diff --git a/stage7/stage7a_matched_update_direct_uv_control_v1/README.md b/stage7/stage7a_matched_update_direct_uv_control_v1/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..1c568635e64207ba443324889d5c3c242059bfbb
--- /dev/null
+++ b/stage7/stage7a_matched_update_direct_uv_control_v1/README.md
@@ -0,0 +1,37 @@
+# Stage 7a matched-update direct-UV capacity control
+
+This directory records the small, Git-suitable evidence for the completed
+Stage 7a training-fit capacity control. The full checkpoints, exported
+textures, per-update metrics, and per-sample evaluations are published in the
+public Hugging Face data release recorded by `huggingface_release.json`.
+
+The formal L40S run used four independent 2048x2048 direct textures initialized
+from the exact A1 seed-42 outputs. Each training-only vehicle arm used 144
+samples, two-view mean EOT, six epochs, and 432 optimizer updates. All four arms
+passed all 17 preregistered validity gates. A separate read-only verifier then
+reloaded all four checkpoints and recomputed 1,728 training rows, 576 evaluation
+rows, clean anchors, texture and artifact hashes, and the aggregate decision.
+
+The source-minus-direct attacked AP50:95 reductions were:
+
+- Audi E-Tron: `0.21062083515620403`
+- Tesla Model 3: `0.18751181843526266`
+- Ford Mustang: `0.25708711876854856`
+- Jeep Wrangler Rubicon: `0.016312382877598525`
+
+The median reduction was `0.19906632679573333`; all four vehicles exceeded the
+preregistered per-vehicle threshold. The formal status is
+`matched_update_direct_uv_training_headroom_demonstrated`.
+
+This is an update-matched capacity diagnostic, not a parameter- or FLOP-matched
+baseline. It supports only a same-vehicle training-fit headroom statement. It
+does not establish universality, unseen-vehicle or detector transfer,
+naturalness, physical robustness, causal renderer fidelity, or a new attack
+method.
+
+The first formal invocation is retained under `pre_outcome_failed_attempt/` in
+the public bundle. It stopped before Renderer construction completed and before
+any dataset batch, direct texture, optimizer, rendered image, evaluation, or
+optimization update. The nuisance-only repair restored the already frozen
+top-level `image_size` field and ran into a fresh output directory without
+changing a scientific input, hyperparameter, gate, or threshold.
diff --git a/stage7/stage7a_matched_update_direct_uv_control_v1/SHA256SUMS b/stage7/stage7a_matched_update_direct_uv_control_v1/SHA256SUMS
new file mode 100644
index 0000000000000000000000000000000000000000..49e511790d12050ac4fb4c654d0b39d35184a964
--- /dev/null
+++ b/stage7/stage7a_matched_update_direct_uv_control_v1/SHA256SUMS
@@ -0,0 +1,77 @@
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diff --git a/stage7/stage7a_matched_update_direct_uv_control_v1/formal_run/arms/audi_etron/arm_result.json b/stage7/stage7a_matched_update_direct_uv_control_v1/formal_run/arms/audi_etron/arm_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..9eff786680b3596ea313c175e952239691854acc
--- /dev/null
+++ b/stage7/stage7a_matched_update_direct_uv_control_v1/formal_run/arms/audi_etron/arm_result.json
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+}
diff --git a/stage7/stage7a_matched_update_direct_uv_control_v1/formal_run/arms/audi_etron/evaluation/per_seed/direct/samples.csv b/stage7/stage7a_matched_update_direct_uv_control_v1/formal_run/arms/audi_etron/evaluation/per_seed/direct/samples.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e745fb9e4fd5b189e2bb753fc48bbaf150854870
--- /dev/null
+++ b/stage7/stage7a_matched_update_direct_uv_control_v1/formal_run/arms/audi_etron/evaluation/per_seed/direct/samples.csv
@@ -0,0 +1,145 @@
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diff --git a/stage7/stage7a_matched_update_direct_uv_control_v1/formal_run/arms/audi_etron/evaluation/per_seed/direct/summary.json b/stage7/stage7a_matched_update_direct_uv_control_v1/formal_run/arms/audi_etron/evaluation/per_seed/direct/summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..de7eebdf19c529c3dd47b5ca79c5cc29413d5fa5
--- /dev/null
+++ b/stage7/stage7a_matched_update_direct_uv_control_v1/formal_run/arms/audi_etron/evaluation/per_seed/direct/summary.json
@@ -0,0 +1,340 @@
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+}
diff --git a/stage7/stage7a_matched_update_direct_uv_control_v1/formal_run/arms/audi_etron/evaluation/samples.csv b/stage7/stage7a_matched_update_direct_uv_control_v1/formal_run/arms/audi_etron/evaluation/samples.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e745fb9e4fd5b189e2bb753fc48bbaf150854870
--- /dev/null
+++ b/stage7/stage7a_matched_update_direct_uv_control_v1/formal_run/arms/audi_etron/evaluation/samples.csv
@@ -0,0 +1,145 @@
+sample,vehicle,latent_seed,scene_condition_mode,texture_sha256,distance,elevation,azimuth,ground_truth_count,clean_prediction_count,attacked_prediction_count,clean_max_confidence,attacked_max_confidence,clean_conditioned_asr,mean_confidence_drop
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diff --git a/stage7/stage7a_matched_update_direct_uv_control_v1/formal_run/arms/audi_etron/evaluation/summary.json b/stage7/stage7a_matched_update_direct_uv_control_v1/formal_run/arms/audi_etron/evaluation/summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..96a9be7045393b5c64ddaf2fb00e7305b339bd7d
--- /dev/null
+++ b/stage7/stage7a_matched_update_direct_uv_control_v1/formal_run/arms/audi_etron/evaluation/summary.json
@@ -0,0 +1,860 @@
+{
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diff --git a/stage7/stage7a_matched_update_direct_uv_control_v1/formal_run/arms/ford_mustang/arm_result.json b/stage7/stage7a_matched_update_direct_uv_control_v1/formal_run/arms/ford_mustang/arm_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..f246e9c3c1f61f41d5f899005b66bfd3afe331d6
--- /dev/null
+++ b/stage7/stage7a_matched_update_direct_uv_control_v1/formal_run/arms/ford_mustang/arm_result.json
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diff --git a/stage7/stage7a_matched_update_direct_uv_control_v1/formal_run/arms/ford_mustang/evaluation/per_seed/direct/samples.csv b/stage7/stage7a_matched_update_direct_uv_control_v1/formal_run/arms/ford_mustang/evaluation/per_seed/direct/samples.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4d3937f200daf319701c6d753cd546f0fc62063f
--- /dev/null
+++ b/stage7/stage7a_matched_update_direct_uv_control_v1/formal_run/arms/ford_mustang/evaluation/per_seed/direct/samples.csv
@@ -0,0 +1,145 @@
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diff --git a/stage7/stage7a_matched_update_direct_uv_control_v1/formal_run/arms/ford_mustang/evaluation/per_seed/direct/summary.json b/stage7/stage7a_matched_update_direct_uv_control_v1/formal_run/arms/ford_mustang/evaluation/per_seed/direct/summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea4d3a8256b98c8c7509d708790accf45f13e067
--- /dev/null
+++ b/stage7/stage7a_matched_update_direct_uv_control_v1/formal_run/arms/ford_mustang/evaluation/per_seed/direct/summary.json
@@ -0,0 +1,340 @@
+{
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+}
diff --git a/stage7/stage7a_matched_update_direct_uv_control_v1/formal_run/arms/ford_mustang/evaluation/samples.csv b/stage7/stage7a_matched_update_direct_uv_control_v1/formal_run/arms/ford_mustang/evaluation/samples.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4d3937f200daf319701c6d753cd546f0fc62063f
--- /dev/null
+++ b/stage7/stage7a_matched_update_direct_uv_control_v1/formal_run/arms/ford_mustang/evaluation/samples.csv
@@ -0,0 +1,145 @@
+sample,vehicle,latent_seed,scene_condition_mode,texture_sha256,distance,elevation,azimuth,ground_truth_count,clean_prediction_count,attacked_prediction_count,clean_max_confidence,attacked_max_confidence,clean_conditioned_asr,mean_confidence_drop
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diff --git a/stage7/stage7a_matched_update_direct_uv_control_v1/formal_run/arms/ford_mustang/evaluation/summary.json b/stage7/stage7a_matched_update_direct_uv_control_v1/formal_run/arms/ford_mustang/evaluation/summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..dbb319a38f065bc9e30b31a2cf40079fbf42048c
--- /dev/null
+++ b/stage7/stage7a_matched_update_direct_uv_control_v1/formal_run/arms/ford_mustang/evaluation/summary.json
@@ -0,0 +1,860 @@
+{
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diff --git a/stage7/stage7a_matched_update_direct_uv_control_v1/formal_run/arms/jeep_wrangler_rubicon/arm_result.json b/stage7/stage7a_matched_update_direct_uv_control_v1/formal_run/arms/jeep_wrangler_rubicon/arm_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7cb59b1997c197e30a14a913555938301ccce74
--- /dev/null
+++ b/stage7/stage7a_matched_update_direct_uv_control_v1/formal_run/arms/jeep_wrangler_rubicon/arm_result.json
@@ -0,0 +1,183 @@
+{
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diff --git a/stage7/stage7a_matched_update_direct_uv_control_v1/formal_run/arms/jeep_wrangler_rubicon/evaluation/per_seed/direct/samples.csv b/stage7/stage7a_matched_update_direct_uv_control_v1/formal_run/arms/jeep_wrangler_rubicon/evaluation/per_seed/direct/samples.csv
new file mode 100644
index 0000000000000000000000000000000000000000..aa53286693b510ade5d16980bc49030638516922
--- /dev/null
+++ b/stage7/stage7a_matched_update_direct_uv_control_v1/formal_run/arms/jeep_wrangler_rubicon/evaluation/per_seed/direct/samples.csv
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diff --git a/stage7/stage7a_matched_update_direct_uv_control_v1/formal_run/arms/jeep_wrangler_rubicon/evaluation/per_seed/direct/summary.json b/stage7/stage7a_matched_update_direct_uv_control_v1/formal_run/arms/jeep_wrangler_rubicon/evaluation/per_seed/direct/summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..aea0e3e155bbec4fb198cf93259ea2da93e152da
--- /dev/null
+++ b/stage7/stage7a_matched_update_direct_uv_control_v1/formal_run/arms/jeep_wrangler_rubicon/evaluation/per_seed/direct/summary.json
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+}
diff --git a/stage7/stage7a_matched_update_direct_uv_control_v1/formal_run/arms/jeep_wrangler_rubicon/evaluation/samples.csv b/stage7/stage7a_matched_update_direct_uv_control_v1/formal_run/arms/jeep_wrangler_rubicon/evaluation/samples.csv
new file mode 100644
index 0000000000000000000000000000000000000000..aa53286693b510ade5d16980bc49030638516922
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+++ b/stage7/stage7a_matched_update_direct_uv_control_v1/formal_run/arms/jeep_wrangler_rubicon/evaluation/samples.csv
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diff --git a/stage7/stage7a_matched_update_direct_uv_control_v1/formal_run/arms/jeep_wrangler_rubicon/evaluation/summary.json b/stage7/stage7a_matched_update_direct_uv_control_v1/formal_run/arms/jeep_wrangler_rubicon/evaluation/summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2ac01c78d94b570d965eaac3906516db951aae3
--- /dev/null
+++ b/stage7/stage7a_matched_update_direct_uv_control_v1/formal_run/arms/jeep_wrangler_rubicon/evaluation/summary.json
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index 0000000000000000000000000000000000000000..38b132f43ec6c1f5bbec78b7d99367fcbacabcfd
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diff --git a/stage7/stage7a_matched_update_direct_uv_control_v1/formal_run/arms/tesla_model3/evaluation/summary.json b/stage7/stage7a_matched_update_direct_uv_control_v1/formal_run/arms/tesla_model3/evaluation/summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7d75c1756f59339bf75a69314e3d95234035f92
--- /dev/null
+++ b/stage7/stage7a_matched_update_direct_uv_control_v1/formal_run/arms/tesla_model3/evaluation/summary.json
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diff --git a/stage7/stage7a_matched_update_direct_uv_control_v1/formal_run/arms/tesla_model3/runtime_config.json b/stage7/stage7a_matched_update_direct_uv_control_v1/formal_run/arms/tesla_model3/runtime_config.json
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+    "mask_path": "asset/tesla_model3_carla_attack/tesla_model3_carla_attack_mask.png",
+    "save_path": "/root/data/runs/stage7a_matched_update_direct_uv_control_repair_l40s_v1/arms/tesla_model3/exported_texture"
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diff --git a/stage7/stage7a_matched_update_direct_uv_control_v1/formal_run/decision.json b/stage7/stage7a_matched_update_direct_uv_control_v1/formal_run/decision.json
new file mode 100644
index 0000000000000000000000000000000000000000..4364d33afb3fbe2a2e66e77b5f5c70b313fef9e2
--- /dev/null
+++ b/stage7/stage7a_matched_update_direct_uv_control_v1/formal_run/decision.json
@@ -0,0 +1,114 @@
+{
+  "audit_id": "stage7a_matched_update_direct_uv_control_v1",
+  "authorized_next_action": "Report per-instance training-fit headroom and preregister any generator-side redesign separately on development-only vehicles; do not call this a universal, transfer, or final strong-baseline result.",
+  "claim_boundary": "A valid positive result would establish only that independent explicit 2048x2048 textures have material same-vehicle training-fit headroom over the frozen seed-42 universal outputs under this update-matched capacity protocol. It would not be parameter- or FLOP-matched, would not establish universality, unseen-vehicle or detector transfer, naturalness, physical robustness, causal renderer fidelity, or a new attack method, and cannot authorize any choice from Nissan.",
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+  "status": "matched_update_direct_uv_training_headroom_demonstrated",
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+        "training_return_global_step_exact": true
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+        "checkpoint_global_step_exact": true,
+        "checkpoint_initialization_file_hash_exact": true,
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+        "checkpoint_mesh_hash_exact": true,
+        "clean_metric_anchor_passed": true,
+        "evaluation_checkpoint_epoch_exact": true,
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+      }
+    }
+  }
+}
diff --git a/stage7/stage7a_matched_update_direct_uv_control_v1/formal_run/independent_verification.json b/stage7/stage7a_matched_update_direct_uv_control_v1/formal_run/independent_verification.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9d6977affd4cf7017c877e618555718462cb845
--- /dev/null
+++ b/stage7/stage7a_matched_update_direct_uv_control_v1/formal_run/independent_verification.json
@@ -0,0 +1,423 @@
+{
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diff --git a/stage7/stage7a_matched_update_direct_uv_control_v1/formal_run/partial_arm_results.json b/stage7/stage7a_matched_update_direct_uv_control_v1/formal_run/partial_arm_results.json
new file mode 100644
index 0000000000000000000000000000000000000000..70cd40ea0febbda50e77b941aa6f511dddd5c08c
--- /dev/null
+++ b/stage7/stage7a_matched_update_direct_uv_control_v1/formal_run/partial_arm_results.json
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diff --git a/stage7/stage7a_matched_update_direct_uv_control_v1/frozen_protocol/a1_uv32x64_seed42_summary.json b/stage7/stage7a_matched_update_direct_uv_control_v1/frozen_protocol/a1_uv32x64_seed42_summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..95b70c97388356a6419028d6beca779226a481d5
--- /dev/null
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+}
diff --git a/stage7/stage7a_matched_update_direct_uv_control_v1/frozen_protocol/manifests/audi_etron_train_only.json b/stage7/stage7a_matched_update_direct_uv_control_v1/frozen_protocol/manifests/audi_etron_train_only.json
new file mode 100644
index 0000000000000000000000000000000000000000..594aecc59f3d99c3136cb66af24b9a834e39faa4
--- /dev/null
+++ b/stage7/stage7a_matched_update_direct_uv_control_v1/frozen_protocol/manifests/audi_etron_train_only.json
@@ -0,0 +1,891 @@
+{
+  "version": 1,
+  "split_strategy": "held_out_vehicle",
+  "vehicles": {
+    "train": [
+      "audi_etron"
+    ],
+    "val": [],
+    "test": [
+      "tesla_model3",
+      "ford_mustang",
+      "jeep_wrangler_rubicon",
+      "toyota_prius",
+      "lincoln_mkz_2017"
+    ]
+  },
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+    "val": 0,
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+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_00_audi_etron_0030.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_00_audi_etron_0042.npy",
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+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_00_audi_etron_0026.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_00_audi_etron_0038.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_00_audi_etron_0050.npy",
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+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_00_audi_etron_0074.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_00_audi_etron_0086.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_00_audi_etron_0098.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_00_audi_etron_0110.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_00_audi_etron_0122.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_00_audi_etron_0134.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_150_VEHICLE_00_audi_etron_0001.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_150_VEHICLE_00_audi_etron_0013.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_150_VEHICLE_00_audi_etron_0025.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_150_VEHICLE_00_audi_etron_0037.npy",
