diff --git a/audits/stage6f_carla_environment_camera_response_v1/SHA256SUMS b/audits/stage6f_carla_environment_camera_response_v1/SHA256SUMS
new file mode 100644
index 0000000000000000000000000000000000000000..edf86df8112dc55b61fd75307c944e458363fec7
--- /dev/null
+++ b/audits/stage6f_carla_environment_camera_response_v1/SHA256SUMS
@@ -0,0 +1,1161 @@
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diff --git a/audits/stage6f_carla_environment_camera_response_v1/capture_index.json b/audits/stage6f_carla_environment_camera_response_v1/capture_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..2616fe6d8d4e3dbef9997acd392b418b7eb92acc
--- /dev/null
+++ b/audits/stage6f_carla_environment_camera_response_v1/capture_index.json
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diff --git a/audits/stage6f_carla_environment_camera_response_v1/carla_vulkan_runtime_preflight.json b/audits/stage6f_carla_environment_camera_response_v1/carla_vulkan_runtime_preflight.json
new file mode 100644
index 0000000000000000000000000000000000000000..85d6651de7bbca12a99350221d0f8ac6fbeb602f
--- /dev/null
+++ b/audits/stage6f_carla_environment_camera_response_v1/carla_vulkan_runtime_preflight.json
@@ -0,0 +1,122 @@
+{
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+      "executable": "/usr/bin/nvidia-smi",
+      "exit_code": 0,
+      "output_truncated": false,
+      "stderr": "",
+      "stdout": "0, GPU-1bdeb2ec-9438-1afd-eb8a-4374765daf8e, NVIDIA GeForce RTX 4060 Ti, 595.84\n"
+    },
+    "vulkaninfo": {
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+      "error_kind": null,
+      "executable": "/home/zqc/.local/opt/vulkan-tools-1.3.204.1/usr/bin/vulkaninfo",
+      "exit_code": 0,
+      "output_truncated": false,
+      "stderr": "WARNING: [Loader Message] Code 0 : terminator_CreateInstance: Failed to CreateInstance in ICD 2.  Skipping ICD.\n",
+      "stdout": "==========\nVULKANINFO\n==========\n\nVulkan Instance Version: 1.3.204\n\n\nInstance Extensions: count = 20\n-------------------------------\nVK_EXT_acquire_drm_display             : extension revision 1\nVK_EXT_acquire_xlib_display            : extension revision 1\nVK_EXT_debug_report                    : extension revision 10\nVK_EXT_debug_utils                     : extension revision 2\nVK_EXT_direct_mode_display             : extension revision 1\nVK_EXT_display_surface_counter         : extension revision 1\nVK_EXT_swapchain_colorspace            : extension revision 4\nVK_KHR_device_group_creation           : extension revision 1\nVK_KHR_display                         : extension revision 23\nVK_KHR_external_fence_capabilities     : extension revision 1\nVK_KHR_external_memory_capabilities    : extension revision 1\nVK_KHR_external_semaphore_capabilities : extension revision 1\nVK_KHR_get_display_properties2         : extension revision 1\nVK_KHR_get_physical_device_properties2 : extension revision 2\nVK_KHR_get_surface_capabilities2       : extension revision 1\nVK_KHR_surface                         : extension revision 25\nVK_KHR_surface_protected_capabilities  : extension revision 1\nVK_KHR_wayland_surface                 : extension revision 6\nVK_KHR_xcb_surface                     : extension revision 6\nVK_KHR_xlib_surface                    : extension revision 6\n\nInstance Layers: count = 5\n--------------------------\nVK_LAYER_INTEL_nullhw       INTEL NULL HW                1.1.73   version 1\nVK_LAYER_MESA_device_select Linux device selection layer 1.3.211  version 1\nVK_LAYER_MESA_overlay       Mesa Overlay layer           1.3.211  version 1\nVK_LAYER_NV_optimus         NVIDIA Optimus layer         1.4.329  version 1\nVK_LAYER_NV_present         NVIDIA Presentation Layer    1.4.329  version 1\n\nDevices:\n========\nGPU0:\n\tapiVersion         = 4211017 (1.4.329)\n\tdriverVersion      = 2496987136 (0x94d50000)\n\tvendorID           = 0x10de\n\tdeviceID           = 0x2803\n\tdeviceType         = PHYSICAL_DEVICE_TYPE_DISCRETE_GPU\n\tdeviceName         = NVIDIA GeForce RTX 4060 Ti\n\tdriverID           = DRIVER_ID_NVIDIA_PROPRIETARY\n\tdriverName         = NVIDIA\n\tdriverInfo         = 595.84\n\tconformanceVersion = 1.4.3.3\n\tdeviceUUID         = 1bdeb2ec-9438-1afd-eb8a-4374765daf8e\n\tdriverUUID         = 027cbdd1-c478-513e-af69-ebc9eaa7de87\nGPU1:\n\tapiVersion         = 4206847 (1.3.255)\n\tdriverVersion      = 96477185 (0x5c02001)\n\tvendorID           = 0x8086\n\tdeviceID           = 0x4680\n\tdeviceType         = PHYSICAL_DEVICE_TYPE_INTEGRATED_GPU\n\tdeviceName         = Intel(R) UHD Graphics 770 (ADL-S GT1)\n\tdriverID           = DRIVER_ID_INTEL_OPEN_SOURCE_MESA\n\tdriverName         = Intel open-source Mesa driver\n\tdriverInfo         = Mesa 23.2.1-1ubuntu3.1~22.04.4\n\tconformanceVersion = 1.3.6.0\n\tdeviceUUID         = 86808046-0c00-0000-0002-000000000000\n\tdriverUUID         = 0cebd1ad-fe5e-aa12-6255-844595c17e1b\nGPU2:\n\tapiVersion         = 4206847 (1.3.255)\n\tdriverVersion      = 1 (0x0001)\n\tvendorID           = 0x10005\n\tdeviceID           = 0x0000\n\tdeviceType         = PHYSICAL_DEVICE_TYPE_CPU\n\tdeviceName         = llvmpipe (LLVM 15.0.7, 256 bits)\n\tdriverID           = DRIVER_ID_MESA_LLVMPIPE\n\tdriverName         = llvmpipe\n\tdriverInfo         = Mesa 23.2.1-1ubuntu3.1~22.04.4 (LLVM 15.0.7)\n\tconformanceVersion = 1.3.1.1\n\tdeviceUUID         = 6d657361-3233-2e32-2e31-2d3175627500\n\tdriverUUID         = 6c6c766d-7069-7065-5555-494400000000\n"
