sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1: payload batch 1/1

.gitattributes

@@ -742,3 +742,4 @@ sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojectio
 sessions/session_20260921_232950_841214/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_233045_819927/preprocessing/chain-prior-lower-curvature-v2/native/gaussian_data/session_20260921_233045_819927/observation.ply filter=lfs diff=lfs merge=lfs -text
 sessions/session_20260921_233045_819927/preprocessing/chain-prior-lower-curvature-v2/native/rerun/appearance_spline_prior.rrd filter=lfs diff=lfs merge=lfs -text
+sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/rerun/appearance_spline_prior.rrd filter=lfs diff=lfs merge=lfs -text

sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/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": 656,
+      "projected_inside": 1728,
+      "first_hit": 914
+    },
+    {
+      "view": 1,
+      "serial": "12933256",
+      "observed_vertices": 720,
+      "projected_inside": 1728,
+      "first_hit": 913
+    },
+    {
+      "view": 2,
+      "serial": "17736741",
+      "observed_vertices": 706,
+      "projected_inside": 1728,
+      "first_hit": 918
+    },
+    {
+      "view": 3,
+      "serial": "23007103",
+      "observed_vertices": 756,
+      "projected_inside": 1728,
+      "first_hit": 930
+    }
+  ],
+  "observed_vertices": 1201,
+  "filled_vertices": 527,
+  "fill_color_rgb": [
+    0.2063746900559351,
+    0.1692619234299968,
+    0.15709957824017537
+  ],
+  "glb_roundtrip": {
+    "float32_positions_exact": true,
+    "vertex_colors_exact": true,
+    "uv_count": 0,
+    "vertex_reordered_on_open3d_load": true
+  }
+}

sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/colors/vertex_colors.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26544cfddfd79d39272c9baf2c9c8e5b7a1aa4a8a22ec9096154a5d5f2de9e0e
+size 56328

sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/full_prior_complete.json

@@ -0,0 +1,4 @@
+{
+  "completed_utc": "2026-10-28T22:11:41.204663+00:00",
+  "source": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e"
+}

sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/hybrid/populations.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41016b710691adb01b9c5e214077774f9ae0a2696bb2f0253e1249233fd14494
+size 4945934

sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/manifest.json

@@ -0,0 +1,887 @@
+{
+  "kind": "real_rgbd_appearance_spline_prior_v1",
+  "code": {
+    "commit": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e",
+    "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": 656,
+            "projected_inside": 1728,
+            "first_hit": 914
+          },
+          {
+            "view": 1,
+            "serial": "12933256",
+            "observed_vertices": 720,
+            "projected_inside": 1728,
+            "first_hit": 913
+          },
+          {
+            "view": 2,
+            "serial": "17736741",
+            "observed_vertices": 706,
+            "projected_inside": 1728,
+            "first_hit": 918
+          },
+          {
+            "view": 3,
+            "serial": "23007103",
+            "observed_vertices": 756,
+            "projected_inside": 1728,
+            "first_hit": 930
+          }
+        ],
+        "observed_vertices": 1201,
+        "filled_vertices": 527,
+        "fill_color_rgb": [
+          0.2063746900559351,
+          0.1692619234299968,
+          0.15709957824017537
+        ],
+        "glb_roundtrip": {
+          "float32_positions_exact": true,
+          "vertex_colors_exact": true,
+          "uv_count": 0,
+          "vertex_reordered_on_open3d_load": true
+        },
+        "files": {
+          "colors/vertex_colors.npz": "26544cfddfd79d39272c9baf2c9c8e5b7a1aa4a8a22ec9096154a5d5f2de9e0e",
+          "colors/color_summary.json": "1815056fb39076ada8a08aad5c67d421010d07fad81312bbba8fb4a3ab984941",
+          "tube/shape_prior.glb": "bc674f33899a26c8c73819745e35f58700a5c890aa6cae21adb3808b0e8b3485",
+          "tube/tube.ply": "b8b4f0ad74e18c4b281c7f8441087052d1ef084cb7e87558e9ad8e680cbcc5c6",
+          "gaussian_data/session_20260921_233045_819927/shape_prior.glb": "bc674f33899a26c8c73819745e35f58700a5c890aa6cae21adb3808b0e8b3485"
+        }
+      },
+      "code": {
+        "commit": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e",
+        "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
+      },
+      "wall_time_s": 1.1453757286071777
+    },
+    "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": 69314,
+              "belt_interior_count": 6485,
+              "belt_edge_count": 3072,
+              "table_median_z_m": 0.0009748728491107972,
+              "belt_interior_median_z_m": 0.013123014313986436,
+              "belt_edge_median_z_m": 0.0022403152631437218,
+              "belt_minus_table_m": 0.01214814146487564,
+              "edge_minus_table_m": 0.0012654424140329246,
+              "table_p10_p90_z_m": [
+                3.487219478159887e-05,
+                0.0018452913934204453
+              ],
+              "belt_interior_p10_p90_z_m": [
+                0.0034456827382510105,
+                0.016198002553601622
+              ]
+            },
+            {
+              "view": 1,
+              "serial": "12933256",
+              "annulus_count": 59723,
+              "belt_interior_count": 7095,
+              "belt_edge_count": 2955,
+              "table_median_z_m": -0.0007700417823185424,
+              "belt_interior_median_z_m": 0.007450388081917891,
+              "belt_edge_median_z_m": 0.0005413634208680795,
+              "belt_minus_table_m": 0.008220429864236434,
+              "edge_minus_table_m": 0.001311405203186622,
+              "table_p10_p90_z_m": [
+                -0.0012149570362642637,
+                -0.00021347481279005925
+              ],
+              "belt_interior_p10_p90_z_m": [
+                0.001215503390132322,
+                0.010241006125027563
+              ]
+            },
+            {
+              "view": 2,
+              "serial": "17736741",
+              "annulus_count": 76564,
+              "belt_interior_count": 7626,
+              "belt_edge_count": 3554,
+              "table_median_z_m": 0.0010098158077907482,
+              "belt_interior_median_z_m": 0.012410282072063183,
+              "belt_edge_median_z_m": 0.0022887624611795943,
+              "belt_minus_table_m": 0.011400466264272435,
+              "edge_minus_table_m": 0.001278946653388846,
+              "table_p10_p90_z_m": [
+                -3.7572555820986064e-05,
+                0.0024724420021377536
+              ],
+              "belt_interior_p10_p90_z_m": [
+                0.0029089655615112675,
+                0.014441973791257057
+              ]
+            },
+            {
+              "view": 3,
+              "serial": "23007103",
+              "annulus_count": 52333,
+              "belt_interior_count": 5072,
+              "belt_edge_count": 2518,
+              "table_median_z_m": 0.00029239318020879423,
+              "belt_interior_median_z_m": 0.0099913886254267,
+              "belt_edge_median_z_m": 0.0020790778256167264,
+              "belt_minus_table_m": 0.009698995445217906,
+              "edge_minus_table_m": 0.0017866846454079321,
+              "table_p10_p90_z_m": [
+                -0.00015406176522336776,
+                0.0010087709000240039
+              ],
+              "belt_interior_p10_p90_z_m": [
+                0.004769676505189879,
+                0.011917525764860992
+              ]
+            }
+          ]
+        },
+        "files": {
+          "inputs/depth_offset_diagnostic.json": "3fba82d59ce4ee9701b7cb91c8bb1b38d232f18ecaa41eaba5eca4144bd1a23f"
+        }
+      },
+      "code": {
+        "commit": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e",
+        "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
+      },
+      "wall_time_s": 0.3056330680847168
+    },
+    "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_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_v1"
+        },
+        "loss_config": {
+          "eval_distances": true,
+          "max_saturation_distance": 0.035,
+          "distance_huber_delta": 0.005,
+          "eval_curvature_cost": true,
+          "num_eval_reg_points": 250,
+          "lambda_curvature_cost": 5e-09,
+          "max_curvature": 10.0,
+          "curvature_huber_delta": 30.0,
+          "max_saturation_curvature": 80.0,
+          "eval_curvilinear_energy": false,
+          "lambda_curvilinear_energy": 0.001,
+          "eval_length_constraint": true,
+          "lambda_length_constraint": 0.1,
+          "arclength_bounds": [
+            0.5830000042915344,
+            0.5849999785423279
+          ]
+        },
+        "solver_config": {
+          "solver_type": "lbfgs",
+          "linesearch_type": "zoom",
+          "max_linesearch_steps": 10,
+          "grad_norm_tolerance": 0.0001,
+          "max_iter": 25
+        },
+        "ribbon_twist_refinement": null
+      },
+      "outputs": {
+        "filter": {
+          "method": "Open3D.remove_statistical_outlier",
+          "nb_neighbors": 20,
+          "std_ratio": 2.0,
+          "input_count": 26278,
+          "kept_count": 25253,
+          "removed_count": 1025,
+          "per_view": [
+            {
+              "view": 0,
+              "input": 6485,
+              "kept": 6305,
+              "removed": 180,
+              "live_20_0.05_kept": 4606,
+              "no_filter_kept": 6485
+            },
+            {
+              "view": 1,
+              "input": 7095,
+              "kept": 6623,
+              "removed": 472,
+              "live_20_0.05_kept": 3663,
+              "no_filter_kept": 7095
+            },
+            {
