Table 3. Factors and levels for experimental configurations.
| Factor | Level | Comment |
| Target | f | filtering distribution 
|
| s | smoothing distribution 
|
|
| v | MAP-sequence 
|
|
| Model | QDA | (no system model) |
| HMM | HMM transition matrix | |
| C | CSSM model | |
| Mode | M | Marginal filter |
| P | Particle filter | |
| Observations | Oko | IMU data using  principal components |
| Oks | IMU data, scrambled | |
| OL | Locations (categorical) | |
| Distance |
|
True goal distance, complete state space |
|
True goal distance, restricted state space | |
|
Heuristic goal distance, using script | |
| Weight |
L
|
|
| Duration |
|
continuous parametric duration models |
|
discrete duration models based on empirical distribution function |