PASS: hand Kalman update, finite-horizon gains, Bellman identities, and three-preset costs.
Preset: baseline; seed: 7; horizon: 8.0 s
Controller       selected cost    64-seed mean
lqg                   8.616564        9.110730
raw                  95.790563       80.299638
oracle                8.194906        8.328192
Paired raw - LQG: 71.188909; Monte Carlo SE: 1.798356
Means use seeds 1..64 and shared noise draws. SE is a sampling estimate, not a performance guarantee.