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diff --git a/sessions/session_20260921_225630_786148/preprocessing/spline-3d-only-20260927-review-recovery/native/spline/spline_fit.json b/sessions/session_20260921_225630_786148/preprocessing/spline-3d-only-20260927-review-recovery/native/spline/spline_fit.json
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diff --git a/sessions/session_20260921_225630_786148/preprocessing/spline-3d-only-20260927-review-recovery/native/steps/colors.json b/sessions/session_20260921_225630_786148/preprocessing/spline-3d-only-20260927-review-recovery/native/steps/colors.json
new file mode 100644
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+{
+  "status": "ok",
+  "settings": {
+    "depth_tolerance_m": 0.025
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+    "depth_tolerance_m": 0.025,
+    "first_hit_tolerance_m": 0.0002,
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diff --git a/sessions/session_20260921_225630_786148/preprocessing/spline-3d-only-20260927-review-recovery/native/steps/diagnose-depth.json b/sessions/session_20260921_225630_786148/preprocessing/spline-3d-only-20260927-review-recovery/native/steps/diagnose-depth.json
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+{
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+  "settings": {
+    "correction": "none",
+    "annulus_px": [
+      20,
+      80
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+  "outputs": {
+    "report": {
+      "annulus_px": [
+        20,
+        80
+      ],
+      "interior_erosion_px": 2,
+      "correction_applied": false,
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+      "inputs/depth_offset_diagnostic.json": "9b85d7c297495eabcc759ded0b5fad5c3ee6a5ad978565011225f18cc06c18c2"
+    }
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diff --git a/sessions/session_20260921_225630_786148/preprocessing/spline-3d-only-20260927-review-recovery/native/steps/fit.json b/sessions/session_20260921_225630_786148/preprocessing/spline-3d-only-20260927-review-recovery/native/steps/fit.json
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+{
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\ No newline at end of file
diff --git a/sessions/session_20260921_225630_786148/preprocessing/spline-3d-only-20260927-review-recovery/native/steps/hybrid.json b/sessions/session_20260921_225630_786148/preprocessing/spline-3d-only-20260927-review-recovery/native/steps/hybrid.json
new file mode 100644
index 0000000000000000000000000000000000000000..9746537429019a249d2ce91a649bd66a39cf8318
--- /dev/null
+++ b/sessions/session_20260921_225630_786148/preprocessing/spline-3d-only-20260927-review-recovery/native/steps/hybrid.json
@@ -0,0 +1,24 @@
+{
+  "status": "ok",
+  "settings": {
+    "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f",
+    "numpy_seed": 0,
+    "points_per_triangle": 30
+  },
+  "outputs": {
+    "counts": {
+      "observed": 13755,
+      "mesh": 51840,
+      "total": 65595,
+      "mesh_to_observed": 3.768811341330425
+    },
+    "files": {
+      "hybrid/populations.npz": "d63745cac4d3d2fb3ec7ee0167f7911dd9784fda6c456094491bd9513cf00175"
+    }
+  },
+  "code": {
+    "commit": "2c5de7713ce285daeef538bebc744fed1df33b98",
+    "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
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+}
\ No newline at end of file
diff --git a/sessions/session_20260921_225630_786148/preprocessing/spline-3d-only-20260927-review-recovery/native/steps/inputs.json b/sessions/session_20260921_225630_786148/preprocessing/spline-3d-only-20260927-review-recovery/native/steps/inputs.json
new file mode 100644
index 0000000000000000000000000000000000000000..c90c594e05352427ced4b03e2453aa6f59230654
--- /dev/null
+++ b/sessions/session_20260921_225630_786148/preprocessing/spline-3d-only-20260927-review-recovery/native/steps/inputs.json
@@ -0,0 +1,204 @@
+{
+  "status": "ok",
+  "settings": {
+    "depth_source": "waft_stereo_dav2l5",
+    "depth_stream_ids": [
+      "zed_12540311_depth_waft_stereo_synlarge_dav2l5_zdepth",
+      "zed_12933256_depth_waft_stereo_synlarge_dav2l5_zdepth",
+      "zed_17736741_depth_waft_stereo_synlarge_dav2l5_zdepth",
+      "zed_23007103_depth_waft_stereo_synlarge_dav2l5_zdepth"
+    ],
+    "frames": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/photometric_depth_waft_stereo_dav2l5_20260926_canonical_v2/frames.npz",
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+        },
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+          "input": 4485,
+          "kept": 4399,
+          "removed": 86,
+          "live_20_0.05_kept": 3552,
+          "no_filter_kept": 4485
+        },
+        {
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+          "input": 2665,
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+          "removed": 100,
+          "live_20_0.05_kept": 1879,
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+        }
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+    "signoffs": {
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+    }
+  },
+  "outputs": {
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+      "grid_sample": 0,
+      "views": [
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+      "spline/filter_removed.npz": "af8b036ed81e86aee6affe9ed688695c15b7a0dabe26d8dfbac6c01826fe0df1",
+      "spline/filtered_cloud.npz": "a73ff513f96cf5f3173665686c31a20687c5d9772085d557e0520866bed5f8e3"
+    }
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+  "code": {
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+    "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
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+}
\ No newline at end of file
diff --git a/sessions/session_20260921_225630_786148/preprocessing/spline-3d-only-20260927-review-recovery/native/steps/review.json b/sessions/session_20260921_225630_786148/preprocessing/spline-3d-only-20260927-review-recovery/native/steps/review.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4dd39bb9c8c42f05bfd0bfcf0f26c9fe8c5a9d3
--- /dev/null
+++ b/sessions/session_20260921_225630_786148/preprocessing/spline-3d-only-20260927-review-recovery/native/steps/review.json
@@ -0,0 +1,78 @@
+{
+  "status": "ok",
+  "settings": {
+    "historical_prior": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/appearance_20260925/shape/matching/final_mesh.glb",
+    "historical_sha256": "24e7b5a318409512be3234dbea4f9937c7e2c9294093a22f7ab1f2a88017f763"
+  },
+  "outputs": {
+    "review_files": 57,
+    "files": {
+      "review/hybrid/combined.png": "d1396b415202a659d471104184b187ef8e2851324db2227d38fa003edf060b4b",
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diff --git a/sessions/session_20260921_225630_786148/preprocessing/spline-3d-only-20260927-review-recovery/native/steps/tube.json b/sessions/session_20260921_225630_786148/preprocessing/spline-3d-only-20260927-review-recovery/native/steps/tube.json
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+++ b/sessions/session_20260921_225630_786148/preprocessing/spline-3d-only-20260927-review-recovery/native/steps/tube.json
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