O30标定修改

src/linkerhand_calibration/linkerhand_calibration/core/artifacts/evidence_journal.py

@@ -22,19 +22,10 @@ import zlib
 FORMAT = "linkerhand_indexed_evidence_v1"
 REFERENCE_KEY = "$evidence_record"
 FIELDS_KEY = "$record_fields"
+SCHEMA_KEY = "$record_schema"
 CANONICAL_SHA256_KEY = "$record_canonical_sha256"
 DEFAULT_THRESHOLD_BYTES = 16 * 1024
 MAXIMUM_BLOCK_BYTES = 4 * 1024 * 1024
-INDEXED_SEQUENCE_FIELDS = {
-    "relative_quaternion_xyzw", "relative_translation_xyz_m",
-    "parent_pose_common", "child_pose_common", "view_normal_common_xyz",
-    "camera_center_common_xyz_m", "state_u8", "state_rad",
-    "command_vector_u8", "command_vector_rad", "steady_training_nodes",
-    "command_direction_by_index",
-}
-MOTION_INDEX_FIELDS = {
-    "zero_joints", "command_vector", "feedback_vector",
-}
 INDEXED_SCALAR_FIELDS = {
     "kind", "profile_id", "serial_number", "task_name", "joint",
     "observation_joint", "view", "image_stamp_ns", "cycle", "direction",
@@ -60,7 +51,7 @@ CANONICAL_INDEX_KINDS = {
     "capture_scope_extension", "capture_observation_revision",
     "passed_tasks_reused", "passed_pose_models_restored", "staged_pose_models_restored",
     "resume_verification", "joint_zero_recovery", "visual_motion_observation",
-    "visual_motion_settled",
+    "visual_motion_settled", "task_observation_state",
 }
 
 
@@ -113,7 +104,8 @@ def archive_path(journal_path: str | Path) -> Path:
     return path.with_name(path.stem + ".evidence.zlib")
 
 
-def initialize_evidence_journal(journal_path: str | Path, *, threshold_bytes=DEFAULT_THRESHOLD_BYTES) -> None:
+def initialize_evidence_journal(journal_path: str | Path, *,
+        threshold_bytes=DEFAULT_THRESHOLD_BYTES, compression_level=1) -> None:
     """Enable indexed storage for a new journal without changing old captures."""
     journal = Path(journal_path)
     marker = manifest_path(journal)
@@ -125,11 +117,16 @@ def initialize_evidence_journal(journal_path: str | Path, *, threshold_bytes=DEF
     if journal.exists() and journal.stat().st_size:
         raise ValueError("indexed_evidence_requires_new_or_migrated_journal")
     journal.parent.mkdir(parents=True, exist_ok=True)
+    if type(compression_level) is not int or not 1 <= compression_level <= 9:
+        raise ValueError("invalid_evidence_compression_level")
     from .storage import atomic_write_json
     atomic_write_json(marker, {
         "format": FORMAT,
         "archive": archive_path(journal).name,
-        "codec": "zlib_level_1_independent_blocks",
+        "codec": f"zlib_level_{compression_level}_independent_blocks",
+        "compression_level": compression_level,
+        "envelope_fields": "archive_bound_v2",
+        "field_schemas": {},
         "large_record_threshold_bytes": int(threshold_bytes),
         "maximum_uncompressed_block_bytes": MAXIMUM_BLOCK_BYTES,
     })
@@ -153,24 +150,33 @@ def is_indexed_journal(journal_path: str | Path) -> bool:
 
 
 def _resume_index(record: Mapping) -> dict:
-    indexed = {key: record[key] for key in INDEXED_SCALAR_FIELDS if key in record
+    return {key: record[key] for key in INDEXED_SCALAR_FIELDS if key in record
         and (record[key] is None or isinstance(record[key], (str, int, float, bool)))}
-    if record.get("kind") in {"joint_sample", "secondary_joint_sample"}:
-        for key in INDEXED_SEQUENCE_FIELDS:
-            if key in record:
-                indexed[key] = record[key]
-    if record.get("kind") == "motion_branch_observation":
-        for key in MOTION_INDEX_FIELDS:
-            if key in record:
-                indexed[key] = record[key]
-    return indexed
 
 
-def _envelope(record: Mapping, fields, reference) -> dict:
+def _schema_identity(fields) -> str:
+    return hashlib.sha256(json.dumps(list(fields), separators=(",", ":")).encode()).hexdigest()[:16]
+
+
+@lru_cache(maxsize=512)
+def _schema_fields(journal_path: str | Path, identity: str):
+    marker = _journal_configuration(str(Path(journal_path).resolve())) or {}
+    fields = marker.get("field_schemas", {}).get(identity)
+    if not isinstance(fields, list) or not all(isinstance(field, str) for field in fields):
+        raise ValueError("compressed_evidence_schema_missing")
+    if _schema_identity(fields) != identity:
+        raise ValueError("compressed_evidence_schema_changed")
+    return tuple(fields)
+
+
+def _envelope(record: Mapping, reference, schema_identity) -> dict:
     indexed = _resume_index(record)
-    if REFERENCE_KEY in indexed or FIELDS_KEY in indexed:
+    if REFERENCE_KEY in indexed or FIELDS_KEY in indexed or SCHEMA_KEY in indexed:
         raise ValueError("calibration_record_uses_reserved_storage_field")
-    result = {REFERENCE_KEY: reference, FIELDS_KEY: list(fields), **indexed}
+    # record_sha256 binds the complete archived object. Repeating its field
+    # names in every one-line resume index added tens of MB without adding an
+    # independent integrity check.
+    result = {REFERENCE_KEY: reference, SCHEMA_KEY: schema_identity, **indexed}
     if record.get("kind") in CANONICAL_INDEX_KINDS:
         result[CANONICAL_SHA256_KEY] = hashlib.sha256(json.dumps(record, sort_keys=True,
             separators=(",", ":"), allow_nan=False).encode()).hexdigest()
@@ -190,42 +196,64 @@ def append_indexed_records(journal_path: str | Path, records: Iterable[Mapping],
     if marker is None:
         raise ValueError("unsupported_evidence_journal_format")
     threshold = int(marker["large_record_threshold_bytes"])
+    compression_level = int(marker.get("compression_level", 1))
+    if not 1 <= compression_level <= 9:
+        raise ValueError("invalid_evidence_compression_level")
     prepared = []
     imported = {}
     for record in records:
-        if REFERENCE_KEY in record or FIELDS_KEY in record:
+        if REFERENCE_KEY in record or FIELDS_KEY in record or SCHEMA_KEY in record:
             raise ValueError("calibration_record_uses_reserved_storage_field")
         reference = getattr(record, "reference", None)
+        field_names = getattr(record, "field_names", None)
+        fields = tuple(record) if field_names is None else tuple(field_names)
+        schema_identity = _schema_identity(fields)
         if isinstance(reference, EvidenceRecordReference):
-            imported[len(prepared)] = _linked_envelope(journal, record)
+            imported[len(prepared)] = (record, schema_identity)
             line = None
         else:
             line = json.dumps(record, ensure_ascii=False, separators=(",", ":")).encode("utf-8")
-        prepared.append((record, line))
+        prepared.append((record, line, schema_identity, fields))
     if not prepared:
         return
 
+    schemas = dict(marker.get("field_schemas", {}))
+    changed = False
+    for _, _, identity, fields in prepared:
+        existing = schemas.get(identity)
+        if existing is not None and tuple(existing) != fields:
+            raise ValueError("compressed_evidence_schema_collision")
+        if existing is None:
+            schemas[identity] = list(fields)
+            changed = True
+    if changed:
+        marker = {**marker, "field_schemas": schemas}
+        from .storage import atomic_write_json
+        atomic_write_json(manifest_path(journal), marker)
+        _journal_configuration.cache_clear()
+
     evidence = archive_path(journal)
     evidence.parent.mkdir(parents=True, exist_ok=True)
     output: list[bytes | None] = [None] * len(prepared)
-    for index, envelope in imported.items():
+    for index, (record, schema_identity) in imported.items():
+        envelope = _linked_envelope(journal, record, schema_identity)
         output[index] = json.dumps(envelope, ensure_ascii=False,
             separators=(",", ":")).encode("utf-8")
     with evidence.open("ab") as archive:
-        large: list[tuple[int, Mapping, bytes]] = []
+        large: list[tuple[int, Mapping, bytes, str]] = []
         size = 0
 
         def flush_block():
             nonlocal large, size
             if not large:
                 return
-            block = b"".join(line for _, _, line in large)
+            block = b"".join(line for _, _, line, _ in large)
-            compressed = zlib.compress(block, 1)
+            compressed = zlib.compress(block, compression_level)
             offset = archive.tell()
             _write_all(archive, compressed)
             block_digest = hashlib.sha256(compressed).hexdigest()
             local = 0
-            for index, record, line in large:
+            for index, record, line, schema_identity in large:
                 reference = {
                     "version": 1, "offset": offset,
                     "compressed_length": len(compressed),
@@ -233,12 +261,12 @@ def append_indexed_records(journal_path: str | Path, records: Iterable[Mapping],
                     "record_offset": local, "record_length": len(line),
                     "record_sha256": hashlib.sha256(line).hexdigest(),
                 }
-                output[index] = json.dumps(_envelope(record, record.keys(), reference),
+                output[index] = json.dumps(_envelope(record, reference, schema_identity),
                     ensure_ascii=False, separators=(",", ":")).encode("utf-8")
                 local += len(line)
             large, size = [], 0
 
-        for index, (record, line) in enumerate(prepared):
+        for index, (record, line, schema_identity, _) in enumerate(prepared):
             if line is None:
                 continue
             if len(line) < threshold and record.get("kind") not in DETAILED_RECORD_KINDS:
@@ -246,7 +274,7 @@ def append_indexed_records(journal_path: str | Path, records: Iterable[Mapping],
                 continue
             if large and size + len(line) > MAXIMUM_BLOCK_BYTES:
                 flush_block()
-            large.append((index, record, line))
+            large.append((index, record, line, schema_identity))
             size += len(line)
         flush_block()
         archive.flush()
@@ -260,7 +288,7 @@ def append_indexed_records(journal_path: str | Path, records: Iterable[Mapping],
             os.fsync(stream.fileno())
 
 
-def _linked_envelope(destination: Path, record) -> dict:
+def _linked_envelope(destination: Path, record, schema_identity) -> dict:
     """Hard-link an immutable source archive and retain its indexed row."""
     reference = record.reference
     source_archive = (record.path.parent / reference.archive
@@ -287,8 +315,7 @@ def _linked_envelope(destination: Path, record) -> dict:
     linked = EvidenceRecordReference(reference.offset, reference.compressed_length,
         reference.block_sha256, reference.record_offset, reference.record_length,
         reference.record_sha256, target.name)
-    result = {REFERENCE_KEY: linked.as_mapping(), FIELDS_KEY: list(record.field_names),
+    result = {REFERENCE_KEY: linked.as_mapping(), SCHEMA_KEY: schema_identity, **record.metadata}
-        **record.metadata}
     if record.canonical_sha256:
         result[CANONICAL_SHA256_KEY] = record.canonical_sha256
     return result
@@ -336,7 +363,10 @@ def decode_envelope(journal_path: str | Path, envelope: Mapping, decoder):
     if REFERENCE_KEY not in envelope:
         return envelope
     value = decoder.loads(evidence_record_bytes(journal_path, envelope[REFERENCE_KEY]))
-    if not isinstance(value, dict) or tuple(value) != tuple(envelope.get(FIELDS_KEY, ())):
+    expected_fields = (envelope.get(FIELDS_KEY) if FIELDS_KEY in envelope
+        else _schema_fields(journal_path, envelope[SCHEMA_KEY]) if SCHEMA_KEY in envelope else None)
+    if (not isinstance(value, dict) or expected_fields is not None
+            and tuple(value) != tuple(expected_fields)):
         raise ValueError("compressed_evidence_record_shape_changed")
     return value
 
@@ -359,7 +389,9 @@ def compact_existing_journal(source_path: str | Path, *, replace=False) -> dict:
     for path in (compact, compact_archive, manifest_path(compact)):
         if path.exists():
             path.unlink()
-    initialize_evidence_journal(compact)
+    # Closed checkpoints favor disk footprint. Live capture remains level 1 so
+    # evidence persistence cannot stall the control loop.
+    initialize_evidence_journal(compact, compression_level=6)
 
     source_digest = hashlib.sha256()
     record_count = 0

src/linkerhand_calibration/linkerhand_calibration/core/domain/capture_plan.py

@@ -13,6 +13,8 @@ PLAN_VERSION = "capture_plan_v1"
 FIXED = "fixed"
 ADAPTIVE = "adaptive_2_to_3"
 STAGED = "staged_2_to_3"
+TASKWISE_STAGED = "taskwise_staged_2_to_3"
+STAGED_POLICIES = frozenset((STAGED, TASKWISE_STAGED))
 LEGACY_TRAINING = (0, 1, 2)
 LEGACY_HOLDOUT = 3
 
@@ -67,19 +69,25 @@ class CapturePlan:
         return next(task for task in self.tasks if task.task_key == key)
 
     def as_dict(self):
-        result = {"version": "capture_plan_v2" if self.policy == STAGED else PLAN_VERSION, "policy": self.policy,
+        version = ("capture_plan_v3" if self.policy == TASKWISE_STAGED else
+            "capture_plan_v2" if self.policy == STAGED else PLAN_VERSION)
+        result = {"version": version, "policy": self.policy,
             "command_capture_mode": self.command_capture_mode,
             "motion_contract": json.loads(self.motion_contract_json),
             "tasks": {t.task_key: {"training_cycles": list(t.training),
                 "holdout_cycle": t.holdout,
                 "command_training_cycles": list(t.command_training),
                 "command_holdout_cycle": t.command_holdout} for t in self.tasks}}
-        if self.policy == STAGED:
+        if self.policy in STAGED_POLICIES:
             result["stages"] = [
                 {"name": name, "cycle": cycle, "tasks": [t.task_key for t in self.tasks
                     if cycle in t.motion_cycles]}
                 for name, cycle in (("first_training", 0), ("second_training", 1),
                     ("supplement", 2), ("validation", 3))]
+        if self.policy == TASKWISE_STAGED:
+            result["schedule"] = (
+                "first_whole_hand_pass_then_taskwise_second_pass_with_immediate_supplement_then_validation"
+            )
         return result
 
     @property
@@ -101,7 +109,8 @@ def task_partition(profile, task=None, *, joint=None):
     if joint is not None:
         task = task_for_joint(profile, joint)
     key = getattr(task, "key", task)
-    default = LEGACY_TRAINING[:2] if profile.quality.training_policy == STAGED else profile.quality.training_cycles
+    default = (LEGACY_TRAINING[:2] if profile.quality.training_policy in STAGED_POLICIES
+        else profile.quality.training_cycles)
     training = tuple(profile.quality.task_training_cycles.get(key, default))
     holdout = profile.quality.holdout_cycle
     separate = profile.acquisition.command_capture_mode == "separate"
@@ -119,20 +128,21 @@ def select_task_training(profile, task_key, cycles):
         raise ValueError("capture_plan_unknown_task")
     if cycles not in (LEGACY_TRAINING, LEGACY_TRAINING[:2]):
         raise ValueError("capture_plan_invalid_training_partition")
-    if cycles != tuple(profile.quality.training_cycles) and profile.quality.training_policy not in {ADAPTIVE, STAGED}:
+    if (cycles != tuple(profile.quality.training_cycles)
+            and profile.quality.training_policy not in {ADAPTIVE, *STAGED_POLICIES}):
         raise ValueError("capture_plan_fixed_training_cannot_change")
     selections = {**profile.quality.task_training_cycles, task_key: cycles}
     return replace(profile, quality=replace(profile.quality, task_training_cycles=selections))
 
 
 def configure_training(profile, policy):
-    if policy not in {FIXED, ADAPTIVE, STAGED}:
+    if policy not in {FIXED, ADAPTIVE, *STAGED_POLICIES}:
         raise ValueError("unknown_training_policy")
     if profile.artifacts.output_schema_version in {2, 3} and (
             tuple(profile.quality.training_cycles) != LEGACY_TRAINING
             or profile.quality.holdout_cycle != LEGACY_HOLDOUT):
         raise ValueError("production_partition_requires_versioned_training_policy")
-    if policy in {ADAPTIVE, STAGED} and (profile.artifacts.output_schema_version < 3
+    if policy in {ADAPTIVE, *STAGED_POLICIES} and (profile.artifacts.output_schema_version < 3
             or not profile.command_based_release
             or profile.acquisition.command_capture_mode != "interleaved"
             or tuple(profile.quality.training_cycles) != LEGACY_TRAINING

src/linkerhand_calibration/linkerhand_calibration/core/fitting/session.py

@@ -9,7 +9,8 @@ from typing import Mapping
 
 from ..domain.profile import CalibrationProfile, validate_profile
 from ..domain.result import CalibrationResult, JointMapping
-from ..domain.capture_plan import CapturePlan, ADAPTIVE, STAGED, training_cycles
+from ..domain.capture_plan import (CapturePlan, ADAPTIVE, STAGED, TASKWISE_STAGED,
+    training_cycles)
 from ..urdf.kinematics import UrdfKinematicModel
 from .motion_fit import channel_for_joint, fit_profile_motion, joint_input_direction
 from .spatial import ZeroCalibrationProfile, fit_joint_axis_measurement, solve_urdf_zero_offsets, with_depth_free_axis_projection
@@ -98,7 +99,8 @@ def build_axis_observations(profile, model, geometry_records, motion, zero_profi
                 rows = [dict(row, command_u8=int(round(float(row[profile.curve_input_domain])))) for row in rows]
             parent = zero_profile.phase_parent_joint.get(joint)
             if parent is not None and parent not in by_joint:
-                if cycle != plan.task(task.key).holdout and profile.quality.training_policy in {ADAPTIVE, STAGED}:
+                if (cycle != plan.task(task.key).holdout
+                        and profile.quality.training_policy in {ADAPTIVE, STAGED, TASKWISE_STAGED}):
                     continue  # No same-cycle parent observation: do not fabricate a geometric sample.
                 raise ValueError("spatial axis order must place phase parents first")
             task = next(task for task in profile.motion.tasks if joint in task.joints)
@@ -182,7 +184,7 @@ def fit_profile_calibration(profile: CalibrationProfile, source_urdf: Path, reco
     zero = solve_urdf_zero_offsets(source_urdf=source_urdf, measurements=observations,
         curves=spatial_curves, motor_by_joint={joint: channel_for_joint(profile, joint) for joint in curves},
         zero_profile=zero_profile, training_cycles=geometry_training, validation_cycle=geometry_holdout,
-        allow_partial_training_cycles=profile.quality.training_policy in {ADAPTIVE, STAGED},
+        allow_partial_training_cycles=profile.quality.training_policy in {ADAPTIVE, STAGED, TASKWISE_STAGED},
         frozen_training=None if frozen_training is None else frozen_training["zero"],
         maximum_offset_rad=math.radians(20), finger_maximum_offset_rad=math.radians(20),
         maximum_validation_mae_rad=math.radians(1), maximum_validation_p95_rad=math.radians(2),

src/linkerhand_calibration/linkerhand_calibration/core/fitting/training_quality.py

@@ -9,7 +9,8 @@ from pathlib import Path
 import numpy as np
 from scipy.stats import t as student_t
 
-from ..domain.capture_plan import CapturePlan, evidence_digest, select_task_training, training_cycles
+from ..domain.capture_plan import (CapturePlan, TASKWISE_STAGED, evidence_digest,
+    select_task_training, training_cycles)
 from ..domain.motion_path import record_scan_identity
 from ..domain.sampling import command_nodes
 from ..urdf.kinematics import UrdfKinematicModel
@@ -94,16 +95,22 @@ def _curve_repeatability(profile, task, motion, steady, cycles):
 
 
 def assess_training(profile, task_key, cycles, rows, references, source_urdf):
-    """Assess an immutable training snapshot. Missing future geometry adds a round.
+    """Assess one immutable task snapshot without reading validation data.
 
