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      {
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      {
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        "status": "fail",
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        "dataset_code": "citrus-farm-01_13B_Jackal",
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        "dataset_code": "citrus-farm-02_13B_Jackal",
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      {
        "dataset_code": "citrus-farm-02_13B_Jackal",
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        "plot_yz": "plots/humble/citrus-farm-02_13B_Jackal-online-yz.png"
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      {
        "dataset_code": "citrus-farm-03_13B_Jackal",
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        "status": "pass",
        "detail": "APE RMSE 3.060376m vs previous 4.133721m",
        "ape_rmse_m": 3.060376,
        "ape_mean_m": 2.695972,
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      {
        "dataset_code": "citrus-farm-03_13B_Jackal",
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        "detail": "APE RMSE 2.848043m, no previous run to compare against (baseline established)",
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      {
        "dataset_code": "citrus-farm-04_13D_Jackal",
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        "status": "pass",
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      {
        "dataset_code": "citrus-farm-04_13D_Jackal",
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      {
        "dataset_code": "citrus-farm-05_13D_Jackal",
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      {
        "dataset_code": "citrus-farm-05_13D_Jackal",
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      {
        "dataset_code": "citrus-farm-06_14B_Jackal",
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      {
        "dataset_code": "citrus-farm-06_14B_Jackal",
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      {
        "dataset_code": "citrus-farm-07_14B_Jackal",
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      {
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      {
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      {
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      {
        "dataset_code": "grand-tour-con-1",
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        "status": "pass",
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      {
        "dataset_code": "grand-tour-con-1",
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        "status": "pass",
        "detail": "APE RMSE 0.040701m, no previous run to compare against (baseline established)",
        "ape_rmse_m": 0.040701,
        "ape_mean_m": 0.032236,
        "ape_median_m": 0.026571,
        "ape_std_m": 0.024847,
        "ape_max_m": 0.138901,
        "gt_coverage": 1.0,
        "gt_path_m": 242.7967804204476,
        "gt_covered_path_m": 242.7967804204476,
        "gt_gap_max_m": 0.0,
        "est_path_m": 263.20140359976705,
        "coverage_tol_s": 0.5000150203704834,
        "time_overlap_s": 385.2702829837799,
        "plot": "plots/humble/grand-tour-con-1-online.png",
        "plot_xz": "plots/humble/grand-tour-con-1-online-xz.png",
        "plot_yz": "plots/humble/grand-tour-con-1-online-yz.png"
      },
      {
        "dataset_code": "grand-tour-con-2",
        "dataset": "grand-tour",
        "mode": "offline",
        "status": "pass",
        "detail": "APE RMSE 0.087737m, no previous run to compare against (baseline established)",
        "ape_rmse_m": 0.087737,
        "ape_mean_m": 0.062899,
        "ape_median_m": 0.048498,
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        "ape_max_m": 0.301524,
        "gt_coverage": 0.999974,
        "gt_path_m": 218.6586417851008,
        "gt_covered_path_m": 218.65302073730567,
        "gt_gap_max_m": 0.005621047795152126,
        "est_path_m": 266.3066782883989,
        "coverage_tol_s": 0.5000197887420654,
        "time_overlap_s": 381.7176094055176,
        "plot": "plots/humble/grand-tour-con-2-offline.png",
        "plot_xz": "plots/humble/grand-tour-con-2-offline-xz.png",
        "plot_yz": "plots/humble/grand-tour-con-2-offline-yz.png"
      },
      {
        "dataset_code": "grand-tour-con-2",
        "dataset": "grand-tour",
        "mode": "online",
        "status": "pass",
        "detail": "APE RMSE 0.087737m, no previous run to compare against (baseline established)",
        "ape_rmse_m": 0.087737,
        "ape_mean_m": 0.062899,
        "ape_median_m": 0.048498,
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        "ape_max_m": 0.301524,
        "gt_coverage": 0.999974,
        "gt_path_m": 218.6586417851008,
        "gt_covered_path_m": 218.65302073730567,
        "gt_gap_max_m": 0.005621047795152126,
        "est_path_m": 266.3066782883989,
        "coverage_tol_s": 0.5000197887420654,
        "time_overlap_s": 381.7176094055176,
        "plot": "plots/humble/grand-tour-con-2-online.png",
        "plot_xz": "plots/humble/grand-tour-con-2-online-xz.png",
        "plot_yz": "plots/humble/grand-tour-con-2-online-yz.png"
      },
      {
        "dataset_code": "grand-tour-con-3",
        "dataset": "grand-tour",
        "mode": "offline",
        "status": "fail",
        "detail": "diverged trajectory: travelled 2.84x the ground-truth path length (est 193.1251895796517m vs gt 68.08743463474072m, allowed 0.5-2.0x), full GT coverage does not catch this -- APE RMSE 0.012336m is not a meaningful measurement of this run",
        "ape_rmse_m": 0.012336,
        "ape_mean_m": 0.011491,
        "ape_median_m": 0.011462,
        "ape_std_m": 0.004489,
        "ape_max_m": 0.029143,
        "gt_coverage": 1.0,
        "gt_path_m": 68.08743463474072,
        "gt_covered_path_m": 68.08743463474072,
        "gt_gap_max_m": 0.0,
        "est_path_m": 193.1251895796517,
        "coverage_tol_s": 0.5000102519989014,
        "time_overlap_s": 491.6718592643738,
        "plot": "plots/humble/grand-tour-con-3-offline.png",
        "plot_xz": "plots/humble/grand-tour-con-3-offline-xz.png",
        "plot_yz": "plots/humble/grand-tour-con-3-offline-yz.png"
      },
      {
        "dataset_code": "grand-tour-con-3",
        "dataset": "grand-tour",
        "mode": "online",
        "status": "fail",
        "detail": "diverged trajectory: travelled 2.84x the ground-truth path length (est 193.1251895796517m vs gt 68.08743463474072m, allowed 0.5-2.0x), full GT coverage does not catch this -- APE RMSE 0.012336m is not a meaningful measurement of this run",
        "ape_rmse_m": 0.012336,
        "ape_mean_m": 0.011491,
        "ape_median_m": 0.011462,
        "ape_std_m": 0.004489,
        "ape_max_m": 0.029143,
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        "est_path_m": 193.1251895796517,
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        "time_overlap_s": 491.6718592643738,
        "plot": "plots/humble/grand-tour-con-3-online.png",
        "plot_xz": "plots/humble/grand-tour-con-3-online-xz.png",
        "plot_yz": "plots/humble/grand-tour-con-3-online-yz.png"
      },
      {
        "dataset_code": "grand-tour-eth-1",
        "dataset": "grand-tour",
        "mode": "offline",
        "status": "pass",
        "detail": "APE RMSE 0.078257m, no previous run to compare against (baseline established)",
        "ape_rmse_m": 0.078257,
        "ape_mean_m": 0.071013,
        "ape_median_m": 0.067881,
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        "ape_max_m": 0.164309,
        "rpe_trans_pct": 0.495451,
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        "path_m": 200.20702897741654,
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        "tilt_slope_deg_100m": 0.5366426943611486,
        "rpe_vz_mm_m": -0.15730478108148369,
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        "rpe_vz_n_seg": 9,
        "rpe_tilt_deg_100m": 2.9524862600845774,
        "gt_coverage": 0.999882,
        "gt_path_m": 203.43436175794224,
        "gt_covered_path_m": 203.41036175913058,
        "gt_gap_max_m": 0.02399999881163656,
        "est_path_m": 204.08443582234642,
        "coverage_tol_s": 0.5000150203704834,
        "time_overlap_s": 344.99957299232483,
        "plot": "plots/humble/grand-tour-eth-1-offline.png",
        "plot_xz": "plots/humble/grand-tour-eth-1-offline-xz.png",
        "plot_yz": "plots/humble/grand-tour-eth-1-offline-yz.png"
      },
      {
        "dataset_code": "grand-tour-eth-1",
        "dataset": "grand-tour",
        "mode": "online",
        "status": "pass",
        "detail": "APE RMSE 0.074320m, no previous run to compare against (baseline established)",
        "ape_rmse_m": 0.07432,
        "ape_mean_m": 0.066957,
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        "ape_max_m": 0.157461,
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        "rpe_rot_deg_per_100m": 0.898489,
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        "tilt_uma_deg": 0.7619318792818398,
        "tilt0_deg": 0.6836018789582612,
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        "rpe_vz_n_seg": 9,
        "rpe_tilt_deg_100m": 2.819763843117601,
        "gt_coverage": 0.999882,
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        "gt_covered_path_m": 203.41036175913058,
        "gt_gap_max_m": 0.02399999881163656,
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        "coverage_tol_s": 0.5000150203704834,
        "time_overlap_s": 344.99957299232483,
        "plot": "plots/humble/grand-tour-eth-1-online.png",
        "plot_xz": "plots/humble/grand-tour-eth-1-online-xz.png",
        "plot_yz": "plots/humble/grand-tour-eth-1-online-yz.png"
      },
      {
        "dataset_code": "grand-tour-snow-2",
        "dataset": "grand-tour",
        "mode": "offline",
        "status": "pass",
        "detail": "APE RMSE 0.027374m, no previous run to compare against (baseline established)",
        "ape_rmse_m": 0.027374,
        "ape_mean_m": 0.025071,
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        "ape_std_m": 0.010991,
        "ape_max_m": 0.189725,
        "path_m": 169.46218831988227,
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        "tilt_uma_deg": 0.16897679583746986,
        "tilt0_deg": 0.9777638382377182,
        "tilt_drift_deg": -0.03528992402271569,
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        "rpe_vz_mm_m": 0.5074950442787765,
        "rpe_vz_se_mm_m": 1.6292884208015677,
        "rpe_vz_n_seg": 8,
        "rpe_tilt_deg_100m": 4.740043245567685,
        "gt_coverage": 0.999416,
        "gt_path_m": 172.3017500971773,
        "gt_covered_path_m": 172.2011226837641,
        "gt_gap_max_m": 0.06638477600559581,
        "est_path_m": 173.70903350471838,
        "coverage_tol_s": 0.5000042915344238,
        "time_overlap_s": 271.79947900772095,
        "plot": "plots/humble/grand-tour-snow-2-offline.png",
        "plot_xz": "plots/humble/grand-tour-snow-2-offline-xz.png",
