sessions/session_20260921_233248_177244/preprocessing/chain-prior-lower-curvature-v2: payload batch 1/1

.gitattributes

@@ -844,3 +844,4 @@ sessions/session_20260921_233144_367389/preprocessing/chain-stronger-reprojectio
 sessions/session_20260921_233144_367389/preprocessing/chain-stronger-reprojection-v2/native/stronger_reprojection_preparation_v2/appearance_train_v1/model/point_cloud/iteration_7000/point_cloud.ply filter=lfs diff=lfs merge=lfs -text
 sessions/session_20260921_233248_177244/preprocessing/chain-prior-centerline-variant-b-v1/native/gaussian_data/session_20260921_233248_177244/observation.ply filter=lfs diff=lfs merge=lfs -text
 sessions/session_20260921_233248_177244/preprocessing/chain-prior-centerline-variant-b-v1/native/rerun/appearance_spline_prior.rrd filter=lfs diff=lfs merge=lfs -text
+sessions/session_20260921_233248_177244/preprocessing/chain-prior-lower-curvature-v2/native/rerun/appearance_spline_prior.rrd filter=lfs diff=lfs merge=lfs -text

sessions/session_20260921_233248_177244/preprocessing/chain-prior-lower-curvature-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": 521,
+      "projected_inside": 1728,
+      "first_hit": 937
+    },
+    {
+      "view": 1,
+      "serial": "12933256",
+      "observed_vertices": 197,
+      "projected_inside": 1728,
+      "first_hit": 915
+    },
+    {
+      "view": 2,
+      "serial": "17736741",
+      "observed_vertices": 632,
+      "projected_inside": 1728,
+      "first_hit": 903
+    },
+    {
+      "view": 3,
+      "serial": "23007103",
+      "observed_vertices": 571,
+      "projected_inside": 1728,
+      "first_hit": 930
+    }
+  ],
+  "observed_vertices": 1093,
+  "filled_vertices": 635,
+  "fill_color_rgb": [
+    0.24073260000671,
+    0.2,
+    0.18407373247633343
+  ],
+  "glb_roundtrip": {
+    "float32_positions_exact": true,
+    "vertex_colors_exact": true,
+    "uv_count": 0,
+    "vertex_reordered_on_open3d_load": true
+  }
+}

sessions/session_20260921_233248_177244/preprocessing/chain-prior-lower-curvature-v2/native/colors/vertex_colors.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6ac07c21391fe514cbb7758aa2495fd85ecb73081d2b55198fd6b44570e5d71
+size 56328

sessions/session_20260921_233248_177244/preprocessing/chain-prior-lower-curvature-v2/native/comparison_colors.log

@@ -0,0 +1 @@
+colors: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2/steps/colors.json

sessions/session_20260921_233248_177244/preprocessing/chain-prior-lower-curvature-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_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2"
+  ],
+  "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026",
+  "started_utc": "2026-10-28T22:45:40.605670+00:00"
+}

sessions/session_20260921_233248_177244/preprocessing/chain-prior-lower-curvature-v2/native/comparison_colors_result.json

@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "elapsed_s_excluding_queue": 2.567453392999596,
+  "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026"
+}

sessions/session_20260921_233248_177244/preprocessing/chain-prior-lower-curvature-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_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2/steps/fit.json

sessions/session_20260921_233248_177244/preprocessing/chain-prior-lower-curvature-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_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2",
+    "--outlier-filter",
+    "statistical:20:2.0",
+    "--max-rounds",
+    "400",
+    "--reprojection-weight",
+    "4.0",
+    "--baseline-run",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/chain_centerline_comparison_v1/variant_b",
+    "--chain-curvature-weight",
+    "5e-10",
+    "--chain-control-count",
+    "18"
+  ],
+  "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026",
+  "started_utc": "2026-10-28T22:45:13.842272+00:00"
+}

sessions/session_20260921_233248_177244/preprocessing/chain-prior-lower-curvature-v2/native/comparison_fit_result.json

@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "elapsed_s_excluding_queue": 21.79937162499118,
+  "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026"
+}

sessions/session_20260921_233248_177244/preprocessing/chain-prior-lower-curvature-v2/native/comparison_hybrid.log

@@ -0,0 +1 @@
+hybrid: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2/steps/hybrid.json

sessions/session_20260921_233248_177244/preprocessing/chain-prior-lower-curvature-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_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2"
+  ],
+  "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026",
+  "started_utc": "2026-10-28T22:45:43.173688+00:00"
+}

sessions/session_20260921_233248_177244/preprocessing/chain-prior-lower-curvature-v2/native/comparison_hybrid_result.json

@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "elapsed_s_excluding_queue": 2.263938440999482,
+  "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026"
+}

sessions/session_20260921_233248_177244/preprocessing/chain-prior-lower-curvature-v2/native/comparison_manifest.log

@@ -0,0 +1 @@
+/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2/manifest.json

sessions/session_20260921_233248_177244/preprocessing/chain-prior-lower-curvature-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_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2"
+  ],
+  "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026",
+  "started_utc": "2026-10-28T22:45:57.685204+00:00"
+}

sessions/session_20260921_233248_177244/preprocessing/chain-prior-lower-curvature-v2/native/comparison_manifest_result.json

@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "elapsed_s_excluding_queue": 1.346273413990275,
+  "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026"
+}

sessions/session_20260921_233248_177244/preprocessing/chain-prior-lower-curvature-v2/native/comparison_review.log

@@ -0,0 +1 @@
+review: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2/steps/review.json

sessions/session_20260921_233248_177244/preprocessing/chain-prior-lower-curvature-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_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2"
+  ],
+  "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026",
+  "started_utc": "2026-10-28T22:45:45.437860+00:00"
+}

sessions/session_20260921_233248_177244/preprocessing/chain-prior-lower-curvature-v2/native/comparison_review_result.json

@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "elapsed_s_excluding_queue": 12.247107314004097,
+  "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026"
+}

sessions/session_20260921_233248_177244/preprocessing/chain-prior-lower-curvature-v2/native/comparison_tube.log

@@ -0,0 +1 @@
+tube: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2/steps/tube.json

sessions/session_20260921_233248_177244/preprocessing/chain-prior-lower-curvature-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_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2"
+  ],
+  "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026",
+  "started_utc": "2026-10-28T22:45:35.641901+00:00"
+}

sessions/session_20260921_233248_177244/preprocessing/chain-prior-lower-curvature-v2/native/comparison_tube_result.json

@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "elapsed_s_excluding_queue": 4.9635677250043955,
+  "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026"
+}

sessions/session_20260921_233248_177244/preprocessing/chain-prior-lower-curvature-v2/native/full_prior_complete.json

@@ -0,0 +1,8 @@
+{
+  "case_id": "233248",
+  "candidate": "lower_curvature",
+  "run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2",
+  "failed_stage": null,
+  "completed_utc": "2026-10-28T22:45:59.031665+00:00",
+  "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026"
+}

sessions/session_20260921_233248_177244/preprocessing/chain-prior-lower-curvature-v2/native/hybrid/populations.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c76a7f13352008d34edd30c143af39fe98f794d21454802f2234d2c3856c78c
+size 4617566

sessions/session_20260921_233248_177244/preprocessing/chain-prior-lower-curvature-v2/native/manifest.json

