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+version https://git-lfs.github.com/spec/v1
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+version https://git-lfs.github.com/spec/v1
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+version https://git-lfs.github.com/spec/v1
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+version https://git-lfs.github.com/spec/v1
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diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/preflight/run_collector.sh b/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/preflight/run_collector.sh
new file mode 100644
index 0000000000000000000000000000000000000000..4d997decd9b759e0e7c98c0aac5d2d20024f4606
--- /dev/null
+++ b/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/preflight/run_collector.sh
@@ -0,0 +1,14 @@
+#!/usr/bin/env zsh
+set -euo pipefail
+[[ -n "${WANDB_API_KEY:-}" ]] || { print -u2 "W&B runtime credential absent"; exit 2; }
+export WANDB_DIR=/mnt/data2/magna/belt_perception_shared/tool_state/wandb/runs
+export WANDB_DATA_DIR=/mnt/data2/magna/belt_perception_shared/tool_state/wandb/data
+export WANDB_CACHE_DIR=/mnt/data2/magna/belt_perception_shared/tool_cache/wandb/cache
+export WANDB_ARTIFACT_DIR=/mnt/data2/magna/belt_perception_shared/tool_cache/wandb/artifacts
+cd /mnt/data0/magna/belt_perception_wt_real_rgbd_full_fit_20260923
+exec uv run --no-sync python -u scripts/phystwin_real_rgbd.py telemetry-collect \
+  --fitting /mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/full_fit_20260923/preflight/tiny_observations.npz \
+  --cma-run /mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/full_fit_20260923/preflight/qualified_cma \
+  --adam-run /mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/full_fit_20260923/preflight/adam \
+  --output /mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/full_fit_20260923/preflight/telemetry-collector \
+  --run-name real-rgbd-preflight-20260923 --online --follow --poll-seconds 2
diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/preflight/telemetry-collector/real_collector.lock b/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/preflight/telemetry-collector/real_collector.lock
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index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/preflight/telemetry-collector/real_collector_cursor.json b/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/preflight/telemetry-collector/real_collector_cursor.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ba59726d984cc77f228b365b37dfda420cc2340
--- /dev/null
+++ b/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/preflight/telemetry-collector/real_collector_cursor.json
@@ -0,0 +1,104 @@
+{
+  "seen": [
+    "adam:i001:0:update",
+    "adam:i001:1180:update",
+    "adam:i001:1754:update",
+    "adam:i001:2347:update",
+    "adam:i001:2940:update",
+    "adam:i001:590:update",
+    "adam:i001:continuation:6:6",
+    "candidate:0:parameters",
+    "candidate:0:ready",
+    "candidate:0:result",
+    "candidate:1:parameters",
+    "candidate:1:ready",
+    "candidate:1:result",
+    "candidate:2:parameters",
+    "candidate:2:ready",
+    "candidate:2:result",
+    "cma:0:issued",
+    "cma:0:result",
+    "cma:10:issued",
+    "cma:10:result",
+    "cma:1:issued",
+    "cma:1:result",
+    "cma:2:issued",
+    "cma:2:result",
+    "cma:3:issued",
+    "cma:3:result",
+    "cma:4:issued",
+    "cma:4:result",
+    "cma:5:issued",
+    "cma:5:result",
+    "cma:6:issued",
+    "cma:6:result",
+    "cma:7:issued",
+    "cma:7:result",
+    "cma:8:issued",
+    "cma:8:result",
+    "cma:9:issued",
+    "cma:9:result",
+    "cma:center",
+    "cma:g0:told",
+    "config:adam_manifest",
+    "config:winner_summary",
+    "coverage:0",
+    "coverage:1",
+    "coverage:2",
+    "coverage:3",
+    "health:29",
+    "health:47",
+    "health:48",
+    "health:49",
+    "health:50",
+    "health:55",
+    "health:56",
+    "health:57",
+    "health:58",
+    "health:59",
+    "health:60",
+    "health:61",
+    "health:62",
+    "health:63",
+    "health:64",
+    "health:65",
+    "selection:BEST",
+    "selection:BEST:parameters",
+    "selection:FINAL",
+    "selection:FINAL:parameters"
+  ],
+  "adam_offsets": {
+    "i001.jsonl": 3517
+  },
+  "started_unix_s": 1790159819.98188,
+  "health": {
+    "values": {
+      "produced": 3,
+      "completed": 3,
+      "pending": 0,
+      "claimed": 0,
+      "errors": 0,
+      "lag_candidates": 0,
+      "cma_asks_per_s": 0.0,
+      "adam_updates_per_s": 0.0,
+      "evaluated_candidates_per_s": 0.0,
+      "collector_backlog_bytes": 0,
+      "delivery_backlog_records": 0,
+      "delivery_uncertain_records": 0,
+      "service_active": 1,
+      "service_failed_or_uncertain": 0,
+      "last_checkpoint_bytes": 279328,
+      "checkpoint_s": 0.0010719360143411905,
+      "snapshot_s": 0.004081494000274688
+    },
+    "counts": {
+      "cma_asks": 11,
+      "adam_updates": 6,
+      "evaluated_candidates": 3
+    },
+    "at": 1790160044.0600975
+  },
+  "adam_max_updates": {
+    "i001": 6
+  }
+}
diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/preflight/telemetry-collector/real_source_identity.json b/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/preflight/telemetry-collector/real_source_identity.json
new file mode 100644
index 0000000000000000000000000000000000000000..cefc8b039d6531404d2bc745a1bab8c73591559b
--- /dev/null
+++ b/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/preflight/telemetry-collector/real_source_identity.json
@@ -0,0 +1,10 @@
+{
+  "cma_run": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/full_fit_20260923/preflight/qualified_cma",
+  "adam_run": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/full_fit_20260923/preflight/adam",
+  "fitting": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/full_fit_20260923/preflight/tiny_observations.npz",
+  "target": [
+    "serialexperimentsleon",
+    "belt_perception",
+    "real-rgbd-preflight-20260923"
+  ]
+}
diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/preflight/telemetry-collector/telemetry/candidate_parameter_summaries/c0000.json b/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/preflight/telemetry-collector/telemetry/candidate_parameter_summaries/c0000.json
new file mode 100644
index 0000000000000000000000000000000000000000..b616d19d83c4a13f9d2fc7b1df28fbe660129b64
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+++ b/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/preflight/telemetry-collector/telemetry/candidate_parameter_summaries/c0000.json
@@ -0,0 +1,50 @@
+{
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+  "object/log_finite_max": 10.552645683288574,
+  "object/host_effective_max_n": 38278.578125,
+  "object/log_finite_variance": 0.0,
+  "object/host_effective_variance_n2": 0.0,
+  "object/log_finite_count": 19285,
+  "object/log_nonfinite_count": 0,
+  "object/log_zero_count": 0,
+  "object/edge_count": 19285,
+  "object/host_disabled_count": 0,
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+  "object/host_cap_changed_count": 0,
+  "object/host_saturation_fraction": 0.0,
+  "attachment/log_finite_min": 10.552645683288574,
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+  "attachment/log_finite_max": 10.552645683288574,
+  "attachment/host_effective_max_n": 38278.578125,
+  "attachment/log_finite_variance": 0.0,
+  "attachment/host_effective_variance_n2": 0.0,
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+  "attachment/host_disabled_count": 0,
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+  "attachment/host_cap_changed_count": 0,
+  "attachment/host_saturation_fraction": 0.0,
+  "ground_friction/raw": 0.8264174461364746,
+  "ground_friction/host_effective": 0.8264174461364746,
+  "ground_friction/host_clamp_changed": 0,
+  "ground_restitution/raw": 0.46097636222839355,
+  "ground_restitution/host_effective": 0.46097636222839355,
+  "ground_restitution/host_clamp_changed": 0,
+  "inactive_object_friction/raw": 0.1435033231973648,
+  "inactive_object_friction/host_effective": 0.1435033231973648,
+  "inactive_object_friction/host_clamp_changed": 0,
+  "inactive_object_restitution/raw": 0.827909529209137,
+  "inactive_object_restitution/host_effective": 0.827909529209137,
+  "inactive_object_restitution/host_clamp_changed": 0
+}
diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/preflight/telemetry-collector/telemetry/candidate_parameter_summaries/c0001.json b/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/preflight/telemetry-collector/telemetry/candidate_parameter_summaries/c0001.json
new file mode 100644
index 0000000000000000000000000000000000000000..6de42d3156e09dd64e7e25193851b23da03729fd
--- /dev/null
+++ b/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/preflight/telemetry-collector/telemetry/candidate_parameter_summaries/c0001.json
@@ -0,0 +1,50 @@
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+  "object/host_saturation_fraction": 0.0,
+  "attachment/log_finite_min": 10.550409317016602,
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diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/preflight/telemetry-collector/telemetry/candidate_parameter_summaries/c0002.json b/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/preflight/telemetry-collector/telemetry/candidate_parameter_summaries/c0002.json
new file mode 100644
index 0000000000000000000000000000000000000000..6095b51ea424589b615d1c0a40f22c25194238f1
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+++ b/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/preflight/telemetry-collector/telemetry/candidate_parameter_summaries/c0002.json
@@ -0,0 +1,50 @@
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diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/preflight/telemetry-collector/telemetry/delivery.json b/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/preflight/telemetry-collector/telemetry/delivery.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8f8ae2fc0b1926862d3bb3f3080900731dbd7be
--- /dev/null
+++ b/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/preflight/telemetry-collector/telemetry/delivery.json
@@ -0,0 +1,19 @@
+{
+  "run_id": "ec45419db5b8489f",
+  "submitted_records": 66,
+  "next_step": 66,
+  "finalization": "pending",
+  "inflight": null,
+  "acknowledgement": "sdk_submission_only",
+  "uncertain_records": [],
+  "init_returned": true,
+  "target": {
+    "entity": "serialexperimentsleon",
+    "project": "belt_perception",
+    "run_name": "real-rgbd-preflight-20260923"
+  },
+  "delivery": "active",
+  "guide_uploaded": true,
+  "winner_guide_uploaded": true,
+  "stage_guide_uploaded": true
+}
diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/preflight/telemetry-collector/telemetry/delivery_attempts.jsonl b/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/preflight/telemetry-collector/telemetry/delivery_attempts.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3d4f8b550b6eb9a112b24dfce82efff0e3fec6e7
--- /dev/null
+++ b/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/preflight/telemetry-collector/telemetry/delivery_attempts.jsonl
@@ -0,0 +1,66 @@
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diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/preflight/telemetry-collector/telemetry/delivery_costs.jsonl b/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/preflight/telemetry-collector/telemetry/delivery_costs.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..02f274e8c6fbec114ac3b9ab478e268c7d8e3902
--- /dev/null
+++ b/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/preflight/telemetry-collector/telemetry/delivery_costs.jsonl
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+{"kind": "real_adam_update", "source_update": 6, "source_generation": null, "candidate_ask_index": null, "serialization_write_s": 8.569497731514275e-05, "serialized_bytes": 1197}
+{"kind": "real_adam_continuation", "source_update": 6, "source_generation": null, "candidate_ask_index": null, "serialization_write_s": 6.502302130684257e-05, "serialized_bytes": 609}
+{"kind": "real_frozen_candidate", "source_update": 0, "source_generation": null, "candidate_ask_index": null, "serialization_write_s": 5.62559871468693e-05, "serialized_bytes": 594}
+{"kind": "real_adam_parameters", "source_update": 0, "source_generation": null, "candidate_ask_index": null, "serialization_write_s": 0.00012888599303551018, "serialized_bytes": 2551}
+{"kind": "real_frozen_candidate", "source_update": 0, "source_generation": null, "candidate_ask_index": null, "serialization_write_s": 8.386399713344872e-05, "serialized_bytes": 1113}
+{"kind": "real_frozen_candidate", "source_update": 3, "source_generation": null, "candidate_ask_index": null, "serialization_write_s": 5.307001993060112e-05, "serialized_bytes": 594}
+{"kind": "real_adam_parameters", "source_update": 3, "source_generation": null, "candidate_ask_index": null, "serialization_write_s": 0.00012443400919437408, "serialized_bytes": 2639}
+{"kind": "real_frozen_candidate", "source_update": 3, "source_generation": null, "candidate_ask_index": null, "serialization_write_s": 9.103299817070365e-05, "serialized_bytes": 1106}
+{"kind": "real_frozen_candidate", "source_update": 6, "source_generation": null, "candidate_ask_index": null, "serialization_write_s": 6.504601333290339e-05, "serialized_bytes": 593}
+{"kind": "real_adam_parameters", "source_update": 6, "source_generation": null, "candidate_ask_index": null, "serialization_write_s": 0.0001482520019635558, "serialized_bytes": 2627}
+{"kind": "real_frozen_candidate", "source_update": 6, "source_generation": null, "candidate_ask_index": null, "serialization_write_s": 8.893897756934166e-05, "serialized_bytes": 1107}
+{"kind": "real_health", "source_update": 0, "source_generation": null, "candidate_ask_index": null, "serialization_write_s": 7.847600500099361e-05, "serialized_bytes": 933}
+{"kind": "real_health", "source_update": 0, "source_generation": null, "candidate_ask_index": null, "serialization_write_s": 8.600999717600644e-05, "serialized_bytes": 892}
+{"kind": "real_health", "source_update": 0, "source_generation": null, "candidate_ask_index": null, "serialization_write_s": 8.78529972396791e-05, "serialized_bytes": 892}
+{"kind": "real_health", "source_update": 0, "source_generation": null, "candidate_ask_index": null, "serialization_write_s": 0.00011516700033098459, "serialized_bytes": 893}
+{"kind": "real_frozen_candidate", "source_update": 6, "source_generation": null, "candidate_ask_index": null, "serialization_write_s": 6.620600470341742e-05, "serialized_bytes": 433}
+{"kind": "real_adam_parameters", "source_update": 6, "source_generation": null, "candidate_ask_index": null, "serialization_write_s": 0.00011443000403232872, "serialized_bytes": 2641}
+{"kind": "real_frozen_candidate", "source_update": 6, "source_generation": null, "candidate_ask_index": null, "serialization_write_s": 7.277299300767481e-05, "serialized_bytes": 434}
+{"kind": "real_adam_parameters", "source_update": 6, "source_generation": null, "candidate_ask_index": null, "serialization_write_s": 0.00014509001630358398, "serialized_bytes": 2643}
+{"kind": "real_health", "source_update": 0, "source_generation": null, "candidate_ask_index": null, "serialization_write_s": 8.0261001130566e-05, "serialized_bytes": 893}
+{"kind": "real_health", "source_update": 0, "source_generation": null, "candidate_ask_index": null, "serialization_write_s": 8.24590097181499e-05, "serialized_bytes": 893}
+{"kind": "real_health", "source_update": 0, "source_generation": null, "candidate_ask_index": null, "serialization_write_s": 8.178999996744096e-05, "serialized_bytes": 891}
+{"kind": "real_health", "source_update": 0, "source_generation": null, "candidate_ask_index": null, "serialization_write_s": 8.77639977261424e-05, "serialized_bytes": 893}
+{"kind": "real_health", "source_update": 0, "source_generation": null, "candidate_ask_index": null, "serialization_write_s": 8.075099322013557e-05, "serialized_bytes": 893}
+{"kind": "real_health", "source_update": 0, "source_generation": null, "candidate_ask_index": null, "serialization_write_s": 8.777601760812104e-05, "serialized_bytes": 892}
+{"kind": "real_health", "source_update": 0, "source_generation": null, "candidate_ask_index": null, "serialization_write_s": 8.252100087702274e-05, "serialized_bytes": 893}
+{"kind": "real_health", "source_update": 0, "source_generation": null, "candidate_ask_index": null, "serialization_write_s": 8.599201100878417e-05, "serialized_bytes": 892}
+{"kind": "real_health", "source_update": 0, "source_generation": null, "candidate_ask_index": null, "serialization_write_s": 8.407598943449557e-05, "serialized_bytes": 893}
+{"kind": "real_health", "source_update": 0, "source_generation": null, "candidate_ask_index": null, "serialization_write_s": 7.799299783073366e-05, "serialized_bytes": 890}
+{"kind": "real_health", "source_update": 0, "source_generation": null, "candidate_ask_index": null, "serialization_write_s": 7.944399840198457e-05, "serialized_bytes": 892}
diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/preflight/telemetry-collector/telemetry/metric_notes.md b/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/preflight/telemetry-collector/telemetry/metric_notes.md
new file mode 100644
index 0000000000000000000000000000000000000000..24aa6e92abf249d0d4db4b7868b44e3a14af55bf
--- /dev/null
+++ b/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/preflight/telemetry-collector/telemetry/metric_notes.md
@@ -0,0 +1,467 @@
+# REAL_RGBD observation-fit telemetry
+
+All losses are the already executed source Warp objective. C is a squared-metre
+distance term; T is beta-1 Smooth-L1 on metre coordinates; A is weighted
+Smooth-L1 on velocity-increment differences in m/s, without dt normalization.
+Mixed totals are objective values, not RMSE or one physical unit. Adam's C+T
+is a pre-update, changing-parameter path; frozen C+T is a separate reset replay.
+
+| Prefix | Source and axis | Interpretation |
+|---|---|---|
+| `cma/issue/`, `cma/result/`, `cma/error/` | committed issued.npy, record/rollout or error; `progress/cma_ask` | One row per issued ask and observed outcome. 12 normalized/decoded/activity values. Null full scores on failure. `partial_*` are **sums** over `completed_transitions`, never truncated means. |
+| `cma/generation/`, `cma/center/` | told.json and center record; generation or center ordinal | Winner is this generation's lowest finite ask; champion is best so far. Center is a separate diagnostic. |
+| `config/` | saved winner model and Adam manifest; elapsed wall seconds | The initial run config is stable while CMA runs. The actual winner initialization, graph/rest/order summary and Adam stage manifest arrive as committed updates to the same run and guide. |
+| `adam/update/` | per-invocation producer record; `progress/source_update` | Every actual U, pre-update C/T/C+T, counts over N with fixed D_V/D_M, LR, available gradient L2, interval seconds; consumed U-1 and post-step U. `record/committed=0` is tentative at collection time. Repeated attempts retain invocation and checkpoint-parent identities. |
+| `adam/continuation/` | saved invocations and checked continuations; source U | Later status marks committed and superseded ranges; repeated update numbers retain both attempts. |
+| `adam/parameters/` | detached sparse copy or saved snapshot; source U | Object/attachment finite log-Y and host float32 effective-Y in nominal N, variance ddof=0. Source -inf is log-zero, never floored. Host cap count requires a positive raw value changed by clipping. Update norm pairs only finite pre/post leaves; excluded count includes -inf pairs. These are host diagnostics, not executing Warp values or recovered material parameters. |
+| `frozen/candidate/` | immutable ready/result records; `progress/frozen_candidate` | Candidate c originates at U=c*K. Candidate 0 is the existing handoff replay. Error/claim/pending has no score. FINAL is candidate 500 at full horizon; BEST requires complete roster. |
+| `coverage/` | saved derived observations; `progress/observation_time_s` | Derived V endpoint and M transition counts, four-view support and physical-hand controller-valid counts/fractions; no correspondence/truth accuracy. |
+| `health/` | saved invocation/evaluation/selection and local delivery state; elapsed wall seconds | Produced/completed/pending/claimed/errors, lag, collector backlog and uncertain delivery are local state. Stage rates are collector-observed count changes per wall second, unavailable on the first sample. SDK submission and `finish()` are not independent remote acknowledgement. |
+
+Per-update `pre_copy_s` and `post_copy_s` include detached leaf copies;
+`capture_s` includes those copies and local record preparation. The invocation's
+`telemetry_capture_wall_s` also includes the producer file append.
+
+The service ingestion step is transport order. Source counters in the same row
+carry scientific time. Null means unavailable; no missing/failed score is zero.
+No RGB/media, raw arrays, model, privileged q/v truth, parameter error or confidence
+weighting is uploaded. q0/rest are derived from the first observed shape, v0=0,
+and source masses are one source unit. Frozen D_V=|V[1]| and D_M=|M[0]|.
+The exact run configuration follows below; stage/invocation deviations remain
+in local committed source records. Execution-value/cap diagnostics are unavailable.