-The local angle confidence is NOT a zero-offset certificate. When the full
+    Adaptive collection keeps the older conservative behavior: missing
-spatial dependency graph is available, the production training-only solver
+    full-hand geometry requests a third round. Taskwise staged collection uses
-also checks real zero confidence. Otherwise the conservative third round is
+    local two-round repeatability to decide immediately; its full-hand spatial
-retained and the final spatial gate remains mandatory.
+    fit remains a separate mandatory gate after every training task is frozen.
-"""
+    """
     cycles = tuple(cycles)
     chosen = select_task_training(profile, task_key, cycles)
     task = next(t for t in profile.motion.tasks if t.key == task_key)
+    taskwise = profile.quality.training_policy == TASKWISE_STAGED
+    if taskwise:
+        # A task decision is deliberately local and therefore remains stable
+        # when later fingers are acquired. Full-hand zero geometry is checked
+        # by the final training-only fit before any artifact can be published.
+        rows = tuple(row for row in rows if row.get("task_name") == task_key)
     if any(row["cycle"] not in training_cycles(chosen, row["task_name"]) for row in rows):
         raise ValueError("training_assessment_received_nontraining_data")
     sweep, steady = _by_joint(rows, "sweep"), _by_joint(rows, "steady")
@@ -125,8 +132,8 @@ retained and the final spatial gate remains mandatory.
         fitted_model = {"curves": {name: asdict(curve) for name, curve in local.coordinate_curves.items()},
             "mappings": {name: asdict(mapping) for name, mapping in local.mappings.items()}}
         failures, metrics = _curve_repeatability(chosen, task, local, steady, cycles)
-        required = set(profile.zero.axis_joints)
+        required = set() if taskwise else set(profile.zero.axis_joints)
-        ready = required <= sweep.keys() & steady.keys() & references.keys()
+        ready = bool(required) and required <= sweep.keys() & steady.keys() & references.keys()
         if ready:
             from .session import compile_spatial_profile, build_axis_observations
             from .spatial_solver.solve import fit_urdf_zero_training
@@ -154,7 +161,8 @@ retained and the final spatial gate remains mandatory.
             failures.extend(zero.failures)
     except (ValueError, KeyError, np.linalg.LinAlgError) as error:
         failures.append(str(error))
-    decision = ("add_training" if len(cycles) == 2 and (failures or geometry["status"] == "deferred")
+    decision = ("add_training" if len(cycles) == 2 and (failures
+            or (geometry["status"] == "deferred" and not taskwise))
         else "fail" if failures else "freeze")
     record = {"kind": "training_decision", "version": TRAINING_DECISION_VERSION,
         "task_name": task_key, "assessed_cycles": list(cycles), "decision": decision,

src/linkerhand_calibration/linkerhand_calibration/core/geometry/frozen_evidence.py

@@ -95,4 +95,11 @@ class EvidenceDecoder:
         return row
 
     def loads(self, line):
+        # Most evidence rows contain observations only. Avoid recursively
+        # invoking the model interning hook for every nested pose/candidate
+        # dictionary when neither interned object can be present.
+        frozen_key = b'"frozen_image_model"' if isinstance(line, bytes) else '"frozen_image_model"'
+        reference_key = b'"reference_frame"' if isinstance(line, bytes) else '"reference_frame"'
+        if frozen_key not in line and reference_key not in line:
+            return json.loads(line)
         return json.loads(line, object_hook=self.object_hook)

src/linkerhand_calibration/linkerhand_calibration/core/geometry/tag_pose/rigid_tag_pair.py

@@ -19,6 +19,7 @@ from .observer_pose import ObserverPose, OBSERVER_POSE_LIMITS
 from .image_model_selection import compare_image_losses, holm_adjusted_probabilities
 
 RIGID_PAIR_CONDITIONING = 'rigid_tag_pair_pose_v1'
+RIGID_PAIR_TRAJECTORY_POLICY = 'rigid_pair_full_trajectory_v3'
 
 
 def _pose_vector(pose):
@@ -144,12 +145,23 @@ def _pose_bounds(fit, count):
 
 
 def fit_rigid_tag_pair(parents, candidates, corners, matrices, size, stamps, *, parent_corners, parent_size,
-        parent_candidates=None):
+        parent_candidates=None, trajectory_states=None):
     count = len(stamps)
     if count < 24 or tuple(stamps) != tuple(sorted(set(stamps))) or any(not c for c in candidates):
         raise ValueError('rigid_pair_independent_images_missing')
     if parent_candidates is not None and (len(parent_candidates) != count or any(not p for p in parent_candidates)):
         raise ValueError('rigid_pair_parent_candidates_missing')
+    if trajectory_states is not None:
+        states = tuple(trajectory_states)
+        if len(states) != count or any(len(value) != 2 for value in states):
+            raise ValueError('rigid_pair_trajectory_state_missing')
+        phases = np.asarray([value[0] for value in states], dtype=int)
+        commands = np.asarray([value[1] for value in states], dtype=float)
+        differences = np.diff(commands)
+        if (not np.all(np.isfinite(commands)) or np.ptp(commands) <= 0
+                or not {1, 2} <= set(phases)
+                or not np.any(differences > 0) or not np.any(differences < 0)):
+            raise ValueError('rigid_pair_trajectory_direction_insufficient')
     images = _PairImages(np.asarray(parent_corners), np.asarray(corners), np.asarray(matrices),
         square_object_points(parent_size), square_object_points(size), np.asarray([_pose_vector(p) for p in parents]))
     if (images.parent_pixels.shape != (count, 4, 2) or images.child_pixels.shape != (count, 4, 2)

src/linkerhand_calibration/linkerhand_calibration/profiles/observer_policy.py

@@ -9,11 +9,18 @@ from dataclasses import replace
 
 LEGACY_OBSERVER = 'frozen_parent_v1'
 RIGID_OBSERVER = 'rigid_pair_v1'
+TRAJECTORY_OBSERVER = 'rigid_pair_trajectory_v3'
+
+
+def is_rigid_observer(policy):
+    """Return whether a policy requires independent rigid-pair evidence."""
+    return policy in {RIGID_OBSERVER, TRAJECTORY_OBSERVER}
 
 
 def rigid_observer_dependencies(profile):
     """Return recipient -> independently measured parent hinge dependencies."""
-    if profile.vision_motion or profile.quality.training_policy != 'staged_2_to_3':
+    from ..core.domain.capture_plan import STAGED_POLICIES
+    if profile.vision_motion or profile.quality.training_policy not in STAGED_POLICIES:
         return {}
     measurements = profile.measurement.measurements
     tasks = {joint: task for task in profile.motion.tasks for joint in task.joints}
@@ -34,13 +41,15 @@ def rigid_observer_dependencies(profile):
     return dependencies
 
 
-def configure_observer_policy(profile, *, preserved_joints=()):
+def configure_observer_policy(profile, *, preserved_joints=(), policy=RIGID_OBSERVER):
     """Upgrade every supported unmeasured recipient in a single graph pass."""
+    if policy not in {RIGID_OBSERVER, TRAJECTORY_OBSERVER}:
+        raise ValueError('observer_policy_unknown_strategy')
     preserved = frozenset(preserved_joints)
     measurements = dict(profile.measurement.measurements)
     if not preserved <= measurements.keys():
         raise ValueError('observer_policy_unknown_preserved_joint')
     for joint in rigid_observer_dependencies(profile):
         if joint not in preserved:
-            measurements[joint] = replace(measurements[joint], observer_pose_policy=RIGID_OBSERVER)
+            measurements[joint] = replace(measurements[joint], observer_pose_policy=policy)
     return replace(profile, measurement=replace(profile.measurement, measurements=measurements))

src/linkerhand_calibration/linkerhand_calibration/profiles/observer_preparation.py

@@ -35,7 +35,12 @@ def _bounded_actions(profile, first):
 
 
 def configure_observer_preparations(profile, model, *, preserved_joints=()):
-    profile = configure_observer_policy(profile, preserved_joints=preserved_joints)
+    from .observer_policy import TRAJECTORY_OBSERVER
+    strategy = (TRAJECTORY_OBSERVER if any(
+        spec.observer_pose_policy == TRAJECTORY_OBSERVER
+        for spec in profile.measurement.measurements.values()) else None)
+    profile = configure_observer_policy(profile, preserved_joints=preserved_joints,
+        **({"policy": strategy} if strategy else {}))
     channels = compile_tag_feedback_channels(profile, model)
     by_channel = {channel_for_joint(profile, name): name for name in profile.measurement.measurements}
     plans = dict(profile.motion.observer_preparations)
@@ -88,7 +93,9 @@ def validate_observer_preparations(profile, model):
 
 
 def _validate_action(profile, joint, plan, channels, dependencies, index):
-    if joint not in dependencies or profile.measurement.measurements[joint].observer_pose_policy != 'rigid_pair_v1':
+    from .observer_policy import is_rigid_observer
+    if joint not in dependencies or not is_rigid_observer(
+            profile.measurement.measurements[joint].observer_pose_policy):
         raise ValueError('observer_preparation_dependency_invalid')
     spec = profile.measurement.measurements[joint]
     channel = channel_for_joint(profile, plan.joint)

src/linkerhand_calibration/linkerhand_calibration/profiles/preparation.py

@@ -15,8 +15,9 @@ def preparation_image_budget(profile, *, joint_count=1):
     from ..core.geometry.tag_pose.production_image_motion import (
         DENSE_PREPARATION_SAMPLING, image_parameters_for_sampling,
     )
+    from ..core.domain.capture_plan import STAGED_POLICIES
     dense = (profile.key.model == 'O30'
-        and profile.quality.training_policy == 'staged_2_to_3'
+        and profile.quality.training_policy in STAGED_POLICIES
         and bool(profile.motion.preparation_witnesses) and joint_count == 1)
     return ((256, image_parameters_for_sampling(DENSE_PREPARATION_SAMPLING)) if dense
         else (128, image_parameters_for_sampling()))
@@ -50,9 +51,20 @@ def preparation_contract(profile):
         value['observer_pose_policies'] = observers
     if profile.motion.observer_preparations:
         from ..core.domain.profile import ObserverPreparationPlan
+        from .observer_policy import TRAJECTORY_OBSERVER
         sequence = any(isinstance(p, ObserverPreparationPlan) for p in profile.motion.observer_preparations.values())
-        value['observer_preparations'] = dict(policy='bounded_rigid_observation_v2' if sequence else 'bounded_rigid_observation_v1',
+        trajectory = any(spec.observer_pose_policy == TRAJECTORY_OBSERVER
+            for spec in profile.measurement.measurements.values())
+        value['observer_preparations'] = dict(policy='occlusion_aware_trajectory_v3' if trajectory
+            else 'bounded_rigid_observation_v2' if sequence else 'bounded_rigid_observation_v1',
             paths={name: asdict(spec) for name, spec in profile.motion.observer_preparations.items()})
+        if trajectory:
+            value['observer_preparations']['trajectory_solver'] = {
+                'policy': 'rigid_pair_full_trajectory_v3',
+                'training_validation_split': 'chronological_even_odd',
+                'maximum_actions_per_task': 2,
+                'holdout_selects_model': False,
+            }
     # The live header and decoded JSON must compare identically (including
     # tuple-valued poses), without relying on incidental Python container types.
     return json.loads(json.dumps(value, allow_nan=False))
@@ -72,11 +84,18 @@ def validate_preparation_contract(profile, records):
     if len(declared) != 1 or declared[0] != preparation_contract(profile):
         raise ValueError('preparation_contract_profile_changed')
     tasks = {task.key: set(task.joints) for task in profile.motion.tasks}
+    refreshed_parents = {(row.get('task_name'), row.get('pose_joint'),
+        row.get('image_model_sha256')) for row in records
+        if row.get('kind') == 'parent_reference_model_refreshed'
+        and row.get('passed_zero_preserved') is True}
     for row in records:
         if row.get('kind') != 'motion_branch_initialization' or row.get('status') != 'resolved':
             continue
         joints = row.get('zero_joints', ())
-        if not joints or not set(joints) <= tasks.get(row.get('task_name'), set()):
+        ordinary = bool(joints) and set(joints) <= tasks.get(row.get('task_name'), set())
+        refreshed = (len(joints) == 1 and (row.get('task_name'), joints[0],
+            row.get('image_model_sha256')) in refreshed_parents)
+        if not ordinary and not refreshed:
             raise ValueError('preparation_contract_model_dependency_changed')
         _, expected = preparation_image_budget(profile, joint_count=len(joints))
         if image_parameters_for_sampling(row.get('image_sampling_policy')) != expected:
@@ -84,9 +103,12 @@ def validate_preparation_contract(profile, records):
 
 
 def configure_preparation(profile, policy='occlusion_aware_witness_v2'):
-    if policy not in {'occlusion_aware_witness_v1', 'occlusion_aware_witness_v2'}:
+    if policy not in {'occlusion_aware_witness_v1', 'occlusion_aware_witness_v2',
+            'occlusion_aware_trajectory_v3'}:
         raise ValueError('unknown_preparation_policy')
-    if profile.key.profile_id != 'O30/right/o30_right_18/v1' or profile.quality.training_policy != 'staged_2_to_3':
+    from ..core.domain.capture_plan import STAGED_POLICIES
+    if (profile.key.profile_id != 'O30/right/o30_right_18/v1'
+            or profile.quality.training_policy not in STAGED_POLICIES):
         raise ValueError('preparation_witness_requires_o30_staged_session')
     from ..core.fitting.motion_fit import channel_for_joint
     witnesses = {}
@@ -102,9 +124,10 @@ def configure_preparation(profile, policy='occlusion_aware_witness_v2'):
         excursion[channel] = command[channel]-step if command[channel]-step >= lower else command[channel]+step
         witnesses[target] = ModelPreparation(donor, command, (command, tuple(excursion)))
     prepared = replace(profile, motion=replace(profile.motion, preparation_witnesses=witnesses))
-    if policy == 'occlusion_aware_witness_v2':
+    if policy in {'occlusion_aware_witness_v2', 'occlusion_aware_trajectory_v3'}:
-        from .observer_policy import configure_observer_policy
+        from .observer_policy import configure_observer_policy, RIGID_OBSERVER, TRAJECTORY_OBSERVER
-        prepared = configure_observer_policy(prepared)
+        strategy = TRAJECTORY_OBSERVER if policy == 'occlusion_aware_trajectory_v3' else RIGID_OBSERVER
+        prepared = configure_observer_policy(prepared, policy=strategy)
     return prepared
 
 

src/linkerhand_calibration/linkerhand_calibration/profiles/validator.py

@@ -36,18 +36,20 @@ def validate_executable_profile(profile, source_urdf):
         if joint == observer:
             raise ValueError(f"absolute_zero_unobservable:{joint}:a free Tag on its own hinge is not a CAD datum")
     measured = {joint for task in profile.motion.tasks for joint in task.joints}
-    from .observer_policy import rigid_observer_dependencies, RIGID_OBSERVER
+    from .observer_policy import rigid_observer_dependencies, is_rigid_observer
     observer_dependencies = rigid_observer_dependencies(profile)
     if not measured <= model.joints.keys() or not (profile.zero.active_joints | profile.zero.passive_joints) <= model.joints.keys():
         raise ValueError("Profile joint keys must name URDF joints; SDK names belong in command.names")
     for name, spec in profile.measurement.measurements.items():
-        if spec.observer_pose_policy not in {"frozen_parent_v1", "rigid_pair_v1"}:
+        if spec.observer_pose_policy not in {"frozen_parent_v1", "rigid_pair_v1",
+                "rigid_pair_trajectory_v3"}:
             raise ValueError(f"unknown_observer_pose_policy:{name}")
-        if spec.observer_pose_policy == "rigid_pair_v1" and (
+        from ..core.domain.capture_plan import STAGED_POLICIES
+        if is_rigid_observer(spec.observer_pose_policy) and (
                 spec.kind != "relative_rotation" or profile.vision_motion
-                or profile.quality.training_policy != "staged_2_to_3"):
+                or profile.quality.training_policy not in STAGED_POLICIES):
             raise ValueError(f"rigid_pair_requires_staged_relative_measurement:{name}")
-        if spec.observer_pose_policy == RIGID_OBSERVER and name not in observer_dependencies:
+        if is_rigid_observer(spec.observer_pose_policy) and name not in observer_dependencies:
             raise ValueError(f"rigid_pair_requires_independent_parent_hinge:{name}")
         if spec.kind not in {"relative_rotation", "urdf_axis_chain", "curve", "axis_cross_view_validation"}:
             raise ValueError(f"unsupported measurement primitive:{name}:{spec.kind}")

src/linkerhand_calibration/linkerhand_calibration/runtime/artifacts/capture_validation.py

@@ -53,6 +53,11 @@ def validate_capture_provenance(profile, serial_number, hashes, records):
 
 def validate_capture_units(profile, records):
     """Offline and resumed data must satisfy the actual post-sweep policy."""
+    from ..task_deferral import unresolved_observation_records
+    blocked = unresolved_observation_records(profile, records)
+    if blocked:
+        raise ValueError("capture_unobservable_tasks:" + ",".join(sorted(
+            f"{row.get('task_name')}:{row.get('cycle')}:{row.get('state')}" for row in blocked)))
     from ...core.fitting.command_sampling import validate_sampling_plans
     from ..training import resolve_capture_plan
     profile = resolve_capture_plan(profile, records, require_complete=True)

src/linkerhand_calibration/linkerhand_calibration/runtime/branch_initialization.py

@@ -8,6 +8,7 @@ training/holdout observations to revise an existing reference.
 
 from dataclasses import asdict, dataclass, replace
 from collections import deque
+from collections.abc import Mapping
 import hashlib
 import json
 import math
@@ -89,7 +90,11 @@ def _image_references(record, roles):
 def _finite_report(value):
     if isinstance(value, float) and not math.isfinite(value):
         return None
-    if isinstance(value, dict):
+    # Resume keeps large evidence rows as lazy Mapping objects. Solver reports
+    # are durable journal records, so materialize any nested mapping at this
+    # single ownership boundary instead of leaking storage-layer objects into
+    # the JSON encoder.
+    if isinstance(value, Mapping):
         return {key: _finite_report(item) for key, item in value.items()}
     if isinstance(value, (list, tuple)):
         return [_finite_report(item) for item in value]
@@ -125,8 +130,9 @@ def solve_initialization(request: BranchInitializationRequest):
                 return replace(result, preparation_transitions=(record,))
         bridges, records, rejections = [], [], []
         if request.observer_profile is not None:
+            from ..profiles.observer_policy import is_rigid_observer
             required = {joint for joint, spec in request.observer_profile.measurement.measurements.items()
-                if joint in request.zero_joints and spec.observer_pose_policy == 'rigid_pair_v1'}
+                if joint in request.zero_joints and is_rigid_observer(spec.observer_pose_policy)}
             if not required <= {source.joint for source in request.observer_sources}:
                 return ImageMotionResolution(False, 'rigid_pair_source_missing')
         if request.observer_sources:
@@ -137,7 +143,7 @@ def solve_initialization(request: BranchInitializationRequest):
                     bridges.append(bridge)
                     records.append(record)
                 except (ValueError, KeyError, TypeError, IndexError) as error:
-                    if request.observer_profile.measurement.measurements[source.joint].observer_pose_policy == 'rigid_pair_v1':
+                    if is_rigid_observer(request.observer_profile.measurement.measurements[source.joint].observer_pose_policy):
                         return ImageMotionResolution(False, str(error))
                     rejections.append(str(error))
         witness_bridges, witness_records = [], []
@@ -228,7 +234,8 @@ def initialization_artifacts(request, resolution):
         if record.get("observer_pose_bridges"):
             from ..core.geometry.tag_pose.pose_bridge import observer_pose_selection_policy, RIGID_OBSERVER_SELECTION_POLICY
             record["image_model_selection_policy"] = (RIGID_OBSERVER_SELECTION_POLICY
-                if any(r.get('version') in {'observer_pose_bridge_v2', 'observer_pose_bridge_v3'} for r in record['observer_pose_bridges'])
+                if any(r.get('version') in {'observer_pose_bridge_v2', 'observer_pose_bridge_v3',
+                    'observer_pose_bridge_v4'} for r in record['observer_pose_bridges'])
                 else observer_pose_selection_policy(request.pose_bridges))
         if record.get("preparation_transitions"):
             from ..core.geometry.tag_pose.transition_image_solver import TRANSITION_SELECTION_POLICY
@@ -241,6 +248,7 @@ def initialization_artifacts(request, resolution):
                 if any(r.get('conditioning') for r in record['preparation_witnesses']) else WITNESS_POLICY)
         record["image_geometry_constraints"] = [asdict(item) for item in request.geometry_constraints]
         record["source_urdf_sha256"] = request.source_urdf_sha256
+    record = _finite_report(record)
     if not resolution.resolved:
         return None, record
     existing = dict(request.existing_evidence_ids)
@@ -272,7 +280,8 @@ def initialization_artifacts(request, resolution):
                 payload['image_model_selection_policy'] = record['image_model_selection_policy']
         if record.get("observer_pose_bridges"):
             payload["observer_pose_bridges"] = record["observer_pose_bridges"]
-            if any(r.get('version') in {'observer_pose_bridge_v2', 'observer_pose_bridge_v3'} for r in record['observer_pose_bridges']):
+            if any(r.get('version') in {'observer_pose_bridge_v2', 'observer_pose_bridge_v3',
+                    'observer_pose_bridge_v4'} for r in record['observer_pose_bridges']):
                 payload['image_model_selection_policy'] = record['image_model_selection_policy']
         if record.get("preparation_transitions"):
             payload["preparation_transitions"] = record["preparation_transitions"]
@@ -340,6 +349,7 @@ class BranchInitialization:
         self._invalid_reason = ""
         self._requested = set()
         self.reference_spec = None
+        self.parent_model_refresh_for = ""
         self.reports = {}
         self.path_index = None
 