        "plot_yz": "plots/humble/grand-tour-snow-2-offline-yz.png"
      },
      {
        "dataset_code": "grand-tour-snow-2",
        "dataset": "grand-tour",
        "mode": "online",
        "status": "pass",
        "detail": "APE RMSE 0.027374m, no previous run to compare against (baseline established)",
        "ape_rmse_m": 0.027374,
        "ape_mean_m": 0.025071,
        "ape_median_m": 0.024457,
        "ape_std_m": 0.010991,
        "ape_max_m": 0.189725,
        "path_m": 169.46218831988227,
        "z_ape_m": 0.014926399582059779,
        "tilt_uma_deg": 0.16897679583746986,
        "tilt0_deg": 0.9777638382377182,
        "tilt_drift_deg": -0.03528992402271569,
        "tilt_slope_deg_100m": 0.08283703497230828,
        "rpe_vz_mm_m": 0.5074950442787765,
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        "rpe_vz_n_seg": 8,
        "rpe_tilt_deg_100m": 4.740043245567685,
        "gt_coverage": 0.999416,
        "gt_path_m": 172.3017500971773,
        "gt_covered_path_m": 172.2011226837641,
        "gt_gap_max_m": 0.06638477600559581,
        "est_path_m": 173.70903350471838,
        "coverage_tol_s": 0.5000042915344238,
        "time_overlap_s": 271.79947900772095,
        "plot": "plots/humble/grand-tour-snow-2-online.png",
        "plot_xz": "plots/humble/grand-tour-snow-2-online-xz.png",
        "plot_yz": "plots/humble/grand-tour-snow-2-online-yz.png"
      },
      {
        "dataset_code": "kitti-00",
        "dataset": "kitti",
        "mode": "offline",
        "status": "pass",
        "detail": "APE RMSE 3.591996m vs previous 7.650705m",
        "ape_rmse_m": 3.591996,
        "ape_mean_m": 3.013215,
        "ape_median_m": 2.348275,
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        "ape_max_m": 7.948311,
        "rpe_trans_pct": 0.925331,
        "rpe_rot_deg_per_100m": 0.58474,
        "path_m": 3723.2421848465983,
        "z_ape_m": 0.6088624318697624,
        "tilt_uma_deg": 1.201562875423806,
        "tilt0_deg": 1.4742450117684527,
        "tilt_drift_deg": -0.6612686646996953,
        "tilt_slope_deg_100m": -0.02692825744853401,
        "rpe_vz_mm_m": -0.03298486402414133,
        "rpe_vz_se_mm_m": 0.42842948094981226,
        "rpe_vz_n_seg": 182,
        "rpe_tilt_deg_100m": 0.6489258648014193,
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        "gt_path_m": 3723.2421848465974,
        "gt_covered_path_m": 3723.2421848465974,
        "gt_gap_max_m": 0.0,
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        "coverage_tol_s": 0.5180499999999455,
        "time_overlap_s": 470.5816,
        "plot": "plots/humble/kitti-00-offline.png",
        "plot_xz": "plots/humble/kitti-00-offline-xz.png",
        "plot_yz": "plots/humble/kitti-00-offline-yz.png"
      },
      {
        "dataset_code": "kitti-00",
        "dataset": "kitti",
        "mode": "online",
        "status": "pass",
        "detail": "APE RMSE 4.331721m vs previous 8.314273m",
        "ape_rmse_m": 4.331721,
        "ape_mean_m": 3.703951,
        "ape_median_m": 3.331792,
        "ape_std_m": 2.24601,
        "ape_max_m": 10.797021,
        "rpe_trans_pct": 0.938437,
        "rpe_rot_deg_per_100m": 0.616249,
        "path_m": 3723.2421848465983,
        "z_ape_m": 1.6408904234779023,
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        "tilt0_deg": 1.626515781711077,
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        "rpe_vz_se_mm_m": 0.42187745774599683,
        "rpe_vz_n_seg": 182,
        "rpe_tilt_deg_100m": 0.8775680715361737,
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        "gt_covered_path_m": 3723.2421848465974,
        "gt_gap_max_m": 0.0,
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        "coverage_tol_s": 0.5180499999999455,
        "time_overlap_s": 470.5816,
        "plot": "plots/humble/kitti-00-online.png",
        "plot_xz": "plots/humble/kitti-00-online-xz.png",
        "plot_yz": "plots/humble/kitti-00-online-yz.png"
      },
      {
        "dataset_code": "kitti-01",
        "dataset": "kitti",
        "mode": "offline",
        "status": "pass",
        "detail": "APE RMSE 4.007512m vs previous 6.27344m",
        "ape_rmse_m": 4.007512,
        "ape_mean_m": 3.879269,
        "ape_median_m": 3.72068,
        "ape_std_m": 1.005697,
        "ape_max_m": 6.315304,
        "rpe_trans_pct": 0.955001,
        "rpe_rot_deg_per_100m": 0.175778,
        "path_m": 2453.257909460747,
        "z_ape_m": 0.9462940977719952,
        "tilt_uma_deg": 1.5677571714286125,
        "tilt0_deg": 0.9879629663231865,
        "tilt_drift_deg": 0.9208548658296819,
        "tilt_slope_deg_100m": 0.04010684629353714,
        "rpe_vz_mm_m": -0.7891592223075488,
        "rpe_vz_se_mm_m": 0.22791260588265416,
        "rpe_vz_n_seg": 116,
        "rpe_tilt_deg_100m": 0.20928549146595105,
        "gt_coverage": 1.0,
        "gt_path_m": 2453.2579094607454,
        "gt_covered_path_m": 2453.2579094607454,
        "gt_gap_max_m": 0.0,
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        "coverage_tol_s": 0.5181500000000128,
        "time_overlap_s": 114.0288,
        "plot": "plots/humble/kitti-01-offline.png",
        "plot_xz": "plots/humble/kitti-01-offline-xz.png",
        "plot_yz": "plots/humble/kitti-01-offline-yz.png"
      },
      {
        "dataset_code": "kitti-01",
        "dataset": "kitti",
        "mode": "online",
        "status": "pass",
        "detail": "APE RMSE 5.145470m vs previous 5.797984m",
        "ape_rmse_m": 5.14547,
        "ape_mean_m": 4.785753,
        "ape_median_m": 4.973272,
        "ape_std_m": 1.890088,
        "ape_max_m": 8.643311,
        "rpe_trans_pct": 0.865474,
        "rpe_rot_deg_per_100m": 0.181602,
        "path_m": 2453.2565101257064,
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        "tilt_uma_deg": 1.6074547736856848,
        "tilt0_deg": 0.685904492597751,
        "tilt_drift_deg": 1.5590686063706443,
        "tilt_slope_deg_100m": 0.08129891344071025,
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        "rpe_vz_se_mm_m": 0.20985747008790748,
        "rpe_vz_n_seg": 116,
        "rpe_tilt_deg_100m": 0.21520834259912286,
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        "gt_path_m": 2453.2579094607454,
        "gt_covered_path_m": 2453.2579094607454,
        "gt_gap_max_m": 0.0,
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        "coverage_tol_s": 0.5181500000000128,
        "time_overlap_s": 114.0288,
        "plot": "plots/humble/kitti-01-online.png",
        "plot_xz": "plots/humble/kitti-01-online-xz.png",
        "plot_yz": "plots/humble/kitti-01-online-yz.png"
      },
      {
        "dataset_code": "kitti-02",
        "dataset": "kitti",
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        "status": "pass",
        "detail": "APE RMSE 8.009978m vs previous 14.581229m",
        "ape_rmse_m": 8.009978,
        "ape_mean_m": 7.507654,
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        "ape_std_m": 2.791931,
        "ape_max_m": 16.744026,
        "rpe_trans_pct": 0.949125,
        "rpe_rot_deg_per_100m": 0.367972,
        "path_m": 5067.016163432655,
        "z_ape_m": 1.7158383513622968,
        "tilt_uma_deg": 0.5818831153840209,
        "tilt0_deg": 0.5896183641600368,
        "tilt_drift_deg": 0.6109797486593813,
        "tilt_slope_deg_100m": 0.020015770817305996,
        "rpe_vz_mm_m": -0.3942093421474104,
        "rpe_vz_se_mm_m": 0.536010218920982,
        "rpe_vz_n_seg": 246,
        "rpe_tilt_deg_100m": 0.44865849659462226,
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        "gt_gap_max_m": 0.0,
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        "coverage_tol_s": 0.5185000000000173,
        "time_overlap_s": 483.2759,
        "plot": "plots/humble/kitti-02-offline.png",
        "plot_xz": "plots/humble/kitti-02-offline-xz.png",
        "plot_yz": "plots/humble/kitti-02-offline-yz.png"
      },
      {
        "dataset_code": "kitti-02",
        "dataset": "kitti",
        "mode": "online",
        "status": "pass",
        "detail": "APE RMSE 6.647684m vs previous 13.788834m",
        "ape_rmse_m": 6.647684,
        "ape_mean_m": 6.110604,
        "ape_median_m": 5.55427,
        "ape_std_m": 2.617675,
        "ape_max_m": 14.403372,
        "rpe_trans_pct": 0.917105,
        "rpe_rot_deg_per_100m": 0.338415,
        "path_m": 5067.016163432655,
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        "tilt_uma_deg": 0.9529732215454719,
        "tilt0_deg": 0.6589615122065416,
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        "tilt_slope_deg_100m": 0.0009566967624589083,
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        "rpe_vz_n_seg": 246,
        "rpe_tilt_deg_100m": 0.563589954939958,
        "gt_coverage": 1.0,
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        "gt_gap_max_m": 0.0,
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        "coverage_tol_s": 0.5185000000000173,
        "time_overlap_s": 483.2759,
        "plot": "plots/humble/kitti-02-online.png",
        "plot_xz": "plots/humble/kitti-02-online-xz.png",
        "plot_yz": "plots/humble/kitti-02-online-yz.png"
      },
      {
        "dataset_code": "kitti-03",
        "dataset": "kitti",
        "mode": "offline",
        "status": "pass",
        "detail": "APE RMSE 1.071054m vs previous 1.705042m",
        "ape_rmse_m": 1.071054,
        "ape_mean_m": 0.978175,
        "ape_median_m": 0.995427,
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        "ape_max_m": 2.386445,
        "rpe_trans_pct": 0.954323,
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        "plot_xz": "plots/humble/oxford-spires-observatory-quarter-01-offline-xz.png",
        "plot_yz": "plots/humble/oxford-spires-observatory-quarter-01-offline-yz.png"
      },
      {
        "dataset_code": "oxford-spires-observatory-quarter-01",
        "dataset": "oxford-spires",
        "mode": "online",
        "status": "fail",
        "detail": "APE RMSE 0.260467m is 11.7% worse than previous 0.233129m (tolerance 10%)",
        "ape_rmse_m": 0.260467,
        "ape_mean_m": 0.215377,
        "ape_median_m": 0.148318,
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        "ape_max_m": 0.644425,
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        "gt_covered_path_m": 392.74511779944123,
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        "time_overlap_s": 283.74274826049805,
        "plot": "plots/humble/oxford-spires-observatory-quarter-01-online.png",
        "plot_xz": "plots/humble/oxford-spires-observatory-quarter-01-online-xz.png",
        "plot_yz": "plots/humble/oxford-spires-observatory-quarter-01-online-yz.png"
      },
      {
        "dataset_code": "oxford-spires-observatory-quarter-02",
        "dataset": "oxford-spires",
        "mode": "offline",
        "status": "pass",
        "detail": "APE RMSE 0.219233m vs previous 0.513592m",
        "ape_rmse_m": 0.219233,
        "ape_mean_m": 0.172492,
        "ape_median_m": 0.098109,
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        "time_overlap_s": 269.8404529094696,
