diff --git a/.gitattributes b/.gitattributes
index 64f00b6e0b1e2015d887d1eb17865aca26d57d7f..09e79e5292aade59206505ebdf0ed4b022733964 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -856,3 +856,4 @@ sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojectio
 sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/gaussian_data/session_20260921_233350_440979/observation.ply filter=lfs diff=lfs merge=lfs -text
 sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/rerun/appearance_spline_prior.rrd filter=lfs diff=lfs merge=lfs -text
 sessions/session_20260921_233350_440979/preprocessing/chain-prior-m18-lowcurvature-v1/native/rerun/appearance_spline_prior.rrd filter=lfs diff=lfs merge=lfs -text
+sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/rerun/appearance_spline_prior.rrd filter=lfs diff=lfs merge=lfs -text
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/colors/color_summary.json b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/colors/color_summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0d9921327442bdee45b36455cd603a7840b8108
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/colors/color_summary.json
@@ -0,0 +1,49 @@
+{
+  "rule": "native sRGB/255, cosine weighted over mask/depth/first-hit visible views",
+  "two_sided": false,
+  "depth_tolerance_m": 0.025,
+  "first_hit_tolerance_m": 0.0002,
+  "per_view": [
+    {
+      "view": 0,
+      "serial": "12540311",
+      "observed_vertices": 615,
+      "projected_inside": 1728,
+      "first_hit": 925
+    },
+    {
+      "view": 1,
+      "serial": "12933256",
+      "observed_vertices": 423,
+      "projected_inside": 1728,
+      "first_hit": 916
+    },
+    {
+      "view": 2,
+      "serial": "17736741",
+      "observed_vertices": 627,
+      "projected_inside": 1728,
+      "first_hit": 911
+    },
+    {
+      "view": 3,
+      "serial": "23007103",
+      "observed_vertices": 550,
+      "projected_inside": 1728,
+      "first_hit": 903
+    }
+  ],
+  "observed_vertices": 1030,
+  "filled_vertices": 698,
+  "fill_color_rgb": [
+    0.18992743922091831,
+    0.14788261845512962,
+    0.13333333333333333
+  ],
+  "glb_roundtrip": {
+    "float32_positions_exact": true,
+    "vertex_colors_exact": true,
+    "uv_count": 0,
+    "vertex_reordered_on_open3d_load": true
+  }
+}
\ No newline at end of file
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/colors/vertex_colors.npz b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/colors/vertex_colors.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ae1259e1c4e3d6453498ee57eb12b440e2b14589
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/colors/vertex_colors.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50b7b9119c965a1464048960e1be4cea9b5553932cb21ca98aa2f01adb782938
+size 56328
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_colors.log b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_colors.log
new file mode 100644
index 0000000000000000000000000000000000000000..6259c2219f9d2fccc69a0fa5596136d63530951b
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_colors.log
@@ -0,0 +1 @@
+colors: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2/steps/colors.json
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_colors_argv.json b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_colors_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1bda49ae2930e0e313d017da9b7cb5f07a0c998
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_colors_argv.json
@@ -0,0 +1,12 @@
+{
+  "argv": [
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python",
+    "-B",
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/real_rgbd_appearance_spline_prior.py",
+    "colors",
+    "--run",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2"
+  ],
+  "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026",
+  "started_utc": "2026-10-28T22:52:37.401174+00:00"
+}
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_colors_result.json b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_colors_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..82be8a0882d7ff9b19629b6cdb08ee04b2461b5b
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_colors_result.json
@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "elapsed_s_excluding_queue": 2.596737204003148,
+  "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026"
+}
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_fit.log b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_fit.log
new file mode 100644
index 0000000000000000000000000000000000000000..bd2a31834f2271bf4fcde3da0c03f7c401c55027
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_fit.log
@@ -0,0 +1,43 @@
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+fit: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2/steps/fit.json
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_fit_argv.json b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_fit_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d432d2496586f9d0afd9c4c725dda06e3690ff7
