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              "path": "/uploads/labs/playground/experiment.py",
              "sha256": "110329c72ca9006b7e0f845da612a0f697746d796240e403c1a36bdb7cf0dd0a"
            }
          ]
        }
      },
      "cases": [
        {
          "id": "baseline",
          "parameters": {
            "q": 0.4,
            "r": 0.49,
            "gate": false
          },
          "expected_metrics": {
            "rmse_m": 0.26210435405238264,
            "rejected": 0
          },
          "failure_condition": "Missing samples 70:100 and +12 m outlier at index 160"
        },
        {
          "id": "gated",
          "parameters": {
            "q": 0.4,
            "r": 0.49,
            "gate": true
          },
          "expected_metrics": {
            "rmse_m": 0.1776810247485372,
            "rejected": 2
          },
          "failure_condition": "Gate rejects outliers; covariance remains positive semidefinite"
        },
        {
          "id": "small_Q",
          "parameters": {
            "q": 0.002,
            "r": 0.49,
            "gate": true
          },
          "expected_metrics": {
            "rmse_m": 0.3927112546859182,
            "rejected": 4
          },
          "failure_condition": "Underestimated process noise can reject valid motion"
        },
        {
          "id": "small_R",
          "parameters": {
            "q": 0.4,
            "r": 0.0049,
            "gate": true
          },
          "expected_metrics": {
            "rmse_m": 11.250709277649616,
            "rejected": 237
          },
          "failure_condition": "Underestimated measurement noise makes the filter overconfident"
        }
      ]
    },
    "icp": {
      "content_id": "cv-icp-lab",
      "technology_unit": "icp",
      "data_type": "synthetic",
      "seed": {
        "value": null,
        "policy": "Deterministic; no random draw"
      },
      "parameters": {
        "case": {
          "type": "enum",
          "values": [
            "good_init",
            "bad_init",
            "outliers",
            "symmetric_ring"
          ],
          "default": "good_init"
        },
        "threshold": {
          "type": "number",
          "min": 0.01,
          "max": 10,
          "default": 0.5,
          "unit": "m"
        }
      },
      "fixed_parameters": {
        "dimension": 2,
        "max_iterations": 100,
        "convergence_threshold": 1e-10,
        "target": "L: 61 x-axis + 41 y-axis points, including duplicate origin",
        "true_angle_deg": 20,
        "true_translation_m": [
          0.4,
          -0.3
        ],
        "initial_angle_deg": 18,
        "initial_translation_m": [
          0.35,
          -0.25
        ],
        "bad_initial_angle_deg": 110,
        "bad_initial_translation_m": [
          1.5,
          1
        ],
        "outlier_points": 30,
        "ring_points": 120,
        "ring_true_angle_deg": 0,
        "ring_initial_angle_deg": 90,
        "correspondence": "nearest target; distance strictly less than threshold; at least 3 for update"
      },
      "metrics": {
        "inlier_rmse_m": "m",
        "fitness": "fraction",
        "rotation_error_deg": "deg",
        "translation_error_m": "m"
      },
      "comparison": {
        "atol": 2e-07,
        "rtol": 1e-08
      },
      "source_ids": [
        "src/kernels.py",
        "src/experiment.py"
      ],
      "runtime_adapters": {
        "local": {
          "language": "python",
          "entrypoint": "reproduce.py"
        },
        "browser": {
          "runtime": "python",
          "runtime_bundle": "pyodide-314.0.6",
          "definition_url": "/assets/playground/definitions.json",
          "source_hashes": [
            {
              "path": "/uploads/labs/playground/kernels.py",
              "sha256": "a7cdc7032ba027be9e56b002e098abb0dc631dbf82f473e4257579a7417b3177"
            },
            {
              "path": "/uploads/labs/playground/experiment.py",
              "sha256": "110329c72ca9006b7e0f845da612a0f697746d796240e403c1a36bdb7cf0dd0a"
            }
          ]
        }
      },
      "cases": [
        {
          "id": "good_init",
          "parameters": {
            "case": "good_init",
            "threshold": 0.5
          },
          "expected_metrics": {
            "inlier_rmse_m": 0.023372453806877965,
            "fitness": 1.0,
            "rotation_error_deg": 1.2584369446650743,
            "translation_error_m": 0.05479128022759662
          },
          "failure_condition": "Reference alignment with a nearby initial pose"
        },
        {
          "id": "bad_init",
          "parameters": {
            "case": "bad_init",
            "threshold": 0.5
          },
          "expected_metrics": {
            "inlier_rmse_m": 0.1505858873657393,
            "fitness": 0.5392156862745098,
            "rotation_error_deg": 171.69905172990366,
            "translation_error_m": 2.5194742306078326
          },
          "failure_condition": "Poor initialization can converge to a wrong pose"
        },
        {
          "id": "outliers_open",
          "parameters": {
            "case": "outliers",
            "threshold": 10
          },
          "expected_metrics": {
            "inlier_rmse_m": 1.11719399517583,
            "fitness": 1.0,
            "rotation_error_deg": 71.41171879928567,
            "translation_error_m": 2.656979387163232
          },
          "failure_condition": "Open correspondence gate admits distant outliers"
        },
        {
          "id": "outliers_gated",
          "parameters": {
            "case": "outliers",
            "threshold": 0.5
          },
          "expected_metrics": {
            "inlier_rmse_m": 0.023372453806877965,
            "fitness": 0.7727272727272727,
            "rotation_error_deg": 1.2584369446650743,
            "translation_error_m": 0.05479128022759662
          },
          "failure_condition": "Gate excludes outliers; fitness need not be one"
        },
        {
          "id": "symmetric_ring",
          "parameters": {
            "case": "symmetric_ring",
            "threshold": 0.5
          },
          "expected_metrics": {
            "inlier_rmse_m": 3.8118847525843657e-16,
            "fitness": 1.0,
            "rotation_error_deg": 90.0,
            "translation_error_m": 9.990563187536139e-17
          },
          "failure_condition": "Near-zero residual with 90 degree rotation error; pose is ambiguous"
        }
      ]
    }
  },
  "regeneration": [
    "python3 tools/build_playground_sources.py",
    "python3 tools/build_artifacts.py",
    "python3 tools/build_artifacts.py --check"
  ],
  "limitations": [
    "First-party source/data license unspecified; no new reuse license assigned",
    "Synthetic educational data, not measured or a hardware benchmark",
    "No C++ adapter or OpenCV image input in this package",
    "Numerical tolerance, not cross-platform byte-identical computation; compute timing excluded"
  ]
}