{
  "candidate_captures": 192,
  "families": 4,
  "gates": {
    "bounded_no_preview": {
      "checks": {
        "pivot_walk_stop": true,
        "primary_channels_do_not_regress": false,
        "primary_improves_10pct": false,
        "rate_bounds": true,
        "same_sign_pair": true,
        "stop": true,
        "strafe_walk_stop": true,
        "turn": true,
        "walk_pivot_stop": true
      },
      "passed": false,
      "primary_reduction_pct": 4.859202687369313
    },
    "bounded_preview": {
      "checks": {
        "pivot_walk_stop": true,
        "primary_channels_do_not_regress": false,
        "primary_improves_10pct": true,
        "rate_bounds": true,
        "same_sign_pair": true,
        "stop": true,
        "strafe_walk_stop": true,
        "turn": true,
        "walk_pivot_stop": true
      },
      "passed": false,
      "primary_reduction_pct": 19.41192160225257
    },
    "preview_additional_value_5pct": true
  },
  "independent_contexts": 24,
  "schema": "kimonav-public-response-v1",
  "scope": "offline development prediction",
  "source": {
    "file": "knav/artifacts/m3q-bounded-response-v0.1/summary.json",
    "sha256": "b428e51386f02aef8eaef5e5e3532d84967b23d97d333fe7dccd82bcc0d42913"
  },
  "summary": {
    "bounded_no_preview": {
      "banks": {
        "fresh": {
          "composite": 0.5541275532573566,
          "displacement_rmse_m": 0.10215934847383393,
          "heading_rmse_deg": 2.272399328172344,
          "missing_samples": 0,
          "mse": [
            0.010436532480598233,
            0.030371205615532488,
            0.0015729830383262322
          ],
          "observed_candidates": 96,
          "observed_contexts": 24,
          "observed_samples": 14496,
          "requested_candidates": 96,
          "requested_samples": 14496,
          "total_candidates": 96,
          "velocity_rmse_m_s": 0.17427336461872905
        },
        "original": {
          "composite": 0.5580685244332615,
          "displacement_rmse_m": 0.09543596827253303,
          "heading_rmse_deg": 2.4613408107499297,
          "missing_samples": 172,
          "mse": [
            0.00910802404011593,
            0.03118326719468074,
            0.0018454328220248043
          ],
          "observed_candidates": 96,
          "observed_contexts": 24,
          "observed_samples": 14324,
          "requested_candidates": 96,
          "requested_samples": 14496,
          "total_candidates": 96,
          "velocity_rmse_m_s": 0.17658784554629103
        }
      },
      "endpoint_0.2s": {
        "composite": 0.34175362252260905,
        "displacement_rmse_m": 0.037835890101544443,
        "heading_rmse_deg": 1.187879244429893,
        "missing_samples": 0,
        "mse": [
          0.0014315545797761488,
          0.02194563222179888,
          0.0004298325727749019
        ],
        "observed_candidates": 192,
        "observed_contexts": 24,
        "observed_samples": 192,
        "requested_candidates": 192,
        "requested_samples": 192,
        "total_candidates": 192,
        "velocity_rmse_m_s": 0.14814058262947016
      },
      "endpoint_0.5s": {
        "composite": 0.36493550807167385,
        "displacement_rmse_m": 0.056655857599828496,
        "heading_rmse_deg": 2.193185717472365,
        "missing_samples": 0,
        "mse": [
          0.0032098862003720444,
          0.02174532149908064,
          0.001465229160199341
        ],
        "observed_candidates": 192,
        "observed_contexts": 24,
        "observed_samples": 192,
        "requested_candidates": 192,
        "requested_samples": 192,
        "total_candidates": 192,
        "velocity_rmse_m_s": 0.14746294958083755
      },
      "endpoint_10s": {
        "composite": 0.30041668791911813,
        "displacement_rmse_m": 0.17345810189114394,
        "heading_rmse_deg": 3.4350784018067104,
        "missing_samples": 0,
        "mse": [
          0.030087713111678474,
          0.0006988409932455718,
          0.0035944135500154406
        ],
        "observed_candidates": 64,
        "observed_contexts": 8,
        "observed_samples": 64,
        "requested_candidates": 64,
        "requested_samples": 64,
        "total_candidates": 192,
        "velocity_rmse_m_s": 0.02643560086787459
      },
      "endpoint_1s": {
        "composite": 0.4864654507407564,
        "displacement_rmse_m": 0.07892871220775481,
        "heading_rmse_deg": 2.1849134291362704,
        "missing_samples": 0,
        "mse": [
          0.006229741610774584,
          0.02825807276305585,
          0.0014541968620241455
        ],
        "observed_candidates": 192,
        "observed_contexts": 24,
        "observed_samples": 192,
        "requested_candidates": 192,
        "requested_samples": 192,
        "total_candidates": 192,
        "velocity_rmse_m_s": 0.16810137644604772
      },
      "endpoint_2s": {
        "composite": 0.6038276413567407,
        "displacement_rmse_m": 0.12079528030092218,
        "heading_rmse_deg": 2.8763114584994116,
        "missing_samples": 2,
        "mse": [
          0.014591499742978358,
          0.030689184474738295,
          0.0025201509696925663
        ],
        "observed_candidates": 190,
        "observed_contexts": 24,
        "observed_samples": 190,
        "requested_candidates": 192,
        "requested_samples": 192,
        "total_candidates": 192,
        "velocity_rmse_m_s": 0.17518328822903825
      },
      "endpoint_3s": {
        "composite": 0.586994230614124,
        "displacement_rmse_m": 0.13760750677995,
        "heading_rmse_deg": 2.3208895756607895,
        "missing_samples": 2,
        "mse": [
          0.018935825922193988,
          0.027758739590176797,
          0.0016408303896425843
        ],
        "observed_candidates": 190,
        "observed_contexts": 24,
        "observed_samples": 190,
        "requested_candidates": 192,
        "requested_samples": 192,
        "total_candidates": 192,
        "velocity_rmse_m_s": 0.16660954231428882
      },
      "endpoint_5s": {
        "composite": 0.34856541215704134,
        "displacement_rmse_m": 0.14823081718743744,
        "heading_rmse_deg": 2.6581484588353272,
        "missing_samples": 1,
        "mse": [
          0.021972375164055497,
          0.009578909814247133,
          0.0021523515175311354
        ],
        "observed_candidates": 127,
        "observed_contexts": 16,
        "observed_samples": 127,
        "requested_candidates": 128,
        "requested_samples": 128,
        "total_candidates": 192,
        "velocity_rmse_m_s": 0.09787190513240832
      },
      "families": {
        "pivot_walk_stop": {
          "composite": 0.5840780431650429,
          "displacement_rmse_m": 0.10676949091329724,
          "heading_rmse_deg": 2.42579756730829,
          "missing_samples": 0,
          "mse": [
            0.011399724189884662,
            0.031688911943379534,
            0.001792519329547954
          ],
          "observed_candidates": 48,
          "observed_contexts": 6,
          "observed_samples": 7248,
          "requested_candidates": 48,
          "requested_samples": 7248,
          "total_candidates": 48,
          "velocity_rmse_m_s": 0.1780137970590469
        },
        "same_sign_pair": {
          "composite": 0.4980290544520018,
          "displacement_rmse_m": 0.09957486902967687,
          "heading_rmse_deg": 2.182463069619883,
          "missing_samples": 94,
          "mse": [
            0.009915154542277302,
            0.026967979109171845,
            0.0014509369552784014
          ],
          "observed_candidates": 48,
          "observed_contexts": 6,
          "observed_samples": 7154,
          "requested_candidates": 48,