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+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_150_VEHICLE_00_audi_etron_0061.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_150_VEHICLE_00_audi_etron_0073.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_150_VEHICLE_00_audi_etron_0085.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_150_VEHICLE_00_audi_etron_0097.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_150_VEHICLE_00_audi_etron_0109.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_150_VEHICLE_00_audi_etron_0121.npy",
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+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_180_VEHICLE_00_audi_etron_0012.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_180_VEHICLE_00_audi_etron_0024.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_180_VEHICLE_00_audi_etron_0036.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_180_VEHICLE_00_audi_etron_0048.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_180_VEHICLE_00_audi_etron_0060.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_180_VEHICLE_00_audi_etron_0072.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_180_VEHICLE_00_audi_etron_0084.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_180_VEHICLE_00_audi_etron_0096.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_180_VEHICLE_00_audi_etron_0108.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_180_VEHICLE_00_audi_etron_0120.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_180_VEHICLE_00_audi_etron_0132.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_210_VEHICLE_00_audi_etron_0011.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_210_VEHICLE_00_audi_etron_0023.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_210_VEHICLE_00_audi_etron_0035.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_210_VEHICLE_00_audi_etron_0047.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_210_VEHICLE_00_audi_etron_0059.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_210_VEHICLE_00_audi_etron_0071.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_210_VEHICLE_00_audi_etron_0083.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_210_VEHICLE_00_audi_etron_0095.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_210_VEHICLE_00_audi_etron_0107.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_210_VEHICLE_00_audi_etron_0119.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_210_VEHICLE_00_audi_etron_0131.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_210_VEHICLE_00_audi_etron_0143.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_240_VEHICLE_00_audi_etron_0010.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_240_VEHICLE_00_audi_etron_0022.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_240_VEHICLE_00_audi_etron_0034.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_240_VEHICLE_00_audi_etron_0046.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_240_VEHICLE_00_audi_etron_0058.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_240_VEHICLE_00_audi_etron_0070.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_240_VEHICLE_00_audi_etron_0082.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_240_VEHICLE_00_audi_etron_0094.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_240_VEHICLE_00_audi_etron_0106.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_240_VEHICLE_00_audi_etron_0118.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_240_VEHICLE_00_audi_etron_0130.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_240_VEHICLE_00_audi_etron_0142.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_270_VEHICLE_00_audi_etron_0009.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_270_VEHICLE_00_audi_etron_0021.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_270_VEHICLE_00_audi_etron_0033.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_270_VEHICLE_00_audi_etron_0045.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_270_VEHICLE_00_audi_etron_0057.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_270_VEHICLE_00_audi_etron_0069.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_270_VEHICLE_00_audi_etron_0081.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_270_VEHICLE_00_audi_etron_0093.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_270_VEHICLE_00_audi_etron_0105.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_270_VEHICLE_00_audi_etron_0117.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_270_VEHICLE_00_audi_etron_0129.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_270_VEHICLE_00_audi_etron_0141.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_300_VEHICLE_00_audi_etron_0008.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_300_VEHICLE_00_audi_etron_0020.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_300_VEHICLE_00_audi_etron_0032.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_300_VEHICLE_00_audi_etron_0044.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_300_VEHICLE_00_audi_etron_0056.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_300_VEHICLE_00_audi_etron_0068.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_300_VEHICLE_00_audi_etron_0080.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_300_VEHICLE_00_audi_etron_0092.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_300_VEHICLE_00_audi_etron_0104.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_300_VEHICLE_00_audi_etron_0116.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_300_VEHICLE_00_audi_etron_0128.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_300_VEHICLE_00_audi_etron_0140.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_30_VEHICLE_00_audi_etron_0005.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_30_VEHICLE_00_audi_etron_0017.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_30_VEHICLE_00_audi_etron_0029.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_30_VEHICLE_00_audi_etron_0041.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_30_VEHICLE_00_audi_etron_0053.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_30_VEHICLE_00_audi_etron_0065.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_30_VEHICLE_00_audi_etron_0077.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_30_VEHICLE_00_audi_etron_0089.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_30_VEHICLE_00_audi_etron_0101.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_30_VEHICLE_00_audi_etron_0113.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_30_VEHICLE_00_audi_etron_0125.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_30_VEHICLE_00_audi_etron_0137.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_330_VEHICLE_00_audi_etron_0007.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_330_VEHICLE_00_audi_etron_0019.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_330_VEHICLE_00_audi_etron_0031.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_330_VEHICLE_00_audi_etron_0043.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_330_VEHICLE_00_audi_etron_0055.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_330_VEHICLE_00_audi_etron_0067.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_330_VEHICLE_00_audi_etron_0079.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_330_VEHICLE_00_audi_etron_0091.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_330_VEHICLE_00_audi_etron_0103.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_330_VEHICLE_00_audi_etron_0115.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_330_VEHICLE_00_audi_etron_0127.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_330_VEHICLE_00_audi_etron_0139.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_00_audi_etron_0004.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_00_audi_etron_0016.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_00_audi_etron_0028.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_00_audi_etron_0040.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_00_audi_etron_0052.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_00_audi_etron_0064.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_00_audi_etron_0076.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_00_audi_etron_0088.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_00_audi_etron_0100.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_00_audi_etron_0112.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_00_audi_etron_0124.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_00_audi_etron_0136.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_00_audi_etron_0003.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_00_audi_etron_0015.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_00_audi_etron_0027.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_00_audi_etron_0039.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_00_audi_etron_0051.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_00_audi_etron_0063.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_00_audi_etron_0075.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_00_audi_etron_0087.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_00_audi_etron_0099.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_00_audi_etron_0111.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_00_audi_etron_0123.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_00_audi_etron_0135.npy"
+  ],
+  "val": [],
+  "test": [
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_01_tesla_model3_0006.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_01_tesla_model3_0018.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_01_tesla_model3_0030.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_01_tesla_model3_0042.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_01_tesla_model3_0054.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_01_tesla_model3_0066.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_01_tesla_model3_0078.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_01_tesla_model3_0090.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_01_tesla_model3_0102.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_01_tesla_model3_0114.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_01_tesla_model3_0126.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_01_tesla_model3_0138.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_02_ford_mustang_0006.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_02_ford_mustang_0018.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_02_ford_mustang_0030.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_02_ford_mustang_0042.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_02_ford_mustang_0054.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_02_ford_mustang_0066.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_02_ford_mustang_0078.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_02_ford_mustang_0090.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_02_ford_mustang_0102.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_02_ford_mustang_0114.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_02_ford_mustang_0126.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_02_ford_mustang_0138.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_03_jeep_wrangler_rubicon_0006.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_03_jeep_wrangler_rubicon_0018.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_03_jeep_wrangler_rubicon_0030.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_03_jeep_wrangler_rubicon_0042.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_03_jeep_wrangler_rubicon_0054.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_03_jeep_wrangler_rubicon_0066.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_03_jeep_wrangler_rubicon_0078.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_03_jeep_wrangler_rubicon_0090.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_03_jeep_wrangler_rubicon_0102.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_03_jeep_wrangler_rubicon_0114.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_03_jeep_wrangler_rubicon_0126.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_03_jeep_wrangler_rubicon_0138.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_04_toyota_prius_0006.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_04_toyota_prius_0018.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_04_toyota_prius_0030.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_04_toyota_prius_0042.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_04_toyota_prius_0054.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_04_toyota_prius_0066.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_04_toyota_prius_0078.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_04_toyota_prius_0090.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_04_toyota_prius_0102.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_04_toyota_prius_0114.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_04_toyota_prius_0126.npy",
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+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_05_lincoln_mkz_2017_0004.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_05_lincoln_mkz_2017_0016.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_05_lincoln_mkz_2017_0028.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_05_lincoln_mkz_2017_0040.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_05_lincoln_mkz_2017_0052.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_05_lincoln_mkz_2017_0064.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_05_lincoln_mkz_2017_0076.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_05_lincoln_mkz_2017_0088.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_05_lincoln_mkz_2017_0100.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_05_lincoln_mkz_2017_0112.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_05_lincoln_mkz_2017_0124.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_05_lincoln_mkz_2017_0136.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_01_tesla_model3_0003.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_01_tesla_model3_0015.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_01_tesla_model3_0027.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_01_tesla_model3_0039.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_01_tesla_model3_0051.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_01_tesla_model3_0063.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_01_tesla_model3_0075.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_01_tesla_model3_0087.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_01_tesla_model3_0099.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_01_tesla_model3_0111.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_01_tesla_model3_0123.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_01_tesla_model3_0135.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_02_ford_mustang_0003.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_02_ford_mustang_0015.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_02_ford_mustang_0027.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_02_ford_mustang_0039.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_02_ford_mustang_0051.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_02_ford_mustang_0063.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_02_ford_mustang_0075.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_02_ford_mustang_0087.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_02_ford_mustang_0099.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_02_ford_mustang_0111.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_02_ford_mustang_0123.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_02_ford_mustang_0135.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_03_jeep_wrangler_rubicon_0003.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_03_jeep_wrangler_rubicon_0015.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_03_jeep_wrangler_rubicon_0027.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_03_jeep_wrangler_rubicon_0039.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_03_jeep_wrangler_rubicon_0051.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_03_jeep_wrangler_rubicon_0063.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_03_jeep_wrangler_rubicon_0075.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_03_jeep_wrangler_rubicon_0087.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_03_jeep_wrangler_rubicon_0099.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_03_jeep_wrangler_rubicon_0111.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_03_jeep_wrangler_rubicon_0123.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_03_jeep_wrangler_rubicon_0135.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_04_toyota_prius_0003.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_04_toyota_prius_0015.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_04_toyota_prius_0027.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_04_toyota_prius_0039.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_04_toyota_prius_0051.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_04_toyota_prius_0063.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_04_toyota_prius_0075.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_04_toyota_prius_0087.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_04_toyota_prius_0099.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_04_toyota_prius_0111.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_04_toyota_prius_0123.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_04_toyota_prius_0135.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_05_lincoln_mkz_2017_0003.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_05_lincoln_mkz_2017_0015.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_05_lincoln_mkz_2017_0027.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_05_lincoln_mkz_2017_0039.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_05_lincoln_mkz_2017_0051.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_05_lincoln_mkz_2017_0063.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_05_lincoln_mkz_2017_0075.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_05_lincoln_mkz_2017_0087.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_05_lincoln_mkz_2017_0099.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_05_lincoln_mkz_2017_0111.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_05_lincoln_mkz_2017_0123.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_05_lincoln_mkz_2017_0135.npy"