+              "view": 2,
+              "input": 7626,
+              "kept": 7409,
+              "removed": 217,
+              "live_20_0.05_kept": 5361,
+              "no_filter_kept": 7626
+            },
+            {
+              "view": 3,
+              "input": 5072,
+              "kept": 4916,
+              "removed": 156,
+              "live_20_0.05_kept": 2537,
+              "no_filter_kept": 5072
+            }
+          ]
+        },
+        "rounds": 1,
+        "stop": "gradient_tolerance",
+        "final": {
+          "loss": 5.7054683566093445e-05,
+          "components": {
+            "distance": 2.43807789956918e-05,
+            "curvature": 1.916789784672801e-07,
+            "arclength": 3.3035778557177764e-08,
+            "mask_reprojection_2d": 3.2449188438476995e-05
+          },
+          "grad_norm": 9.133969433605671e-05,
+          "arclength_m": 0.585574746131897,
+          "arclength_bound_active_within_1mm": true,
+          "max_curvature_per_m": 32.09360885620117,
+          "curvature_p50_p90_per_m": [
+            11.833191394805908,
+            27.98315544128418
+          ],
+          "curvature_above_max_fraction": 0.552,
+          "mean_distance_m": 0.00749255351546465,
+          "max_distance_m": 0.016013795509934425,
+          "beyond_2delta_fraction": 0.16239654694491742,
+          "at_cap_fraction": 0.0,
+          "per_view": [
+            {
+              "view": 0,
+              "count": 6305,
+              "median_m": 0.008462566882371902,
+              "p90_m": 0.012568965554237366,
+              "max_m": 0.016013795509934425,
+              "beyond_2delta_fraction": 0.3370340999206979,
+              "at_cap_fraction": 0.0
+            },
+            {
+              "view": 1,
+              "count": 6623,
+              "median_m": 0.005789372604340315,
+              "p90_m": 0.00846491064876318,
+              "max_m": 0.01196344755589962,
+              "beyond_2delta_fraction": 0.01162615129095576,
+              "at_cap_fraction": 0.0
+            },
+            {
+              "view": 2,
+              "count": 7409,
+              "median_m": 0.007865439169108868,
+              "p90_m": 0.010451062396168708,
+              "max_m": 0.01335628516972065,
+              "beyond_2delta_fraction": 0.13888513969496558,
+              "at_cap_fraction": 0.0
+            },
+            {
+              "view": 3,
+              "count": 4916,
+              "median_m": 0.008147876244038343,
+              "p90_m": 0.010634738020598888,
+              "max_m": 0.01547787431627512,
+              "beyond_2delta_fraction": 0.17697314890154597,
+              "at_cap_fraction": 0.0
+            }
+          ],
+          "round": 1,
+          "relative_loss_change": 0.9871013016921988
+        },
+        "deterministic": true,
+        "partial_view_witness": {
+          "source": "synthetic rounded trapezoid, four retained RP2 camera centres",
+          "control_count": 18,
+          "curvature_weight": 5e-09,
+          "seed": 5,
+          "noise_sigma_m": 0.0015,
+          "points": 288,
+          "tube_radius_m": 0.00475,
+          "truth_arclength_m": 0.5839999999999999,
+          "truth_corner_curvature_per_m": 100.0,
+          "fit_arclength_m": 0.5848261713981628,
+          "mean_centerline_distance_to_truth_m": 0.0033057606075813984,
+          "max_centerline_distance_to_truth_m": 0.00574637227071573,
+          "corner_truth_to_fit_mean_max_m": [
+            0.0034471907212280492,
+            0.004112132806429916
+          ],
+          "straight_truth_to_fit_mean_m": 0.0032905154061825467,
+          "fit_max_curvature_per_m": 123.19891357421875,
+          "fit_curvature_nearest_corners_p50_max_per_m": [
+            49.564300537109375,
+            123.19891357421875
+          ],
+          "rounds": 1,
+          "stop": "gradient_tolerance"
+        },
+        "files": {
+          "spline/reprojection_residuals.npz": "db9abb57322446b740e12f3110d591fc6adf4202ce5ac365f5a6080c4ce16e45",
+          "spline/residuals.npz": "104e8ddb927f270231c908e26b7376baeb250ca0d40666b6637afa924bfe127f",
+          "spline/filtered_cloud.npz": "b6ea191c915aeedd5bca0de57c95adc7e33de26e3f933748fc2770c7a27d056c",
+          "spline/spline_init.json": "4bb3a888f0ebf238522423ac5e25d5b700225db8a9a346f09f348736d04b7b89",
+          "spline/determinism.json": "773d1a02e2924f0d7df2d5d0011979c4e408678ebfdb9633a8348b9788132683",
+          "spline/filter.json": "ed8ad36a695023cc0a6caf46cd046cfda732d7fe6277b48e7f8c18d920ab1dc1",
+          "spline/witness.json": "2e2b05643b7d4b5b27fa363133a00d709afe07cf7bec6b77fdc6a54ed0232924",
+          "spline/filter_removed.npz": "dbe5d8f81c1c941ff98416d4133b541e4692467f01490f56d753f38da0bef6e1",
+          "spline/spline_fit.json": "1447d06033aef8a695483ebe1fa9cd15f4036f0e66c80028257fba96cf9c5d25",
+          "spline/reprojection_comparison.json": "96dd1ecc886fa5a993c745caf615d3a8726de4a4155dd28fe74f18c61da0c886",
+          "spline/rounds.jsonl": "9347186bb2683e1622fe5da000eb0627522f6881cff6cdffc6ed6a328091e694",
+          "spline/init_ellipse.json": "c494971b08e2c055d366fb9aeb8a59e644cbc6f814538890d610e0cde605431c",
+          "spline/reprojection.json": "620ec0c2cf34ed208da0277d8c98e80f0c6477817448363752c06baffc94d55b"
+        }
+      },
+      "code": {
+        "commit": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e",
+        "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
+      },
+      "wall_time_s": 20.815335273742676
+    },
+    "hybrid": {
+      "status": "ok",
+      "settings": {
+        "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f",
+        "numpy_seed": 0,
+        "points_per_triangle": 30
+      },
+      "outputs": {
+        "counts": {
+          "observed": 25253,
+          "mesh": 103680,
+          "total": 128933,
+          "mesh_to_observed": 4.105650813764702
+        },
+        "files": {
+          "hybrid/populations.npz": "41016b710691adb01b9c5e214077774f9ae0a2696bb2f0253e1249233fd14494"
+        }
+      },
+      "code": {
+        "commit": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e",
+        "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
+      },
+      "wall_time_s": 0.8177316188812256
+    },
+    "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_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/frames_waft/per_camera_inputs.json",
+        "frames_sha256": "f215c7f16f122702d714a0946ffb217e8e3f1e654dc447961ee68fb9e75c33c2",
+        "signed_native_frames_sha256": {
+          "12540311": "44e73482a9dd9d475b85c5f38a64691711dafc4aac44b64e2c0888e2a75723da",
+          "12933256": "36405ab650383c45f7df5902b7953a8c89a942de763eae418ea5a03cb616d58b",
+          "17736741": "14284c40988f146f90de8c5072f83def164a23fb899ede9010cb4c9dac487b0d",
+          "23007103": "b16af3ccf4322254bd631fedc7c543bea209ed38c73b16f7fab6ea852454ca55"
+        },
+        "camera_frames_sha256": {
+          "12540311": "c9ee992b4fe990a91356fa0ed58c7d74927aadec6892e1186063436d8a9df663",
+          "12933256": "3e635b00202c34a8c0ead41218d28f055da7eb002126dc04641b58aaacc82d8b",
+          "17736741": "eb7496fca2c31e226775986c5e57fa9c7ea0557c2b711d3debe99008d7afe98f",
+          "23007103": "91fa5815823818b39a35f50fbf5e92c348936e040ec38582185dd056544b2ea5"
+        },
+        "mask_erosion_px": 2,
+        "filter": {
+          "method": "Open3D.remove_statistical_outlier",
+          "nb_neighbors": 20,
+          "std_ratio": 2.0,
