Umm.. I'm sorry but i'd ask you to go check the table again. lol

the wins aren't that marginal with numbers: 2.3x, 2.0x, 12.9x, 3.2x, 2.7x on the five sequences.

the loss on one specific sequence is genuinely bad though: 28.6m vs 9.6m, so 3x worse. That's because that sequence has extended degraded GPS over a long stretch and FusionCore's adaptive noise estimator seems to overcorrect in that condition. I haven't figured out exactly why yet and I said so in the benchmark notes.

on the spike: which one are you referring to? if it's 2012-01-08 there's a GPS jump early in the run that FusionCore's outlier gate catches and RL doesn't, which produces a visible discontinuity in the RL trajectory but not FusionCore's. happy to be corrected if you're seeing something different in the plots.