        "plot": "plots/humble/oxford-spires-observatory-quarter-02-offline.png",
        "plot_xz": "plots/humble/oxford-spires-observatory-quarter-02-offline-xz.png",
        "plot_yz": "plots/humble/oxford-spires-observatory-quarter-02-offline-yz.png"
      },
      {
        "dataset_code": "oxford-spires-observatory-quarter-02",
        "dataset": "oxford-spires",
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        "status": "pass",
        "detail": "APE RMSE 0.219233m vs previous 0.460336m",
        "ape_rmse_m": 0.219233,
        "ape_mean_m": 0.172492,
        "ape_median_m": 0.098109,
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        "time_overlap_s": 269.8404529094696,
        "plot": "plots/humble/oxford-spires-observatory-quarter-02-online.png",
        "plot_xz": "plots/humble/oxford-spires-observatory-quarter-02-online-xz.png",
        "plot_yz": "plots/humble/oxford-spires-observatory-quarter-02-online-yz.png"
      },
      {
        "dataset_code": "tiers-forest01",
        "dataset": "tiers",
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        "status": "fail",
        "detail": "incomplete trajectory: covers 74.6% of the ground-truth path (minimum 95%), APE RMSE 0.284149m is scored on that part only",
        "ape_rmse_m": 0.284149,
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        "time_overlap_s": 59.620004653930664,
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        "plot_yz": "plots/humble/tiers-forest01-offline-yz.png"
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      {
        "dataset_code": "tiers-forest01",
        "dataset": "tiers",
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        "status": "fail",
        "detail": "incomplete trajectory: covers 74.6% of the ground-truth path (minimum 95%), APE RMSE 0.284149m is scored on that part only",
        "ape_rmse_m": 0.284149,
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        "plot_yz": "plots/humble/tiers-forest01-online-yz.png"
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      {
        "dataset_code": "tiers-forest02",
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        "status": "pass",
        "detail": "APE RMSE 0.028964m vs previous 0.028964m",
        "ape_rmse_m": 0.028964,
        "ape_mean_m": 0.02419,
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        "time_overlap_s": 107.00672578811646,
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        "plot_yz": "plots/humble/tiers-forest02-offline-yz.png"
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      {
        "dataset_code": "tiers-forest02",
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        "detail": "APE RMSE 0.027569m vs previous 0.028964m",
        "ape_rmse_m": 0.027569,
        "ape_mean_m": 0.022682,
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        "plot_yz": "plots/humble/tiers-forest02-online-yz.png"
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      {
        "dataset_code": "tiers-indoor01",
        "dataset": "tiers",
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        "status": "pass",
        "detail": "APE RMSE 0.028126m vs previous 0.028126m",
        "ape_rmse_m": 0.028126,
        "ape_mean_m": 0.024402,
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        "time_overlap_s": 114.34001135826111,
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        "plot_yz": "plots/humble/tiers-indoor01-offline-yz.png"
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      {
        "dataset_code": "tiers-indoor01",
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        "status": "pass",
        "detail": "APE RMSE 0.028366m vs previous 0.028376m",
        "ape_rmse_m": 0.028366,
        "ape_mean_m": 0.024881,
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        "plot_yz": "plots/humble/tiers-indoor01-online-yz.png"
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      {
        "dataset_code": "tiers-indoor02",
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        "status": "fail",
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        "ape_rmse_m": 3.135431,
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        "time_overlap_s": 40.99685287475586,
        "plot": "plots/humble/tiers-indoor02-offline.png",
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      {
        "dataset_code": "tiers-indoor02",
        "dataset": "tiers",
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        "status": "fail",
        "detail": "diverged trajectory: travelled 2.08x the ground-truth path length (est 46.42889296581724m vs gt 22.331098145526276m, allowed 0.5-2.0x), full GT coverage does not catch this -- APE RMSE 3.180044m is not a meaningful measurement of this run",
        "ape_rmse_m": 3.180044,
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        "plot": "plots/humble/tiers-indoor02-online.png",
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        "plot_yz": "plots/humble/tiers-indoor02-online-yz.png"
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      {
        "dataset_code": "tiers-indoor03",
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        "status": "pass",
        "detail": "APE RMSE 0.037706m vs previous 0.037706m",
        "ape_rmse_m": 0.037706,
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      {
        "dataset_code": "tiers-indoor03",
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    "ros-jazzy": [
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        "status": "fail",
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        "ape_rmse_m": 3.360276,
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      {
        "dataset_code": "botanic-1005_00",
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        "detail": "APE RMSE 2.180070m is 10.8% worse than previous 1.968118m (tolerance 10%)",
        "ape_rmse_m": 2.18007,
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        "plot": "plots/jazzy/botanic-1005_00-online.png",
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        "plot_yz": "plots/jazzy/botanic-1005_00-online-yz.png"
      },
      {
        "dataset_code": "botanic-1005_01",
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        "status": "fail",
        "detail": "APE RMSE 1.862652m is 97.4% worse than previous 0.9436m (tolerance 10%)",
        "ape_rmse_m": 1.862652,
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        "plot": "plots/jazzy/botanic-1005_01-offline.png",
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        "plot_yz": "plots/jazzy/botanic-1005_01-offline-yz.png"
      },
      {
        "dataset_code": "botanic-1005_01",
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        "detail": "APE RMSE 1.110092m vs previous 1.039836m",
        "ape_rmse_m": 1.110092,
        "ape_mean_m": 0.95557,
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        "plot_yz": "plots/jazzy/botanic-1005_01-online-yz.png"
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      {
        "dataset_code": "botanic-1005_07",
        "dataset": "botanic",
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        "status": "fail",
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        "ape_rmse_m": 1.307767,
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        "plot_xz": "plots/jazzy/botanic-1005_07-offline-xz.png",
        "plot_yz": "plots/jazzy/botanic-1005_07-offline-yz.png"
      },
      {
        "dataset_code": "botanic-1005_07",
        "dataset": "botanic",
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        "ape_rmse_m": 1.522456,
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        "plot_yz": "plots/jazzy/botanic-1005_07-online-yz.png"
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      {
        "dataset_code": "botanic-1006_01",
        "dataset": "botanic",
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        "status": "pass",
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        "ape_rmse_m": 1.703593,
        "ape_mean_m": 1.45963,
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      {
        "dataset_code": "botanic-1006_01",
        "dataset": "botanic",
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        "ape_rmse_m": 3.241544,
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      {
        "dataset_code": "botanic-1008_03",
        "dataset": "botanic",
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        "status": "pass",
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        "ape_rmse_m": 0.980521,
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      {
        "dataset_code": "botanic-1008_03",
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        "ape_rmse_m": 1.597286,
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      {
        "dataset_code": "botanic-1018_00",
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      {
        "dataset_code": "botanic-1018_00",
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      {
        "dataset_code": "botanic-1018_13",
        "dataset": "botanic",
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        "status": "fail",
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      {
        "dataset_code": "botanic-1018_13",
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      {
        "dataset_code": "citrus-farm-01_13B_Jackal",
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        "status": "pass",
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      {
        "dataset_code": "citrus-farm-01_13B_Jackal",
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        "plot_yz": "plots/jazzy/citrus-farm-01_13B_Jackal-online-yz.png"
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      {
        "dataset_code": "citrus-farm-02_13B_Jackal",
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        "detail": "APE RMSE 0.770715m vs previous 1.332148m",
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      {
        "dataset_code": "citrus-farm-02_13B_Jackal",
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        "detail": "APE RMSE 0.770715m, no previous run to compare against (baseline established)",
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      {
        "dataset_code": "citrus-farm-03_13B_Jackal",
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        "status": "pass",
        "detail": "APE RMSE 3.060376m vs previous 3.564989m",
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        "est_path_m": 2199.82126950358,
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        "time_overlap_s": 1707.6995015144348,
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        "plot_xz": "plots/jazzy/citrus-farm-03_13B_Jackal-offline-xz.png",
        "plot_yz": "plots/jazzy/citrus-farm-03_13B_Jackal-offline-yz.png"
      },
      {
        "dataset_code": "citrus-farm-03_13B_Jackal",
        "dataset": "citrus-farm",
