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Andrey Filippov authored
CLAUDE: lean pose FIX: consolidated TD scaled to per-tile sensor SUM (oracle fat-zero operating point) The lean conj-multiply fed the plain 16-sensor AVERAGE into the same FZ-normalize (same absolute fat zero; JNA drops per-tile weights) that the oracle feeds with the unweighted SUM of pair products - 1/16 the amplitude, so the effective fat zero was 16x larger. Invisible in output scale (the normalize hides it) but measured in peak shape: sqrt_l0 3.22 vs oracle 2.08 and sqrt_l1 5.83 vs 4.15 on identical tiles, corr RMS 0.46 vs 0.33 - and suspected as the roll-bias mechanism (asymmetric-content centroid pull on broadened peaks; +0.52 mrad @ 150 edge-weighted tiles, +0.33 @ all tiles). Fix: multiply each consolidated tile by its per-sensor count (SUM semantics, matching the oracle exactly incl. partial tiles). consolidateSensorsTD itself unchanged (A2 validation still uses the true average). Expected in LEAN-05 (normal LMA run): sqrt_l0 ~2.1 in the HYPER eigen slices, corr RMS toward ~0.33, roll bias collapse if the mechanism is confirmed (survival = clean falsification). Verified: mvn -DskipTests clean package OK. Co-Authored-By:Claude Fable 5 <noreply@anthropic.com>
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