@@ -0,0 +1,870 @@
+{
+  "kind": "real_rgbd_appearance_spline_prior_v1",
+  "code": {
+    "commit": "98ebffe13629edeb0a9b29df973bebc5730d7026",
+    "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
+  },
+  "steps": {
+    "colors": {
+      "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": 521,
+            "projected_inside": 1728,
+            "first_hit": 937
+          },
+          {
+            "view": 1,
+            "serial": "12933256",
+            "observed_vertices": 197,
+            "projected_inside": 1728,
+            "first_hit": 915
+          },
+          {
+            "view": 2,
+            "serial": "17736741",
+            "observed_vertices": 632,
+            "projected_inside": 1728,
+            "first_hit": 903
+          },
+          {
+            "view": 3,
+            "serial": "23007103",
+            "observed_vertices": 571,
+            "projected_inside": 1728,
+            "first_hit": 930
+          }
+        ],
+        "observed_vertices": 1093,
+        "filled_vertices": 635,
+        "fill_color_rgb": [
+          0.24073260000671,
+          0.2,
+          0.18407373247633343
+        ],
+        "glb_roundtrip": {
+          "float32_positions_exact": true,
+          "vertex_colors_exact": true,
+          "uv_count": 0,
+          "vertex_reordered_on_open3d_load": true
+        },
+        "files": {
+          "colors/vertex_colors.npz": "d6ac07c21391fe514cbb7758aa2495fd85ecb73081d2b55198fd6b44570e5d71",
+          "colors/color_summary.json": "d72ba123ad214acae4d3a37b4937082df125fb5c6eb4ad68779ba58eb3e50778",
+          "tube/shape_prior.glb": "bee45c0e994c462fa3f04dd6c28165fc4bc311f795c94c757ad7d7319ad49766",
+          "tube/tube.ply": "ff66263d76c9bffb07e7c6ac5af5f81e312f51077ef8c476969850c4cb6c1f4b",
+          "gaussian_data/session_20260921_233248_177244/shape_prior.glb": "bee45c0e994c462fa3f04dd6c28165fc4bc311f795c94c757ad7d7319ad49766"
+        }
+      },
+      "code": {
+        "commit": "98ebffe13629edeb0a9b29df973bebc5730d7026",
+        "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
+      },
+      "wall_time_s": 1.1127209663391113
+    },
+    "diagnose-depth": {
+      "status": "ok",
+      "settings": {
+        "correction": "none",
+        "annulus_px": [
+          20,
+          80
+        ]
+      },
+      "outputs": {
+        "report": {
+          "annulus_px": [
+            20,
+            80
+          ],
+          "interior_erosion_px": 2,
+          "correction_applied": false,
+          "views": [
+            {
+              "view": 0,
+              "serial": "12540311",
+              "annulus_count": 54028,
+              "belt_interior_count": 6076,
+              "belt_edge_count": 3021,
+              "table_median_z_m": -0.0001475812325454351,
+              "belt_interior_median_z_m": 0.03159530832678453,
+              "belt_edge_median_z_m": 0.010921304275176347,
+              "belt_minus_table_m": 0.03174288955932997,
+              "edge_minus_table_m": 0.011068885507721782,
+              "table_p10_p90_z_m": [
+                -0.0010991263316354805,
+                0.0008823431881425759
+              ],
+              "belt_interior_p10_p90_z_m": [
+                0.021399493377125545,
+                0.037236789704413464
+              ]
+            },
+            {
+              "view": 1,
+              "serial": "12933256",
+              "annulus_count": 18549,
+              "belt_interior_count": 2281,
+              "belt_edge_count": 1307,
+              "table_median_z_m": -0.0009511309498726472,
+              "belt_interior_median_z_m": 0.017716560911096302,
+              "belt_edge_median_z_m": 0.015112760590346719,
+              "belt_minus_table_m": 0.01866769186096895,
+              "edge_minus_table_m": 0.016063891540219366,
+              "table_p10_p90_z_m": [
+                -0.0014743536298794213,
+                0.0026857265981133915
+              ],
+              "belt_interior_p10_p90_z_m": [
+                0.0036574293803441904,
+                0.03284261904137209
+              ]
+            },
+            {
+              "view": 2,
+              "serial": "17736741",
+              "annulus_count": 62291,
+              "belt_interior_count": 6390,
+              "belt_edge_count": 3594,
+              "table_median_z_m": 0.002159946871161944,
+              "belt_interior_median_z_m": 0.029958198931038738,
+              "belt_edge_median_z_m": 0.01926352507117185,
+              "belt_minus_table_m": 0.027798252059876793,
+              "edge_minus_table_m": 0.017103578200009906,
+              "table_p10_p90_z_m": [
+                0.000873372525790117,
+                0.003607094521693943
+              ],
+              "belt_interior_p10_p90_z_m": [
+                0.022174544065238853,
+                0.03640715242410434
+              ]
+            },
+            {
+              "view": 3,
+              "serial": "23007103",
+              "annulus_count": 43281,
+              "belt_interior_count": 4142,
+              "belt_edge_count": 2508,
+              "table_median_z_m": 6.032738205286048e-05,
+              "belt_interior_median_z_m": 0.03133604846732843,
+              "belt_edge_median_z_m": 0.021072073412563674,
+              "belt_minus_table_m": 0.03127572108527557,
+              "edge_minus_table_m": 0.021011746030510814,
+              "table_p10_p90_z_m": [
+                -0.0005311863251291626,
+                0.0006344766678250124
+              ],
+              "belt_interior_p10_p90_z_m": [
+                0.01786955391896945,
+                0.037936407587852126
+              ]
+            }
+          ]
+        },
+        "files": {
+          "inputs/depth_offset_diagnostic.json": "88e113c39c43f2fdd219cb2c3e2be7c80ce321ad7f3f3524b42d0071f8a1337b"
+        }
+      },
+      "code": {
+        "commit": "0ef64585faa290ae64cb64deba32bf4a5a1e1dc0",
+        "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
+      },
+      "wall_time_s": 0.315748929977417
+    },
+    "fit": {
+      "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": 4.0,
+          "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_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/chain_centerline_comparison_v1/variant_b"
+        },
+        "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-10,
+          "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": 18889,
+          "kept_count": 18412,
+          "removed_count": 477,
+          "per_view": [
+            {
+              "view": 0,
+              "input": 6076,
+              "kept": 5911,
+              "removed": 165,
+              "live_20_0.05_kept": 4502,
+              "no_filter_kept": 6076
+            },
+            {
+              "view": 1,
+              "input": 2281,
+              "kept": 2044,
+              "removed": 237,
+              "live_20_0.05_kept": 1339,
+              "no_filter_kept": 2281
+            },
+            {
+              "view": 2,
+              "input": 6390,
+              "kept": 6337,
+              "removed": 53,
+              "live_20_0.05_kept": 5258,
+              "no_filter_kept": 6390
+            },
+            {