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        "status": "pass",
        "detail": "APE RMSE 3.510317m, no previous run to compare against (baseline established)",
        "ape_rmse_m": 3.510317,
        "ape_mean_m": 2.978056,
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        "est_path_m": 2195.5204776925493,
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        "time_overlap_s": 1707.6995015144348,
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        "plot_xz": "plots/jazzy/citrus-farm-03_13B_Jackal-online-xz.png",
        "plot_yz": "plots/jazzy/citrus-farm-03_13B_Jackal-online-yz.png"
      },
      {
        "dataset_code": "citrus-farm-04_13D_Jackal",
        "dataset": "citrus-farm",
        "mode": "offline",
        "status": "pass",
        "detail": "APE RMSE 0.445860m vs previous 0.567568m",
        "ape_rmse_m": 0.44586,
        "ape_mean_m": 0.407665,
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        "gt_path_m": 896.1536858165504,
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        "est_path_m": 977.5027136416201,
        "coverage_tol_s": 0.5042600631713867,
        "time_overlap_s": 769.1112701892853,
        "plot": "plots/jazzy/citrus-farm-04_13D_Jackal-offline.png",
        "plot_xz": "plots/jazzy/citrus-farm-04_13D_Jackal-offline-xz.png",
        "plot_yz": "plots/jazzy/citrus-farm-04_13D_Jackal-offline-yz.png"
      },
      {
        "dataset_code": "citrus-farm-04_13D_Jackal",
        "dataset": "citrus-farm",
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        "status": "pass",
        "detail": "APE RMSE 0.449244m, no previous run to compare against (baseline established)",
        "ape_rmse_m": 0.449244,
        "ape_mean_m": 0.410463,
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        "ape_max_m": 1.400269,
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        "gt_path_m": 896.1536858165504,
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        "est_path_m": 978.9472896125467,
        "coverage_tol_s": 0.5042600631713867,
        "time_overlap_s": 769.1112701892853,
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        "plot_xz": "plots/jazzy/citrus-farm-04_13D_Jackal-online-xz.png",
        "plot_yz": "plots/jazzy/citrus-farm-04_13D_Jackal-online-yz.png"
      },
      {
        "dataset_code": "citrus-farm-05_13D_Jackal",
        "dataset": "citrus-farm",
        "mode": "offline",
        "status": "pass",
        "detail": "APE RMSE 0.572899m vs previous 0.607082m",
        "ape_rmse_m": 0.572899,
        "ape_mean_m": 0.539269,
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        "ape_max_m": 1.196999,
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        "est_path_m": 953.3207546147405,
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        "time_overlap_s": 759.1584732532501,
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        "plot_xz": "plots/jazzy/citrus-farm-05_13D_Jackal-offline-xz.png",
        "plot_yz": "plots/jazzy/citrus-farm-05_13D_Jackal-offline-yz.png"
      },
      {
        "dataset_code": "citrus-farm-05_13D_Jackal",
        "dataset": "citrus-farm",
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        "status": "pass",
        "detail": "APE RMSE 0.683497m, no previous run to compare against (baseline established)",
        "ape_rmse_m": 0.683497,
        "ape_mean_m": 0.568631,
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        "time_overlap_s": 759.1584732532501,
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        "plot_xz": "plots/jazzy/citrus-farm-05_13D_Jackal-online-xz.png",
        "plot_yz": "plots/jazzy/citrus-farm-05_13D_Jackal-online-yz.png"
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      {
        "dataset_code": "citrus-farm-06_14B_Jackal",
        "dataset": "citrus-farm",
        "mode": "offline",
        "status": "pass",
        "detail": "APE RMSE 1.509126m vs previous 1.674024m",
        "ape_rmse_m": 1.509126,
        "ape_mean_m": 1.193589,
        "ape_median_m": 0.791417,
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        "ape_max_m": 3.699299,
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        "time_overlap_s": 302.215008020401,
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        "plot_xz": "plots/jazzy/citrus-farm-06_14B_Jackal-offline-xz.png",
        "plot_yz": "plots/jazzy/citrus-farm-06_14B_Jackal-offline-yz.png"
      },
      {
        "dataset_code": "citrus-farm-06_14B_Jackal",
        "dataset": "citrus-farm",
        "mode": "online",
        "status": "pass",
        "detail": "APE RMSE 1.509126m, no previous run to compare against (baseline established)",
        "ape_rmse_m": 1.509126,
        "ape_mean_m": 1.193589,
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        "ape_max_m": 3.699299,
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        "coverage_tol_s": 0.5042695999145508,
        "time_overlap_s": 302.215008020401,
        "plot": "plots/jazzy/citrus-farm-06_14B_Jackal-online.png",
        "plot_xz": "plots/jazzy/citrus-farm-06_14B_Jackal-online-xz.png",
        "plot_yz": "plots/jazzy/citrus-farm-06_14B_Jackal-online-yz.png"
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      {
        "dataset_code": "citrus-farm-07_14B_Jackal",
        "dataset": "citrus-farm",
        "mode": "offline",
        "status": "pass",
        "detail": "APE RMSE 0.890600m vs previous 1.202537m",
        "ape_rmse_m": 0.8906,
        "ape_mean_m": 0.810871,
        "ape_median_m": 0.743339,
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        "gt_path_m": 1212.7457973445726,
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        "time_overlap_s": 1013.6713993549347,
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        "plot_xz": "plots/jazzy/citrus-farm-07_14B_Jackal-offline-xz.png",
        "plot_yz": "plots/jazzy/citrus-farm-07_14B_Jackal-offline-yz.png"
      },
      {
        "dataset_code": "citrus-farm-07_14B_Jackal",
        "dataset": "citrus-farm",
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        "status": "pass",
        "detail": "APE RMSE 0.890600m, no previous run to compare against (baseline established)",
        "ape_rmse_m": 0.8906,
        "ape_mean_m": 0.810871,
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        "plot_xz": "plots/jazzy/citrus-farm-07_14B_Jackal-online-xz.png",
        "plot_yz": "plots/jazzy/citrus-farm-07_14B_Jackal-online-yz.png"
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      {
        "dataset_code": "conslam-sequence4",
        "dataset": "conslam",
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        "status": "pass",
        "detail": "APE RMSE 0.274768m vs previous 0.262644m",
        "ape_rmse_m": 0.274768,
        "ape_mean_m": 0.239934,
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        "time_overlap_s": 512.2217240333557,
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      {
        "dataset_code": "conslam-sequence4",
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        "status": "fail",
        "detail": "APE RMSE 0.485815m is 85.0% worse than previous 0.262644m (tolerance 10%)",
        "ape_rmse_m": 0.485815,
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        "time_overlap_s": 512.2217240333557,
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        "plot_yz": "plots/jazzy/conslam-sequence4-online-yz.png"
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      {
        "dataset_code": "grand-tour-con-1",
        "dataset": "grand-tour",
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        "status": "pass",
        "detail": "APE RMSE 0.040701m vs previous 0.040701m",
        "ape_rmse_m": 0.040701,
        "ape_mean_m": 0.032236,
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        "time_overlap_s": 385.2702829837799,
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        "plot_xz": "plots/jazzy/grand-tour-con-1-offline-xz.png",
        "plot_yz": "plots/jazzy/grand-tour-con-1-offline-yz.png"
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      {
        "dataset_code": "grand-tour-con-1",
        "dataset": "grand-tour",
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        "status": "pass",
        "detail": "APE RMSE 0.040701m, no previous run to compare against (baseline established)",
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        "ape_mean_m": 0.032236,
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        "time_overlap_s": 385.2702829837799,
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        "plot_yz": "plots/jazzy/grand-tour-con-1-online-yz.png"
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      {
        "dataset_code": "grand-tour-con-2",
        "dataset": "grand-tour",
        "mode": "offline",
        "status": "pass",
        "detail": "APE RMSE 0.087737m, no previous run to compare against (baseline established)",
        "ape_rmse_m": 0.087737,
        "ape_mean_m": 0.062899,
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        "coverage_tol_s": 0.5000197887420654,
        "time_overlap_s": 381.7176094055176,
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        "plot_yz": "plots/jazzy/grand-tour-con-2-offline-yz.png"
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      {
        "dataset_code": "grand-tour-con-2",
        "dataset": "grand-tour",
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        "status": "pass",
        "detail": "APE RMSE 0.087761m, no previous run to compare against (baseline established)",
        "ape_rmse_m": 0.087761,
        "ape_mean_m": 0.062915,
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        "time_overlap_s": 381.7176094055176,
        "plot": "plots/jazzy/grand-tour-con-2-online.png",
        "plot_xz": "plots/jazzy/grand-tour-con-2-online-xz.png",
        "plot_yz": "plots/jazzy/grand-tour-con-2-online-yz.png"
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      {
        "dataset_code": "grand-tour-con-3",
        "dataset": "grand-tour",
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        "status": "fail",
        "detail": "diverged trajectory: travelled 2.84x the ground-truth path length (est 193.1251895796517m vs gt 68.08743463474072m, allowed 0.5-2.0x), full GT coverage does not catch this -- APE RMSE 0.012336m is not a meaningful measurement of this run",
        "ape_rmse_m": 0.012336,
        "ape_mean_m": 0.011491,
        "ape_median_m": 0.011462,
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        "coverage_tol_s": 0.5000102519989014,
        "time_overlap_s": 491.6718592643738,
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        "plot_yz": "plots/jazzy/grand-tour-con-3-offline-yz.png"
      },
      {
        "dataset_code": "grand-tour-con-3",
        "dataset": "grand-tour",
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        "status": "fail",