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_fit_argv.json
@@ -0,0 +1,24 @@
+{
+  "argv": [
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python",
+    "-B",
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/real_rgbd_appearance_spline_prior.py",
+    "fit",
+    "--run",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2",
+    "--outlier-filter",
+    "statistical:20:2.0",
+    "--max-rounds",
+    "400",
+    "--reprojection-weight",
+    "8.0",
+    "--baseline-run",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1",
+    "--chain-curvature-weight",
+    "5e-09",
+    "--chain-control-count",
+    "18"
+  ],
+  "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026",
+  "started_utc": "2026-10-28T22:52:09.567754+00:00"
+}
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_fit_result.json b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_fit_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed9388d3adc3665ffa9af2955bc1760430f2ddfd
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_fit_result.json
@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "elapsed_s_excluding_queue": 22.440481073994306,
+  "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026"
+}
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_hybrid.log b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_hybrid.log
new file mode 100644
index 0000000000000000000000000000000000000000..126f32c138506c062e6fa561940407def2d66321
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_hybrid.log
@@ -0,0 +1 @@
+hybrid: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2/steps/hybrid.json
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_hybrid_argv.json b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_hybrid_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..275ed85c9aeaf96c672d30e08efc5621dc830ea4
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_hybrid_argv.json
@@ -0,0 +1,12 @@
+{
+  "argv": [
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python",
+    "-B",
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/real_rgbd_appearance_spline_prior.py",
+    "hybrid",
+    "--run",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2"
+  ],
+  "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026",
+  "started_utc": "2026-10-28T22:52:39.998144+00:00"
+}
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_hybrid_result.json b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_hybrid_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..1157cee45837b07b4db8b5cbb97f54800c4e36b6
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_hybrid_result.json
@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "elapsed_s_excluding_queue": 2.2559706430038204,
+  "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026"
+}
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_manifest.log b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_manifest.log
new file mode 100644
index 0000000000000000000000000000000000000000..430840cb953b413a45f0c8ceac63ec42ad98599d
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_manifest.log
@@ -0,0 +1 @@
+/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2/manifest.json
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_manifest_argv.json b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_manifest_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ee4da0730fdc8bb7009139d8abc79575a22f0d7
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_manifest_argv.json
@@ -0,0 +1,12 @@
+{
+  "argv": [
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python",
+    "-B",
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/real_rgbd_appearance_spline_prior.py",
+    "manifest",
+    "--run",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2"
+  ],
+  "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026",
+  "started_utc": "2026-10-28T22:52:54.706734+00:00"
+}
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_manifest_result.json b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_manifest_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad315e06e36ee7ccc85881126ebf9603e4f6578f
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_manifest_result.json
@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "elapsed_s_excluding_queue": 1.3236111230071401,
+  "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026"
+}
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_review.log b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_review.log
new file mode 100644
index 0000000000000000000000000000000000000000..3637ff3a18e701b086dac9a5349c32ec7a2e756b
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_review.log
@@ -0,0 +1 @@
+review: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2/steps/review.json
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_review_argv.json b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_review_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b5643c7852b9bf9c8f15c56dd7914d76fde355c
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_review_argv.json
