diff --git a/.gitattributes b/.gitattributes
index cbf2ccd0cf9a77321ac0b27cd1352635efe285e8..78d6829a42c21d0ed3dd7ea118eebe3bcaaa2c8a 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -743,3 +743,4 @@ sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojectio
 sessions/session_20260921_233045_819927/preprocessing/chain-prior-lower-curvature-v2/native/gaussian_data/session_20260921_233045_819927/observation.ply filter=lfs diff=lfs merge=lfs -text
 sessions/session_20260921_233045_819927/preprocessing/chain-prior-lower-curvature-v2/native/rerun/appearance_spline_prior.rrd filter=lfs diff=lfs merge=lfs -text
 sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/rerun/appearance_spline_prior.rrd filter=lfs diff=lfs merge=lfs -text
+sessions/session_20260921_233045_819927/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_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/colors/color_summary.json b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/colors/color_summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc528a95456e61f671bc7882d8b45ef37a9b8175
--- /dev/null
+++ b/sessions/session_20260921_233045_819927/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": 673,
+      "projected_inside": 1728,
+      "first_hit": 932
+    },
+    {
+      "view": 1,
+      "serial": "12933256",
+      "observed_vertices": 742,
+      "projected_inside": 1728,
+      "first_hit": 917
+    },
+    {
+      "view": 2,
+      "serial": "17736741",
+      "observed_vertices": 697,
+      "projected_inside": 1728,
+      "first_hit": 905
+    },
+    {
+      "view": 3,
+      "serial": "23007103",
+      "observed_vertices": 767,
+      "projected_inside": 1728,
+      "first_hit": 925
+    }
+  ],
+  "observed_vertices": 1187,
+  "filled_vertices": 541,
+  "fill_color_rgb": [
+    0.1933483081091772,
+    0.15390816557819573,
+    0.1445491232891426
+  ],
+  "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_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/colors/vertex_colors.npz b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/colors/vertex_colors.npz
new file mode 100644
index 0000000000000000000000000000000000000000..678a01f65ba5ad5dbf81e3e32b29035a3b3e84d5
--- /dev/null
+++ b/sessions/session_20260921_233045_819927/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:efa0a4a21320ff8e6c5802d300b2cf633ddbe3cbed3f9eba524644bc0e6dd985
+size 56328
diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_colors.log b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_colors.log
new file mode 100644
index 0000000000000000000000000000000000000000..ff915e3e77125d541e9ca2c1603431d90c3b2fa0
--- /dev/null
+++ b/sessions/session_20260921_233045_819927/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_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2/steps/colors.json
diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_colors_argv.json b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_colors_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..e04641a578aa25c965c3677054f2dfac0e3eb840
--- /dev/null
+++ b/sessions/session_20260921_233045_819927/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_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2"
+  ],
+  "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026",
+  "started_utc": "2026-10-28T22:49:30.919927+00:00"
+}
diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_colors_result.json b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_colors_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..897dd63ca57b63945cec05c94bb60bf3a3867d87
--- /dev/null
+++ b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_colors_result.json
@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "elapsed_s_excluding_queue": 2.571613234002143,
+  "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026"
+}
diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_fit.log b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_fit.log
new file mode 100644
index 0000000000000000000000000000000000000000..be890e809e6d17084aba3bfca210c7f0df87c2cc
--- /dev/null
+++ b/sessions/session_20260921_233045_819927/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_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2/steps/fit.json
diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_fit_argv.json b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_fit_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..d06ca4e635064b01240cb7105f651034f8022f29
--- /dev/null
+++ b/sessions/session_20260921_233045_819927/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_233045_819927/window_anchor0256-0546/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_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1",
+    "--chain-curvature-weight",
+    "5e-09",
+    "--chain-control-count",
+    "18"
+  ],
+  "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026",
+  "started_utc": "2026-10-28T22:49:02.852600+00:00"
+}
diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_fit_result.json b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_fit_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b6680075b01ace5c260ba83d1bd69853485722f
--- /dev/null
+++ b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_fit_result.json