        "detail": "diverged trajectory: travelled 2.84x the ground-truth path length (est 193.1288032803593m vs gt 68.08743463474072m, allowed 0.5-2.0x), full GT coverage does not catch this -- APE RMSE 0.012315m is not a meaningful measurement of this run",
        "ape_rmse_m": 0.012315,
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        "plot_yz": "plots/jazzy/grand-tour-con-3-online-yz.png"
      },
      {
        "dataset_code": "grand-tour-eth-1",
        "dataset": "grand-tour",
        "mode": "offline",
        "status": "pass",
        "detail": "APE RMSE 0.078257m vs previous 0.078257m",
        "ape_rmse_m": 0.078257,
        "ape_mean_m": 0.071013,
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        "coverage_tol_s": 0.5000150203704834,
        "time_overlap_s": 344.99957299232483,
        "plot": "plots/jazzy/grand-tour-eth-1-offline.png",
        "plot_xz": "plots/jazzy/grand-tour-eth-1-offline-xz.png",
        "plot_yz": "plots/jazzy/grand-tour-eth-1-offline-yz.png"
      },
      {
        "dataset_code": "grand-tour-eth-1",
        "dataset": "grand-tour",
        "mode": "online",
        "status": "pass",
        "detail": "APE RMSE 0.078096m vs previous 0.078257m",
        "ape_rmse_m": 0.078096,
        "ape_mean_m": 0.070713,
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        "dataset_code": "grand-tour-snow-2",
        "dataset": "grand-tour",
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      {
        "dataset_code": "grand-tour-snow-2",
        "dataset": "grand-tour",
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      {
        "dataset_code": "kitti-00",
        "dataset": "kitti",
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        "ape_rmse_m": 3.591996,
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      {
        "dataset_code": "kitti-00",
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        "dataset_code": "kitti-01",
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        "dataset_code": "kitti-01",
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        "dataset_code": "kitti-02",
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        "dataset_code": "kitti-05",
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      {
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        "detail": "incomplete trajectory: covers 74.6% of the ground-truth path (minimum 95%), APE RMSE 0.284149m is scored on that part only",
        "ape_rmse_m": 0.284149,
        "ape_mean_m": 0.126068,
        "ape_median_m": 0.065905,
        "ape_std_m": 0.254651,
        "ape_max_m": 2.585481,
        "gt_coverage": 0.745702,
        "gt_path_m": 21.460707076586747,
        "gt_covered_path_m": 16.003291355058828,
        "gt_gap_max_m": 5.457415721527918,
        "est_path_m": 27.551489457980033,
        "coverage_tol_s": 0.49997568130493164,
        "time_overlap_s": 59.620004653930664,
        "plot": "plots/jazzy/tiers-forest01-online.png",
        "plot_xz": "plots/jazzy/tiers-forest01-online-xz.png",
        "plot_yz": "plots/jazzy/tiers-forest01-online-yz.png"
      },
      {
        "dataset_code": "tiers-forest02",
        "dataset": "tiers",
        "mode": "offline",
        "status": "pass",
        "detail": "APE RMSE 0.028964m vs previous 0.028964m",
        "ape_rmse_m": 0.028964,
        "ape_mean_m": 0.02419,
        "ape_median_m": 0.021443,
        "ape_std_m": 0.01593,
        "ape_max_m": 0.360519,
        "gt_coverage": 1.0,
        "gt_path_m": 21.324162014164187,
        "gt_covered_path_m": 21.324162014164187,
        "gt_gap_max_m": 0.0,
        "est_path_m": 30.494007901402906,
        "coverage_tol_s": 0.4999697208404541,
        "time_overlap_s": 107.00672578811646,
        "plot": "plots/jazzy/tiers-forest02-offline.png",
        "plot_xz": "plots/jazzy/tiers-forest02-offline-xz.png",
        "plot_yz": "plots/jazzy/tiers-forest02-offline-yz.png"
      },
      {
        "dataset_code": "tiers-forest02",
        "dataset": "tiers",
        "mode": "online",
        "status": "pass",
        "detail": "APE RMSE 0.027010m vs previous 0.027969m",
        "ape_rmse_m": 0.02701,
        "ape_mean_m": 0.021554,
        "ape_median_m": 0.018865,
        "ape_std_m": 0.016277,
        "ape_max_m": 0.362808,
        "gt_coverage": 1.0,
        "gt_path_m": 21.324162014164187,
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        "gt_gap_max_m": 0.0,
        "est_path_m": 29.585034598808665,
        "coverage_tol_s": 0.4999816417694092,
        "time_overlap_s": 107.00672578811646,
        "plot": "plots/jazzy/tiers-forest02-online.png",
        "plot_xz": "plots/jazzy/tiers-forest02-online-xz.png",
        "plot_yz": "plots/jazzy/tiers-forest02-online-yz.png"
      },
      {
        "dataset_code": "tiers-indoor01",
        "dataset": "tiers",
        "mode": "offline",
        "status": "pass",
        "detail": "APE RMSE 0.028126m vs previous 0.028126m",
        "ape_rmse_m": 0.028126,
        "ape_mean_m": 0.024402,
        "ape_median_m": 0.024088,
        "ape_std_m": 0.013986,
        "ape_max_m": 0.294979,
        "gt_coverage": 1.0,
        "gt_path_m": 33.89047309757626,
        "gt_covered_path_m": 33.89047309757626,
        "gt_gap_max_m": 0.0,
        "est_path_m": 36.215009023485656,
        "coverage_tol_s": 0.49996495246887207,
        "time_overlap_s": 114.34001135826111,
        "plot": "plots/jazzy/tiers-indoor01-offline.png",
        "plot_xz": "plots/jazzy/tiers-indoor01-offline-xz.png",
        "plot_yz": "plots/jazzy/tiers-indoor01-offline-yz.png"
      },
      {
        "dataset_code": "tiers-indoor01",
        "dataset": "tiers",
        "mode": "online",
        "status": "pass",
        "detail": "APE RMSE 0.028154m vs previous 0.028072m",
        "ape_rmse_m": 0.028154,
        "ape_mean_m": 0.024145,
        "ape_median_m": 0.02347,
        "ape_std_m": 0.014478,
        "ape_max_m": 0.305487,
        "gt_coverage": 1.0,
        "gt_path_m": 33.89047309757626,
        "gt_covered_path_m": 33.89047309757626,
        "gt_gap_max_m": 0.0,
        "est_path_m": 36.14699543126004,
        "coverage_tol_s": 0.4999953508377075,
        "time_overlap_s": 114.34001135826111,
        "plot": "plots/jazzy/tiers-indoor01-online.png",
        "plot_xz": "plots/jazzy/tiers-indoor01-online-xz.png",
        "plot_yz": "plots/jazzy/tiers-indoor01-online-yz.png"
      },
      {
        "dataset_code": "tiers-indoor02",
        "dataset": "tiers",
        "mode": "offline",
        "status": "fail",
        "detail": "diverged trajectory: travelled 2.08x the ground-truth path length (est 46.45818491788712m vs gt 22.331098145526276m, allowed 0.5-2.0x), full GT coverage does not catch this -- APE RMSE 3.135431m is not a meaningful measurement of this run",
        "ape_rmse_m": 3.135431,
        "ape_mean_m": 1.539005,
        "ape_median_m": 0.777878,
        "ape_std_m": 2.731738,
        "ape_max_m": 17.195849,
        "gt_coverage": 0.999644,
        "gt_path_m": 22.331098145526276,
        "gt_covered_path_m": 22.3231541906296,
        "gt_gap_max_m": 0.007943954896672496,
        "est_path_m": 46.45818491788712,
        "coverage_tol_s": 0.49998044967651367,
        "time_overlap_s": 40.99685287475586,
        "plot": "plots/jazzy/tiers-indoor02-offline.png",
        "plot_xz": "plots/jazzy/tiers-indoor02-offline-xz.png",
        "plot_yz": "plots/jazzy/tiers-indoor02-offline-yz.png"
      },
      {
        "dataset_code": "tiers-indoor02",
        "dataset": "tiers",
        "mode": "online",
        "status": "fail",
        "detail": "diverged trajectory: travelled 2.08x the ground-truth path length (est 46.41366783344323m vs gt 22.331098145526276m, allowed 0.5-2.0x), full GT coverage does not catch this -- APE RMSE 3.183596m is not a meaningful measurement of this run",
        "ape_rmse_m": 3.183596,
        "ape_mean_m": 1.578379,
        "ape_median_m": 0.773079,
        "ape_std_m": 2.764779,
        "ape_max_m": 17.16613,
        "gt_coverage": 0.999644,
        "gt_path_m": 22.331098145526276,
        "gt_covered_path_m": 22.3231541906296,
        "gt_gap_max_m": 0.007943954896672496,
        "est_path_m": 46.41366783344323,
        "coverage_tol_s": 0.49999237060546875,
        "time_overlap_s": 40.99685287475586,
        "plot": "plots/jazzy/tiers-indoor02-online.png",
        "plot_xz": "plots/jazzy/tiers-indoor02-online-xz.png",
        "plot_yz": "plots/jazzy/tiers-indoor02-online-yz.png"
      },
      {
        "dataset_code": "tiers-indoor03",
        "dataset": "tiers",
        "mode": "offline",
        "status": "pass",
        "detail": "APE RMSE 0.037706m vs previous 0.037706m",
        "ape_rmse_m": 0.037706,
        "ape_mean_m": 0.033925,
        "ape_median_m": 0.029911,
        "ape_std_m": 0.016455,
        "ape_max_m": 0.089511,
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        "gt_path_m": 19.691917912695153,
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        "gt_gap_max_m": 0.0,
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        "coverage_tol_s": 0.49992501735687256,
        "time_overlap_s": 46.51827573776245,
        "plot": "plots/jazzy/tiers-indoor03-offline.png",
        "plot_xz": "plots/jazzy/tiers-indoor03-offline-xz.png",
        "plot_yz": "plots/jazzy/tiers-indoor03-offline-yz.png"
      },
      {
        "dataset_code": "tiers-indoor03",
        "dataset": "tiers",
        "mode": "online",
        "status": "pass",
        "detail": "APE RMSE 0.039730m vs previous 0.037988m",
        "ape_rmse_m": 0.03973,
        "ape_mean_m": 0.036407,
        "ape_median_m": 0.032492,
        "ape_std_m": 0.015907,
        "ape_max_m": 0.099511,
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        "coverage_tol_s": 0.5000102519989014,
        "time_overlap_s": 46.51827573776245,
        "plot": "plots/jazzy/tiers-indoor03-online.png",
        "plot_xz": "plots/jazzy/tiers-indoor03-online-xz.png",
        "plot_yz": "plots/jazzy/tiers-indoor03-online-yz.png"
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    ],
    "ros-lyrical": [
      {
        "dataset_code": "botanic-1005_00",
        "dataset": "botanic",
        "mode": "offline",
        "status": "fail",
        "detail": "APE RMSE 3.228397m is 129.2% worse than previous 1.408736m (tolerance 10%)",
        "ape_rmse_m": 3.228397,
        "ape_mean_m": 2.521905,
        "ape_median_m": 1.443567,
        "ape_std_m": 2.015576,
        "ape_max_m": 7.297845,
        "rpe_trans_pct": 2.629291,
        "rpe_rot_deg_per_100m": 2.204277,
        "path_m": 601.6030392794044,
        "z_ape_m": 1.789456234169934,
        "tilt_uma_deg": 2.0474985250359223,
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        "rpe_vz_mm_m": 2.109429412635855,
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        "rpe_vz_n_seg": 29,
        "rpe_tilt_deg_100m": 5.108188332759242,
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        "gt_path_m": 601.603039279405,
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        "gt_gap_max_m": 0.0,
        "est_path_m": 616.8379197538899,
        "coverage_tol_s": 0.504300594329834,