+  ]
+}
diff --git a/stage7/stage7a_matched_update_direct_uv_control_v1/frozen_protocol/manifests/ford_mustang_train_only.json b/stage7/stage7a_matched_update_direct_uv_control_v1/frozen_protocol/manifests/ford_mustang_train_only.json
new file mode 100644
index 0000000000000000000000000000000000000000..22b29474ddcb8da818c235d90da996b1b668bb66
--- /dev/null
+++ b/stage7/stage7a_matched_update_direct_uv_control_v1/frozen_protocol/manifests/ford_mustang_train_only.json
@@ -0,0 +1,891 @@
+{
+  "version": 1,
+  "split_strategy": "held_out_vehicle",
+  "vehicles": {
+    "train": [
+      "ford_mustang"
+    ],
+    "val": [],
+    "test": [
+      "audi_etron",
+      "tesla_model3",
+      "jeep_wrangler_rubicon",
+      "toyota_prius",
+      "lincoln_mkz_2017"
+    ]
+  },
+  "sample_counts": {
+    "train": 144,
+    "val": 0,
+    "test": 720
+  },
+  "train": [
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_02_ford_mustang_0006.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_02_ford_mustang_0018.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_02_ford_mustang_0030.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_02_ford_mustang_0042.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_02_ford_mustang_0054.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_02_ford_mustang_0066.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_02_ford_mustang_0078.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_02_ford_mustang_0090.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_02_ford_mustang_0102.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_02_ford_mustang_0114.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_02_ford_mustang_0126.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_02_ford_mustang_0138.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_02_ford_mustang_0002.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_02_ford_mustang_0014.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_02_ford_mustang_0026.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_02_ford_mustang_0038.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_02_ford_mustang_0050.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_02_ford_mustang_0062.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_02_ford_mustang_0074.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_02_ford_mustang_0086.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_02_ford_mustang_0098.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_02_ford_mustang_0110.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_02_ford_mustang_0122.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_02_ford_mustang_0134.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_150_VEHICLE_02_ford_mustang_0001.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_150_VEHICLE_02_ford_mustang_0013.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_150_VEHICLE_02_ford_mustang_0025.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_150_VEHICLE_02_ford_mustang_0037.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_150_VEHICLE_02_ford_mustang_0049.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_150_VEHICLE_02_ford_mustang_0061.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_150_VEHICLE_02_ford_mustang_0073.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_150_VEHICLE_02_ford_mustang_0085.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_150_VEHICLE_02_ford_mustang_0097.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_150_VEHICLE_02_ford_mustang_0109.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_150_VEHICLE_02_ford_mustang_0121.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_150_VEHICLE_02_ford_mustang_0133.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_180_VEHICLE_02_ford_mustang_0000.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_180_VEHICLE_02_ford_mustang_0012.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_180_VEHICLE_02_ford_mustang_0024.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_180_VEHICLE_02_ford_mustang_0036.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_180_VEHICLE_02_ford_mustang_0048.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_180_VEHICLE_02_ford_mustang_0060.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_180_VEHICLE_02_ford_mustang_0072.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_180_VEHICLE_02_ford_mustang_0084.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_180_VEHICLE_02_ford_mustang_0096.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_180_VEHICLE_02_ford_mustang_0108.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_180_VEHICLE_02_ford_mustang_0120.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_180_VEHICLE_02_ford_mustang_0132.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_210_VEHICLE_02_ford_mustang_0011.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_210_VEHICLE_02_ford_mustang_0023.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_210_VEHICLE_02_ford_mustang_0035.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_210_VEHICLE_02_ford_mustang_0047.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_210_VEHICLE_02_ford_mustang_0059.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_210_VEHICLE_02_ford_mustang_0071.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_210_VEHICLE_02_ford_mustang_0083.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_210_VEHICLE_02_ford_mustang_0095.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_210_VEHICLE_02_ford_mustang_0107.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_210_VEHICLE_02_ford_mustang_0119.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_210_VEHICLE_02_ford_mustang_0131.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_210_VEHICLE_02_ford_mustang_0143.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_240_VEHICLE_02_ford_mustang_0010.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_240_VEHICLE_02_ford_mustang_0022.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_240_VEHICLE_02_ford_mustang_0034.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_240_VEHICLE_02_ford_mustang_0046.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_240_VEHICLE_02_ford_mustang_0058.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_240_VEHICLE_02_ford_mustang_0070.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_240_VEHICLE_02_ford_mustang_0082.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_240_VEHICLE_02_ford_mustang_0094.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_240_VEHICLE_02_ford_mustang_0106.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_240_VEHICLE_02_ford_mustang_0118.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_240_VEHICLE_02_ford_mustang_0130.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_240_VEHICLE_02_ford_mustang_0142.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_270_VEHICLE_02_ford_mustang_0009.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_270_VEHICLE_02_ford_mustang_0021.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_270_VEHICLE_02_ford_mustang_0033.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_270_VEHICLE_02_ford_mustang_0045.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_270_VEHICLE_02_ford_mustang_0057.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_270_VEHICLE_02_ford_mustang_0069.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_270_VEHICLE_02_ford_mustang_0081.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_270_VEHICLE_02_ford_mustang_0093.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_270_VEHICLE_02_ford_mustang_0105.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_270_VEHICLE_02_ford_mustang_0117.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_270_VEHICLE_02_ford_mustang_0129.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_270_VEHICLE_02_ford_mustang_0141.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_300_VEHICLE_02_ford_mustang_0008.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_300_VEHICLE_02_ford_mustang_0020.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_300_VEHICLE_02_ford_mustang_0032.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_300_VEHICLE_02_ford_mustang_0044.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_300_VEHICLE_02_ford_mustang_0056.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_300_VEHICLE_02_ford_mustang_0068.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_300_VEHICLE_02_ford_mustang_0080.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_300_VEHICLE_02_ford_mustang_0092.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_300_VEHICLE_02_ford_mustang_0104.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_300_VEHICLE_02_ford_mustang_0116.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_300_VEHICLE_02_ford_mustang_0128.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_300_VEHICLE_02_ford_mustang_0140.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_30_VEHICLE_02_ford_mustang_0005.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_30_VEHICLE_02_ford_mustang_0017.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_30_VEHICLE_02_ford_mustang_0029.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_30_VEHICLE_02_ford_mustang_0041.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_30_VEHICLE_02_ford_mustang_0053.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_30_VEHICLE_02_ford_mustang_0065.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_30_VEHICLE_02_ford_mustang_0077.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_30_VEHICLE_02_ford_mustang_0089.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_30_VEHICLE_02_ford_mustang_0101.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_30_VEHICLE_02_ford_mustang_0113.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_30_VEHICLE_02_ford_mustang_0125.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_30_VEHICLE_02_ford_mustang_0137.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_330_VEHICLE_02_ford_mustang_0007.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_330_VEHICLE_02_ford_mustang_0019.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_330_VEHICLE_02_ford_mustang_0031.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_330_VEHICLE_02_ford_mustang_0043.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_330_VEHICLE_02_ford_mustang_0055.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_330_VEHICLE_02_ford_mustang_0067.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_330_VEHICLE_02_ford_mustang_0079.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_330_VEHICLE_02_ford_mustang_0091.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_330_VEHICLE_02_ford_mustang_0103.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_330_VEHICLE_02_ford_mustang_0115.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_330_VEHICLE_02_ford_mustang_0127.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_330_VEHICLE_02_ford_mustang_0139.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_02_ford_mustang_0004.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_02_ford_mustang_0016.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_02_ford_mustang_0028.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_02_ford_mustang_0040.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_02_ford_mustang_0052.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_02_ford_mustang_0064.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_02_ford_mustang_0076.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_02_ford_mustang_0088.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_02_ford_mustang_0100.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_02_ford_mustang_0112.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_02_ford_mustang_0124.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_02_ford_mustang_0136.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_02_ford_mustang_0003.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_02_ford_mustang_0015.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_02_ford_mustang_0027.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_02_ford_mustang_0039.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_02_ford_mustang_0051.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_02_ford_mustang_0063.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_02_ford_mustang_0075.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_02_ford_mustang_0087.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_02_ford_mustang_0099.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_02_ford_mustang_0111.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_02_ford_mustang_0123.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_02_ford_mustang_0135.npy"
+  ],
+  "val": [],
+  "test": [
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_00_audi_etron_0006.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_00_audi_etron_0018.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_00_audi_etron_0030.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_00_audi_etron_0042.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_00_audi_etron_0054.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_00_audi_etron_0066.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_00_audi_etron_0078.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_00_audi_etron_0090.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_00_audi_etron_0102.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_00_audi_etron_0114.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_00_audi_etron_0126.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_00_audi_etron_0138.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_01_tesla_model3_0006.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_01_tesla_model3_0018.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_01_tesla_model3_0030.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_01_tesla_model3_0042.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_01_tesla_model3_0054.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_01_tesla_model3_0066.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_01_tesla_model3_0078.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_01_tesla_model3_0090.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_01_tesla_model3_0102.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_01_tesla_model3_0114.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_01_tesla_model3_0126.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_01_tesla_model3_0138.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_03_jeep_wrangler_rubicon_0006.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_03_jeep_wrangler_rubicon_0018.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_03_jeep_wrangler_rubicon_0030.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_03_jeep_wrangler_rubicon_0042.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_03_jeep_wrangler_rubicon_0054.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_03_jeep_wrangler_rubicon_0066.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_03_jeep_wrangler_rubicon_0078.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_03_jeep_wrangler_rubicon_0090.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_03_jeep_wrangler_rubicon_0102.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_03_jeep_wrangler_rubicon_0114.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_03_jeep_wrangler_rubicon_0126.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_03_jeep_wrangler_rubicon_0138.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_04_toyota_prius_0006.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_04_toyota_prius_0018.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_04_toyota_prius_0030.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_04_toyota_prius_0042.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_04_toyota_prius_0054.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_04_toyota_prius_0066.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_04_toyota_prius_0078.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_04_toyota_prius_0090.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_04_toyota_prius_0102.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_04_toyota_prius_0114.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_04_toyota_prius_0126.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_04_toyota_prius_0138.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_05_lincoln_mkz_2017_0006.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_05_lincoln_mkz_2017_0018.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_05_lincoln_mkz_2017_0030.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_05_lincoln_mkz_2017_0042.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_05_lincoln_mkz_2017_0054.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_05_lincoln_mkz_2017_0066.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_05_lincoln_mkz_2017_0078.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_05_lincoln_mkz_2017_0090.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_05_lincoln_mkz_2017_0102.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_05_lincoln_mkz_2017_0114.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_05_lincoln_mkz_2017_0126.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_05_lincoln_mkz_2017_0138.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_00_audi_etron_0002.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_00_audi_etron_0014.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_00_audi_etron_0026.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_00_audi_etron_0038.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_00_audi_etron_0050.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_00_audi_etron_0062.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_00_audi_etron_0074.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_00_audi_etron_0086.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_00_audi_etron_0098.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_00_audi_etron_0110.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_00_audi_etron_0122.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_00_audi_etron_0134.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_01_tesla_model3_0002.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_01_tesla_model3_0014.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_01_tesla_model3_0026.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_01_tesla_model3_0038.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_01_tesla_model3_0050.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_01_tesla_model3_0062.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_01_tesla_model3_0074.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_01_tesla_model3_0086.npy",