          "requested_samples": 7248,
          "total_candidates": 48,
          "velocity_rmse_m_s": 0.16421930187761682
        },
        "strafe_walk_stop": {
          "composite": 0.6383612671265163,
          "displacement_rmse_m": 0.10014085621062105,
          "heading_rmse_deg": 1.508238787605767,
          "missing_samples": 78,
          "mse": [
            0.010028191082596281,
            0.03693670159298078,
            0.0006929389058938479
          ],
          "observed_candidates": 48,
          "observed_contexts": 6,
          "observed_samples": 7170,
          "requested_candidates": 48,
          "requested_samples": 7248,
          "total_candidates": 48,
          "velocity_rmse_m_s": 0.19218923381131622
        },
        "walk_pivot_stop": {
          "composite": 0.5039237906376752,
          "displacement_rmse_m": 0.08801160847678038,
          "heading_rmse_deg": 3.0857043699017104,
          "missing_samples": 0,
          "mse": [
            0.00774604322667008,
            0.027515352974894294,
            0.00290043652998187
          ],
          "observed_candidates": 48,
          "observed_contexts": 6,
          "observed_samples": 7248,
          "requested_candidates": 48,
          "requested_samples": 7248,
          "total_candidates": 48,
          "velocity_rmse_m_s": 0.16587752401966427
        }
      },
      "primary": {
        "composite": 0.5560980388453091,
        "displacement_rmse_m": 0.09885483427914428,
        "heading_rmse_deg": 2.368754661561771,
        "missing_samples": 172,
        "mse": [
          0.009772278260357078,
          0.030777236405106614,
          0.0017092079301755183
        ],
        "observed_candidates": 192,
        "observed_contexts": 24,
        "observed_samples": 28820,
        "requested_candidates": 192,
        "requested_samples": 28992,
        "total_candidates": 192,
        "velocity_rmse_m_s": 0.17543442195050155
      },
      "stop": {
        "composite": 0.28035405472512154,
        "displacement_rmse_m": 0.15809600225106876,
        "heading_rmse_deg": 2.8770101289346894,
        "missing_samples": 102,
        "mse": [
          0.024994345927769935,
          0.0030022119711267353,
          0.0025213754329320055
        ],
        "observed_candidates": 190,
        "observed_contexts": 24,
        "observed_samples": 9530,
        "requested_candidates": 192,
        "requested_samples": 9632,
        "total_candidates": 192,
        "velocity_rmse_m_s": 0.05479244447117445
      },
      "turn": {
        "composite": 0.35491056546660743,
        "displacement_rmse_m": 0.10981041512690749,
        "heading_rmse_deg": 2.4243010000004985,
        "missing_samples": 29,
        "mse": [
          0.012058327270343753,
          0.01585127612824187,
          0.0017903082643246355
        ],
        "observed_candidates": 144,
        "observed_contexts": 18,
        "observed_samples": 11939,
        "requested_candidates": 144,
        "requested_samples": 11968,
        "total_candidates": 192,
        "velocity_rmse_m_s": 0.12590185117083016
      },
      "whole": {
        "composite": 0.5068440936676051,
        "displacement_rmse_m": 0.12513286283599512,
        "heading_rmse_deg": 2.3271260873504027,
        "missing_samples": 272,
        "mse": [
          0.015658233361531965,
          0.02418572899575559,
          0.001649660457860215
        ],
        "observed_candidates": 192,
        "observed_contexts": 24,
        "observed_samples": 57520,
        "requested_candidates": 192,
        "requested_samples": 57792,
        "total_candidates": 192,
        "velocity_rmse_m_s": 0.15551761635183195
      }
    },
    "bounded_preview": {
      "banks": {
        "fresh": {
          "composite": 0.4670588149176056,
          "displacement_rmse_m": 0.09916661249643835,
          "heading_rmse_deg": 2.272399328172344,
          "missing_samples": 0,
          "mse": [
            0.009834017034018762,
            0.02483298071630025,
            0.0015729830383262322
          ],
          "observed_candidates": 96,
          "observed_contexts": 24,
          "observed_samples": 14496,
          "requested_candidates": 96,
          "requested_samples": 14496,
          "total_candidates": 96,
          "velocity_rmse_m_s": 0.1575848365684346
        },
        "original": {
          "composite": 0.4750159546271275,
          "displacement_rmse_m": 0.09306850559034112,
          "heading_rmse_deg": 2.4613408107499297,
          "missing_samples": 172,
          "mse": [
            0.008661746732819357,
            0.025828249718121015,
            0.0018454328220248043
          ],
          "observed_candidates": 96,
          "observed_contexts": 24,
          "observed_samples": 14324,
          "requested_candidates": 96,
          "requested_samples": 14496,
          "total_candidates": 96,
          "velocity_rmse_m_s": 0.16071169751490094
        }
      },
      "endpoint_0.2s": {
        "composite": 0.3106619032420363,
        "displacement_rmse_m": 0.01846520114357803,
        "heading_rmse_deg": 1.187879244429893,
        "missing_samples": 0,
        "mse": [
          0.00034096365327279535,
          0.02046039856651835,
          0.0004298325727749019
        ],
        "observed_candidates": 192,
        "observed_contexts": 24,
        "observed_samples": 192,
        "requested_candidates": 192,
        "requested_samples": 192,
        "total_candidates": 192,
        "velocity_rmse_m_s": 0.14303984957527868
      },
      "endpoint_0.5s": {
        "composite": 0.34394112253023335,
        "displacement_rmse_m": 0.05143192917774117,
        "heading_rmse_deg": 2.193185717472365,
        "missing_samples": 0,
        "mse": [
          0.0026452433389441837,
          0.020645812084586573,
          0.001465229160199341
        ],
        "observed_candidates": 192,
        "observed_contexts": 24,
        "observed_samples": 192,
        "requested_candidates": 192,
        "requested_samples": 192,
        "total_candidates": 192,
        "velocity_rmse_m_s": 0.14368650627176713
      },
      "endpoint_10s": {
        "composite": 0.30764996890479507,
        "displacement_rmse_m": 0.17616050639853872,
        "heading_rmse_deg": 3.4350784018067104,
        "missing_samples": 0,
        "mse": [
          0.031032524014589606,
          0.0006556313268912542,
          0.0035944135500154406
        ],
        "observed_candidates": 64,
        "observed_contexts": 8,
        "observed_samples": 64,
        "requested_candidates": 64,
        "requested_samples": 64,
        "total_candidates": 192,
        "velocity_rmse_m_s": 0.02560529880495938
      },
      "endpoint_1s": {
        "composite": 0.4563089340549393,
        "displacement_rmse_m": 0.07586448130109337,
        "heading_rmse_deg": 2.1849134291362704,
        "missing_samples": 0,
        "mse": [
          0.0057554195230839445,
          0.026489314061089175,
          0.0014541968620241455
        ],
        "observed_candidates": 192,
        "observed_contexts": 24,
        "observed_samples": 192,
        "requested_candidates": 192,
        "requested_samples": 192,
        "total_candidates": 192,
        "velocity_rmse_m_s": 0.16275538105110127
      },
      "endpoint_2s": {
        "composite": 0.5616446558970672,
        "displacement_rmse_m": 0.1168973547980952,
        "heading_rmse_deg": 2.8763114584994116,
        "missing_samples": 2,
        "mse": [
          0.01366499155879175,
          0.0283629938098153,
          0.0025201509696925663
        ],
        "observed_candidates": 190,
        "observed_contexts": 24,
        "observed_samples": 190,
        "requested_candidates": 192,
