diff --git a/Data/Brain/Sessions/session_028_2026-04-22/detections.tmp b/Data/Brain/Sessions/session_028_2026-04-22/detections.tmp
deleted file mode 100644
index e69de29..0000000
diff --git a/Lidar/SLAM_worker.py b/Lidar/SLAM_worker.py
index 4045fc3..c79e920 100644
--- a/Lidar/SLAM_worker.py
+++ b/Lidar/SLAM_worker.py
@@ -64,6 +64,28 @@ def slam_worker(
     loc_cfg: LocalizationConfig,
     run_cfg: RuntimeConfig,
 ):
+    # ─────────────────────────────────────────────────────────────────────
+    # Redirect this subprocess's stderr to logs/lidar_sdk.log. The Livox
+    # C++ SDK prints directly to stderr (not Python logging) and spams
+    # thousands of lines/second when the LiDAR is offline or flaky. Keeping
+    # it in a file lets us still debug Livox issues without the errors
+    # drowning the interactive terminal. stdout stays attached so our own
+    # Python `print`s (pose updates, status lines) still reach the terminal.
+    # ─────────────────────────────────────────────────────────────────────
+    import os as _os, sys as _sys
+    try:
+        _log_dir = _os.path.join(
+            _os.path.dirname(_os.path.dirname(_os.path.abspath(__file__))),
+            "logs",
+        )
+        _os.makedirs(_log_dir, exist_ok=True)
+        _err_path = _os.path.join(_log_dir, "lidar_sdk.log")
+        _fd = _os.open(_err_path, _os.O_WRONLY | _os.O_CREAT | _os.O_APPEND, 0o644)
+        _os.dup2(_fd, 2)     # replace stderr FD so even C++ libs are captured
+        _sys.stderr = _os.fdopen(2, "w", buffering=1)
+    except Exception:
+        pass                  # never crash just because the log redirect failed
+
     # suppress noisy warning from ctypes->numpy conversion
     import warnings
     warnings.filterwarnings(