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+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_01_tesla_model3_0099.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_01_tesla_model3_0111.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_01_tesla_model3_0123.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_01_tesla_model3_0135.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_03_jeep_wrangler_rubicon_0003.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_03_jeep_wrangler_rubicon_0015.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_03_jeep_wrangler_rubicon_0027.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_03_jeep_wrangler_rubicon_0039.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_03_jeep_wrangler_rubicon_0051.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_03_jeep_wrangler_rubicon_0063.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_03_jeep_wrangler_rubicon_0075.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_03_jeep_wrangler_rubicon_0087.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_03_jeep_wrangler_rubicon_0099.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_03_jeep_wrangler_rubicon_0111.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_03_jeep_wrangler_rubicon_0123.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_03_jeep_wrangler_rubicon_0135.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_04_toyota_prius_0003.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_04_toyota_prius_0015.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_04_toyota_prius_0027.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_04_toyota_prius_0039.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_04_toyota_prius_0051.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_04_toyota_prius_0063.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_04_toyota_prius_0075.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_04_toyota_prius_0087.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_04_toyota_prius_0099.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_04_toyota_prius_0111.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_04_toyota_prius_0123.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_04_toyota_prius_0135.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_05_lincoln_mkz_2017_0003.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_05_lincoln_mkz_2017_0015.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_05_lincoln_mkz_2017_0027.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_05_lincoln_mkz_2017_0039.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_05_lincoln_mkz_2017_0051.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_05_lincoln_mkz_2017_0063.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_05_lincoln_mkz_2017_0075.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_05_lincoln_mkz_2017_0087.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_05_lincoln_mkz_2017_0099.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_05_lincoln_mkz_2017_0111.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_05_lincoln_mkz_2017_0123.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_05_lincoln_mkz_2017_0135.npy"
+  ]
+}
diff --git a/stage7/stage7a_matched_update_direct_uv_control_v1/frozen_protocol/manifests/jeep_wrangler_rubicon_train_only.json b/stage7/stage7a_matched_update_direct_uv_control_v1/frozen_protocol/manifests/jeep_wrangler_rubicon_train_only.json
new file mode 100644
index 0000000000000000000000000000000000000000..f64ee4c99fecbb04fd5771b20891e3b5cb984b3d
--- /dev/null
+++ b/stage7/stage7a_matched_update_direct_uv_control_v1/frozen_protocol/manifests/jeep_wrangler_rubicon_train_only.json
@@ -0,0 +1,891 @@
+{
+  "version": 1,
+  "split_strategy": "held_out_vehicle",
+  "vehicles": {
+    "train": [
+      "jeep_wrangler_rubicon"
+    ],
+    "val": [],
+    "test": [
+      "audi_etron",
+      "tesla_model3",
+      "ford_mustang",
+      "toyota_prius",
+      "lincoln_mkz_2017"
+    ]
+  },
+  "sample_counts": {
+    "train": 144,
+    "val": 0,
+    "test": 720
+  },
+  "train": [
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_03_jeep_wrangler_rubicon_0006.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_03_jeep_wrangler_rubicon_0018.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_03_jeep_wrangler_rubicon_0030.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_03_jeep_wrangler_rubicon_0042.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_03_jeep_wrangler_rubicon_0054.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_03_jeep_wrangler_rubicon_0066.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_03_jeep_wrangler_rubicon_0078.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_03_jeep_wrangler_rubicon_0090.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_03_jeep_wrangler_rubicon_0102.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_03_jeep_wrangler_rubicon_0114.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_03_jeep_wrangler_rubicon_0126.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_03_jeep_wrangler_rubicon_0138.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_03_jeep_wrangler_rubicon_0002.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_03_jeep_wrangler_rubicon_0014.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_03_jeep_wrangler_rubicon_0026.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_03_jeep_wrangler_rubicon_0038.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_03_jeep_wrangler_rubicon_0050.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_03_jeep_wrangler_rubicon_0062.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_03_jeep_wrangler_rubicon_0074.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_03_jeep_wrangler_rubicon_0086.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_03_jeep_wrangler_rubicon_0098.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_03_jeep_wrangler_rubicon_0110.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_03_jeep_wrangler_rubicon_0122.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_03_jeep_wrangler_rubicon_0134.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_150_VEHICLE_03_jeep_wrangler_rubicon_0001.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_150_VEHICLE_03_jeep_wrangler_rubicon_0013.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_150_VEHICLE_03_jeep_wrangler_rubicon_0025.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_150_VEHICLE_03_jeep_wrangler_rubicon_0037.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_150_VEHICLE_03_jeep_wrangler_rubicon_0049.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_150_VEHICLE_03_jeep_wrangler_rubicon_0061.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_150_VEHICLE_03_jeep_wrangler_rubicon_0073.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_150_VEHICLE_03_jeep_wrangler_rubicon_0085.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_150_VEHICLE_03_jeep_wrangler_rubicon_0097.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_150_VEHICLE_03_jeep_wrangler_rubicon_0109.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_150_VEHICLE_03_jeep_wrangler_rubicon_0121.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_150_VEHICLE_03_jeep_wrangler_rubicon_0133.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_180_VEHICLE_03_jeep_wrangler_rubicon_0000.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_180_VEHICLE_03_jeep_wrangler_rubicon_0012.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_180_VEHICLE_03_jeep_wrangler_rubicon_0024.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_180_VEHICLE_03_jeep_wrangler_rubicon_0036.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_180_VEHICLE_03_jeep_wrangler_rubicon_0048.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_180_VEHICLE_03_jeep_wrangler_rubicon_0060.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_180_VEHICLE_03_jeep_wrangler_rubicon_0072.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_180_VEHICLE_03_jeep_wrangler_rubicon_0084.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_180_VEHICLE_03_jeep_wrangler_rubicon_0096.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_180_VEHICLE_03_jeep_wrangler_rubicon_0108.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_180_VEHICLE_03_jeep_wrangler_rubicon_0120.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_180_VEHICLE_03_jeep_wrangler_rubicon_0132.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_210_VEHICLE_03_jeep_wrangler_rubicon_0011.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_210_VEHICLE_03_jeep_wrangler_rubicon_0023.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_210_VEHICLE_03_jeep_wrangler_rubicon_0035.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_210_VEHICLE_03_jeep_wrangler_rubicon_0047.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_210_VEHICLE_03_jeep_wrangler_rubicon_0059.npy",
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+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_210_VEHICLE_03_jeep_wrangler_rubicon_0143.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_240_VEHICLE_03_jeep_wrangler_rubicon_0010.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_240_VEHICLE_03_jeep_wrangler_rubicon_0022.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_240_VEHICLE_03_jeep_wrangler_rubicon_0034.npy",
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+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_240_VEHICLE_03_jeep_wrangler_rubicon_0070.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_240_VEHICLE_03_jeep_wrangler_rubicon_0082.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_240_VEHICLE_03_jeep_wrangler_rubicon_0094.npy",
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+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_240_VEHICLE_03_jeep_wrangler_rubicon_0118.npy",
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+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_240_VEHICLE_03_jeep_wrangler_rubicon_0142.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_270_VEHICLE_03_jeep_wrangler_rubicon_0009.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_270_VEHICLE_03_jeep_wrangler_rubicon_0021.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_270_VEHICLE_03_jeep_wrangler_rubicon_0033.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_270_VEHICLE_03_jeep_wrangler_rubicon_0045.npy",
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+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_300_VEHICLE_03_jeep_wrangler_rubicon_0140.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_30_VEHICLE_03_jeep_wrangler_rubicon_0005.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_30_VEHICLE_03_jeep_wrangler_rubicon_0017.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_30_VEHICLE_03_jeep_wrangler_rubicon_0029.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_30_VEHICLE_03_jeep_wrangler_rubicon_0041.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_30_VEHICLE_03_jeep_wrangler_rubicon_0053.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_30_VEHICLE_03_jeep_wrangler_rubicon_0065.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_30_VEHICLE_03_jeep_wrangler_rubicon_0077.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_30_VEHICLE_03_jeep_wrangler_rubicon_0089.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_30_VEHICLE_03_jeep_wrangler_rubicon_0101.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_30_VEHICLE_03_jeep_wrangler_rubicon_0113.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_30_VEHICLE_03_jeep_wrangler_rubicon_0125.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_30_VEHICLE_03_jeep_wrangler_rubicon_0137.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_330_VEHICLE_03_jeep_wrangler_rubicon_0007.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_330_VEHICLE_03_jeep_wrangler_rubicon_0019.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_330_VEHICLE_03_jeep_wrangler_rubicon_0031.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_330_VEHICLE_03_jeep_wrangler_rubicon_0043.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_330_VEHICLE_03_jeep_wrangler_rubicon_0055.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_330_VEHICLE_03_jeep_wrangler_rubicon_0067.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_330_VEHICLE_03_jeep_wrangler_rubicon_0079.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_330_VEHICLE_03_jeep_wrangler_rubicon_0091.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_330_VEHICLE_03_jeep_wrangler_rubicon_0103.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_330_VEHICLE_03_jeep_wrangler_rubicon_0115.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_330_VEHICLE_03_jeep_wrangler_rubicon_0127.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_330_VEHICLE_03_jeep_wrangler_rubicon_0139.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_03_jeep_wrangler_rubicon_0004.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_03_jeep_wrangler_rubicon_0016.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_03_jeep_wrangler_rubicon_0028.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_03_jeep_wrangler_rubicon_0040.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_03_jeep_wrangler_rubicon_0052.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_03_jeep_wrangler_rubicon_0064.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_03_jeep_wrangler_rubicon_0076.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_03_jeep_wrangler_rubicon_0088.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_03_jeep_wrangler_rubicon_0100.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_03_jeep_wrangler_rubicon_0112.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_03_jeep_wrangler_rubicon_0124.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_03_jeep_wrangler_rubicon_0136.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_03_jeep_wrangler_rubicon_0003.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_03_jeep_wrangler_rubicon_0015.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_03_jeep_wrangler_rubicon_0027.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_03_jeep_wrangler_rubicon_0039.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_03_jeep_wrangler_rubicon_0051.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_03_jeep_wrangler_rubicon_0063.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_03_jeep_wrangler_rubicon_0075.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_03_jeep_wrangler_rubicon_0087.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_03_jeep_wrangler_rubicon_0099.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_03_jeep_wrangler_rubicon_0111.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_03_jeep_wrangler_rubicon_0123.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_03_jeep_wrangler_rubicon_0135.npy"
+  ],
+  "val": [],
+  "test": [