@@ -367,6 +377,7 @@ class BranchInitialization:
                     self._invalid_reason = "motion_approach_path_discontinuous"
             self.path_index = index
             self.reference_spec = (motion.reference_command, motion.reference_approach) if motion.reference_only else None
+            self.parent_model_refresh_for = motion.parent_model_refresh_for
             self.task_name = motion.task_key
             self.zero_joints = motion.reference_joints
             self.motion_version = motion_version
@@ -378,6 +389,7 @@ class BranchInitialization:
                 self.task_name, self.zero_joints = motion.task_key, motion.zero_joints
                 self.session_epoch = session_epoch
                 self._invalid_reason = "motion_approach_evidence_missing"
+                self.parent_model_refresh_for = motion.parent_model_refresh_for
             elif self.path_index is not None:
                 spec = self.profile.motion.joint_zero_references[motion.zero_joints[0]]
                 if spec.evidence_scope != "path" or self.path_index != len(spec.approach_commands):
@@ -539,7 +551,7 @@ class BranchInitialization:
                 reason = reason or 'shared_pose_bridge_invalid:' + str(error)
         source_hinges, parent_reference_sha256 = (), ""
         task = next(task for task in self.profile.motion.tasks if task.key == self.task_name)
-        if task.parent_reference is not None:
+        if task.parent_reference is not None and not self.parent_model_refresh_for:
             try:
                 source_hinges, parent_reference_sha256 = self.parent_references.geometry(task, session_epoch)
             except ValueError as error:
@@ -550,15 +562,17 @@ class BranchInitialization:
                 tuple(item.geometry.relation for item in source_hinges) + relations)
         from .observer_reference import observer_inputs
         observer_sources = observer_inputs(self, view, self._endpoint_records.get(view, ()),
-            {f.stamp_ns for f in frames}, session_epoch) if self.image_geometry else ()
+            {f.stamp_ns for f in frames}, session_epoch) if (
+                self.image_geometry and not self.parent_model_refresh_for) else ()
         transition_source = None
-        if self.image_geometry:
+        if self.image_geometry and not self.parent_model_refresh_for:
             try:
                 transition_source = self.transition_capture.snapshot(view)
             except ValueError as error:
                 reason = reason or str(error)
         witness_sources = self.witness_capture.inputs(view, self.zero_joints,
-            self._endpoint_records.get(view, ()), {f.stamp_ns for f in frames}, session_epoch) if self.image_geometry else ()
+            self._endpoint_records.get(view, ()), {f.stamp_ns for f in frames}, session_epoch) if (
+                self.image_geometry and not self.parent_model_refresh_for) else ()
         return BranchInitializationRequest(self.task_name, view, self.zero_joints,
             session_epoch, self.motion_version if self.motion_version is not None else motion_version, self.generation,
             frames,

src/linkerhand_calibration/linkerhand_calibration/runtime/capture.py

@@ -157,6 +157,11 @@ class ObservationCapture:
             self._preparation_identity = None
         self.install_motion_model(model)
 
+    def current_image_reference_stable(self, view):
+        """Check the independent current-session anchor, not an active old model."""
+        tracker = self._image_references.get(view)
+        return tracker is not None and tracker.tracking_current_image()
+
     def install_motion_model(self, model: MotionBranchModel):
         """Add evidence before zero capture without replacing existing roles."""
         key = (model.task_name, model.view)

src/linkerhand_calibration/linkerhand_calibration/runtime/capture_index.py

@@ -64,14 +64,27 @@ class CaptureRecordIndex(Sequence):
             source = getattr(row, "metadata", row)
             indexed = {key: value for key, value in source.items()
                 if value is None or isinstance(value, (str, int, float, bool))}
-            for key in ('relative_quaternion_xyzw', 'steady_training_nodes', 'command_direction_by_index'):
-                if key in row:
-                    indexed[key] = tuple(row[key])
             if self.retain_training_geometry:
                 from ..core.fitting.training_quality import TRAINING_FIELDS
                 from ..core.domain.capture_plan import evidence_digest
-                indexed.update({key: row[key] for key in TRAINING_FIELDS if key in row})
+                from .resume_storage import materialize_plain_record
-                indexed['source_record_sha256'] = evidence_digest(row)
+                # A deferred row decompresses and parses its evidence when a
+                # non-indexed field is accessed. Materialize it exactly once;
+                # probing every training field through Mapping.__contains__
+                # used to decode the same sample dozens of times.
+                materialized = materialize_plain_record(row)
+                indexed.update({key: materialized[key] for key in TRAINING_FIELDS
+                    if key in materialized})
+                # DeferredCaptureRecord implements Mapping for indexed reads,
+                # but json.dumps intentionally accepts only concrete JSON
+                # containers.  Hash the immutable materialized record exactly
+                # as an eager capture would.
+                indexed['source_record_sha256'] = evidence_digest(materialized)
+            else:
+                for key in ('relative_quaternion_xyzw', 'steady_training_nodes',
+                        'command_direction_by_index'):
+                    if key in row:
+                        indexed[key] = tuple(row[key])
             self._store(indexed)
         elif kind in {'command_sampling_plan', 'training_decision', 'staged_training_decision'}:
             self._store(row)

src/linkerhand_calibration/linkerhand_calibration/runtime/checkpoint_observer_upgrade.py

@@ -8,10 +8,12 @@ from dataclasses import dataclass, replace
 import hashlib
 import json
 from pathlib import Path
+import shutil
 
 from ..core.domain.profile import CalibrationProfile
 from ..profiles import load_hand_profile
-from ..profiles.observer_policy import configure_observer_policy
+from ..profiles.observer_policy import (configure_observer_policy,
+    RIGID_OBSERVER, TRAJECTORY_OBSERVER)
 from ..profiles.preparation import preparation_contract
 from ..profiles.validator import validate_executable_profile
 from .engine import CalibrationEngine
@@ -19,6 +21,23 @@ from .joint_resume import PreparedResume, JointResume
 from .staged_resume import stage_visits
 
 
+def _copy_indexed_evidence(source_path, output_dir):
+    """Copy content-addressed evidence before exposing the migrated index."""
+    from ..core.artifacts.evidence_journal import (
+        is_indexed_journal, manifest_path, archive_path,
+    )
+    if not is_indexed_journal(source_path):
+        return
+    for source_evidence in (manifest_path(source_path), archive_path(source_path)):
+        target_evidence = output_dir/source_evidence.name
+        shutil.copy2(source_evidence, target_evidence)
+        with source_evidence.open('rb') as source_stream, target_evidence.open('rb') as target_stream:
+            source_hash = hashlib.file_digest(source_stream, 'sha256').hexdigest()
+            target_hash = hashlib.file_digest(target_stream, 'sha256').hexdigest()
+        if source_hash != target_hash:
+            raise ValueError('observer_upgrade_evidence_archive_changed')
+
+
 def preserved_observer_joints(checkpoint):
     if any(r.get('kind') == 'staged_training_decision' for r in checkpoint.rows):
         raise ValueError('observer_upgrade_training_already_decided')
@@ -45,14 +64,23 @@ class ObserverPolicyUpgrade:
         return cls(source, target, Path(source_path).read_bytes(), Path(target_path).read_bytes())
 
     def metadata(self, checkpoint, protected_inputs, source_path, source_digest):
+        from .resume_storage import materialize_record
+        source_header = materialize_record(checkpoint.header)
+        source_reference = materialize_record(checkpoint.fixed_reference)
         preserved = preserved_observer_joints(checkpoint)
-        expected = configure_observer_policy(self.source, preserved_joints=preserved)
+        target_strategies = {spec.observer_pose_policy
+            for spec in self.target.measurement.measurements.values()
+            if spec.observer_pose_policy in {RIGID_OBSERVER, TRAJECTORY_OBSERVER}}
+        strategy = (TRAJECTORY_OBSERVER if TRAJECTORY_OBSERVER in target_strategies
+            else RIGID_OBSERVER)
+        expected = configure_observer_policy(self.source, preserved_joints=preserved,
+            policy=strategy)
         if self.target.motion.observer_preparations != self.source.motion.observer_preparations:
             if self.source_urdf is None:
                 raise ValueError('observer_upgrade_source_geometry_missing')
             from ..core.urdf.kinematics import UrdfKinematicModel
             from ..profiles.observer_preparation import configure_observer_preparations
-            expected = configure_observer_preparations(self.source, UrdfKinematicModel(self.source_urdf),
+            expected = configure_observer_preparations(expected, UrdfKinematicModel(self.source_urdf),
                 preserved_joints=preserved)
         if self.target != expected:
             raise ValueError('observer_upgrade_changes_existing_contract')
@@ -63,19 +91,19 @@ class ObserverPolicyUpgrade:
         if protected_inputs.get('profile_config_sha256') != new_hash:
             raise ValueError('observer_upgrade_target_hash_invalid')
         old_inputs = {**protected_inputs, 'profile_config_sha256': old_hash}
-        for row in (checkpoint.header, checkpoint.fixed_reference):
+        for row in (source_header, source_reference):
             actual = row.get('protected_hashes', row)
             if any(actual.get(key) != value for key, value in old_inputs.items()):
                 raise ValueError('observer_upgrade_protected_inputs_changed')
-        if checkpoint.header.get('preparation_contract') != preparation_contract(self.source):
+        if source_header.get('preparation_contract') != preparation_contract(self.source):
             raise ValueError('observer_upgrade_source_preparation_changed')
-        header = {**checkpoint.header, **protected_inputs,
+        header = {**source_header, **protected_inputs,
             'preparation_contract': preparation_contract(self.target),
             'resume_checkpoint_requested': True}
         if 'protected_hashes' in header:
             header['protected_hashes'] = {**header['protected_hashes'], **protected_inputs}
-        reference = {**checkpoint.fixed_reference, 'protected_hashes': {
+        reference = {**source_reference, 'protected_hashes': {
-            **checkpoint.fixed_reference['protected_hashes'], **protected_inputs}}
+            **source_reference['protected_hashes'], **protected_inputs}}
         changes = {joint: dict(previous=spec.observer_pose_policy,
             current=self.target.measurement.measurements[joint].observer_pose_policy)
             for joint, spec in self.source.measurement.measurements.items()
@@ -83,7 +111,7 @@ class ObserverPolicyUpgrade:
         audit = dict(kind='capture_observation_revision', policy='unmeasured_observer_upgrade_v1',
             source_raw_samples=str(Path(source_path).resolve()), source_raw_sha256=source_digest,
             source_profile_sha256=old_hash, target_profile_sha256=new_hash,
-            original_header=checkpoint.header, original_fixed_reference=checkpoint.fixed_reference,
+            original_header=source_header, original_fixed_reference=source_reference,
             preserved_joints=sorted(preserved), observer_policy_changes=changes,
             completed_units=[list(unit) for unit in sorted(checkpoint.joints.units)],
             physical_zero_reverification_performed=False)
@@ -92,6 +120,11 @@ class ObserverPolicyUpgrade:
             audit.update(policy='unmeasured_observer_upgrade_v2', observer_preparations={
                 name: asdict(plan) for name, plan in self.target.motion.observer_preparations.items()
                 if self.source.motion.observer_preparations.get(name) != plan})
+        if strategy == TRAJECTORY_OBSERVER:
+            audit.update(policy='unmeasured_observer_upgrade_v3',
+                target_observation_policy='occlusion_aware_trajectory_v3',
+                accepted_evidence_semantics='preserved_without_reinterpretation',
+                pending_evidence_semantics='full_trajectory_with_bounded_observation')
         return header, reference, audit
 
 
@@ -117,26 +150,34 @@ def upgrade_checkpoint(upgrade, source_path, output_dir, *, serial_number,
             or verified.first_cycle_spans != checkpoint.joints.first_cycle_spans):
         raise ValueError('observer_upgrade_changes_reusable_evidence')
     output_dir.mkdir(parents=True, exist_ok=False)
-    temporary = output_dir/'raw_samples.jsonl.tmp'
+    try:
-    digest = hashlib.sha256()
+        _copy_indexed_evidence(source_path, output_dir)
-    with source_path.open('rb') as source, temporary.open('xb') as target:
+        temporary = output_dir/'raw_samples.jsonl.tmp'
-        for line in source:
+        digest = hashlib.sha256()
-            digest.update(line)
+        with source_path.open('rb') as source, temporary.open('xb') as target:
-            row = json.loads(line) if line.strip() else {}
+            for line in source:
-            if row.get('kind') in replacement:
+                digest.update(line)
-                target.write((json.dumps(replacement[row['kind']], ensure_ascii=False)+'\n').encode())
+                row = json.loads(line) if line.strip() else {}
-            else:
+                if row.get('kind') in replacement:
-                target.write(line)
+                    target.write((json.dumps(replacement[row['kind']], ensure_ascii=False)+'\n').encode())
-        target.write(('\n'+json.dumps(audit, ensure_ascii=False)+'\n').encode())
+                else:
-    if digest.hexdigest() != source_digest:
+                    target.write(line)
-        temporary.unlink()
+            target.write(('\n'+json.dumps(audit, ensure_ascii=False)+'\n').encode())
-        raise ValueError('observer_upgrade_source_changed_during_replay')
+        if digest.hexdigest() != source_digest:
-    (output_dir/'source_profile.yaml').write_bytes(upgrade.source_yaml)
+            raise ValueError('observer_upgrade_source_changed_during_replay')
-    (output_dir/'target_profile.yaml').write_bytes(upgrade.target_yaml)
+        (output_dir/'source_profile.yaml').write_bytes(upgrade.source_yaml)
-    report = {**audit, 'reusable_units': len(verified.units), 'result': 'STATIC_REPLAY_PASSED'}
+        (output_dir/'target_profile.yaml').write_bytes(upgrade.target_yaml)
-    (output_dir/'observer_upgrade.json').write_text(json.dumps(report, ensure_ascii=False, indent=2)+'\n')
+        report = {**audit, 'reusable_units': len(verified.units), 'result': 'STATIC_REPLAY_PASSED'}
-    temporary.rename(output_dir/'raw_samples.jsonl')
+        installed = output_dir/'raw_samples.jsonl'
-    return report
+        temporary.rename(installed)
+        if (output_dir/'raw_samples.storage.json').is_file():
+            from ..core.artifacts.evidence_journal import compact_existing_journal
+            report['storage_compaction'] = compact_existing_journal(installed, replace=True)
+        (output_dir/'observer_upgrade.json').write_text(json.dumps(report, ensure_ascii=False, indent=2)+'\n')
+        return report
+    except Exception:
+        shutil.rmtree(output_dir, ignore_errors=True)
+        raise
 
 
 def main():

src/linkerhand_calibration/linkerhand_calibration/runtime/checkpoint_training_upgrade.py