+              "view": 3,
+              "input": 4142,
+              "kept": 4120,
+              "removed": 22,
+              "live_20_0.05_kept": 2405,
+              "no_filter_kept": 4142
+            }
+          ]
+        },
+        "rounds": 1,
+        "stop": "gradient_tolerance",
+        "final": {
+          "loss": 5.603326280834153e-05,
+          "components": {
+            "distance": 2.8259571990929544e-05,
+            "curvature": 3.580332474939496e-08,
+            "arclength": 1.687527095839414e-08,
+            "mask_reprojection_2d": 2.77210128842853e-05
+          },
+          "grad_norm": 6.244809628697112e-05,
+          "arclength_m": 0.5854107737541199,
+          "arclength_bound_active_within_1mm": true,
+          "max_curvature_per_m": 105.48934173583984,
+          "curvature_p50_p90_per_m": [
+            7.615190029144287,
+            35.88040313720703
+          ],
+          "curvature_above_max_fraction": 0.408,
+          "mean_distance_m": 0.008390042528075778,
+          "max_distance_m": 0.06534616649150848,
+          "beyond_2delta_fraction": 0.29019117966543556,
+          "at_cap_fraction": 0.0021724961981316533,
+          "per_view": [
+            {
+              "view": 0,
+              "count": 5911,
+              "median_m": 0.00854147132486105,
+              "p90_m": 0.013838066719472408,
+              "max_m": 0.019542047753930092,
+              "beyond_2delta_fraction": 0.30214853662662833,
+              "at_cap_fraction": 0.0
+            },
+            {
+              "view": 1,
+              "count": 2044,
+              "median_m": 0.0057803497184067965,
+              "p90_m": 0.02001023180782795,
+              "max_m": 0.06534616649150848,
+              "beyond_2delta_fraction": 0.16585127201565558,
+              "at_cap_fraction": 0.019569471624266144
+            },
+            {
+              "view": 2,
+              "count": 6337,
+              "median_m": 0.006130029913038015,
+              "p90_m": 0.010571215115487578,
+              "max_m": 0.014917784370481968,
+              "beyond_2delta_fraction": 0.15575193309136814,
+              "at_cap_fraction": 0.0
+            },
+            {
+              "view": 3,
+              "count": 4120,
+              "median_m": 0.01054922491312027,
+              "p90_m": 0.018009965121746064,
+              "max_m": 0.020221851766109467,
+              "beyond_2delta_fraction": 0.541504854368932,
+              "at_cap_fraction": 0.0
+            }
+          ],
+          "round": 1,
+          "relative_loss_change": 0.9903058150097533
+        },
+        "deterministic": true,
+        "partial_view_witness": {
+          "source": "synthetic rounded trapezoid, four retained RP2 camera centres",
+          "control_count": 18,
+          "curvature_weight": 5e-10,
+          "seed": 5,
+          "noise_sigma_m": 0.0015,
+          "points": 288,
+          "tube_radius_m": 0.00475,
+          "truth_arclength_m": 0.5839999999999999,
+          "truth_corner_curvature_per_m": 100.0,
+          "fit_arclength_m": 0.5844501256942749,
+          "mean_centerline_distance_to_truth_m": 0.0032533064463410887,
+          "max_centerline_distance_to_truth_m": 0.005681761175842478,
+          "corner_truth_to_fit_mean_max_m": [
+            0.00338321064191233,
+            0.004025242412806483
+          ],
+          "straight_truth_to_fit_mean_m": 0.0032302843394948245,
+          "fit_max_curvature_per_m": 127.6394271850586,
+          "fit_curvature_nearest_corners_p50_max_per_m": [
+            51.747100830078125,
+            127.6394271850586
+          ],
+          "rounds": 1,
+          "stop": "gradient_tolerance"
+        },
+        "files": {
+          "spline/reprojection_residuals.npz": "4728d29cb764000d7f3121902eccd180ac304480e122a72992af7a7edf94f13d",
+          "spline/residuals.npz": "1aba6f3a47657e35246b65c5b923c5b86a172f8f16c81b53b752158f1daa2f01",
+          "spline/filtered_cloud.npz": "a624fd41f98644bdaca161234de856df06c8622cace36e95e460d8849c33717b",
+          "spline/spline_init.json": "50ce68beac9472f69403e9ad36e1140a4181f70abd34b319ef4b708c3d0dba0e",
+          "spline/determinism.json": "773d1a02e2924f0d7df2d5d0011979c4e408678ebfdb9633a8348b9788132683",
+          "spline/filter.json": "30f7d4e111c1152344b213c91e1aeaa9fcc8e1f50d20f5e7442783ba92eff1cc",
+          "spline/witness.json": "a95069a8f0af4cd0832d682da5e861529438273bb67376ccb3058fc06d6987dd",
+          "spline/filter_removed.npz": "c9357afd3f70b46bfc487956c870dc5084be375f362ffce189e72472b4e58f16",
+          "spline/spline_fit.json": "17bb2312b253b8119d0ad0285b69b65ffa3c97ac9591976d7948a68834a290ca",
+          "spline/reprojection_comparison.json": "a9ab226bd643d3d0a234488a303fb66d50e88d736a5265fa7bc87809c688b947",
+          "spline/rounds.jsonl": "9806eef1378344af839c7e93a6a34679f63fe34ff191758b092c9ed353fa92dd",
+          "spline/init_ellipse.json": "091a9ac21ec001a0f6869e4ec8d0454606e4edcd591e6fbce712a294953c5e3f",
+          "spline/reprojection.json": "aa5650521e61e1ab22c8532db3be3657f4f8261a50984ab2baf688d865941ee5"
+        }
+      },
+      "code": {
+        "commit": "98ebffe13629edeb0a9b29df973bebc5730d7026",
+        "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
+      },
+      "wall_time_s": 19.734062910079956
+    },
+    "hybrid": {
+      "status": "ok",
+      "settings": {
+        "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f",
+        "numpy_seed": 0,
+        "points_per_triangle": 30
+      },
+      "outputs": {
+        "counts": {
+          "observed": 18412,
+          "mesh": 103680,
+          "total": 122092,
+          "mesh_to_observed": 5.631110145557245
+        },
+        "files": {
+          "hybrid/populations.npz": "4c76a7f13352008d34edd30c143af39fe98f794d21454802f2234d2c3856c78c"
+        }
+      },
+      "code": {
+        "commit": "98ebffe13629edeb0a9b29df973bebc5730d7026",
+        "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
+      },
+      "wall_time_s": 0.8228905200958252
+    },
+    "inputs": {
+      "status": "ok",
+      "settings": {
+        "object": "bike_chain",
+        "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_shared/phystwin_model_corpus_expansion/lab/session_20260921_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/frames_waft.npz",
+        "frames_sha256": "df2db29da5743fa994423000bfa4afb13438f37d921a5e0e001f57fd9b27a55b",
+        "signed_native_frames_sha256": "4fab40868c856a450e65bbdd1704f78c7d48389ab3d761f4b68c4cd09973e80e",
+        "mask_erosion_px": 2,
+        "filter": {
+          "method": "Open3D.remove_statistical_outlier",
+          "nb_neighbors": 20,
+          "std_ratio": 2.0,
+          "input_count": 18889,
+          "kept_count": 18412,
+          "removed_count": 477,
+          "per_view": [
+            {
+              "view": 0,
+              "input": 6076,
+              "kept": 5911,
+              "removed": 165,
+              "live_20_0.05_kept": 4502,
+              "no_filter_kept": 6076
+            },
+            {
+              "view": 1,
+              "input": 2281,
+              "kept": 2044,
+              "removed": 237,
+              "live_20_0.05_kept": 1339,
