{
  "control_delta_chi2_threshold": 9.0,
  "controls": [
    {
      "axis": 0,
      "baseline_holdout_rmse": 0.0004240249788142017,
      "delta_chi2": 2510.659851888779,
      "detected": true,
      "family": "gyro",
      "magnitude": 0.017453292519943295,
      "parameter": "imu_rotation",
      "perturbed_holdout_rmse": 0.002810707424691581,
      "sign": -1,
      "unit": "rad"
    },
    {
      "axis": 0,
      "baseline_holdout_rmse": 0.0004240249788142017,
      "delta_chi2": 2447.2978868017954,
      "detected": true,
      "family": "gyro",
      "magnitude": 0.017453292519943295,
      "parameter": "imu_rotation",
      "perturbed_holdout_rmse": 0.0027758310799783736,
      "sign": 1,
      "unit": "rad"
    },
    {
      "axis": 1,
      "baseline_holdout_rmse": 0.0004240249788142017,
      "delta_chi2": 5243.141723551838,
      "detected": true,
      "family": "gyro",
      "magnitude": 0.017453292519943295,
      "parameter": "imu_rotation",
      "perturbed_holdout_rmse": 0.0040376302434200545,
      "sign": -1,
      "unit": "rad"
    },
    {
      "axis": 1,
      "baseline_holdout_rmse": 0.0004240249788142017,
      "delta_chi2": 4372.715634950029,
      "detected": true,
      "family": "gyro",
      "magnitude": 0.017453292519943295,
      "parameter": "imu_rotation",
      "perturbed_holdout_rmse": 0.0036913273710319603,
      "sign": 1,
      "unit": "rad"
    },
    {
      "axis": 2,
      "baseline_holdout_rmse": 0.0004240249788142017,
      "delta_chi2": 3488.6161084427827,
      "detected": true,
      "family": "gyro",
      "magnitude": 0.017453292519943295,
      "parameter": "imu_rotation",
      "perturbed_holdout_rmse": 0.003302618917786298,
      "sign": -1,
      "unit": "rad"
    },
    {
      "axis": 2,
      "baseline_holdout_rmse": 0.0004240249788142017,
      "delta_chi2": 3293.1857695921863,
      "detected": true,
      "family": "gyro",
      "magnitude": 0.017453292519943295,
      "parameter": "imu_rotation",
      "perturbed_holdout_rmse": 0.003210349423996453,
      "sign": 1,
      "unit": "rad"
    },
    {
      "axis": 0,
      "baseline_holdout_rmse": 0.0004240249788142017,
      "delta_chi2": 514.3240990010893,
      "detected": true,
      "family": "gyro",
      "magnitude": 0.005,
      "parameter": "gyro_bias",
      "perturbed_holdout_rmse": 0.0013271562783209571,
      "sign": -1,
      "unit": "rad/s"
    },
    {
      "axis": 0,
      "baseline_holdout_rmse": 0.0004240249788142017,
      "delta_chi2": 347.2481558430395,
      "detected": true,
      "family": "gyro",
      "magnitude": 0.005,
      "parameter": "gyro_bias",
      "perturbed_holdout_rmse": 0.0011169535629898543,
      "sign": 1,
      "unit": "rad/s"
    },
    {
      "axis": 1,
      "baseline_holdout_rmse": 0.0004240249788142017,
      "delta_chi2": 527.0968672832959,
      "detected": true,
      "family": "gyro",
      "magnitude": 0.005,
      "parameter": "gyro_bias",
      "perturbed_holdout_rmse": 0.0013418718454288095,
      "sign": -1,
      "unit": "rad/s"
    },
    {
      "axis": 1,
      "baseline_holdout_rmse": 0.0004240249788142017,
      "delta_chi2": 328.80423484099373,
      "detected": true,
      "family": "gyro",
      "magnitude": 0.005,
      "parameter": "gyro_bias",
      "perturbed_holdout_rmse": 0.0010912699962861803,
      "sign": 1,
      "unit": "rad/s"
    },
    {
      "axis": 2,
      "baseline_holdout_rmse": 0.0004240249788142017,
      "delta_chi2": 302.0238777878647,
      "detected": true,
      "family": "gyro",
