diff --git a/.gitattributes b/.gitattributes
index 8c78868f00a0a4f7b643a903d33b4577fce7bf12..c2b69128890df1a142a3d2d307c94b3e6e57b9ab 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -845,3 +845,4 @@ sessions/session_20260921_233144_367389/preprocessing/chain-stronger-reprojectio
 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-stronger-reprojection-v2/native/rerun/appearance_spline_prior.rrd filter=lfs diff=lfs merge=lfs -text
diff --git a/sessions/session_20260921_233248_177244/preprocessing/chain-prior-stronger-reprojection-v2/native/colors/color_summary.json b/sessions/session_20260921_233248_177244/preprocessing/chain-prior-stronger-reprojection-v2/native/colors/color_summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..5290934086325c77327fc92c9400f0d644cf7522
--- /dev/null
+++ b/sessions/session_20260921_233248_177244/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": 578,
+      "projected_inside": 1728,
+      "first_hit": 923
+    },
+    {
+      "view": 1,
+      "serial": "12933256",
+      "observed_vertices": 213,
+      "projected_inside": 1728,
+      "first_hit": 919
+    },
+    {
+      "view": 2,
+      "serial": "17736741",
+      "observed_vertices": 647,
+      "projected_inside": 1728,
+      "first_hit": 923
+    },
+    {
+      "view": 3,
+      "serial": "23007103",
+      "observed_vertices": 626,
+      "projected_inside": 1728,
+      "first_hit": 924
+    }
+  ],
+  "observed_vertices": 1094,
+  "filled_vertices": 634,
+  "fill_color_rgb": [
+    0.2288336765829484,
+    0.1850122447582508,
+    0.17115097272123847
+  ],
+  "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_233248_177244/preprocessing/chain-prior-stronger-reprojection-v2/native/colors/vertex_colors.npz b/sessions/session_20260921_233248_177244/preprocessing/chain-prior-stronger-reprojection-v2/native/colors/vertex_colors.npz
new file mode 100644
index 0000000000000000000000000000000000000000..247aefde6d0ba5de7d576e36981571f58c767248
--- /dev/null
+++ b/sessions/session_20260921_233248_177244/preprocessing/chain-prior-stronger-reprojection-v2/native/colors/vertex_colors.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c1ac5765d36c0e0c72589a664f3f3dc6723dd4b26cfff2d5ff4577c5973d944
+size 56328
diff --git a/sessions/session_20260921_233248_177244/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_colors.log b/sessions/session_20260921_233248_177244/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_colors.log
new file mode 100644
index 0000000000000000000000000000000000000000..d2ed0e941a6e93a9541c8779f64d42fce9ffd6b0
--- /dev/null
+++ b/sessions/session_20260921_233248_177244/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_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2/steps/colors.json
diff --git a/sessions/session_20260921_233248_177244/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_colors_argv.json b/sessions/session_20260921_233248_177244/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_colors_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..e88b78ba06d5e7f02061515a65b2ccff1cb8bff5
--- /dev/null
+++ b/sessions/session_20260921_233248_177244/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_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2"
+  ],
+  "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026",
+  "started_utc": "2026-10-28T22:46:25.780273+00:00"
+}
diff --git a/sessions/session_20260921_233248_177244/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_colors_result.json b/sessions/session_20260921_233248_177244/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_colors_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..14b8bb4e84f59726fcbb3ed7803b5903e6494618
--- /dev/null
+++ b/sessions/session_20260921_233248_177244/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_colors_result.json
@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "elapsed_s_excluding_queue": 2.57513903301151,
+  "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026"
+}
diff --git a/sessions/session_20260921_233248_177244/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_fit.log b/sessions/session_20260921_233248_177244/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_fit.log
new file mode 100644
index 0000000000000000000000000000000000000000..9ee5dbbe0b5ee1b25ecff170b9f9f86d2a27e788
--- /dev/null
+++ b/sessions/session_20260921_233248_177244/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_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2/steps/fit.json
diff --git a/sessions/session_20260921_233248_177244/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_fit_argv.json b/sessions/session_20260921_233248_177244/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_fit_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a21ed696d5636980f9ed4ed9feb01f41850e39f
--- /dev/null
+++ b/sessions/session_20260921_233248_177244/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_233248_177244/window_anchor0208-0747/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_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/chain_centerline_comparison_v1/variant_b",
+    "--chain-curvature-weight",
+    "5e-09",
+    "--chain-control-count",
+    "18"
+  ],
+  "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026",
+  "started_utc": "2026-10-28T22:45:59.031808+00:00"
+}
diff --git a/sessions/session_20260921_233248_177244/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_fit_result.json b/sessions/session_20260921_233248_177244/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_fit_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..1495d21afb8c11218582e9fbb6987ae3edc2f664
--- /dev/null
+++ b/sessions/session_20260921_233248_177244/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_fit_result.json
@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "elapsed_s_excluding_queue": 21.845526361998054,
+  "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026"
