{
  "feature_cols": [
    "pid_error",
    "pid_error_prev",
    "pid_error_delta",
    "pid_derivative",
    "ir_centroid",
    "ir_spread",
    "ir1_inv",
    "ir2_inv",
    "ir3_inv",
    "ir4_inv",
    "ir5_inv",
    "left_speed",
    "right_speed",
    "speed_diff",
    "loop_dt"
  ],
  "target_col": "next_error",
  "n_estimators": 328,
  "max_depth": 22,
  "min_samples_leaf": 9,
  "max_features": "sqrt",
  "train_runs": 80,
  "test_runs": 20,
  "original_rmse": 0.018756,
  "tuned_rmse": 0.018731,
  "tuned_mae": 0.008295,
  "best_optuna_trial": 22,
  "optuna_trials": 50
}