      "magnitude": 0.005,
      "parameter": "gyro_bias",
      "perturbed_holdout_rmse": 0.0010528630522798623,
      "sign": -1,
      "unit": "rad/s"
    },
    {
      "axis": 2,
      "baseline_holdout_rmse": 0.0004240249788142017,
      "delta_chi2": 556.9672053481288,
      "detected": true,
      "family": "gyro",
      "magnitude": 0.005,
      "parameter": "gyro_bias",
      "perturbed_holdout_rmse": 0.0013756712322004411,
      "sign": 1,
      "unit": "rad/s"
    },
    {
      "baseline_holdout_rmse": 0.0004240249788142017,
      "delta_chi2": 3001.549251460786,
      "detected": true,
      "family": "gyro",
      "magnitude": 0.005,
      "parameter": "imu_clock_offset",
      "perturbed_holdout_rmse": 0.003067500795582668,
      "sign": -1,
      "unit": "s"
    },
    {
      "baseline_holdout_rmse": 0.0004240249788142017,
      "delta_chi2": 2822.874121888957,
      "detected": true,
      "family": "gyro",
      "magnitude": 0.005,
      "parameter": "imu_clock_offset",
      "perturbed_holdout_rmse": 0.0029765979082615316,
      "sign": 1,
      "unit": "s"
    },
    {
      "axis": 0,
      "baseline_holdout_rmse": 0.030867436357385328,
      "delta_chi2": 33.832072893841826,
      "detected": true,
      "family": "accel",
      "magnitude": 0.05,
      "parameter": "lever_arm",
      "perturbed_holdout_rmse": 0.039367946450847485,
      "sign": -1,
      "unit": "m"
    },
    {
      "axis": 0,
      "baseline_holdout_rmse": 0.030867436357385328,
      "delta_chi2": 33.41430466997333,
      "detected": true,
      "family": "accel",
      "magnitude": 0.05,
      "parameter": "lever_arm",
      "perturbed_holdout_rmse": 0.039274200530826676,
      "sign": 1,
      "unit": "m"
    },
    {
      "axis": 1,
      "baseline_holdout_rmse": 0.030867436357385328,
      "delta_chi2": 53.532524248350704,
      "detected": true,
      "family": "accel",
      "magnitude": 0.05,
      "parameter": "lever_arm",
      "perturbed_holdout_rmse": 0.04356019090476869,
      "sign": -1,
      "unit": "m"
    },
    {
      "axis": 1,
      "baseline_holdout_rmse": 0.030867436357385328,
      "delta_chi2": 86.95944667332557,
      "detected": true,
      "family": "accel",
      "magnitude": 0.05,
      "parameter": "lever_arm",
      "perturbed_holdout_rmse": 0.04987361123863981,
      "sign": 1,
      "unit": "m"
    },
    {
      "axis": 2,
      "baseline_holdout_rmse": 0.030867436357385328,
      "delta_chi2": 32.73509999829298,
      "detected": true,
      "family": "accel",
      "magnitude": 0.05,
      "parameter": "lever_arm",
      "perturbed_holdout_rmse": 0.03912130957088767,
      "sign": -1,
      "unit": "m"
    },
    {
      "axis": 2,
      "baseline_holdout_rmse": 0.030867436357385328,
      "delta_chi2": 77.55370925675895,
      "detected": true,
      "family": "accel",
      "magnitude": 0.05,
      "parameter": "lever_arm",
      "perturbed_holdout_rmse": 0.048180841592007875,
      "sign": 1,
      "unit": "m"
    },
    {
      "axis": 0,
      "baseline_holdout_rmse": 0.030867436357385328,
      "delta_chi2": 796.9108887639699,
      "detected": true,
      "family": "accel",
      "magnitude": 0.2,
      "parameter": "accel_bias",
      "perturbed_holdout_rmse": 0.12253951182539495,
      "sign": -1,
      "unit": "m/s^2"
    },
    {
      "axis": 0,
      "baseline_holdout_rmse": 0.030867436357385328,
      "delta_chi2": 714.2002223471413,
      "detected": true,
      "family": "accel",
      "magnitude": 0.2,
      "parameter": "accel_bias",