        "requested_samples": 192,
        "total_candidates": 192,
        "velocity_rmse_m_s": 0.16841316400393203
      },
      "endpoint_3s": {
        "composite": 0.5924000706097637,
        "displacement_rmse_m": 0.13539659770911627,
        "heading_rmse_deg": 2.3208895756607895,
        "missing_samples": 2,
        "mse": [
          0.01833223867120427,
          0.028463151618564195,
          0.0016408303896425843
        ],
        "observed_candidates": 190,
        "observed_contexts": 24,
        "observed_samples": 190,
        "requested_candidates": 192,
        "requested_samples": 192,
        "total_candidates": 192,
        "velocity_rmse_m_s": 0.16871025937554657
      },
      "endpoint_5s": {
        "composite": 0.3891182063412573,
        "displacement_rmse_m": 0.15473211948421012,
        "heading_rmse_deg": 2.6581484588353272,
        "missing_samples": 1,
        "mse": [
          0.023942028800075878,
          0.011208293251420252,
          0.0021523515175311354
        ],
        "observed_candidates": 127,
        "observed_contexts": 16,
        "observed_samples": 127,
        "requested_candidates": 128,
        "requested_samples": 128,
        "total_candidates": 192,
        "velocity_rmse_m_s": 0.10586922712205021
      },
      "families": {
        "pivot_walk_stop": {
          "composite": 0.4656083936397819,
          "displacement_rmse_m": 0.10102045222252813,
          "heading_rmse_deg": 2.42579756730829,
          "missing_samples": 0,
          "mse": [
            0.010205131767244089,
            0.024364168838159745,
            0.001792519329547954
          ],
          "observed_candidates": 48,
          "observed_contexts": 6,
          "observed_samples": 7248,
          "requested_candidates": 48,
          "requested_samples": 7248,
          "total_candidates": 48,
          "velocity_rmse_m_s": 0.15609025862673093
        },
        "same_sign_pair": {
          "composite": 0.45755335050868656,
          "displacement_rmse_m": 0.10625093729652907,
          "heading_rmse_deg": 2.182463069619883,
          "missing_samples": 94,
          "mse": [
            0.011289261676390952,
            0.02346293383005914,
            0.0014509369552784014
          ],
          "observed_candidates": 48,
          "observed_contexts": 6,
          "observed_samples": 7154,
          "requested_candidates": 48,
          "requested_samples": 7248,
          "total_candidates": 48,
          "velocity_rmse_m_s": 0.1531761529418308
        },
        "strafe_walk_stop": {
          "composite": 0.524397080118434,
          "displacement_rmse_m": 0.09145794033431122,
          "heading_rmse_deg": 1.508238787605767,
          "missing_samples": 78,
          "mse": [
            0.00836455485019443,
            0.030179914350661263,
            0.0006929389058938479
          ],
          "observed_candidates": 48,
          "observed_contexts": 6,
          "observed_samples": 7170,
          "requested_candidates": 48,
          "requested_samples": 7248,
          "total_candidates": 48,
          "velocity_rmse_m_s": 0.17372367239573674
        },
        "walk_pivot_stop": {
          "composite": 0.4365907148225636,
          "displacement_rmse_m": 0.08445459868975028,
          "heading_rmse_deg": 3.0857043699017104,
          "missing_samples": 0,
          "mse": [
            0.007132579239846768,
            0.023315443849962373,
            0.00290043652998187
          ],
          "observed_candidates": 48,
          "observed_contexts": 6,
          "observed_samples": 7248,
          "requested_candidates": 48,
          "requested_samples": 7248,
          "total_candidates": 48,
          "velocity_rmse_m_s": 0.1526939548572974
        }
      },
      "primary": {
        "composite": 0.47103738477236656,
        "displacement_rmse_m": 0.09616590811414959,
        "heading_rmse_deg": 2.368754661561771,
        "missing_samples": 172,
        "mse": [
          0.009247881883419061,
          0.02533061521721063,
          0.0017092079301755183
        ],
        "observed_candidates": 192,
        "observed_contexts": 24,
        "observed_samples": 28820,
        "requested_candidates": 192,
        "requested_samples": 28992,
        "total_candidates": 192,
        "velocity_rmse_m_s": 0.15915594622008514
      },
      "stop": {
        "composite": 0.2822142660073763,
        "displacement_rmse_m": 0.15934845080556312,
        "heading_rmse_deg": 2.8770101289346894,
        "missing_samples": 102,
        "mse": [
          0.02539192877413297,
          0.0029041358815997255,
          0.0025213754329320055
        ],
        "observed_candidates": 190,
        "observed_contexts": 24,
        "observed_samples": 9530,
        "requested_candidates": 192,
        "requested_samples": 9632,
        "total_candidates": 192,
        "velocity_rmse_m_s": 0.053890035086272915
      },
      "turn": {
        "composite": 0.26090840268352405,
        "displacement_rmse_m": 0.11010069114466009,
        "heading_rmse_deg": 2.4243010000004985,
        "missing_samples": 29,
        "mse": [
          0.012122162190531834,
          0.009470222997777951,
          0.0017903082643246355
        ],
        "observed_candidates": 144,
        "observed_contexts": 18,
        "observed_samples": 11939,
        "requested_candidates": 144,
        "requested_samples": 11968,
        "total_candidates": 192,
        "velocity_rmse_m_s": 0.09731507076387476
      },
      "whole": {
        "composite": 0.45605796166691076,
        "displacement_rmse_m": 0.12474384641654326,
        "heading_rmse_deg": 2.3271260873504027,
        "missing_samples": 272,
        "mse": [
          0.015561027218794132,
          0.020812343540998753,
          0.001649660457860215
        ],
        "observed_candidates": 192,
        "observed_contexts": 24,
        "observed_samples": 57520,
        "requested_candidates": 192,
        "requested_samples": 57792,
        "total_candidates": 192,
        "velocity_rmse_m_s": 0.1442648382004387
      }
    },
    "no_preview": {
      "banks": {
        "fresh": {
          "composite": 3.694794935507561,
          "displacement_rmse_m": 0.37579040240741685,
          "heading_rmse_deg": 3.1232251145058214,
          "missing_samples": 0,
          "mse": [
            0.1412184265415283,
            0.16776852281607776,
            0.002971401318218178
          ],
          "observed_candidates": 96,
          "observed_contexts": 24,
          "observed_samples": 14496,
          "requested_candidates": 96,
          "requested_samples": 14496,
          "total_candidates": 96,
          "velocity_rmse_m_s": 0.40959556005415604
        },
        "original": {
          "composite": 3.7519330241556808,
          "displacement_rmse_m": 0.37190223220227264,
          "heading_rmse_deg": 3.2571031484871087,
          "missing_samples": 172,
          "mse": [
            0.13831127031703314,
            0.17306842737020323,
            0.0032316011938525358
          ],
          "observed_candidates": 96,
          "observed_contexts": 24,
          "observed_samples": 14324,
          "requested_candidates": 96,
          "requested_samples": 14496,
          "total_candidates": 96,
          "velocity_rmse_m_s": 0.41601493647488574
        }
      },
      "endpoint_0.2s": {
        "composite": 1.0330626066961925,
        "displacement_rmse_m": 0.032441021631095295,
        "heading_rmse_deg": 1.3825989531840723,
        "missing_samples": 0,
        "mse": [
          0.001052419884469193,
          0.06870963429727629,
          0.0005823005262978288
        ],
        "observed_candidates": 192,