+              "no_filter_kept": 2281
+            },
+            {
+              "view": 2,
+              "input": 6390,
+              "kept": 6337,
+              "removed": 53,
+              "live_20_0.05_kept": 5258,
+              "no_filter_kept": 6390
+            },
+            {
+              "view": 3,
+              "input": 4142,
+              "kept": 4120,
+              "removed": 22,
+              "live_20_0.05_kept": 2405,
+              "no_filter_kept": 4142
+            }
+          ]
+        },
+        "parent": null,
+        "unfitted_inputs": true,
+        "fitting_bundle_sha256": "273a55b8101a2a7b898b230ee5f45cdfdfdc80070bf431697d856b55df9d2780",
+        "signoffs": {
+          "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233248_177244/window_anchor0208-0747/review_signoff.json": "274f28d6a56ffe772735a2b10f55f1b6eeee0b9ce326188ae2439a57de00172e",
+          "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233248_177244/window_anchor0208-0747/review_signoff_occluder.json": "a6530b28b7155f9a83a22519cc637a7fae844cc1a56c25a25f78442076d1b63b"
+        }
+      },
+      "outputs": {
+        "reference": {
+          "case": "session_20260921_233248_177244",
+          "grid_sample": 0,
+          "views": [
+            {
+              "index": 0,
+              "serial": "12540311",
+              "native_frame": 0,
+              "offset_ms": 15.329769,
+              "object_mask_px": 9097,
+              "invalid_depth_in_mask_px": 0,
+              "occlusion_union_px": 308937,
+              "object_and_union_px": 0,
+              "lifted_points": 5911,
+              "lifted_z_min_max_m": [
+                -0.0018859899635386146,
+                0.045117156948083714
+              ],
+              "uneroded_lifted_points": 9097,
+              "uneroded_lifted_z_min_max_m": [
+                -0.00348298882571052,
+                0.10960923979094639
+              ],
+              "eroded_lifted_points": 6076,
+              "erosion_removed_points": 3021,
+              "outlier_removed_points": 165
+            },
+            {
+              "index": 1,
+              "serial": "12933256",
+              "native_frame": 1,
+              "offset_ms": -15.714045,
+              "object_mask_px": 3588,
+              "invalid_depth_in_mask_px": 0,
+              "occlusion_union_px": 333569,
+              "object_and_union_px": 0,
+              "lifted_points": 2044,
+              "lifted_z_min_max_m": [
+                -0.0032535285191180874,
+                0.03755200259652225
+              ],
+              "uneroded_lifted_points": 3588,
+              "uneroded_lifted_z_min_max_m": [
+                -0.010205048773155201,
+                0.19972480086129102
+              ],
+              "eroded_lifted_points": 2281,
+              "erosion_removed_points": 1307,
+              "outlier_removed_points": 237
+            },
+            {
+              "index": 2,
+              "serial": "17736741",
+              "native_frame": 0,
+              "offset_ms": 0.0,
+              "object_mask_px": 9984,
+              "invalid_depth_in_mask_px": 0,
+              "occlusion_union_px": 365790,
+              "object_and_union_px": 2,
+              "lifted_points": 6337,
+              "lifted_z_min_max_m": [
+                0.0019028896334021272,
+                0.041586813438468595
+              ],
+              "uneroded_lifted_points": 9984,
+              "uneroded_lifted_z_min_max_m": [
+                -0.002630763241436296,
+                0.041847400944392765
+              ],
+              "eroded_lifted_points": 6390,
+              "erosion_removed_points": 3594,
+              "outlier_removed_points": 53
+            },
+            {
+              "index": 3,
+              "serial": "23007103",
+              "native_frame": 0,
+              "offset_ms": 10.356781,
+              "object_mask_px": 6650,
+              "invalid_depth_in_mask_px": 0,
+              "occlusion_union_px": 185448,
+              "object_and_union_px": 0,
+              "lifted_points": 4120,
+              "lifted_z_min_max_m": [
+                0.011239190265990073,
+                0.04317277609162329
+              ],
+              "uneroded_lifted_points": 6650,
+              "uneroded_lifted_z_min_max_m": [
+                -0.006436933866525774,
+                0.04832604041825145
+              ],
+              "eroded_lifted_points": 4142,
+              "erosion_removed_points": 2508,
+              "outlier_removed_points": 22
+            }
+          ],
+          "observed_points": 18412,
+          "mask_erosion_px": 2
+        },
+        "files": {
+          "inputs/observed_cloud.npz": "d2a8b5a228f5dce199d06bc9982311829e4509d15878d57ad3a95223b6b08cd7",
+          "inputs/reference_views.json": "2f89e89cda55379d8541b633dffd00c08c23004661235735a61f079c61592b5f",
+          "gaussian_data/session_20260921_233248_177244/0.png": "263b08bb63822c1877fba57f8b2b174bc5532172201aa708e568b177dfc2f4f2",
+          "gaussian_data/session_20260921_233248_177244/mask_0.png": "31d7677ab912eadaea7b534d19eaec1e975a5aff6784b3370fac6450efeb8924",
+          "gaussian_data/session_20260921_233248_177244/mask_human_0.png": "e670e70a973338779e1a5707994956b6300d96de6de5fb9693c72c743976f222",
+          "gaussian_data/session_20260921_233248_177244/0_depth.npy": "4b23f221e886ec27bb2367b2cd9311b17987d6e1bc438604bd7fc2f96ce21a2f",
+          "gaussian_data/session_20260921_233248_177244/1.png": "b1fc0f529e110ee98fa659113d1fc48e6f1e9971aa547a0db76cf2fafd76e8af",
+          "gaussian_data/session_20260921_233248_177244/mask_1.png": "5e1bcd5e3dc183ab30a191005c29682b3ddd0133e2185a1a94431e1cb3205a20",
+          "gaussian_data/session_20260921_233248_177244/mask_human_1.png": "0b1bcb6da77712361db1e048c280112ec4ac3ccc0689327c7fd3081f27d76252",
+          "gaussian_data/session_20260921_233248_177244/1_depth.npy": "0bf3101f631b1f2b1343bfb6a1e7f0e88c8d6db5d108b19c9a67b5695ccc83b2",
+          "gaussian_data/session_20260921_233248_177244/2.png": "98acaf445d1802da1b181f26befddef65a1665e7a91081097370c533228bc746",
+          "gaussian_data/session_20260921_233248_177244/mask_2.png": "f550a5fadf37c43dcef9f70a6085ed38c13b788835ca3e76b81437c42ddd06f4",
+          "gaussian_data/session_20260921_233248_177244/mask_human_2.png": "61ccea91d02a31764495abc58d223215732a43b67881a990ee57a6da41a55b7f",
+          "gaussian_data/session_20260921_233248_177244/2_depth.npy": "259ede9616b071c20617bb74d682d1382f14f7259ffe1e13659e51e56102eeb6",
+          "gaussian_data/session_20260921_233248_177244/3.png": "916d034c39a47a848793cd50130112853e11153df2b3fe50c8c480f517800067",
+          "gaussian_data/session_20260921_233248_177244/mask_3.png": "2fb4998e34af6648c09804889ed33c2229d9326c6e22e5a2670f0220c0432728",
+          "gaussian_data/session_20260921_233248_177244/mask_human_3.png": "fc2f8bbf0013599c0375d4295168b49efe0fac319a555181951b9c2505b45062",
+          "gaussian_data/session_20260921_233248_177244/3_depth.npy": "b36f85cd638c3d41af664d18af216071605e0a083b57a9dae6328d586ef58c47",
+          "gaussian_data/session_20260921_233248_177244/camera_meta.pkl": "6b76a188022085faebeb5f7339b9f5431c4ada316ec5ac12f2787424cda23346",