      "perturbed_holdout_rmse": 0.11643166220068757,
      "sign": 1,
      "unit": "m/s^2"
    },
    {
      "axis": 1,
      "baseline_holdout_rmse": 0.030867436357385328,
      "delta_chi2": 780.8703276535592,
      "detected": true,
      "family": "accel",
      "magnitude": 0.2,
      "parameter": "accel_bias",
      "perturbed_holdout_rmse": 0.12137900655767568,
      "sign": -1,
      "unit": "m/s^2"
    },
    {
      "axis": 1,
      "baseline_holdout_rmse": 0.030867436357385328,
      "delta_chi2": 730.2407834575496,
      "detected": true,
      "family": "accel",
      "magnitude": 0.2,
      "parameter": "accel_bias",
      "perturbed_holdout_rmse": 0.11764098218007538,
      "sign": 1,
      "unit": "m/s^2"
    },
    {
      "axis": 2,
      "baseline_holdout_rmse": 0.030867436357385328,
      "delta_chi2": 784.09138351422,
      "detected": true,
      "family": "accel",
      "magnitude": 0.2,
      "parameter": "accel_bias",
      "perturbed_holdout_rmse": 0.12161293268059623,
      "sign": -1,
      "unit": "m/s^2"
    },
    {
      "axis": 2,
      "baseline_holdout_rmse": 0.030867436357385328,
      "delta_chi2": 727.0197275968902,
      "detected": true,
      "family": "accel",
      "magnitude": 0.2,
      "parameter": "accel_bias",
      "perturbed_holdout_rmse": 0.1173991419306201,
      "sign": 1,
      "unit": "m/s^2"
    },
    {
      "axis": 0,
      "baseline_holdout_rmse": 0.030867436357385328,
      "delta_chi2": 728.7939525656102,
      "detected": true,
      "family": "accel",
      "magnitude": 0.2,
      "parameter": "gravity",
      "perturbed_holdout_rmse": 0.11753241416066913,
      "sign": -1,
      "unit": "m/s^2"
    },
    {
      "axis": 0,
      "baseline_holdout_rmse": 0.030867436357385328,
      "delta_chi2": 782.3171585455015,
      "detected": true,
      "family": "accel",
      "magnitude": 0.2,
      "parameter": "gravity",
      "perturbed_holdout_rmse": 0.12148413700062276,
      "sign": 1,
      "unit": "m/s^2"
    },
    {
      "axis": 1,
      "baseline_holdout_rmse": 0.030867436357385328,
      "delta_chi2": 706.6473137350721,
      "detected": true,
      "family": "accel",
      "magnitude": 0.2,
      "parameter": "gravity",
      "perturbed_holdout_rmse": 0.11585786697608881,
      "sign": -1,
      "unit": "m/s^2"
    },
    {
      "axis": 1,
      "baseline_holdout_rmse": 0.030867436357385328,
      "delta_chi2": 804.4637973760395,
      "detected": true,
      "family": "accel",
      "magnitude": 0.2,
      "parameter": "gravity",
      "perturbed_holdout_rmse": 0.12308216191216355,
      "sign": 1,
      "unit": "m/s^2"
    },
    {
      "axis": 2,
      "baseline_holdout_rmse": 0.030867436357385328,
      "delta_chi2": 705.1294713810715,
      "detected": true,
      "family": "accel",
      "magnitude": 0.2,
      "parameter": "gravity",
      "perturbed_holdout_rmse": 0.11574221307260026,
      "sign": -1,
      "unit": "m/s^2"
    },
    {
      "axis": 2,
      "baseline_holdout_rmse": 0.030867436357385328,
      "delta_chi2": 805.9816397300332,
      "detected": true,
      "family": "accel",
      "magnitude": 0.2,
      "parameter": "gravity",
      "perturbed_holdout_rmse": 0.1231909251295639,
      "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": 0.030867436357385328,
  "holdout_gyro_count": 4,
  "holdout_gyro_rmse": 0.0004240249788142017,
  "holdout_scheme": "interleaved: every third gyro window and accelerometer sample",
  "holdout_to_oracle_ratio_limit": 1.5,
  "interpolation": "screw_linear",