+    }
+  },
+  "created_at_utc": "2026-08-04T02:26:45.467576+00:00",
+  "decision": {
+    "acceptance_criterion": "The NVIDIA runtime is not disabled, a numbered NVIDIA device node exists, nvidia-smi reports at least one GPU, and vulkaninfo --summary exits with code 0 while enumerating at least one physical device with NVIDIA vendor ID 0x10de.",
+    "diagnostic_warnings": [],
+    "failure_reasons": [],
+    "numbered_nvidia_device_nodes": 1,
+    "nvidia_smi_gpu_count": 1,
+    "proc_nvidia_gpu_entries": 1,
+    "ready": true,
+    "status": "carla_vulkan_ready",
+    "vulkan_nvidia_physical_device_count": 1
+  },
+  "device_nodes": [
+    {
+      "is_character_device": true,
+      "major": 195,
+      "minor": 254,
+      "path": "/dev/nvidia-modeset",
+      "readable": true
+    },
+    {
+      "is_character_device": true,
+      "major": 506,
+      "minor": 0,
+      "path": "/dev/nvidia-uvm",
+      "readable": true
+    },
+    {
+      "is_character_device": true,
+      "major": 506,
+      "minor": 1,
+      "path": "/dev/nvidia-uvm-tools",
+      "readable": true
+    },
+    {
+      "is_character_device": true,
+      "major": 195,
+      "minor": 0,
+      "path": "/dev/nvidia0",
+      "readable": true
+    },
+    {
+      "is_character_device": true,
+      "major": 195,
+      "minor": 255,
+      "path": "/dev/nvidiactl",
+      "readable": true
+    }
+  ],
+  "git_commit": "381e5c9204b16459ed7e559e6d7a263f55034b23",
+  "host": {
+    "hostname": "zqc-MS-7D42",
+    "platform": "Linux-6.5.0-15-generic-x86_64-with-glibc2.35",
+    "python": "3.10.14"
+  },
+  "name": "carla_vulkan_runtime_preflight_v2",
+  "proc_nvidia_gpus": [
+    {
+      "bus_location": "0000:01:00.0",
+      "device_minor": "0",
+      "model": "NVIDIA GeForce RTX 4060 Ti",
+      "path": "/proc/driver/nvidia/gpus/0000:01:00.0/information",
+      "readable": true
+    }
+  ],
+  "runtime_environment": {
+    "current_process": {
+      "CUDA_VISIBLE_DEVICES": null,
+      "NVIDIA_DRIVER_CAPABILITIES": null,
+      "NVIDIA_VISIBLE_DEVICES": null
+    },
+    "pid1": {
+      "error": "PermissionError: [Errno 13] Permission denied: '/proc/1/environ'",
+      "readable": false,
+      "values": {
+        "CUDA_VISIBLE_DEVICES": null,
+        "NVIDIA_DRIVER_CAPABILITIES": null,
+        "NVIDIA_VISIBLE_DEVICES": null
+      }
+    }
+  },
+  "safety": {
+    "arbitrary_environment_collected": false,
+    "carla_launched": false,
+    "collected_environment_keys": [
+      "NVIDIA_VISIBLE_DEVICES",
+      "NVIDIA_DRIVER_CAPABILITIES",
+      "CUDA_VISIBLE_DEVICES"
+    ],
+    "read_only": true
+  },
+  "schema_version": 2
+}
diff --git a/audits/stage6f_carla_environment_camera_response_v1/comparison_units.csv b/audits/stage6f_carla_environment_camera_response_v1/comparison_units.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d8d5a6cd70364b0a7dfea883848f34c1c4786215
--- /dev/null
+++ b/audits/stage6f_carla_environment_camera_response_v1/comparison_units.csv
@@ -0,0 +1,181 @@
+comparison_kind,factor_id,factor_family,epsilon_uint8,view_id,axis,comparison_mask_pixels,full_field_field_cosine,full_field_relative_residual,full_field_factor_to_reference_l2_norm_ratio,full_field_reference_l2,full_field_factor_l2,sorted_field_field_cosine,sorted_field_relative_residual,sorted_field_factor_to_reference_l2_norm_ratio,sorted_field_reference_l2,sorted_field_factor_l2
+baseline_start_end_drift,baseline_start_end_drift,reference,8,d07_e80_a000,red,92460,0.0626400318543196,0.9980361849198103,0.06264003185431959,168.64876593085407,10.564164070100388,0.3932333788298139,0.9770667688743423,0.06264003185431959,168.64876593085407,10.564164070100388
+factor_to_mean_reference,sun_azimuth_179_pp_off,environment,8,d07_e80_a000,red,92460,0.12454915433415827,0.9922134388097381,0.12454915433415825,84.81923563894573,10.564164070100388,0.4048523228808054,0.9563809193806128,0.12454915433415825,84.81923563894573,10.564164070100388
+factor_to_mean_reference,sun_altitude_15_pp_off,environment,8,d07_e80_a000,red,92460,0.12449466438693073,0.9922202791032424,0.12455569332006622,84.81923563894573,10.564718701886955,0.40490953451607015,0.9563715518203861,0.12455569332006622,84.81923563894573,10.564718701886955