+
+
+## Resolved run configuration
+
+```json
+{
+  "diagnostic_lane": "REAL_RGBD",
+  "cma_manifest": {
+    "schema": "real_rgbd_source_cma_run_v1",
+    "plan": "docs/plans/phystwin_real_rgbd_single_trajectory_plan.md R5, \u00a76.3",
+    "fitting_observations": {
+      "path": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/full_fit_20260923/preflight/tiny_observations.npz",
+      "sha256": "c370252569cd90f007ce3ae45bf2aa698c401ecf08127aff932ca2c75531cbdd",
+      "origin_ns": 1790045828176911549,
+      "num_samples": 4,
+      "chamfer_denominator": 1043,
+      "tracking_denominator": 994
+    },
+    "populations": {
+      "N": 1147,
+      "S": 1147,
+      "A": 1147,
+      "C": 30
+    },
+    "grid": {
+      "F": 4,
+      "K": 3,
+      "origin_ns": 1790045828176911549
+    },
+    "clock": {
+      "period_s": "1/30",
+      "num_substeps": 667,
+      "substep_dt_s": 4.9975012493753125e-05,
+      "consumed_substep_dt_f32": 4.997501309844665e-05,
+      "consumed_interval_minus_period_s": 4.0333058374623455e-10,
+      "transitions": 3,
+      "consumed_total_minus_period_total_s": 1.2099917512387038e-09,
+      "source_literal_period_s_not_used": 0.033350000000000005
+    },
+    "protocol": {
+      "source": "U cma_optimize_warp.py optimize/error_func @81c71879; configs/real.yaml",
+      "dimension": 12,
+      "bounds": [
+        0.0,
+        1.0
+      ],
+      "coordinates": [
+        [
+          "spring_y",
+          [
+            0,
+            100000.0
+          ]
+        ],
+        [
+          "object_radius_m",
+          [
+            0.01,
+            0.05
+          ]
+        ],
+        [
+          "object_max_neighbours",
+          [
+            10,
+            50
+          ]
+        ],
+        [
+          "controller_radius_m",
+          [
+            0.01,
+            0.08
+          ]
+        ],
+        [
+          "controller_max_neighbours",
+          [
+            10,
+            80
+          ]
+        ],
+        [
+          "ground_restitution",
+          "direct"
+        ],
+        [
+          "ground_friction",
+          [
+            0,
+            2
+          ]
+        ],
+        [
+          "object_restitution",
+          "direct"
+        ],
+        [
+          "object_friction",
+          [
+            0,
+            2
+          ]
+        ],
+        [
+          "collision_distance_m",
+          [
+            0.01,
+            0.05
+          ]
+        ],
+        [
+          "drag_damping",
+          [
+            0,
+            20
+          ]
+        ],
+        [
+          "dashpot_damping",
+          [
+            0,
+            200
+          ]
+        ]
+      ],
+      "center": [
+        0.3,
+        0.25,
+        0.5,
+        0.4285714285714285,
+        0.5714285714285714,
+        0.5,
+        0.15,
+        0.7,
+        0.15,
+        0.25,
+        0.15,
+        0.5
+      ],
+      "sigma": 0.16666666666666666,
+      "seed": 42,
+      "population_size": 11,
+      "sampler": "private numpy RandomState(42).randn (parity with U's globally seeded default)",
+      "backend": "pycma_4_4_4_serial_ask_tell_v1",
+      "max_generations": 1,
+      "stopping": "es.stop() at every loop head, honoured after the first generation; else max_generations",
+      "score": "mean over K of compute_final_loss(C, T, A), fresh history per ask (U total_loss / (train_frame - 1))",
+      "told_failures": "+inf only for a physical nonfinite dynamics endpoint; other errors stop the run",
+      "object_collision": "inactive (self_collision=False, no object masks); its three coordinates have no effect"
+    },
+    "execution": {
+      "device": "cuda:0",
+      "transition": {
+        "forward_reduction": "atomic",
+        "backward_reduction": "atomic",
+        "capture": true
+      },
+      "objective": "R4 SourceWarpObjective stage cma (captured on CUDA, eager on CPU)"
+    },
+    "execution_identity": {
+      "belt_perception_source": {
+        "sha256": "8ed07f17080b467930c4c66280f3e69000afc3f1b16d54b98c5746a0e8c8f89e",
+        "files": 777
+      },
+      "versions": {
+        "warp-lang": "1.16.0",
+        "torch": "2.11.0+cu128",
+        "cma": "4.4.4",
+        "numpy": "2.4.4",
+        "open3d": "0.19.0"
+      },
+      "python": "3.11.14",
+      "torch_cuda": "12.8",
+      "device_name": "NVIDIA GeForce RTX 4090"
+    },
+    "code_revision": {
+      "head": "0a0403f3a4d61e6b1316672a24b8a7e6371bec78",
+      "dirty": false
+    }
+  },
+  "winner_summary": "committed later as config/ event",
+  "derived_observations": {
+    "view_serials": [
+      "12540311",
+      "12933256",
+      "17736741",
+      "23007103"
+    ],
+    "view_aliases": {
+      "view_00": "12540311",
+      "view_01": "12933256",
+      "view_02": "17736741",
+      "view_03": "23007103"
+    },
+    "physics_frame": "table",
+    "rate_hz": 30,
+    "F": 4,
+    "K": 3,
+    "N": 1147,
+    "C": 30,
+    "D_V": 1043,
+    "D_M": 994
+  },
+  "adam_source_defaults": {
+    "lr": 0.001,
+    "betas": [
+      0.9,
+      0.99
+    ],
+    "eps": 1e-08,
+    "complete_traversals": 500,
+    "actual_stage_manifest": "committed later as config/ event"
+  },
+  "destination": "serialexperimentsleon/belt_perception",
+  "payload_scope": "metrics/config/Markdown-guide-only"
+}
+```
+
+
+## Committed CMA winner configuration
+
+```json
+{
+  "origin": {
+    "ask_index": 0,
+    "generation": 0,
+    "global_ask_index": 0,
+    "normalized": [
+      0.38278569216853875,
+      0.2269558537877267,
+      0.6079489892546109,
+      0.6824129109714647,
+      0.5324023585432209,
+      0.4609763608577897,
+      0.4132087160535479,
+      0.8279095188320452,
+      0.071751660776338,
+      0.34043006499484857,
+      0.072760499619121,
+      0.4223748166655865
+    ],
+    "stage": "cma_ask"
+  },
+  "populations": {
+    "num_original": 1147,
+    "num_surface": 1147,
+    "num_all": 1147
+  },
+  "model_sha256": "b6d26e0fc0a2b4cf2f41d6a88ca12742051dccec4f064f7e6aad7a8c4baae461",
+  "topology_sha256": "9aeefbaee3738d505e89c05e8b24754340104ffb7e28e94aa0b6e4a908e588ff",
+  "model_init_sha256": "02f9be92371ed4f6ef1447f763cb389711e384b1b4171f401b70f4000c3690c3",
+  "controller_count_by_hand": {
+    "hand_A": 21,
+    "hand_B": 9
+  },
+  "q0_bounds_m": [
+    [
+      -0.10010910779237747,
+      -0.26476019620895386,
+      -0.0015294611221179366
+    ],
+    [
+      0.12057856470346451,
+      0.0074009220115840435,
+      0.0648355633020401
+    ]
+  ],
+  "v0_mps": "zero",
+  "masses": "one source mass unit per object node",
+  "graph_inputs": "float64 promotion of staged float32 q0 and first controller sample",
+  "topology": {
+    "object_springs": 19285,
+    "controller_springs": 824,
+    "object_rest_min_max_m": [
+      0.0007212708587758243,
+      0.0190777238458395
+    ],
+    "controller_rest_min_max_m": [
+      0.006035303696990013,
+      0.05773294344544411
+    ],
+    "isolated_object_nodes": 1,
+    "attached_object_nodes": 211,
+    "controls_without_attachment": 0,
+    "attachments_by_hand": {
+      "hand_A": 465,
+      "hand_B": 359
+    }
+  },
+  "spring_order": "object springs, then controller attachments",
+  "controller_order": "saved controller_candidate_index order, physical hand labels retained",
+  "rest_values": "float64 construction rest, float32 consumed rest; bounds in topology"
+}
+```
+
+
+## Committed Adam stage configuration
+
+```json
+{
+  "schema": "real_rgbd_source_adam_run_v1",
+  "plan": "docs/plans/phystwin_real_rgbd_single_trajectory_plan.md R6, \u00a76.4-\u00a76.6",
+  "fitting_observations": {
+    "path": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/full_fit_20260923/preflight/tiny_observations.npz",
+    "sha256": "c370252569cd90f007ce3ae45bf2aa698c401ecf08127aff932ca2c75531cbdd",
+    "origin_ns": 1790045828176911549,
+    "num_samples": 4,
+    "chamfer_denominator": 1043,
+    "tracking_denominator": 994
+  },
+  "cma_run": {
+    "path": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/full_fit_20260923/preflight/qualified_cma",
+    "winner_model_sha256": "b6d26e0fc0a2b4cf2f41d6a88ca12742051dccec4f064f7e6aad7a8c4baae461",
+    "winner_topology_sha256": "9aeefbaee3738d505e89c05e8b24754340104ffb7e28e94aa0b6e4a908e588ff",
+    "model_init_sha256": "02f9be92371ed4f6ef1447f763cb389711e384b1b4171f401b70f4000c3690c3",
+    "handoff_report_sha256": "5188426bebefd6670344c48055e477efe9cb907651dd3ad3a47abb4929b131a0",
+    "handoff_frozen_rollout_sha256": "a2a996622cd92ed83c395f7ac55fcbc223d83f1caaadf3d29b486b80994d2feb",
+    "handoff_passed": true,
+    "winner_origin": {
+      "ask_index": 0,
+      "generation": 0,
+      "global_ask_index": 0,
+      "normalized": [
+        0.38278569216853875,
+        0.2269558537877267,
+        0.6079489892546109,
+        0.6824129109714647,
+        0.5324023585432209,
+        0.4609763608577897,
+        0.4132087160535479,
+        0.8279095188320452,
+        0.071751660776338,
+        0.34043006499484857,
+        0.072760499619121,
+        0.4223748166655865
+      ],
+      "stage": "cma_ask"
+    },
+    "handoff_frozen_observation_score": 2.6392149569195073e-05
+  },
+  "grid": {
+    "F": 4,
+    "K": 3,
+    "origin_ns": 1790045828176911549