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_00_audi_etron_0006.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_00_audi_etron_0018.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_00_audi_etron_0030.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_00_audi_etron_0042.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_00_audi_etron_0054.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_00_audi_etron_0066.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_00_audi_etron_0078.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_00_audi_etron_0090.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_00_audi_etron_0102.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_00_audi_etron_0114.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_00_audi_etron_0126.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_00_audi_etron_0138.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_01_tesla_model3_0006.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_01_tesla_model3_0018.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_01_tesla_model3_0030.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_01_tesla_model3_0042.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_01_tesla_model3_0054.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_01_tesla_model3_0066.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_01_tesla_model3_0078.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_01_tesla_model3_0090.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_01_tesla_model3_0102.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_01_tesla_model3_0114.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_01_tesla_model3_0126.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_01_tesla_model3_0138.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_02_ford_mustang_0006.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_02_ford_mustang_0018.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_02_ford_mustang_0030.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_02_ford_mustang_0042.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_02_ford_mustang_0054.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_02_ford_mustang_0066.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_02_ford_mustang_0078.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_02_ford_mustang_0090.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_02_ford_mustang_0102.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_02_ford_mustang_0114.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_02_ford_mustang_0126.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_02_ford_mustang_0138.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_04_toyota_prius_0006.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_04_toyota_prius_0018.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_04_toyota_prius_0030.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_04_toyota_prius_0042.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_04_toyota_prius_0054.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_04_toyota_prius_0066.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_04_toyota_prius_0078.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_04_toyota_prius_0090.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_04_toyota_prius_0102.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_04_toyota_prius_0114.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_04_toyota_prius_0126.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_04_toyota_prius_0138.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_05_lincoln_mkz_2017_0006.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_05_lincoln_mkz_2017_0018.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_05_lincoln_mkz_2017_0030.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_05_lincoln_mkz_2017_0042.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_05_lincoln_mkz_2017_0054.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_05_lincoln_mkz_2017_0066.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_05_lincoln_mkz_2017_0078.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_05_lincoln_mkz_2017_0090.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_05_lincoln_mkz_2017_0102.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_05_lincoln_mkz_2017_0114.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_05_lincoln_mkz_2017_0126.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_05_lincoln_mkz_2017_0138.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_00_audi_etron_0002.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_00_audi_etron_0014.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_00_audi_etron_0026.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_00_audi_etron_0038.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_00_audi_etron_0050.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_00_audi_etron_0062.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_00_audi_etron_0074.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_00_audi_etron_0086.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_00_audi_etron_0098.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_00_audi_etron_0110.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_00_audi_etron_0122.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_00_audi_etron_0134.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_01_tesla_model3_0002.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_01_tesla_model3_0014.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_01_tesla_model3_0026.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_01_tesla_model3_0038.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_01_tesla_model3_0050.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_01_tesla_model3_0062.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_01_tesla_model3_0074.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_01_tesla_model3_0086.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_01_tesla_model3_0098.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_01_tesla_model3_0110.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_01_tesla_model3_0122.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_01_tesla_model3_0134.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_02_ford_mustang_0002.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_02_ford_mustang_0014.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_02_ford_mustang_0026.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_02_ford_mustang_0038.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_02_ford_mustang_0050.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_02_ford_mustang_0062.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_02_ford_mustang_0074.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_02_ford_mustang_0086.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_02_ford_mustang_0098.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_02_ford_mustang_0110.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_02_ford_mustang_0122.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_02_ford_mustang_0134.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_04_toyota_prius_0002.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_04_toyota_prius_0014.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_04_toyota_prius_0026.npy",
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+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_05_lincoln_mkz_2017_0051.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_05_lincoln_mkz_2017_0063.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_05_lincoln_mkz_2017_0075.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_05_lincoln_mkz_2017_0087.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_05_lincoln_mkz_2017_0099.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_05_lincoln_mkz_2017_0111.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_05_lincoln_mkz_2017_0123.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_05_lincoln_mkz_2017_0135.npy"
+  ]
+}
diff --git a/stage7/stage7a_matched_update_direct_uv_control_v1/frozen_protocol/manifests/tesla_model3_train_only.json b/stage7/stage7a_matched_update_direct_uv_control_v1/frozen_protocol/manifests/tesla_model3_train_only.json
new file mode 100644
index 0000000000000000000000000000000000000000..85fd7d730c538d2c55d981df2babc4f707b57f18
--- /dev/null
+++ b/stage7/stage7a_matched_update_direct_uv_control_v1/frozen_protocol/manifests/tesla_model3_train_only.json
@@ -0,0 +1,891 @@
+{
+  "version": 1,
+  "split_strategy": "held_out_vehicle",
+  "vehicles": {
+    "train": [
+      "tesla_model3"
+    ],
+    "val": [],
+    "test": [
+      "audi_etron",
+      "ford_mustang",
+      "jeep_wrangler_rubicon",
+      "toyota_prius",
+      "lincoln_mkz_2017"
+    ]
+  },
+  "sample_counts": {
+    "train": 144,
+    "val": 0,
+    "test": 720
+  },
+  "train": [
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_01_tesla_model3_0006.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_01_tesla_model3_0018.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_01_tesla_model3_0030.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_01_tesla_model3_0042.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_01_tesla_model3_0054.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_01_tesla_model3_0066.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_01_tesla_model3_0078.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_01_tesla_model3_0090.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_01_tesla_model3_0102.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_01_tesla_model3_0114.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_01_tesla_model3_0126.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_01_tesla_model3_0138.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_01_tesla_model3_0002.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_01_tesla_model3_0014.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_01_tesla_model3_0026.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_01_tesla_model3_0038.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_01_tesla_model3_0050.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_01_tesla_model3_0062.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_01_tesla_model3_0074.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_01_tesla_model3_0086.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_01_tesla_model3_0098.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_01_tesla_model3_0110.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_01_tesla_model3_0122.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_01_tesla_model3_0134.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_150_VEHICLE_01_tesla_model3_0001.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_150_VEHICLE_01_tesla_model3_0013.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_150_VEHICLE_01_tesla_model3_0025.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_150_VEHICLE_01_tesla_model3_0037.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_150_VEHICLE_01_tesla_model3_0049.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_150_VEHICLE_01_tesla_model3_0061.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_150_VEHICLE_01_tesla_model3_0073.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_150_VEHICLE_01_tesla_model3_0085.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_150_VEHICLE_01_tesla_model3_0097.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_150_VEHICLE_01_tesla_model3_0109.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_150_VEHICLE_01_tesla_model3_0121.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_150_VEHICLE_01_tesla_model3_0133.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_180_VEHICLE_01_tesla_model3_0000.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_180_VEHICLE_01_tesla_model3_0012.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_180_VEHICLE_01_tesla_model3_0024.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_180_VEHICLE_01_tesla_model3_0036.npy",
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+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_180_VEHICLE_01_tesla_model3_0060.npy",
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+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_180_VEHICLE_01_tesla_model3_0096.npy",
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+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_180_VEHICLE_01_tesla_model3_0120.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_180_VEHICLE_01_tesla_model3_0132.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_210_VEHICLE_01_tesla_model3_0011.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_210_VEHICLE_01_tesla_model3_0023.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_210_VEHICLE_01_tesla_model3_0035.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_210_VEHICLE_01_tesla_model3_0047.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_210_VEHICLE_01_tesla_model3_0059.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_210_VEHICLE_01_tesla_model3_0071.npy",
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+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_240_VEHICLE_01_tesla_model3_0070.npy",
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+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_01_tesla_model3_0039.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_01_tesla_model3_0051.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_01_tesla_model3_0063.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_01_tesla_model3_0075.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_01_tesla_model3_0087.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_01_tesla_model3_0099.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_01_tesla_model3_0111.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_01_tesla_model3_0123.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_01_tesla_model3_0135.npy"
+  ],
+  "val": [],
+  "test": [
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_00_audi_etron_0006.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_00_audi_etron_0018.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_00_audi_etron_0030.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_00_audi_etron_0042.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_00_audi_etron_0054.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_00_audi_etron_0066.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_00_audi_etron_0078.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_00_audi_etron_0090.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_00_audi_etron_0102.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_00_audi_etron_0114.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_00_audi_etron_0126.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_00_audi_etron_0138.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_02_ford_mustang_0006.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_02_ford_mustang_0018.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_02_ford_mustang_0030.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_02_ford_mustang_0042.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_02_ford_mustang_0054.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_02_ford_mustang_0066.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_02_ford_mustang_0078.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_02_ford_mustang_0090.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_02_ford_mustang_0102.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_02_ford_mustang_0114.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_02_ford_mustang_0126.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_02_ford_mustang_0138.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_03_jeep_wrangler_rubicon_0006.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_03_jeep_wrangler_rubicon_0018.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_03_jeep_wrangler_rubicon_0030.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_03_jeep_wrangler_rubicon_0042.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_03_jeep_wrangler_rubicon_0054.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_03_jeep_wrangler_rubicon_0066.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_03_jeep_wrangler_rubicon_0078.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_03_jeep_wrangler_rubicon_0090.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_03_jeep_wrangler_rubicon_0102.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_03_jeep_wrangler_rubicon_0114.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_03_jeep_wrangler_rubicon_0126.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_03_jeep_wrangler_rubicon_0138.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_04_toyota_prius_0006.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_04_toyota_prius_0018.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_04_toyota_prius_0030.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_04_toyota_prius_0042.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_04_toyota_prius_0054.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_04_toyota_prius_0066.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_04_toyota_prius_0078.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_04_toyota_prius_0090.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_04_toyota_prius_0102.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_04_toyota_prius_0114.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_04_toyota_prius_0126.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_04_toyota_prius_0138.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_05_lincoln_mkz_2017_0006.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_05_lincoln_mkz_2017_0018.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_05_lincoln_mkz_2017_0030.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_05_lincoln_mkz_2017_0042.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_05_lincoln_mkz_2017_0054.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_05_lincoln_mkz_2017_0066.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_05_lincoln_mkz_2017_0078.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_05_lincoln_mkz_2017_0090.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_05_lincoln_mkz_2017_0102.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_05_lincoln_mkz_2017_0114.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_05_lincoln_mkz_2017_0126.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_0_VEHICLE_05_lincoln_mkz_2017_0138.