+          "input_count": 26278,
+          "kept_count": 25253,
+          "removed_count": 1025,
+          "per_view": [
+            {
+              "view": 0,
+              "input": 6485,
+              "kept": 6305,
+              "removed": 180,
+              "live_20_0.05_kept": 4606,
+              "no_filter_kept": 6485
+            },
+            {
+              "view": 1,
+              "input": 7095,
+              "kept": 6623,
+              "removed": 472,
+              "live_20_0.05_kept": 3663,
+              "no_filter_kept": 7095
+            },
+            {
+              "view": 2,
+              "input": 7626,
+              "kept": 7409,
+              "removed": 217,
+              "live_20_0.05_kept": 5361,
+              "no_filter_kept": 7626
+            },
+            {
+              "view": 3,
+              "input": 5072,
+              "kept": 4916,
+              "removed": 156,
+              "live_20_0.05_kept": 2537,
+              "no_filter_kept": 5072
+            }
+          ]
+        },
+        "parent": null,
+        "unfitted_inputs": true,
+        "fitting_bundle_sha256": "6693da6d87ff3ef61cb6fc132895d0adf299b73bed8abdada11eb1eae3984b8e",
+        "signoffs": {
+          "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/native_inputs/cameras/12540311/review_signoff.json": "195f585c3cfee4f75ee88e9fe92a4c366ea579ba537d6eb203c3a3716cf07ae7",
+          "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/native_inputs/cameras/12540311/review_signoff_occluder.json": "e3aa450460445615cb2fbc7ccbaa8ad7af532536e886ffad1475104be89bbd68",
+          "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/native_inputs/cameras/12933256/review_signoff.json": "c767e86c2088969488a7d69ab5b78804a7de61b41d65e79e2e66748123d65fd0",
+          "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/native_inputs/cameras/12933256/review_signoff_occluder.json": "9b69805e7fc4343e46586b954ed50c823c2139dd1c6a22eb811f2bbf5cf4268e",
+          "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/native_inputs/cameras/17736741/review_signoff.json": "ea5ab627370417bf106f20d48ddf68b0d7f08f1552fca6c3d2c3a1b75a5a77b1",
+          "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/native_inputs/cameras/17736741/review_signoff_occluder.json": "830a282ad4794d1b5b2a948a1d16641fd0fc074217cdbdd700e041af9de68c1e",
+          "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/native_inputs/cameras/23007103/review_signoff.json": "e095b9d4091a20f6279dffc64e11d30541fc27ced43cb1d5b07d9827e7b27bfe",
+          "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/native_inputs/cameras/23007103/review_signoff_occluder.json": "b719dd6abb88aa6dc220351c27e42ea7a7a75fa789eb32a0ac611707bfd7aa8b"
+        }
+      },
+      "outputs": {
+        "reference": {
+          "case": "session_20260921_233045_819927",
+          "grid_sample": 0,
+          "views": [
+            {
+              "index": 0,
+              "serial": "12540311",
+              "native_frame": 0,
+              "offset_ms": 0.06964,
+              "object_mask_px": 9557,
+              "invalid_depth_in_mask_px": 0,
+              "occlusion_union_px": 247217,
+              "object_and_union_px": 0,
+              "lifted_points": 6305,
+              "lifted_z_min_max_m": [
+                -6.370154972357156e-05,
+                0.019648696891362616
+              ],
+              "uneroded_lifted_points": 9557,
+              "uneroded_lifted_z_min_max_m": [
+                -0.0015480781822633238,
+                0.09599433031247517
+              ],
+              "eroded_lifted_points": 6485,
+              "erosion_removed_points": 3072,
+              "outlier_removed_points": 180
+            },
+            {
+              "index": 1,
+              "serial": "12933256",
+              "native_frame": 0,
+              "offset_ms": 0.0,
+              "object_mask_px": 10050,
+              "invalid_depth_in_mask_px": 0,
+              "occlusion_union_px": 142483,
+              "object_and_union_px": 0,
+              "lifted_points": 6623,
+              "lifted_z_min_max_m": [
+                -0.0016351471382850535,
+                0.012339899481788374
+              ],
+              "uneroded_lifted_points": 10050,
+              "uneroded_lifted_z_min_max_m": [
+                -0.003679577330538697,
+                0.01605597094266853
+              ],
+              "eroded_lifted_points": 7095,
+              "erosion_removed_points": 2955,
+              "outlier_removed_points": 472
+            },
+            {
+              "index": 2,
+              "serial": "17736741",
+              "native_frame": 0,
+              "offset_ms": 4.6736,
+              "object_mask_px": 11180,
+              "invalid_depth_in_mask_px": 0,
+              "occlusion_union_px": 233469,
+              "object_and_union_px": 0,
+              "lifted_points": 7409,
+              "lifted_z_min_max_m": [
+                -0.00026577567164565163,
+                0.017251205332569852
+              ],
+              "uneroded_lifted_points": 11180,
+              "uneroded_lifted_z_min_max_m": [
+                -0.0024126348487638616,
+                0.017251205332569852
+              ],
+              "eroded_lifted_points": 7626,
+              "erosion_removed_points": 3554,
+              "outlier_removed_points": 217
+            },
+            {
+              "index": 3,
+              "serial": "23007103",
+              "native_frame": 0,
+              "offset_ms": 10.364733,
+              "object_mask_px": 7590,
+              "invalid_depth_in_mask_px": 0,
+              "occlusion_union_px": 172893,
+              "object_and_union_px": 0,
+              "lifted_points": 4916,
+              "lifted_z_min_max_m": [
+                0.0008014212398459453,
+                0.013780612045491969
+              ],
+              "uneroded_lifted_points": 7590,
+              "uneroded_lifted_z_min_max_m": [
+                -0.0012658451859856035,
+                0.014933206163840973
+              ],
+              "eroded_lifted_points": 5072,
+              "erosion_removed_points": 2518,
+              "outlier_removed_points": 156
+            }
+          ],
+          "observed_points": 25253,
+          "mask_erosion_px": 2
+        },
+        "files": {
+          "inputs/observed_cloud.npz": "91fc838f72b5c870bfa93219ae765002dadf5378a31e155da3b6afff138fb626",
+          "inputs/reference_views.json": "ee02a9fe3480964ea1c6911e6869f4835f322349272cc06cff119b0fa2162afc",
+          "gaussian_data/session_20260921_233045_819927/0.png": "15119019514a10ab03886fe981d427f90d714fec063e18831a409ee1ab131a87",
+          "gaussian_data/session_20260921_233045_819927/mask_0.png": "f664b02f0f5deea6fd8fb86e02a3731f401b91d7d2b764376ff79c140ff3ae77",
+          "gaussian_data/session_20260921_233045_819927/mask_human_0.png": "6c7bafb874bb5c60be2d84889edddf8f0b35c57221e7dd032d45b45d591dd375",
+          "gaussian_data/session_20260921_233045_819927/0_depth.npy": "0fd069db1c7e559ac2e483d70d20479da4aa4d5826df27e8c2b0a6ea222820c1",
+          "gaussian_data/session_20260921_233045_819927/1.png": "617612ff89ab1d64c86c9a7671872d17178232dadd7732fadeb42077cd2f2c87",
+          "gaussian_data/session_20260921_233045_819927/mask_1.png": "46d6327dd3e9cf0d4207409fab3f70d3a07f72359ecb2cad4098a3800d28335c",
+          "gaussian_data/session_20260921_233045_819927/mask_human_1.png": "a6f5e4076c8f46df2fe93426978437716d084a6bdd7015233db12b0831c4803d",