        "observed_contexts": 24,
        "observed_samples": 192,
        "requested_candidates": 192,
        "requested_samples": 192,
        "total_candidates": 192,
        "velocity_rmse_m_s": 0.262125226365713
      },
      "endpoint_0.5s": {
        "composite": 2.04571440960551,
        "displacement_rmse_m": 0.12358556131446627,
        "heading_rmse_deg": 2.641164218500096,
        "missing_samples": 0,
        "mse": [
          0.015273390965411702,
          0.1279248968337837,
          0.0021249344875491267
        ],
        "observed_candidates": 192,
        "observed_contexts": 24,
        "observed_samples": 192,
        "requested_candidates": 192,
        "requested_samples": 192,
        "total_candidates": 192,
        "velocity_rmse_m_s": 0.35766590113370283
      },
      "endpoint_10s": {
        "composite": 6153.561888610322,
        "displacement_rmse_m": 16.07159876121608,
        "heading_rmse_deg": 50.11506083628181,
        "missing_samples": 0,
        "mse": [
          258.2962867415223,
          269.50867434149995,
          0.7650525358022541
        ],
        "observed_candidates": 64,
        "observed_contexts": 8,
        "observed_samples": 64,
        "requested_candidates": 64,
        "requested_samples": 64,
        "total_candidates": 192,
        "velocity_rmse_m_s": 16.416719353802087
      },
      "endpoint_1s": {
        "composite": 1.9680004785727405,
        "displacement_rmse_m": 0.21759152261744752,
        "heading_rmse_deg": 4.701508365356265,
        "missing_samples": 0,
        "mse": [
          0.04734607071497917,
          0.10123442682184335,
          0.006733318555155062
        ],
        "observed_candidates": 192,
        "observed_contexts": 24,
        "observed_samples": 192,
        "requested_candidates": 192,
        "requested_samples": 192,
        "total_candidates": 192,
        "velocity_rmse_m_s": 0.31817357970429183
      },
      "endpoint_2s": {
        "composite": 4.870517470419642,
        "displacement_rmse_m": 0.41011107745649944,
        "heading_rmse_deg": 2.959985070221444,
        "missing_samples": 2,
        "mse": [
          0.1681910958525309,
          0.23218109772269213,
          0.0026689090618770435
        ],
        "observed_candidates": 190,
        "observed_contexts": 24,
        "observed_samples": 190,
        "requested_candidates": 192,
        "requested_samples": 192,
        "total_candidates": 192,
        "velocity_rmse_m_s": 0.4818517383207122
      },
      "endpoint_3s": {
        "composite": 8.754398918189453,
        "displacement_rmse_m": 0.7064545731931023,
        "heading_rmse_deg": 2.3850451088722506,
        "missing_samples": 2,
        "mse": [
          0.49907806398544846,
          0.3089106169474184,
          0.0017327979676093582
        ],
        "observed_candidates": 190,
        "observed_contexts": 24,
        "observed_samples": 190,
        "requested_candidates": 192,
        "requested_samples": 192,
        "total_candidates": 192,
        "velocity_rmse_m_s": 0.5557972804426254
      },
      "endpoint_5s": {
        "composite": 53.30421481857827,
        "displacement_rmse_m": 2.0413036966414313,
        "heading_rmse_deg": 5.672413906695543,
        "missing_samples": 1,
        "mse": [
          4.166920781921973,
          1.2469018975289274,
          0.009801455248421184
        ],
        "observed_candidates": 127,
        "observed_contexts": 16,
        "observed_samples": 127,
        "requested_candidates": 128,
        "requested_samples": 128,
        "total_candidates": 192,
        "velocity_rmse_m_s": 1.1166476156464615
      },
      "families": {
        "pivot_walk_stop": {
          "composite": 2.4469736922498107,
          "displacement_rmse_m": 0.27753872373125793,
          "heading_rmse_deg": 2.8874505727373023,
          "missing_samples": 0,
          "mse": [
            0.07702774317037553,
            0.11996671026127577,
            0.0025397083839475178
          ],
          "observed_candidates": 48,
          "observed_contexts": 6,
          "observed_samples": 7248,
          "requested_candidates": 48,
          "requested_samples": 7248,
          "total_candidates": 48,
          "velocity_rmse_m_s": 0.34636210858186517
        },
        "same_sign_pair": {
          "composite": 3.356245836642787,
          "displacement_rmse_m": 0.33778452262663977,
          "heading_rmse_deg": 1.9432785832943769,
          "missing_samples": 94,
          "mse": [
            0.11409838372610692,
            0.1615165785056876,
            0.0011503364041796406
          ],
          "observed_candidates": 48,
          "observed_contexts": 6,
          "observed_samples": 7154,
          "requested_candidates": 48,
          "requested_samples": 7248,
          "total_candidates": 48,
          "velocity_rmse_m_s": 0.40189125208902915
        },
        "strafe_walk_stop": {
          "composite": 4.901542895036661,
          "displacement_rmse_m": 0.36780867043955234,
          "heading_rmse_deg": 4.915976379188594,
          "missing_samples": 78,
          "mse": [
            0.13528321805051122,
            0.24931979991539546,
            0.0073616354984368014
          ],
          "observed_candidates": 48,
          "observed_contexts": 6,
          "observed_samples": 7170,
          "requested_candidates": 48,
          "requested_samples": 7248,
          "total_candidates": 48,
          "velocity_rmse_m_s": 0.49931933661274874
        },
        "walk_pivot_stop": {
          "composite": 4.188693495397225,
          "displacement_rmse_m": 0.4823381062803655,
          "heading_rmse_deg": 2.1085506511576404,
          "missing_samples": 0,
          "mse": [
            0.23265004877012918,
            0.15087081169020317,
            0.0013543247375774707
          ],
          "observed_candidates": 48,
          "observed_contexts": 6,
          "observed_samples": 7248,
          "requested_candidates": 48,
          "requested_samples": 7248,
          "total_candidates": 48,
          "velocity_rmse_m_s": 0.3884209207679256
        }
      },
      "primary": {
        "composite": 3.723363979831621,
        "displacement_rmse_m": 0.3738513721110045,
        "heading_rmse_deg": 3.1908663428420616,
        "missing_samples": 172,
        "mse": [
          0.13976484842928075,
          0.17041847509314054,
          0.0031015012560353574
        ],
        "observed_candidates": 192,
        "observed_contexts": 24,
        "observed_samples": 28820,
        "requested_candidates": 192,
        "requested_samples": 28992,
        "total_candidates": 192,
        "velocity_rmse_m_s": 0.41281772623415836
      },
      "stop": {
        "composite": 1320.398872568862,
        "displacement_rmse_m": 8.502462046128166,
        "heading_rmse_deg": 28.114231939788922,
        "missing_samples": 102,
        "mse": [
          72.29186084584994,
          48.284909914155655,
          0.24077266621633653
        ],
        "observed_candidates": 190,
        "observed_contexts": 24,
        "observed_samples": 9530,
        "requested_candidates": 192,
        "requested_samples": 9632,
        "total_candidates": 192,
        "velocity_rmse_m_s": 6.94873441096691
      },
      "turn": {
        "composite": 511.97984065096534,
        "displacement_rmse_m": 5.703161172632842,
        "heading_rmse_deg": 18.30594711400218,
        "missing_samples": 29,
        "mse": [
          32.52604736102681,
          16.187338370920937,
          0.10207964284565427
        ],
        "observed_candidates": 144,
        "observed_contexts": 18,
        "observed_samples": 11939,
        "requested_candidates": 144,