@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "elapsed_s_excluding_queue": 22.6809291850077,
+  "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026"
+}
diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_hybrid.log b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_hybrid.log
new file mode 100644
index 0000000000000000000000000000000000000000..d707074293e0e4e557a2df76eafc11150aee9bf3
--- /dev/null
+++ b/sessions/session_20260921_233045_819927/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_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2/steps/hybrid.json
diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_hybrid_argv.json b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_hybrid_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..c36ad30c0f8a4ec9ba4acca881358d65f74723c9
--- /dev/null
+++ b/sessions/session_20260921_233045_819927/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_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2"
+  ],
+  "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026",
+  "started_utc": "2026-10-28T22:49:33.491772+00:00"
+}
diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_hybrid_result.json b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_hybrid_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae5b817bdd7d24d4c25c054384601b9d9b3d3cb3
--- /dev/null
+++ b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_hybrid_result.json
@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "elapsed_s_excluding_queue": 2.2655834530014545,
+  "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026"
+}
diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_manifest.log b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_manifest.log
new file mode 100644
index 0000000000000000000000000000000000000000..3b24322b8c7da5a25a5e050316f73f6a8688db92
--- /dev/null
+++ b/sessions/session_20260921_233045_819927/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_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2/manifest.json
diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_manifest_argv.json b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_manifest_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..f081d0d7be717cc22aa1770af3334011d25be607
--- /dev/null
+++ b/sessions/session_20260921_233045_819927/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_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2"
+  ],
+  "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026",
+  "started_utc": "2026-10-28T22:49:48.588405+00:00"
+}
diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_manifest_result.json b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_manifest_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c29ac4ccd5f5c75ded8d6d04ed4f22bd62a5fd9
--- /dev/null
+++ b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_manifest_result.json
@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "elapsed_s_excluding_queue": 1.32005448100972,
+  "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026"
+}
diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_review.log b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_review.log
new file mode 100644
index 0000000000000000000000000000000000000000..a0b6427e3b4a849da863def7038e6878a96dfca5
--- /dev/null
+++ b/sessions/session_20260921_233045_819927/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_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2/steps/review.json
diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_review_argv.json b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_review_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..430a32361329949a5483705e53976776d957e913
--- /dev/null
+++ b/sessions/session_20260921_233045_819927/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_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2"
+  ],
+  "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026",
+  "started_utc": "2026-10-28T22:49:36.182576+00:00"
+}
diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_review_result.json b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_review_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..ecaa480e48abfb044e30e74e117d6a5f71cf4202
--- /dev/null
+++ b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_review_result.json
@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "elapsed_s_excluding_queue": 12.405577789002564,
+  "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026"
+}
diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_tube.log b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_tube.log
new file mode 100644
index 0000000000000000000000000000000000000000..09be35fd5c8d2a0cb170b995cb6f08275e81d938
--- /dev/null
+++ b/sessions/session_20260921_233045_819927/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_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2/steps/tube.json
diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_tube_argv.json b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_tube_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..675f66661506c8825a15ab58f2488def6a24267e
--- /dev/null
+++ b/sessions/session_20260921_233045_819927/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_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2"