+          "gaussian_data/session_20260921_233045_819927/1_depth.npy": "83fd102d5ca80119294cbbf8fc492d1a865cba7921bd98ba88f625d46a408c3f",
+          "gaussian_data/session_20260921_233045_819927/2.png": "76e2d588ff21e8b6abf8c3b27c3c223460f9e89f8d6e9cb293b47b9daf8469aa",
+          "gaussian_data/session_20260921_233045_819927/mask_2.png": "1e93129f656458b7d0a50706c9fa49193202b24e0d80cded5eaaa4694079e815",
+          "gaussian_data/session_20260921_233045_819927/mask_human_2.png": "eb5302ebe7b6120db70b4aed370748c3b9463b92696d49e1771dfdfd7c98ec3c",
+          "gaussian_data/session_20260921_233045_819927/2_depth.npy": "09c828697d86d8131a22e5d0ca0274c70f08283d873765d2959fea97fdaa388e",
+          "gaussian_data/session_20260921_233045_819927/3.png": "b4de0ada89fed711eb7d3baf016c59f1aaa4e56656fa1641c66c57b8c13ffd49",
+          "gaussian_data/session_20260921_233045_819927/mask_3.png": "64a4ee816f89d5c3d0f1aad56c2b87031e5875964ee94eb58693135649bb0d11",
+          "gaussian_data/session_20260921_233045_819927/mask_human_3.png": "44b48c86b96809121bdb0a6bcefc20e51ebf230d256ff15f85dc770d0231fbd9",
+          "gaussian_data/session_20260921_233045_819927/3_depth.npy": "5405bc4e0e8775083504c69ed99414713cdb8f9eed03f755a3dbb9b49f6c8e95",
+          "gaussian_data/session_20260921_233045_819927/camera_meta.pkl": "5689e0da0e991f60c7a6a1996eac7ff2345bfbb590432e1decdcce55c961521a",
+          "gaussian_data/session_20260921_233045_819927/interp_poses.pkl": "b90cc26123c822f0d06446ac699e110db22a86e265c56751819029a46f558b6f",
+          "gaussian_data/session_20260921_233045_819927/observation.ply": "a8aefd3f1ca2a9e09384abac8519cfcc7ec815b1548168621f2f18d255010803",
+          "spline/filter.json": "ed8ad36a695023cc0a6caf46cd046cfda732d7fe6277b48e7f8c18d920ab1dc1",
+          "spline/filter_removed.npz": "dbe5d8f81c1c941ff98416d4133b541e4692467f01490f56d753f38da0bef6e1",
+          "spline/filtered_cloud.npz": "b6ea191c915aeedd5bca0de57c95adc7e33de26e3f933748fc2770c7a27d056c"
+        }
+      },
+      "code": {
+        "commit": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e",
+        "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
+      },
+      "wall_time_s": 24.88052272796631
+    },
+    "review": {
+      "status": "ok",
+      "settings": {
+        "historical_prior": null,
+        "historical_sha256": null,
+        "baseline_fit": null
+      },
+      "outputs": {
+        "review_files": 52,
+        "files": {
+          "review/hybrid/combined.png": "9d24ddf408ddea835cc59f473848bde1fb3d6541134295fe73df364a04ab98db",
+          "review/hybrid/mesh.png": "e1196f55b32903ef4719d44910303fbc8f53facfd925b63caa0fb091657214b7",
+          "review/hybrid/observed.png": "40fb25a06da7a3926687f08678de03291fe2594859a11727d25672d37d5dda0d",
+          "review/tube/tube_profiles.png": "1995199051183fa54181495a40506ab8ff526febf6096e268609bd71d29c2f03",
+          "review/tube/silhouette_1_unmasked.png": "1e7772aeb938d9b86512dba663f59f15d215ade11623516878c41fc96432466b",
+          "review/tube/silhouette_0_unmasked.png": "bf02d2d4c98a4949bd26107ed2946a1514de0f9192b3b28449de995e0a003f22",
+          "review/tube/silhouette_0_with_masks.png": "498383cf5170d518a0e0d31dfeb4c6d82bc4c4f3b227c7a7a7edff12c591ed30",
+          "review/tube/silhouette_1_with_masks.png": "0650c73675536ea02beca8ee6e114075bfd83a220feb8b3f0aea2bff4f969d9a",
+          "review/tube/silhouette_2_unmasked.png": "d419bb3c62bcb047f1b0fd2f8f9fe75a1842a36df9698d55a70c6c238af4a1a9",
+          "review/tube/silhouette_3_with_masks.png": "23e7950bcddc7cf833ba08c88e10df54f8733365d57344055d46f99506640744",
+          "review/tube/silhouette_2_with_masks.png": "c2ddda6c039fd373a0baa1940ade1f5fa8dd1debf20649b48e34d5aaba5f15db",
+          "review/tube/check_table.json": "77c3aec85bf619cdd253452947885e2991045f37fa5521a83091b0335c813218",
+          "review/tube/orbit.mp4": "b6793c5157b771b29b569b3ca32786e0a7d3f3a62c686ea7d5e70e7a07323580",
+          "review/tube/silhouette_3_unmasked.png": "dd610e98a1142e7827797d6617befe3adf445349aef2bfbc1210b549da15c210",
+          "review/tube/tube_scale_views.png": "da5b7f47e2b2a04ddcbe66bdf343bcf009b14b479fcb4b7677c7ee2890d69530",
+          "review/inputs/depth_offset_table.json": "3fba82d59ce4ee9701b7cb91c8bb1b38d232f18ecaa41eaba5eca4144bd1a23f",
+          "review/inputs/depth_offset.png": "059602396cdc54795377e2704fbd39b31761395bd86beb2379ab27a5b2a4dec9",
+          "review/inputs/view_3_23007103.png": "176c9908042fbc98125e4b34e7198aea1a568c73787fd04198507605c91efb8c",
+          "review/inputs/view_0_12540311.png": "fd9f04301944ce19d2a0946dbbb58cfc1b566a5814cb77212a1c5980d583b144",
+          "review/inputs/view_1_12933256.png": "d2c3fef3300bbd8f788ea59ed45078eea4ca1fc1841e2c4eab630de16c0010ab",
+          "review/inputs/cloud_rgb.png": "17e726d9baeb2ebde1926421ff3eac0c7fdb1e5cb5238ac0e6e7848e3f63afa4",
+          "review/inputs/filter_removed.png": "fcb65b7c2c337f5072e09ba5ad89bc3412984446e45586d8cd31e04333c49b6e",
+          "review/inputs/cloud_by_view.png": "da062f00b46e2c048e53611a213fdf1a955dda3ba3c9fac974e9147057927031",
+          "review/inputs/view_2_17736741.png": "a6cf2d704558a5ca61f86dc832bc8998ff3871e9347c2f059501577018ca0122",
+          "review/rerun/headless_contact_sheet.png": "37c0dedcfd29e185110893cb89b206e9344f1e1c72aee045fb8b6c1c89a69213",
+          "review/spline/centerline_0_with_masks.png": "5d95eaffc92234cd43ca63bc237d9cd0e3ec28c4b9857ff10a6f320d9f01016c",
+          "review/spline/centerline_3_unmasked.png": "9965e4a38a82dccb982ae985812ca009591bf2bf5273275726b0e5d329f57607",
+          "review/spline/per_view_arc_coverage.png": "e970813296390310baf4ab52cce5e89b2f6099e0c5630971cae47c6c4f0d7356",
+          "review/spline/fit_projections.png": "c2433093e229a9f014cf279e01bc7143cd166064495fd290a82a3708b2e9ff16",
+          "review/spline/centerline_1_unmasked.png": "7abd2242317ce9b214fa4fff809048a4855f0ee6e32877b54ca4912789850588",
+          "review/spline/centerline_2_with_masks.png": "8bb6268725bc756fe30d43de6c3cf1786f4fc449abb17d067de5e98bf31c6648",
+          "review/spline/centerline_1_with_masks.png": "9bac6a6b169b10c240fa67570214464dd50669c43294e5c80b813643bcc5e024",
+          "review/spline/centerline_2_unmasked.png": "263dd2819272775e39bf38058aaac03a08efdfa24df9e63ef03d0f7c1af4ced9",
+          "review/spline/round_curves.png": "eb0b14ed674b809eec5f023acb6ebd43e0a53ff8fdaaf702e7be6f72625f68f2",
+          "review/spline/curvature_profile.png": "511ee055cc89f7af3dcf65293f6d9db58eb6a6446c766ab6d692b07c2e4ee91d",
+          "review/spline/residual_histograms.png": "1e7b5586c45b558144b15dfe1781cb3b992c8d6544adc00523d9a9c4f29eed1e",
+          "review/spline/centerline_3_with_masks.png": "71de6130bf8ed5c3c0654897c9b882878d4c292d2977d1d60710348a0f0ea770",
+          "review/spline/fit_3d.png": "bf90cde472c713c8f48a02d249ed0c029d38c9d0032434d52e65037ded70c6ab",
+          "review/spline/centerline_0_unmasked.png": "a1406615e39d45a188b04095dc02367da8ed958c1345c46e27d6ed659fe20ccf",
+          "review/colors/fill_swatch.txt": "a793e2eb926150a97e4b1434e93af2310f30bd4f8b390fae5305d7d4bcf530cd",
+          "review/colors/view_2_visibility.png": "7eb2bd5e31baadbae9654af7e81b6c8e12e00a2be46aabfc8a4cd6bff40e68b2",
+          "review/colors/view_1_visibility.png": "2b93dad13321befd976e8aed06d8d0216813b76ace6a4db1a97efc9e68191128",
+          "review/colors/visibility_and_fill.png": "9bea860faf0062300f4eb12273194a3b2d9d62a950764700b82678c0e5bef821",
