block_a": "accel_bias",
      "block_b": "gravity",
      "entangled": false,
      "max_abs_correlation": 0.8911927574577575
    },
    {
      "block_a": "accel_bias",
      "block_b": "imu_rotation",
      "entangled": false,
      "max_abs_correlation": 0.3127181832597294
    },
    {
      "block_a": "gravity",
      "block_b": "imu_rotation",
      "entangled": false,
      "max_abs_correlation": 0.4513648794449068
    }
  ],
  "train_accel_count": 34,
  "train_accel_rmse_m_s2": 0.0313982473763279,
  "train_gyro_count": 7,
  "train_gyro_rmse": 8.56059226757725e-05
}