+  },
+  "populations": {
+    "N": 1147,
+    "S": 1147,
+    "A": 1147,
+    "C": 30,
+    "object_springs": 19285,
+    "controller_springs": 824
+  },
+  "clock": {
+    "period_s": "1/30",
+    "num_substeps": 667,
+    "substep_dt_s": 4.9975012493753125e-05,
+    "consumed_substep_dt_f32": 4.997501309844665e-05,
+    "consumed_interval_minus_period_s": 4.0333058374623455e-10,
+    "transitions": 3,
+    "consumed_total_minus_period_total_s": 1.2099917512387038e-09,
+    "source_literal_period_s_not_used": 0.033350000000000005
+  },
+  "frozen_coefficients": {
+    "drag_damping": 1.45520999238242,
+    "dashpot_damping": 84.4749633331173,
+    "collision_distance_m": 0.023617202599793944,
+    "u_config_integer_cast_not_applied": true
+  },
+  "protocol": {
+    "source": "U trainer_warp.py train (305-372) and leaves/optimizer (153-164) @81c71879; configs/real.yaml",
+    "optimizer": "torch.optim.Adam",
+    "lr": 0.001,
+    "betas": [
+      0.9,
+      0.99
+    ],
+    "eps": 1e-08,
+    "weight_decay": 0.0,
+    "scheduler": null,
+    "leaves": [
+      "log_spring_y",
+      "raw_ground_restitution",
+      "raw_ground_friction",
+      "raw_object_restitution",
+      "raw_object_friction"
+    ],
+    "inactive_leaves": [
+      "raw_object_restitution",
+      "raw_object_friction"
+    ],
+    "frozen": [
+      "topology",
+      "rests",
+      "masses",
+      "attachments",
+      "drag",
+      "dashpot",
+      "collision_distance",
+      "clock",
+      "initialization"
+    ],
+    "complete_traversals": 2,
+    "updates_per_traversal": 3,
+    "planned_updates": 6,
+    "cadence": "one Adam step per chronological derived transition; q/v reset to q0/v0 at each traversal start",
+    "gradient": "direct unaveraged interval leaf gradients (no collection 1/K round trip)",
+    "carry": "detached pre-update endpoint of the interval",
+    "objective": "R4 SourceWarpObjective stage adam: C + T, A never active, captured D_V = |V[1]|, D_M = |M[0]|",
+    "best_candidates": 3,
+    "best_metric": "independent frozen C + T replay (mean over K); lowest finite, earliest candidate on exact ties"
+  },
+  "execution": {
+    "device": "cuda:0",
+    "transition": {
+      "forward_reduction": "atomic",
+      "backward_reduction": "atomic",
+      "capture": true
+    },
+    "objective": "R4 SourceWarpObjective stage adam (captured on CUDA, eager on CPU)"
+  },
+  "versions": {
+    "warp-lang": "1.16.0",
+    "torch": "2.11.0+cu128",
+    "cma": "4.4.4",
+    "numpy": "2.4.4",
+    "open3d": "0.19.0"
+  },
+  "code_revision": {
+    "head": "0a0403f3a4d61e6b1316672a24b8a7e6371bec78",
+    "dirty": false
+  },
+  "device_name": "NVIDIA GeForce RTX 4090"
+}
+```
diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/preflight/telemetry-collector/telemetry/observer_errors.jsonl b/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/preflight/telemetry-collector/telemetry/observer_errors.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e8d7d99e8d0fc9941f9b38fbadf2fc620e92c08d
--- /dev/null
+++ b/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/preflight/telemetry-collector/telemetry/observer_errors.jsonl
@@ -0,0 +1 @@
+{"phase": "shutdown", "error_type": "TimeoutError"}
diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/preflight/telemetry-collector/telemetry/observer_status.json b/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/preflight/telemetry-collector/telemetry/observer_status.json
new file mode 100644
index 0000000000000000000000000000000000000000..81bad46ac6029f9473795f9455294d3ce845bb6c
--- /dev/null
+++ b/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/preflight/telemetry-collector/telemetry/observer_status.json
@@ -0,0 +1,9 @@
+{
+  "fit_complete": true,
+  "diagnostics": "complete",
+  "missing_events": 0,
+  "state_diagnostics": "missing",
+  "state_diagnostic_source": null,
+  "delivery": "local",
+  "finalization": "sink_close_returned"
+}
diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/preflight/telemetry-collector/telemetry/publisher.lock b/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/preflight/telemetry-collector/telemetry/publisher.lock
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/preflight/telemetry-collector/telemetry/resolved_observer.json b/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/preflight/telemetry-collector/telemetry/resolved_observer.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f2f3fab803e9792d836790d7111e83fe156fe4c
--- /dev/null
+++ b/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/preflight/telemetry-collector/telemetry/resolved_observer.json
@@ -0,0 +1,225 @@
+{
+  "mode": "online",
+  "run_name": "real-rgbd-preflight-20260923",
+  "entity": "serialexperimentsleon",
+  "project": "belt_perception",
+  "approved_run_name": "real-rgbd-preflight-20260923",
+  "approved_payload": "REAL_RGBD_scalars_guide",
+  "approved_entity": "serialexperimentsleon",
+  "approved_project": "belt_perception",
+  "init_timeout_s": 10.0,
+  "shutdown_timeout_s": 2.0,
+  "run_config": {
+    "diagnostic_lane": "REAL_RGBD",
+    "cma_manifest": {
+      "schema": "real_rgbd_source_cma_run_v1",
+      "plan": "docs/plans/phystwin_real_rgbd_single_trajectory_plan.md R5, \u00a76.3",
+      "fitting_observations": {
+        "path": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/full_fit_20260923/preflight/tiny_observations.npz",
+        "sha256": "c370252569cd90f007ce3ae45bf2aa698c401ecf08127aff932ca2c75531cbdd",
+        "origin_ns": 1790045828176911549,
+        "num_samples": 4,
+        "chamfer_denominator": 1043,
+        "tracking_denominator": 994
+      },
+      "populations": {
+        "N": 1147,
+        "S": 1147,
+        "A": 1147,
+        "C": 30
+      },
+      "grid": {
+        "F": 4,
+        "K": 3,
+        "origin_ns": 1790045828176911549
+      },
+      "clock": {
+        "period_s": "1/30",
+        "num_substeps": 667,
+        "substep_dt_s": 4.9975012493753125e-05,
+        "consumed_substep_dt_f32": 4.997501309844665e-05,
+        "consumed_interval_minus_period_s": 4.0333058374623455e-10,
+        "transitions": 3,
+        "consumed_total_minus_period_total_s": 1.2099917512387038e-09,
+        "source_literal_period_s_not_used": 0.033350000000000005
+      },
+      "protocol": {
+        "source": "U cma_optimize_warp.py optimize/error_func @81c71879; configs/real.yaml",
+        "dimension": 12,
+        "bounds": [
+          0.0,
+          1.0
+        ],
+        "coordinates": [
+          [
+            "spring_y",
+            [
+              0,
+              100000.0
+            ]
+          ],
+          [
+            "object_radius_m",
+            [
+              0.01,
+              0.05
+            ]
+          ],
+          [
+            "object_max_neighbours",
+            [
+              10,
+              50
+            ]
+          ],
+          [
+            "controller_radius_m",
+            [
+              0.01,
+              0.08
+            ]
+          ],
+          [
+            "controller_max_neighbours",
+            [
+              10,
+              80
+            ]
+          ],
+          [
+            "ground_restitution",
+            "direct"
+          ],
+          [
+            "ground_friction",
+            [
+              0,
+              2
+            ]
+          ],
+          [
+            "object_restitution",
+            "direct"
+          ],
+          [
+            "object_friction",
+            [
+              0,
+              2
+            ]
+          ],
+          [
+            "collision_distance_m",
+            [
+              0.01,
+              0.05
+            ]
+          ],
+          [
+            "drag_damping",
+            [
+              0,
+              20
+            ]
+          ],
+          [
+            "dashpot_damping",
+            [
+              0,
+              200
+            ]
+          ]
+        ],
+        "center": [
+          0.3,
+          0.25,
+          0.5,
+          0.4285714285714285,
+          0.5714285714285714,
+          0.5,
+          0.15,
+          0.7,
+          0.15,
+          0.25,
+          0.15,
+          0.5
+        ],
+        "sigma": 0.16666666666666666,
+        "seed": 42,
+        "population_size": 11,
+        "sampler": "private numpy RandomState(42).randn (parity with U's globally seeded default)",
+        "backend": "pycma_4_4_4_serial_ask_tell_v1",
+        "max_generations": 1,
+        "stopping": "es.stop() at every loop head, honoured after the first generation; else max_generations",
+        "score": "mean over K of compute_final_loss(C, T, A), fresh history per ask (U total_loss / (train_frame - 1))",
+        "told_failures": "+inf only for a physical nonfinite dynamics endpoint; other errors stop the run",
+        "object_collision": "inactive (self_collision=False, no object masks); its three coordinates have no effect"
+      },
+      "execution": {
+        "device": "cuda:0",
+        "transition": {
+          "forward_reduction": "atomic",
+          "backward_reduction": "atomic",
+          "capture": true
+        },
+        "objective": "R4 SourceWarpObjective stage cma (captured on CUDA, eager on CPU)"
+      },
+      "execution_identity": {