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_00_audi_etron_0002.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_00_audi_etron_0014.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_00_audi_etron_0026.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_00_audi_etron_0038.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_00_audi_etron_0050.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_00_audi_etron_0062.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_00_audi_etron_0074.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_00_audi_etron_0086.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_00_audi_etron_0098.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_00_audi_etron_0110.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_00_audi_etron_0122.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_00_audi_etron_0134.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_02_ford_mustang_0002.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_02_ford_mustang_0014.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_02_ford_mustang_0026.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_02_ford_mustang_0038.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_02_ford_mustang_0050.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_02_ford_mustang_0062.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_02_ford_mustang_0074.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_02_ford_mustang_0086.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_02_ford_mustang_0098.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_02_ford_mustang_0110.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_02_ford_mustang_0122.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_02_ford_mustang_0134.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_03_jeep_wrangler_rubicon_0002.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_03_jeep_wrangler_rubicon_0014.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_03_jeep_wrangler_rubicon_0026.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_03_jeep_wrangler_rubicon_0038.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_03_jeep_wrangler_rubicon_0050.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_03_jeep_wrangler_rubicon_0062.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_03_jeep_wrangler_rubicon_0074.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_03_jeep_wrangler_rubicon_0086.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_03_jeep_wrangler_rubicon_0098.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_03_jeep_wrangler_rubicon_0110.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_03_jeep_wrangler_rubicon_0122.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_03_jeep_wrangler_rubicon_0134.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_04_toyota_prius_0002.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_04_toyota_prius_0014.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_04_toyota_prius_0026.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_04_toyota_prius_0038.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_04_toyota_prius_0050.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_04_toyota_prius_0062.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_04_toyota_prius_0074.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_04_toyota_prius_0086.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_04_toyota_prius_0098.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_04_toyota_prius_0110.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_04_toyota_prius_0122.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_04_toyota_prius_0134.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_05_lincoln_mkz_2017_0002.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_05_lincoln_mkz_2017_0014.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_05_lincoln_mkz_2017_0026.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_05_lincoln_mkz_2017_0038.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_05_lincoln_mkz_2017_0050.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_05_lincoln_mkz_2017_0062.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_05_lincoln_mkz_2017_0074.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_05_lincoln_mkz_2017_0086.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_05_lincoln_mkz_2017_0098.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_05_lincoln_mkz_2017_0110.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_05_lincoln_mkz_2017_0122.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_120_VEHICLE_05_lincoln_mkz_2017_0134.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_150_VEHICLE_00_audi_etron_0001.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_150_VEHICLE_00_audi_etron_0013.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_150_VEHICLE_00_audi_etron_0025.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_150_VEHICLE_00_audi_etron_0037.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_150_VEHICLE_00_audi_etron_0049.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_150_VEHICLE_00_audi_etron_0061.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_150_VEHICLE_00_audi_etron_0073.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_150_VEHICLE_00_audi_etron_0085.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_150_VEHICLE_00_audi_etron_0097.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_150_VEHICLE_00_audi_etron_0109.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_150_VEHICLE_00_audi_etron_0121.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_150_VEHICLE_00_audi_etron_0133.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_150_VEHICLE_02_ford_mustang_0001.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_150_VEHICLE_02_ford_mustang_0013.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_150_VEHICLE_02_ford_mustang_0025.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_150_VEHICLE_02_ford_mustang_0037.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_150_VEHICLE_02_ford_mustang_0049.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_150_VEHICLE_02_ford_mustang_0061.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_150_VEHICLE_02_ford_mustang_0073.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_150_VEHICLE_02_ford_mustang_0085.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_150_VEHICLE_02_ford_mustang_0097.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_150_VEHICLE_02_ford_mustang_0109.npy",
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+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_330_VEHICLE_05_lincoln_mkz_2017_0091.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_330_VEHICLE_05_lincoln_mkz_2017_0103.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_330_VEHICLE_05_lincoln_mkz_2017_0115.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_330_VEHICLE_05_lincoln_mkz_2017_0127.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_330_VEHICLE_05_lincoln_mkz_2017_0139.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_00_audi_etron_0004.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_00_audi_etron_0016.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_00_audi_etron_0028.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_00_audi_etron_0040.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_00_audi_etron_0052.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_00_audi_etron_0064.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_00_audi_etron_0076.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_00_audi_etron_0088.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_00_audi_etron_0100.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_00_audi_etron_0112.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_00_audi_etron_0124.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_00_audi_etron_0136.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_02_ford_mustang_0004.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_02_ford_mustang_0016.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_02_ford_mustang_0028.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_02_ford_mustang_0040.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_02_ford_mustang_0052.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_02_ford_mustang_0064.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_02_ford_mustang_0076.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_02_ford_mustang_0088.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_02_ford_mustang_0100.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_02_ford_mustang_0112.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_02_ford_mustang_0124.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_02_ford_mustang_0136.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_03_jeep_wrangler_rubicon_0004.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_03_jeep_wrangler_rubicon_0016.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_03_jeep_wrangler_rubicon_0028.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_03_jeep_wrangler_rubicon_0040.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_03_jeep_wrangler_rubicon_0052.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_03_jeep_wrangler_rubicon_0064.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_03_jeep_wrangler_rubicon_0076.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_03_jeep_wrangler_rubicon_0088.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_03_jeep_wrangler_rubicon_0100.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_03_jeep_wrangler_rubicon_0112.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_03_jeep_wrangler_rubicon_0124.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_03_jeep_wrangler_rubicon_0136.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_04_toyota_prius_0004.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_04_toyota_prius_0016.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_04_toyota_prius_0028.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_04_toyota_prius_0040.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_04_toyota_prius_0052.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_04_toyota_prius_0064.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_04_toyota_prius_0076.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_04_toyota_prius_0088.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_04_toyota_prius_0100.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_04_toyota_prius_0112.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_04_toyota_prius_0124.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_04_toyota_prius_0136.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_05_lincoln_mkz_2017_0004.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_05_lincoln_mkz_2017_0016.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_05_lincoln_mkz_2017_0028.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_05_lincoln_mkz_2017_0040.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_05_lincoln_mkz_2017_0052.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_05_lincoln_mkz_2017_0064.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_05_lincoln_mkz_2017_0076.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_05_lincoln_mkz_2017_0088.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_05_lincoln_mkz_2017_0100.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_05_lincoln_mkz_2017_0112.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_05_lincoln_mkz_2017_0124.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_60_VEHICLE_05_lincoln_mkz_2017_0136.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_00_audi_etron_0003.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_00_audi_etron_0015.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_00_audi_etron_0027.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_00_audi_etron_0039.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_00_audi_etron_0051.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_00_audi_etron_0063.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_00_audi_etron_0075.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_00_audi_etron_0087.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_00_audi_etron_0099.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_00_audi_etron_0111.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_00_audi_etron_0123.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_00_audi_etron_0135.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_02_ford_mustang_0003.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_02_ford_mustang_0015.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_02_ford_mustang_0027.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_02_ford_mustang_0039.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_02_ford_mustang_0051.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_02_ford_mustang_0063.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_02_ford_mustang_0075.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_02_ford_mustang_0087.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_02_ford_mustang_0099.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_02_ford_mustang_0111.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_02_ford_mustang_0123.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_02_ford_mustang_0135.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_03_jeep_wrangler_rubicon_0003.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_03_jeep_wrangler_rubicon_0015.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_03_jeep_wrangler_rubicon_0027.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_03_jeep_wrangler_rubicon_0039.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_03_jeep_wrangler_rubicon_0051.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_03_jeep_wrangler_rubicon_0063.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_03_jeep_wrangler_rubicon_0075.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_03_jeep_wrangler_rubicon_0087.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_03_jeep_wrangler_rubicon_0099.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_03_jeep_wrangler_rubicon_0111.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_03_jeep_wrangler_rubicon_0123.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_03_jeep_wrangler_rubicon_0135.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_04_toyota_prius_0003.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_04_toyota_prius_0015.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_04_toyota_prius_0027.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_04_toyota_prius_0039.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_04_toyota_prius_0051.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_04_toyota_prius_0063.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_04_toyota_prius_0075.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_04_toyota_prius_0087.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_04_toyota_prius_0099.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_04_toyota_prius_0111.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_04_toyota_prius_0123.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_04_toyota_prius_0135.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_05_lincoln_mkz_2017_0003.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_05_lincoln_mkz_2017_0015.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_05_lincoln_mkz_2017_0027.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_05_lincoln_mkz_2017_0039.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_05_lincoln_mkz_2017_0051.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_05_lincoln_mkz_2017_0063.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_05_lincoln_mkz_2017_0075.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_05_lincoln_mkz_2017_0087.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_05_lincoln_mkz_2017_0099.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_05_lincoln_mkz_2017_0111.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_05_lincoln_mkz_2017_0123.npy",
+    "stage2_town10_MAP_Town10HD_Opt_WEATHER_ClearNoon_AZIMUTHS_90_VEHICLE_05_lincoln_mkz_2017_0135.npy"
+  ]
+}
diff --git a/stage7/stage7a_matched_update_direct_uv_control_v1/frozen_protocol/protocol.json b/stage7/stage7a_matched_update_direct_uv_control_v1/frozen_protocol/protocol.json
new file mode 100644
index 0000000000000000000000000000000000000000..3baafc7ddde6733ce256cb4bbcb82a231754b025
--- /dev/null
+++ b/stage7/stage7a_matched_update_direct_uv_control_v1/frozen_protocol/protocol.json
@@ -0,0 +1,321 @@
+{
+  "schema_version": 1,
+  "audit_id": "stage7a_matched_update_direct_uv_control_v1",
+  "recorded_date": "2026-08-04",
+  "status": "preregistered_after_pre_outcome_runtime_repair",
+  "purpose": "Measure whether four independent per-vehicle direct-UV textures can materially improve training-set attack fit over the exact A1 seed-42 UV32x64 outputs when each arm receives the same 432-update budget and two-view EOT schedule as its share of the original universal run.",
+  "trigger": {
+    "input_freeze_audit_id": "stage7a_direct_uv_input_freeze_v1",
+    "input_freeze_status": "stage7a_initial_textures_frozen",
+    "input_freeze_json_sha256": "4bc94c759647afc8d8dc7675304f32426883a805a7b1d90fdca79258660554cd",
+    "public_release_revision": "31238845db5bb3aa95bd26ad8f71275c1869686b",
+    "public_release_exact_revision_redownload_verified": true,
+    "reason": "A2 proved only 15-update local descent on one balanced Audi grid. It was explicitly not a full-budget or all-training-vehicle direct-texture control."