+factor_to_mean_reference,cloudiness_60_pp_off,environment,8,d07_e80_a000,red,92460,0.12450991694714246,0.9922183638258145,0.12454043515221372,84.81923563894573,10.563424515752455,0.40499184039810143,0.9563653067292601,0.12454043515221372,84.81923563894573,10.563424515752455
+factor_to_mean_reference,clear_noon_fixed_manual_postprocess,camera,8,d07_e80_a000,red,92460,0.0736716153615231,1.318294135745119,0.9358357153157874,84.81923563894573,79.3768700567111,0.47291563124642216,0.9953119159125877,0.9358357153157874,84.81923563894573,79.3768700567111
+baseline_start_end_drift,baseline_start_end_drift,reference,8,d07_e80_a000,green,92460,1.0,0.0,1.0,6.878408246098802,6.878408246098802,1.0,0.0,1.0,6.878408246098802,6.878408246098802
+factor_to_mean_reference,sun_azimuth_179_pp_off,environment,8,d07_e80_a000,green,92460,1.0,0.0,1.0,6.878408246098802,6.878408246098802,1.0,0.0,1.0,6.878408246098802,6.878408246098802
+factor_to_mean_reference,sun_altitude_15_pp_off,environment,8,d07_e80_a000,green,92460,0.9990915642649473,0.042619015112287,0.9996696944583716,6.878408246098802,6.8761362697375334,0.9996696944583716,0.02570023310217136,0.9996696944583716,6.878408246098802,6.8761362697375334
+factor_to_mean_reference,cloudiness_60_pp_off,environment,8,d07_e80_a000,green,92460,0.9990502956900205,0.043576865385541334,0.9997109886193021,6.878408246098802,6.876420307834593,0.999628402003142,0.027259213656930525,0.9997109886193021,6.878408246098802,6.876420307834593
+factor_to_mean_reference,clear_noon_fixed_manual_postprocess,camera,8,d07_e80_a000,green,92460,0.3855605397029056,12.765214845024353,13.117385505881405,6.878408246098802,90.22673263091156,0.6417574838573217,12.499177647982513,13.117385505881405,6.878408246098802,90.22673263091156
+baseline_start_end_drift,baseline_start_end_drift,reference,8,d07_e80_a000,blue,92460,0.9999999999999998,0.0,1.0,25.66445133837854,25.66445133837854,0.9999999999999998,0.0,1.0,25.66445133837854,25.66445133837854
+factor_to_mean_reference,sun_azimuth_179_pp_off,environment,8,d07_e80_a000,blue,92460,0.9999999999999998,0.0,1.0,25.66445133837854,25.66445133837854,0.9999999999999998,0.0,1.0,25.66445133837854,25.66445133837854
+factor_to_mean_reference,sun_altitude_15_pp_off,environment,8,d07_e80_a000,blue,92460,0.9998754605101604,0.01578238662927449,1.0000177915365673,25.66445133837854,25.66490794840301,0.9999584869422312,0.009111965168866377,1.0000177915365673,25.66445133837854,25.66490794840301
+factor_to_mean_reference,cloudiness_60_pp_off,environment,8,d07_e80_a000,blue,92460,0.9998932486351236,0.014611650763763891,0.9999881387997647,25.66445133837854,25.664146927182287,0.9999822081644746,0.005965181445161606,0.9999881387997647,25.66445133837854,25.664146927182287
+factor_to_mean_reference,clear_noon_fixed_manual_postprocess,camera,8,d07_e80_a000,blue,92460,0.6840309039535298,2.7306471888381147,3.3154435184009454,25.66445133837854,85.0890388431436,0.8323646322724668,2.5441796071973704,3.3154435184009454,25.66445133837854,85.0890388431436
+baseline_start_end_drift,baseline_start_end_drift,reference,8,d07_e80_a180,red,88664,0.14782729357262536,0.9890131906476237,0.14782729357262536,179.6591716800175,26.55852911495665,0.43867713141717035,0.9445401010787212,0.14782729357262536,179.6591716800175,26.55852911495665
+factor_to_mean_reference,sun_azimuth_179_pp_off,environment,8,d07_e80_a180,red,88664,0.2864151105656963,0.9581056227993029,0.2864151105656963,92.7274020651393,26.55852911495665,0.514471304386797,0.8873155608365692,0.2864151105656963,92.7274020651393,26.55852911495665
+factor_to_mean_reference,sun_altitude_15_pp_off,environment,8,d07_e80_a180,red,88664,0.2863017041506545,0.958139525072498,0.28642542044221125,92.7274020651393,26.559485123021492,0.5145709509233595,0.887280744490916,0.28642542044221125,92.7274020651393,26.559485123021492
+factor_to_mean_reference,cloudiness_60_pp_off,environment,8,d07_e80_a180,red,88664,0.28629852238516573,0.9581404733705854,0.2864016278594884,92.7274020651393,26.557278898637186,0.5147628048656108,0.8872249330865937,0.2864016278594884,92.7274020651393,26.557278898637186
+factor_to_mean_reference,clear_noon_fixed_manual_postprocess,camera,8,d07_e80_a180,red,88664,0.05002129169058288,4.966358215919213,4.914917596695517,92.7274020651393,455.7475401058134,0.8358776889502446,4.115807947182881,4.914917596695517,92.7274020651393,455.7475401058134
+baseline_start_end_drift,baseline_start_end_drift,reference,8,d07_e80_a180,green,88664,1.0000000000000002,0.0,1.0,13.88358405635951,13.88358405635951,1.0000000000000002,0.0,1.0,13.88358405635951,13.88358405635951
+factor_to_mean_reference,sun_azimuth_179_pp_off,environment,8,d07_e80_a180,green,88664,1.0000000000000002,0.0,1.0,13.88358405635951,13.88358405635951,1.0000000000000002,0.0,1.0,13.88358405635951,13.88358405635951