+          "gaussian_data/session_20260921_233248_177244/interp_poses.pkl": "b90cc26123c822f0d06446ac699e110db22a86e265c56751819029a46f558b6f",
+          "gaussian_data/session_20260921_233248_177244/observation.ply": "529c4b89bf0494df0040d3457c53243b0f2cb4284499a2745e7112cc08f000f2",
+          "spline/filter.json": "30f7d4e111c1152344b213c91e1aeaa9fcc8e1f50d20f5e7442783ba92eff1cc",
+          "spline/filter_removed.npz": "c9357afd3f70b46bfc487956c870dc5084be375f362ffce189e72472b4e58f16",
+          "spline/filtered_cloud.npz": "a624fd41f98644bdaca161234de856df06c8622cace36e95e460d8849c33717b"
+        }
+      },
+      "code": {
+        "commit": "0ef64585faa290ae64cb64deba32bf4a5a1e1dc0",
+        "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
+      },
+      "wall_time_s": 21.870091676712036
+    },
+    "review": {
+      "status": "ok",
+      "settings": {
+        "historical_prior": null,
+        "historical_sha256": null,
+        "baseline_fit": null
+      },
+      "outputs": {
+        "review_files": 52,
+        "files": {
+          "review/hybrid/combined.png": "16a428e162c4dba4e5d4b2e61e9c56e1962179c93f6630e80ebc13a378b10982",
+          "review/hybrid/mesh.png": "07d5b37a22e23badf32a36dd57e4ba8443e9fe68b81b5a94e1f39ed24e02d71d",
+          "review/hybrid/observed.png": "625b9b30cbeaad697a79e54cb4788983eaa3a8a47a6d6f19eccbd83b75f9f3bc",
+          "review/tube/tube_profiles.png": "dd7752ec843807c464112ea066ff53d310c91469dc7c22e0a98b9f8491ba86c3",
+          "review/tube/silhouette_1_unmasked.png": "76f9a573679171c21cf4f7b132aa9f18efa6ee6f8308af7417e03f4396062833",
+          "review/tube/silhouette_0_unmasked.png": "a590362aeb7d41483f4ede18d93199bc6ba39b7f61f64dc57bf4a7f7fd446a85",
+          "review/tube/silhouette_0_with_masks.png": "e9ab10f38c4c51d251bf502ed4a729c6497dc3c8bfe4ec66018e1b90eaf8db67",
+          "review/tube/silhouette_1_with_masks.png": "9548be5984da1881511ff620a5e36d9b44f4222313681251073d35b7877afbd0",
+          "review/tube/silhouette_2_unmasked.png": "475949f8aefa177f55f77d2faaf69855969069a91c960b86bf4a7536fd7a32bc",
+          "review/tube/silhouette_3_with_masks.png": "38d7dd8ccdd2a5d8bb860dd80c01a7d4737564648cd9dd47f86ec691bc1c2554",
+          "review/tube/silhouette_2_with_masks.png": "08ccb9507680fa2392715d61a13c16934c49d26e9c5aabfc037396d4e3d3fa5c",
+          "review/tube/check_table.json": "07bc7322ab9810d0336a86585174b93ec54db7b3daf86f423dc1a84ca0329aa8",
+          "review/tube/orbit.mp4": "c1926ded9235151f94f7c1a720a02b6c082bac449b104ac3dda49acc0fff84a6",
+          "review/tube/silhouette_3_unmasked.png": "865262c1fc7d176fa469016da825856573a77498636f0bb0a9573df3c51f89c2",
+          "review/tube/tube_scale_views.png": "a9c58ab6d5ba6dde60ae506d56dc30fc881495e6b04e47498168d04fc1adce23",
+          "review/inputs/depth_offset_table.json": "88e113c39c43f2fdd219cb2c3e2be7c80ce321ad7f3f3524b42d0071f8a1337b",
+          "review/inputs/depth_offset.png": "c5c6f46d2fa621140f1e6f09ba2153f95c0b8faa8f48f6660ebf9783745e2c4a",
+          "review/inputs/view_3_23007103.png": "a91a898e704deba25816482267b46d835b97ec374fbe7bf8b2eb6020394bba57",
+          "review/inputs/view_0_12540311.png": "7901b5edb40e99e68b733b784f285a3e18ea1707bbb820a781099d3be73bb29c",
+          "review/inputs/view_1_12933256.png": "cd25becbfdaf0d709790653f225ff909a293bce5700cf8fb0eb370243381d798",
+          "review/inputs/cloud_rgb.png": "0184ac4f596a89ff4a88a2a3e35d211f9db38f8289a7a3da3d6e98985a8796d2",
+          "review/inputs/filter_removed.png": "9d76206e9bf0b5d5e5ca6da7764d27836101360df8017c8a6c7b808ab8d9fc99",
+          "review/inputs/cloud_by_view.png": "289fae7d8d5b4c4ffae6752647e942fe9b65580d06c4dd86e8749ee43d2e6798",
+          "review/inputs/view_2_17736741.png": "93458e332d25365368bde9314d1a1947d53436525afb2ce4506006b6bfa238d9",
+          "review/rerun/headless_contact_sheet.png": "cfedf717844a505eb2a36deeead77575f132a2d49615b9a3ee81b0d33b4c5403",
+          "review/spline/centerline_0_with_masks.png": "2a3a6bf004e480d067ff09bcd2dc8e82285ece54e9b0d068694f81e02c539afa",
+          "review/spline/centerline_3_unmasked.png": "88f478d67f23d56e7fe8261ea3c1a42694fa6a507c2000ff30e3feff10a5d824",
+          "review/spline/per_view_arc_coverage.png": "c5800a3ea5dfac400baca4e1b2b38877484b7b297417d12e74a905db07f6e369",
+          "review/spline/fit_projections.png": "7032d8ccadcbcdd34c4290f5d00c987a82336bcb3d1bc5bc6d311dd7277a8c55",
+          "review/spline/centerline_1_unmasked.png": "60d8b463358c689313575268d74d550c1a2cae6fe2ec34c869dfd39bf885993c",
+          "review/spline/centerline_2_with_masks.png": "7c98d7d33cb404ba0c581c8ee1172c1d81a4777fbaebe69dfac97c2544f50fa7",
+          "review/spline/centerline_1_with_masks.png": "8684c0e8eaee7cbddcc46554ba6c2b77c75b83eb47b4cbf3008e8a9f07c3674b",
+          "review/spline/centerline_2_unmasked.png": "69c6bf61c17f48c45a06059782f6f178753e94783fddfd182d59e5d0cf6f4619",
+          "review/spline/round_curves.png": "fa27f25ccad9d8ad1ed55bbc679397430e177a3aa111661fbc27c8b083ee9a95",
+          "review/spline/curvature_profile.png": "684a7ee4aff0254baa0702c79846a0c226988530b47e4cd17e5759f1723ab69d",
+          "review/spline/residual_histograms.png": "5d45f9472a84294ca309404c61c2b85bb227c840d7f6b13f5b687c48b1160a46",
+          "review/spline/centerline_3_with_masks.png": "e5c5626b01bab2634f9e0b96a50657d0449a0f382a32a911f2c3029ccee037e1",
+          "review/spline/fit_3d.png": "f2e028756a386b5d0fccc8c61159d383c84601e1dbf71dbf9f8f9374a0f2c147",
+          "review/spline/centerline_0_unmasked.png": "c97639abf9435afa472c8e784a2a806afe489c6b4e4f29adfcbcf620fd2c03b9",
+          "review/colors/fill_swatch.txt": "cbf95dc02ec1b12b73cc416c619239abd0371d889de0f11187b9f3b7ac6f5404",
+          "review/colors/view_2_visibility.png": "b390a14bce35f1ccd48c0b05d70e0c4476e9eccd04f81d070cc572eef30e80df",
+          "review/colors/view_1_visibility.png": "12116facab868dbc11b5cb9b4a1d6d69cabdd063abd01eed77af7ad19e3d5db2",
+          "review/colors/visibility_and_fill.png": "8eb1e45ecd15a4cba43a2acb45e3eacbd07676b5c1624a7b179208b029ff5b6d",
+          "review/colors/view_0_visibility.png": "39b4b7024815d886202bf54c6c484df9432eeb519401bac95d9173a1b6a33d79",
+          "review/colors/fill_swatch.png": "8aae75a4ea1f0c43e52b7f9fba82fd92998935071f6db9aa8fc8fd4c7e6a5202",
+          "review/colors/view_3_visibility.png": "c042edaa05619d29e5a9b211b650ca028c3f6917ca640b2cafbd3b3ca529a4e9",
+          "rerun/appearance_spline_prior.rrd": "a6d7b328de61614d29650126464540768de0b44bda7d81eaf5118708e90959f5"
+        }
+      },
+      "code": {
+        "commit": "98ebffe13629edeb0a9b29df973bebc5730d7026",
+        "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
+      },
+      "wall_time_s": 10.482321500778198
+    },
+    "tube": {
+      "status": "ok",
+      "settings": {
+        "radius_m": 0.00475,
+        "step_t": 0.125,
+        "step_angle_deg": 30
+      },
+      "outputs": {
+        "checks": {
+          "euler_characteristic": 0,
+          "watertight": true,
+          "components": 1,
+          "winding_consistent": true,
+          "signed_volume_m3": 3.9576752429131664e-05,
+          "minimum_outward_normal_dot_m": 0.004522768097808061,
+          "degenerate_triangles": 0,
+          "self_intersecting": false,
