Experiment Results
dcreg_minimal_example mirrors the three core modules:
- Module 1: spectral detection
- Module 2: physical-axis characterization
- Module 3: preconditioned solve
Representative output:
[Module 1] Spectral degeneracy detection
cond_full: 1122.345689
cond_schur_rot: 36.087707
cond_schur_trans: 742.066396
...
[Module 3] Preconditioned linear solve
pcg_iterations: 6
pcg_relative_residual: 0.000000
qr_fallback: 0
The default shifted_cylinder experiment on main was re-validated after the full release sync:
| Parameterization | Iter | RMSE | Fitness | Trans. Error (m) | Rot. Error (deg) | LinIt | QRfb |
|---|---|---|---|---|---|---|---|
| Euler | 9 | 0.0314988 | 0.116239 | 0.0258485 | 0.0516469 | 6 | 0 |
| SE3 | 10 | 0.0315708 | 0.116636 | 0.0271197 | 0.0507196 | 6 | 0 |
| SO3 | 10 | 0.0315708 | 0.116636 | 0.0271196 | 0.0507195 | 6 | 0 |
| Quaternion | 10 | 0.0315708 | 0.116636 | 0.0271196 | 0.0507195 | 6 | 0 |
| Demo | Characterization |
|---|---|
 |
 |
| Simulation | Real World |
|---|---|
 |
 |
| Runtime | Parameter |
|---|---|
 |
 |