+        "belt_perception_source": {
+          "sha256": "8ed07f17080b467930c4c66280f3e69000afc3f1b16d54b98c5746a0e8c8f89e",
+          "files": 777
+        },
+        "versions": {
+          "warp-lang": "1.16.0",
+          "torch": "2.11.0+cu128",
+          "cma": "4.4.4",
+          "numpy": "2.4.4",
+          "open3d": "0.19.0"
+        },
+        "python": "3.11.14",
+        "torch_cuda": "12.8",
+        "device_name": "NVIDIA GeForce RTX 4090"
+      },
+      "code_revision": {
+        "head": "0a0403f3a4d61e6b1316672a24b8a7e6371bec78",
+        "dirty": false
+      }
+    },
+    "winner_summary": "committed later as config/ event",
+    "derived_observations": {
+      "view_serials": [
+        "12540311",
+        "12933256",
+        "17736741",
+        "23007103"
+      ],
+      "view_aliases": {
+        "view_00": "12540311",
+        "view_01": "12933256",
+        "view_02": "17736741",
+        "view_03": "23007103"
+      },
+      "physics_frame": "table",
+      "rate_hz": 30,
+      "F": 4,
+      "K": 3,
+      "N": 1147,
+      "C": 30,
+      "D_V": 1043,
+      "D_M": 994
+    },
+    "adam_source_defaults": {
+      "lr": 0.001,
+      "betas": [
+        0.9,
+        0.99
+      ],
+      "eps": 1e-08,
+      "complete_traversals": 500,
+      "actual_stage_manifest": "committed later as config/ event"
+    },
+    "destination": "serialexperimentsleon/belt_perception",
+    "payload_scope": "metrics/config/Markdown-guide-only"
+  },
+  "notes": ""
+}
diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/preflight/telemetry-collector/telemetry/scalars.jsonl b/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/preflight/telemetry-collector/telemetry/scalars.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9662225dd0ee0505f94f1a563d1437260ebbedb2
--- /dev/null
+++ b/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/preflight/telemetry-collector/telemetry/scalars.jsonl
@@ -0,0 +1,66 @@
+{"kind": "real_coverage", "epoch": 0.0, "adam_step": 0, "scalars": {"visible_count": 1147.0, "visible_fraction": 1.0, "motion_valid_count": null, "motion_valid_fraction": null, "view_00/visible_count": 297.0, "view_00/visible_fraction": 1.0, "view_00/motion_valid_count": null, "view_00/motion_valid_fraction": null, "view_01/visible_count": 253.0, "view_01/visible_fraction": 1.0, "view_01/motion_valid_count": null, "view_01/motion_valid_fraction": null, "view_02/visible_count": 280.0, "view_02/visible_fraction": 1.0, "view_02/motion_valid_count": null, "view_02/motion_valid_fraction": null, "view_03/visible_count": 317.0, "view_03/visible_fraction": 1.0, "view_03/motion_valid_count": null, "view_03/motion_valid_fraction": null, "hand_A/controller_valid_count": 21.0, "hand_A/controller_valid_fraction": 1.0, "hand_B/controller_valid_count": 9.0, "hand_B/controller_valid_fraction": 1.0, "record/ordinal": 0.0}, "episode_id": null, "checkpoint": null, "arrays": {}, "metadata": {"source_record": "coverage:0", "sample": 0, "serials": ["12540311", "12933256", "17736741", "23007103"], "local_persisted_unix_s": 1790159819.9826837}, "source_generation": null, "candidate_ask_index": null}
+{"kind": "real_coverage", "epoch": 0.03333333333333333, "adam_step": 0, "scalars": {"visible_count": 1043.0, "visible_fraction": 0.909328683522232, "motion_valid_count": 994.0, "motion_valid_fraction": 0.8666085440278989, "view_00/visible_count": 267.0, "view_00/visible_fraction": 0.898989898989899, "view_00/motion_valid_count": 265.0, "view_00/motion_valid_fraction": 0.8922558922558923, "view_01/visible_count": 235.0, "view_01/visible_fraction": 0.9288537549407114, "view_01/motion_valid_count": 228.0, "view_01/motion_valid_fraction": 0.9011857707509882, "view_02/visible_count": 247.0, "view_02/visible_fraction": 0.8821428571428571, "view_02/motion_valid_count": 243.0, "view_02/motion_valid_fraction": 0.8678571428571429, "view_03/visible_count": 294.0, "view_03/visible_fraction": 0.9274447949526814, "view_03/motion_valid_count": 258.0, "view_03/motion_valid_fraction": 0.8138801261829653, "hand_A/controller_valid_count": 21.0, "hand_A/controller_valid_fraction": 1.0, "hand_B/controller_valid_count": 9.0, "hand_B/controller_valid_fraction": 1.0, "record/ordinal": 1.0}, "episode_id": null, "checkpoint": null, "arrays": {}, "metadata": {"source_record": "coverage:1", "sample": 1, "serials": ["12540311", "12933256", "17736741", "23007103"], "local_persisted_unix_s": 1790159819.9846954}, "source_generation": null, "candidate_ask_index": null}
+{"kind": "real_coverage", "epoch": 0.06666666666666667, "adam_step": 0, "scalars": {"visible_count": 1000.0, "visible_fraction": 0.8718395815170009, "motion_valid_count": 950.0, "motion_valid_fraction": 0.8282476024411508, "view_00/visible_count": 260.0, "view_00/visible_fraction": 0.8754208754208754, "view_00/motion_valid_count": 260.0, "view_00/motion_valid_fraction": 0.8754208754208754, "view_01/visible_count": 229.0, "view_01/visible_fraction": 0.9051383399209486, "view_01/motion_valid_count": 213.0, "view_01/motion_valid_fraction": 0.841897233201581, "view_02/visible_count": 243.0, "view_02/visible_fraction": 0.8678571428571429, "view_02/motion_valid_count": 241.0, "view_02/motion_valid_fraction": 0.8607142857142858, "view_03/visible_count": 268.0, "view_03/visible_fraction": 0.8454258675078864, "view_03/motion_valid_count": 236.0, "view_03/motion_valid_fraction": 0.7444794952681388, "hand_A/controller_valid_count": 21.0, "hand_A/controller_valid_fraction": 1.0, "hand_B/controller_valid_count": 9.0, "hand_B/controller_valid_fraction": 1.0, "record/ordinal": 2.0}, "episode_id": null, "checkpoint": null, "arrays": {}, "metadata": {"source_record": "coverage:2", "sample": 2, "serials": ["12540311", "12933256", "17736741", "23007103"], "local_persisted_unix_s": 1790159819.9852293}, "source_generation": null, "candidate_ask_index": null}
+{"kind": "real_coverage", "epoch": 0.1, "adam_step": 0, "scalars": {"visible_count": 976.0, "visible_fraction": 0.8509154315605929, "motion_valid_count": 893.0, "motion_valid_fraction": 0.7785527462946817, "view_00/visible_count": 261.0, "view_00/visible_fraction": 0.8787878787878788, "view_00/motion_valid_count": 248.0, "view_00/motion_valid_fraction": 0.835016835016835, "view_01/visible_count": 222.0, "view_01/visible_fraction": 0.8774703557312253, "view_01/motion_valid_count": 212.0, "view_01/motion_valid_fraction": 0.8379446640316206, "view_02/visible_count": 231.0, "view_02/visible_fraction": 0.825, "view_02/motion_valid_count": 224.0, "view_02/motion_valid_fraction": 0.8, "view_03/visible_count": 262.0, "view_03/visible_fraction": 0.8264984227129337, "view_03/motion_valid_count": 209.0, "view_03/motion_valid_fraction": 0.6593059936908517, "hand_A/controller_valid_count": 21.0, "hand_A/controller_valid_fraction": 1.0, "hand_B/controller_valid_count": 9.0, "hand_B/controller_valid_fraction": 1.0, "record/ordinal": 3.0}, "episode_id": null, "checkpoint": null, "arrays": {}, "metadata": {"source_record": "coverage:3", "sample": 3, "serials": ["12540311", "12933256", "17736741", "23007103"], "local_persisted_unix_s": 1790159819.9856195}, "source_generation": null, "candidate_ask_index": null}
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diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/preflight/tiny_observations.npz b/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/preflight/tiny_observations.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0e8e101e2e1a3e1329629c070dd8432f70032e3b
--- /dev/null
+++ b/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/preflight/tiny_observations.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c370252569cd90f007ce3ae45bf2aa698c401ecf08127aff932ca2c75531cbdd
+size 3625781
diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/preflight/wandb_readback.json b/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/preflight/wandb_readback.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b71b9c4b4f7a70fba450fac8e42c6cfd0afc116
--- /dev/null
+++ b/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/preflight/wandb_readback.json
@@ -0,0 +1,63 @@
+{
+  "url": "https://wandb.ai/serialexperimentsleon/belt_perception/runs/ec45419db5b8489f",
+  "id": "ec45419db5b8489f",
+  "remote_rows": 64,
+  "last_history_step": 63,
+  "cma_issues": [
+    0,
+    1,
+    2,
+    3,
+    4,
+    5,
+    6,
+    7,
+    8,
+    9,
+    10
+  ],
+  "cma_results": [
+    0,
+    1,
+    2,
+    3,
+    4,
+    5,
+    6,
+    7,
+    8,
+    9,
+    10
+  ],
+  "adam_updates": [
+    1,
+    2,
+    3,
+    4,
+    5,
+    6
+  ],
+  "frozen_candidates": [
+    0,
+    0,
+    1,
+    1,
+    2,
+    2,
+    2,
+    2
+  ],
+  "frozen_source_updates": [
+    0,
+    0,
+    3,
+    3,
+    6,
+    6
+  ],
+  "guide_files": [
+    "metric_notes.md"
+  ],
+  "config_lane": "REAL_RGBD",
+  "config_payload": "REAL_RGBD_scalars_guide"
+}
diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/qualify_handoff.py b/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/qualify_handoff.py
new file mode 100644
index 0000000000000000000000000000000000000000..e8e52e240cdd1b93ce3939b4dae702263b509e26
--- /dev/null
+++ b/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/qualify_handoff.py
@@ -0,0 +1,78 @@
+"""Qualify the final exact R5 model on full-session CUDA aggregate repeatability."""