+}
diff --git a/sessions/session_20260921_233248_177244/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_hybrid.log b/sessions/session_20260921_233248_177244/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_hybrid.log
new file mode 100644
index 0000000000000000000000000000000000000000..4c5e4db14ff8f2614223b756d8da245a4c8d6603
--- /dev/null
+++ b/sessions/session_20260921_233248_177244/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_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2/steps/hybrid.json
diff --git a/sessions/session_20260921_233248_177244/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_hybrid_argv.json b/sessions/session_20260921_233248_177244/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_hybrid_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..fbc7b0e04b81e2709df4e89283103f257d761e67
--- /dev/null
+++ b/sessions/session_20260921_233248_177244/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_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2"
+  ],
+  "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026",
+  "started_utc": "2026-10-28T22:46:28.355689+00:00"
+}
diff --git a/sessions/session_20260921_233248_177244/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_hybrid_result.json b/sessions/session_20260921_233248_177244/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_hybrid_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..f29acbd6a41322176a776bfbb442bc6e80dd1990
--- /dev/null
+++ b/sessions/session_20260921_233248_177244/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_hybrid_result.json
@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "elapsed_s_excluding_queue": 2.2329767189949052,
+  "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026"
+}
diff --git a/sessions/session_20260921_233248_177244/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_manifest.log b/sessions/session_20260921_233248_177244/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_manifest.log
new file mode 100644
index 0000000000000000000000000000000000000000..66f1fc5719f2244ea97590d77d056afb5e06193f
--- /dev/null
+++ b/sessions/session_20260921_233248_177244/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_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2/manifest.json
diff --git a/sessions/session_20260921_233248_177244/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_manifest_argv.json b/sessions/session_20260921_233248_177244/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_manifest_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..09e076c068fe75bf806cb68d691d94d54699508b
--- /dev/null
+++ b/sessions/session_20260921_233248_177244/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_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2"
+  ],
+  "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026",
+  "started_utc": "2026-10-28T22:46:42.805077+00:00"
+}
diff --git a/sessions/session_20260921_233248_177244/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_manifest_result.json b/sessions/session_20260921_233248_177244/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_manifest_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..26581dd5d42b93144b3142d8657ae65b30e8edf6
--- /dev/null
+++ b/sessions/session_20260921_233248_177244/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_manifest_result.json
@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "elapsed_s_excluding_queue": 1.3134115059947362,
+  "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026"
+}
diff --git a/sessions/session_20260921_233248_177244/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_review.log b/sessions/session_20260921_233248_177244/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_review.log
new file mode 100644
index 0000000000000000000000000000000000000000..01b06b7684bf578c6e588d1fe3b24d81b8b80d57
--- /dev/null
+++ b/sessions/session_20260921_233248_177244/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_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2/steps/review.json
diff --git a/sessions/session_20260921_233248_177244/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_review_argv.json b/sessions/session_20260921_233248_177244/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_review_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..a891b639345128a4208ad03e28474623f64afb13
--- /dev/null
+++ b/sessions/session_20260921_233248_177244/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_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2"
+  ],
+  "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026",
+  "started_utc": "2026-10-28T22:46:30.589053+00:00"
+}
diff --git a/sessions/session_20260921_233248_177244/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_review_result.json b/sessions/session_20260921_233248_177244/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_review_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..0919e4b2bd7e3ea1d11687143cb6414fda6d5483
--- /dev/null
+++ b/sessions/session_20260921_233248_177244/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_review_result.json
@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "elapsed_s_excluding_queue": 12.215790908987401,
+  "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026"
+}
diff --git a/sessions/session_20260921_233248_177244/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_tube.log b/sessions/session_20260921_233248_177244/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_tube.log
new file mode 100644
index 0000000000000000000000000000000000000000..4791498cbf7efc28bf01ca0be7a2e029846ca231
--- /dev/null
+++ b/sessions/session_20260921_233248_177244/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_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2/steps/tube.json