+          "maximum_radius_error_m": 7.26683560461211e-09,
+          "maximum_diameter_error_m": 1.39546537901436e-08,
+          "bishop_seam_error": 2.9802322387695312e-08,
+          "minimum_nonadjacent_centerline_distance_m": 0.006300799347888567,
+          "triangle_area_m2": {
+            "min": 2.0533710284731095e-06,
+            "median": 4.858620277644157e-06,
+            "mean": 4.994129334743499e-06,
+            "max": 6.944253042613088e-06,
+            "density_max_over_min": 3.38187933223975
+          },
+          "bounds_m": [
+            [
+              -0.0260089710354805,
+              -0.2447315901517868,
+              0.007833285257220268
+            ],
+            [
+              0.10137023776769638,
+              0.0073817018419504166,
+              0.03909420222043991
+            ]
+          ],
+          "radius_m": 0.00475,
+          "step_t": 0.125,
+          "step_angle_deg": 30,
+          "overlap_rule": "surface_intersection",
+          "open3d_reported_intersecting_pairs": 0,
+          "confirmed_intersecting_pairs": [],
+          "passed": true,
+          "orientation_flipped": true
+        },
+        "vertex_count": 1728,
+        "triangle_count": 3456,
+        "files": {
+          "tube/tube_checks.json": "07bc7322ab9810d0336a86585174b93ec54db7b3daf86f423dc1a84ca0329aa8",
+          "tube/triangle_areas.npz": "2e56a3b460ad5eab5a9609acaad921b57a9dd351f0f1b258c8bf3a01401c2868",
+          "tube/geometry.npz": "99d9b40a02b1888c6f59c2068d58d18e1caa15e2eeed0a3febd53632342497ed"
+        }
+      },
+      "code": {
+        "commit": "98ebffe13629edeb0a9b29df973bebc5730d7026",
+        "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
+      },
+      "wall_time_s": 3.2798311710357666
+    }
+  },
+  "files": {
+    "colors/color_summary.json": "d72ba123ad214acae4d3a37b4937082df125fb5c6eb4ad68779ba58eb3e50778",
+    "colors/vertex_colors.npz": "d6ac07c21391fe514cbb7758aa2495fd85ecb73081d2b55198fd6b44570e5d71",
+    "comparison_colors.log": "9ae602d311690e32341411b29dfedef87625fdfd27950d918f95f359163df212",
+    "comparison_colors_argv.json": "0abb53429f09356426464138b019200be26c8fe774d31c83da1cc56d82f8b5ec",
+    "comparison_colors_result.json": "0bd6fa8e4e0181f6ce31b558b58423292f0e8e9fdee935b9f5366737bd22472d",
+    "comparison_fit.log": "a0869334206067da8ae4cb5d33263d3c3b6307eb78e2b4a49d84e7a6a56e2d5c",
+    "comparison_fit_argv.json": "0ae4ed716ef15691384362289913b3d5656d7952717ad6d9762e90e80efe9c42",
+    "comparison_fit_result.json": "deeafc579bd9de90a467e5c6d6e489e1013ac6630e8320a2d76e68c9e04cb8f6",
+    "comparison_hybrid.log": "0a74c326e2402f92bc69fbbee814ad6c0208e4fc92280838901b947b784d6edb",
+    "comparison_hybrid_argv.json": "eb6ae7d09c6c805a235f1d2fe1f6ca3fe604af8a58caa55c883541042d8f9d5b",
+    "comparison_hybrid_result.json": "aea7589e191fda47906a5eb11b7f8e5f3b1750e50f4f86210204af877b469e1f",
+    "comparison_manifest.log": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855",
+    "comparison_manifest_argv.json": "f7372be65578806bd3575adec928af7a02a8e14d30a2637044e39529cb5f83e9",
+    "comparison_review.log": "6e6d4316446dc9b9fa4ebab6bd1d37b2da43bbf3b1330970167cbe6663c50665",
+    "comparison_review_argv.json": "1ad053dc52146ee0c7b67eb02bc9fc7046e994850c6858a79df071441ea04f82",
+    "comparison_review_result.json": "893a1c023806774fc20bbe4f8ff9b8bdd5d0885000847156732244e4e3ad5f71",
+    "comparison_tube.log": "604822f0f124558f68f9247dfd4b6a1fae7f1de5412cecebcce22fecda68b612",
+    "comparison_tube_argv.json": "b681f9aa70d9e6126daec22ee3bf22a6ffa43c1f46e277b34f8dbaa019f76f93",
+    "comparison_tube_result.json": "6c2259cd47a06a0e8cbbd02554af0fea80936a64a898ba899804a46fff684165",
+    "gaussian_data/session_20260921_233248_177244/0.png": "263b08bb63822c1877fba57f8b2b174bc5532172201aa708e568b177dfc2f4f2",
+    "gaussian_data/session_20260921_233248_177244/0_depth.npy": "4b23f221e886ec27bb2367b2cd9311b17987d6e1bc438604bd7fc2f96ce21a2f",
+    "gaussian_data/session_20260921_233248_177244/1.png": "b1fc0f529e110ee98fa659113d1fc48e6f1e9971aa547a0db76cf2fafd76e8af",
+    "gaussian_data/session_20260921_233248_177244/1_depth.npy": "0bf3101f631b1f2b1343bfb6a1e7f0e88c8d6db5d108b19c9a67b5695ccc83b2",
+    "gaussian_data/session_20260921_233248_177244/2.png": "98acaf445d1802da1b181f26befddef65a1665e7a91081097370c533228bc746",
+    "gaussian_data/session_20260921_233248_177244/2_depth.npy": "259ede9616b071c20617bb74d682d1382f14f7259ffe1e13659e51e56102eeb6",
+    "gaussian_data/session_20260921_233248_177244/3.png": "916d034c39a47a848793cd50130112853e11153df2b3fe50c8c480f517800067",
+    "gaussian_data/session_20260921_233248_177244/3_depth.npy": "b36f85cd638c3d41af664d18af216071605e0a083b57a9dae6328d586ef58c47",
+    "gaussian_data/session_20260921_233248_177244/camera_meta.pkl": "6b76a188022085faebeb5f7339b9f5431c4ada316ec5ac12f2787424cda23346",
+    "gaussian_data/session_20260921_233248_177244/interp_poses.pkl": "b90cc26123c822f0d06446ac699e110db22a86e265c56751819029a46f558b6f",
+    "gaussian_data/session_20260921_233248_177244/mask_0.png": "31d7677ab912eadaea7b534d19eaec1e975a5aff6784b3370fac6450efeb8924",
+    "gaussian_data/session_20260921_233248_177244/mask_1.png": "5e1bcd5e3dc183ab30a191005c29682b3ddd0133e2185a1a94431e1cb3205a20",
+    "gaussian_data/session_20260921_233248_177244/mask_2.png": "f550a5fadf37c43dcef9f70a6085ed38c13b788835ca3e76b81437c42ddd06f4",
+    "gaussian_data/session_20260921_233248_177244/mask_3.png": "2fb4998e34af6648c09804889ed33c2229d9326c6e22e5a2670f0220c0432728",
+    "gaussian_data/session_20260921_233248_177244/mask_human_0.png": "e670e70a973338779e1a5707994956b6300d96de6de5fb9693c72c743976f222",
+    "gaussian_data/session_20260921_233248_177244/mask_human_1.png": "0b1bcb6da77712361db1e048c280112ec4ac3ccc0689327c7fd3081f27d76252",
+    "gaussian_data/session_20260921_233248_177244/mask_human_2.png": "61ccea91d02a31764495abc58d223215732a43b67881a990ee57a6da41a55b7f",
+    "gaussian_data/session_20260921_233248_177244/mask_human_3.png": "fc2f8bbf0013599c0375d4295168b49efe0fac319a555181951b9c2505b45062",
+    "gaussian_data/session_20260921_233248_177244/observation.ply": "529c4b89bf0494df0040d3457c53243b0f2cb4284499a2745e7112cc08f000f2",
+    "gaussian_data/session_20260921_233248_177244/shape_prior.glb": "bee45c0e994c462fa3f04dd6c28165fc4bc311f795c94c757ad7d7319ad49766",
+    "hybrid/populations.npz": "4c76a7f13352008d34edd30c143af39fe98f794d21454802f2234d2c3856c78c",
+    "inputs/depth_offset_diagnostic.json": "88e113c39c43f2fdd219cb2c3e2be7c80ce321ad7f3f3524b42d0071f8a1337b",
+    "inputs/observed_cloud.npz": "d2a8b5a228f5dce199d06bc9982311829e4509d15878d57ad3a95223b6b08cd7",
+    "inputs/reference_views.json": "2f89e89cda55379d8541b633dffd00c08c23004661235735a61f079c61592b5f",
+    "rerun/appearance_spline_prior.rrd": "a6d7b328de61614d29650126464540768de0b44bda7d81eaf5118708e90959f5",
+    "reused_inputs.json": "2e2bff59fb8236925d3252d85f9ca03a4eea6bc5c117c9218138d948fd7f8ae2",
+    "review/colors/fill_swatch.png": "8aae75a4ea1f0c43e52b7f9fba82fd92998935071f6db9aa8fc8fd4c7e6a5202",
+    "review/colors/fill_swatch.txt": "cbf95dc02ec1b12b73cc416c619239abd0371d889de0f11187b9f3b7ac6f5404",