+factor_to_mean_reference,sun_altitude_15_pp_off,environment,8,d07_e80_a180,green,88664,0.9986522787302523,0.05191636102327354,0.9999493350221335,13.88358405635951,13.882880644880586,0.9998885355084516,0.01493051423578638,0.9999493350221335,13.88358405635951,13.882880644880586
+factor_to_mean_reference,cloudiness_60_pp_off,environment,8,d07_e80_a180,green,88664,0.9985609308970361,0.05364417807858201,0.999837863033733,13.88358405635951,13.881333014159699,0.9997567879774348,0.022053831100453176,0.999837863033733,13.88358405635951,13.881333014159699
+factor_to_mean_reference,clear_noon_fixed_manual_postprocess,camera,8,d07_e80_a180,green,88664,0.4180000066960734,11.11359560608411,11.494404265351946,13.88358405635951,159.583527795791,0.7236005616029729,10.792896490374604,11.494404265351946,13.88358405635951,159.583527795791
+baseline_start_end_drift,baseline_start_end_drift,reference,8,d07_e80_a180,blue,88664,0.9378795547397952,0.36994196734068424,1.0662349924851913,60.017250124443386,63.99249223541774,0.939868962316895,0.3641630229085017,1.0662349924851913,60.017250124443386,63.99249223541774
+factor_to_mean_reference,sun_azimuth_179_pp_off,environment,8,d07_e80_a180,blue,88664,0.9833196959078835,0.1818856114145029,0.9833196959078834,61.03533812472902,60.017250124443386,0.9843311354354649,0.17633275028265866,0.9833196959078834,61.03533812472902,60.017250124443386
+factor_to_mean_reference,sun_altitude_15_pp_off,environment,8,d07_e80_a180,blue,88664,0.9832173259829278,0.18243821154514925,0.9833228949734047,61.03533812472902,60.017445380489164,0.9843151368485432,0.17642192583341856,0.9833228949734047,61.03533812472902,60.017445380489164
+factor_to_mean_reference,cloudiness_60_pp_off,environment,8,d07_e80_a180,blue,88664,0.9832210571241179,0.18241809406836978,0.9833116981985465,61.03533812472902,60.016761981549784,0.9843210132214504,0.17638923336619158,0.9833116981985465,61.03533812472902,60.016761981549784
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+baseline_start_end_drift,baseline_start_end_drift,reference,8,d11_e80_a000,red,32550,0.06923669602374037,0.9976002605872336,0.06923669602374037,92.57412570475618,6.4095266010837335,0.3883298458070147,0.9752027323044739,0.06923669602374037,92.57412570475618,6.4095266010837335
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+factor_to_mean_reference,sun_altitude_15_pp_off,environment,8,d11_e80_a000,red,32550,0.1374883004556071,0.9905033908260127,0.1374883004556071,46.618705590540586,6.4095266010837335,0.40577808329293674,0.952535329892814,0.1374883004556071,46.618705590540586,6.4095266010837335
+factor_to_mean_reference,cloudiness_60_pp_off,environment,8,d11_e80_a000,red,32550,0.1374883004556071,0.9905033908260127,0.1374883004556071,46.618705590540586,6.4095266010837335,0.40577808329293674,0.952535329892814,0.1374883004556071,46.618705590540586,6.4095266010837335
+factor_to_mean_reference,clear_noon_fixed_manual_postprocess,camera,8,d11_e80_a000,red,32550,0.03443561203943349,6.414600757063985,6.370703337120372,46.618705590540586,296.99394327788906,0.7898965984392904,5.614398206244568,6.370703337120372,46.618705590540586,296.99394327788906
+baseline_start_end_drift,baseline_start_end_drift,reference,8,d11_e80_a000,green,32550,1.0,0.0,1.0,3.9799301187332423,3.9799301187332423,1.0,0.0,1.0,3.9799301187332423,3.9799301187332423
+factor_to_mean_reference,sun_azimuth_179_pp_off,environment,8,d11_e80_a000,green,32550,1.0,0.0,1.0,3.9799301187332423,3.9799301187332423,1.0,0.0,1.0,3.9799301187332423,3.9799301187332423
+factor_to_mean_reference,sun_altitude_15_pp_off,environment,8,d11_e80_a000,green,32550,1.0,0.0,1.0,3.9799301187332423,3.9799301187332423,1.0,0.0,1.0,3.9799301187332423,3.9799301187332423
+factor_to_mean_reference,cloudiness_60_pp_off,environment,8,d11_e80_a000,green,32550,1.0,0.0,1.0,3.9799301187332423,3.9799301187332423,1.0,0.0,1.0,3.9799301187332423,3.9799301187332423
+factor_to_mean_reference,clear_noon_fixed_manual_postprocess,camera,8,d11_e80_a000,green,32550,0.3827963877187516,11.786259215227394,12.132793807419882,3.9799301187332423,48.28767149853056,0.6487598950356881,11.509220021330007,12.132793807419882,3.9799301187332423,48.28767149853056
+baseline_start_end_drift,baseline_start_end_drift,reference,8,d11_e80_a000,blue,32550,1.0000000000000002,0.0,1.0,16.06395907769937,16.06395907769937,1.0000000000000002,0.0,1.0,16.06395907769937,16.06395907769937
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diff --git a/audits/stage6f_carla_environment_camera_response_v1/decision.json b/audits/stage6f_carla_environment_camera_response_v1/decision.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca746e0b51a3758df1314a10d1365ce94a75d31c
--- /dev/null
+++ b/audits/stage6f_carla_environment_camera_response_v1/decision.json
@@ -0,0 +1,82 @@
+{
+  "authorized_next_actions": [
+    "Repeat only invalid factors under a separately preregistered acquisition-noise repair; do not relax the scientific sensitivity thresholds."
