Appreciate it. If you get a chance to take a look, the benchmark methodology and the RL comparison configs are all in the benchmarks/ folder, so you should be able to reproduce the results pretty easily.

I’ve already had six testers validate things across a range of environments—agricultural fields, open spaces, tunnels, underpasses, and even urban canyons with brief GPS dropouts. In those kinds of scenarios, FusionCore’s gating really stands out as a strength.