+    "review/colors/view_0_visibility.png": "39b4b7024815d886202bf54c6c484df9432eeb519401bac95d9173a1b6a33d79",
+    "review/colors/view_1_visibility.png": "12116facab868dbc11b5cb9b4a1d6d69cabdd063abd01eed77af7ad19e3d5db2",
+    "review/colors/view_2_visibility.png": "b390a14bce35f1ccd48c0b05d70e0c4476e9eccd04f81d070cc572eef30e80df",
+    "review/colors/view_3_visibility.png": "c042edaa05619d29e5a9b211b650ca028c3f6917ca640b2cafbd3b3ca529a4e9",
+    "review/colors/visibility_and_fill.png": "8eb1e45ecd15a4cba43a2acb45e3eacbd07676b5c1624a7b179208b029ff5b6d",
+    "review/hybrid/combined.png": "16a428e162c4dba4e5d4b2e61e9c56e1962179c93f6630e80ebc13a378b10982",
+    "review/hybrid/mesh.png": "07d5b37a22e23badf32a36dd57e4ba8443e9fe68b81b5a94e1f39ed24e02d71d",
+    "review/hybrid/observed.png": "625b9b30cbeaad697a79e54cb4788983eaa3a8a47a6d6f19eccbd83b75f9f3bc",
+    "review/inputs/cloud_by_view.png": "289fae7d8d5b4c4ffae6752647e942fe9b65580d06c4dd86e8749ee43d2e6798",
+    "review/inputs/cloud_rgb.png": "0184ac4f596a89ff4a88a2a3e35d211f9db38f8289a7a3da3d6e98985a8796d2",
+    "review/inputs/depth_offset.png": "c5c6f46d2fa621140f1e6f09ba2153f95c0b8faa8f48f6660ebf9783745e2c4a",
+    "review/inputs/depth_offset_table.json": "88e113c39c43f2fdd219cb2c3e2be7c80ce321ad7f3f3524b42d0071f8a1337b",
+    "review/inputs/filter_removed.png": "9d76206e9bf0b5d5e5ca6da7764d27836101360df8017c8a6c7b808ab8d9fc99",
+    "review/inputs/view_0_12540311.png": "7901b5edb40e99e68b733b784f285a3e18ea1707bbb820a781099d3be73bb29c",
+    "review/inputs/view_1_12933256.png": "cd25becbfdaf0d709790653f225ff909a293bce5700cf8fb0eb370243381d798",
+    "review/inputs/view_2_17736741.png": "93458e332d25365368bde9314d1a1947d53436525afb2ce4506006b6bfa238d9",
+    "review/inputs/view_3_23007103.png": "a91a898e704deba25816482267b46d835b97ec374fbe7bf8b2eb6020394bba57",
+    "review/rerun/headless_contact_sheet.png": "cfedf717844a505eb2a36deeead77575f132a2d49615b9a3ee81b0d33b4c5403",
+    "review/spline/centerline_0_unmasked.png": "c97639abf9435afa472c8e784a2a806afe489c6b4e4f29adfcbcf620fd2c03b9",
+    "review/spline/centerline_0_with_masks.png": "2a3a6bf004e480d067ff09bcd2dc8e82285ece54e9b0d068694f81e02c539afa",
+    "review/spline/centerline_1_unmasked.png": "60d8b463358c689313575268d74d550c1a2cae6fe2ec34c869dfd39bf885993c",
+    "review/spline/centerline_1_with_masks.png": "8684c0e8eaee7cbddcc46554ba6c2b77c75b83eb47b4cbf3008e8a9f07c3674b",
+    "review/spline/centerline_2_unmasked.png": "69c6bf61c17f48c45a06059782f6f178753e94783fddfd182d59e5d0cf6f4619",
+    "review/spline/centerline_2_with_masks.png": "7c98d7d33cb404ba0c581c8ee1172c1d81a4777fbaebe69dfac97c2544f50fa7",
+    "review/spline/centerline_3_unmasked.png": "88f478d67f23d56e7fe8261ea3c1a42694fa6a507c2000ff30e3feff10a5d824",
+    "review/spline/centerline_3_with_masks.png": "e5c5626b01bab2634f9e0b96a50657d0449a0f382a32a911f2c3029ccee037e1",
+    "review/spline/curvature_profile.png": "684a7ee4aff0254baa0702c79846a0c226988530b47e4cd17e5759f1723ab69d",
+    "review/spline/fit_3d.png": "f2e028756a386b5d0fccc8c61159d383c84601e1dbf71dbf9f8f9374a0f2c147",
+    "review/spline/fit_projections.png": "7032d8ccadcbcdd34c4290f5d00c987a82336bcb3d1bc5bc6d311dd7277a8c55",
+    "review/spline/per_view_arc_coverage.png": "c5800a3ea5dfac400baca4e1b2b38877484b7b297417d12e74a905db07f6e369",
+    "review/spline/residual_histograms.png": "5d45f9472a84294ca309404c61c2b85bb227c840d7f6b13f5b687c48b1160a46",
+    "review/spline/round_curves.png": "fa27f25ccad9d8ad1ed55bbc679397430e177a3aa111661fbc27c8b083ee9a95",
+    "review/tube/check_table.json": "07bc7322ab9810d0336a86585174b93ec54db7b3daf86f423dc1a84ca0329aa8",
+    "review/tube/orbit.mp4": "c1926ded9235151f94f7c1a720a02b6c082bac449b104ac3dda49acc0fff84a6",
+    "review/tube/silhouette_0_unmasked.png": "a590362aeb7d41483f4ede18d93199bc6ba39b7f61f64dc57bf4a7f7fd446a85",
+    "review/tube/silhouette_0_with_masks.png": "e9ab10f38c4c51d251bf502ed4a729c6497dc3c8bfe4ec66018e1b90eaf8db67",
+    "review/tube/silhouette_1_unmasked.png": "76f9a573679171c21cf4f7b132aa9f18efa6ee6f8308af7417e03f4396062833",
+    "review/tube/silhouette_1_with_masks.png": "9548be5984da1881511ff620a5e36d9b44f4222313681251073d35b7877afbd0",
+    "review/tube/silhouette_2_unmasked.png": "475949f8aefa177f55f77d2faaf69855969069a91c960b86bf4a7536fd7a32bc",
+    "review/tube/silhouette_2_with_masks.png": "08ccb9507680fa2392715d61a13c16934c49d26e9c5aabfc037396d4e3d3fa5c",
+    "review/tube/silhouette_3_unmasked.png": "865262c1fc7d176fa469016da825856573a77498636f0bb0a9573df3c51f89c2",
+    "review/tube/silhouette_3_with_masks.png": "38d7dd8ccdd2a5d8bb860dd80c01a7d4737564648cd9dd47f86ec691bc1c2554",
+    "review/tube/tube_profiles.png": "dd7752ec843807c464112ea066ff53d310c91469dc7c22e0a98b9f8491ba86c3",
+    "review/tube/tube_scale_views.png": "a9c58ab6d5ba6dde60ae506d56dc30fc881495e6b04e47498168d04fc1adce23",
+    "spline/determinism.json": "773d1a02e2924f0d7df2d5d0011979c4e408678ebfdb9633a8348b9788132683",
+    "spline/filter.json": "30f7d4e111c1152344b213c91e1aeaa9fcc8e1f50d20f5e7442783ba92eff1cc",
+    "spline/filter_removed.npz": "c9357afd3f70b46bfc487956c870dc5084be375f362ffce189e72472b4e58f16",
+    "spline/filtered_cloud.npz": "a624fd41f98644bdaca161234de856df06c8622cace36e95e460d8849c33717b",
+    "spline/init_ellipse.json": "091a9ac21ec001a0f6869e4ec8d0454606e4edcd591e6fbce712a294953c5e3f",
+    "spline/reprojection.json": "aa5650521e61e1ab22c8532db3be3657f4f8261a50984ab2baf688d865941ee5",
+    "spline/reprojection_comparison.json": "a9ab226bd643d3d0a234488a303fb66d50e88d736a5265fa7bc87809c688b947",
+    "spline/reprojection_residuals.npz": "4728d29cb764000d7f3121902eccd180ac304480e122a72992af7a7edf94f13d",
+    "spline/residuals.npz": "1aba6f3a47657e35246b65c5b923c5b86a172f8f16c81b53b752158f1daa2f01",
+    "spline/rounds.jsonl": "9806eef1378344af839c7e93a6a34679f63fe34ff191758b092c9ed353fa92dd",
+    "spline/spline_fit.json": "17bb2312b253b8119d0ad0285b69b65ffa3c97ac9591976d7948a68834a290ca",
+    "spline/spline_init.json": "50ce68beac9472f69403e9ad36e1140a4181f70abd34b319ef4b708c3d0dba0e",
+    "spline/witness.json": "a95069a8f0af4cd0832d682da5e861529438273bb67376ccb3058fc06d6987dd",
+    "steps/colors.json": "c5d89a44f84b444e5f29661ad8d266b8757df78b693aa1d1a25313dd37e25704",
+    "steps/diagnose-depth.json": "3beb61f4a7a2c499478e396a3d29a3d28966cde3b94dfceb34c138d515685eb7",
+    "steps/fit.json": "bb29c1c4857ce1d787adf3a54e9eb5e958d94f222d26a0b4d83a8f374c05561c",
+    "steps/hybrid.json": "4fc7c7c8577f7012de197e325a27ca588c9e895d3afb8bc2ae861f438cea3b24",
+    "steps/inputs.json": "8b87ff350049742816327a74a34f7459a07c65a824ba42742d049c616cabadff",
+    "steps/review.json": "4d5ec02fb80ca112b99a05dfd38c535aa1510a9a3efecd06a4c400137e607f32",
+    "steps/tube.json": "b1c8b9d77f50124fa6af95a1aa9caaf17b7ab9dd0e919f22c9d4b5f455d33c5c",
+    "tube/geometry.npz": "99d9b40a02b1888c6f59c2068d58d18e1caa15e2eeed0a3febd53632342497ed",
+    "tube/shape_prior.glb": "bee45c0e994c462fa3f04dd6c28165fc4bc311f795c94c757ad7d7319ad49766",
+    "tube/triangle_areas.npz": "2e56a3b460ad5eab5a9609acaad921b57a9dd351f0f1b258c8bf3a01401c2868",
+    "tube/tube.ply": "ff66263d76c9bffb07e7c6ac5af5f81e312f51077ef8c476969850c4cb6c1f4b",
+    "tube/tube_checks.json": "07bc7322ab9810d0336a86585174b93ec54db7b3daf86f423dc1a84ca0329aa8"
+  }
+}