+  ],
+  "baseline_drift_valid": false,
+  "carla_archive": {
+    "bytes": 8386636048,
+    "path": "/home/zqc/project/CARLA_0.9.15.tar.gz",
+    "sha256": "7b2f432ce74b251593f95dcc8dee6d99ad9625c2a71a2d6d48f24d879de19ef7"
+  },
+  "claim_boundary": "This detector-free same-Audi audit can establish only whether the stable stock-CARLA global spawn-RGB response is sensitive to four frozen environment/camera interventions. It cannot directly identify the Audi PBR material, validate a differentiable renderer, fit a photometric model, test camouflage, access another vehicle, or make detector, transfer, cross-vehicle, or physical-world claims.",
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+      "pre_drift_status": "not_sensitive",
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+      "status": "indeterminate"
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+  "finished_at": "2026-08-04T02:30:49.466732+00:00",
+  "git_commit": "381e5c9204b16459ed7e559e6d7a263f55034b23",
+  "implementation_path": "/home/zqc/project/Differentiable-Render-Camouflage/tools/diagnose_carla_environment_camera_response.py",
+  "implementation_sha256": "e1f11b8aedaac46aa218c2d1050e7fb90af36b6017dd26f52e6e27a822cb187c",
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+    "cloudiness_60_pp_off",
+    "sun_altitude_15_pp_off",
+    "sun_azimuth_179_pp_off"
+  ],
+  "kind": "stage6f_carla_environment_camera_response_v1",
+  "prohibited_actions": [
+    "Do not load a detector, detector weight, camouflage checkpoint, Stage-2 dataset, differentiable renderer, validation/test vehicle, or Nissan artifact.",
+    "Do not call the stock runtime diffuse-texture API a working material control after the frozen capability result classified it unavailable.",
+    "Do not add or tune a weather, exposure, gamma, tone, sensor, color-matrix, scalar, spatial-warp, correspondence, or semantic-texture parameter after observing outcomes.",
+    "Do not select a best factor; report every preregistered factor independently.",
+    "Do not interpret this response audit as a detector, camouflage, transfer, physical-world, or cross-vehicle result."
+  ],
+  "protocol_path": "/home/zqc/project/Differentiable-Render-Camouflage/experiments/protocols/stage6f_carla_environment_camera_response_v1.json",
+  "protocol_sha256": "f77c35cfe19327f148405588d2eb0d6aa8b4e1e522f79564dab892df92897931",
+  "schema_version": 1,
+  "started_at": "2026-08-04T02:26:45.271263+00:00",
+  "status": "environment_camera_response_indeterminate",
+  "supported_factors": []
+}
diff --git a/audits/stage6f_carla_environment_camera_response_v1/factor_summary.json b/audits/stage6f_carla_environment_camera_response_v1/factor_summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..3dd023d710af7de1b506c9eca81f2975f3d57da3
--- /dev/null
+++ b/audits/stage6f_carla_environment_camera_response_v1/factor_summary.json
@@ -0,0 +1,1026 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..9734dcce262d7334b55502d2c01dd410c3bc6115
--- /dev/null
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diff --git a/audits/stage6f_carla_environment_camera_response_v1/preregistration.json b/audits/stage6f_carla_environment_camera_response_v1/preregistration.json
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+{
+  "analysis": {
+    "baseline_drift": "Compare the opening and closing reference response fields directly at both epsilons before interpreting any factor.",
+    "common_mask": "Exact intersection of every RGB perturbation and required base instance mask participating in that unit.",
+    "factor_comparison_unit": "factor x epsilon x view x RGB axis",
+    "fit_parameters": 0,
+    "full_field_comparison": "Compare signed HxWx3 response fields with cosine, factor-minus-reference relative L2 residual, and factor/reference L2 norm ratio.",
+    "location_free_signed_marginal": "Independently sort signed response values for each output RGB channel on the same mask and concatenate them before computing the same metrics.",
+    "material_interpretation": "Environment-factor sensitivity is labeled material/environment interaction only; it is not direct material identification.",
+    "reference_field": "Pixelwise arithmetic mean of the opening and closing reference response fields on their joint mask; this averaging rule is fixed and has zero fitted parameters.",
+    "stability_unit": "factor x view x RGB axis"
+  },
+  "audit_id": "stage6f_carla_environment_camera_response_v1",
+  "camera": {
+    "analysis_crop": "center_square_1152",
+    "attachment_type": "Rigid",
+    "coordinate_formula": {
+      "angles": "degrees",
+      "location": "x=d*sin(e)*cos(a), y=d*sin(e)*sin(a), z=d*cos(e)",
+      "rotation": "pitch=atan2(-z,hypot(x,y)), yaw=atan2(-y,-x), roll=0"
+    },
+    "fov_degrees": 90.0,
+    "image_height": 1152,
+    "image_width": 2048,
+    "instance_mask_policy": "largest tag-14 instance in the center crop",
+    "mask_sensor": "sensor.camera.instance_segmentation",
+    "profile_inventory_policy": "Before the first capture, require every requested attribute to exist, be modifiable, accept the exact string value, and round-trip to the requested bool/string or within 1e-5 for floats.",