+  ],
+  "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026",
+  "started_utc": "2026-10-28T22:49:25.533727+00:00"
+}
diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_tube_result.json b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_tube_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..f745ab263e810703f6562104de59158c8d0bdbf9
--- /dev/null
+++ b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_tube_result.json
@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "elapsed_s_excluding_queue": 4.972995894000633,
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diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/spline/spline_init.json b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/spline/spline_init.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a144ea12de5364d07e57860f0ad3ce4da7b894a
--- /dev/null
+++ b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/spline/spline_init.json
@@ -0,0 +1,98 @@
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\ No newline at end of file
diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/steps/colors.json b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/steps/colors.json
new file mode 100644
index 0000000000000000000000000000000000000000..05a077e753342a6496aed15abec4d5746d8a3376
--- /dev/null
+++ b/sessions/session_20260921_233045_819927/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": [
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+        "serial": "12540311",
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+        "projected_inside": 1728,
+        "first_hit": 932
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+      {
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+        "serial": "12933256",
+        "observed_vertices": 742,
+        "projected_inside": 1728,
+        "first_hit": 917
+      },
+      {
+        "view": 2,
+        "serial": "17736741",
+        "observed_vertices": 697,
+        "projected_inside": 1728,
+        "first_hit": 905
+      },
+      {
+        "view": 3,
+        "serial": "23007103",
+        "observed_vertices": 767,
+        "projected_inside": 1728,
+        "first_hit": 925
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+    "observed_vertices": 1187,
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+      "vertex_colors_exact": true,
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+      "vertex_reordered_on_open3d_load": true
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+    "files": {
+      "colors/vertex_colors.npz": "efa0a4a21320ff8e6c5802d300b2cf633ddbe3cbed3f9eba524644bc0e6dd985",
+      "colors/color_summary.json": "9de4d5e2e9d5374b6c30a996257c4aea4e267586ba79134ad4bfc2865169ce35",
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+}
\ No newline at end of file
diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/steps/fit.json b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/steps/fit.json
new file mode 100644
index 0000000000000000000000000000000000000000..6866a2e8e8cf0bb2617ba214daf5f31fdc7f5529
--- /dev/null
+++ b/sessions/session_20260921_233045_819927/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_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1"
+    },
+    "loss_config": {
+      "eval_distances": true,
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+      "lambda_curvature_cost": 5e-09,
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+      "curvature_huber_delta": 30.0,
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+      "eval_curvilinear_energy": false,
+      "lambda_curvilinear_energy": 0.001,
+      "eval_length_constraint": true,
+      "lambda_length_constraint": 0.1,
+      "arclength_bounds": [
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+        0.5849999785423279
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+    },
+    "solver_config": {
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+      "grad_norm_tolerance": 0.0001,
+      "max_iter": 25
+    },
+    "ribbon_twist_refinement": null
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+  "outputs": {
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+          "live_20_0.05_kept": 4606,
+          "no_filter_kept": 6485
+        },
+        {
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+          "input": 7095,
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+          "removed": 472,
+          "live_20_0.05_kept": 3663,
+          "no_filter_kept": 7095
+        },
+        {
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+          "input": 7626,
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+        },
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+        },
+        {
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+          "count": 6623,
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+          "at_cap_fraction": 0.0
+        },
+        {
+          "view": 2,
+          "count": 7409,
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+          "max_m": 0.014397500082850456,
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+          "at_cap_fraction": 0.0
+        },
+        {
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+          "count": 4916,
+          "median_m": 0.00854642828926444,