+  },
+  "pre_outcome_runtime_repair": {
+    "attempt_commit": "92d1093486adb8f2b9379ece4889ec3fdb5a4eef",
+    "attempt_protocol_sha256": "172fce17cb850de5e3ecee1b3e4b9a14a61d1cae6a3c517ca04385e9cdbdfb19",
+    "attempt_implementation_sha256": "b6bce4d79c51e7eb85653e4c387f31cdf1787d67700cdca175c6ac1220306bc7",
+    "attempt_output_directory": "/root/data/runs/stage7a_matched_update_direct_uv_control_l40s_v1",
+    "failure_recorded_at_utc": "2026-08-04T05:24:05.523543+00:00",
+    "failure": "The sanitized runtime config omitted the source config's top-level image_size field, so Renderer construction raised KeyError('image_size').",
+    "failure_stage": "After detector weight loading and its zero-tensor warm-up plus construction of a non-eager training DataLoader, before Renderer construction completed, before DirectTextureCamouflage or the optimizer was constructed, and before any dataset batch was iterated.",
+    "dataset_samples_iterated": 0,
+    "rendered_images": 0,
+    "detector_dataset_inferences": 0,
+    "direct_texture_constructed": false,
+    "optimization_updates": 0,
+    "evaluation_started": false,
+    "completed_arms": 0,
+    "repair": "Copy only the already frozen top-level image_size value [1152, 2048] from the source config into every sanitized runtime config. Add a detector-free and dataset-free Renderer/Mesh/DirectTexture construction gate to preflight, retain the failed directory, and rerun into a new output directory.",
+    "scientific_inputs_hyperparameters_gates_or_thresholds_changed": false
+  },
+  "development_constraints": {
+    "allowed_training_vehicles": [
+      "audi.etron",
+      "tesla.model3",
+      "ford.mustang",
+      "jeep.wrangler_rubicon"
+    ],
+    "allowed_split": "train",
+    "independent_texture_per_vehicle": true,
+    "excluded_runtime_markers": [
+      "toyota.prius",
+      "toyota_prius",
+      "lincoln.mkz_2017",
+      "lincoln_mkz_2017",
+      "nissan.patrol_2021",
+      "nissan_patrol_2021"
+    ],
+    "prohibited_vehicle_rule": "No Nissan file, texture, sample, prediction, metric, asset, runtime mapping, or outcome may be loaded, inspected, or used by this audit. Validation and development-stress vehicles are also excluded because this is a training-fit capacity control.",
+    "no_partial_arm_selection": "The formal decision requires all four arms in the frozen order. An arm cannot be omitted because of an observed result.",
+    "no_hyperparameter_tuning": "Learning rate, epochs, EOT, loss, gates, and arm order are frozen here. No Stage 7a outcome may select a replacement value."
+  },
+  "frozen_inputs": {
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+    "source_summary_path": "experiments/provenance/stage7_20260804/stage7a_input_freeze_v1/a1_uv32x64_seed42_summary.json",
+    "source_summary_sha256": "4b8b47116826f9af9d71f40c71294c3f83273549de2147bd93a47169e264b671",
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+    },
+    "vehicle_asset_sha256": {
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+    }
+  },
+  "arms": [
+    {
+      "vehicle": "audi.etron",
+      "slug": "audi_etron",
+      "manifest_path": "experiments/splits/stage7a/audi_etron_train_only.json",
+      "manifest_sha256": "56cef1dd5a542ef229e3d5bb53b5fe010d9775f8d68fbbf4e8b894e63896a916",
+      "train_samples": 144,
+      "expected_updates": 432,
+      "texture_path": "artifacts/audi_etron.npy",
+      "texture_file_sha256": "c6457e042570a7baf7e3ba7edd9acb73493b2cc09bbdbd66d151095ff7d726b4",
+      "texture_tensor_sha256": "40de9daaa9a67212972058d3a10326a86d0cd627103897dcecad6db2f2798350",
+      "mesh_sha256": "a00fe38201cc17a4a73bd980e93884970065de325a61e3b1663faf812d31610f",
+      "mask_sha256": "320a12126089ed19eb842dfc5cbf8dd099a2ea8ea2fb3b0966d7b1b2ddc5c283",
+      "source_metrics": {
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+          "mean_ap_50_95": 0.2872703732198231,
+          "recall": 0.8888888888888888
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+          "mean_ap_50_95": 0.23083833446764163,
+          "recall": 0.6388888888888888
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+        "attack_effect": {
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+          "mean_confidence_drop": 0.30794234992936254,
+          "median_confidence_drop": 0.16299861669540405
+        }
+      }
+    },
+    {
+      "vehicle": "tesla.model3",
+      "slug": "tesla_model3",
+      "manifest_path": "experiments/splits/stage7a/tesla_model3_train_only.json",
+      "manifest_sha256": "1e13d5ed26770fe1893410d9507b10af1d23f9aace33ea200ed9e3cf04570752",
+      "train_samples": 144,
+      "expected_updates": 432,
+      "texture_path": "artifacts/tesla_model3.npy",
+      "texture_file_sha256": "4b8496d16e889ff11d13f921520349e7d57dd485fa4da6b41549c31a003160f2",
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+      "mesh_sha256": "3fdf362836a1babee7365d6e69e7ac5d75b06ec21901a6b47583576cc02f8d42",
+      "mask_sha256": "8a33cf5ca5f46a303941cd5fd03b8d4b0e50a74b8692d7533b1e4858f5c93825",
+      "source_metrics": {
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+          "median_confidence_drop": 0.07272501289844513
+        }
+      }
+    },
+    {
+      "vehicle": "ford.mustang",
+      "slug": "ford_mustang",
+      "manifest_path": "experiments/splits/stage7a/ford_mustang_train_only.json",
+      "manifest_sha256": "0b78359886e8d072a5a4e4e086eccc185f416e84970a5ccd89725dae46aaf1a7",
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+      "texture_path": "artifacts/ford_mustang.npy",
+      "texture_file_sha256": "6e6aeabdb494072fbbf0da4cef533345675289b98b3ad736c39553dd47652e80",
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+      "mask_sha256": "a874aacecfa760791609aa33e57a2e711198b8b89dd4564c3a79e2c15d95ffab",
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+          "median_confidence_drop": 0.12057942152023315
+        }
+      }
+    },
+    {
+      "vehicle": "jeep.wrangler_rubicon",
+      "slug": "jeep_wrangler_rubicon",
+      "manifest_path": "experiments/splits/stage7a/jeep_wrangler_rubicon_train_only.json",
+      "manifest_sha256": "78f9b7358f37aaab2e1da63cfa54d53677ced06f9a170e24bdbc612a58da6ca9",
+      "train_samples": 144,
+      "expected_updates": 432,
+      "texture_path": "artifacts/jeep_wrangler_rubicon.npy",
+      "texture_file_sha256": "4f76bbd67fed82f52c6124c5b89fd068ca56f52be6e9b299b7f069ff49430609",
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+      "mask_sha256": "c74b95b7efae0aafddb34bb10fea18aa54fd18883cfc1f73d13edde102a6fbb2",
+      "source_metrics": {
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+          "recall": 0.14583333333333334
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+          "mean_confidence_drop": 0.31382358925683157,
+          "median_confidence_drop": 0.2925560176372528
+        }
+      }
+    }
+  ],
+  "optimization": {
+    "generator": "direct_texture",
+    "detector": "YoloV5",
+    "optimizer": "Adam",
+    "learning_rate": 0.01,
+    "learning_rate_selection_rule": "Reuse the preregistered and successful A2 direct-texture learning rate without testing alternatives on Stage 7a.",
+    "seed": 42,
+    "epochs": 6,
+    "train_samples_per_arm": 144,
+    "dataset_batch_size": 1,
+    "eot": {
+      "enabled": true,
+      "views_per_batch": 2,
+      "aggregation": "mean",
+      "drop_last": true,
+      "seed": 20260801,
+      "temperature": 0.05,
+      "worst_k": 2
+    },
+    "expected_updates_per_epoch": 72,
+    "expected_updates_per_arm": 432,
+    "expected_aggregate_updates": 1728,
+    "texture_shape": [
+      1,
+      3,
+      2048,
+      2048
+    ],
+    "texture_dtype": "float32",
+    "clamp_after_every_update": [
+      0.0,
+      1.0
+    ],
+    "shared_loss": {
+      "attack_classes": 2,
+      "box_aggregation": "max",
+      "mps_weight": 1000,
+      "tv_weight": 1,
+      "iou_weight": 10,
+      "seg_weight": 1000,
+      "only_objectiveness": false
+    },
+    "gradient_audit": "Require a finite nonzero direct-texture gradient before every one of the 432 updates in every arm.",
+    "checkpointing": "Write only the epoch-6 final checkpoint; checkpoint frequency is an I/O choice and does not change optimization.",
+    "matching_scope": "Update-count, sample-count, epoch, two-view EOT, renderer, detector, and shared rendered-image loss matched to each vehicle's share of the source run.",
+    "not_matched": "Parameter count, optimizer learning rate, representation-specific latent/palette/scene regularizers, and exact FLOPs are not matched. This is a capacity control, not a fair final baseline."
+  },
+  "evaluation": {
+    "split": "train",
+    "samples_per_arm": 144,
+    "checkpoint": "epoch-6 final direct texture",
+    "detector": "YoloV5",
+    "ap_min_confidence": 0.001,
+    "confidence_threshold": 0.25,
+    "iou_threshold": 0.5,
+    "primary_metric": "Targeted-class COCO-style attacked mean AP50:95 on the same vehicle's 144 training views.",
+    "source_comparator": "The frozen per-vehicle A1 seed-42 metrics from the exact initial texture summary.",
+    "clean_anchor": "Recomputed clean AP50, mean AP50:95, and recall must match the frozen A1 per-vehicle clean metrics within the preregistered tolerance before any attack comparison is valid."