+    "profiles": {
+      "fixed_manual_postprocess": {
+        "bloom_intensity": "0.0",
+        "blur_amount": "0.0",
+        "blur_radius": "0.0",
+        "enable_postprocess_effects": "true",
+        "exposure_compensation": "0.0",
+        "exposure_mode": "manual",
+        "fstop": "1.4",
+        "gamma": "2.2",
+        "iso": "100.0",
+        "lens_flare_intensity": "0.0",
+        "motion_blur_intensity": "0.0",
+        "shutter_speed": "200.0"
+      },
+      "postprocess_off": {
+        "enable_postprocess_effects": "false"
+      }
+    },
+    "semantic_vehicle_tag": 14
+  },
+  "capture_order": {
+    "base_within_spawn_repeats": 2,
+    "factors": "protocol order",
+    "independent_base_spawns_per_factor": 2,
+    "perturbation_within_spawn_repeats": 1,
+    "resume_policy": "No partial factor may be resumed in place. A failed output directory remains evidence and a new empty output directory is required.",
+    "sensor_frame_policy": "Drain queues, tick once, and require RGB and instance images to match the returned frame exactly.",
+    "views": "protocol order",
+    "within_factor_color_conditions": "base_spawn_a; then epsilon ascending, RGB axis order, minus before plus; then base_spawn_b"
+  },
+  "carla": {
+    "fixed_delta_seconds": 0.03,
+    "host": "127.0.0.1",
+    "map": "Town10HD_Opt",
+    "port": 2000,
+    "required_archive_bytes": 8386636048,
+    "required_archive_sha256": "7b2f432ce74b251593f95dcc8dee6d99ad9625c2a71a2d6d48f24d879de19ef7",
+    "required_client_version": "0.9.15",
+    "required_server_version": "0.9.15",
+    "server_launch_command": "./CarlaUE4.sh -RenderOffScreen -nosound -quality-level=Epic -carla-rpc-port=2000",
+    "settle_ticks_after_camera_move": 3,
+    "simulate_physics": false,
+    "spawn_point_index": 0,
+    "synchronous_mode": true,
+    "timeout_seconds": 30.0,
+    "warmup_ticks_after_vehicle_spawn": 10,
+    "weather_settle_ticks_after_change": 60
+  },
+  "claim_boundary": "This detector-free same-Audi audit can establish only whether the stable stock-CARLA global spawn-RGB response is sensitive to four frozen environment/camera interventions. It cannot directly identify the Audi PBR material, validate a differentiable renderer, fit a photometric model, test camouflage, access another vehicle, or make detector, transfer, cross-vehicle, or physical-world claims.",
+  "decision_rule": {
+    "camera_only_status": "camera_response_sensitive",
+    "environment_and_camera_status": "environment_and_camera_response_sensitive",
+    "environment_only_status": "environment_response_sensitive",
+    "factor_channel_is_sensitive_only_if_all_hold_at_both_epsilons": {
+      "and_at_least_one_of": {
+        "median_factor_to_reference_l2_norm_ratio_outside_inclusive": [
+          0.8,
+          1.25
+        ],
+        "median_field_cosine_at_most": 0.9
+      },
+      "median_relative_residual_at_least": 0.25,
+      "minimum_units_with_relative_residual_at_least_0_20": 12,
+      "p10_relative_residual_at_least": 0.1
+    },
+    "factor_is_sensitive": "The factor must pass its stability gates and either its full-field channel or its location-free signed-marginal channel must satisfy every sensitivity gate at epsilon 8 and epsilon 16.",
+    "indeterminate_status": "environment_camera_response_indeterminate",
+    "multiple_factor_policy": "Report every supported factor. Do not rank, select, or combine supported factors after observing outcomes.",
+    "next_if_camera_sensitive": "Preregister an explicit fixed camera/tone forward model using the frozen manual profile; do not fit gamma, exposure, or a color matrix to these response outcomes.",
+    "next_if_environment_sensitive": "Preregister a renderer comparison using only the supported frozen illumination value or values; do not fit light parameters to these response outcomes.",
+    "next_if_none_sensitive": "Obtain an instrumented CARLA/Unreal Audi material interface or an explicitly exportable matched material before any spatial-correspondence or semantic-texture fitting.",
+    "next_if_partial_or_indeterminate": "Repeat only invalid factors under a separately preregistered acquisition-noise repair; do not relax the scientific sensitivity thresholds.",
+    "none_status": "no_tested_environment_camera_response_sensitivity",
+    "partial_status": "partial_environment_camera_response_identification"
+  },
+  "factors": [
+    {
+      "block_role": "start_reference",
+      "camera_profile": "postprocess_off",
+      "family": "reference",
+      "id": "baseline_clear_noon_pp_off_start",
+      "interpretation": "Opening copy of the exact Stage-6a-v2 acquisition environment.",
+      "weather_overrides": {}
+    },
+    {
+      "block_role": "factor",
+      "camera_profile": "postprocess_off",
+      "family": "environment",
+      "id": "sun_azimuth_179_pp_off",
+      "interpretation": "Rotate the directional illumination by exactly 180 degrees relative to ClearNoon's -1 degree azimuth.",