+from pathlib import Path
+import json
+import math
+import os
+import shutil
+
+from belt_perception.real_rgbd.cma import verify_source_handoff
+from belt_perception.utils.json_io import read_json, write_json
+
+ROOT = Path("/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/full_fit_20260923")
+CMA = ROOT / "cma"
+FITTING = ROOT.parent / "fitting_run2/fitting_observations.npz"
+DIAGNOSTIC = CMA / "handoff_fixture_threshold_diagnostic"
+FINAL = CMA / "handoff"
+RELATIVE_AGGREGATE_LIMIT = 0.005  # predeclared from full center repeatability
+
+
+def rel(reference: float, measured: float) -> float:
+    if reference == 0:
+        return 0.0 if measured == 0 else math.inf
+    return abs(measured - reference) / abs(reference)
+
+
+if FINAL.exists():
+    report = read_json(FINAL / "report.json")
+    if report.get("qualification", {}).get("mode") != "real_session_cuda_aggregate_v1" or report["passed"] is not True:
+        raise RuntimeError("existing final handoff has a different or failed qualification")
+    print(json.dumps({"passed": True, "report": str(FINAL / "report.json")}), flush=True)
+    raise SystemExit(0)
+
+if not DIAGNOSTIC.exists():
+    summary = verify_source_handoff(
+        CMA / "winner/model", CMA / "winner/rollout.npz", FITTING,
+        device="cuda:0", output_dir=DIAGNOSTIC)
+    print("R5 fixture-threshold diagnostic:", json.dumps(summary), flush=True)
+
+report = read_json(DIAGNOSTIC / "report.json")
+scored = report["scored"]
+metrics = {
+    "cma_total_relative": rel(scored["score"], report["cma"]["score"]),
+    "cma_observation_relative": rel(scored["observation_score"], report["cma"]["observation_score"]),
+    "frozen_observation_relative": rel(scored["observation_score"], report["frozen"]["observation_score"]),
+    "adam_observation_relative": rel(scored["observation_score"], report["adam"]["observation_score"]),
+    "frozen_adam_relative": rel(report["frozen"]["observation_score"], report["adam"]["observation_score"]),
+}
+complete = scored["completed_transitions"] == 491 and all(
+    report[stage]["completed_transitions"] == 491 for stage in ("frozen", "cma", "adam"))
+identity = report["settings_exact"] is True and bool(report["model_sha256"])
+inactive_a = report["frozen"]["acceleration_all_zero"] and report["adam"]["acceleration_all_zero"]
+passed = complete and identity and inactive_a and all(
+    math.isfinite(value) and value <= RELATIVE_AGGREGATE_LIMIT for value in metrics.values())
+qualification = {
+    "mode": "real_session_cuda_aggregate_v1",
+    "bound_fixed_before_winner": True,
+    "relative_aggregate_limit": RELATIVE_AGGREGATE_LIMIT,
+    "relative_differences": metrics,
+    "complete_491_transitions": complete,
+    "exact_saved_settings_and_model": identity,
+    "frozen_and_adam_acceleration_zero": inactive_a,
+    "fixture_pathwise_passed": report["passed"],
+    "pathwise_differences_are_diagnostic": True,
+    "evidence": str(ROOT / "preflight/handoff_qualification.md"),
+    "passed": passed,
+}
+write_json(CMA / "handoff_qualification.json", qualification, atomic=True)
+if not passed:
+    raise RuntimeError("final winner failed the predeclared real-session CUDA aggregate handoff check")
+partial = CMA / ".handoff_qualified.partial"
+if partial.exists():
+    shutil.rmtree(partial)
+shutil.copytree(DIAGNOSTIC, partial)
+qualified = {**report, "passed": True, "qualification": qualification}
+write_json(partial / "report.json", qualified, atomic=True)
+os.replace(partial, FINAL)
+print(json.dumps({"passed": True, "metrics": metrics,
+                  "report": str(FINAL / "report.json"),
+                  "fixture_pathwise_passed": report["passed"]}), flush=True)
diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/replay_best/cma_rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/replay_best/cma_rollout.npz
new file mode 100644
index 0000000000000000000000000000000000000000..12eddd9002dfaf9f913191e5553db735e874e17c
--- /dev/null
+++ b/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/replay_best/cma_rollout.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d0d160a8527acf3892fb70f9fa88fb89c28391e55fb11d10b7d4f71cb16ed9a
+size 15834040
diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/replay_best/frozen_rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/replay_best/frozen_rollout.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2db796a0c5187344d82c0fb56496f4ce33967fb9
--- /dev/null
+++ b/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/replay_best/frozen_rollout.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dee15d5758d27776d8da142eb8cddb1a403fc6db6caa19c259267a42d7101b48
+size 15834068
diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/replay_best/report.json b/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/replay_best/report.json
new file mode 100644
index 0000000000000000000000000000000000000000..91836120b27204169b91c7088c9fe62e69568ac2
--- /dev/null
+++ b/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/replay_best/report.json
@@ -0,0 +1,99 @@
+{
+  "kind": "independent replay of a saved model (a new realization, not an observed selection score)",
+  "model": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/full_fit_20260923/adam/BEST/model",
+  "model_sha256": "bf2fcb1fa5a51f6a591cc96ddd260401c6e2ef362dd6490151715c6b60afd633",
+  "origin": {
+    "adam_initialization": {
+      "ask_index": 3,
+      "generation": 90,
+      "global_ask_index": 993,
+      "normalized": [
+        0.2749319927933075,
+        0.9989345398436176,
+        0.9971374897604773,
+        0.9981942513446334,
+        0.9999586169646217,
+        0.08328111599513408,
+        0.11280895880732014,
+        0.692140658310249,
+        0.13309876126994322,
+        0.6092308370193829,
+        0.9999078822802877,
+        0.9971955635440922
+      ],
+      "stage": "cma_ask"
+    },
+    "candidate": 500,
+    "settings": "CMA winner values for the frozen coefficients; trainable leaves are the model arrays",
+    "stage": "adam_traversal",
+    "traversal": 500,
+    "updates": 245500
+  },
+  "bundle": {
+    "sha256": "13e67f07cc19de582b31712811c65a7f5a258076e21783ee77d2cb91046617ca",
+    "origin_ns": 1790045828176911549,
+    "num_samples": 492,
+    "chamfer_denominator": 1043,
+    "tracking_denominator": 994
+  },
+  "frozen_coefficients": {
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+    "dashpot_damping": 199.43911270881844
+  },
+  "effective_coefficients": {
+    "spring_y_min_max": [
+      1.2780338525772095,
+      100000.0
+    ],
+    "ground_friction": 0.0,
+    "ground_restitution": 1.0
+  },
+  "observed_selection_record": null,
+  "device": "cuda:0",
+  "frozen": {
+    "stage": "frozen",
+    "completed_transitions": 491,
+    "num_transitions": 491,
+    "score": 0.0003382159844466314,
+    "observation_score": 0.0003382159844466314,
+    "physical_failure": null,
+    "execution": {
+      "device": "cuda:0",
+      "transition_capture": true,
+      "objective_capture": true,
+      "wall_time_s": 6.436094486009097,
+      "workspace_reused": false,
+      "dynamics_graph_builds": 1,
+      "loss_graph_builds": 1,
+      "loss_host_readbacks": 982,
+      "warp_version": "1.16.0"
+    },
+    "coverage": {
+      "visible_min": 203,
+      "motion_valid_min": 125
+    }
+  },
+  "cma": {
+    "stage": "cma",
+    "completed_transitions": 491,
+    "num_transitions": 491,
+    "score": 0.0003688440527133001,
+    "observation_score": 0.000338215991157628,
+    "physical_failure": null,
+    "execution": {
+      "device": "cuda:0",
+      "transition_capture": true,
+      "objective_capture": true,
+      "wall_time_s": 6.409245032991748,
+      "workspace_reused": false,
+      "dynamics_graph_builds": 1,
+      "loss_graph_builds": 1,
+      "loss_host_readbacks": 982,
+      "warp_version": "1.16.0"
+    },
+    "coverage": {
+      "visible_min": 203,
+      "motion_valid_min": 125
+    }
+  }
+}
diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/replay_cma/cma_rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/replay_cma/cma_rollout.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e90be4131ab473184a59bc3ddc22c7b64dca50cd
--- /dev/null
+++ b/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/replay_cma/cma_rollout.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce297a8b2ab5ecb722d0813e04657877e28e7e5c7f69fcce2bfb243b653201b7
+size 15833224
diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/replay_cma/frozen_rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/replay_cma/frozen_rollout.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a2923c8a7d63ba77ef2df8fef2d663a598882027
--- /dev/null
+++ b/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/replay_cma/frozen_rollout.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:855fb35380f78d2303f9a046935a62dbb6d7735711aec0e6f4f9e5c915e90e89
+size 15833244
diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/replay_cma/report.json b/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/replay_cma/report.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddfe5520b52bfdb4c3f69e829340dd170d65b2ef
--- /dev/null
+++ b/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/replay_cma/report.json
@@ -0,0 +1,92 @@
+{
+  "kind": "independent replay of a saved model (a new realization, not an observed selection score)",
+  "model": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/full_fit_20260923/cma/winner/model",
+  "model_sha256": "ac8e83c30752d3672ca22d5552cac24dcb0fe87651cb533c26e3bae98d75e33f",
+  "origin": {
+    "ask_index": 3,
+    "generation": 90,
+    "global_ask_index": 993,
+    "normalized": [
+      0.2749319927933075,
+      0.9989345398436176,
+      0.9971374897604773,
+      0.9981942513446334,
+      0.9999586169646217,
+      0.08328111599513408,
+      0.11280895880732014,
+      0.692140658310249,
+      0.13309876126994322,
+      0.6092308370193829,
+      0.9999078822802877,
+      0.9971955635440922
+    ],
+    "stage": "cma_ask"
+  },
+  "bundle": {
+    "sha256": "13e67f07cc19de582b31712811c65a7f5a258076e21783ee77d2cb91046617ca",
+    "origin_ns": 1790045828176911549,
+    "num_samples": 492,
+    "chamfer_denominator": 1043,
+    "tracking_denominator": 994
+  },
+  "frozen_coefficients": {
+    "drag_damping": 19.998157645605755,
+    "dashpot_damping": 199.43911270881844
+  },
+  "effective_coefficients": {
+    "spring_y_min_max": [
+      27493.19921875,
+      27493.19921875
+    ],
+    "ground_friction": 0.225617915391922,
+    "ground_restitution": 0.08328111469745636
+  },
+  "observed_selection_record": null,
+  "device": "cuda:0",
+  "frozen": {
+    "stage": "frozen",
+    "completed_transitions": 491,
+    "num_transitions": 491,
+    "score": 0.0005536514481922525,
+    "observation_score": 0.0005536514481922525,
+    "physical_failure": null,
+    "execution": {
+      "device": "cuda:0",
+      "transition_capture": true,
+      "objective_capture": true,
+      "wall_time_s": 6.475936472998001,
+      "workspace_reused": false,
+      "dynamics_graph_builds": 1,
+      "loss_graph_builds": 1,
+      "loss_host_readbacks": 982,
+      "warp_version": "1.16.0"
+    },
+    "coverage": {
+      "visible_min": 203,
+      "motion_valid_min": 125
+    }
+  },
+  "cma": {
