Fix hybrid decoder: remove det-ratio floor that killed high-dim models#67
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iahncajigas merged 1 commit intomainfrom Mar 18, 2026
Merged
Fix hybrid decoder: remove det-ratio floor that killed high-dim models#67iahncajigas merged 1 commit intomainfrom
iahncajigas merged 1 commit intomainfrom
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…m models The determinant ratio sqrt(det(W_u))/sqrt(det(W_p)) in the Laplace approximation used max(..., 1e-15) as a denominator floor. For 6D state models the absolute determinant (~1e-46) falls far below this floor, artificially deflating the likelihood by ~8 orders of magnitude and preventing the filter from ever selecting the reach model. Compute the ratio as sqrt(det(W_u)/det(W_p)) instead, which cancels the absolute scale and matches MATLAB behavior exactly. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
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Summary
PPHybridFilterLinear(andPPHybridFilter) usedmax(sqrt(det(W_p)), 1e-15)as a denominator floorsqrt(det(W_p)) ≈ 1e-23, far below the1e-15floor — artificially deflating the reach model's likelihood by ~8 orders of magnitudesqrt(det(W_u) / det(W_p))directly, which cancels absolute scale and matches MATLAB exactlyTest plan
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