+      "weather_overrides": {
+        "sun_azimuth_angle": 179.0
+      }
+    },
+    {
+      "block_role": "factor",
+      "camera_profile": "postprocess_off",
+      "family": "environment",
+      "id": "sun_altitude_15_pp_off",
+      "interpretation": "Change only directional-light altitude from 45 to 15 degrees.",
+      "weather_overrides": {
+        "sun_altitude_angle": 15.0
+      }
+    },
+    {
+      "block_role": "factor",
+      "camera_profile": "postprocess_off",
+      "family": "environment",
+      "id": "cloudiness_60_pp_off",
+      "interpretation": "Change only cloudiness from 5 to 60 as an environment-illumination intervention.",
+      "weather_overrides": {
+        "cloudiness": 60.0
+      }
+    },
+    {
+      "block_role": "factor",
+      "camera_profile": "fixed_manual_postprocess",
+      "family": "camera",
+      "id": "clear_noon_fixed_manual_postprocess",
+      "interpretation": "Enable the CARLA/UE camera pipeline while freezing manual exposure, gamma, motion blur, bloom, lens flare, and depth blur to explicit values.",
+      "weather_overrides": {}
+    },
+    {
+      "block_role": "end_reference",
+      "camera_profile": "postprocess_off",
+      "family": "reference",
+      "id": "baseline_clear_noon_pp_off_end",
+      "interpretation": "Closing duplicate of the opening reference used only for cross-block drift validity.",
+      "weather_overrides": {}
+    }
+  ],
+  "finite_difference": {
+    "axis_order": [
+      "red",
+      "green",
+      "blue"
+    ],
+    "calibration_epsilons_uint8": [
+      8,
+      16
+    ],
+    "clipping_policy": "forbidden; every requested base plus or minus axis step must already lie in [0,255]",
+    "field": "(RGB_plus-RGB_minus)/(2*epsilon) in uint8-output units per spawn-color uint8 unit",
+    "primary_epsilon_uint8": 8,
+    "sensitivity_epsilon_uint8": 16,
+    "sensitivity_policy": "No condition, parameter, threshold, field normalization, or factor label is changed after the epsilon-8 result; epsilon 16 is always reported."
+  },
+  "material_control_boundary": {
+    "evidence_classification": "global_rgb_only",
+    "global_spawn_rgb_role": "finite_difference probe only; it is not a controllable PBR material parameter",
+    "permitted_inference": "Illumination sensitivity can establish only a CARLA material/environment interaction, not identify the underlying vehicle material model.",
+    "prohibited_claim": "No condition may be called a direct material, BRDF, roughness, metallic, clear-coat, or spatial-texture intervention.",
+    "stock_runtime_diffuse_api_attempted": true,
+    "stock_runtime_diffuse_api_available": false
+  },
+  "prohibited_actions": [
+    "Do not load a detector, detector weight, camouflage checkpoint, Stage-2 dataset, differentiable renderer, validation/test vehicle, or Nissan artifact.",
+    "Do not call the stock runtime diffuse-texture API a working material control after the frozen capability result classified it unavailable.",
+    "Do not add or tune a weather, exposure, gamma, tone, sensor, color-matrix, scalar, spatial-warp, correspondence, or semantic-texture parameter after observing outcomes.",
+    "Do not select a best factor; report every preregistered factor independently.",
+    "Do not interpret this response audit as a detector, camouflage, transfer, physical-world, or cross-vehicle result."
+  ],
+  "purpose": "Determine whether the stable same-Audi CARLA global-RGB response field materially changes under frozen illumination or fixed camera-pipeline interventions, without using detector outcomes, fitting a renderer, or selecting a vehicle/material model post hoc.",
+  "raw_artifact_policy": "Save every center-cropped RGB image and exact instance mask as lossless PNG. Publish raw data, weights if any, and audit results openly on Hugging Face only after exact-revision redownload and checksum verification; keep source code on the private GitHub repository.",
+  "recorded_date": "2026-08-03",
+  "required_outputs": [
+    "preregistration.json",
+    "runtime.json",
+    "capture_index.json",
+    "stability_units.csv",
+    "comparison_units.csv",
+    "factor_summary.json",
+    "decision.json",
+    "manifest.json",
+    "SHA256SUMS"
+  ],
+  "research_state": {
+    "checkpoint_access": "forbidden",
+    "detector_access": "forbidden",
+    "differentiable_renderer_access": "forbidden",
+    "kind": "detector_free_same_audi_environment_camera_mechanism_audit",
+    "method_comparison_access": "forbidden",
+    "new_carla_capture_access": "required",
+    "stage2_dataset_access": "forbidden"
+  },
+  "runtime_prerequisites": {
+    "carla_server_must_run_as_non_root": true,
+    "failure_policy": "Abort before CARLA launch or capture and retain the runtime preflight as infrastructure evidence only.",
+    "required_vulkan_gate_exit_code": 0,
+    "required_vulkan_gate_status": "carla_vulkan_ready",
+    "vulkan_gate_command": "python tools/preflight_carla_vulkan_runtime.py --output carla_vulkan_runtime_preflight.json"
+  },
+  "scope": {
+    "allowed_split": "train",
+    "forbidden_vehicle_families": [
