This is a positively fantastic explanation. One of the best I've seen despite being so short. Minor nitpick: It might be a bit more clear if the terms "F", "

This is a positively fantastic explanation. One of the best I've seen despite being so short. Minor nitpick: It might be a bit more clear if the terms "F", "s", "v" were explicitly defined, as well as a sentence explaining the matrix M inversion. It's really great, but when I read "our prediction formula F could be as simple as s = v*t_dot" I immediately think "F? was F defined earlier? Did I miss it? Also what is s?". [overall, really great explanation, bookmarked]