@@ -0,0 +1,12 @@
+{
+  "argv": [
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python",
+    "-B",
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/real_rgbd_appearance_spline_prior.py",
+    "review",
+    "--run",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2"
+  ],
+  "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026",
+  "started_utc": "2026-10-28T22:52:42.254322+00:00"
+}
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_review_result.json b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_review_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1af386d2835829e405ae8326c428de979e77ee5
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_review_result.json
@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "elapsed_s_excluding_queue": 12.45220019799308,
+  "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026"
+}
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_tube.log b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_tube.log
new file mode 100644
index 0000000000000000000000000000000000000000..7bc0388393d7463f588918b9c492c233692a370b
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_tube.log
@@ -0,0 +1 @@
+tube: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2/steps/tube.json
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_tube_argv.json b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_tube_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..569a890e25db95e9fa46071ee97c52584325d132
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_tube_argv.json
@@ -0,0 +1,12 @@
+{
+  "argv": [
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python",
+    "-B",
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/real_rgbd_appearance_spline_prior.py",
+    "tube",
+    "--run",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2"
+  ],
+  "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026",
+  "started_utc": "2026-10-28T22:52:32.455166+00:00"
+}
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_tube_result.json b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_tube_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..742be17020cd4e7ad0abdcd9f8ef50485762d369
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_tube_result.json
@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "elapsed_s_excluding_queue": 4.945783842005767,
+  "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026"
+}
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+}
\ No newline at end of file
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/steps/colors.json b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/steps/colors.json
new file mode 100644
index 0000000000000000000000000000000000000000..88dc2dd8c9778f8801af90ea23bc0f688a59b01c
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/steps/colors.json
@@ -0,0 +1,67 @@
+{
+  "status": "ok",
+  "settings": {
+    "depth_tolerance_m": 0.025
+  },
+  "outputs": {
+    "rule": "native sRGB/255, cosine weighted over mask/depth/first-hit visible views",
+    "two_sided": false,
+    "depth_tolerance_m": 0.025,
+    "first_hit_tolerance_m": 0.0002,
+    "per_view": [
+      {
+        "view": 0,
+        "serial": "12540311",
+        "observed_vertices": 615,
+        "projected_inside": 1728,
+        "first_hit": 925
+      },
+      {
+        "view": 1,
+        "serial": "12933256",
+        "observed_vertices": 423,
+        "projected_inside": 1728,
+        "first_hit": 916
+      },
+      {
+        "view": 2,
+        "serial": "17736741",
+        "observed_vertices": 627,
+        "projected_inside": 1728,
+        "first_hit": 911
+      },
+      {
+        "view": 3,
+        "serial": "23007103",
+        "observed_vertices": 550,
+        "projected_inside": 1728,
+        "first_hit": 903
+      }
+    ],
+    "observed_vertices": 1030,
+    "filled_vertices": 698,
+    "fill_color_rgb": [
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+      0.14788261845512962,
+      0.13333333333333333
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+    "glb_roundtrip": {
+      "float32_positions_exact": true,
+      "vertex_colors_exact": true,
+      "uv_count": 0,
+      "vertex_reordered_on_open3d_load": true
+    },
+    "files": {
+      "colors/vertex_colors.npz": "50b7b9119c965a1464048960e1be4cea9b5553932cb21ca98aa2f01adb782938",
+      "colors/color_summary.json": "6dc16c8f9768c204ed52a328a22117f1cf272caccf5a9d30f7e0ea1e9d311887",
+      "tube/shape_prior.glb": "82315b9e177ecd6500d61f6e2d985b9b5529c402e86c68fce6c54f0128efae97",
+      "tube/tube.ply": "74de136b6ae208045ddb4c43e0326db1ed49506c1b7fb124e33c210cc06fffc7",
+      "gaussian_data/session_20260921_233350_440979/shape_prior.glb": "82315b9e177ecd6500d61f6e2d985b9b5529c402e86c68fce6c54f0128efae97"
+    }
+  },
+  "code": {
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+    "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
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+}
\ No newline at end of file