        "requested_samples": 11968,
        "total_candidates": 192,
        "velocity_rmse_m_s": 4.023349148523024
      },
      "whole": {
        "composite": 282.495010848924,
        "displacement_rmse_m": 4.170782739558798,
        "heading_rmse_deg": 13.209586824188914,
        "missing_samples": 272,
        "mse": [
          17.395428660601592,
          9.244223644299174,
          0.053153663500486746
        ],
        "observed_candidates": 192,
        "observed_contexts": 24,
        "observed_samples": 57520,
        "requested_candidates": 192,
        "requested_samples": 57792,
        "total_candidates": 192,
        "velocity_rmse_m_s": 3.0404314898216622
      }
    },
    "persistence": {
      "banks": {
        "fresh": {
          "composite": 10.117373037125402,
          "displacement_rmse_m": 0.5182920996975056,
          "heading_rmse_deg": 38.602518730258495,
          "missing_samples": 0,
          "mse": [
            0.2686267006088491,
            0.1965354091414964,
            0.4539270043493815
          ],
          "observed_candidates": 96,
          "observed_contexts": 24,
          "observed_samples": 14496,
          "requested_candidates": 96,
          "requested_samples": 14496,
          "total_candidates": 96,
          "velocity_rmse_m_s": 0.44332314302492304
        },
        "original": {
          "composite": 10.155772881025543,
          "displacement_rmse_m": 0.5175760730385667,
          "heading_rmse_deg": 38.56032736539183,
          "missing_samples": 172,
          "mse": [
            0.2678849913820237,
            0.2002771213484441,
            0.45293529011263994
          ],
          "observed_candidates": 96,
          "observed_contexts": 24,
          "observed_samples": 14324,
          "requested_candidates": 96,
          "requested_samples": 14496,
          "total_candidates": 96,
          "velocity_rmse_m_s": 0.44752331933480755
        }
      },
      "endpoint_0.2s": {
        "composite": 1.1790386466145517,
        "displacement_rmse_m": 0.03189948380459753,
        "heading_rmse_deg": 4.5421422511296905,
        "missing_samples": 0,
        "mse": [
          0.0010175770669997798,
          0.07437073389465794,
          0.006284579116104027
        ],
        "observed_candidates": 192,
        "observed_contexts": 24,
        "observed_samples": 192,
        "requested_candidates": 192,
        "requested_samples": 192,
        "total_candidates": 192,
        "velocity_rmse_m_s": 0.2727099812890206
      },
      "endpoint_0.5s": {
        "composite": 3.778903713448223,
        "displacement_rmse_m": 0.13791635088488158,
        "heading_rmse_deg": 13.535038967523475,
        "missing_samples": 0,
        "mse": [
          0.01902091984140178,
          0.20315734528018128,
          0.055805082700575236
        ],
        "observed_candidates": 192,
        "observed_contexts": 24,
        "observed_samples": 192,
        "requested_candidates": 192,
        "requested_samples": 192,
        "total_candidates": 192,
        "velocity_rmse_m_s": 0.45072979187111795
      },
      "endpoint_10s": {
        "composite": 215.417263747408,
        "displacement_rmse_m": 4.746665921267846,
        "heading_rmse_deg": 89.93841238961889,
        "missing_samples": 0,
        "mse": [
          22.53083736812553,
          0.04706272816727246,
          2.4640253370827723
        ],
        "observed_candidates": 64,
        "observed_contexts": 8,
        "observed_samples": 64,
        "requested_candidates": 64,
        "requested_samples": 64,
        "total_candidates": 192,
        "velocity_rmse_m_s": 0.21693945737756526
      },
      "endpoint_1s": {
        "composite": 4.7373041974778864,
        "displacement_rmse_m": 0.3090921087887652,
        "heading_rmse_deg": 27.229415487792824,
        "missing_samples": 0,
        "mse": [
          0.09553793171548584,
          0.09920370648325494,
          0.2258558649992252
        ],
        "observed_candidates": 192,
        "observed_contexts": 24,
        "observed_samples": 192,
        "requested_candidates": 192,
        "requested_samples": 192,
        "total_candidates": 192,
        "velocity_rmse_m_s": 0.3149661989535622
      },
      "endpoint_2s": {
        "composite": 13.764584096351571,
        "displacement_rmse_m": 0.5880950549197125,
        "heading_rmse_deg": 46.337475348088525,
        "missing_samples": 2,
        "mse": [
          0.3458557936210196,
          0.2514541777240975,
          0.6540628330474109
        ],
        "observed_candidates": 190,
        "observed_contexts": 24,
        "observed_samples": 190,
        "requested_candidates": 192,
        "requested_samples": 192,
        "total_candidates": 192,
        "velocity_rmse_m_s": 0.5014520692190805
      },
      "endpoint_3s": {
        "composite": 23.329183958871926,
        "displacement_rmse_m": 0.9364125699134745,
        "heading_rmse_deg": 56.508178490159544,
        "missing_samples": 2,
        "mse": [
          0.8768685010919578,
          0.3630171821975899,
          0.9726964967837065
        ],
        "observed_candidates": 190,
        "observed_contexts": 24,
        "observed_samples": 190,
        "requested_candidates": 192,
        "requested_samples": 192,
        "total_candidates": 192,
        "velocity_rmse_m_s": 0.602509072294841
      },
      "endpoint_5s": {
        "composite": 56.98905205222024,
        "displacement_rmse_m": 2.027567956553582,
        "heading_rmse_deg": 72.54590895289957,
        "missing_samples": 1,
        "mse": [
          4.111031818442869,
          0.3501511118452138,
          1.6031737314580152
        ],
        "observed_candidates": 127,
        "observed_contexts": 16,
        "observed_samples": 127,
        "requested_candidates": 128,
        "requested_samples": 128,
        "total_candidates": 192,
        "velocity_rmse_m_s": 0.5917356773469162
      },
      "families": {
        "pivot_walk_stop": {
          "composite": 14.469666753444395,
          "displacement_rmse_m": 0.3487382127523313,
          "heading_rmse_deg": 58.38845865997075,
          "missing_samples": 0,
          "mse": [
            0.12161834103369028,
            0.14121946547144554,
            1.0385053948354024
          ],
          "observed_candidates": 48,
          "observed_contexts": 6,
          "observed_samples": 7248,
          "requested_candidates": 48,
          "requested_samples": 7248,
          "total_candidates": 48,
          "velocity_rmse_m_s": 0.37579178473118
        },
        "same_sign_pair": {
          "composite": 8.827654080987465,
          "displacement_rmse_m": 0.36964753496287,
          "heading_rmse_deg": 39.268832207672006,
          "missing_samples": 94,
          "mse": [
            0.1366393001041262,
            0.17204777799336576,
            0.4697326063563822
          ],
          "observed_candidates": 48,
          "observed_contexts": 6,
          "observed_samples": 7154,
          "requested_candidates": 48,
          "requested_samples": 7248,
          "total_candidates": 48,
          "velocity_rmse_m_s": 0.4147864245528845
        },
        "strafe_walk_stop": {
          "composite": 6.598840037719536,
          "displacement_rmse_m": 0.48745537482022255,
          "heading_rmse_deg": 20.23544544176171,
          "missing_samples": 78,
          "mse": [
            0.23761274244112365,
            0.21963305317197082,
            0.12473268556491306
          ],
          "observed_candidates": 48,
          "observed_contexts": 6,
          "observed_samples": 7170,
          "requested_candidates": 48,
          "requested_samples": 7248,