+          "review/colors/view_0_visibility.png": "36a399e1e586b60dd8612ac9d87c33c2b0f3dd9c5cc937a2ef6605863a3d2d39",
+          "review/colors/fill_swatch.png": "ec1f647a623ca5c677b6c66afded00056587fd9865042be4b4cfa1a60b9d717c",
+          "review/colors/view_3_visibility.png": "ec57804c0f610fc786f651b0264fc2f429fb17d3c7d8939f05286853aa4ff784",
+          "rerun/appearance_spline_prior.rrd": "0f909388144796bfd2b3b0b94ba69fca7dd8c3bbb924f0395c669b057474819e"
+        }
+      },
+      "code": {
+        "commit": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e",
+        "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
+      },
+      "wall_time_s": 10.658095121383667
+    },
+    "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": 3.9607764826905275e-05,
+          "minimum_outward_normal_dot_m": 0.004578032940923137,
+          "degenerate_triangles": 0,
+          "self_intersecting": false,
+          "maximum_radius_error_m": 7.1372326486407456e-09,
+          "maximum_diameter_error_m": 1.4274465297281491e-08,
+          "bishop_seam_error": 7.450580596923828e-09,
+          "minimum_nonadjacent_centerline_distance_m": 0.006594957437623624,
+          "triangle_area_m2": {
+            "min": 3.5315810432699745e-06,
+            "median": 4.819462196334863e-06,
+            "mean": 4.9970520983531565e-06,
+            "max": 7.207004641077688e-06,
+            "density_max_over_min": 2.0407303563971313
+          },
+          "bounds_m": [
+            [
+              -0.09603578597307205,
+              -0.21348179876804352,
+              -0.0002811620943248272
+            ],
+            [
+              0.07304373383522034,
+              0.006294803228229284,
+              0.0123516246676445
+            ]
+          ],
+          "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": "77c3aec85bf619cdd253452947885e2991045f37fa5521a83091b0335c813218",
+          "tube/triangle_areas.npz": "ca83380396645b5921951f62ed30798c3b4da4229bb1aafee20cc86a083aeeeb",
+          "tube/geometry.npz": "cd15ecc7c9c9f0d325909e4c163290e3e91787125a9b27561f442d7059d92862"
+        }
+      },
+      "code": {
+        "commit": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e",
+        "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
+      },
+      "wall_time_s": 3.2741353511810303
+    }
+  },
+  "files": {
+    "colors/color_summary.json": "1815056fb39076ada8a08aad5c67d421010d07fad81312bbba8fb4a3ab984941",
+    "colors/vertex_colors.npz": "26544cfddfd79d39272c9baf2c9c8e5b7a1aa4a8a22ec9096154a5d5f2de9e0e",
+    "gaussian_data/session_20260921_233045_819927/0.png": "15119019514a10ab03886fe981d427f90d714fec063e18831a409ee1ab131a87",
+    "gaussian_data/session_20260921_233045_819927/0_depth.npy": "0fd069db1c7e559ac2e483d70d20479da4aa4d5826df27e8c2b0a6ea222820c1",
+    "gaussian_data/session_20260921_233045_819927/1.png": "617612ff89ab1d64c86c9a7671872d17178232dadd7732fadeb42077cd2f2c87",
+    "gaussian_data/session_20260921_233045_819927/1_depth.npy": "83fd102d5ca80119294cbbf8fc492d1a865cba7921bd98ba88f625d46a408c3f",
+    "gaussian_data/session_20260921_233045_819927/2.png": "76e2d588ff21e8b6abf8c3b27c3c223460f9e89f8d6e9cb293b47b9daf8469aa",
+    "gaussian_data/session_20260921_233045_819927/2_depth.npy": "09c828697d86d8131a22e5d0ca0274c70f08283d873765d2959fea97fdaa388e",
+    "gaussian_data/session_20260921_233045_819927/3.png": "b4de0ada89fed711eb7d3baf016c59f1aaa4e56656fa1641c66c57b8c13ffd49",
+    "gaussian_data/session_20260921_233045_819927/3_depth.npy": "5405bc4e0e8775083504c69ed99414713cdb8f9eed03f755a3dbb9b49f6c8e95",
+    "gaussian_data/session_20260921_233045_819927/camera_meta.pkl": "5689e0da0e991f60c7a6a1996eac7ff2345bfbb590432e1decdcce55c961521a",
+    "gaussian_data/session_20260921_233045_819927/interp_poses.pkl": "b90cc26123c822f0d06446ac699e110db22a86e265c56751819029a46f558b6f",
+    "gaussian_data/session_20260921_233045_819927/mask_0.png": "f664b02f0f5deea6fd8fb86e02a3731f401b91d7d2b764376ff79c140ff3ae77",
+    "gaussian_data/session_20260921_233045_819927/mask_1.png": "46d6327dd3e9cf0d4207409fab3f70d3a07f72359ecb2cad4098a3800d28335c",
+    "gaussian_data/session_20260921_233045_819927/mask_2.png": "1e93129f656458b7d0a50706c9fa49193202b24e0d80cded5eaaa4694079e815",
+    "gaussian_data/session_20260921_233045_819927/mask_3.png": "64a4ee816f89d5c3d0f1aad56c2b87031e5875964ee94eb58693135649bb0d11",
+    "gaussian_data/session_20260921_233045_819927/mask_human_0.png": "6c7bafb874bb5c60be2d84889edddf8f0b35c57221e7dd032d45b45d591dd375",
+    "gaussian_data/session_20260921_233045_819927/mask_human_1.png": "a6f5e4076c8f46df2fe93426978437716d084a6bdd7015233db12b0831c4803d",
+    "gaussian_data/session_20260921_233045_819927/mask_human_2.png": "eb5302ebe7b6120db70b4aed370748c3b9463b92696d49e1771dfdfd7c98ec3c",
+    "gaussian_data/session_20260921_233045_819927/mask_human_3.png": "44b48c86b96809121bdb0a6bcefc20e51ebf230d256ff15f85dc770d0231fbd9",
+    "gaussian_data/session_20260921_233045_819927/observation.ply": "a8aefd3f1ca2a9e09384abac8519cfcc7ec815b1548168621f2f18d255010803",
+    "gaussian_data/session_20260921_233045_819927/shape_prior.glb": "bc674f33899a26c8c73819745e35f58700a5c890aa6cae21adb3808b0e8b3485",
+    "hybrid/populations.npz": "41016b710691adb01b9c5e214077774f9ae0a2696bb2f0253e1249233fd14494",
+    "inputs/depth_offset_diagnostic.json": "3fba82d59ce4ee9701b7cb91c8bb1b38d232f18ecaa41eaba5eca4144bd1a23f",
+    "inputs/observed_cloud.npz": "91fc838f72b5c870bfa93219ae765002dadf5378a31e155da3b6afff138fb626",
+    "inputs/reference_views.json": "ee02a9fe3480964ea1c6911e6869f4835f322349272cc06cff119b0fa2162afc",
+    "owner_refit_colors.log": "abab54e684a7a7052c6a35b1ee5fd9ffedd00de26ffdbc9ec769a5cbe9e90b35",
+    "owner_refit_colors_argv.json": "7ca963430302ebb16929418b1b19298854ae16d0c6091ccdd798cbfb7abbfd22",
+    "owner_refit_colors_result.json": "bbc82bd36b67d69733810e5d365fe07dc95432beb5cebece35a235398c5cc1c9",
+    "owner_refit_fit.log": "d51b8aae33835ce2be7f87ac7e7bd70bff4ec6d37c3c4938c7003d8029478590",
+    "owner_refit_fit_argv.json": "3045c39cb156f83c5a67a27c1ae5d9e7774df967934e37c36606f37eaa77ff2e",
+    "owner_refit_fit_result.json": "fa8eba2fc8305f2a30a9c4ff5d6cc1e3cf7d8f85c07e935ab291672431a618e6",
+    "owner_refit_hybrid.log": "aef9855b53a914bffa324fadb72d0171a59b2320fd703268750e44320c442dce",
+    "owner_refit_hybrid_argv.json": "6710014811fbd6f4dce258f773503f3c0ea908bec8b529bbeda08673a3664179",
+    "owner_refit_hybrid_result.json": "cfba4b20d298174478b70dc34c24a9e8cc17fd229c0257db37fa6d7ac8b003e4",
+    "owner_refit_manifest.log": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855",
+    "owner_refit_manifest_argv.json": "5e1d82756bec7ebe07dbd8c28aeaf95e73790b2869f6c3f6f6e41a6fb2529f83",
+    "owner_refit_review.log": "a22e9a8f38906f5bcf6d57c24f7cdf9b03b9dce47c8f616cfedec5bd02b86e06",
+    "owner_refit_review_argv.json": "4399fdb6ca748e6acc37d6d4f6b137998eaef5755d01f7f0df89a5381f39e163",
+    "owner_refit_review_result.json": "937477bf32947bcabc7b0d465195e3b0777c91e3de0e4c620877dd5f19ff61d2",
+    "owner_refit_tube.log": "2ec9bdcf530ea9d16cc7bad4e38c0c13ebd4bd472d8d4a9d26dd3dfa24617ad4",
+    "owner_refit_tube_argv.json": "23ec429ee118a054a7ad56fffab6773fcc262fd7718b63383c5a9cfbdd17526a",
+    "owner_refit_tube_result.json": "25105882681c285e7570790c67c8be1bb0436ece1fec67c3764c3dfe2a2b61a2",
+    "rerun/appearance_spline_prior.rrd": "0f909388144796bfd2b3b0b94ba69fca7dd8c3bbb924f0395c669b057474819e",
+    "reused_inputs.json": "797070e511b775174c7bd41e72ca527aba01cb1578185ee1a4a297811b700dd7",