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/steps/fit.json b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/steps/fit.json
new file mode 100644
index 0000000000000000000000000000000000000000..12137ca9192c80aea77e9ee3d61f2b4bcf254961
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/steps/fit.json
@@ -0,0 +1,215 @@
+{
+  "status": "ok",
+  "settings": {
+    "object": {
+      "name": "bike_chain",
+      "representation": "tube",
+      "fitter_source": "scripts/chain_state_estimation.py loss/solver literals",
+      "dimension_source": "owner approximate 9.5 mm diameter (corpus Q2, 2026-10-25)",
+      "radius_m": 0.00475,
+      "ribbon_width_m": null,
+      "step_t": 0.125,
+      "step_angle_deg": 30,
+      "u_resolution": null,
+      "overlap_rule": "surface_intersection",
+      "twist_penalty": null
+    },
+    "max_rounds": 400,
+    "control_count": 18,
+    "relative_loss_tolerance": 1e-07,
+    "reprojection": {
+      "weight": 8.0,
+      "direction": "visible mask pixels to projected centerline",
+      "ribbon_twist_stage": null,
+      "mask": "accepted object outside hand/occluder union",
+      "view_aggregation": "equal view means",
+      "distance": "metric image plane using per-view median visible belt depth and fx/fy",
+      "samples": 360,
+      "huber_delta_m": 0.005,
+      "smooth_cap_m": 0.035,
+      "baseline_run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1"
+    },
+    "loss_config": {
+      "eval_distances": true,
+      "max_saturation_distance": 0.035,
+      "distance_huber_delta": 0.005,
+      "eval_curvature_cost": true,
+      "num_eval_reg_points": 250,
+      "lambda_curvature_cost": 5e-09,
+      "max_curvature": 10.0,
+      "curvature_huber_delta": 30.0,
+      "max_saturation_curvature": 80.0,
+      "eval_curvilinear_energy": false,
+      "lambda_curvilinear_energy": 0.001,
+      "eval_length_constraint": true,
+      "lambda_length_constraint": 0.1,
+      "arclength_bounds": [
+        0.5830000042915344,
+        0.5849999785423279
+      ]
+    },
+    "solver_config": {
+      "solver_type": "lbfgs",
+      "linesearch_type": "zoom",
+      "max_linesearch_steps": 10,
+      "grad_norm_tolerance": 0.0001,
+      "max_iter": 25
+    },
+    "ribbon_twist_refinement": null
+  },
+  "outputs": {
+    "filter": {
+      "method": "Open3D.remove_statistical_outlier",
+      "nb_neighbors": 20,
+      "std_ratio": 2.0,
+      "input_count": 23373,
+      "kept_count": 22415,
+      "removed_count": 958,
+      "per_view": [
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+          "view": 0,
+          "input": 7620,
+          "kept": 7290,
+          "removed": 330,
+          "live_20_0.05_kept": 5404,
+          "no_filter_kept": 7620
+        },
+        {
+          "view": 1,
+          "input": 4253,
+          "kept": 4154,
+          "removed": 99,
+          "live_20_0.05_kept": 2921,
+          "no_filter_kept": 4253
+        },
+        {
+          "view": 2,
+          "input": 7178,
+          "kept": 6985,
+          "removed": 193,
+          "live_20_0.05_kept": 4904,
+          "no_filter_kept": 7178
+        },
+        {
+          "view": 3,
+          "input": 4322,
+          "kept": 3986,
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+          "live_20_0.05_kept": 1070,
+          "no_filter_kept": 4322
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+      ]
+    },
+    "rounds": 1,
+    "stop": "gradient_tolerance",
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+        "distance": 2.489980215614196e-05,
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+      },
+      "grad_norm": 7.425606600008905e-05,
+      "arclength_m": 0.5851190686225891,
+      "arclength_bound_active_within_1mm": true,
+      "max_curvature_per_m": 79.92413330078125,
+      "curvature_p50_p90_per_m": [
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+      "curvature_above_max_fraction": 0.48,
+      "mean_distance_m": 0.007621072024776594,
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+      "beyond_2delta_fraction": 0.20370287753736338,
+      "at_cap_fraction": 0.0,
+      "per_view": [
+        {
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+          "count": 7290,
+          "median_m": 0.007933512330055237,
+          "p90_m": 0.012128474935889245,
+          "max_m": 0.015374738723039627,
+          "beyond_2delta_fraction": 0.30356652949245544,
+          "at_cap_fraction": 0.0
+        },
+        {
+          "view": 1,
+          "count": 4154,
+          "median_m": 0.005080787930637598,
+          "p90_m": 0.0076240714173763996,
+          "max_m": 0.010997118428349495,
+          "beyond_2delta_fraction": 0.007944150216658643,
+          "at_cap_fraction": 0.0
+        },
+        {
+          "view": 2,
+          "count": 6985,
+          "median_m": 0.007874934002757072,
+          "p90_m": 0.011218605749309064,
+          "max_m": 0.01544024795293808,
+          "beyond_2delta_fraction": 0.23092340730136005,
+          "at_cap_fraction": 0.0
+        },
+        {