@@ -0,0 +1,173 @@
+"""Audited migration from whole-hand staged training to taskwise staged training.
+
+The measurement contract, motion paths, accepted scan identities and raw image
+evidence stay unchanged.  Only the ordering of future training visits and the
+time at which a task-local repeatability decision is made are revised.  The
+source journal is immutable and the target journal links its content-addressed
+evidence blocks.
+"""
+
+from dataclasses import dataclass
+import hashlib
+import json
+from pathlib import Path
+import shutil
+
+from ..core.domain.capture_plan import (CapturePlan, STAGED, TASKWISE_STAGED,
+    configure_training)
+from ..profiles import load_hand_profile
+from ..profiles.export import dump_hand_profile
+from ..profiles.preparation import preparation_contract
+from ..profiles.validator import validate_executable_profile
+from .engine import CalibrationEngine, capture_schedule_version
+from .joint_resume import PreparedResume, JointResume
+from .resume_storage import materialize_record
+from .staged_resume import stage_passed_visits
+
+
+@dataclass(frozen=True)
+class TaskwiseTrainingUpgrade:
+    source: object
+    target: object
+    source_yaml: bytes
+    target_yaml: bytes
+
+    @classmethod
+    def load(cls, source_profile):
+        source = load_hand_profile(source_profile)
+        if source.quality.training_policy != STAGED:
+            raise ValueError("taskwise_upgrade_requires_staged_source")
+        target = configure_training(source, TASKWISE_STAGED)
+        return cls(source, target, Path(source_profile).read_bytes(),
+            dump_hand_profile(target).encode())
+
+    def replacement_records(self, checkpoint, *, source_path, source_digest):
+        if any(row.get("kind") in {"staged_training_decision", "training_decision"}
+                for row in checkpoint.rows):
+            raise ValueError("taskwise_upgrade_training_decision_already_recorded")
+        source_header = materialize_record(checkpoint.header)
+        source_reference = materialize_record(checkpoint.fixed_reference)
+        old_hash = hashlib.sha256(self.source_yaml).hexdigest()
+        new_hash = hashlib.sha256(self.target_yaml).hexdigest()
+        actual = source_header.get("protected_hashes", source_header)
+        if actual.get("profile_config_sha256") != old_hash:
+            raise ValueError("taskwise_upgrade_source_profile_hash_changed")
+        if source_header.get("preparation_contract") != preparation_contract(self.source):
+            raise ValueError("taskwise_upgrade_source_preparation_changed")
+        if preparation_contract(self.target) != preparation_contract(self.source):
+            raise ValueError("taskwise_upgrade_changes_preparation_contract")
+
+        header = {**source_header,
+            "capture_schedule_version": capture_schedule_version(self.target),
+            "capture_plan": CapturePlan.from_profile(self.target).as_dict(),
+            "profile_config_sha256": new_hash,
+            "resume_checkpoint_requested": True}
+        if "protected_hashes" in header:
+            header["protected_hashes"] = {**header["protected_hashes"],
+                "profile_config_sha256": new_hash}
+        reference = {**source_reference, "protected_hashes": {
+            **source_reference["protected_hashes"], "profile_config_sha256": new_hash}}
+        audit = {
+            "kind": "capture_schedule_revision",
+            "version": "taskwise_staged_training_upgrade_v1",
+            "source_raw_samples": str(Path(source_path).resolve()),
+            "source_raw_sha256": source_digest,
+            "source_profile_sha256": old_hash,
+            "target_profile_sha256": new_hash,
+            "source_policy": STAGED,
+            "target_policy": TASKWISE_STAGED,
+            "accepted_evidence_semantics": "preserved_without_reinterpretation",
+            "future_schedule": (
+                "first_whole_hand_pass_then_taskwise_second_pass_with_immediate_supplement_then_validation"
+            ),
+            "completed_units": [list(unit) for unit in sorted(checkpoint.joints.units)],
+        }
+        return header, reference, audit
+
+
+def upgrade_checkpoint(upgrade, source_path, output_dir, *, serial_number,
+        source_urdf, image_replay_workers=1):
+    source_path, output_dir = Path(source_path).resolve(), Path(output_dir).resolve()
+    if output_dir.exists():
+        raise FileExistsError(output_dir)
+    for profile in (upgrade.source, upgrade.target):
+        validate_executable_profile(profile, source_urdf)
+    with source_path.open("rb") as stream:
+        source_digest = hashlib.file_digest(stream, "sha256").hexdigest()
+    checkpoint = PreparedResume.load(upgrade.source, CalibrationEngine(upgrade.source),
+        source_path, serial_number, image_replay_workers=image_replay_workers,
+        resume_mode="passed", source_urdf=source_urdf)
+    header, reference, audit = upgrade.replacement_records(checkpoint,
+        source_path=source_path, source_digest=source_digest)
+    replacement = {"session_start": header, "fixed_base_reference_locked": reference}
+    rows = tuple(replacement.get(row.get("kind"), row) for row in checkpoint.rows) + (audit,)
+
+    # The source is itself an unchanged-installation ``passed`` checkpoint.
+    # Its compact journal intentionally omits historical witness windows that
+    # strict replay would require.  Preserve and compare the same durable pass
+    # decisions here; finalization still performs the complete evidence replay
+    # before it may publish JSON/URDF artifacts.
+    verified = JointResume(upgrade.target, image_replay_workers=image_replay_workers)
+    stage_passed_visits(verified, CalibrationEngine(upgrade.target), rows)
+    if (verified.units != checkpoint.joints.units
+            or verified.references != checkpoint.joints.references
+            or verified.first_cycle_spans != checkpoint.joints.first_cycle_spans):
+        raise ValueError("taskwise_upgrade_changes_reusable_evidence")
+
+    output_dir.mkdir(parents=True, exist_ok=False)
+    try:
+        raw = output_dir / "raw_samples.jsonl"
+        from ..core.artifacts.evidence_journal import initialize_evidence_journal
+        from ..core.artifacts.storage import append_jsonl_many, sync_jsonl
+        initialize_evidence_journal(raw)
+        for offset in range(0, len(rows), 4096):
+            append_jsonl_many(raw, rows[offset:offset + 4096], durable=False)
+        sync_jsonl(raw)
+        (output_dir / "source_profile.yaml").write_bytes(upgrade.source_yaml)
+        target_profile = output_dir / "target_profile.yaml"
+        target_profile.write_bytes(upgrade.target_yaml)
+        prepared = PreparedResume.load(upgrade.target, CalibrationEngine(upgrade.target),
+            raw, serial_number, image_replay_workers=image_replay_workers,
+            resume_mode="passed", source_urdf=source_urdf)
+        if (prepared.completed_units != frozenset(verified.units)
+                or prepared.joints.references != verified.references
+                or prepared.joints.first_cycle_spans != verified.first_cycle_spans):
+            raise ValueError("taskwise_upgrade_written_checkpoint_changed")
+        report = {**audit, "reusable_units": len(verified.units),
+            "zero_references": len(verified.references),
+            "target_profile": str(target_profile),
+            "resume_validation": "passed_mode_loaded",
+            "historical_replay_performed": False,
+            "full_replay_required_before_publication": True,
+            "result": "PASSED_EVIDENCE_PRESERVATION_VERIFIED"}
+        (output_dir / "training_upgrade.json").write_text(
+            json.dumps(report, ensure_ascii=False, indent=2) + "\n")
+        return report
+    except Exception:
+        shutil.rmtree(output_dir, ignore_errors=True)
+        raise
+
+
+def main():
+    import argparse
+    from ..product import load_product_config
+    from .image_replay import checkpoint_replay_workers
+
+    parser = argparse.ArgumentParser(description=__doc__)
+    parser.add_argument("--source-profile", required=True)
+    parser.add_argument("--target-product", required=True)
+    parser.add_argument("--source-checkpoint", required=True)
+    parser.add_argument("--output-dir", required=True)
+    args = parser.parse_args()
+    product = load_product_config(args.target_product, check_can=False)
+    upgrade = TaskwiseTrainingUpgrade.load(args.source_profile)
+    report = upgrade_checkpoint(upgrade, args.source_checkpoint, args.output_dir,
+        serial_number=product.serial_number, source_urdf=product.source_urdf,
+        image_replay_workers=checkpoint_replay_workers())
+    print(json.dumps({key: report[key] for key in (
+        "result", "reusable_units", "zero_references", "target_profile"
+    )}, ensure_ascii=False), flush=True)
+
+
+if __name__ == "__main__":
+    main()

src/linkerhand_calibration/linkerhand_calibration/runtime/coordinator.py

@@ -42,7 +42,8 @@ from .resume import ResumeDecision, ResumeVerifier, fingerprint_from_mapping
 from .safety import SafetyPolicy, SafetySample
 from .session import CalibrationPhase as Phase
 from .snapshot import DeviceReadiness, CameraReadiness, RuntimeSnapshot, build_snapshot, legacy_state
-from ..core.domain.capture_plan import CapturePlan, ADAPTIVE, STAGED
+from ..core.domain.capture_plan import (CapturePlan, ADAPTIVE, STAGED,
+    TASKWISE_STAGED, STAGED_POLICIES)
 
 
 _TERMINAL_STATES = frozenset({"PASSED", "DIAGNOSTIC_COMPLETE", "PAUSED", "ABORTED", "FAILED"})
@@ -73,7 +74,7 @@ class CalibrationCoordinator:
         self.training_worker = None
         self._training_request = None
         self._frozen_training_sha256 = None
-        if profile.quality.training_policy in {ADAPTIVE, STAGED}:
+        if profile.quality.training_policy in {ADAPTIVE, STAGED, TASKWISE_STAGED}:
             if self.diagnostic_capture is not None:
                 raise ValueError("adaptive_training_cannot_run_as_diagnostic")
             from .training import TrainingWorker
@@ -91,10 +92,12 @@ class CalibrationCoordinator:
         self.command_direction_history = deque(maxlen=2000)
         self._command_directions = [""]*self.command_count
         self.finalization = finalization or FinalizationController(profile, parameters.session_dir)
+        from .journal_durability import JournalDurabilityWorker
+        self.journal_durability = JournalDurabilityWorker()
         from .capture_index import CaptureRecordIndex
         self.capture_index = CaptureRecordIndex(retain_complete=(
             self.diagnostic_capture is not None or not getattr(self.finalization, "uses_journal", False)),
-            retain_training_geometry=profile.quality.training_policy in {ADAPTIVE, STAGED})
+            retain_training_geometry=profile.quality.training_policy in {ADAPTIVE, STAGED, TASKWISE_STAGED})
         self._image_record_stamps = {}
         self.last_command = None
         self.commanded_speed = None
@@ -585,6 +588,7 @@ class CalibrationCoordinator:
             self._observation_epoch += 1
             self.branch_initialization.clear()
             try:
+                self.journal_durability.close()
                 sync_jsonl(self.raw_path)
             finally:
                 self.finalization.close()
@@ -640,28 +644,7 @@ class CalibrationCoordinator:
         if self._passed_reference_import is not None:
             self._publish_command(list(current))
             pending = self._passed_reference_import
-            self._write_resume_batch(pending)
+            if self._write_resume_batch(pending) and self._restore_passed_reference_batch(pending):
-            if pending.complete:
-                from .passed_resume import restore_parent_models, restored_model_record
-                binding = restored_model_record(pending.model_records,
-                    self._observation_epoch, self.ports.clock_ns())
-                if self.profile.quality.training_policy == STAGED and self.parameters.resume_mode != "passed":
-                    binding.update(kind="staged_pose_models_restored", resume_mode="verify",
-                        physical_zero_reverification_required=True)
-                    binding.pop("unchanged_installation_declared", None)
-                append_jsonl(self.raw_path, binding)
-                self.capture_index.append(binding)
-                restore_parent_models(self.branch_initialization.parent_references,
-                    pending.model_records, self._observation_epoch)
-                from .observer_reference import restore_observer_records
-                restore_observer_records(self.branch_initialization, pending.rows)
-                self.branch_initialization.observer_preparation.restore(pending.rows)
-                for row in pending.rows:
-                    if row.get("kind") == "motion_branch_observation":
-                        self.branch_initialization.witness_capture.observe(row)
-                self.execution.zero_references.update(pending.references)
-                if self.visual_motion is not None:
-                    self.visual_motion.freeze_zeros(pending.references)
                 self._passed_reference_import = None
             return
         if self._reference_import is not None and not self._reference_import.complete:
@@ -674,7 +657,7 @@ class CalibrationCoordinator:
             return
         if phase in {Phase.PREPARE, Phase.MAPPING_PROBE} and self.segment is None and session.current_unit is not None:
             unit = session.current_unit
-            if self.profile.quality.training_policy == STAGED:
+            if self.profile.quality.training_policy in STAGED_POLICIES:
                 used, imported = self.joint_resume.take_task(unit.task_key, cycle=unit.cycle)
             else:
                 used, imported = self.joint_resume.take_task(unit.task_key)
@@ -751,6 +734,17 @@ class CalibrationCoordinator:
                     if self.execution.last_diagnostic_quality is not None else {})}
             self.capture_index.append(record)
             append_jsonl(self.raw_path, record)
+            next_unit = session.current_unit
+            visit_complete = (quality.passed and (next_unit is None
+                or (next_unit.task_key, next_unit.cycle) != (
+                    action.scan_unit.task_key, action.scan_unit.cycle)))
+            if visit_complete:
+                resolved_deferral = session.task_deferrals.resolve(
+                    action.scan_unit.task_key, action.scan_unit.cycle)
+                if resolved_deferral is not None:
+                    resolved_record = resolved_deferral.as_record(stamp_ns=self.ports.clock_ns())
+                    self.capture_index.append(resolved_record)
+                    append_jsonl(self.raw_path, resolved_record)
             if self.execution.last_training_decision is not None:
                 decision = self.execution.last_training_decision
                 append_jsonl(self.raw_path, decision)
@@ -903,6 +897,8 @@ class CalibrationCoordinator:
                 elif geometry_error:
                     if self._recover_joint_zero(motion, now, geometry_error):
                         return
+                    if self._defer_unobservable_task(motion, geometry_error):
+                        return
                     if self.diagnostic_capture is not None:
                         geometry_error += ":diagnostic_reference=" + self._zero_reference_error
                     self._pause("joint_zero_motion_unresolved:" + geometry_error)
@@ -910,7 +906,10 @@ class CalibrationCoordinator:
                 else:
                     if self._recover_joint_zero(motion, now, ""):
                         return
-                    self._pause("joint_zero_unavailable:"+self._zero_reference_error+self._joint_zero_branch_details(motion))
+                    unavailable = self._zero_reference_error+self._joint_zero_branch_details(motion)
+                    if self._defer_unobservable_task(motion, unavailable):
+                        return
+                    self._pause("joint_zero_unavailable:"+unavailable)
                     return
         if (self.segment.arrived(now) and motion.phase != "joint_zero") or steady_complete:
             if motion.phase in {'observer_preflight', 'observer_probe'}:
@@ -1028,6 +1027,14 @@ class CalibrationCoordinator:
                     raise ValueError("parent_reference_zero_missing")
                 record = self.branch_initialization.parent_references.confirm(task,
                     self._observation_epoch, self._segment_number, reference, rows)
+            elif motion.parent_model_refresh_for:
+                task = next(task for task in self.profile.motion.tasks
+                    if task.key == motion.parent_model_refresh_for)
+                reference = self.execution.zero_references.get(task.parent_reference.pose_joint)
+                if reference is None:
+                    raise ValueError("parent_reference_zero_missing")
+                record = self.branch_initialization.parent_references.authorize_refreshed_pose(
+                    task, self._observation_epoch, self._segment_number, reference)
         except ValueError as error:
             self._zero_reference_error = str(error)
             return False
@@ -1172,6 +1179,38 @@ class CalibrationCoordinator:
     def _recover_joint_zero(self, motion, now, geometry_error):
         if self.diagnostic_capture is not None:
             return False
+        branch_details = self._joint_zero_branch_details(motion)
+        task = next((task for task in self.profile.motion.tasks
+            if task.key == motion.task_key), None)
+        stale_parent_anchor = (motion.reference_reuse
+            and task is not None and self.capture.current_image_reference_stable(task.view)
+            and self._zero_reference_error.startswith("parent_reference_samples_missing:")
+            and "image_reference_current_image_moved" in branch_details)
+        action = self.zero_recovery.take_parent_model_refresh(
+            motion, stale_image_anchor=stale_parent_anchor)
+        if action is not None:
+            from .zero_recovery import FailureCategory
+            record = {"kind": "joint_zero_recovery", "task_name": motion.task_key,
+                "failure_category": FailureCategory.REFERENCE_CHANGED.value,
+                "capture_plan_sha256": CapturePlan.from_profile(self.execution.profile).sha256,
+                "joints": list(motion.zero_joints), "action": action,
+                "reason": self._zero_reference_error+branch_details,
+                "previous_session_epoch": self._observation_epoch,
+                "session_epoch": self._observation_epoch+1,
+                "attempt": 1, "stamp_ns": self.ports.clock_ns()}
+            append_jsonl(self.raw_path, record)
+            self.capture_index.append(record)
+            self._observation_epoch += 1
+            self.branch_initialization.parent_references.advance_recovery_epoch(
+                self._observation_epoch-1, self._observation_epoch)
+            self.execution.refresh_parent_model(self.last_command or motion.target)
+            self.branch_initialization.clear()
+            self._steady_rows.clear()
+            self._zero_capture_started_at = self._steady_capture_after_ns = None
+            self._motion = self.segment = None
+            self._zero_geometry_started_at = self._zero_geometry_completed_at = None
+            self.reason = "joint_zero_recovery:"+action+":"+str(motion.task_key)
+            return True
         if geometry_error and self._recover_observer_preparation(motion):
             return True
         action = self.zero_recovery.take(motion, geometry_error=geometry_error,
@@ -1279,6 +1318,41 @@ class CalibrationCoordinator:
         self.reason = 'observer_preparation:' + motion.zero_joints[0]
         return True
 
+    def _defer_unobservable_task(self, motion, geometry_error):
+        """Continue independent collection after bounded v3 observation fails."""
+        from .task_deferral import recoverable_observation_reason
+        from ..profiles.observer_policy import TRAJECTORY_OBSERVER
+        refresh = bool(motion.parent_model_refresh_for)
+        if ((motion.reference_only and not (refresh or motion.reference_reuse))
+                or motion.reference_check or len(motion.zero_joints) != 1
+                or not recoverable_observation_reason(geometry_error)
+                or not any(spec.observer_pose_policy == TRAJECTORY_OBSERVER
+                    for spec in self.profile.measurement.measurements.values())):
+            return False
+        import hashlib
+        import json
+        reports = tuple(self.branch_initialization.reports.values())
+        hashes = {report.get('view', ''): report.get('source_frame_hashes', {})
+            for report in reports}
+        corner_digest = hashlib.sha256(json.dumps(hashes, sort_keys=True,
+            separators=(',', ':'), allow_nan=False).encode()).hexdigest()
+        decision = self.execution.defer_current_task(geometry_error)
+        record = decision.as_record(stamp_ns=self.ports.clock_ns(),
+            corner_evidence_sha256=corner_digest)
+        append_jsonl(self.raw_path, record)
+        self.capture_index.append(record)
+        self._observation_epoch += 1
+        self.branch_initialization.parent_references.advance_recovery_epoch(
+            self._observation_epoch-1, self._observation_epoch)
+        self.branch_initialization.clear()
+        self._steady_rows.clear()
+        self._zero_capture_started_at = None
+        self._steady_capture_after_ns = None
+        self._zero_geometry_started_at = self._zero_geometry_completed_at = None
+        self.segment, self._motion = None, None
+        self.reason = f"task_observation_{decision.state.value}:{decision.task_name}"
+        return True
+
     def _joint_zero_branch_details(self, motion):
         task = next(task for task in self.profile.motion.tasks if task.key == motion.task_key)
         if motion.reference_only:
@@ -1598,12 +1672,113 @@ class CalibrationCoordinator:
         append_jsonl(self.raw_path, {"kind": "fixed_base_reference_locked", **self._current_fingerprint})
 
     def _write_resume_batch(self, pending):
-        """Keep both zero-evidence and scan imports outside an unbounded tick."""
+        """Transfer bounded rows and poll a non-blocking durability barrier."""
-        rows = pending.take_batch()
+        if not pending.transfer_complete:
-        append_jsonl_many(self.raw_path, rows, durable=False)
+            rows = pending.take_batch()
-        self.capture_index.extend(rows)
+            append_jsonl_many(self.raw_path, rows, durable=False)
-        if pending.complete:
+            self.capture_index.extend(rows)
-            sync_jsonl(self.raw_path)
+        if not pending.transfer_complete:
+            return False
+        if pending.durability_future is None:
+            pending.durability_future = self.journal_durability.submit(
+                lambda: sync_jsonl(self.raw_path))
+            return False
+        if not pending.durability_future.done():
+            return False
+        pending.durability_future.result()
+        pending.durable = True
+        return True
+
+    def _restore_passed_reference_batch(self, pending):
+        """Restore imported runtime indexes in bounded control-loop slices."""
+        if pending.restore_phase == "binding":
+            from .passed_resume import restored_model_record
+            binding = restored_model_record(pending.model_records,
+                self._observation_epoch, self.ports.clock_ns())
+            if self.profile.quality.training_policy in STAGED_POLICIES and self.parameters.resume_mode != "passed":
+                binding.update(kind="staged_pose_models_restored", resume_mode="verify",
+                    physical_zero_reverification_required=True)
+                binding.pop("unchanged_installation_declared", None)
+            append_jsonl_many(self.raw_path, (binding,), durable=False)
+            self.capture_index.append(binding)
+            pending.durability_future = self.journal_durability.submit(
+                lambda: sync_jsonl(self.raw_path))
+            pending.restore_phase = "binding_sync"
+            return False
+
+        if pending.restore_phase == "binding_sync":
+            if not pending.durability_future.done():
+                return False
+            pending.durability_future.result()
+            pending.restore_phase = "models"
+            return False
+
+        if pending.restore_phase == "models":
+            from .passed_resume import restore_parent_models
+            restore_parent_models(self.branch_initialization.parent_references,
+                pending.model_records, self._observation_epoch, pending.rows)
+            pending.restore_rows = tuple(row for row in pending.rows
+                if row.get("kind") == "motion_branch_observation")
+            pending.restore_offset = 0
+            pending.restore_phase = "observer_records"
+            return False
+
+        if pending.restore_phase == "observer_records":
+            from .observer_reference import restore_observer_records
+            batch = pending.restore_rows[pending.restore_offset:pending.restore_offset + 512]
+            restore_observer_records(self.branch_initialization, batch)
+            pending.restore_offset += len(batch)
+            if pending.restore_offset == len(pending.restore_rows):
+                if self.parameters.resume_mode == "passed":
+                    # Passed tasks contribute immutable zero/model evidence,
+                    # never unfinished live actions.  Replaying an old active
+                    # observer decision can move an already accepted joint
+                    # while the next task is preparing.
+                    pending.restore_rows = tuple(row for row in pending.rows
+                        if row.get("kind") == "motion_branch_observation"
+                        and row.get("preparation_witness_joint"))
+                    pending.restore_offset = 0
+                    pending.restore_phase = "witness"
+                    return False
+                preparation_kinds = {"observer_preparation_decision",
+                    "image_observation_frame", "observer_preparation_segment_complete",
+                    "observer_preparation_excursion_started",
+                    "observer_preparation_cancelled_before_excursion"}
+                pending.restore_rows = tuple(row for row in pending.rows
+                    if row.get("kind") in preparation_kinds)
+                pending.restore_offset = 0
+                pending.restore_phase = "observer_preparation"
+            return False
+
+        if pending.restore_phase == "observer_preparation":
+            batch = pending.restore_rows[pending.restore_offset:pending.restore_offset + 256]
+            self.branch_initialization.observer_preparation.restore(batch)
+            pending.restore_offset += len(batch)
+            if pending.restore_offset == len(pending.restore_rows):
+                pending.restore_rows = tuple(row for row in pending.rows
+                    if row.get("kind") == "motion_branch_observation"
+                    and row.get("preparation_witness_joint"))
+                pending.restore_offset = 0
+                pending.restore_phase = "witness"
+            return False
+
+        if pending.restore_phase == "witness":
+            batch = pending.restore_rows[pending.restore_offset:pending.restore_offset + 64]
+            for row in batch:
+                self.branch_initialization.witness_capture.observe(row)
+            pending.restore_offset += len(batch)
+            if pending.restore_offset < len(pending.restore_rows):
+                return False
+            pending.restore_rows = ()
+            pending.restore_phase = "complete"
+            self.execution.zero_references.update(pending.references)
+            if self.visual_motion is not None:
+                self.visual_motion.freeze_zeros(pending.references)
+            return True
+
+        if pending.restore_phase == "complete":
+            return True
+        raise RuntimeError("unknown_passed_reference_restore_phase")
 