  "iterations": 23,
  "knot_count": 7,
  "knot_spacing_sec": 1.0,
  "lidar_measurement_count": 480,
  "max_trajectory_rotation_error_deg": 0.12181968536602546,
  "max_trajectory_translation_error_m": 0.00716334826351844,
  "oracle_holdout_accel_rmse_m_s2": 0.031366795169188694,
  "oracle_holdout_gyro_rmse": 0.00035532605209125643,
  "parameters": [
    {
      "error": [
        9.659170906667586e-05,
        -0.0011183450098387088,
        -0.0005760175073139276
      ],
      "error_budget": 0.008726646259971648,
      "error_norm": 0.0012616741607973565,
      "estimate": [
        0.040133173848533196,
        -0.031103962197904903,
        0.04940333332453382
      ],
      "initial": [
        0.0,
        0.0,
        0.0
      ],
      "max_normalized_error": 1.9289670425060816,
      "name": "imu_rotation",
      "std": [
        0.0008445117532414382,
        0.0005797636689457243,
        0.0006264958577425469
      ],
      "truth": [
        0.04,
        -0.03,
        0.05
      ],
      "unit": "rad",
      "within_budget": true
    },
    {
      "error": [
        0.00011794938839586842,
        -0.00047099587803246974,
        0.0003250826585806457
      ],
      "error_budget": 0.002,
      "error_norm": 0.0005843183295570979,
      "estimate": [
        0.008117949388395869,
        -0.00647099587803247,
        0.010325082658580646
      ],
      "initial": [
        0.0,
        0.0,
        0.0
      ],
      "max_normalized_error": 1.2181981829733144,
      "name": "gyro_bias",
      "std": [
        0.00029905338870068294,
        0.0003866332133929864,
        0.00034351963768011664
      ],
      "truth": [
        0.008,
        -0.006,
        0.01
      ],
      "unit": "rad/s",
      "within_budget": true
    },
    {
      "error": [
        6.748055525949981e-05,
        -0.01243880146958748,
        0.015568102624367058
      ],
      "error_budget": 0.03,
      "error_norm": 0.01992722145578691,
      "estimate": [
        0.1000674805552595,
        -0.07243880146958748,
        0.16556810262436705
      ],
      "initial": [
        0.0,
        0.0,
        0.0
      ],
      "max_normalized_error": 1.9914486675042813,
      "name": "lever_arm",
      "std": [
        0.011201158679663968,
        0.008890851093052486,
        0.007817476231449782
      ],
      "truth": [
        0.1,
        -0.06,
        0.15
      ],
      "unit": "m",
      "within_budget": true
    },
    {
      "error": [
        -5.486556278395775e-05
      ],
      "error_budget": 0.002,
      "error_norm": 5.486556278395775e-05,
      "estimate": [
        0.006945134437216042
      ],
      "initial": [
        0.0
      ],
      "max_normalized_error": 0.2981300884787931,
      "name": "imu_clock_offset",
      "std": [
        0.0001840322896085697
      ],
      "truth": [
        0.007
      ],
      "unit": "s",
      "within_budget": true
    },
    {
      "error": [
        -0.0019393903774640453,
        -0.015478181683495032,
        0.015546827543218032
      ],
      "error_budget": 0.06,
      "error_norm": 0.022023605288917707,
      "estimate": [
        0.05806060962253595,
        -0.06547818168349503,
        0.05554682754321803
      ],
      "initial": [
        0.0,
        0.0,
        0.0
      ],
      "max_normalized_error": 1.600322916160951,
      "name": "accel_bias",
      "std": [
        0.019848468629076348,
        0.010917227763836126,
        0.009714806546989686
      ],
      "truth": [
        0.06,
        -0.05,
        0.04
      ],