+      "nissan"
+    ],
+    "validation_or_test_vehicle_access": "forbidden",
+    "vehicle": {
+      "base_rgb_uint8": [
+        125,
+        107,
+        147
+      ],
+      "blueprint": "vehicle.audi.etron",
+      "project_name": "audi.etron",
+      "role": "train"
+    }
+  },
+  "status": "preregistered_before_environment_camera_capture",
+  "trigger": {
+    "capability_result_path": "experiments/provenance/stage6_20260803/carla_vehicle_surface_capability_preflight_l40s_v1/result.json",
+    "capability_result_sha256": "b35f46e2a294f24181c3ef327fbed94fd1b165fbc77b0e43618303a2fc08cb8a",
+    "epsilon_decision_path": "experiments/provenance/stage6_20260803/carla_global_rgb_epsilon_pilot_v2_l40s/decision.json",
+    "epsilon_decision_sha256": "01ea34b24fad82a9873868453ba4aff63d16acdcd8e649ccb31c42d91c69af21",
+    "epsilon_summary_path": "experiments/provenance/stage6_20260803/carla_global_rgb_epsilon_pilot_v2_l40s/summary.json",
+    "epsilon_summary_sha256": "0f5144ec8a206da0397ce8fab284553c28f6951f1af360eea1b7debd7b2554ee",
+    "required_capability_classification": "global_rgb_only",
+    "required_epsilon_status": "global_rgb_epsilon_selected",
+    "required_primary_epsilon_uint8": 8,
+    "required_stage6e_next_action": "Preregister an Audi-only matched CARLA material/environment acquisition with explicit material, illumination, exposure/tone, and sensor controls before spatial correspondence or semantic-texture fitting.",
+    "required_stage6e_status": "low_capacity_photometric_interventions_insufficient",
+    "stage6e_decision_path": "experiments/provenance/stage6_20260803/renderer_photometric_interventions_l40s_v1/decision.json",
+    "stage6e_decision_sha256": "8d94522656eb7379362d25750edf284799f80aec701336ff1bfb89a31c631b96",
+    "stage6e_results_path": "experiments/provenance/stage6_20260803/renderer_photometric_interventions_l40s_v1/results.json",
+    "stage6e_results_sha256": "2aed92b59fbeb8aafdb332a7cebc8bf8ebc7cd6a295b35edefcdebce573f5298"
+  },
+  "validity_gates": {
+    "baseline_start_end_drift_all_hold_at_both_epsilons": {
+      "median_full_field_cosine_at_least": 0.98,
+      "median_full_field_relative_residual_at_most": 0.1,
+      "median_sorted_field_cosine_at_least": 0.99,
+      "median_sorted_field_relative_residual_at_most": 0.1,
+      "p10_full_field_cosine_at_least": 0.95,
+      "p10_sorted_field_cosine_at_least": 0.98,
+      "p90_full_field_relative_residual_at_most": 0.2,
+      "p90_sorted_field_relative_residual_at_most": 0.2
+    },
+    "factor_stability_all_hold": {
+      "median_adjacent_derivative_norm_ratio_range_inclusive": [
+        0.75,
+        1.3333333333333333
+      ],
+      "median_adjacent_field_cosine_at_least": 0.9,
+      "median_signal_to_respawn_noise_at_least": 3.0,
+      "median_two_sided_balance_at_least": 0.5,
+      "p10_adjacent_derivative_norm_ratio_at_least": 0.3333333333333333,
+      "p10_adjacent_field_cosine_at_least": 0.65,
+      "p10_signal_to_respawn_noise_at_least": 1.5,
+      "p10_two_sided_balance_at_least": 0.2,
+      "p90_adjacent_derivative_norm_ratio_at_most": 3.0,
+      "valid_units": 18
+    },
+    "failure_status": "environment_camera_response_indeterminate",
+    "finite_metrics_required": true,
+    "minimum_pair_mask_iou": 0.98,
+    "minimum_vehicle_mask_pixels_every_capture": 10000,
+    "required_factors": 6,
+    "required_units_per_factor": 18,
+    "required_views": 6
+  },
+  "version": 1,
+  "views": [
+    {
+      "azimuth_degrees": 0.0,
+      "distance": 7.0,
+      "elevation_degrees": 80.0,
+      "id": "d07_e80_a000"
+    },
+    {
+      "azimuth_degrees": 180.0,
+      "distance": 7.0,
+      "elevation_degrees": 80.0,
+      "id": "d07_e80_a180"
+    },
+    {
+      "azimuth_degrees": 0.0,
+      "distance": 11.0,
+      "elevation_degrees": 80.0,
+      "id": "d11_e80_a000"
+    },
+    {
+      "azimuth_degrees": 180.0,
+      "distance": 11.0,
+      "elevation_degrees": 80.0,
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+{
+  "capture_record_count": 576,
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+    "path": "/home/zqc/project/CARLA_0.9.15.tar.gz",
+    "sha256": "7b2f432ce74b251593f95dcc8dee6d99ad9625c2a71a2d6d48f24d879de19ef7"
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+  "claim_boundary": "This detector-free same-Audi audit can establish only whether the stable stock-CARLA global spawn-RGB response is sensitive to four frozen environment/camera interventions. It cannot directly identify the Audi PBR material, validate a differentiable renderer, fit a photometric model, test camouflage, access another vehicle, or make detector, transfer, cross-vehicle, or physical-world claims.",
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+}
diff --git a/audits/stage6f_carla_environment_camera_response_v1/stability_units.csv b/audits/stage6f_carla_environment_camera_response_v1/stability_units.csv
new file mode 100644
index 0000000000000000000000000000000000000000..dbbaf3542fe81e050a2bb8b2596c4c526c271b9e
--- /dev/null
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