     def _import_resume_batch(self):
         pending = self._resume_import
@@ -1666,7 +1841,7 @@ class CalibrationCoordinator:
                 if self.profile.artifacts.output_schema_version >= 3:
                     self.joint_resume = checkpoint.joints
                     decision = replace(decision, reason="整场参考通过，等待逐关节验证原零位后复用")
-                    if self.profile.quality.training_policy == STAGED:
+                    if self.profile.quality.training_policy in STAGED_POLICIES:
                         from .staged_resume import restore_recovery
                         self._passed_reference_import = checkpoint.passed_import
                         restore_recovery(self.execution.session, self.zero_recovery, rows)
@@ -1676,7 +1851,7 @@ class CalibrationCoordinator:
                     decision = replace(decision, completed_units=tuple(sorted(complete)))
         except (OSError, ValueError, KeyError, TypeError) as error:
             decision = ResumeDecision(False, "旧断点校验未通过，已重新采集", (str(error),))
-        if self.profile.quality.training_policy == STAGED and not decision.reuse:
+        if self.profile.quality.training_policy in STAGED_POLICIES and not decision.reuse:
             self._pause("staged_resume_reference_or_evidence_changed:" + str(decision.incompatible_fields))
             return
         decision = self.execution.restore(decision, rows)
@@ -1701,7 +1876,7 @@ class CalibrationCoordinator:
             return
         self.joint_resume = checkpoint.joints
         self._passed_reference_import = checkpoint.passed_import
-        if self.profile.quality.training_policy == STAGED:
+        if self.profile.quality.training_policy in STAGED_POLICIES:
             from .staged_resume import restore_recovery
             restore_recovery(self.execution.session, self.zero_recovery, checkpoint.rows)
             if checkpoint.frozen_training is not None:
@@ -1709,7 +1884,7 @@ class CalibrationCoordinator:
         # The existing bounded importer skips each task only after its original
         # rows and zero references are durable. No old task is moved or scanned.
         self._resume_message = "按已通过记录续采，跳过历史回放和已完成关节零位复核"
-        if self.profile.quality.training_policy == STAGED:
+        if self.profile.quality.training_policy in STAGED_POLICIES:
             self._resume_message = "断点证据校验通过，直接复用已完成访问；不重复运动或零位复核"
         self.execution.restore(ResumeDecision(True, self._resume_message), ())
 

src/linkerhand_calibration/linkerhand_calibration/runtime/engine.py

@@ -15,7 +15,8 @@ from .diagnostic_capture import DiagnosticCapturePlan
 
 from ..core.domain.profile import ACQUISITION_POLICY_VERSION
 from ..core.domain.motion_path import task_segments, scan_identity
-from ..core.domain.capture_plan import CapturePlan, ADAPTIVE, STAGED, LEGACY_TRAINING, LEGACY_HOLDOUT
+from ..core.domain.capture_plan import (CapturePlan, ADAPTIVE, STAGED,
+    TASKWISE_STAGED, STAGED_POLICIES, LEGACY_TRAINING, LEGACY_HOLDOUT)
 TRAINING_CYCLES = LEGACY_TRAINING
 HOLDOUT_CYCLE = LEGACY_HOLDOUT
 CAPTURE_SCHEDULE_VERSION = "unified_schedule_v7_single_pass_endpoint_images"
@@ -27,8 +28,10 @@ PARENT_REFERENCE_SCHEDULE_VERSION = "unified_schedule_v10_verified_parent_geomet
 IMAGE_REFERENCE_SCHEDULE_VERSION = "unified_schedule_v11_stationary_image_reference"
 ADAPTIVE_CAPTURE_SCHEDULE_VERSION = "unified_schedule_v12_adaptive_training"
 STAGED_CAPTURE_SCHEDULE_VERSION = "unified_schedule_v13_staged_training"
+TASKWISE_STAGED_CAPTURE_SCHEDULE_VERSION = "unified_schedule_v14_taskwise_staged_training"
 SUPPORTED_CAPTURE_SCHEDULE_VERSIONS = frozenset((CAPTURE_SCHEDULE_VERSION,
-    STAGED_CAPTURE_SCHEDULE_VERSION, ADAPTIVE_CAPTURE_SCHEDULE_VERSION, SEPARATE_CAPTURE_SCHEDULE_VERSION, *(f"{SEGMENTED_CAPTURE_SCHEDULE_VERSION}_{mode}"
+    STAGED_CAPTURE_SCHEDULE_VERSION, TASKWISE_STAGED_CAPTURE_SCHEDULE_VERSION,
+    ADAPTIVE_CAPTURE_SCHEDULE_VERSION, SEPARATE_CAPTURE_SCHEDULE_VERSION, *(f"{SEGMENTED_CAPTURE_SCHEDULE_VERSION}_{mode}"
         for mode in ("interleaved", "separate")), *(f"{PATH_CAPTURE_SCHEDULE_VERSION}_{mode}"
         for mode in ("interleaved", "separate")), *(f"{VISUAL_CAPTURE_SCHEDULE_VERSION}_{mode}"
         for mode in ("interleaved", "separate")), *(f"{PARENT_REFERENCE_SCHEDULE_VERSION}_{feedback}_{mode}"
@@ -40,6 +43,8 @@ SUPPORTED_CAPTURE_SCHEDULE_VERSIONS = frozenset((CAPTURE_SCHEDULE_VERSION,
 def capture_schedule_version(profile):
     if profile.quality.training_policy == STAGED:
         return STAGED_CAPTURE_SCHEDULE_VERSION
+    if profile.quality.training_policy == TASKWISE_STAGED:
+        return TASKWISE_STAGED_CAPTURE_SCHEDULE_VERSION
     if profile.quality.training_policy == ADAPTIVE:
         return ADAPTIVE_CAPTURE_SCHEDULE_VERSION
     if profile.acquisition.fixed_reference_mode == "stationary_image":
@@ -202,6 +207,17 @@ class CalibrationEngine:
                         segment.end, speed, "steady", segment.key) for segment in task_segments(task))
         if self.profile.quality.training_policy == STAGED:
             units.sort(key=lambda unit: unit.cycle)  # Stable: declared task/segment order within a pass.
+        elif self.profile.quality.training_policy == TASKWISE_STAGED:
+            # Keep the already collected first whole-hand pass reusable. During
+            # the second pass each task's optional third training visit is
+            # placed immediately after that task. Validation remains a final,
+            # isolated whole-hand pass and can never precede future training.
+            task_order = {task.key: index for index, task in enumerate(self.profile.motion.tasks)}
+            units.sort(key=lambda unit: (
+                0 if unit.cycle == 0 else 1 if unit.cycle in {1, 2} else 2,
+                task_order[unit.task_key],
+                unit.cycle,
+            ))
         return tuple(units)
 
     def mapping_probe_delta(self, task: TaskSpec) -> float | None:
@@ -287,7 +303,7 @@ class CalibrationEngine:
             and session_start.get("acquisition_policy_version")
             == ACQUISITION_POLICY_VERSION
             and session_start.get("capture_schedule_version") in (
-                (capture_schedule_version(self.profile),) if (self.profile.quality.training_policy in {ADAPTIVE, STAGED} or self.profile.acquisition.fixed_reference_mode == "stationary_image"
+                (capture_schedule_version(self.profile),) if (self.profile.quality.training_policy in {ADAPTIVE, *STAGED_POLICIES} or self.profile.acquisition.fixed_reference_mode == "stationary_image"
                     or self.profile.vision_motion or any(task.segments for task in self.profile.motion.tasks)
                     or any(task.parent_reference is not None for task in self.profile.motion.tasks)
                     or any(spec.evidence_scope == "path" for spec in self.profile.motion.joint_zero_references.values())

src/linkerhand_calibration/linkerhand_calibration/runtime/execution.py

@@ -55,8 +55,8 @@ class SessionExecution:
 
     def _make_effects(self, current):
         action = self.action
-        from ..core.domain.capture_plan import STAGED
+        from ..core.domain.capture_plan import STAGED_POLICIES
-        staged = self.profile.quality.training_policy == STAGED
+        staged = self.profile.quality.training_policy in STAGED_POLICIES
         visit = None if action.scan_unit is None else (action.scan_unit.task_key, action.scan_unit.cycle)
         new_visit = staged and visit != self._entered_visit
         previous_visit = self._entered_visit
@@ -298,6 +298,38 @@ class SessionExecution:
             current = target
         self._effects[:1] = [*effects, motion]
 
+    def refresh_parent_model(self, current):
+        """Acquire a current image model without replacing a passed zero.
+
+        Parent-reference reuse deliberately starts with the immutable passed
+        model.  If only its stationary image anchor is stale, run the same
+        reviewed approach used by that parent's original zero acquisition and
+        fit a session-local model before retrying the held-pose check.
+        """
+        motion = self._effects[0] if self._effects else None
+        if (self.session.phase != Phase.PREPARE or motion is None
+                or motion.phase != "joint_zero" or not motion.reference_reuse
+                or len(motion.zero_joints) != 1):
+            raise ValueError("parent_model_refresh_outside_reference_reuse")
+        name = motion.zero_joints[0]
+        spec = self.profile.motion.joint_zero_references[name]
+        source_task = next(task for task in self.profile.motion.tasks
+            if task.key == spec.task_key)
+        metadata = dict(task_key=motion.task_key, command_index=motion.command_index,
+            cycle=motion.cycle, attempt=motion.attempt, reference_only=True,
+            reference_command=spec.command, reference_approach=spec.approach_commands,
+            parent_model_refresh_for=motion.task_key)
+        effects = []
+        for target in (*spec.approach_commands, spec.command):
+            effects.extend(MotionCommand("zero_approach", point, motion.speed,
+                reference_joints=(name,), **metadata)
+                for point in build_joint_reference_waypoints(
+                    source_task, target, profile=self.profile, current_command=current))
+            current = target
+        effects.append(MotionCommand("joint_zero", spec.command, motion.speed,
+            zero_joints=(name,), **metadata))
+        self._effects[:0] = effects
+
     def prepend_observer_effects(self, effects):
         if (self.session.phase != Phase.PREPARE or not self._effects or not effects
                 or any(effect.phase != 'observer_probe' or len(effect.reference_joints) != 1
@@ -313,6 +345,12 @@ class SessionExecution:
             zero_joints=(task.parent_reference.pose_joint,)))
         self.prepend_observer_effects(effects)
 
+    def defer_current_task(self, reason):
+        decision = self.session.defer_current_task(reason)
+        self._effects.clear()
+        self._action_key = None
+        return decision
+
     def record_diagnostic_zero_attempt(self, attempt: DiagnosticZeroAttempt):
         """A diagnostic observation closes an attempt, never creates a zero."""
         motion = self._effects[0] if self._effects else None
@@ -325,13 +363,13 @@ class SessionExecution:
         self.diagnostic_zero_attempts.update({name: attempt for name in attempt.joint_names})
 
     def training_check_due(self):
-        from ..core.domain.capture_plan import ADAPTIVE, STAGED
+        from ..core.domain.capture_plan import ADAPTIVE, STAGED, TASKWISE_STAGED
         unit = self.action.scan_unit
-        if (self.profile.quality.training_policy not in {ADAPTIVE, STAGED} or self.diagnostic_capture is not None
+        if (self.profile.quality.training_policy not in {ADAPTIVE, STAGED, TASKWISE_STAGED} or self.diagnostic_capture is not None
                 or unit is None or unit.cycle not in (1, 2)
                 or (unit.task_key, unit.cycle) in self._training_checks):
             return False
-        round_units = [u for u in self.session.engine.scan_units()
+        round_units = [u for u in self.session.scheduled_units
             if (self.profile.quality.training_policy == STAGED or u.task_key == unit.task_key)
             and u.cycle == unit.cycle]
         return unit.identity == round_units[-1].identity

src/linkerhand_calibration/linkerhand_calibration/runtime/image_reference.py

@@ -118,6 +118,13 @@ class ImageReferenceTracker:
             return (snapshot is self._motion_snapshot and snapshot.epoch == self._epoch
                 and snapshot.reference is self.reference and snapshot.stamp_ns == self._last_stamp)
 
+    def tracking_current_image(self):
+        """Whether the latest frame still matches this tracker's own anchor."""
+        with self._lock:
+            return (self.reference is not None and self._snapshot is not None
+                and self._snapshot[3].get("branch_status") == "tracking"
+                and self._snapshot[1] == self._last_stamp)
+
     def reference_confirmed(self, role, revision):
         with self._lock:
             snapshot = self._motion_snapshot

src/linkerhand_calibration/linkerhand_calibration/runtime/joint_resume.py

@@ -19,22 +19,46 @@ class ResumeJournalImport:
 
     rows: tuple
     offset: int = field(default=0, init=False)
+    durability_future: object | None = field(default=None, init=False, repr=False)
+    durable: bool = field(default=False, init=False)
 
     def take_batch(self):
         from .resume_storage import DeferredCaptureRecord, materialize_record
         linked = (self.offset < len(self.rows)
             and isinstance(self.rows[self.offset], DeferredCaptureRecord)
             and self.rows[self.offset].reference is not None)
-        limit = 512 if linked else 64
+        # Linked evidence can normally be copied without decompression.  Scan
+        # samples additionally feed the live training index, which reads their
+        # geometry and digest.  Find that boundary across the whole candidate
+        # batch so a cheap image row cannot hide dozens of expensive samples.
+        limit = 64
+        if linked:
+            geometry_kinds = {"joint_sample", "secondary_joint_sample"}
+            candidate = self.rows[self.offset:self.offset + 512]
+            first_geometry = next((index for index, row in enumerate(candidate)
+                if row.get("kind") in geometry_kinds), None)
+            if first_geometry is None:
+                limit = 512
+            elif first_geometry > 0:
+                limit = first_geometry
+            else:
+                # Training geometry is materialized once per row by the live
+                # index.  A 512-row slice remains bounded while avoiding one
+                # control-loop turn for every 64 historical records.
+                limit = 512
         batch = tuple(row if isinstance(row, DeferredCaptureRecord) and row.reference is not None
             else materialize_record(row) for row in self.rows[self.offset:self.offset + limit])
         self.offset += len(batch)
         return batch
 
     @property
-    def complete(self):
+    def transfer_complete(self):
         return self.offset == len(self.rows)
 
+    @property
+    def complete(self):
+        return self.durable
+
 
 @dataclass
 class TaskResumeImport(ResumeJournalImport):
@@ -86,17 +110,18 @@ class PreparedResume:
             raise ValueError("checkpoint identity/policy changed")
         from .training import resolve_capture_plan
         from .engine import CalibrationEngine
-        from ..core.domain.capture_plan import STAGED
+        from ..core.domain.capture_plan import STAGED, STAGED_POLICIES
         profile = resolve_capture_plan(profile, rows, source_urdf=source_urdf,
-            verify_decisions=profile.quality.training_policy == STAGED and source_urdf is not None)
+            verify_decisions=profile.quality.training_policy in STAGED_POLICIES and source_urdf is not None)
         engine = CalibrationEngine(profile)
         complete = frozenset(record_scan_identity(r) for r in rows
             if r.get("kind") == "scan_unit_complete" and r.get("passed") is True)
         joints = JointResume(profile, image_replay_workers=image_replay_workers)
-        if profile.quality.training_policy == STAGED:
+        if profile.quality.training_policy in STAGED_POLICIES:
             from .staged_resume import stage_visits, stage_passed_visits, load_frozen_checkpoint, reference_import
             (stage_passed_visits if resume_mode == "passed" else stage_visits)(joints, engine, rows)
-            frozen = load_frozen_checkpoint(profile, rows, path, source_urdf)
+            frozen = (load_frozen_checkpoint(profile, rows, path, source_urdf)
+                if profile.quality.training_policy == STAGED else None)
             # Index/hash historical provenance before live callbacks start.
             # The control loop only authorizes and drains this bounded import.
             pending = reference_import(joints, reuse_passed_visits=resume_mode == "passed")
@@ -134,10 +159,12 @@ def _index_motion_provenance(rows):
     kinds = {"motion_branch_observation", "motion_branch_initialization",
              "observer_preparation_decision", "observer_preparation_segment_complete",
              "observer_preparation_excursion_started", "observer_preparation_cancelled_before_excursion",
+             "task_observation_state",
              "capture_scope_extension", "capture_observation_revision",
              "passed_tasks_reused", "passed_pose_models_restored",
              "staged_pose_models_restored", "resume_verification",
-             "parent_reference_verified", "joint_zero_recovery",
+             "parent_reference_verified", "parent_reference_model_refreshed",
+             "joint_zero_recovery",
              "joint_zero_motion_reference_verified", "joint_zero_sample",
              "visual_motion_observation", "visual_motion_settled"}
     selected = (row for row in rows
@@ -313,8 +340,8 @@ class JointResume:
         return tuple(rows)
 
     def take_task(self, task_key, cycle=None):
-        from ..core.domain.capture_plan import STAGED
+        from ..core.domain.capture_plan import STAGED_POLICIES
-        if self.profile.quality.training_policy == STAGED:
+        if self.profile.quality.training_policy in STAGED_POLICIES:
             from .staged_resume import visit_rows
             return visit_rows(self, task_key, cycle)
         task = next(t for t in self.profile.motion.tasks if t.key == task_key)

src/linkerhand_calibration/linkerhand_calibration/runtime/journal_durability.py

@@ -0,0 +1,22 @@
+"""Run journal persistence barriers without blocking the control callback."""
+
+from concurrent.futures import ThreadPoolExecutor
+
+
+class JournalDurabilityWorker:
+    """Single ordered worker for resume-import fsync barriers.
+
+    Resume rows are appended by the coordinator in bounded batches.  The
+    final fsync can still take seconds on a large journal, so it runs here
+    while the coordinator continues feedback, safety and hold commands.
+    """
+
+    def __init__(self):
+        self._executor = ThreadPoolExecutor(
+            max_workers=1, thread_name_prefix="calibration-journal-sync")
+
+    def submit(self, operation):
+        return self._executor.submit(operation)
+
+    def close(self):
+        self._executor.shutdown(wait=True, cancel_futures=False)

src/linkerhand_calibration/linkerhand_calibration/runtime/motion_execution.py

@@ -59,6 +59,10 @@ class MotionCommand:
     visual_return_joints: tuple[str, ...] = ()
     defer_settling_to_hold: bool = False
     observer_preparation_id: str = ''
+    # A session-local model acquisition for a parent whose historical image
+    # anchor no longer matches the current, stable fixed-Tag image.  The
+    # accepted joint zero and completed scan stay immutable.
+    parent_model_refresh_for: str = ''
 