          "total_candidates": 48,
          "velocity_rmse_m_s": 0.46865024610253947
        },
        "walk_pivot_stop": {
          "composite": 10.650130964150497,
          "displacement_rmse_m": 0.7597058643993776,
          "heading_rmse_deg": 24.35939362595798,
          "missing_samples": 0,
          "mse": [
            0.5771530004028055,
            0.26072476434309894,
            0.18075390216734522
          ],
          "observed_candidates": 48,
          "observed_contexts": 6,
          "observed_samples": 7248,
          "requested_candidates": 48,
          "requested_samples": 7248,
          "total_candidates": 48,
          "velocity_rmse_m_s": 0.5106121466858177
        }
      },
      "primary": {
        "composite": 10.136572959075473,
        "displacement_rmse_m": 0.5179342101034035,
        "heading_rmse_deg": 38.581428815209414,
        "missing_samples": 172,
        "mse": [
          0.26825584599543645,
          0.19840626524497026,
          0.45343114723101063
        ],
        "observed_candidates": 192,
        "observed_contexts": 24,
        "observed_samples": 28820,
        "requested_candidates": 192,
        "requested_samples": 28992,
        "total_candidates": 192,
        "velocity_rmse_m_s": 0.4454281819159743
      },
      "stop": {
        "composite": 84.10365869280116,
        "displacement_rmse_m": 2.860565559633289,
        "heading_rmse_deg": 67.72300458443348,
        "missing_samples": 102,
        "mse": [
          8.18283532096011,
          0.04221088998679735,
          1.3970989637956535
        ],
        "observed_candidates": 190,
        "observed_contexts": 24,
        "observed_samples": 9530,
        "requested_candidates": 192,
        "requested_samples": 9632,
        "total_candidates": 192,
        "velocity_rmse_m_s": 0.20545288994510968
      },
      "turn": {
        "composite": 32.231467506490524,
        "displacement_rmse_m": 1.6730249010141232,
        "heading_rmse_deg": 49.373338079996465,
        "missing_samples": 29,
        "mse": [
          2.7990123194133165,
          0.052691161556753546,
          0.7425739605849453
        ],
        "observed_candidates": 144,
        "observed_contexts": 18,
        "observed_samples": 11939,
        "requested_candidates": 144,
        "requested_samples": 11968,
        "total_candidates": 192,
        "velocity_rmse_m_s": 0.22954555442603009
      },
      "whole": {
        "composite": 40.21749560031308,
        "displacement_rmse_m": 1.8327976071002043,
        "heading_rmse_deg": 51.39149879536259,
        "missing_samples": 272,
        "mse": [
          3.3591470685922347,
          0.23091634354040647,
          0.8045208479703061
        ],
        "observed_candidates": 192,
        "observed_contexts": 24,
        "observed_samples": 57520,
        "requested_candidates": 192,
        "requested_samples": 57792,
        "total_candidates": 192,
        "velocity_rmse_m_s": 0.48053755684691957
      }
    },
    "preview": {
      "banks": {
        "fresh": {
          "composite": 5.849881856247785,
          "displacement_rmse_m": 0.5634506326245651,
          "heading_rmse_deg": 5.941027474428538,
          "missing_samples": 0,
          "mse": [
            0.31747661540502253,
            0.20834487245471953,
            0.010751717795290749
          ],
          "observed_candidates": 96,
          "observed_contexts": 24,
          "observed_samples": 14496,
          "requested_candidates": 96,
          "requested_samples": 14496,
          "total_candidates": 96,
          "velocity_rmse_m_s": 0.45644810488676535
        },
        "original": {
          "composite": 5.8119897803431035,
          "displacement_rmse_m": 0.5593401366826476,
          "heading_rmse_deg": 6.031045314700045,
          "missing_samples": 172,
          "mse": [
            0.31286138850416295,
            0.20814073993227566,
            0.011080004030038277
          ],
          "observed_candidates": 96,
          "observed_contexts": 24,
          "observed_samples": 14324,
          "requested_candidates": 96,
          "requested_samples": 14496,
          "total_candidates": 96,
          "velocity_rmse_m_s": 0.456224440305729
        }
      },
      "endpoint_0.2s": {
        "composite": 1.5394532112551642,
        "displacement_rmse_m": 0.041553362929156554,
        "heading_rmse_deg": 2.440687549589661,
        "missing_samples": 0,
        "mse": [
          0.0017266819707222021,
          0.10160151811537989,
          0.0018145924796022991
        ],
        "observed_candidates": 192,
        "observed_contexts": 24,
        "observed_samples": 192,
        "requested_candidates": 192,
        "requested_samples": 192,
        "total_candidates": 192,
        "velocity_rmse_m_s": 0.3187499303770589
      },
      "endpoint_0.5s": {
        "composite": 4.773600236148898,
        "displacement_rmse_m": 0.17127250708188144,
        "heading_rmse_deg": 4.756909590099343,
        "missing_samples": 0,
        "mse": [
          0.02933427168211313,
          0.3006261456279767,
          0.006892940501439615
        ],
        "observed_candidates": 192,
        "observed_contexts": 24,
        "observed_samples": 192,
        "requested_candidates": 192,
        "requested_samples": 192,
        "total_candidates": 192,
        "velocity_rmse_m_s": 0.5482938497083263
      },
      "endpoint_10s": {
        "composite": 11.844626161011453,
        "displacement_rmse_m": 1.0690731708357037,
        "heading_rmse_deg": 23.77630336650662,
        "missing_samples": 0,
        "mse": [
          1.1429174446007058,
          0.02942586788074155,
          0.17220406612596312
        ],
        "observed_candidates": 64,
        "observed_contexts": 8,
        "observed_samples": 64,
        "requested_candidates": 64,
        "requested_samples": 64,
        "total_candidates": 192,
        "velocity_rmse_m_s": 0.1715396976817365
      },
      "endpoint_1s": {
        "composite": 6.7807180640048195,
        "displacement_rmse_m": 0.4477035530062133,
        "heading_rmse_deg": 7.281826951895906,
        "missing_samples": 0,
        "mse": [
          0.20043847137438722,
          0.333021203326827,
          0.016152339828746802
        ],
        "observed_candidates": 192,
        "observed_contexts": 24,
        "observed_samples": 192,
        "requested_candidates": 192,
        "requested_samples": 192,
        "total_candidates": 192,
        "velocity_rmse_m_s": 0.5770798933655781
      },
      "endpoint_2s": {
        "composite": 6.8581756336497,
        "displacement_rmse_m": 0.7291447697140155,
        "heading_rmse_deg": 7.8219808056927755,
        "missing_samples": 2,
        "mse": [
          0.5316520952013047,
          0.15010629038257994,
          0.018637524484015733
        ],
        "observed_candidates": 190,
        "observed_contexts": 24,
        "observed_samples": 190,
        "requested_candidates": 192,
        "requested_samples": 192,
        "total_candidates": 192,
        "velocity_rmse_m_s": 0.3874355306145526
      },
      "endpoint_3s": {
        "composite": 6.628253757823978,
        "displacement_rmse_m": 0.6692904598839845,
        "heading_rmse_deg": 2.7372709750075988,
        "missing_samples": 2,
        "mse": [
          0.44794971969171543,
          0.19374956453863937,
          0.0022823924385890885
        ],
        "observed_candidates": 190,
        "observed_contexts": 24,
        "observed_samples": 190,
        "requested_candidates": 192,
        "requested_samples": 192,
        "total_candidates": 192,
        "velocity_rmse_m_s": 0.440169926890331
      },
      "endpoint_5s": {