        "time_overlap_s": 583.7789280414581,
        "plot": "plots/lyrical/botanic-1005_00-offline.png",
        "plot_xz": "plots/lyrical/botanic-1005_00-offline-xz.png",
        "plot_yz": "plots/lyrical/botanic-1005_00-offline-yz.png"
      },
      {
        "dataset_code": "botanic-1005_00",
        "dataset": "botanic",
        "mode": "online",
        "status": "fail",
        "detail": "APE RMSE 1.698918m is 13.0% worse than previous 1.50319m (tolerance 10%)",
        "ape_rmse_m": 1.698918,
        "ape_mean_m": 1.341358,
        "ape_median_m": 0.807482,
        "ape_std_m": 1.042632,
        "ape_max_m": 3.788724,
        "rpe_trans_pct": 2.435468,
        "rpe_rot_deg_per_100m": 1.619409,
        "path_m": 601.6030392794044,
        "z_ape_m": 0.3393095225192133,
        "tilt_uma_deg": 1.3148729534289836,
        "tilt0_deg": 0.18053418777822278,
        "tilt_drift_deg": 0.3349569079843599,
        "tilt_slope_deg_100m": null,
        "rpe_vz_mm_m": 1.6819906609178856,
        "rpe_vz_se_mm_m": 2.075354044152339,
        "rpe_vz_n_seg": 29,
        "rpe_tilt_deg_100m": 4.9948780903028975,
        "gt_coverage": 1.0,
        "gt_path_m": 601.603039279405,
        "gt_covered_path_m": 601.603039279405,
        "gt_gap_max_m": 0.0,
        "est_path_m": 615.3208937673826,
        "coverage_tol_s": 0.504300594329834,
        "time_overlap_s": 583.7789280414581,
        "plot": "plots/lyrical/botanic-1005_00-online.png",
        "plot_xz": "plots/lyrical/botanic-1005_00-online-xz.png",
        "plot_yz": "plots/lyrical/botanic-1005_00-online-yz.png"
      },
      {
        "dataset_code": "botanic-1005_01",
        "dataset": "botanic",
        "mode": "offline",
        "status": "fail",
        "detail": "APE RMSE 1.266913m is 34.3% worse than previous 0.9436m (tolerance 10%)",
        "ape_rmse_m": 1.266913,
        "ape_mean_m": 0.932567,
        "ape_median_m": 0.552862,
        "ape_std_m": 0.857547,
        "ape_max_m": 3.026882,
        "rpe_trans_pct": 2.592133,
        "rpe_rot_deg_per_100m": 3.529235,
        "path_m": 479.72911168845616,
        "z_ape_m": 1.1213924504414408,
        "tilt_uma_deg": 4.334404368409321,
        "tilt0_deg": 0.19323915850727083,
        "tilt_drift_deg": 6.594100871873122,
        "tilt_slope_deg_100m": 1.1173836038952236,
        "rpe_vz_mm_m": 4.198164301848439,
        "rpe_vz_se_mm_m": 1.4459922751451793,
        "rpe_vz_n_seg": 23,
        "rpe_tilt_deg_100m": 5.232484500600409,
        "gt_coverage": 1.0,
        "gt_path_m": 479.7291116884559,
        "gt_covered_path_m": 479.7291116884559,
        "gt_gap_max_m": 0.0,
        "est_path_m": 488.1273140655478,
        "coverage_tol_s": 0.504300594329834,
        "time_overlap_s": 458.9138309955597,
        "plot": "plots/lyrical/botanic-1005_01-offline.png",
        "plot_xz": "plots/lyrical/botanic-1005_01-offline-xz.png",
        "plot_yz": "plots/lyrical/botanic-1005_01-offline-yz.png"
      },
      {
        "dataset_code": "botanic-1005_01",
        "dataset": "botanic",
        "mode": "online",
        "status": "fail",
        "detail": "APE RMSE 1.135330m is 19.4% worse than previous 0.950893m (tolerance 10%)",
        "ape_rmse_m": 1.13533,
        "ape_mean_m": 0.913507,
        "ape_median_m": 0.593918,
        "ape_std_m": 0.674151,
        "ape_max_m": 2.788149,
        "rpe_trans_pct": 2.925537,
        "rpe_rot_deg_per_100m": 2.763315,
        "path_m": 479.72911168845616,
        "z_ape_m": 1.0280733784405565,
        "tilt_uma_deg": 1.626068188440692,
        "tilt0_deg": 0.18836255956531997,
        "tilt_drift_deg": 2.924014325705336,
        "tilt_slope_deg_100m": 0.5728635742512243,
        "rpe_vz_mm_m": 2.301468382085889,
        "rpe_vz_se_mm_m": 1.514695698607511,
        "rpe_vz_n_seg": 23,
        "rpe_tilt_deg_100m": 4.3107806097392265,
        "gt_coverage": 1.0,
        "gt_path_m": 479.7291116884559,
        "gt_covered_path_m": 479.7291116884559,
        "gt_gap_max_m": 0.0,
        "est_path_m": 488.23737644385136,
        "coverage_tol_s": 0.504300594329834,
        "time_overlap_s": 458.9138309955597,
        "plot": "plots/lyrical/botanic-1005_01-online.png",
        "plot_xz": "plots/lyrical/botanic-1005_01-online-xz.png",
        "plot_yz": "plots/lyrical/botanic-1005_01-online-yz.png"
      },
      {
        "dataset_code": "botanic-1005_07",
        "dataset": "botanic",
        "mode": "offline",
        "status": "fail",
        "detail": "APE RMSE 2.005768m is 171.4% worse than previous 0.73897m (tolerance 10%)",
        "ape_rmse_m": 2.005768,
        "ape_mean_m": 1.619302,
        "ape_median_m": 1.1855,
        "ape_std_m": 1.183625,
        "ape_max_m": 5.146428,
        "rpe_trans_pct": 2.742913,
        "rpe_rot_deg_per_100m": 2.536999,
        "path_m": 591.0343033468816,
        "z_ape_m": 1.6573382293014938,
        "tilt_uma_deg": 3.29694967203732,
        "tilt0_deg": 0.3858522544587635,
        "tilt_drift_deg": 2.5788647873404864,
        "tilt_slope_deg_100m": null,
        "rpe_vz_mm_m": 4.106350545362432,
        "rpe_vz_se_mm_m": 1.1788455238851807,
        "rpe_vz_n_seg": 29,
        "rpe_tilt_deg_100m": 4.724792472301494,
        "gt_coverage": 1.0,
        "gt_path_m": 591.0401029779712,
        "gt_covered_path_m": 591.0401029779712,
        "gt_gap_max_m": 0.0,
        "est_path_m": 600.821412719437,
        "coverage_tol_s": 0.504300594329834,
        "time_overlap_s": 541.5189979076385,
        "plot": "plots/lyrical/botanic-1005_07-offline.png",
        "plot_xz": "plots/lyrical/botanic-1005_07-offline-xz.png",
        "plot_yz": "plots/lyrical/botanic-1005_07-offline-yz.png"
      },
      {
        "dataset_code": "botanic-1005_07",
        "dataset": "botanic",
        "mode": "online",
        "status": "fail",
        "detail": "APE RMSE 3.126225m is 82.4% worse than previous 1.713991m (tolerance 10%)",
        "ape_rmse_m": 3.126225,
        "ape_mean_m": 2.670953,
        "ape_median_m": 2.332879,
        "ape_std_m": 1.62459,
        "ape_max_m": 7.345797,
        "rpe_trans_pct": 3.476533,
        "rpe_rot_deg_per_100m": 4.206963,
        "path_m": 591.0343033468816,
        "z_ape_m": 2.7085402386507367,
        "tilt_uma_deg": 5.641806627072195,
        "tilt0_deg": 0.5345315468683409,
        "tilt_drift_deg": 5.719764821274178,
        "tilt_slope_deg_100m": null,
        "rpe_vz_mm_m": 3.5075497029331033,
        "rpe_vz_se_mm_m": 1.0671408939083769,
        "rpe_vz_n_seg": 29,
        "rpe_tilt_deg_100m": 4.90480469746897,
        "gt_coverage": 1.0,
        "gt_path_m": 591.0401029779712,
        "gt_covered_path_m": 591.0401029779712,
        "gt_gap_max_m": 0.0,
        "est_path_m": 601.1394596231711,
        "coverage_tol_s": 0.504300594329834,
        "time_overlap_s": 541.5189979076385,
        "plot": "plots/lyrical/botanic-1005_07-online.png",
        "plot_xz": "plots/lyrical/botanic-1005_07-online-xz.png",
        "plot_yz": "plots/lyrical/botanic-1005_07-online-yz.png"
      },
      {
        "dataset_code": "botanic-1006_01",
        "dataset": "botanic",
        "mode": "offline",
        "status": "pass",
        "detail": "APE RMSE 2.344961m vs previous 2.731626m",
        "ape_rmse_m": 2.344961,
        "ape_mean_m": 1.757088,
        "ape_median_m": 1.359489,
        "ape_std_m": 1.552895,
        "ape_max_m": 6.367209,
        "rpe_trans_pct": 3.461926,
        "rpe_rot_deg_per_100m": 4.965272,
        "path_m": 765.8007030567398,
        "z_ape_m": 2.3220869587558157,
        "tilt_uma_deg": 7.209439266627393,
        "tilt0_deg": 0.2969607534699782,
        "tilt_drift_deg": 2.367398285197124,
        "tilt_slope_deg_100m": null,
        "rpe_vz_mm_m": 7.585231654335722,
        "rpe_vz_se_mm_m": 2.154824512960476,
        "rpe_vz_n_seg": 38,
        "rpe_tilt_deg_100m": 6.822149891591115,
        "gt_coverage": 1.0,
        "gt_path_m": 765.8007030567393,
        "gt_covered_path_m": 765.8007030567393,
        "gt_gap_max_m": 0.0,
        "est_path_m": 782.2129346764058,
        "coverage_tol_s": 0.504300594329834,
        "time_overlap_s": 738.7012708187103,
        "plot": "plots/lyrical/botanic-1006_01-offline.png",
        "plot_xz": "plots/lyrical/botanic-1006_01-offline-xz.png",
        "plot_yz": "plots/lyrical/botanic-1006_01-offline-yz.png"
      },
      {
        "dataset_code": "botanic-1006_01",
        "dataset": "botanic",
        "mode": "online",
        "status": "fail",
        "detail": "APE RMSE 2.890905m is 27.2% worse than previous 2.273587m (tolerance 10%)",
        "ape_rmse_m": 2.890905,
        "ape_mean_m": 2.4334,
        "ape_median_m": 2.191485,
        "ape_std_m": 1.560736,
        "ape_max_m": 5.866801,
        "rpe_trans_pct": 3.071664,
        "rpe_rot_deg_per_100m": 3.839135,
        "path_m": 765.786007690165,
        "z_ape_m": 2.821188312713514,
        "tilt_uma_deg": 7.130433413089145,
        "tilt0_deg": 0.33982814606379064,
        "tilt_drift_deg": 8.661195576106977,
        "tilt_slope_deg_100m": null,
        "rpe_vz_mm_m": 8.232775290959438,
        "rpe_vz_se_mm_m": 2.168039707920873,
        "rpe_vz_n_seg": 38,
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      {
        "dataset_code": "botanic-1008_03",
        "dataset": "botanic",
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      },
      {
        "dataset_code": "botanic-1008_03",
        "dataset": "botanic",
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        "ape_rmse_m": 1.23703,
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        "plot_yz": "plots/lyrical/botanic-1008_03-online-yz.png"
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      {
        "dataset_code": "botanic-1018_00",
        "dataset": "botanic",
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        "status": "pass",
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        "ape_rmse_m": 0.080189,
        "ape_mean_m": 0.077087,
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      },
      {
        "dataset_code": "botanic-1018_00",
        "dataset": "botanic",
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        "ape_rmse_m": 0.13404,
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      {
        "dataset_code": "botanic-1018_13",
        "dataset": "botanic",
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        "status": "pass",
        "detail": "APE RMSE 0.181873m vs previous 0.225732m",
        "ape_rmse_m": 0.181873,
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      {
        "dataset_code": "botanic-1018_13",
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        "dataset_code": "citrus-farm-01_13B_Jackal",
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        "status": "pass",
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      {
        "dataset_code": "citrus-farm-01_13B_Jackal",
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        "dataset_code": "citrus-farm-02_13B_Jackal",
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        "status": "pass",
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      {