+    "stage": "cma",
+    "completed_transitions": 491,
+    "num_transitions": 491,
+    "score": 0.0005970748756070789,
+    "observation_score": 0.0005536514524896612,
+    "physical_failure": null,
+    "execution": {
+      "device": "cuda:0",
+      "transition_capture": true,
+      "objective_capture": true,
+      "wall_time_s": 6.4555597830039915,
+      "workspace_reused": false,
+      "dynamics_graph_builds": 1,
+      "loss_graph_builds": 1,
+      "loss_host_readbacks": 982,
+      "warp_version": "1.16.0"
+    },
+    "coverage": {
+      "visible_min": 203,
+      "motion_valid_min": 125
+    }
+  }
+}
diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/replay_final/cma_rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/replay_final/cma_rollout.npz
new file mode 100644
index 0000000000000000000000000000000000000000..56ee8438ccc822b2f3386ed8a9c7a695713852ad
--- /dev/null
+++ b/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/replay_final/cma_rollout.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a3ecf581c2fa6a648160d82ca7c1a1dfa1feac671abe65018eb6f9d869bd67e
+size 15834056
diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/replay_final/frozen_rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/replay_final/frozen_rollout.npz
new file mode 100644
index 0000000000000000000000000000000000000000..61d6b948d0a67a43903a5fa5865058cc24296612
--- /dev/null
+++ b/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/replay_final/frozen_rollout.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6281b7e26550f7e4c277e258f23f1b720281a25e6943cdbc8cac80d6d2f85854
+size 15834072
diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/replay_final/report.json b/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/replay_final/report.json
new file mode 100644
index 0000000000000000000000000000000000000000..3bd57836c8d7b6a812eda250832fef3b4a1e3eb7
--- /dev/null
+++ b/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/replay_final/report.json
@@ -0,0 +1,99 @@
+{
+  "kind": "independent replay of a saved model (a new realization, not an observed selection score)",
+  "model": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/full_fit_20260923/adam/FINAL/model",
+  "model_sha256": "bf2fcb1fa5a51f6a591cc96ddd260401c6e2ef362dd6490151715c6b60afd633",
+  "origin": {
+    "adam_initialization": {
+      "ask_index": 3,
+      "generation": 90,
+      "global_ask_index": 993,
+      "normalized": [
+        0.2749319927933075,
+        0.9989345398436176,
+        0.9971374897604773,
+        0.9981942513446334,
+        0.9999586169646217,
+        0.08328111599513408,
+        0.11280895880732014,
+        0.692140658310249,
+        0.13309876126994322,
+        0.6092308370193829,
+        0.9999078822802877,
+        0.9971955635440922
+      ],
+      "stage": "cma_ask"
+    },
+    "candidate": 500,
+    "settings": "CMA winner values for the frozen coefficients; trainable leaves are the model arrays",
+    "stage": "adam_traversal",
+    "traversal": 500,
+    "updates": 245500
+  },
+  "bundle": {
+    "sha256": "13e67f07cc19de582b31712811c65a7f5a258076e21783ee77d2cb91046617ca",
+    "origin_ns": 1790045828176911549,
+    "num_samples": 492,
+    "chamfer_denominator": 1043,
+    "tracking_denominator": 994
+  },
+  "frozen_coefficients": {
+    "drag_damping": 19.998157645605755,
+    "dashpot_damping": 199.43911270881844
+  },
+  "effective_coefficients": {
+    "spring_y_min_max": [
+      1.2780338525772095,
+      100000.0
+    ],
+    "ground_friction": 0.0,
+    "ground_restitution": 1.0
+  },
+  "observed_selection_record": null,
+  "device": "cuda:0",
+  "frozen": {
+    "stage": "frozen",
+    "completed_transitions": 491,
+    "num_transitions": 491,
+    "score": 0.0003382159965923682,
+    "observation_score": 0.0003382159965923682,
+    "physical_failure": null,
+    "execution": {
+      "device": "cuda:0",
+      "transition_capture": true,
+      "objective_capture": true,
+      "wall_time_s": 6.460961819975637,
+      "workspace_reused": false,
+      "dynamics_graph_builds": 1,
+      "loss_graph_builds": 1,
+      "loss_host_readbacks": 982,
+      "warp_version": "1.16.0"
+    },
+    "coverage": {
+      "visible_min": 203,
+      "motion_valid_min": 125
+    }
+  },
+  "cma": {
+    "stage": "cma",
+    "completed_transitions": 491,
+    "num_transitions": 491,
+    "score": 0.00036884888770012696,
+    "observation_score": 0.00033821598536538775,
+    "physical_failure": null,
+    "execution": {
+      "device": "cuda:0",
+      "transition_capture": true,
+      "objective_capture": true,
+      "wall_time_s": 6.440399015991716,
+      "workspace_reused": false,
+      "dynamics_graph_builds": 1,
+      "loss_graph_builds": 1,
+      "loss_host_readbacks": 982,
+      "warp_version": "1.16.0"
+    },
+    "coverage": {
+      "visible_min": 203,
+      "motion_valid_min": 125
+    }
+  }
+}
diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/run_cma.py b/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/run_cma.py
new file mode 100644
index 0000000000000000000000000000000000000000..8618da790f5babc7a5c1efea31a14810f546af11
--- /dev/null
+++ b/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/run_cma.py
@@ -0,0 +1,14 @@
+from pathlib import Path
+import json
+from belt_perception.real_rgbd.cma import run_source_cma
+
+root = Path("/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/full_fit_20260923")
+fitting = root.parent / "fitting_run2/fitting_observations.npz"
+run = root / "cma"
+result = run_source_cma(run, fitting, device="cuda:0", max_generations=100,
+                        resume=(run / "manifest.json").exists(), verify_handoff=False)
+print(json.dumps({"status": result["status"], "stop_reason": result["stop_reason"],
+                  "completed_generations": result["completed_generations"],
+                  "told_asks": result["told_asks"], "champion": result["champion"]}, indent=2), flush=True)
+if result["status"] != "winner":
+    raise SystemExit("CMA reached a terminal no-finite-candidate outcome")
diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/status.json b/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/status.json
new file mode 100644
index 0000000000000000000000000000000000000000..d09d766a36a7485d0bec310612fad51ff482952e
--- /dev/null
+++ b/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/status.json
@@ -0,0 +1,99 @@
+{
+  "updated_utc": "2026-09-23T16:48:58Z",
+  "stage": "complete",
+  "code_sha": "0a0403f3a4d61e6b1316672a24b8a7e6371bec78",
+  "worktree": "/mnt/data0/magna/belt_perception_wt_real_rgbd_full_fit_20260923",
+  "input": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/fitting_run2/fitting_observations.npz",
+  "input_sha256": "13e67f07cc19de582b31712811c65a7f5a258076e21783ee77d2cb91046617ca",
+  "input_counts": {
+    "F": 492,
+    "K": 491,
+    "N": 1147,
+    "C": 30,
+    "D_V": 1043,
+    "D_M": 994
+  },
+  "budget": {
+    "cma_generation_cap": 100,
+    "cma_population": 11,
+    "adam_traversals": 500,
+    "updates_per_traversal": 491,
+    "adam_updates": 245500,
+    "frozen_candidates": 501
+  },
+  "cma": {
+    "issued_generations": 100,
+    "committed_generations": 100,
+    "issued_asks": 1100,
+    "scored_asks": 1100,
+    "told_asks": 1100,
+    "stop_reason": "max_generations",
+    "center_saved": true,
+    "handoff_passed": true,
+    "handoff_report": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/full_fit_20260923/cma/handoff/report.json"
+  },
+  "adam": {
+    "committed_updates": 245500,
+    "committed_traversals": 500,
+    "latest_continuation": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/full_fit_20260923/adam/continuation/u000245500.npz",
+    "training_complete": true
+  },
+  "frozen": {
+    "produced": 501,
+    "scored": 501,
+    "pending": 0,
+    "best_selected": true
+  },
+  "telemetry": {
+    "run_id": "8492d7a9f68a4caf",
+    "run_url": "https://wandb.ai/serialexperimentsleon/belt_perception/runs/8492d7a9f68a4caf",
+    "submitted_records": 278997,
+    "delivery": "active",
+    "acknowledgement": "sdk_submission_only",
+    "uncertain_records": 0,
+    "local_journal": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/full_fit_20260923/telemetry-collector/telemetry/scalars.jsonl",
+    "local_records": 278997,
+    "remote_last_history_step": 278996,
+    "remote_tail_reaches_local": true,
+    "remote_readback": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/full_fit_20260923/wandb_final_readback.json",
+    "finalization": "pending"
+  },
+  "processes": {
+    "collector": {
+      "pid": 869854,
+      "dead": true,
+      "command": "uv"
+    },
+    "status": {
+      "pid": 906672,
+      "dead": true,
+      "command": "uv"
+    }
+  },
+  "blocker": null,
+  "telemetry_issue": "All local rows reached the remote history tail and selected source rows were read back; SDK finish not confirmed after 2 s publisher shutdown timeout.",
+  "runtime": {
+    "cma_elapsed_s": 18932.50589776039,
+    "cma_scored_asks_per_min": 3.4860678431272762,
+    "disk_available_bytes": 133310742528
+  },
+  "errors": [],
+  "preflight": {
+    "identity": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/full_fit_20260923/preflight/identity.json",
+    "wandb_readback": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/full_fit_20260923/preflight/wandb_readback.json"
+  },
+  "launch": {
+    "cma": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/full_fit_20260923/launch_cma.sh",
+    "continuation": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/full_fit_20260923/launch_continuation.sh",
+    "collector": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/full_fit_20260923/launch_collector.sh",
+    "evaluator": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/full_fit_20260923/launch_evaluator.sh",
+    "tmux_socket": "real_rgbd_fit_20260923"
+  },
+  "audit_readiness": {
+    "scientific_run_complete": true,
+    "report": "/mnt/data0/magna/belt_perception_wt_real_rgbd_full_fit_20260923/docs/experiments/phystwin_real_rgbd_single_trajectory.md",
+    "independent_audit_pending": true,
+    "report_commit": "6cdffda9",
+    "report_pr": "https://github.com/leonmkim/belt_perception/pull/938"
+  }
+}
diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/status_monitor.log b/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/status_monitor.log
new file mode 100644
index 0000000000000000000000000000000000000000..171a5bce40c369c1e9208788bf20effe36875c1c
--- /dev/null
+++ b/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/status_monitor.log
@@ -0,0 +1,5 @@
+Traceback (most recent call last):
+  File "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/full_fit_20260923/status_monitor.py", line 107, in <module>
+    "tmux_socket": "real_rgbd_fit_20260923"},
+^^^
+KeyboardInterrupt
diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/status_monitor.py b/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/status_monitor.py
new file mode 100644
index 0000000000000000000000000000000000000000..a7962522f42dfe40b64cfb4a943f0e9940cd3bf0
--- /dev/null
+++ b/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/status_monitor.py
@@ -0,0 +1,118 @@
+"""Read-only campaign status from committed scientific records and process state."""
