1{
 2  "seed": 7,
 3  "predictions": {
 4    "zero_motion_rank_deficiency": {
 5      "predicted": "rank drops below 5 at d=0",
 6      "observed_rank_d0": 4.0,
 7      "observed_rank_d1": 5.0,
 8      "confirmed": true
 9    },
10    "small_motion_scaling": {
11      "predicted": "sigma_min proportional to d, log-log slope 1",
12      "observed_loglog_slope": 0.9942114949677933,
13      "median_sigma_over_d": 0.641451113892403,
14      "d_values": [
15        0.005,
16        0.009696137237434288,
17        0.018803015465431967,
18        0.03646332368608554,
19        0.07071067811865475,
20        0.13712408783810365,
21        0.26591479484724945,
22        0.5156692688606229,
23        1.0
24      ],
25      "sigma_values": [
26        0.003200246937799774,
27        0.006210684445188811,
28        0.012061215214837414,
29        0.023452207627868118,
30        0.04569881252856172,
31        0.08932544292608469,
32        0.17496747025751,
33        0.3386209912401797,
34        0.5837526044638165
35      ],
36      "confirmed": true
37    },
38    "window_length": {
39      "predicted": "sigma_min nondecreasing with T",
40      "T_values": [
41        2,
42        3,
43        4,
44        6,
45        8
46      ],
47      "sigma_values": [
48        0.5013582757176324,
49        0.5054319097237158,
50        0.5340274820571073,
51        0.6005106076805653,
52        0.6649934384710706
53      ],
54      "confirmed": true
55    }
56  },
57  "mini_experiment": {
58    "0.03": {
59      "sigma_min": 0.02031956017980903,
60      "baseline_error_mean": 2.295649452651101,
61      "gated_error_mean": 2.2956491409272872
62    },
63    "0.1": {
64      "sigma_min": 0.06838716268078748,
65      "baseline_error_mean": 2.2318126899809374,
66      "gated_error_mean": 2.2318126302801997
67    },
68    "0.3": {
69      "sigma_min": 0.2085414895586253,
70      "baseline_error_mean": 1.8333062723448796,
71      "gated_error_mean": 1.8333062927656647
72    },
73    "1.0": {
74      "sigma_min": 0.6327156571784935,
75      "baseline_error_mean": 0.18794383495637235,
76      "gated_error_mean": 0.18794383495637235
77    }
78  },
79  "notes": "The residual parameterization includes both vehicle and target views. At exactly zero motion, yaw is ambiguous; nonzero motion restores full local rank."
80}