     @property
     def recording(self):
@@ -135,8 +139,21 @@ class MotionExecution:
         if self.profile.command.unit == "u8":
             duration_key = ("scan_trajectory_full_range_seconds"
                 if self.command.phase in {"sweep", "steady"} else "command_trajectory_full_range_seconds")
+            full_range_duration = float(params.get(duration_key,
+                params.get("command_trajectory_full_range_seconds", 6.0)))
+            if len(self.command.measured_channels) > 1:
+                # O30's reviewed range-calibration group motion pairs SDK
+                # speed 200 with a 20 u8/s command path.  Preserve that rate
+                # for coupled calibration segments: a faster continuous ramp
+                # can let the middle finger's feedback lag behind the intended
+                # 80-unit clearance while the ring finger is already loaded.
+                coupled_rate = float(self.command.speed)/10.0
+                if coupled_rate <= 0.0:
+                    raise ValueError("coupled u8 motion speed must be positive")
+                full_range_duration = max(full_range_duration,
+                    math.pi*255.0/(2.0*coupled_rate))
             travelled, phase, duration = cosine_position_trajectory_u8(0, distance,
-                elapsed, float(params.get(duration_key, params.get("command_trajectory_full_range_seconds", 6.0))))
+                elapsed, full_range_duration)
         else:
             speed = self.command.speed
             caps = self.profile.command.maximum_velocity

src/linkerhand_calibration/linkerhand_calibration/runtime/motion_provenance.py

@@ -385,8 +385,9 @@ def validate_motion_provenance(profile, records, *, required=False, require_comp
     from .shared_tag_evidence import validate_shared_tag_references
     if any(payload.get('shared_tag_pose_bridges') for payload in evidence.values()):
         validate_shared_tag_references(profile, records, evidence)
+    from ..profiles.observer_policy import is_rigid_observer
     if (any(payload.get('observer_pose_bridges') for payload in evidence.values())
-            or any(s.observer_pose_policy == 'rigid_pair_v1' for s in profile.measurement.measurements.values())):
+            or any(is_rigid_observer(s.observer_pose_policy) for s in profile.measurement.measurements.values())):
         from .observer_reference import validate_observer_references
         validate_observer_references(profile, records, evidence)
     image_frames, image_samples = _image_frames(records), {}

src/linkerhand_calibration/linkerhand_calibration/runtime/observer_preparation.py

@@ -4,6 +4,8 @@ Decisions and completed segments are journaled. A restart cannot replenish the
 motion budget or relabel an incomplete excursion as usable evidence.
 """
 from dataclasses import dataclass, replace
+import hashlib
+import json
 import math
 import numpy as np
 from scipy.spatial.transform import Rotation
@@ -16,6 +18,7 @@ from ..profiles.observer_preparation import observer_action, observer_actions
 
 POLICY = 'bounded_rigid_observation_v1'
 SEQUENCE_POLICY = 'bounded_rigid_observation_v2'
+TRAJECTORY_POLICY = 'occlusion_aware_trajectory_v3'
 PHASES = frozenset({'observer_preflight', 'observer_probe'})
 RECOVERABLE = frozenset({'rigid_pair_candidates_unresolved', 'rigid_pair_pose_uncertain',
     'rigid_pair_viewpoint_span_insufficient', 'rigid_pair_source_missing', 'observer_images_missing'})
@@ -44,6 +47,66 @@ validation or a statement that a pose is observable.
         needs_excitation=len(selected) < 24 or span < 15.)
 
 
+def trajectory_observability(rows, parent_role, child_role):
+    """Measure whether a monocular trajectory can distinguish planar branches.
+
+    This is an acquisition decision only. It never marks geometry as passed;
+    the independent rigid-pair fit and final holdout still own acceptance.
+    """
+    rows = tuple(sorted(rows, key=lambda row: row['image_stamp_ns']))
+    coverage = normal_coverage(rows, parent_role)
+    paired = [row for row in rows if {parent_role, child_role} <= set(row.get('tags', {}))]
+    separations, diagonals = [], []
+    for row in paired[::max(1, len(paired)//36)]:
+        tag = row['tags'][parent_role]
+        poses = solve_square_tag_ippe(np.asarray(tag['corners_xy']), tag_size_m=tag['tag_size_m'],
+            camera_matrix=np.asarray(row['camera_matrix']))
+        if len(poses) > 1:
+            separations.append(math.degrees((Rotation.from_quat(poses[0].quaternion_xyzw).inv()
+                * Rotation.from_quat(poses[1].quaternion_xyzw)).magnitude()))
+        corners = np.asarray(tag['corners_xy'], dtype=float)
+        diagonals.append(float(np.mean((np.linalg.norm(corners[0]-corners[2]),
+            np.linalg.norm(corners[1]-corners[3])))))
+    completeness = len(paired)/max(1, len(rows))
+    branch_separation = float(np.median(separations)) if separations else 0.
+    tag_diagonal = float(np.median(diagonals)) if diagonals else 0.
+    needs = (coverage['needs_excitation'] or completeness < .9
+        or branch_separation < 1.)
+    return {**coverage, 'paired_frames': len(paired),
+        'pair_detection_fraction': completeness,
+        'median_planar_branch_separation_deg': branch_separation,
+        'median_tag_diagonal_px': tag_diagonal,
+        'needs_excitation': needs}
+
+
+def observation_action_utility(profile, joint, plan, rows):
+    """Rank a declared safe action by expected out-of-plane information."""
+    spec = profile.measurement.measurements[joint]
+    metrics = trajectory_observability(rows, spec.parent_role, spec.child_role)
+    channel = channel_for_joint(profile, plan.joint)
+    lower, upper = profile.command.minimum_values[channel], profile.command.maximum_values[channel]
+    excursion = max(abs(point[channel]-plan.command[channel]) for point in plan.approach_commands)
+    fraction = excursion/(upper-lower)
+    # The donor was selected from the URDF dependency graph for a transverse
+    # axis. This conservative estimate is only used to choose acquisition;
+    # it is never reported as a measured joint angle.
+    expected_normal_gain = 60.*fraction
+    expected_pixel_separation = metrics['median_tag_diagonal_px'] * math.sin(math.radians(expected_normal_gain))
+    reliability = metrics['pair_detection_fraction']
+    return {**metrics, 'donor': plan.joint, 'excursion_fraction': fraction,
+        'expected_normal_gain_deg': expected_normal_gain,
+        'expected_candidate_separation_px': expected_pixel_separation,
+        'utility': expected_pixel_separation*reliability}
+
+
+def corner_evidence_sha256(rows, roles):
+    payload = [{"stamp": row['image_stamp_ns'], "camera_matrix": row.get('camera_matrix'),
+        "tags": {role: row.get('tags', {}).get(role, {}).get('corners_xy') for role in roles}}
+        for row in rows]
+    return hashlib.sha256(json.dumps(payload, sort_keys=True, separators=(',', ':'),
+        allow_nan=False).encode()).hexdigest()
+
+
 def latest_source_rows(owner, joint, epoch):
     spec = owner.profile.measurement.measurements[joint]
     reports = [report for (source_epoch, view, _), (model, report) in owner.parent_references.models.items()
@@ -90,7 +153,8 @@ class ObserverPreparation:
             previous = self.decisions.get(joint)
             if previous is not None and previous != row:
                 index = previous.get('action_index', 0)+1
-                if (row.get('policy') != SEQUENCE_POLICY or row.get('action_index') != index
+                if (row.get('policy') not in {SEQUENCE_POLICY, TRAJECTORY_POLICY}
+                        or row.get('action_index') != index
                         or index >= len(observer_actions(self.owner.profile, joint))
                         or row.get('previous_preparation_id') != source_frame_sha256(previous)
                         or self.source(joint) is None):
@@ -175,13 +239,20 @@ class ObserverPreparation:
         plan = actions[index]
         spec = self.owner.profile.measurement.measurements[joint]
         rows = self.source(joint).rows if previous is not None else latest_source_rows(self.owner, joint, epoch)
-        coverage = normal_coverage(rows, spec.parent_role)
+        coverage = (trajectory_observability(rows, spec.parent_role, spec.child_role)
+            if spec.observer_pose_policy == 'rigid_pair_trajectory_v3'
+            else normal_coverage(rows, spec.parent_role))
+        utility = observation_action_utility(self.owner.profile, joint, plan, rows)
+        policy = (TRAJECTORY_POLICY if spec.observer_pose_policy == 'rigid_pair_trajectory_v3'
+            else POLICY if len(actions)==1 else SEQUENCE_POLICY)
         record = dict(kind='observer_preparation_decision', policy=POLICY if len(actions)==1 else SEQUENCE_POLICY, joint=joint,
             task_name=motion.task_key, session_epoch=epoch, stamp_ns=stamp_ns,
             action='excite' if reason or coverage['needs_excitation'] else 'reuse_source',
             reason=reason or 'normal_coverage_preflight', coverage=coverage,
             source_frame_hashes={str(r['image_stamp_ns']): source_frame_sha256(r) for r in rows},
             donor=plan.joint, path=[list(p) for p in (*plan.approach_commands, plan.command)])
+        record.update(policy=policy, observability=coverage, action_utility=utility,
+            corner_evidence_sha256=corner_evidence_sha256(rows, (spec.parent_role, spec.child_role)))
         if len(actions)>1:
             record.update(action_index=index, action_limit=len(actions),
                 previous_preparation_id=None if previous is None else source_frame_sha256(previous))

src/linkerhand_calibration/linkerhand_calibration/runtime/observer_preparation_evidence.py

@@ -11,6 +11,7 @@ from .motion_execution import feedback_tolerances
 from .motion_provenance import source_frame_sha256
 from .shared_tag_reference import bridge_frames
 from ..profiles.observer_preparation import observer_action, observer_actions
+from ..profiles.observer_policy import TRAJECTORY_OBSERVER
 
 
 def stationary_probe_tail(profile, joint, rows, target):
@@ -30,16 +31,16 @@ def stationary_probe_tail(profile, joint, rows, target):
 
 
 def validate_probe_evidence(profile, joint, evidence, *, admission=None):
-    from .observer_preparation import POLICY, SEQUENCE_POLICY
+    from .observer_preparation import POLICY, SEQUENCE_POLICY, TRAJECTORY_POLICY
     decision, rows, segments = evidence.decision, evidence.rows, evidence.segments
     plan = observer_action(profile, joint, decision)
     identity = source_frame_sha256(decision)
-    if (decision.get('policy') == SEQUENCE_POLICY
+    if (decision.get('policy') in {SEQUENCE_POLICY, TRAJECTORY_POLICY}
             and decision.get('action_limit') != len(observer_actions(profile, joint))):
         raise ValueError('observer_preparation_action_budget_changed')
     path = (*plan.approach_commands, plan.command)
     spec = profile.measurement.measurements[joint]
-    if (decision.get('policy') not in {POLICY, SEQUENCE_POLICY} or decision.get('action') != 'excite'
+    if (decision.get('policy') not in {POLICY, SEQUENCE_POLICY, TRAJECTORY_POLICY} or decision.get('action') != 'excite'
             or decision.get('joint') != joint or decision.get('donor') != plan.joint
             or decision.get('task_name') != profile.motion.joint_zero_references[joint].task_key
             or decision.get('path') != [list(p) for p in path]
@@ -139,9 +140,14 @@ def build_probe_bridge(profile, source):
         parents.append(pair[0]); children.append(pair[1]); matrices.append(row['camera_matrix'])
         parent_pixels.append(row['tags'][spec.parent_role]['corners_xy'])
         child_pixels.append(row['tags'][spec.child_role]['corners_xy'])
+    plan = observer_action(profile, source.joint, source.preparation.decision)
+    donor_channel = channel_for_joint(profile, plan.joint)
+    trajectory_states = (tuple((row['reference_path_index'], row['command_vector'][donor_channel])
+        for row in rows) if spec.observer_pose_policy == TRAJECTORY_OBSERVER else None)
     pose = fit_rigid_tag_pair([p[0] for p in parents], children, child_pixels, matrices,
         tags[spec.child_role].size_m, tuple(r['image_stamp_ns'] for r in rows),
-        parent_corners=parent_pixels, parent_size=tags[spec.parent_role].size_m, parent_candidates=parents)
+        parent_corners=parent_pixels, parent_size=tags[spec.parent_role].size_m,
+        parent_candidates=parents, trajectory_states=trajectory_states)
     relation = MotionRelation(source.joint, spec.parent_role, spec.child_role)
     bridge = SharedTagPoseBridge(relation, pose.quaternion_xyzw, pose.translation_xyz_m,
         bridge_frames(endpoints, relation), rotation_uncertainty_rad=pose.rotation_uncertainty_rad,
@@ -158,6 +164,18 @@ def build_probe_bridge(profile, source):
         preparation_started=source.preparation.started,
         source_frame_hashes={str(r['image_stamp_ns']): source_frame_sha256(r) for r in source.preparation.rows},
         endpoint_frame_hashes={str(r['image_stamp_ns']): source_frame_sha256(r) for r in endpoints})
+    if spec.observer_pose_policy == TRAJECTORY_OBSERVER:
+        from .observer_preparation import trajectory_observability, corner_evidence_sha256
+        record.update(version='observer_pose_bridge_v4', trajectory_branch_decision={
+            'policy': 'rigid_pair_full_trajectory_v3',
+            'selection_source': 'training_trajectory',
+            'holdout_role': 'veto_only',
+            'observability': trajectory_observability(rows, spec.parent_role, spec.child_role),
+            'adjusted_candidate_probabilities': [list(value)
+                for value in pose.comparison_adjusted_p_values],
+            'corner_evidence_sha256': corner_evidence_sha256(
+                source.preparation.rows, (spec.parent_role, spec.child_role)),
+        })
     return bridge, record
 
 

src/linkerhand_calibration/linkerhand_calibration/runtime/observer_reference.py

@@ -12,6 +12,7 @@ from .branch_initialization import _pose
 from .shared_tag_reference import bridge_frames
 from .motion_execution import feedback_tolerances
 from .motion_provenance import source_frame_sha256
+from ..profiles.observer_policy import is_rigid_observer
 
 
 def observer_roles(profile, motion):
@@ -43,7 +44,7 @@ def build_observer_bridge(profile, source):
         raise ValueError('observer_parent_model_invalid')
     uncertainty = {name: (angle, point) for name, angle, point in source.parent_report['geometry_uncertainty']}
     inherited = uncertainty[parent_model.geometry[0].relation.joint]
-    rigid = spec.observer_pose_policy == 'rigid_pair_v1'
+    rigid = is_rigid_observer(spec.observer_pose_policy)
     if not rigid:
         require_observer_precision_budget(inherited)
     target = profile.motion.joint_zero_references[source.joint].command
@@ -109,6 +110,18 @@ def build_observer_bridge(profile, source):
         endpoint_frame_hashes={str(r['image_stamp_ns']): source_frame_sha256(r) for r in endpoints})
     if rigid:
         record['conditioning'] = RIGID_PAIR_CONDITIONING
+    from ..profiles.observer_policy import TRAJECTORY_OBSERVER
+    if spec.observer_pose_policy == TRAJECTORY_OBSERVER:
+        from .observer_preparation import trajectory_observability, corner_evidence_sha256
+        record.update(version='observer_pose_bridge_v4', trajectory_branch_decision={
+            'policy': 'rigid_pair_full_trajectory_v3',
+            'selection_source': 'training_trajectory', 'holdout_role': 'veto_only',
+            'observability': trajectory_observability(rows, spec.parent_role, spec.child_role),
+            'adjusted_candidate_probabilities': [list(value)
+                for value in pose.comparison_adjusted_p_values],
+            'corner_evidence_sha256': corner_evidence_sha256(
+                rows, (spec.parent_role, spec.child_role)),
+        })
     return bridge, record
 
 
@@ -139,7 +152,7 @@ def observer_inputs(owner, view, endpoint_rows, arc_stamps, epoch):
                 continue
             held = tuple(sorted(owner.tag_feedback_channels[spec.child_role]-owner.tag_feedback_channels[spec.parent_role]))
             result.append(ObserverBridgeInput(joint, model.image_model, report, rows, endpoints, held))
-            if spec.observer_pose_policy == 'rigid_pair_v1':
+            if is_rigid_observer(spec.observer_pose_policy):
                 # Select the latest eligible source before fitting. A failed
                 # fit cannot search older sources for a more favorable result.
                 break
@@ -182,9 +195,10 @@ def validate_observer_references(profile, records, evidence):
     checked = set()
     for payload in evidence.values():
         required = {joint for joint, spec in profile.measurement.measurements.items()
-            if joint in payload['zero_joints'] and spec.observer_pose_policy == 'rigid_pair_v1'}
+            if joint in payload['zero_joints'] and is_rigid_observer(spec.observer_pose_policy)}
         declared = [r['joint'] for r in payload.get('observer_pose_bridges', ())
-            if r.get('version') in {'observer_pose_bridge_v2', 'observer_pose_bridge_v3'}]
+            if r.get('version') in {'observer_pose_bridge_v2', 'observer_pose_bridge_v3',
+                'observer_pose_bridge_v4'}]
         if set(declared) != required or len(declared) != len(required):
             raise ValueError('rigid_pair_required_evidence_missing')
     for payload in evidence.values():
@@ -204,7 +218,7 @@ def validate_observer_references(profile, records, evidence):
                 if (evidence_id not in evidence or evidence[evidence_id]['tag_role'] != role
                         or evidence[evidence_id]['image_model_sha256'] != record['parent_model_sha256']):
                     raise ValueError('observer_parent_identity_changed')
-            if record.get('version') == 'observer_pose_bridge_v3':
+            if record.get('version') in {'observer_pose_bridge_v3', 'observer_pose_bridge_v4'}:
                 from .observer_preparation_evidence import validate_probe_reference
                 validate_probe_reference(profile, records, payload, record, parent, observations)
                 continue

src/linkerhand_calibration/linkerhand_calibration/runtime/parent_reference.py

@@ -5,6 +5,7 @@ upstream pose change invalidates the former, but not a rigid Tag's mounting.
 No curve, joint zero or candidate selection is copied between joints.
 """
 
+from dataclasses import dataclass
 import math
 
 import numpy as np
@@ -15,6 +16,14 @@ from ..core.geometry.tag_pose.source_hinge import SourceHinge
 from .resume import ResumeVerifier
 
 
+@dataclass(frozen=True)
+class RefreshedPoseSource:
+    """Bind a refreshed model to its immutable source epoch across restarts."""
+
+    image_model_sha256: str
+    source_epoch: int
+
+
 def check_parent_pose(profile, task, reference, rows, channels, *,
                       verification='staged_revisit_v1', feedback_limits=None):
     """Same pure check for live execution and persisted evidence read-back."""
@@ -78,6 +87,7 @@ class ParentReferenceRegistry:
         self.models = {}
         self.verified = {}
         self.zero_references = {}
+        self.refreshed_pose_sources = {}
 
     def remember_zero(self, reference, epoch):
         for view in {sample.view for sample in reference.samples}:
@@ -104,6 +114,8 @@ class ParentReferenceRegistry:
             for (epoch, view, joint), value in tuple(self.models.items()) if epoch == previous})
         self.verified.update({(current, task): value
             for (epoch, task), value in tuple(self.verified.items()) if epoch == previous})
+        self.refreshed_pose_sources.update({(current, task): value
+            for (epoch, task), value in tuple(self.refreshed_pose_sources.items()) if epoch == previous})
         self.zero_references.update({(current, view, joint): value
             for (epoch, view, joint), value in tuple(self.zero_references.items()) if epoch == previous})
 
@@ -129,6 +141,12 @@ class ParentReferenceRegistry:
         """
         from ..core.geometry.tag_pose.pose_bridge import is_handoff_policy
         pose, geometry = self.sources(task, epoch)
+        refreshed = self.refreshed_pose_sources.get((epoch, task.key))
+        if refreshed is not None:
+            if (refreshed.image_model_sha256 != pose[1].get("image_model_sha256")
+                    or refreshed.source_epoch != pose[1].get("session_epoch")):
+                raise ValueError("parent_reference_refreshed_pose_source_changed")
+            return pose
         if not is_handoff_policy(geometry[1].get('image_model_selection_policy')):
             return pose
         bridges = geometry[1].get('shared_tag_pose_bridges', ())
@@ -138,6 +156,50 @@ class ParentReferenceRegistry:
             raise ValueError('parent_reference_handoff_source_changed')
         return geometry
 