diff --git a/sessions/session_20260921_233248_177244/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_tube_argv.json b/sessions/session_20260921_233248_177244/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_tube_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1dfbb671b3c163253d8c19c8beb7efad28d2e66
--- /dev/null
+++ b/sessions/session_20260921_233248_177244/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_233248_177244/window_anchor0208-0747/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2"
+  ],
+  "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026",
+  "started_utc": "2026-10-28T22:46:20.877551+00:00"
+}
diff --git a/sessions/session_20260921_233248_177244/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_tube_result.json b/sessions/session_20260921_233248_177244/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_tube_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..58f4d30566e0b5f5079090e80ca17382be56627c
--- /dev/null
+++ b/sessions/session_20260921_233248_177244/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_tube_result.json
@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "elapsed_s_excluding_queue": 4.9024996390071465,
+  "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026"
+}
diff --git a/sessions/session_20260921_233248_177244/preprocessing/chain-prior-stronger-reprojection-v2/native/full_prior_complete.json b/sessions/session_20260921_233248_177244/preprocessing/chain-prior-stronger-reprojection-v2/native/full_prior_complete.json
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diff --git a/sessions/session_20260921_233248_177244/preprocessing/chain-prior-stronger-reprojection-v2/native/steps/fit.json b/sessions/session_20260921_233248_177244/preprocessing/chain-prior-stronger-reprojection-v2/native/steps/fit.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c7b9ca5cffd3d4788ea7ed6f2340a2cc16a18a8
--- /dev/null
+++ b/sessions/session_20260921_233248_177244/preprocessing/chain-prior-stronger-reprojection-v2/native/steps/fit.json
@@ -0,0 +1,215 @@
+{
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+  "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)",
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+      "ribbon_width_m": null,
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+      "u_resolution": null,
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+      "twist_penalty": null
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+    "control_count": 18,
+    "relative_loss_tolerance": 1e-07,
+    "reprojection": {
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+      "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,
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+      "grad_norm_tolerance": 0.0001,
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+          "removed": 165,
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+          "input": 2281,
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+          "removed": 237,
+          "live_20_0.05_kept": 1339,
+          "no_filter_kept": 2281
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+          "removed": 53,
+          "live_20_0.05_kept": 5258,
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+        {
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+          "count": 4120,
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+          "beyond_2delta_fraction": 0.6186893203883496,
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+    "partial_view_witness": {
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\ No newline at end of file
diff --git a/sessions/session_20260921_233248_177244/preprocessing/chain-prior-stronger-reprojection-v2/native/steps/hybrid.json b/sessions/session_20260921_233248_177244/preprocessing/chain-prior-stronger-reprojection-v2/native/steps/hybrid.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf207d02134897cdf7df8bd83a2411e7065c42fa
--- /dev/null
+++ b/sessions/session_20260921_233248_177244/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": 18412,
+      "mesh": 103680,
+      "total": 122092,
+      "mesh_to_observed": 5.631110145557245
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+    "files": {
+      "hybrid/populations.npz": "7e006c624b3a9d9ddf1de8933f129a64f8585937930d1c99e08b5032e538f990"
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+  "code": {
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+}
\ No newline at end of file
diff --git a/sessions/session_20260921_233248_177244/preprocessing/chain-prior-stronger-reprojection-v2/native/steps/review.json b/sessions/session_20260921_233248_177244/preprocessing/chain-prior-stronger-reprojection-v2/native/steps/review.json
new file mode 100644
index 0000000000000000000000000000000000000000..1bd25c2283b645a95c02dcf67cfa4ea3869dde5c
--- /dev/null
+++ b/sessions/session_20260921_233248_177244/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
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+  "outputs": {
+    "review_files": 52,
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\ No newline at end of file
diff --git a/sessions/session_20260921_233248_177244/preprocessing/chain-prior-stronger-reprojection-v2/native/steps/tube.json b/sessions/session_20260921_233248_177244/preprocessing/chain-prior-stronger-reprojection-v2/native/steps/tube.json
new file mode 100644
index 0000000000000000000000000000000000000000..dfedd4104a11fb9c9f2ad4a839700a95d72dfe39
--- /dev/null
+++ b/sessions/session_20260921_233248_177244/preprocessing/chain-prior-stronger-reprojection-v2/native/steps/tube.json
@@ -0,0 +1,63 @@
+{
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+  "settings": {
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+    "step_angle_deg": 30
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+  "outputs": {
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+      "watertight": true,
+      "components": 1,
+      "winding_consistent": true,
+      "signed_volume_m3": 3.960460143333692e-05,
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