From db84cfae67672ad427a3d3c8819cdb423a2cd3d8 Mon Sep 17 00:00:00 2001 From: Longye Tian Date: Sat, 6 Jun 2026 10:51:09 +1000 Subject: [PATCH] Fix Kalman exercise prediction timing --- lectures/kalman.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/lectures/kalman.md b/lectures/kalman.md index 3b80736f7..8f0050e9e 100644 --- a/lectures/kalman.md +++ b/lectures/kalman.md @@ -785,7 +785,7 @@ e1 = np.empty(T-1) e2 = np.empty(T-1) for t in range(1, T): - kn.update(y[:,t]) + kn.update(y[:, t-1]) diff1 = x[:, t] - kn.x_hat.flatten() diff2 = x[:, t] - A @ x[:, t-1] e1[t-1] = diff1 @ diff1