Questions related to currently usage of AMCL’s parameters in NAV2 [closed]

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As a new user, I don't think I can understand every parameter related to AMCL of NAV2. Some parameters seem related to the Algorithm. The only we to understand them is to read the associated paper. However, for now, I am worried about the following parameters that are related to properly implementing the algorithm in Gazebo.

transform_tolerance (double, default: 1.0 seconds) Time with which to post-date the transform that is published, to indicate that this transform is valid into the future.

What's this transform_tolerance ???

The ‘beamskip’ feature and the related parameters: What is ‘beamskip’ feature? It seems like an outlier escaping technology.

beam_skip_distance(double, default: 0.5)

Ignore beams that most particles disagree within the Likelihood field model. Maximum distance to consider skipping for (m).

beam_skip_error_threshold（double, default: 0.9）

Percentage of beams after not matching map to force full update due to bad convergence.

beam_skip_threshold（double, default: 0.3）

Percentage of beams required to skip.

What's the difference between beam_skip_error_threshold and beam_skip_threshold?

do_beamskip（bool， default: False）

Whether to do beam skipping in the Likelihood field model.

At last,why is there a 'ros__parameters' below the 'amcl:' in the example config file of AMCL? Which paper is associated with this powerful AMCL.