+          "view": 3,
+          "count": 3986,
+          "median_m": 0.007615995826199651,
+          "p90_m": 0.012031114660203457,
+          "max_m": 0.024312755092978477,
+          "beyond_2delta_fraction": 0.17737079779227297,
+          "at_cap_fraction": 0.0
+        }
+      ],
+      "round": 1,
+      "relative_loss_change": 0.9772382899752382
+    },
+    "deterministic": true,
+    "partial_view_witness": {
+      "source": "synthetic rounded trapezoid, four retained RP2 camera centres",
+      "control_count": 18,
+      "curvature_weight": 5e-09,
+      "seed": 5,
+      "noise_sigma_m": 0.0015,
+      "points": 288,
+      "tube_radius_m": 0.00475,
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+      "truth_corner_curvature_per_m": 100.0,
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+      "max_centerline_distance_to_truth_m": 0.00574637227071573,
+      "corner_truth_to_fit_mean_max_m": [
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+      "straight_truth_to_fit_mean_m": 0.0032905154061825467,
+      "fit_max_curvature_per_m": 123.19891357421875,
+      "fit_curvature_nearest_corners_p50_max_per_m": [
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+        123.19891357421875
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+      "rounds": 1,
+      "stop": "gradient_tolerance"
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+    "files": {
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+      "spline/spline_fit.json": "5198ecbfa760b2ef777498d71e6767569c20c3c0cc0fa83cc04e5de8bab760c8",
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+      "spline/rounds.jsonl": "d4289ad48780bf47fe9fccdc4f1bc9d2687608174927f8e8ace2467652e44867",
+      "spline/init_ellipse.json": "27d464a292a3d50a9fa0417ec117ee2b28f13a5f58f401f33f6de218ef265d6f",
+      "spline/reprojection.json": "ce8c525a7e3a93ed4e322951e49d954f11d8ecdc4b33fa7cc621c699ab41b19d"
+    }
+  },
+  "code": {
+    "commit": "98ebffe13629edeb0a9b29df973bebc5730d7026",
+    "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
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+  "wall_time_s": 20.37205982208252
+}
\ No newline at end of file
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/steps/hybrid.json b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/steps/hybrid.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5831a4cdbe153570162fdc5b01ff84fac1ce11f
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/steps/hybrid.json
@@ -0,0 +1,24 @@
+{
+  "status": "ok",
+  "settings": {
+    "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f",
+    "numpy_seed": 0,
+    "points_per_triangle": 30
+  },
+  "outputs": {
+    "counts": {
+      "observed": 22415,
+      "mesh": 103680,
+      "total": 126095,
+      "mesh_to_observed": 4.625474012937765
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+    "files": {
+      "hybrid/populations.npz": "c33aba4fe16fda993741f1ecbc2c5d8dc4fbb5cb7e6104777cdb865c38e92e72"
+    }
+  },
+  "code": {
+    "commit": "98ebffe13629edeb0a9b29df973bebc5730d7026",
+    "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
+  },
+  "wall_time_s": 0.8272638320922852
+}
\ No newline at end of file
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/steps/review.json b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/steps/review.json
new file mode 100644
index 0000000000000000000000000000000000000000..5153ca93805b3409a0a7522330ec92239bab53b5
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/steps/review.json
@@ -0,0 +1,65 @@
+{
+  "status": "ok",
+  "settings": {
+    "historical_prior": null,
+    "historical_sha256": null,
+    "baseline_fit": null
+  },
+  "outputs": {
+    "review_files": 52,
+    "files": {
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diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/steps/tube.json b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/steps/tube.json
new file mode 100644
index 0000000000000000000000000000000000000000..55c0c450b7f140675bdb882077e98002912415f1
--- /dev/null
+++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/steps/tube.json
@@ -0,0 +1,63 @@
+{
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+  "settings": {
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+    "step_t": 0.125,
+    "step_angle_deg": 30
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+  "outputs": {
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+      "watertight": true,
+      "components": 1,
+      "winding_consistent": true,
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\ No newline at end of file
diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/tube/geometry.npz b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/tube/geometry.npz
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diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/tube/triangle_areas.npz b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-stronger-reprojection-v2/native/tube/triangle_areas.npz
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