        "dataset_code": "citrus-farm-02_13B_Jackal",
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        "plot_yz": "plots/lyrical/citrus-farm-02_13B_Jackal-online-yz.png"
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      {
        "dataset_code": "citrus-farm-03_13B_Jackal",
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        "status": "pass",
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      {
        "dataset_code": "citrus-farm-03_13B_Jackal",
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      {
        "dataset_code": "citrus-farm-04_13D_Jackal",
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        "status": "pass",
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      {
        "dataset_code": "citrus-farm-04_13D_Jackal",
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      {
        "dataset_code": "citrus-farm-05_13D_Jackal",
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      {
        "dataset_code": "citrus-farm-05_13D_Jackal",
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      {
        "dataset_code": "citrus-farm-06_14B_Jackal",
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        "time_overlap_s": 302.215008020401,
        "plot": "plots/lyrical/citrus-farm-06_14B_Jackal-offline.png",
        "plot_xz": "plots/lyrical/citrus-farm-06_14B_Jackal-offline-xz.png",
        "plot_yz": "plots/lyrical/citrus-farm-06_14B_Jackal-offline-yz.png"
      },
      {
        "dataset_code": "citrus-farm-06_14B_Jackal",
        "dataset": "citrus-farm",
        "mode": "online",
        "status": "pass",
        "detail": "APE RMSE 1.509126m, no previous run to compare against (baseline established)",
        "ape_rmse_m": 1.509126,
        "ape_mean_m": 1.193589,
        "ape_median_m": 0.791417,
        "ape_std_m": 0.923474,
        "ape_max_m": 3.699299,
        "gt_coverage": 1.0,
        "gt_path_m": 356.5820113159591,
        "gt_covered_path_m": 356.5820113159591,
        "gt_gap_max_m": 0.0,
        "est_path_m": 388.59688904123306,
        "coverage_tol_s": 0.5042695999145508,
        "time_overlap_s": 302.215008020401,
        "plot": "plots/lyrical/citrus-farm-06_14B_Jackal-online.png",
        "plot_xz": "plots/lyrical/citrus-farm-06_14B_Jackal-online-xz.png",
        "plot_yz": "plots/lyrical/citrus-farm-06_14B_Jackal-online-yz.png"
      },
      {
        "dataset_code": "citrus-farm-07_14B_Jackal",
        "dataset": "citrus-farm",
        "mode": "offline",
        "status": "pass",
        "detail": "APE RMSE 0.890600m vs previous 1.381636m",
        "ape_rmse_m": 0.8906,
        "ape_mean_m": 0.810871,
        "ape_median_m": 0.743339,
        "ape_std_m": 0.368315,
        "ape_max_m": 2.328867,
        "gt_coverage": 1.0,
        "gt_path_m": 1212.7457973445726,
        "gt_covered_path_m": 1212.7457973445726,
        "gt_gap_max_m": 0.0,
        "est_path_m": 1324.5865902256514,
        "coverage_tol_s": 0.5042648315429688,
        "time_overlap_s": 1013.6713993549347,
        "plot": "plots/lyrical/citrus-farm-07_14B_Jackal-offline.png",
        "plot_xz": "plots/lyrical/citrus-farm-07_14B_Jackal-offline-xz.png",
        "plot_yz": "plots/lyrical/citrus-farm-07_14B_Jackal-offline-yz.png"
      },
      {
        "dataset_code": "citrus-farm-07_14B_Jackal",
        "dataset": "citrus-farm",
        "mode": "online",
        "status": "pass",
        "detail": "APE RMSE 0.890600m, no previous run to compare against (baseline established)",
        "ape_rmse_m": 0.8906,
        "ape_mean_m": 0.810871,
        "ape_median_m": 0.743339,
        "ape_std_m": 0.368315,
        "ape_max_m": 2.328867,
        "gt_coverage": 1.0,
        "gt_path_m": 1212.7457973445726,
        "gt_covered_path_m": 1212.7457973445726,
        "gt_gap_max_m": 0.0,
        "est_path_m": 1324.5865902256514,
        "coverage_tol_s": 0.5042648315429688,
        "time_overlap_s": 1013.6713993549347,
        "plot": "plots/lyrical/citrus-farm-07_14B_Jackal-online.png",
        "plot_xz": "plots/lyrical/citrus-farm-07_14B_Jackal-online-xz.png",
        "plot_yz": "plots/lyrical/citrus-farm-07_14B_Jackal-online-yz.png"
      },
      {
        "dataset_code": "conslam-sequence4",
        "dataset": "conslam",
        "mode": "offline",
        "status": "pass",
        "detail": "APE RMSE 0.274768m vs previous 0.262644m",
        "ape_rmse_m": 0.274768,
        "ape_mean_m": 0.239934,
        "ape_median_m": 0.1925,
        "ape_std_m": 0.1339,
        "ape_max_m": 0.691349,
        "rpe_trans_pct": 1.106406,
        "rpe_rot_deg_per_100m": 3.175535,
        "path_m": 347.23366620437946,
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        "tilt_uma_deg": 1.4644090659225746,
        "tilt0_deg": 1.4504544075096437,
        "tilt_drift_deg": 0.0426555867014502,
        "tilt_slope_deg_100m": 0.0011077016614763032,
        "rpe_vz_mm_m": -1.5939076707090107,
        "rpe_vz_se_mm_m": 3.468802336691982,
        "rpe_vz_n_seg": 16,
        "rpe_tilt_deg_100m": 5.17718954514572,
        "gt_coverage": 0.997909,
        "gt_path_m": 347.9612855834568,
        "gt_covered_path_m": 347.2336662043794,
        "gt_gap_max_m": 0.7276193790774129,
        "est_path_m": 425.5796215642238,
        "coverage_tol_s": 0.5042850971221924,
        "time_overlap_s": 512.2217240333557,
        "plot": "plots/lyrical/conslam-sequence4-offline.png",
        "plot_xz": "plots/lyrical/conslam-sequence4-offline-xz.png",
        "plot_yz": "plots/lyrical/conslam-sequence4-offline-yz.png"
      },
      {
        "dataset_code": "conslam-sequence4",
        "dataset": "conslam",
        "mode": "online",
        "status": "pass",
        "detail": "APE RMSE 0.276203m vs previous 0.262644m",
        "ape_rmse_m": 0.276203,
        "ape_mean_m": 0.241413,
        "ape_median_m": 0.19374,
        "ape_std_m": 0.134194,
        "ape_max_m": 0.694949,
        "rpe_trans_pct": 1.116698,
        "rpe_rot_deg_per_100m": 3.278148,
        "path_m": 347.23366620437946,
        "z_ape_m": 0.24908908508563718,
        "tilt_uma_deg": 1.4655115530916112,
        "tilt0_deg": 1.4504544075096437,
        "tilt_drift_deg": 0.0923092290157097,
        "tilt_slope_deg_100m": 0.01102042491092694,
        "rpe_vz_mm_m": -1.6045911933920163,
        "rpe_vz_se_mm_m": 3.484067694745367,
        "rpe_vz_n_seg": 16,
        "rpe_tilt_deg_100m": 5.290517384725819,
        "gt_coverage": 0.997909,
        "gt_path_m": 347.9612855834568,
        "gt_covered_path_m": 347.2336662043794,
        "gt_gap_max_m": 0.7276193790774129,
        "est_path_m": 425.40575719650104,
        "coverage_tol_s": 0.5042850971221924,
        "time_overlap_s": 512.2217240333557,
        "plot": "plots/lyrical/conslam-sequence4-online.png",
        "plot_xz": "plots/lyrical/conslam-sequence4-online-xz.png",
        "plot_yz": "plots/lyrical/conslam-sequence4-online-yz.png"
      },
      {
        "dataset_code": "grand-tour-con-1",
        "dataset": "grand-tour",
        "mode": "offline",
        "status": "pass",
        "detail": "APE RMSE 0.040701m, no previous run to compare against (baseline established)",
        "ape_rmse_m": 0.040701,
        "ape_mean_m": 0.032236,
        "ape_median_m": 0.026571,
        "ape_std_m": 0.024847,
        "ape_max_m": 0.138901,
        "gt_coverage": 1.0,
        "gt_path_m": 242.7967804204476,
        "gt_covered_path_m": 242.7967804204476,
        "gt_gap_max_m": 0.0,
        "est_path_m": 263.20140359976705,
        "coverage_tol_s": 0.5000150203704834,
        "time_overlap_s": 385.2702829837799,
        "plot": "plots/lyrical/grand-tour-con-1-offline.png",
        "plot_xz": "plots/lyrical/grand-tour-con-1-offline-xz.png",
        "plot_yz": "plots/lyrical/grand-tour-con-1-offline-yz.png"
      },
      {
        "dataset_code": "grand-tour-con-1",
        "dataset": "grand-tour",
        "mode": "online",
        "status": "pass",
        "detail": "APE RMSE 0.040701m, no previous run to compare against (baseline established)",
        "ape_rmse_m": 0.040701,
        "ape_mean_m": 0.032236,
        "ape_median_m": 0.026571,
        "ape_std_m": 0.024847,
        "ape_max_m": 0.138901,
        "gt_coverage": 1.0,
        "gt_path_m": 242.7967804204476,
        "gt_covered_path_m": 242.7967804204476,
        "gt_gap_max_m": 0.0,
        "est_path_m": 263.20140359976705,
        "coverage_tol_s": 0.5000150203704834,
        "time_overlap_s": 385.2702829837799,
        "plot": "plots/lyrical/grand-tour-con-1-online.png",
        "plot_xz": "plots/lyrical/grand-tour-con-1-online-xz.png",
        "plot_yz": "plots/lyrical/grand-tour-con-1-online-yz.png"
      },
      {
        "dataset_code": "grand-tour-con-2",
        "dataset": "grand-tour",
        "mode": "offline",
        "status": "pass",
        "detail": "APE RMSE 0.087737m, no previous run to compare against (baseline established)",
        "ape_rmse_m": 0.087737,
        "ape_mean_m": 0.062899,
        "ape_median_m": 0.048498,
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        "ape_max_m": 0.301524,
        "gt_coverage": 0.999974,
        "gt_path_m": 218.6586417851008,
        "gt_covered_path_m": 218.65302073730567,
        "gt_gap_max_m": 0.005621047795152126,
        "est_path_m": 266.3066782883989,
        "coverage_tol_s": 0.5000197887420654,
        "time_overlap_s": 381.7176094055176,
        "plot": "plots/lyrical/grand-tour-con-2-offline.png",
        "plot_xz": "plots/lyrical/grand-tour-con-2-offline-xz.png",
        "plot_yz": "plots/lyrical/grand-tour-con-2-offline-yz.png"
      },
      {
        "dataset_code": "grand-tour-con-2",
        "dataset": "grand-tour",
        "mode": "online",
        "status": "pass",
        "detail": "APE RMSE 0.087737m, no previous run to compare against (baseline established)",
        "ape_rmse_m": 0.087737,
        "ape_mean_m": 0.062899,
        "ape_median_m": 0.048498,
        "ape_std_m": 0.061168,
        "ape_max_m": 0.301524,
        "gt_coverage": 0.999974,
        "gt_path_m": 218.6586417851008,
        "gt_covered_path_m": 218.65302073730567,
        "gt_gap_max_m": 0.005621047795152126,
        "est_path_m": 266.3066782883989,
        "coverage_tol_s": 0.5000197887420654,
        "time_overlap_s": 381.7176094055176,
        "plot": "plots/lyrical/grand-tour-con-2-online.png",
        "plot_xz": "plots/lyrical/grand-tour-con-2-online-xz.png",
        "plot_yz": "plots/lyrical/grand-tour-con-2-online-yz.png"
      },
      {
        "dataset_code": "grand-tour-con-3",
        "dataset": "grand-tour",
        "mode": "offline",
        "status": "fail",
        "detail": "diverged trajectory: travelled 2.84x the ground-truth path length (est 193.1251895796517m vs gt 68.08743463474072m, allowed 0.5-2.0x), full GT coverage does not catch this -- APE RMSE 0.012336m is not a meaningful measurement of this run",
        "ape_rmse_m": 0.012336,
        "ape_mean_m": 0.011491,
        "ape_median_m": 0.011462,
        "ape_std_m": 0.004489,
        "ape_max_m": 0.029143,
        "gt_coverage": 1.0,
        "gt_path_m": 68.08743463474072,