+  },
+  "runtime_gates": {
+    "require_clean_tracked_git": true,
+    "require_cuda": true,
+    "require_first_visible_cuda_device": true,
+    "require_new_output_directory": true,
+    "verify_all_repository_file_hashes_before_loading_detector_or_dataset": true,
+    "verify_public_release_manifest_and_all_15_payloads": true,
+    "verify_all_four_tensor_content_hashes": true,
+    "strip_all_non_arm_vehicle_assets_from_each_runtime_config": true,
+    "construct_renderer_mesh_and_exact_direct_texture_without_detector_or_dataset": true
+  },
+  "validity_gates": {
+    "clean_metric_absolute_tolerance": 1e-09,
+    "all_four_arms_required": true,
+    "expected_rows_per_arm": 432,
+    "contiguous_global_steps_required": true,
+    "finite_training_losses_required": true,
+    "finite_nonzero_gradient_every_update_required": true,
+    "checkpoint_epoch_and_global_step_exact": true,
+    "checkpoint_artifact_hashes_exact": true,
+    "evaluation_train_samples_exact": 144,
+    "final_texture_hash_must_differ_from_initial": true,
+    "clean_anchor_must_pass": true
+  },
+  "decision_rule": {
+    "metric_direction": "Positive source-minus-direct attacked mean AP50:95 reduction means better direct-UV training fit.",
+    "minimum_median_attacked_mean_ap_50_95_reduction": 0.005,
+    "minimum_per_vehicle_attacked_mean_ap_50_95_reduction": 0.003,
+    "minimum_improving_vehicles": 3,
+    "threshold_note": "These are conservative audit design thresholds frozen before outcomes, not literature constants and not a claim of practical attack significance.",
+    "pass_status": "matched_update_direct_uv_training_headroom_demonstrated",
+    "pass_next_action": "Report per-instance training-fit headroom and preregister any generator-side redesign separately on development-only vehicles; do not call this a universal, transfer, or final strong-baseline result.",
+    "fail_status": "matched_update_direct_uv_training_headroom_not_demonstrated",
+    "fail_next_action": "Stop using direct-UV capacity as evidence for a generator bottleneck under this budget and diagnose objective or optimization assumptions only under a new preregistration.",
+    "indeterminate_status": "matched_update_direct_uv_control_indeterminate",
+    "indeterminate_next_action": "Preserve all completed arms and repair only the failed runtime or validity mechanism under a separately frozen nuisance protocol; do not change thresholds, learning rate, arm order, or scientific inputs."
+  },
+  "distribution": {
+    "code_protocol_and_small_decisions": "private GitHub repository",
+    "checkpoints_textures_metrics_and_large_runtime_outputs": "public Hugging Face dataset repository after checksum verification",
+    "large_artifacts_must_not_enter_git": true
+  },
+  "claim_boundary": "A valid positive result would establish only that independent explicit 2048x2048 textures have material same-vehicle training-fit headroom over the frozen seed-42 universal outputs under this update-matched capacity protocol. It would not be parameter- or FLOP-matched, would not establish universality, unseen-vehicle or detector transfer, naturalness, physical robustness, causal renderer fidelity, or a new attack method, and cannot authorize any choice from Nissan."
+}
diff --git a/stage7/stage7a_matched_update_direct_uv_control_v1/pre_outcome_failed_attempt/arms/audi_etron/runtime_config.json b/stage7/stage7a_matched_update_direct_uv_control_v1/pre_outcome_failed_attempt/arms/audi_etron/runtime_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d4679ce0178dc1a271dfe52ae75574617696cfe
--- /dev/null
+++ b/stage7/stage7a_matched_update_direct_uv_control_v1/pre_outcome_failed_attempt/arms/audi_etron/runtime_config.json
@@ -0,0 +1,173 @@
+{
+  "camouflage": {
+    "generator": "direct_texture",
+    "mask_path": "asset/audi_etron_carla_attack/audi_etron_carla_attack_mask.png",
+    "save_path": "/root/data/runs/stage7a_matched_update_direct_uv_control_l40s_v1/arms/audi_etron/exported_texture"
+  },
+  "dataset": {
+    "load": {
+      "batch_size": 1,
+      "load_all": false,
+      "load_path": "/root/data/hf-releases/drc-data-0664d82e/raw/stage2_town10_v1",
+      "manifest_path": "/root/data/drc/experiments/splits/stage7a/audi_etron_train_only.json",
+      "shuffle": true,
+      "unpack_string": "image, background, mask, discrepancy, labels, camera_position, metadata"
+    }
+  },
+  "detector": {
+    "YoloV5": {
+      "agnostic_nms": true,
+      "augment": true,
+      "classes": 2,
+      "conf_threshold": 0.001,
+      "hide_conf": false,
+      "hide_labels": false,
+      "image_size": [
+        1152,
+        1152
+      ],
+      "iou_threshold": 0.45,
+      "line_thickness": 3,
+      "max_det": 1000,
+      "save_boxes": true,
+      "save_conf": true,
+      "save_img": true,
+      "visualize": false,
+      "weights_path": "detectors/intelligentAlgorithm/weights/yolov5x6.pt"
+    },
+    "device": "cuda:0",
+    "use_cuda": true,
+    "version": "YoloV5"
+  },
+  "direct_texture": {
+    "initialization": "tensor",
+    "seed": 42,
+    "tensor_path": "/root/data/releases/stage7a_direct_uv_input_freeze_v1/artifacts/audi_etron.npy"
+  },
+  "evaluation": {
+    "ap_min_confidence": 0.001,
+    "checkpoint_path": "/root/data/runs/stage7a_matched_update_direct_uv_control_l40s_v1/arms/audi_etron/training/checkpoints/final.pt",
+    "confidence_threshold": 0.25,
+    "device": "cuda:0",
+    "fixed_scene_stats_path": "/root/data/hf-releases/drc-data-0664d82e/raw/stage2_town10_v1/scene_stats_train.json",
+    "iou_threshold": 0.5,
+    "presenting_data": false,
+    "results_folder_name": "/root/data/runs/stage7a_matched_update_direct_uv_control_l40s_v1/arms/audi_etron/evaluation",
+    "scene_condition_mode": "fixed",
+    "split": "train"
+  },
+  "mesh": {
+    "assets": {
+      "audi.etron": {
+        "mask_path": "asset/audi_etron_carla_attack/audi_etron_carla_attack_mask.png",
+        "path": "asset/audi_etron_carla_attack/audi_etron_carla_attack_uv.obj",
+        "target_texture": "MI_CarExterior_Etron"
+      }
+    },
+    "default_vehicle": "audi.etron",
+    "mask_path": "asset/audi_etron_carla_attack/audi_etron_carla_attack_mask.png",
+    "path": "asset/audi_etron_carla_attack/audi_etron_carla_attack_uv.obj",
+    "target_texture": "MI_CarExterior_Etron",
+    "texture_size": 40
+  },
+  "render": {
+    "bin_size": 0,
+    "blur_radius": 0,
+    "clip_barycentric_coords": null,
+    "cull_backfaces": false,
+    "cull_to_frustum": false,
+    "device": "cuda:0",
+    "faces_per_pixel": 1,
+    "light": [
+      0,
+      2,
+      0
+    ],
+    "max_faces_opengl": 10000000,
+    "max_faces_per_bin": null,
+    "perspective_correct": null,
+    "scale": 0.98,
+    "use_cuda": true,
+    "z_clip_value": null
+  },
+  "sd": {
+    "attention_backend": "flash_varlen",
+    "backend": "z_image_turbo",
+    "cache_prompt_embeds": true,
+    "differentiable": true,
+    "dtype": "bfloat16",
+    "enable_model_cpu_offload": false,
+    "flash_attention_deterministic": true,
+    "gradient_checkpointing": true,
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+    "latent_channels": 16,
+    "latent_resolution": [
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+      64
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+    "max_generation_size": 1024,
+    "max_sequence_length": 512,
+    "model_id": "Tongyi-MAI/Z-Image-Turbo",
+    "negative_prompt": "nsfw, nude, naked, person, face, eyes, text, watermark, lowres, blurry, bad anatomy",
+    "nps_weight": 0.0,
+    "num_steps": 9,
+    "offload_text_encoder_after_prompt_cache": true,
+    "pass_latents": false,
+    "prompt": "seamless printable automotive camouflage texture, green brown gray black, high-frequency adversarial pattern, no text",
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+    "training_generation_size": 512,
+    "use_negative_prompt": false
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+      "path": "/root/data/runs/stage7a_matched_update_direct_uv_control_l40s_v1/arms/audi_etron/training/checkpoints/final.pt"
+    },
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+      "seed": 20260801,
+      "temperature": 0.05,
+      "views_per_batch": 2,
+      "worst_k": 2
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+    "gradient_audit": {
+      "enabled": true,
+      "require_finite": true,
+      "require_nonzero": true
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+      "box_aggregation": "max",
+      "iou_weight": 10,
+      "mps_weight": 1000,
+      "only_objectiveness": false,
+      "seg_weight": 1000,
+      "tv_weight": 1
+    },
+    "lr": 0.01,
+    "metrics_csv": "/root/data/runs/stage7a_matched_update_direct_uv_control_l40s_v1/arms/audi_etron/training/metrics.csv",
+    "resume": false,
+    "run_dir": "/root/data/runs/stage7a_matched_update_direct_uv_control_l40s_v1/arms/audi_etron/training",
+    "seed": 42
+  },
+  "universal_camouflage": {
+    "episode": {
+      "enabled": false
+    }
+  }
+}
diff --git a/stage7/stage7a_matched_update_direct_uv_control_v1/pre_outcome_failed_attempt/failure.json b/stage7/stage7a_matched_update_direct_uv_control_v1/pre_outcome_failed_attempt/failure.json
new file mode 100644
index 0000000000000000000000000000000000000000..fbc93aa698fd3b060ecfc6652e13cee2b610d0c3
--- /dev/null
+++ b/stage7/stage7a_matched_update_direct_uv_control_v1/pre_outcome_failed_attempt/failure.json
@@ -0,0 +1,11 @@
+{
+  "active_vehicle": "audi.etron",
+  "audit_id": "stage7a_matched_update_direct_uv_control_v1",
+  "claim_boundary": "A valid positive result would establish only that independent explicit 2048x2048 textures have material same-vehicle training-fit headroom over the frozen seed-42 universal outputs under this update-matched capacity protocol. It would not be parameter- or FLOP-matched, would not establish universality, unseen-vehicle or detector transfer, naturalness, physical robustness, causal renderer fidelity, or a new attack method, and cannot authorize any choice from Nissan.",
+  "completed_vehicles": [],
+  "error": "'image_size'",
+  "error_type": "KeyError",
+  "recorded_at_utc": "2026-08-04T05:24:05.523543+00:00",
+  "status": "formal_run_failed_before_decision",
+  "traceback": "Traceback (most recent call last):\n  File \"/root/data/drc/tools/run_stage7a_matched_update_control.py\", line 995, in main\n    arm_result = run_arm(\n  File \"/root/data/drc/tools/run_stage7a_matched_update_control.py\", line 746, in run_arm\n    training_result = train_camouflage(runtime_config)\n  File \"/root/data/drc/method/trainCamouflage.py\", line 690, in train_camouflage\n    renderer = Renderer(runtime_config)\n  File \"/root/data/drc/renderLib/renderer/renderer.py\", line 33, in __init__\n    self.set_raster_settings()\n  File \"/root/data/drc/renderLib/renderer/renderer.py\", line 54, in set_raster_settings\n    image_size=min(self.__config[\"image_size\"]),\nKeyError: 'image_size'\n"
+}
diff --git a/stage7/stage7a_matched_update_direct_uv_control_v1/pre_outcome_failed_attempt/preflight.json b/stage7/stage7a_matched_update_direct_uv_control_v1/pre_outcome_failed_attempt/preflight.json
new file mode 100644
index 0000000000000000000000000000000000000000..40c94b2970e648a8165413eed826db9fb42cc9fc
--- /dev/null
+++ b/stage7/stage7a_matched_update_direct_uv_control_v1/pre_outcome_failed_attempt/preflight.json
@@ -0,0 +1,285 @@
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+        "bytes": 89750,
+        "path": "/root/data/drc/experiments/splits/stage7a/audi_etron_train_only.json",
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+        "bytes": 89750,
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+}
diff --git a/stage7/stage7a_matched_update_direct_uv_control_v1/source_metadata.json b/stage7/stage7a_matched_update_direct_uv_control_v1/source_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..92354fdd99918ef3f3b899fa58a6cec299dfa4f1
--- /dev/null
+++ b/stage7/stage7a_matched_update_direct_uv_control_v1/source_metadata.json
@@ -0,0 +1,42 @@
+{
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