{
  "seed": 7,
  "predictions": {
    "zero_motion_rank_deficiency": {
      "predicted": "rank drops below 5 at d=0",
      "observed_rank_d0": 4.0,
      "observed_rank_d1": 5.0,
      "confirmed": true
    },
    "small_motion_scaling": {
      "predicted": "sigma_min proportional to d, log-log slope 1",
      "observed_loglog_slope": 0.9942114949677933,
      "median_sigma_over_d": 0.641451113892403,
      "d_values": [
        0.005,
        0.009696137237434288,
        0.018803015465431967,
        0.03646332368608554,
        0.07071067811865475,
        0.13712408783810365,
        0.26591479484724945,
        0.5156692688606229,
        1.0
      ],
      "sigma_values": [
        0.003200246937799774,
        0.006210684445188811,
        0.012061215214837414,
        0.023452207627868118,
        0.04569881252856172,
        0.08932544292608469,
        0.17496747025751,
        0.3386209912401797,
        0.5837526044638165
      ],
      "confirmed": true
    },
    "window_length": {
      "predicted": "sigma_min nondecreasing with T",
      "T_values": [
        2,
        3,
        4,
        6,
        8
      ],
      "sigma_values": [
        0.5013582757176324,
        0.5054319097237158,
        0.5340274820571073,
        0.6005106076805653,
        0.6649934384710706
      ],
      "confirmed": true
    }
  },
  "mini_experiment": {
    "0.03": {
      "sigma_min": 0.02031956017980903,
      "baseline_error_mean": 2.295649452651101,
      "gated_error_mean": 2.2956491409272872
    },
    "0.1": {
      "sigma_min": 0.06838716268078748,
      "baseline_error_mean": 2.2318126899809374,
      "gated_error_mean": 2.2318126302801997
    },
    "0.3": {
      "sigma_min": 0.2085414895586253,
      "baseline_error_mean": 1.8333062723448796,
      "gated_error_mean": 1.8333062927656647
    },
    "1.0": {
      "sigma_min": 0.6327156571784935,
      "baseline_error_mean": 0.18794383495637235,
      "gated_error_mean": 0.18794383495637235
    }
  },
  "notes": "The residual parameterization includes both vehicle and target views. At exactly zero motion, yaw is ambiguous; nonzero motion restores full local rank."
}