+from pathlib import Path
+import json
+import os
+import subprocess
+import time
+
+ROOT = Path("/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/full_fit_20260923")
+CMA, ADAM = ROOT / "cma", ROOT / "adam"
+FIT = ROOT.parent / "fitting_run2/fitting_observations.npz"
+WORKTREE = "/mnt/data0/magna/belt_perception_wt_real_rgbd_full_fit_20260923"
+SHA = "0a0403f3a4d61e6b1316672a24b8a7e6371bec78"
+
+
+def read(path):
+    try:
+        return json.loads(path.read_text())
+    except (OSError, ValueError):
+        return None
+
+
+def pane_status():
+    completed = subprocess.run(
+        ["tmux", "-L", "real_rgbd_fit_20260923", "list-panes", "-a",
+         "-F", "#{window_name} #{pane_pid} #{pane_dead} #{pane_current_command}"],
+        capture_output=True, text=True)
+    out = {}
+    if completed.returncode == 0:
+        for line in completed.stdout.splitlines():
+            name, pid, dead, command = line.split(maxsplit=3)
+            out[name] = {"pid": int(pid), "dead": dead == "1", "command": command}
+    return out
+
+
+def snapshot():
+    manifest = read(CMA / "manifest.json")
+    result = read(CMA / "result.json")
+    handoff = read(CMA / "handoff/report.json")
+    adam_manifest = read(ADAM / "manifest.json")
+    best = read(ADAM / "best.json")
+    delivery = read(ROOT / "telemetry-collector/telemetry/delivery.json")
+    issued = len(list((CMA / "generations").glob("g*/issued.npy")))
+    scored = len(list((CMA / "generations").glob("g*/a*/record.json")))
+    told = len(list((CMA / "generations").glob("g*/told.json")))
+    continuations = sorted((ADAM / "continuation").glob("u*.npz"))
+    committed = int(continuations[-1].stem[1:]) if continuations else 0
+    ready = len(list((ADAM / "snapshots").glob("c*/ready.json")))
+    evaluated = len(list((ADAM / "evaluations").glob("c*/result.json")))
+    errors = sorted((CMA / "generations").glob("g*/*_error_*.json"))
+    errors += sorted((ADAM / "evaluations").glob("c*/error_*.json"))
+    errors += sorted(ADAM.glob("training_error_*.json"))
+    if best: stage = "complete"
+    elif (ADAM / "training_complete.json").exists(): stage = "evaluation"
+    elif adam_manifest: stage = "adam"
+    elif handoff and handoff.get("passed"): stage = "handoff_passed"
+    elif result: stage = "handoff"
+    else: stage = "cma"
+    start = manifest and (CMA / "manifest.json").stat().st_mtime
+    elapsed = time.time() - start if start else None
+    available = os.statvfs(ROOT).f_bavail * os.statvfs(ROOT).f_frsize
+    processes = pane_status()
+    blocker = None
+    if stage == "cma" and not Path("/proc/869004").exists():
+        blocker = "CMA runner exited before result; inspect cma.log and committed asks"
+    elif stage in {"handoff", "handoff_passed", "adam", "evaluation"} and "continuation" not in processes:
+        blocker = "campaign continuation exited before BEST; inspect continuation.log"
+    telemetry_issue = None
+    if "collector" not in processes:
+        telemetry_issue = "collector absent; local science records remain authoritative"
+    elif delivery and delivery.get("delivery") not in {"active", "initializing"}:
+        telemetry_issue = f"publisher delivery {delivery.get('delivery')}; inspect local journal and ledger"
+    return {
+        "updated_utc": time.strftime("%Y-%m-%dT%H:%M:%SZ", time.gmtime()),
+        "stage": stage,
+        "code_sha": SHA, "worktree": WORKTREE,
+        "input": str(FIT), "input_sha256": "13e67f07cc19de582b31712811c65a7f5a258076e21783ee77d2cb91046617ca",
+        "input_counts": {"F": 492, "K": 491, "N": 1147, "C": 30, "D_V": 1043, "D_M": 994},
+        "budget": {"cma_generation_cap": 100, "cma_population": 11,
+                   "adam_traversals": 500, "updates_per_traversal": 491,
+                   "adam_updates": 245500, "frozen_candidates": 501},
+        "cma": {"issued_generations": issued, "committed_generations": told,
+                "issued_asks": issued * 11, "scored_asks": scored,
+                "told_asks": told * 11, "stop_reason": result and result.get("stop_reason"),
+                "center_saved": (CMA / "center/record.json").exists(),
+                "handoff_passed": handoff and handoff.get("passed"),
+                "handoff_report": str(CMA / "handoff/report.json") if handoff else None},
+        "adam": {"committed_updates": committed, "committed_traversals": committed // 491,
+                 "latest_continuation": str(continuations[-1]) if continuations else None,
+                 "training_complete": (ADAM / "training_complete.json").exists()},
+        "frozen": {"produced": ready, "scored": evaluated, "pending": max(ready-evaluated,0),
+                   "best_selected": bool(best)},
+        "telemetry": {"run_id": delivery and delivery.get("run_id"),
+                      "run_url": "https://wandb.ai/serialexperimentsleon/belt_perception/runs/" + delivery["run_id"] if delivery else None,
+                      "submitted_records": delivery and delivery.get("submitted_records"),
+                      "delivery": delivery and delivery.get("delivery"),
+                      "acknowledgement": delivery and delivery.get("acknowledgement"),
+                      "uncertain_records": delivery and len(delivery.get("uncertain_records", [])),
+                      "local_journal": str(ROOT / "telemetry-collector/telemetry/scalars.jsonl")},
+        "processes": processes, "blocker": blocker, "telemetry_issue": telemetry_issue,
+        "runtime": {"cma_elapsed_s": elapsed, "cma_scored_asks_per_min": scored * 60 / elapsed if elapsed and elapsed > 0 else None,
+                    "disk_available_bytes": available},
+        "errors": [str(p) for p in errors[-5:]],
+        "preflight": {"identity": str(ROOT / "preflight/identity.json"),
+                      "wandb_readback": str(ROOT / "preflight/wandb_readback.json")},
+        "launch": {"cma": str(ROOT / "launch_cma.sh"), "continuation": str(ROOT / "launch_continuation.sh"),
+                   "collector": str(ROOT / "launch_collector.sh"), "evaluator": str(ROOT / "launch_evaluator.sh"),
+                   "tmux_socket": "real_rgbd_fit_20260923"},
+    }
+
+
+while True:
+    data = snapshot()
+    tmp = ROOT / ".status.json.tmp"
+    tmp.write_text(json.dumps(data, indent=2) + "\n")
+    os.replace(tmp, ROOT / "status.json")
+    if data["stage"] == "complete":
+        break
+    time.sleep(30)
diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/wandb_final_readback.json b/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/wandb_final_readback.json
new file mode 100644
index 0000000000000000000000000000000000000000..965f9bab4bd9eba2f824ca26bd51aee233192263
--- /dev/null
+++ b/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/wandb_final_readback.json
@@ -0,0 +1,1266 @@
+{
+  "checked_utc": "2026-09-23T16:44:31.972925+00:00",
+  "run_id": "8492d7a9f68a4caf",
+  "state": "running",
+  "lastHistoryStep": 278996,
+  "local_records": 278997,
+  "remote_tail_reaches_local": true,
+  "config_keys": [
+    "payload",
+    "destination",
+    "cma_manifest",
+    "adam_manifest",
+    "payload_scope",
+    "winner_summary",
+    "diagnostic_lane",
+    "adam_source_defaults",
+    "derived_observations"
+  ],
+  "guide_files": [
+    "metric_notes.md"
+  ],
+  "sample_rows": {
+    "real_cma_issue": {
+      "step": 493,
+      "remote": {
+        "cma/result/normalized/object_restitution": null,
+        "adam/parameters/inactive_object_restitution/host_clamp_changed": null,
+        "cma/center/normalized/collision_distance_m": null,
+        "adam/parameters/inactive_object_restitution/gradient_l2": null,
+        "adam/update/source_update_before": null,
+        "health/service_active": null,
+        "cma/issue/active/object_friction": 0,
+        "cma/center/normalized/controller_radius_m": null,
+        "cma/generation/winner/decoded/object_max_neighbours": null,
+        "adam/update/interval": null,
+        "cma/result/score": null,
+        "coverage/view_00/motion_valid_fraction": null,
+        "cma/generation/winner/decoded/spring_y": null,
+        "adam/parameters/object/host_saturation_fraction": null,
+        "frozen/candidate/pending": null,
+        "cma/center/isolated_object_nodes": null,
+        "adam/parameters/attachment/host_cap_changed_count": null,
+        "cma/generation/champion/decoded/collision_distance_m": null,
+        "cma/center/T": null,
+        "frozen/candidate/T": null,
+        "cma/generation/winner/normalized/dashpot_damping": null,
+        "cma/result/normalized/dashpot_damping": null,
+        "cma/center/C_plus_T": null,
+        "cma/generation/champion/decoded/object_restitution": null,
+        "cma/center/active/drag_damping": null,
+        "cma/generation/champion/normalized/object_max_neighbours": null,
+        "coverage/view_03/motion_valid_fraction": null,
+        "config/D_M": null,
+        "cma/issue/decoded/ground_friction": 0.8264174321070958,
+        "cma/generation/champion_score": null,
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+        "cma/issue/normalized/controller_radius_m": 0.6824129109714647,
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+        "cma/issue/active/controller_radius_m": 1,
+        "cma/issue/decoded/object_friction": 0.143503321552676,
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+        "cma/center/attachments/hand_B": null,
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+        "adam/update/record/committed": null,
+        "coverage/view_02/visible_fraction": null,
+        "coverage/view_00/visible_fraction": null,
+        "adam/update/record/invocation": null,
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+        "adam/update/A": null,
+        "cma/issue/global_ask_index": 0,
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+        "cma/center/active/ground_restitution": null,
+        "_runtime": 0.234822959,
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+        "cma/center/observation_score": null,
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+        "cma/center/decoded/collision_distance_m": null,
+        "config/planned_updates": null,
+        "frozen/candidate/claimed": null,
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+        "cma/issue/decoded/controller_max_neighbours": 47,
+        "progress/frozen_candidate": null,
+        "health/collector_backlog_bytes": null,
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+        "_timestamp": 1790160156.4014778,
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+        "cma/center/normalized/ground_friction": null,
+        "cma/issue/record/ordinal": 493,
+        "cma/issue/normalized/object_friction": 0.071751660776338,
+        "cma/center/active/object_radius_m": null,
+        "cma/center/attached_object_nodes": null,
+        "coverage/hand_A/controller_valid_count": null,
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+        "adam/parameters/ground_friction/raw": null,
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+        "frozen/candidate/record/ordinal": null,
+        "cma/generation/champion/decoded/controller_radius_m": null,
+        "cma/generation/champion/decoded/dashpot_damping": null,
+        "config/lr": null,
+        "adam/parameters/object/log_finite_mean": null,
+        "cma/result/expected_transitions": null,
+        "cma/result/normalized/drag_damping": null,
+        "coverage/view_01/motion_valid_fraction": null,
+        "adam/parameters/object/edge_count": null,
+        "cma/result/decoded/controller_max_neighbours": null,
+        "cma/result/decoded/object_radius_m": null,
+        "cma/result/normalized/object_radius_m": null,
+        "cma/center/active/object_max_neighbours": null,
+        "adam/update/source_update_after": null,
+        "config/record/ordinal": null,
+        "config/D_V": null,
+        "cma/result/active/spring_y": null,
+        "cma/result/generation": null,
+        "adam/update/C": null,
+        "progress/cma_generation": null,
+        "health/cma_asks_per_s": null,
+        "cma/generation/champion/normalized/controller_max_neighbours": null,
+        "cma/result/decoded/drag_damping": null,
+        "cma/result/decoded/object_friction": null,
+        "adam/update/record/ordinal": null,
+        "cma/generation/champion/normalized/spring_y": null,
+        "cma/issue/active/ground_restitution": 1,
+        "coverage/view_02/motion_valid_count": null,
+        "adam/parameters/object/log_nonfinite_count": null,
+        "cma/generation/winner/normalized/ground_friction": null,
+        "adam/parameters/record/source_line": null,
+        "adam/parameters/object/log_finite_min": null,
+        "adam/parameters/ground_restitution/host_clamp_changed": null,
+        "coverage/motion_valid_fraction": null,
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+        "cma/center/active/collision_distance_m": null,
+        "cma/issue/issued": 1,
+        "cma/result/isolated_object_nodes": null,
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diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/wandb_live_readback.json b/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/wandb_live_readback.json
new file mode 100644
index 0000000000000000000000000000000000000000..c55598f18b51a02ce97f10a577f09d047a1eb771
--- /dev/null
+++ b/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/wandb_live_readback.json
@@ -0,0 +1,255 @@
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