+    "review/colors/fill_swatch.png": "ec1f647a623ca5c677b6c66afded00056587fd9865042be4b4cfa1a60b9d717c",
+    "review/colors/fill_swatch.txt": "a793e2eb926150a97e4b1434e93af2310f30bd4f8b390fae5305d7d4bcf530cd",
+    "review/colors/view_0_visibility.png": "36a399e1e586b60dd8612ac9d87c33c2b0f3dd9c5cc937a2ef6605863a3d2d39",
+    "review/colors/view_1_visibility.png": "2b93dad13321befd976e8aed06d8d0216813b76ace6a4db1a97efc9e68191128",
+    "review/colors/view_2_visibility.png": "7eb2bd5e31baadbae9654af7e81b6c8e12e00a2be46aabfc8a4cd6bff40e68b2",
+    "review/colors/view_3_visibility.png": "ec57804c0f610fc786f651b0264fc2f429fb17d3c7d8939f05286853aa4ff784",
+    "review/colors/visibility_and_fill.png": "9bea860faf0062300f4eb12273194a3b2d9d62a950764700b82678c0e5bef821",
+    "review/hybrid/combined.png": "9d24ddf408ddea835cc59f473848bde1fb3d6541134295fe73df364a04ab98db",
+    "review/hybrid/mesh.png": "e1196f55b32903ef4719d44910303fbc8f53facfd925b63caa0fb091657214b7",
+    "review/hybrid/observed.png": "40fb25a06da7a3926687f08678de03291fe2594859a11727d25672d37d5dda0d",
+    "review/inputs/cloud_by_view.png": "da062f00b46e2c048e53611a213fdf1a955dda3ba3c9fac974e9147057927031",
+    "review/inputs/cloud_rgb.png": "17e726d9baeb2ebde1926421ff3eac0c7fdb1e5cb5238ac0e6e7848e3f63afa4",
+    "review/inputs/depth_offset.png": "059602396cdc54795377e2704fbd39b31761395bd86beb2379ab27a5b2a4dec9",
+    "review/inputs/depth_offset_table.json": "3fba82d59ce4ee9701b7cb91c8bb1b38d232f18ecaa41eaba5eca4144bd1a23f",
+    "review/inputs/filter_removed.png": "fcb65b7c2c337f5072e09ba5ad89bc3412984446e45586d8cd31e04333c49b6e",
+    "review/inputs/view_0_12540311.png": "fd9f04301944ce19d2a0946dbbb58cfc1b566a5814cb77212a1c5980d583b144",
+    "review/inputs/view_1_12933256.png": "d2c3fef3300bbd8f788ea59ed45078eea4ca1fc1841e2c4eab630de16c0010ab",
+    "review/inputs/view_2_17736741.png": "a6cf2d704558a5ca61f86dc832bc8998ff3871e9347c2f059501577018ca0122",
+    "review/inputs/view_3_23007103.png": "176c9908042fbc98125e4b34e7198aea1a568c73787fd04198507605c91efb8c",
+    "review/rerun/headless_contact_sheet.png": "37c0dedcfd29e185110893cb89b206e9344f1e1c72aee045fb8b6c1c89a69213",
+    "review/spline/centerline_0_unmasked.png": "a1406615e39d45a188b04095dc02367da8ed958c1345c46e27d6ed659fe20ccf",
+    "review/spline/centerline_0_with_masks.png": "5d95eaffc92234cd43ca63bc237d9cd0e3ec28c4b9857ff10a6f320d9f01016c",
+    "review/spline/centerline_1_unmasked.png": "7abd2242317ce9b214fa4fff809048a4855f0ee6e32877b54ca4912789850588",
+    "review/spline/centerline_1_with_masks.png": "9bac6a6b169b10c240fa67570214464dd50669c43294e5c80b813643bcc5e024",
+    "review/spline/centerline_2_unmasked.png": "263dd2819272775e39bf38058aaac03a08efdfa24df9e63ef03d0f7c1af4ced9",
+    "review/spline/centerline_2_with_masks.png": "8bb6268725bc756fe30d43de6c3cf1786f4fc449abb17d067de5e98bf31c6648",
+    "review/spline/centerline_3_unmasked.png": "9965e4a38a82dccb982ae985812ca009591bf2bf5273275726b0e5d329f57607",
+    "review/spline/centerline_3_with_masks.png": "71de6130bf8ed5c3c0654897c9b882878d4c292d2977d1d60710348a0f0ea770",
+    "review/spline/curvature_profile.png": "511ee055cc89f7af3dcf65293f6d9db58eb6a6446c766ab6d692b07c2e4ee91d",
+    "review/spline/fit_3d.png": "bf90cde472c713c8f48a02d249ed0c029d38c9d0032434d52e65037ded70c6ab",
+    "review/spline/fit_projections.png": "c2433093e229a9f014cf279e01bc7143cd166064495fd290a82a3708b2e9ff16",
+    "review/spline/per_view_arc_coverage.png": "e970813296390310baf4ab52cce5e89b2f6099e0c5630971cae47c6c4f0d7356",
+    "review/spline/residual_histograms.png": "1e7b5586c45b558144b15dfe1781cb3b992c8d6544adc00523d9a9c4f29eed1e",
+    "review/spline/round_curves.png": "eb0b14ed674b809eec5f023acb6ebd43e0a53ff8fdaaf702e7be6f72625f68f2",
+    "review/tube/check_table.json": "77c3aec85bf619cdd253452947885e2991045f37fa5521a83091b0335c813218",
+    "review/tube/orbit.mp4": "b6793c5157b771b29b569b3ca32786e0a7d3f3a62c686ea7d5e70e7a07323580",
+    "review/tube/silhouette_0_unmasked.png": "bf02d2d4c98a4949bd26107ed2946a1514de0f9192b3b28449de995e0a003f22",
+    "review/tube/silhouette_0_with_masks.png": "498383cf5170d518a0e0d31dfeb4c6d82bc4c4f3b227c7a7a7edff12c591ed30",
+    "review/tube/silhouette_1_unmasked.png": "1e7772aeb938d9b86512dba663f59f15d215ade11623516878c41fc96432466b",
+    "review/tube/silhouette_1_with_masks.png": "0650c73675536ea02beca8ee6e114075bfd83a220feb8b3f0aea2bff4f969d9a",
+    "review/tube/silhouette_2_unmasked.png": "d419bb3c62bcb047f1b0fd2f8f9fe75a1842a36df9698d55a70c6c238af4a1a9",
+    "review/tube/silhouette_2_with_masks.png": "c2ddda6c039fd373a0baa1940ade1f5fa8dd1debf20649b48e34d5aaba5f15db",
+    "review/tube/silhouette_3_unmasked.png": "dd610e98a1142e7827797d6617befe3adf445349aef2bfbc1210b549da15c210",
+    "review/tube/silhouette_3_with_masks.png": "23e7950bcddc7cf833ba08c88e10df54f8733365d57344055d46f99506640744",
+    "review/tube/tube_profiles.png": "1995199051183fa54181495a40506ab8ff526febf6096e268609bd71d29c2f03",
+    "review/tube/tube_scale_views.png": "da5b7f47e2b2a04ddcbe66bdf343bcf009b14b479fcb4b7677c7ee2890d69530",
+    "spline/determinism.json": "773d1a02e2924f0d7df2d5d0011979c4e408678ebfdb9633a8348b9788132683",
+    "spline/filter.json": "ed8ad36a695023cc0a6caf46cd046cfda732d7fe6277b48e7f8c18d920ab1dc1",
+    "spline/filter_removed.npz": "dbe5d8f81c1c941ff98416d4133b541e4692467f01490f56d753f38da0bef6e1",
+    "spline/filtered_cloud.npz": "b6ea191c915aeedd5bca0de57c95adc7e33de26e3f933748fc2770c7a27d056c",
+    "spline/init_ellipse.json": "c494971b08e2c055d366fb9aeb8a59e644cbc6f814538890d610e0cde605431c",
+    "spline/reprojection.json": "620ec0c2cf34ed208da0277d8c98e80f0c6477817448363752c06baffc94d55b",
+    "spline/reprojection_comparison.json": "96dd1ecc886fa5a993c745caf615d3a8726de4a4155dd28fe74f18c61da0c886",
+    "spline/reprojection_residuals.npz": "db9abb57322446b740e12f3110d591fc6adf4202ce5ac365f5a6080c4ce16e45",
+    "spline/residuals.npz": "104e8ddb927f270231c908e26b7376baeb250ca0d40666b6637afa924bfe127f",
+    "spline/rounds.jsonl": "9347186bb2683e1622fe5da000eb0627522f6881cff6cdffc6ed6a328091e694",
+    "spline/spline_fit.json": "1447d06033aef8a695483ebe1fa9cd15f4036f0e66c80028257fba96cf9c5d25",
+    "spline/spline_init.json": "4bb3a888f0ebf238522423ac5e25d5b700225db8a9a346f09f348736d04b7b89",
+    "spline/witness.json": "2e2b05643b7d4b5b27fa363133a00d709afe07cf7bec6b77fdc6a54ed0232924",
+    "steps/colors.json": "355eac997ce111ffac41ff17c67442bda249ab4c7ecf461d358910c3d25374d7",
+    "steps/diagnose-depth.json": "5b365bf12f3911e0793100e7b1cf27651274aa34eb3d64e8964e315d3a28ec11",
+    "steps/fit.json": "34024d577db0e41cff9501a202f224251ddb21897009fb8d0f701a9fa281cff1",
+    "steps/hybrid.json": "df5f67fc1b1c3bdc3f774113a8c56ab6eb99b433699ae9afbc00aa321547a0af",
+    "steps/inputs.json": "a19ef8186e9d3908129d76cd4ba616e5dc492577b9e5bc254b6548bb98c7ecb5",
+    "steps/review.json": "936ab1f8758247b91b31410da12d372636409edfd109429dd61eedbc81062f86",
+    "steps/tube.json": "eea23375710e29c982028d50ea243016c486d827cd035c7e78ec209d4a33dcb0",
+    "tube/geometry.npz": "cd15ecc7c9c9f0d325909e4c163290e3e91787125a9b27561f442d7059d92862",
+    "tube/shape_prior.glb": "bc674f33899a26c8c73819745e35f58700a5c890aa6cae21adb3808b0e8b3485",
+    "tube/triangle_areas.npz": "ca83380396645b5921951f62ed30798c3b4da4229bb1aafee20cc86a083aeeeb",
+    "tube/tube.ply": "b8b4f0ad74e18c4b281c7f8441087052d1ef084cb7e87558e9ad8e680cbcc5c6",
+    "tube/tube_checks.json": "77c3aec85bf619cdd253452947885e2991045f37fa5521a83091b0335c813218"
+  }
+}

sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_colors.log

@@ -0,0 +1 @@
+colors: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1/steps/colors.json

sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_colors_argv.json

@@ -0,0 +1,11 @@
+{
+  "argv": [
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python",
+    "-B",
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/real_rgbd_appearance_spline_prior.py",
+    "colors",
+    "--run",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1"
+  ],
+  "started_utc": "2026-10-28T22:10:27.214011+00:00"
+}

sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_colors_result.json

@@ -0,0 +1,4 @@
+{
+  "returncode": 0,
+  "elapsed_s": 9.80495451799652
+}

sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_fit.log

@@ -0,0 +1,43 @@
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+compiling!
+fit: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1/steps/fit.json

sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_fit_argv.json

@@ -0,0 +1,23 @@
+{
+  "argv": [
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python",
+    "-B",
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/real_rgbd_appearance_spline_prior.py",
+    "fit",
+    "--run",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1",
+    "--outlier-filter",
+    "statistical:20:2.0",
+    "--max-rounds",
+    "400",
+    "--reprojection-weight",
+    "4",
+    "--baseline-run",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_v1",
+    "--chain-curvature-weight",
+    "5e-9",
+    "--chain-control-count",
+    "18"
+  ],
+  "started_utc": "2026-10-28T22:03:10.077563+00:00"
+}

sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_fit_result.json

@@ -0,0 +1,4 @@
+{
+  "returncode": 0,
+  "elapsed_s": 312.6585516320047
+}

sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_hybrid.log

@@ -0,0 +1 @@
+hybrid: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1/steps/hybrid.json

sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_hybrid_argv.json

@@ -0,0 +1,11 @@
+{
+  "argv": [
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python",
+    "-B",
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/real_rgbd_appearance_spline_prior.py",
+    "hybrid",
+    "--run",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1"
+  ],
+  "started_utc": "2026-10-28T22:10:37.019150+00:00"
+}

sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_hybrid_result.json

@@ -0,0 +1,4 @@
+{
+  "returncode": 0,
+  "elapsed_s": 32.505380379006965
+}

sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_manifest.log

@@ -0,0 +1 @@
+/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1/manifest.json

sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_manifest_argv.json

@@ -0,0 +1,11 @@
+{
+  "argv": [
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python",
+    "-B",
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/real_rgbd_appearance_spline_prior.py",
+    "manifest",
+    "--run",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1"
+  ],
+  "started_utc": "2026-10-28T22:11:27.350569+00:00"
+}

sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_manifest_result.json

@@ -0,0 +1,4 @@
+{
+  "returncode": 0,
+  "elapsed_s": 13.853932117010118
+}

sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_review.log

@@ -0,0 +1 @@
+review: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1/steps/review.json

sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_review_argv.json

@@ -0,0 +1,11 @@
+{
+  "argv": [
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python",
+    "-B",
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/real_rgbd_appearance_spline_prior.py",
+    "review",
+    "--run",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1"
+  ],
+  "started_utc": "2026-10-28T22:11:09.524759+00:00"
+}

sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_review_result.json

@@ -0,0 +1,4 @@
+{
+  "returncode": 0,
+  "elapsed_s": 17.825640156006557
+}

sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_tube.log

@@ -0,0 +1 @@
+tube: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1/steps/tube.json

sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_tube_argv.json

@@ -0,0 +1,11 @@
+{
+  "argv": [
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python",
+    "-B",
+    "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/real_rgbd_appearance_spline_prior.py",
+    "tube",
+    "--run",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1"
+  ],
+  "started_utc": "2026-10-28T22:08:22.736874+00:00"
+}

sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_tube_result.json

@@ -0,0 +1,4 @@
+{
+  "returncode": 0,
+  "elapsed_s": 124.47691196101368
+}

sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/rerun/appearance_spline_prior.rrd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f909388144796bfd2b3b0b94ba69fca7dd8c3bbb924f0395c669b057474819e
+size 26134260

sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/reused_inputs.json

@@ -0,0 +1,43 @@
+{
+  "source_run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_v1",
+  "files": [
+    "inputs/reference_views.json",
+    "inputs/observed_cloud.npz",
+    "inputs/depth_offset_diagnostic.json",
+    "gaussian_data/session_20260921_233045_819927/mask_0.png",
+    "gaussian_data/session_20260921_233045_819927/mask_human_3.png",
+    "gaussian_data/session_20260921_233045_819927/mask_human_1.png",
+    "gaussian_data/session_20260921_233045_819927/0.png",
+    "gaussian_data/session_20260921_233045_819927/mask_3.png",
+    "gaussian_data/session_20260921_233045_819927/camera_meta.pkl",
+    "gaussian_data/session_20260921_233045_819927/2.png",
+    "gaussian_data/session_20260921_233045_819927/2_depth.npy",
+    "gaussian_data/session_20260921_233045_819927/mask_2.png",
+    "gaussian_data/session_20260921_233045_819927/0_depth.npy",
+    "gaussian_data/session_20260921_233045_819927/mask_human_0.png",
+    "gaussian_data/session_20260921_233045_819927/3_depth.npy",
+    "gaussian_data/session_20260921_233045_819927/interp_poses.pkl",
+    "gaussian_data/session_20260921_233045_819927/observation.ply",
+    "gaussian_data/session_20260921_233045_819927/1_depth.npy",
+    "gaussian_data/session_20260921_233045_819927/mask_1.png",
+    "gaussian_data/session_20260921_233045_819927/1.png",
+    "gaussian_data/session_20260921_233045_819927/mask_human_2.png",
+    "gaussian_data/session_20260921_233045_819927/3.png",
+    "spline/filter.json",
+    "spline/filter_removed.npz",
+    "spline/filtered_cloud.npz",
+    "steps/inputs.json",
+    "steps/diagnose-depth.json"
+  ],
+  "requested_fit": {
+    "owner_text": "Use 18 controls and curvature 5e-9",
+    "question_item_id": "[\"request_user_input_async\",\"call_a0e9fa3be9d24527b644d22e28b0859a\",0]",
+    "recorded_utc": "2026-10-28T22:03:09.899460+00:00",
+    "control_count": 18,
+    "lambda_curvature_cost": 5e-09,
+    "settings_source": "233248 variant B",
+    "scope": "Prepare a separate233045 prior using18controls and curvature5e-9; preserve baseline and all other scientific settings. This is not prior acceptance.",
+    "run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1"
+  },
+  "action": "Exact copies of27 true observation/filter/step inputs; derived shape_prior.glb is generated by the new colors stage."
+}

sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/colors/fill_swatch.txt

@@ -0,0 +1,2 @@
+Per-channel median of 1201 observed vertex colours (RGB/255): [0.2063746900559351, 0.1692619234299968, 0.15709957824017537]
+Filled 527 vertices.