+          "p90_m": 0.01122769108042121,
+          "max_m": 0.015408841893076897,
+          "beyond_2delta_fraction": 0.27176566314076483,
+          "at_cap_fraction": 0.0
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+      ],
+      "round": 1,
+      "relative_loss_change": 0.9815748441338585
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+    "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,
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+      "max_centerline_distance_to_truth_m": 0.0057414166823648,
+      "corner_truth_to_fit_mean_max_m": [
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+        0.004110262860931054
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+      "straight_truth_to_fit_mean_m": 0.003288980337124959,
+      "fit_max_curvature_per_m": 123.24449920654297,
+      "fit_curvature_nearest_corners_p50_max_per_m": [
+        49.5619010925293,
+        123.24449920654297
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+      "rounds": 1,
+      "stop": "gradient_tolerance"
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+    "files": {
+      "spline/reprojection_residuals.npz": "d8851b366e48dcda1b5c8ab2ca7db38f759f2ca0f73bb4dda3519ef76f9decf7",
+      "spline/residuals.npz": "4b6ea93e99b3d8304a2cd728825cd5c490dd8568d04852d190e994a03d71dce4",
+      "spline/filtered_cloud.npz": "b6ea191c915aeedd5bca0de57c95adc7e33de26e3f933748fc2770c7a27d056c",
+      "spline/spline_init.json": "cf669bb5ad595f89ba16bc908e816cb67faf453405c15759c37aa9491139f3d2",
+      "spline/determinism.json": "773d1a02e2924f0d7df2d5d0011979c4e408678ebfdb9633a8348b9788132683",
+      "spline/filter.json": "ed8ad36a695023cc0a6caf46cd046cfda732d7fe6277b48e7f8c18d920ab1dc1",
+      "spline/witness.json": "9021e8d6d6e019fa4adc745ee9b3620ff75852583b523c7918ec6ea9b265ba6a",
+      "spline/filter_removed.npz": "dbe5d8f81c1c941ff98416d4133b541e4692467f01490f56d753f38da0bef6e1",
+      "spline/spline_fit.json": "4bcfd37846e3c9a3229bacf740c8d2ac435687ae69430d4f952b3f4f6e9fc7c9",
+      "spline/reprojection_comparison.json": "278ba08089c0d1bfad4d7581e615866f07d3475ee2c96ff95cef5738c6bbfb94",
+      "spline/rounds.jsonl": "5cfd570b9c6cd87ebf2fdde61032f658c1a4ba7200eae2555085aeb6f881c018",
+      "spline/init_ellipse.json": "c494971b08e2c055d366fb9aeb8a59e644cbc6f814538890d610e0cde605431c",
+      "spline/reprojection.json": "2afe0536b4d4e5d37f2a2edbc7ff443c553124ccdb7394a40b0761c0322e5309"
+    }
+  },
+  "code": {
+    "commit": "98ebffe13629edeb0a9b29df973bebc5730d7026",
+    "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
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+}
\ No newline at end of file
diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/steps/hybrid.json b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/steps/hybrid.json
new file mode 100644
index 0000000000000000000000000000000000000000..6bf388cf4f95caa14deea01f80e6c3b4822756cc
--- /dev/null
+++ b/sessions/session_20260921_233045_819927/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": 25253,
+      "mesh": 103680,
+      "total": 128933,
+      "mesh_to_observed": 4.105650813764702
+    },
+    "files": {
+      "hybrid/populations.npz": "98e052f4d4eaf99c172f64626043591de268e8faab999397cba591336b942d1a"
+    }
+  },
+  "code": {
+    "commit": "98ebffe13629edeb0a9b29df973bebc5730d7026",
+    "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
+  },
+  "wall_time_s": 0.827040433883667
+}
\ No newline at end of file
diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/steps/review.json b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/steps/review.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa45e2e4309d1d3e8f0a6567cedb933bbfb4c491
--- /dev/null
+++ b/sessions/session_20260921_233045_819927/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": {
+      "review/hybrid/combined.png": "3a2c1ba13a100a2c704401dbcbd9849ccf2cabdb4c4b19dcea9e4056e8aeea24",
+      "review/hybrid/mesh.png": "ccfa1466005f4a460c32a1e239b10de6b232491402080960a12d06e17336ea6a",
+      "review/hybrid/observed.png": "40fb25a06da7a3926687f08678de03291fe2594859a11727d25672d37d5dda0d",
+      "review/tube/tube_profiles.png": "8f3a4b9aaf34cdb8a66f368569f12059da54c2f88ed807529ab9ea39326d92d0",
+      "review/tube/silhouette_1_unmasked.png": "e27d37214d0a2edaed12582a2b08f4176c7a2ce963ba6d2cd040c3f412da7064",
+      "review/tube/silhouette_0_unmasked.png": "3f186636d3c4ee5c76475e4d989717cb23305017398e97916ff0c85396420d1f",
+      "review/tube/silhouette_0_with_masks.png": "d66ca1c55ec95aa7e8fe46e26b38ec007bc468a1aba0652886dd80e26f295e11",
+      "review/tube/silhouette_1_with_masks.png": "246018937ec6c5c501df06d59ad274fe0397258b4f802825c1d59e68a9b69383",
+      "review/tube/silhouette_2_unmasked.png": "070699f1ba339d6e412191471c2a5a9ee4481a669a60323fedb56142f89f39f7",
+      "review/tube/silhouette_3_with_masks.png": "ce72f0d47be4dbda10851823273e92ec5d0db5518ac34560f799d975b8e95b8c",
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diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/steps/tube.json b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/steps/tube.json
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@@ -0,0 +1,63 @@
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