+    def authorize_refreshed_pose(self, task, epoch, version, reference):
+        """Prefer a freshly measured pose model while retaining passed geometry."""
+        joint = task.parent_reference.pose_joint
+        model, report = self.models.get((epoch, task.view, joint), (None, None))
+        if (model is None or report is None or report.get("session_epoch") != epoch
+                or model.image_model is None
+                or {item.relation.joint for item in model.image_model.geometry} != {joint}):
+            raise ValueError("parent_reference_refresh_model_missing_or_changed")
+        identity = report.get("image_model_sha256")
+        if not isinstance(identity, str) or not identity:
+            raise ValueError("parent_reference_refresh_model_missing_or_changed")
+        self.refreshed_pose_sources[(epoch, task.key)] = RefreshedPoseSource(identity, epoch)
+        from .motion_provenance import source_frame_sha256
+        return {"kind": "parent_reference_model_refreshed", "schema_version": 1,
+            "task_name": task.key, "view": task.view, "pose_joint": joint,
+            "session_epoch": epoch, "motion_version": version,
+            "image_model_sha256": identity,
+            "source_zero_sha256": source_frame_sha256(reference.as_record()),
+            "passed_zero_preserved": True,
+            "source_frame_hashes": dict(report.get("source_frame_hashes", {}))}
+
+    def restore_refreshed_pose(self, record, epoch):
+        """Restore an explicit refresh grant without relabelling its source."""
+        task = next((item for item in self.profile.motion.tasks
+            if item.key == record.get("task_name")), None)
+        if (task is None or task.parent_reference is None
+                or record.get("schema_version") != 1
+                or record.get("view") != task.view
+                or record.get("pose_joint") != task.parent_reference.pose_joint
+                or record.get("passed_zero_preserved") is not True
+                or type(record.get("session_epoch")) is not int):
+            raise ValueError("parent_reference_refresh_record_changed")
+        model, report = self.models.get((epoch, task.view,
+            task.parent_reference.pose_joint), (None, None))
+        identity = record.get("image_model_sha256")
+        if (model is None or report is None or model.image_model is None
+                or identity != report.get("image_model_sha256")
+                or record["session_epoch"] != report.get("session_epoch")
+                or dict(record.get("source_frame_hashes", {}))
+                    != dict(report.get("source_frame_hashes", {}))):
+            raise ValueError("parent_reference_refresh_model_missing_or_changed")
+        self.refreshed_pose_sources[(epoch, task.key)] = RefreshedPoseSource(
+            identity, record["session_epoch"])
+
     def activate_joints(self, joints, epoch, capture):
         installed = set()
         for joint in joints:

src/linkerhand_calibration/linkerhand_calibration/runtime/passed_resume.py

@@ -5,7 +5,7 @@ reverification runs here. New acquisitions and final artifact validation keep
 their normal gates. An incomplete task is restarted as a whole.
 """
 
-from dataclasses import dataclass
+from dataclasses import dataclass, field
 
 from ..core.domain.motion_path import record_scan_identity
 from ..core.domain.reference import read_joint_zero_references
@@ -16,6 +16,29 @@ from .joint_resume import ResumeJournalImport, _index_motion_provenance
 class PassedReferenceImport(ResumeJournalImport):
     references: dict
     model_records: tuple
+    restore_phase: str = field(default="binding", init=False)
+    restore_rows: tuple = field(default=(), init=False, repr=False)
+    restore_offset: int = field(default=0, init=False)
+
+
+def coherent_observer_preparation_rows(rows):
+    """Discard transition fragments whose originating decision is absent.
+
+    Compact checkpoints may contain a cancellation after an earlier migration
+    already removed the decision it cancelled.  Such a fragment represents no
+    live state and cannot be replayed on its own.  Decisions and all transitions
+    still present together remain byte-for-byte unchanged.
+    """
+    from .motion_provenance import source_frame_sha256
+
+    decisions = {source_frame_sha256(row) for row in rows
+        if row.get("kind") == "observer_preparation_decision"
+        and row.get("action") == "excite"}
+    bound_kinds = {"observer_preparation_segment_complete",
+        "observer_preparation_excursion_started",
+        "observer_preparation_cancelled_before_excursion"}
+    return tuple(row for row in rows if row.get("kind") not in bound_kinds
+        or row.get("observer_preparation_id") in decisions)
 
 
 def stage_passed_tasks(resume, engine, rows):
@@ -48,15 +71,25 @@ def reference_import(resume):
     """Import prior evidence durably before skipping any completed task."""
     provenance = _index_motion_provenance(resume.rows)
     references = resume.references
+    tasks = {reference.task_key for reference in references.values()}
     parent_images = {(row["view"], int(stamp)) for row in provenance.values()
-        if row.get("kind") == "parent_reference_verified" for stamp in row["source_frame_hashes"]}
+        if row.get("kind") == "parent_reference_verified"
+        and row.get("task_name") in tasks for stamp in row["source_frame_hashes"]}
     parent_images.update((sample["view"], sample["image_stamp_ns"])
         for row in provenance.values() if row.get("kind") == "parent_reference_verified"
+        and row.get("task_name") in tasks
         for sample in row["source_reference"]["samples"])
     zero_images = parent_images | {(row.get("view"), row.get("image_stamp_ns"))
         for row in provenance.values() if row.get("kind") == "joint_zero_sample" and row.get("joint") in references}
     selected = []
     for row in provenance.values():
+        # Passed mode restarts every incomplete task as a whole.  Its old
+        # branch models and preparation images belong to an abandoned visit;
+        # restoring them would bind the new session's current image anchor to
+        # a previous camera epoch.  Task-independent audit rows remain useful.
+        task_name = row.get("task_name")
+        if task_name is not None and task_name not in tasks:
+            continue
         image = row.get("view"), row.get("image_stamp_ns")
         if (row.get("kind") in {"joint_zero_sample", "joint_zero_motion_reference_verified"}
                 and row.get("joint") not in references and image not in parent_images):
@@ -64,7 +97,7 @@ def reference_import(resume):
         if row.get("kind") == "pnp_candidate_frame" and image not in zero_images:
             continue
         selected.append(row)
-    tasks = {reference.task_key for reference in references.values()}
+    selected = coherent_observer_preparation_rows(selected)
     models = tuple(row for row in selected if row.get("kind") == "motion_branch_initialization"
         and row.get("status") == "resolved" and row.get("task_name") in tasks)
     audit = {"kind": "passed_tasks_reused", "resume_mode": "passed",
@@ -76,7 +109,7 @@ def reference_import(resume):
         references=references, model_records=models)
 
 
-def restore_parent_models(registry, records, epoch):
+def restore_parent_models(registry, records, epoch, provenance_records=()):
     """Keep source identities while making passed installations available to new tasks."""
     from ..core.geometry.image_motion_replay import frozen_image_model
     from .branch_initialization import MotionBranchModel
@@ -87,6 +120,12 @@ def restore_parent_models(registry, records, epoch):
         model = MotionBranchModel(row["task_name"], row["view"], (),
             tuple(sorted(row["evidence_ids"].items())), frozen_image_model(row))
         registry.remember(model, row, epoch=epoch)
+    latest_refreshes = {}
+    for row in provenance_records:
+        if row.get("kind") == "parent_reference_model_refreshed":
+            latest_refreshes[row.get("task_name")] = row
+    for record in latest_refreshes.values():
+        registry.restore_refreshed_pose(record, epoch)
 
 
 def restored_model_record(records, epoch, stamp_ns):

src/linkerhand_calibration/linkerhand_calibration/runtime/resume.py

@@ -93,6 +93,11 @@ def discover_resume_candidate(
                     reject_diagnostic_capture((row,))
                     kind = str(row.get("kind", ""))
                     if kind == "session_start":
+                        from ..core.artifacts.evidence_journal import REFERENCE_KEY, decode_envelope
+                        if REFERENCE_KEY in row:
+                            from ..core.geometry.frozen_evidence import EvidenceDecoder
+                            row = decode_envelope(candidate / "raw_samples.jsonl", row,
+                                EvidenceDecoder(verify_hashes=False))
                         if start is not None:
                             raise ValueError("multiple checkpoint session headers")
                         start = row

src/linkerhand_calibration/linkerhand_calibration/runtime/resume_storage.py

@@ -35,7 +35,9 @@ class DeferredCaptureRecord(Mapping):
 
     @classmethod
     def from_envelope(cls, path, envelope, decoder):
-        from ..core.artifacts.evidence_journal import CANONICAL_SHA256_KEY, FIELDS_KEY, REFERENCE_KEY
+        from ..core.artifacts.evidence_journal import (
+            CANONICAL_SHA256_KEY, FIELDS_KEY, REFERENCE_KEY, SCHEMA_KEY, _schema_fields,
+        )
         value = object.__new__(cls)
         value.path, value.offset, value.length = path, 0, 0
         from ..core.artifacts.evidence_journal import EvidenceRecordReference
@@ -43,41 +45,54 @@ class DeferredCaptureRecord(Mapping):
         value.digest = bytes.fromhex(value.reference.record_sha256)
         value.canonical_sha256 = envelope.get(CANONICAL_SHA256_KEY)
         value.metadata = {key: item for key, item in envelope.items()
-            if key not in {REFERENCE_KEY, FIELDS_KEY, CANONICAL_SHA256_KEY}}
+            if key not in {REFERENCE_KEY, FIELDS_KEY, SCHEMA_KEY, CANONICAL_SHA256_KEY}}
-        value.field_names = _shared_field_names(tuple(envelope[FIELDS_KEY]))
+        fields = envelope.get(FIELDS_KEY)
+        if fields is None and SCHEMA_KEY in envelope:
+            fields = _schema_fields(path, envelope[SCHEMA_KEY])
+        value.field_names = None if fields is None else _shared_field_names(tuple(fields))
         value.decoder = decoder
         return value
 
     def materialize(self):
+        return self.decoder.loads(self._record_bytes())
+
+    def materialize_plain(self):
+        """Decode one integrity-checked row without building shared models."""
+        return json.loads(self._record_bytes())
+
+    def _record_bytes(self):
         if self.reference is not None:
             from ..core.artifacts.evidence_journal import evidence_record_bytes
-            line = evidence_record_bytes(self.path, self.reference)
+            return evidence_record_bytes(self.path, self.reference)
-            return self.decoder.loads(line)
         with self.path.open("rb") as stream:
             stream.seek(self.offset)
             line = stream.read(self.length)
         if hashlib.sha256(line).digest() != self.digest:
             raise ValueError("resume_source_record_changed")
-        return self.decoder.loads(line)
+        return line
 
     def __getitem__(self, key):
         if key in self.metadata:
             return self.metadata[key]
-        if key not in self.field_names:
+        if self.field_names is not None and key not in self.field_names:
             raise KeyError(key)
         return self.materialize()[key]
 
     def __iter__(self):
-        return iter(self.field_names)
+        return iter(self.materialize() if self.field_names is None else self.field_names)
 
     def __len__(self):
-        return len(self.field_names)
+        return len(self.materialize()) if self.field_names is None else len(self.field_names)
 
 
 def materialize_record(row):
     return row.materialize() if isinstance(row, DeferredCaptureRecord) else row
 
 
+def materialize_plain_record(row):
+    return row.materialize_plain() if isinstance(row, DeferredCaptureRecord) else row
+
+
 def load_passed_capture(path):
     """Read once without retaining every scan's expanded image dictionaries.
 
@@ -101,7 +116,15 @@ def load_passed_capture(path):
             if not line.strip():
                 continue
             try:
-                row = decoder.loads(line)
+                # Indexed envelopes contain only scalar lookup fields and an
+                # evidence reference. Running the recursive evidence decoder
+                # over tens of thousands of these small rows dominated resume
+                # startup even though there is no model to intern. Preserve
+                # the decoder for the few inline records that carry shared
+                # frozen objects.
+                needs_evidence_decoder = (b'"frozen_image_model"' in line
+                    or b'"reference_frame"' in line)
+                row = decoder.loads(line) if needs_evidence_decoder else json.loads(line)
             except json.JSONDecodeError as error:
                 raise ValueError(f"invalid calibration JSONL at line {number}") from error
             if not isinstance(row, dict):

src/linkerhand_calibration/linkerhand_calibration/runtime/runner.py

@@ -7,6 +7,7 @@ hardware. Pending legacy status/artifact contracts are isolated in compat.
 from __future__ import annotations
 
 import argparse
+import hashlib
 import json
 import math
 import os
@@ -136,6 +137,21 @@ def run_online(
     if diagnostic is not None and not commands_enabled:
         raise ValueError("diagnostic_capture requires commands_enabled")
     session = create_session_directory(config.session_root)
+    # A CLI-selected preparation policy is a real protected profile, not an
+    # in-process hint. Materialize its canonical bytes so the launched node,
+    # resume selector and journal all bind the identical effective contract.
+    from ..profiles.export import dump_hand_profile
+    effective_profile = dump_hand_profile(profile).encode()
+    effective_digest = hashlib.sha256(effective_profile).hexdigest()
+    from ..profiles import load_hand_profile
+    runtime_profile_changed = (config.profile_config is None
+        or load_hand_profile(config.profile_config) != profile)
+    if runtime_profile_changed:
+        effective_path = session / "effective_profile.yaml"
+        effective_path.write_bytes(effective_profile)
+        from dataclasses import replace
+        config = replace(config, profile_config=effective_path,
+            profile_config_sha256=effective_digest)
     from ..profiles.validator import validate_executable_profile, require_release_geometry
     contract_report = validate_executable_profile(profile, config.source_urdf)
     atomic_write_json(session/"measurement_contract.json", contract_report)
@@ -307,7 +323,8 @@ def main(args: list[str] | None = None) -> None:
     parser.add_argument("--record-bag", action="store_true")
     parser.add_argument("--commands-disabled", action="store_true")
     parser.add_argument("--no-resume", action="store_true")
-    parser.add_argument("--training-policy", choices=("fixed", "adaptive_2_to_3", "staged_2_to_3"), default=None,
+    parser.add_argument("--training-policy", choices=("fixed", "adaptive_2_to_3", "staged_2_to_3",
+        "taskwise_staged_2_to_3"), default=None,
         help="试验采集策略：两轮训练，必要时补第三轮；保留独立验证，默认沿用配置")
     parser.add_argument("--startup-timeout-seconds", type=float, default=None,
                         help="等待节点初始化及设备就绪的秒数（默认 120）；大断点逐帧校验可显式延长，不改变运动保护")
@@ -322,9 +339,10 @@ def main(args: list[str] | None = None) -> None:
     parser.add_argument("--offline-raw", default="")
     parser.add_argument("--offline-output", default="")
     parser.add_argument("--publish-offline", action="store_true")
-    parser.add_argument("--preparation-policy", nargs='?', const='occlusion_aware_witness_v2',
+    parser.add_argument("--preparation-policy", nargs='?', const='occlusion_aware_trajectory_v3',
-        choices=("occlusion_aware_witness_v1", "occlusion_aware_witness_v2"),
+        choices=("occlusion_aware_witness_v1", "occlusion_aware_witness_v2",
-        help="新 O30 staged 准备策略；省略取值使用 v2，按观测依赖统一启用刚体双 Tag 求解；v1 仅保留历史兼容")
+            "occlusion_aware_trajectory_v3"),
+        help="O30 staged 准备策略；省略取值使用 v3 整段轨迹消歧和有界自动观察；v1/v2 仅保留历史兼容")
     selected = parser.parse_args(args)
     if selected.startup_timeout_seconds is not None and (
         not math.isfinite(selected.startup_timeout_seconds) or selected.startup_timeout_seconds <= 0
@@ -357,6 +375,10 @@ def main(args: list[str] | None = None) -> None:
         from ..profiles.preparation import configure_preparation
         try:
             profile = configure_preparation(config.calibration_contract.typed_profile, selected.preparation_policy)
+            if selected.preparation_policy == 'occlusion_aware_trajectory_v3':
+                from ..core.urdf.kinematics import UrdfKinematicModel
+                from ..profiles.observer_preparation import configure_observer_preparations
+                profile = configure_observer_preparations(profile, UrdfKinematicModel(config.source_urdf))
             config = replace(config, calibration_contract=ProductCalibrationContract(declarative=profile))
         except ValueError as error:
             parser.error(str(error))

src/linkerhand_calibration/linkerhand_calibration/runtime/session.py

@@ -62,7 +62,7 @@ class CalibrationSession:
         self.required_observation_views = required_observation_views(profile, diagnostic_capture)
         self.engine = CalibrationEngine(profile, diagnostic_capture=diagnostic_capture)
         self.phase = CalibrationPhase.WAIT_DEVICE
-        self._units = self.engine.scan_units()
+        self._units = list(self.engine.scan_units())
         self._unit_index = 0
         self._retry_by_unit: dict[tuple[str, int, str], int] = {}
         self._mapping_probed_channels: set[int] = set()
@@ -72,6 +72,8 @@ class CalibrationSession:
         self._pause = PauseStatus()
         self._reference_locked = False
         self._rescan_pending = False
+        from .task_deferral import TaskDeferralQueue
+        self.task_deferrals = TaskDeferralQueue(profile)
 
     @property
     def current_unit(self) -> ScanUnit | None:
@@ -79,13 +81,17 @@ class CalibrationSession:
             return None
         return self._units[self._unit_index]
 
+    @property
+    def scheduled_units(self):
+        return tuple(self._units)
+
     def select_training(self, task_key, cycles):
         """Replace only future optional units; evidence IDs never change."""
         from ..core.domain.capture_plan import select_task_training
         current = self.current_unit
         self.profile = select_task_training(self.profile, task_key, cycles)
         self.engine.profile = self.profile
-        self._units = self.engine.scan_units()
+        self._units = list(self.engine.scan_units())
         if current is not None:
             self._unit_index = next(i for i, unit in enumerate(self._units) if unit.identity == current.identity)
 