        "gt_covered_path_m": 68.08743463474072,
        "gt_gap_max_m": 0.0,
        "est_path_m": 193.1251895796517,
        "coverage_tol_s": 0.5000102519989014,
        "time_overlap_s": 491.6718592643738,
        "plot": "plots/lyrical/grand-tour-con-3-offline.png",
        "plot_xz": "plots/lyrical/grand-tour-con-3-offline-xz.png",
        "plot_yz": "plots/lyrical/grand-tour-con-3-offline-yz.png"
      },
      {
        "dataset_code": "grand-tour-con-3",
        "dataset": "grand-tour",
        "mode": "online",
        "status": "fail",
        "detail": "diverged trajectory: travelled 2.84x the ground-truth path length (est 193.1251895796517m vs gt 68.08743463474072m, allowed 0.5-2.0x), full GT coverage does not catch this -- APE RMSE 0.012336m is not a meaningful measurement of this run",
        "ape_rmse_m": 0.012336,
        "ape_mean_m": 0.011491,
        "ape_median_m": 0.011462,
        "ape_std_m": 0.004489,
        "ape_max_m": 0.029143,
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        "gt_covered_path_m": 68.08743463474072,
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        "est_path_m": 193.1251895796517,
        "coverage_tol_s": 0.5000102519989014,
        "time_overlap_s": 491.6718592643738,
        "plot": "plots/lyrical/grand-tour-con-3-online.png",
        "plot_xz": "plots/lyrical/grand-tour-con-3-online-xz.png",
        "plot_yz": "plots/lyrical/grand-tour-con-3-online-yz.png"
      },
      {
        "dataset_code": "grand-tour-eth-1",
        "dataset": "grand-tour",
        "mode": "offline",
        "status": "pass",
        "detail": "APE RMSE 0.078257m, no previous run to compare against (baseline established)",
        "ape_rmse_m": 0.078257,
        "ape_mean_m": 0.071013,
        "ape_median_m": 0.067881,
        "ape_std_m": 0.032884,
        "ape_max_m": 0.164309,
        "rpe_trans_pct": 0.495451,
        "rpe_rot_deg_per_100m": 0.897564,
        "path_m": 200.20702897741654,
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        "tilt_uma_deg": 0.7755552082967128,
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        "tilt_drift_deg": 1.14902688362884,
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        "rpe_vz_mm_m": -0.15730478108148369,
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        "rpe_vz_n_seg": 9,
        "rpe_tilt_deg_100m": 2.9524862600845774,
        "gt_coverage": 0.999882,
        "gt_path_m": 203.4343617579422,
        "gt_covered_path_m": 203.41036175913058,
        "gt_gap_max_m": 0.02399999881163656,
        "est_path_m": 204.08443582234642,
        "coverage_tol_s": 0.5000150203704834,
        "time_overlap_s": 344.99957299232483,
        "plot": "plots/lyrical/grand-tour-eth-1-offline.png",
        "plot_xz": "plots/lyrical/grand-tour-eth-1-offline-xz.png",
        "plot_yz": "plots/lyrical/grand-tour-eth-1-offline-yz.png"
      },
      {
        "dataset_code": "grand-tour-eth-1",
        "dataset": "grand-tour",
        "mode": "online",
        "status": "pass",
        "detail": "APE RMSE 0.078257m, no previous run to compare against (baseline established)",
        "ape_rmse_m": 0.078257,
        "ape_mean_m": 0.071013,
        "ape_median_m": 0.067881,
        "ape_std_m": 0.032884,
        "ape_max_m": 0.164309,
        "rpe_trans_pct": 0.495451,
        "rpe_rot_deg_per_100m": 0.897564,
        "path_m": 200.20702897741654,
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        "tilt_uma_deg": 0.7755552082967128,
        "tilt0_deg": 0.6836018789582612,
        "tilt_drift_deg": 1.14902688362884,
        "tilt_slope_deg_100m": 0.5366426943611491,
        "rpe_vz_mm_m": -0.15730478108148369,
        "rpe_vz_se_mm_m": 1.6847955372368757,
        "rpe_vz_n_seg": 9,
        "rpe_tilt_deg_100m": 2.9524862600845774,
        "gt_coverage": 0.999882,
        "gt_path_m": 203.4343617579422,
        "gt_covered_path_m": 203.41036175913058,
        "gt_gap_max_m": 0.02399999881163656,
        "est_path_m": 204.08443582234642,
        "coverage_tol_s": 0.5000150203704834,
        "time_overlap_s": 344.99957299232483,
        "plot": "plots/lyrical/grand-tour-eth-1-online.png",
        "plot_xz": "plots/lyrical/grand-tour-eth-1-online-xz.png",
        "plot_yz": "plots/lyrical/grand-tour-eth-1-online-yz.png"
      },
      {
        "dataset_code": "grand-tour-snow-2",
        "dataset": "grand-tour",
        "mode": "offline",
        "status": "pass",
        "detail": "APE RMSE 0.027374m, no previous run to compare against (baseline established)",
        "ape_rmse_m": 0.027374,
        "ape_mean_m": 0.025071,
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        "ape_std_m": 0.010991,
        "ape_max_m": 0.189725,
        "path_m": 169.46218831988227,
        "z_ape_m": 0.014926399582059807,
        "tilt_uma_deg": 0.16897679584178366,
        "tilt0_deg": 0.9777638382377182,
        "tilt_drift_deg": -0.03528992402271569,
        "tilt_slope_deg_100m": 0.08283703497230782,
        "rpe_vz_mm_m": 0.5074950442787765,
        "rpe_vz_se_mm_m": 1.6292884208015677,
        "rpe_vz_n_seg": 8,
        "rpe_tilt_deg_100m": 4.740043245567685,
        "gt_coverage": 0.999416,
        "gt_path_m": 172.3017500971773,
        "gt_covered_path_m": 172.20112268376414,
        "gt_gap_max_m": 0.06638477600559581,
        "est_path_m": 173.70903350471838,
        "coverage_tol_s": 0.5000042915344238,
        "time_overlap_s": 271.79947900772095,
        "plot": "plots/lyrical/grand-tour-snow-2-offline.png",
        "plot_xz": "plots/lyrical/grand-tour-snow-2-offline-xz.png",
        "plot_yz": "plots/lyrical/grand-tour-snow-2-offline-yz.png"
      },
      {
        "dataset_code": "grand-tour-snow-2",
        "dataset": "grand-tour",
        "mode": "online",
        "status": "pass",
        "detail": "APE RMSE 0.027374m, no previous run to compare against (baseline established)",
        "ape_rmse_m": 0.027374,
        "ape_mean_m": 0.025071,
        "ape_median_m": 0.024457,
        "ape_std_m": 0.010991,
        "ape_max_m": 0.189725,
        "path_m": 169.46218831988227,
        "z_ape_m": 0.014926399582059807,
        "tilt_uma_deg": 0.16897679584178366,
        "tilt0_deg": 0.9777638382377182,
        "tilt_drift_deg": -0.03528992402271569,
        "tilt_slope_deg_100m": 0.08283703497230782,
        "rpe_vz_mm_m": 0.5074950442787765,
        "rpe_vz_se_mm_m": 1.6292884208015677,
        "rpe_vz_n_seg": 8,
        "rpe_tilt_deg_100m": 4.740043245567685,
        "gt_coverage": 0.999416,
        "gt_path_m": 172.3017500971773,
        "gt_covered_path_m": 172.20112268376414,
        "gt_gap_max_m": 0.06638477600559581,
        "est_path_m": 173.70903350471838,
        "coverage_tol_s": 0.5000042915344238,
        "time_overlap_s": 271.79947900772095,
        "plot": "plots/lyrical/grand-tour-snow-2-online.png",
        "plot_xz": "plots/lyrical/grand-tour-snow-2-online-xz.png",
        "plot_yz": "plots/lyrical/grand-tour-snow-2-online-yz.png"
      },
      {
        "dataset_code": "kitti-00",
        "dataset": "kitti",
        "mode": "offline",
        "status": "pass",
        "detail": "APE RMSE 3.591996m vs previous 7.650705m",
        "ape_rmse_m": 3.591996,
        "ape_mean_m": 3.013215,
        "ape_median_m": 2.348275,
        "ape_std_m": 1.955242,
        "ape_max_m": 7.948311,
        "rpe_trans_pct": 0.925331,
        "rpe_rot_deg_per_100m": 0.58474,
        "path_m": 3723.2421848465983,
        "z_ape_m": 0.6088624318697634,
        "tilt_uma_deg": 1.201562875423806,
        "tilt0_deg": 1.4742450117684527,
        "tilt_drift_deg": -0.6612686646996953,
        "tilt_slope_deg_100m": -0.026928257448534137,
        "rpe_vz_mm_m": -0.03298486402414133,
        "rpe_vz_se_mm_m": 0.42842948094981226,
        "rpe_vz_n_seg": 182,
        "rpe_tilt_deg_100m": 0.6489258648014193,
        "gt_coverage": 1.0,
        "gt_path_m": 3723.2421848465974,
        "gt_covered_path_m": 3723.2421848465974,
        "gt_gap_max_m": 0.0,
        "est_path_m": 3720.5779620670664,
        "coverage_tol_s": 0.5180499999999455,
        "time_overlap_s": 470.5816,
        "plot": "plots/lyrical/kitti-00-offline.png",
        "plot_xz": "plots/lyrical/kitti-00-offline-xz.png",
        "plot_yz": "plots/lyrical/kitti-00-offline-yz.png"
      },
      {
        "dataset_code": "kitti-00",
        "dataset": "kitti",
        "mode": "online",
        "status": "pass",
        "detail": "APE RMSE 4.535156m vs previous 7.635781m",
        "ape_rmse_m": 4.535156,
        "ape_mean_m": 3.871402,
        "ape_median_m": 3.504362,
        "ape_std_m": 2.362178,
        "ape_max_m": 11.291372,
        "rpe_trans_pct": 0.936097,
        "rpe_rot_deg_per_100m": 0.61471,
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        "dataset_code": "oxford-spires-keble-college-05",
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        "dataset_code": "oxford-spires-observatory-quarter-01",
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        "dataset_code": "tiers-forest01",
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        "dataset_code": "tiers-forest02",
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      {
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      {
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      {
        "dataset_code": "tiers-indoor02",
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      {
        "dataset_code": "tiers-indoor03",
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        "status": "pass",
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        "plot": "plots/lyrical/tiers-indoor03-offline.png",
        "plot_xz": "plots/lyrical/tiers-indoor03-offline-xz.png",
        "plot_yz": "plots/lyrical/tiers-indoor03-offline-yz.png"
      },
      {
        "dataset_code": "tiers-indoor03",
        "dataset": "tiers",
        "mode": "online",
        "status": "pass",
        "detail": "APE RMSE 0.037495m vs previous 0.037861m",
        "ape_rmse_m": 0.037495,
        "ape_mean_m": 0.033679,
        "ape_median_m": 0.02922,
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        "plot": "plots/lyrical/tiers-indoor03-online.png",
        "plot_xz": "plots/lyrical/tiers-indoor03-online-xz.png",
        "plot_yz": "plots/lyrical/tiers-indoor03-online-yz.png"
      }
    ]
  },
  "dataset_urls": {
    "kitti": "https://www.cvlibs.net/datasets/kitti/eval_odometry.php",
    "oxford-spires": "https://dynamic.robots.ox.ac.uk/datasets/oxford-spires",
    "botanic": "https://github.com/robot-pesg/BotanicGarden",
    "tiers": "https://github.com/TIERS/tiers-lidars-dataset",
    "citrus-farm": "https://ucr-robotics.github.io/Citrus-Farm-Dataset/",
    "conslam": "https://github.com/mac137/ConSLAM",
    "hilti2022": "https://hilti-challenge.com/dataset-2022",
    "grand-tour": "https://grand-tour.leggedrobotics.com"
  },
  "last_weekly_build": {
    "result": "FAILURE",
    "build_number": "19",
    "build_url": "https://jenkins.mola-slam.org/job/mola-weekly-build/19/",
    "finished_at": "2026-08-23T04:04:44Z"
  }
}