        "composite": 9.475481164742325,
        "displacement_rmse_m": 1.0239937746765684,
        "heading_rmse_deg": 5.463545040995661,
        "missing_samples": 1,
        "mse": [
          1.048563250576367,
          0.04306182717752824,
          0.009092928803089921
        ],
        "observed_candidates": 127,
        "observed_contexts": 16,
        "observed_samples": 127,
        "requested_candidates": 128,
        "requested_samples": 128,
        "total_candidates": 192,
        "velocity_rmse_m_s": 0.2075134385468282
      },
      "families": {
        "pivot_walk_stop": {
          "composite": 0.5068787724034866,
          "displacement_rmse_m": 0.11215109634847013,
          "heading_rmse_deg": 1.810919545841493,
          "missing_samples": 0,
          "mse": [
            0.01257786841216383,
            0.02640139449505327,
            0.0009989713835843617
          ],
          "observed_candidates": 48,
          "observed_contexts": 6,
          "observed_samples": 7248,
          "requested_candidates": 48,
          "requested_samples": 7248,
          "total_candidates": 48,
          "velocity_rmse_m_s": 0.16248505929793444
        },
        "same_sign_pair": {
          "composite": 0.4750891484806157,
          "displacement_rmse_m": 0.10833602574973865,
          "heading_rmse_deg": 1.6402315999019823,
          "missing_samples": 94,
          "mse": [
            0.011736694475248034,
            0.024861295947318212,
            0.0008195304305133296
          ],
          "observed_candidates": 48,
          "observed_contexts": 6,
          "observed_samples": 7154,
          "requested_candidates": 48,
          "requested_samples": 7248,
          "total_candidates": 48,
          "velocity_rmse_m_s": 0.15767465220294039
        },
        "strafe_walk_stop": {
          "composite": 14.219571479569504,
          "displacement_rmse_m": 0.8436282177709125,
          "heading_rmse_deg": 7.0367038927800625,
          "missing_samples": 78,
          "mse": [
            0.7117085698193261,
            0.5483440839707708,
            0.015083192974355295
          ],
          "observed_candidates": 48,
          "observed_contexts": 6,
          "observed_samples": 7170,
          "requested_candidates": 48,
          "requested_samples": 7248,
          "total_candidates": 48,
          "velocity_rmse_m_s": 0.740502588767096
        },
        "walk_pivot_stop": {
          "composite": 8.12220387272817,
          "displacement_rmse_m": 0.7243292587709218,
          "heading_rmse_deg": 9.373027211219775,
          "missing_samples": 0,
          "mse": [
            0.5246528751116329,
            0.23336445036084807,
            0.026761748862205063
          ],
          "observed_candidates": 48,
          "observed_contexts": 6,
          "observed_samples": 7248,
          "requested_candidates": 48,
          "requested_samples": 7248,
          "total_candidates": 48,
          "velocity_rmse_m_s": 0.4830780996493715
        }
      },
      "primary": {
        "composite": 5.830935818295445,
        "displacement_rmse_m": 0.5613991467348278,
        "heading_rmse_deg": 5.986205602879011,
        "missing_samples": 172,
        "mse": [
          0.31516900195459274,
          0.20824280619349758,
          0.010915860912664515
        ],
        "observed_candidates": 192,
        "observed_contexts": 24,
        "observed_samples": 28820,
        "requested_candidates": 192,
        "requested_samples": 28992,
        "total_candidates": 192,
        "velocity_rmse_m_s": 0.45633628629936673
      },
      "stop": {
        "composite": 5.53230455871973,
        "displacement_rmse_m": 0.7563419635775607,
        "heading_rmse_deg": 11.047669012962453,
        "missing_samples": 102,
        "mse": [
          0.5720531658683602,
          0.0241891790231358,
          0.03717885784506727
        ],
        "observed_candidates": 190,
        "observed_contexts": 24,
        "observed_samples": 9530,
        "requested_candidates": 192,
        "requested_samples": 9632,
        "total_candidates": 192,
        "velocity_rmse_m_s": 0.15552870803531996
      },
      "turn": {
        "composite": 9.539840594639033,
        "displacement_rmse_m": 1.005722826752932,
        "heading_rmse_deg": 13.858626836908368,
        "missing_samples": 29,
        "mse": [
          1.011478404251908,
          0.03176879174038427,
          0.05850529008632805
        ],
        "observed_candidates": 144,
        "observed_contexts": 18,
        "observed_samples": 11939,
        "requested_candidates": 144,
        "requested_samples": 11968,
        "total_candidates": 192,
        "velocity_rmse_m_s": 0.1782380199070453
      },
      "whole": {
        "composite": 7.047287433025449,
        "displacement_rmse_m": 0.7693090269412612,
        "heading_rmse_deg": 8.397983306240985,
        "missing_samples": 272,
        "mse": [
          0.5918363789333102,
          0.12691556076655292,
          0.021483485802216137
        ],
        "observed_candidates": 192,
        "observed_contexts": 24,
        "observed_samples": 57520,
        "requested_candidates": 192,
        "requested_samples": 57792,
        "total_candidates": 192,
        "velocity_rmse_m_s": 0.35625210282404357
      }
    },
    "reference": {
      "banks": {
        "fresh": {
          "composite": 0.5806537628670603,
          "displacement_rmse_m": 0.10154234689244127,
          "heading_rmse_deg": 2.2627711356517914,
          "missing_samples": 0,
          "mse": [
            0.010310848212424875,
            0.032242246901261325,
            0.0015596817681069067
          ],
          "observed_candidates": 96,
          "observed_contexts": 24,
          "observed_samples": 14496,
          "requested_candidates": 96,
          "requested_samples": 14496,
          "total_candidates": 96,
          "velocity_rmse_m_s": 0.17956126225124763
        },
        "original": {
          "composite": 0.5883464022629047,
          "displacement_rmse_m": 0.0949267782940967,
          "heading_rmse_deg": 2.433844707659958,
          "missing_samples": 172,
          "mse": [
            0.009011093237296588,
            0.03331183219304074,
            0.0018044317664315454
          ],
          "observed_candidates": 96,
          "observed_contexts": 24,
          "observed_samples": 14324,
          "requested_candidates": 96,
          "requested_samples": 14496,
          "total_candidates": 96,
          "velocity_rmse_m_s": 0.18251529303880468
        }
      },
      "endpoint_0.2s": {
        "composite": 0.4078942453878309,
        "displacement_rmse_m": 0.03358686734630157,
        "heading_rmse_deg": 0.9905938829346143,
        "missing_samples": 0,
        "mse": [
          0.0011280776581380585,
          0.026677530726771745,
          0.000298913836603236
        ],
        "observed_candidates": 192,
        "observed_contexts": 24,
        "observed_samples": 192,
        "requested_candidates": 192,
        "requested_samples": 192,
        "total_candidates": 192,
        "velocity_rmse_m_s": 0.16333257705299253
      },
      "endpoint_0.5s": {
        "composite": 0.3449240202913517,
        "displacement_rmse_m": 0.05403312306652703,
        "heading_rmse_deg": 2.1405574384112085,
        "missing_samples": 0,
        "mse": [
          0.0029195783883224553,
          0.02060916164312891,
          0.0013957527976394839
        ],
        "observed_candidates": 192,
        "observed_contexts": 24,
        "observed_samples": 192,
        "requested_candidates": 192,
        "requested_samples": 192,
        "total_candidates": 192,
        "velocity_rmse_m_s": 0.14355891349243666