sessions/session_20260921_233248_177244/preprocessing/chain-prior-lower-curvature-v2/native/rerun/appearance_spline_prior.rrd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6d7b328de61614d29650126464540768de0b44bda7d81eaf5118708e90959f5
+size 25973545

sessions/session_20260921_233248_177244/preprocessing/chain-prior-lower-curvature-v2/native/reused_inputs.json

@@ -0,0 +1,33 @@
+{
+  "source_run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/chain_centerline_comparison_v1/variant_b",
+  "files": [
+    "inputs/reference_views.json",
+    "inputs/observed_cloud.npz",
+    "inputs/depth_offset_diagnostic.json",
+    "spline/filter.json",
+    "spline/filter_removed.npz",
+    "spline/filtered_cloud.npz",
+    "steps/inputs.json",
+    "steps/diagnose-depth.json",
+    "gaussian_data/session_20260921_233248_177244/0.png",
+    "gaussian_data/session_20260921_233248_177244/0_depth.npy",
+    "gaussian_data/session_20260921_233248_177244/1.png",
+    "gaussian_data/session_20260921_233248_177244/1_depth.npy",
+    "gaussian_data/session_20260921_233248_177244/2.png",
+    "gaussian_data/session_20260921_233248_177244/2_depth.npy",
+    "gaussian_data/session_20260921_233248_177244/3.png",
+    "gaussian_data/session_20260921_233248_177244/3_depth.npy",
+    "gaussian_data/session_20260921_233248_177244/camera_meta.pkl",
+    "gaussian_data/session_20260921_233248_177244/interp_poses.pkl",
+    "gaussian_data/session_20260921_233248_177244/mask_0.png",
+    "gaussian_data/session_20260921_233248_177244/mask_1.png",
+    "gaussian_data/session_20260921_233248_177244/mask_2.png",
+    "gaussian_data/session_20260921_233248_177244/mask_3.png",
+    "gaussian_data/session_20260921_233248_177244/mask_human_0.png",
+    "gaussian_data/session_20260921_233248_177244/mask_human_1.png",
+    "gaussian_data/session_20260921_233248_177244/mask_human_2.png",
+    "gaussian_data/session_20260921_233248_177244/mask_human_3.png",
+    "gaussian_data/session_20260921_233248_177244/observation.ply"
+  ],
+  "action": "Exact observation/filter/step copies; new fit and all derived products are generated separately."
+}

sessions/session_20260921_233248_177244/preprocessing/chain-prior-lower-curvature-v2/native/review/colors/fill_swatch.txt

@@ -0,0 +1,2 @@
+Per-channel median of 1093 observed vertex colours (RGB/255): [0.24073260000671, 0.2, 0.18407373247633343]
+Filled 635 vertices.