      "unit": "m/s^2",
      "within_budget": true
    },
    {
      "error": [
        -0.0009030336130590736,
        0.01316142484684615,
        0.004638099379757676
      ],
      "error_budget": 0.1,
      "error_norm": 0.013983938628369415,
      "estimate": [
        -0.0009030336130590736,
        0.01316142484684615,
        -9.805361900620243
      ],
      "initial": [
        0.0,
        0.0,
        -9.7
      ],
      "max_normalized_error": 0.7755078762761792,
      "name": "gravity",
      "std": [
        0.01071528341932314,
        0.016971361928707237,
        0.008562147277948044
      ],
      "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-20261012.json",
      "--seed",
      "20261012",
      "--trajectory",
      "screw_linear"
    ],
    "created_at": "2026-10-20T01:38:58.805096+00:00",
    "generator": "calibrex.evaluation.continuous_time_lidar_imu_joint",
    "generator_version": "0.1",
    "git_commit": "63475165",
    "seed": 20261012
  },
  "recovery_id": "ct-lidar-imu-joint-synthetic",
  "schema_version": "slac.continuous_time_lidar_imu_joint/v0.1",
  "seed": 20261012,
  "separability": [
    {
      "block_a": "gyro_bias",
      "block_b": "lever_arm",
      "entangled": false,
      "max_abs_correlation": 0.08531023698745119
    },
    {
      "block_a": "gyro_bias",
      "block_b": "imu_clock_offset",
      "entangled": false,
      "max_abs_correlation": 0.1539101278680244
    },
    {
      "block_a": "gyro_bias",
      "block_b": "accel_bias",
      "entangled": false,
      "max_abs_correlation": 0.12493900144367277
    },
    {
      "block_a": "gyro_bias",
      "block_b": "gravity",
      "entangled": false,
      "max_abs_correlation": 0.2151373697305381
    },
    {
      "block_a": "gyro_bias",
      "block_b": "imu_rotation",
      "entangled": false,
      "max_abs_correlation": 0.4032806453456638
    },
    {
      "block_a": "lever_arm",
      "block_b": "imu_clock_offset",
      "entangled": false,
      "max_abs_correlation": 0.13590803453640515
    },
    {
      "block_a": "lever_arm",
      "block_b": "accel_bias",
      "entangled": false,
      "max_abs_correlation": 0.767520476131964
    },
    {
      "block_a": "lever_arm",
      "block_b": "gravity",
      "entangled": false,
      "max_abs_correlation": 0.6751291704713434
    },
    {
      "block_a": "lever_arm",
      "block_b": "imu_rotation",
      "entangled": false,
      "max_abs_correlation": 0.2097927136715028
    },
    {
      "block_a": "imu_clock_offset",
      "block_b": "accel_bias",
      "entangled": false,
      "max_abs_correlation": 0.19531779672802643
    },
    {
      "block_a": "imu_clock_offset",
      "block_b": "gravity",
      "entangled": false,
      "max_abs_correlation": 0.2546601914641524
    },
    {
      "block_a": "imu_clock_offset",
      "block_b": "imu_rotation",
      "entangled": false,
      "max_abs_correlation": 0.1201185910635862
    },
    {
      "block_a": "accel_bias",
      "block_b": "gravity",
      "entangled": false,
      "max_abs_correlation": 0.8903061759110784
    },
    {
      "block_a": "accel_bias",
      "block_b": "imu_rotation",
      "entangled": false,
      "max_abs_correlation": 0.30180468140666805
    },
    {
      "block_a": "gravity",
      "block_b": "imu_rotation",
      "entangled": false,
      "max_abs_correlation": 0.4456929079039462
    }
  ],
  "train_accel_count": 34,
  "train_accel_rmse_m_s2": 0.02544270487725263,
  "train_gyro_count": 7,
  "train_gyro_rmse": 8.266267791953996e-05
}