      },
      "endpoint_10s": {
        "composite": 0.29807064408056255,
        "displacement_rmse_m": 0.1724056076012884,
        "heading_rmse_deg": 3.4757346861502754,
        "missing_samples": 0,
        "mse": [
          0.02972369353236943,
          0.0006820262515658359,
          0.0036800012917194867
        ],
        "observed_candidates": 64,
        "observed_contexts": 8,
        "observed_samples": 64,
        "requested_candidates": 64,
        "requested_samples": 64,
        "total_candidates": 192,
        "velocity_rmse_m_s": 0.026115632321769198
      },
      "endpoint_1s": {
        "composite": 0.45389547400012603,
        "displacement_rmse_m": 0.07882271371382704,
        "heading_rmse_deg": 2.1653185549251903,
        "missing_samples": 0,
        "mse": [
          0.006213020197211937,
          0.026088184634108547,
          0.00142823058822417
        ],
        "observed_candidates": 192,
        "observed_contexts": 24,
        "observed_samples": 192,
        "requested_candidates": 192,
        "requested_samples": 192,
        "total_candidates": 192,
        "velocity_rmse_m_s": 0.161518372435177
      },
      "endpoint_2s": {
        "composite": 0.5832359822159997,
        "displacement_rmse_m": 0.11986424843166148,
        "heading_rmse_deg": 2.9211772659788906,
        "missing_samples": 2,
        "mse": [
          0.014367438052087062,
          0.029366757655944833,
          0.0025993847060888555
        ],
        "observed_candidates": 190,
        "observed_contexts": 24,
        "observed_samples": 190,
        "requested_candidates": 192,
        "requested_samples": 192,
        "total_candidates": 192,
        "velocity_rmse_m_s": 0.1713673179341523
      },
      "endpoint_3s": {
        "composite": 0.5646474303574683,
        "displacement_rmse_m": 0.13583101146350954,
        "heading_rmse_deg": 2.3165475004119407,
        "missing_samples": 2,
        "mse": [
          0.018450063675200058,
          0.0265281024594545,
          0.0016346965825887391
        ],
        "observed_candidates": 190,
        "observed_contexts": 24,
        "observed_samples": 190,
        "requested_candidates": 192,
        "requested_samples": 192,
        "total_candidates": 192,
        "velocity_rmse_m_s": 0.16287449910730195
      },
      "endpoint_5s": {
        "composite": 0.3439945999674747,
        "displacement_rmse_m": 0.14816905553707369,
        "heading_rmse_deg": 2.5669363304874793,
        "missing_samples": 1,
        "mse": [
          0.021954069018748423,
          0.009387910196683839,
          0.0020071735650057316
        ],
        "observed_candidates": 127,
        "observed_contexts": 16,
        "observed_samples": 127,
        "requested_candidates": 128,
        "requested_samples": 128,
        "total_candidates": 192,
        "velocity_rmse_m_s": 0.09689122868806979
      },
      "families": {
        "pivot_walk_stop": {
          "composite": 0.6654569379257607,
          "displacement_rmse_m": 0.10788079451000615,
          "heading_rmse_deg": 2.42579756730829,
          "missing_samples": 0,
          "mse": [
            0.011638265824110173,
            0.03704780767047614,
            0.0017925193295479534
          ],
          "observed_candidates": 48,
          "observed_contexts": 6,
          "observed_samples": 7248,
          "requested_candidates": 48,
          "requested_samples": 7248,
          "total_candidates": 48,
          "velocity_rmse_m_s": 0.19247807062228192
        },
        "same_sign_pair": {
          "composite": 0.5150454005558661,
          "displacement_rmse_m": 0.10262440817234776,
          "heading_rmse_deg": 2.2234615358584957,
          "missing_samples": 94,
          "mse": [
            0.010531769152724637,
            0.027729093618788853,
            0.0015059618735733633
          ],
          "observed_candidates": 48,
          "observed_contexts": 6,
          "observed_samples": 7154,
          "requested_candidates": 48,
          "requested_samples": 7248,
          "total_candidates": 48,
          "velocity_rmse_m_s": 0.16652055013958142
        },
        "strafe_walk_stop": {
          "composite": 0.661919091006174,
          "displacement_rmse_m": 0.09672346716167055,
          "heading_rmse_deg": 1.584199308859066,
          "missing_samples": 78,
          "mse": [
            0.009355429099774762,
            0.03885243009800079,
            0.0007644945155478221
          ],
          "observed_candidates": 48,
          "observed_contexts": 6,
          "observed_samples": 7170,
          "requested_candidates": 48,
          "requested_samples": 7248,
          "total_candidates": 48,
          "velocity_rmse_m_s": 0.19711019785389286
        },
        "walk_pivot_stop": {
          "composite": 0.49557890077212935,
          "displacement_rmse_m": 0.0843707225454029,
          "heading_rmse_deg": 2.9579560607784545,
          "missing_samples": 0,
          "mse": [
            0.0071184188228333575,
            0.027478826801338365,
            0.002665251350407766
          ],
          "observed_candidates": 48,
          "observed_contexts": 6,
          "observed_samples": 7248,
          "requested_candidates": 48,
          "requested_samples": 7248,
          "total_candidates": 48,
          "velocity_rmse_m_s": 0.1657673876289856
        }
      },
      "primary": {
        "composite": 0.5845000825649825,
        "displacement_rmse_m": 0.09829023717979693,
        "heading_rmse_deg": 2.3498652379810303,
        "missing_samples": 172,
        "mse": [
          0.009660970724860734,
          0.03277703954715104,
          0.0016820567672692268
        ],
        "observed_candidates": 192,
        "observed_contexts": 24,
        "observed_samples": 28820,
        "requested_candidates": 192,
        "requested_samples": 28992,
        "total_candidates": 192,
        "velocity_rmse_m_s": 0.18104430271939254
      },
      "stop": {
        "composite": 0.2774606580932312,
        "displacement_rmse_m": 0.1572298696096401,
        "heading_rmse_deg": 2.901085540121551,
        "missing_samples": 102,
        "mse": [
          0.02472123189746443,
          0.0029292345839713415,
          0.0025637507710658115
        ],
        "observed_candidates": 190,
        "observed_contexts": 24,
        "observed_samples": 9530,
        "requested_candidates": 192,
        "requested_samples": 9632,
        "total_candidates": 192,
        "velocity_rmse_m_s": 0.05412240371575658
      },
      "turn": {
        "composite": 0.4337806295878633,
        "displacement_rmse_m": 0.10874735649438275,
        "heading_rmse_deg": 2.6897757172159644,
        "missing_samples": 29,
        "mse": [
          0.011825987544516369,
          0.021000223486382273,
          0.0022038745626584933
        ],
        "observed_candidates": 144,
        "observed_contexts": 18,
        "observed_samples": 11939,
        "requested_candidates": 144,
        "requested_samples": 11968,
        "total_candidates": 192,
        "velocity_rmse_m_s": 0.1449145385611198
      },
      "whole": {
        "composite": 0.5204702730274938,
        "displacement_rmse_m": 0.12428828006043044,
        "heading_rmse_deg": 2.3637522813435456,
        "missing_samples": 272,
        "mse": [
          0.01544757656037999,
          0.025185333523441805,
          0.0017019964785729225
        ],
        "observed_candidates": 192,
        "observed_contexts": 24,
        "observed_samples": 57520,
        "requested_candidates": 192,
        "requested_samples": 57792,
        "total_candidates": 192,
        "velocity_rmse_m_s": 0.15869887688147577
      }
    }
  }
}