@@ -161,7 +167,7 @@ class CalibrationSession:
         self._require(CalibrationPhase.PREPARE)
         unit = self.current_unit
         if unit is None:
-            self.phase = CalibrationPhase.RETURN_BASELINE
+            self._finish_capture_schedule()
             return
         task = self._task(unit.task_key)
         if (
@@ -227,6 +233,79 @@ class CalibrationSession:
             # The executor elides already-satisfied waypoints without motion.
             self.phase = CalibrationPhase.PREPARE
             return
+        self._finish_capture_schedule()
+
+    def defer_current_task(self, reason: str):
+        """Move one recoverable visual visit to the end of its current stage.
+
+        A second failure records the visit as unobservable and removes only
+        its still-uncompleted units. Finalization is then blocked explicitly.
+        """
+        self._require(CalibrationPhase.PREPARE)
+        unit = self.current_unit
+        if unit is None:
+            raise ValueError("task_deferral_without_current_unit")
+        from .task_deferral import dependency_closure, TaskObservationState
+        affected = dependency_closure(self.profile, unit.task_key)
+        moved = self._move_visit_to_stage_end(unit.cycle, affected)
+        attempt = self.task_deferrals.attempts.get((unit.task_key, unit.cycle), 0)+1
+        decision = self.task_deferrals.decide(unit.task_key, unit.cycle, reason, len(moved))
+        if decision.state == TaskObservationState.PENDING:
+            self._insert_at_stage_end(unit.cycle, moved)
+        else:
+            # Descendants cannot be accepted without the missing parent
+            # geometry. Remove their future visits from every later cycle.
+            self._units = self._units[:self._unit_index] + [candidate
+                for candidate in self._units[self._unit_index:]
+                if candidate.task_key not in set(decision.affected_tasks)]
+        self._rescan_pending = False
+        if self.current_unit is None:
+            self._finish_capture_schedule()
+        else:
+            self.phase = CalibrationPhase.PREPARE
+        return decision
+
+    def restore_task_deferrals(self, records):
+        """Restore retry budgets and the exact stage-local pending order."""
+        self.task_deferrals.restore(records)
+        from .task_deferral import TaskObservationState, unresolved_observation_records
+        for row in unresolved_observation_records(self.profile, records):
+            if row.get("state") != TaskObservationState.PENDING.value:
+                continue
+            moved = self._move_visit_to_stage_end(
+                int(row["cycle"]), frozenset(row["affected_tasks"]))
+            self._insert_at_stage_end(int(row["cycle"]), moved)
+
+    def _stage_index(self, cycle):
+        from ..core.domain.capture_plan import TASKWISE_STAGED
+        if self.profile.quality.training_policy == TASKWISE_STAGED:
+            return 0 if cycle == 0 else 1 if cycle in {1, 2} else 2
+        return cycle
+
+    def _move_visit_to_stage_end(self, cycle, affected_tasks):
+        indices = [index for index in range(self._unit_index, len(self._units))
+            if self._units[index].cycle == cycle
+            and self._units[index].task_key in affected_tasks]
+        if not indices:
+            raise ValueError("task_deferral_has_no_pending_units")
+        moved = [self._units[index] for index in indices]
+        for index in reversed(indices):
+            del self._units[index]
+        return moved
+
+    def _insert_at_stage_end(self, cycle, moved):
+        stage = self._stage_index(cycle)
+        insertion = next((index for index in range(self._unit_index, len(self._units))
+            if self._stage_index(self._units[index].cycle) > stage), len(self._units))
+        self._units[insertion:insertion] = moved
+
+    def _finish_capture_schedule(self):
+        if self.task_deferrals.unobservable:
+            details = {f"{task}:{cycle}": reason
+                for (task, cycle), reason in self.task_deferrals.unobservable.items()}
+            self.fail("unobservable_tasks", "安全观察和一次阶段回访后仍不可观测",
+                details, suggestion="保留数据；调整 Tag 朝向、增加非共面 Tag 或改变机位后重试")
+            return
         self.phase = CalibrationPhase.RETURN_BASELINE
 
     def return_complete(self) -> None:
@@ -331,6 +410,21 @@ class CalibrationSession:
                 ids = tuple(tag.tag_id for tag in view.tags if tag.role in roles)
                 if ids:
                     required[view.name] = ids
+        from ..core.domain.capture_plan import TASKWISE_STAGED
+        taskwise = self.profile.quality.training_policy == TASKWISE_STAGED
+        displayed_cycle = (None if unit is None or unit.sample_phase == "steady" else
+            ({0: 1, 1: 2, 2: 2, 3: 3}[unit.cycle] if taskwise else
+                list(dict.fromkeys(u.cycle for u in self._units if u.task_key == unit.task_key
+                    and u.sample_phase == "sweep")).index(unit.cycle) + 1))
+        displayed_cycle_count = (3 if taskwise else
+            len(self.diagnostic_capture.cycles) if self.diagnostic_capture is not None else
+            len({u.cycle for u in self._units if unit is not None and u.task_key == unit.task_key
+                and u.sample_phase == "sweep"}) or len(self.profile.quality.training_cycles) + 1)
+        capture_stage = ("training_supplement" if taskwise and unit is not None and unit.cycle == 2
+            else "command_validation" if unit is not None and unit.sample_phase == "steady"
+                and unit.cycle == self.profile.quality.holdout_cycle + 2
+            else "command_training" if unit is not None and unit.sample_phase == "steady"
+            else "motion")
         return CalibrationStatus(
             state=self.phase.value,
             phase=self.phase.value,
@@ -344,22 +438,17 @@ class CalibrationSession:
             task=TaskStatus(
                 key="" if task is None else task.key,
                 label="" if task is None else " / ".join(task.joints),
-                cycle=(None if unit is None or unit.sample_phase == "steady" else
+                cycle=displayed_cycle,
-                    list(dict.fromkeys(u.cycle for u in self._units if u.task_key == unit.task_key
+                cycle_count=displayed_cycle_count,
-                        and u.sample_phase == "sweep")).index(unit.cycle) + 1),
-                cycle_count=(
-                    len(self.diagnostic_capture.cycles)
-                    if self.diagnostic_capture is not None
-                    else len({u.cycle for u in self._units if unit is not None and u.task_key == unit.task_key
-                        and u.sample_phase == "sweep"}) or len(self.profile.quality.training_cycles) + 1
-                ),
                 direction="" if unit is None else unit.direction,
-                capture_stage=("command_validation" if unit is not None and unit.sample_phase == "steady"
+                capture_stage=capture_stage,
-                    and unit.cycle == self.profile.quality.holdout_cycle + 2 else "command_training" if unit is not None
-                    and unit.sample_phase == "steady" else "motion"),
                 required_tag_ids_by_view=required,
             ),
-            resume={"message": self._resume_message},
+            resume={"message": self._resume_message,
+                "deferred_tasks": {f"{task}:{cycle}": attempt
+                    for (task, cycle), attempt in self.task_deferrals.attempts.items()},
+                "unobservable_tasks": [f"{task}:{cycle}"
+                    for task, cycle in self.task_deferrals.unobservable]},
             pause=self._pause,
         )
 

src/linkerhand_calibration/linkerhand_calibration/runtime/shared_pose_handoff.py

@@ -18,7 +18,8 @@ SOURCE_PHASES = frozenset({'sweep', 'steady', 'joint_zero'})
 
 
 def enabled(profile):
-    return (profile.quality.training_policy == 'staged_2_to_3'
+    from ..core.domain.capture_plan import STAGED_POLICIES
+    return (profile.quality.training_policy in STAGED_POLICIES
         and bool(profile.motion.preparation_witnesses))
 
 

src/linkerhand_calibration/linkerhand_calibration/runtime/staged_resume.py

@@ -12,6 +12,8 @@ from .scan_quality import evaluate_capture_unit
 
 
 def stage_visits(resume, engine, rows):
+    from .task_deferral import deferred_visit_keys
+    deferred = deferred_visit_keys(resume.profile, rows)
     references = read_joint_zero_references(resume.profile, rows)
     validate_motion_provenance(resume.profile, rows, references=references,
         image_replay_workers=resume.image_replay_workers)
@@ -22,11 +24,15 @@ def stage_visits(resume, engine, rows):
         if row.get('kind') == 'scan_unit_complete':
             latest[record_scan_identity(row)] = row
     spans, valid = {}, set()
-    for (key, _), units in visits.items():
+    for (key, cycle), units in visits.items():
         task = next(t for t in resume.profile.motion.tasks if t.key == key)
         if not set(task.joints) <= references.keys():
+            if (key, cycle) in deferred:
+                continue
             break
         if any(latest.get(u.identity, {}).get('passed') is not True for u in units):
+            if (key, cycle) in deferred:
+                continue
             break
         if not all(evaluate_capture_unit(resume.profile, u, latest[u.identity].get('attempt', 1), rows,
                 first_cycle_spans=spans).passed for u in units):
@@ -49,6 +55,8 @@ def stage_passed_visits(resume, engine, rows):
     Every imported evidence record remains content-bound and finalization still
     performs the complete image/provenance replay before publication.
     """
+    from .task_deferral import deferred_visit_keys
+    deferred = deferred_visit_keys(resume.profile, rows)
     references = read_joint_zero_references(resume.profile, rows)
     visits, latest = OrderedDict(), {}
     for unit in engine.scan_units():
@@ -63,9 +71,13 @@ def stage_passed_visits(resume, engine, rows):
     for (task_key, cycle), units in visits.items():
         task = next(task for task in resume.profile.motion.tasks if task.key == task_key)
         if not set(task.joints) <= references.keys():
+            if (task_key, cycle) in deferred:
+                continue
             break
         completions = [latest.get(unit.identity) for unit in units]
         if any(row is None or row.get("passed") is not True for row in completions):
+            if (task_key, cycle) in deferred:
+                continue
             break
         valid.update(unit.identity for unit in units)
         if cycle == 0:
@@ -98,10 +110,23 @@ def load_frozen_checkpoint(profile, rows, path, source):
 
 def reference_import(resume, *, reuse_passed_visits=False):
     from .joint_resume import _index_motion_provenance
-    from .passed_resume import PassedReferenceImport
+    from .passed_resume import PassedReferenceImport, coherent_observer_preparation_rows
     provenance = tuple(_index_motion_provenance(resume.rows).values())
     if reuse_passed_visits:
+        reused_tasks = {identity[0] for identity in resume.units}
+        reused_joints = {joint for task in resume.profile.motion.tasks
+            if task.key in reused_tasks for joint in task.joints}
+        references = {joint: reference for joint, reference in resume.references.items()
+            if joint in reused_joints}
+        # A visit that did not pass is restarted with a fresh preparation
+        # model in the current image epoch.  Reusing its old candidate path is
+        # neither a passed-unit optimization nor valid cross-session evidence.
+        provenance = tuple(row for row in provenance
+            if row.get("task_name") is None or row.get("task_name") in reused_tasks)
         provenance = _essential_indexed_provenance(provenance)
+        provenance = coherent_observer_preparation_rows(provenance)
+    else:
+        references = resume.references
     models = tuple(r for r in provenance if r.get('kind') == 'motion_branch_initialization' and r.get('status') == 'resolved')
     audit = ()
     if reuse_passed_visits:
@@ -111,17 +136,19 @@ def reference_import(resume, *, reuse_passed_visits=False):
         resume.verified_visits.update((name, cycle) for task in resume.profile.motion.tasks
             for key, cycle in visits if key == task.key for name in task.joints)
         audit = ({'kind': 'passed_tasks_reused', 'resume_mode': 'passed',
-            'unchanged_installation_declared': True, 'training_policy': 'staged_2_to_3',
+            'unchanged_installation_declared': True,
+            'training_policy': resume.profile.quality.training_policy,
             'completed_units': [list(key) for key in sorted(resume.units)],
             'historical_replay_performed': False, 'physical_zero_reverification_performed': False,
             'full_replay_required_before_publication': True},)
-    return PassedReferenceImport(rows=(*(r.as_record() for r in resume.references.values()), *provenance, *audit),
+    return PassedReferenceImport(rows=(*(r.as_record() for r in references.values()), *provenance, *audit),
-        references=resume.references, model_records=models)
+        references=references, model_records=models)
 
 
 def _essential_indexed_provenance(rows):
     """Keep source frames actually named by accepted models in compact journals."""
     import re
+    from collections.abc import Mapping
     from .resume_storage import DeferredCaptureRecord, materialize_record
 
     if not any(isinstance(row, DeferredCaptureRecord) and row.canonical_sha256 for row in rows):
@@ -129,17 +156,21 @@ def _essential_indexed_provenance(rows):
     hashes = set()
 
     def collect(value, key=""):
-        if isinstance(value, dict):
+        if isinstance(value, Mapping):
             for name, item in value.items():
-                collect(item, name)
+                # Digest maps are keyed by image stamp.  Preserve the parent
+                # field name while descending into them; replacing it with the
+                # numeric stamp made every digest invisible to this filter.
+                collect(item, key if "hash" in key.lower() else str(name))
         elif isinstance(value, (list, tuple)):
             for item in value:
                 collect(item, key)
-        elif (isinstance(value, str) and "hash" in key
+        elif (isinstance(value, str) and "hash" in key.lower()
                 and re.fullmatch(r"[0-9a-f]{64}", value)):
             hashes.add(value)
 
     evidence_kinds = {"motion_branch_initialization", "parent_reference_verified",
+        "parent_reference_model_refreshed",
         "observer_preparation_decision", "observer_preparation_segment_complete",
         "joint_zero_motion_reference_verified"}
     for row in rows:
@@ -152,6 +183,7 @@ def _essential_indexed_provenance(rows):
 
 
 def restore_recovery(session, recovery, rows):
+    session.restore_task_deferrals(rows)
     for row in rows:
         if row.get('kind') == 'joint_zero_recovery':
             recovery.restore(row['task_name'], row['joints'])
@@ -171,9 +203,21 @@ def visit_rows(resume, task_key, cycle):
     rows = [r for r in resume.rows if record_scan_identity(r) in units
         and r.get('kind') not in {'joint_zero_reference', 'joint_zero_sample'}]
     if units:
+        from ..core.domain.capture_plan import TASKWISE_STAGED
         from .engine import CalibrationEngine
+        if resume.profile.quality.training_policy == TASKWISE_STAGED and cycle in {1, 2}:
+            # Persist the causal decision beside the visit that produced it.
+            # This lets a later restart reconstruct an optional cycle 2 from
+            # the new journal without depending on in-memory profile state.
+            assessed = list(range(cycle + 1))
+            decisions = [r for r in resume.rows if r.get('kind') == 'training_decision'
+                and r.get('task_name') == task_key and r.get('assessed_cycles') == assessed]
+            if len(decisions) != 1:
+                raise ValueError('taskwise_resume_training_decision_missing')
+            rows.extend(decisions)
         stage = [u for u in CalibrationEngine(resume.profile).scan_units() if u.cycle == cycle]
-        if cycle in {1, 2} and stage[-1].task_key == task_key:
+        if (resume.profile.quality.training_policy != TASKWISE_STAGED
+                and cycle in {1, 2} and stage[-1].task_key == task_key):
             decisions = [r for r in resume.rows if r.get('kind') == 'staged_training_decision']
             candidates = decisions[:1] if cycle == 1 else decisions[1:]
             rows.extend(candidates)

src/linkerhand_calibration/linkerhand_calibration/runtime/status.py

@@ -144,6 +144,8 @@ def render_status_zh(value: Mapping[str, Any], estimator=None) -> str:
     stage_line = f"阶段：{phase_label}（第 {task.get('cycle') or '-'}/{task.get('cycle_count', 4)} 轮）"
     if capture_stage in {"command_training", "command_validation"}:
         stage_line = "阶段：" + ("稳态指令映射训练" if capture_stage == "command_training" else "稳态指令映射独立验证")
+    elif capture_stage == "training_supplement":
+        stage_line = f"阶段：{phase_label}（当前任务训练补采 1/1）"
     lines = [
         f"[{value.get('model', '未知型号')} / {value.get('side', '?')} / {value.get('serial_number', '?')}] {progress:6.1%}  预计剩余 {eta_text}",
         stage_line,

src/linkerhand_calibration/linkerhand_calibration/runtime/task_deferral.py

@@ -0,0 +1,237 @@
+"""Bounded task deferral for recoverable visual observability failures.
+
+The queue only reorders uncompleted scan units inside one staged cycle. It
+never changes accepted units, reference models, quality limits or holdout
+semantics. Safety failures are deliberately outside this module.
+"""
+
+from __future__ import annotations
+
+from dataclasses import dataclass
+from enum import Enum
+
+
+POLICY = "dependency_ordered_observation_deferral_v1"
+RECOVERABLE_REASONS = frozenset({
+    "rigid_pair_candidates_unresolved",
+    "rigid_pair_pose_uncertain",
+    "rigid_pair_viewpoint_span_insufficient",
+    "rigid_pair_source_missing",
+    "observer_images_missing",
+    "observer_preparation_candidates_missing",
+    "motion_candidates_missing",
+    "motion_candidate_assignment_ambiguous",
+    "motion_candidate_family_discontinuous",
+    "motion_candidate_family_interrupted",
+    "motion_geometry_ambiguous",
+    "image_motion_alternative_angles_unresolved",
+    "image_motion_families_not_distinguishable",
+    "image_motion_frame_angles_ambiguous",
+    "image_motion_frame_angles_uncertain",
+    "image_motion_frame_angles_unobservable",
+    "image_motion_insufficient_independent_frames",
+    "image_motion_no_observable_image_model",
+    "image_motion_shared_pose_unresolved",
+    "parent_reference_samples_missing",
+    "image_reference_current_image_moved",
+    "pose_image_motion_root_missing",
+})
+
+
+class TaskObservationState(str, Enum):
+    PASSED = "passed"
+    PENDING = "pending"
+    DEPENDENCY_PENDING = "dependency_pending"
+    UNOBSERVABLE = "unobservable"
+
+
+def task_dependencies(profile):
+    """Compile parent task -> descendant tasks from observed Tag roles."""
+    task_by_joint = {joint: task.key for task in profile.motion.tasks for joint in task.joints}
+    owners = {}
+    for joint, spec in profile.measurement.measurements.items():
+        task = task_by_joint.get(joint)
+        if task is not None and spec.child_role:
+            owners.setdefault((spec.view, spec.child_role), set()).add(task)
+    graph = {task.key: set() for task in profile.motion.tasks}
+    for joint, spec in profile.measurement.measurements.items():
+        child_task = task_by_joint.get(joint)
+        if child_task is None or not spec.parent_role:
+            continue
+        for parent_task in owners.get((spec.view, spec.parent_role), ()):
+            if parent_task != child_task:
+                graph[parent_task].add(child_task)
+    return {key: frozenset(value) for key, value in graph.items()}
+
+
+def dependency_closure(profile, task_key):
+    graph = task_dependencies(profile)
+    pending, result = [task_key], set()
+    while pending:
+        current = pending.pop()
+        if current in result:
+            continue
+        result.add(current)
+        pending.extend(graph.get(current, ()))
+    return frozenset(result)
+
+
+def recoverable_observation_reason(reason):
+    text = str(reason)
+    return any(code in text for code in RECOVERABLE_REASONS)
+
+
+@dataclass(frozen=True)
+class DeferralDecision:
+    task_name: str
+    cycle: int
+    attempt: int
+    state: TaskObservationState
+    affected_tasks: tuple[str, ...]
+    reason: str
+    moved_units: int
+
+    def as_record(self, *, stamp_ns, corner_evidence_sha256=""):
+        dependency_state = (TaskObservationState.DEPENDENCY_PENDING.value
+            if self.state == TaskObservationState.PENDING
+            else TaskObservationState.UNOBSERVABLE.value)
+        return {
+            "kind": "task_observation_state",
+            "schema_version": 1,
+            "policy": POLICY,
+            "task_name": self.task_name,
+            "cycle": self.cycle,
+            "attempt": self.attempt,
+            "state": self.state.value,
+            "affected_tasks": list(self.affected_tasks),
+            "dependency_states": ({task: dependency_state
+                for task in self.affected_tasks if task != self.task_name}
+                if self.state != TaskObservationState.PASSED else {}),
+            "reason": self.reason,
+            "moved_units": self.moved_units,
+            "corner_evidence_sha256": corner_evidence_sha256,
+            "stamp_ns": int(stamp_ns),
+        }
+
+
+class TaskDeferralQueue:
+    """Own the finite retry state independently of motion execution."""
+
+    def __init__(self, profile, *, revisit_limit=1):
+        if revisit_limit != 1:
+            raise ValueError("task_deferral_revisit_limit_must_be_one")
+        self.profile = profile
+        self.revisit_limit = revisit_limit
+        self.attempts = {}
+        self.unobservable = {}
+        self.resolved = set()
+        self.inferred_resolutions = set()
+
+    def decide(self, task_name, cycle, reason, moved_units):
+        key = (str(task_name), int(cycle))
+        if key in self.resolved:
+            raise ValueError("task_deferral_already_resolved")
+        attempt = self.attempts.get(key, 0) + 1
+        if attempt > self.revisit_limit + 1:
+            raise ValueError("task_deferral_budget_exhausted")
+        self.attempts[key] = attempt
+        affected = tuple(task.key for task in self.profile.motion.tasks
+            if task.key in dependency_closure(self.profile, task_name))
+        state = (TaskObservationState.PENDING if attempt <= self.revisit_limit
+            else TaskObservationState.UNOBSERVABLE)
+        if state == TaskObservationState.UNOBSERVABLE:
+            self.unobservable[key] = str(reason)
+        return DeferralDecision(str(task_name), int(cycle), attempt, state,
+            affected, str(reason), int(moved_units))
+
+    def resolve(self, task_name, cycle):
+        key = (str(task_name), int(cycle))
+        attempt = self.attempts.get(key)
+        if attempt is None or key in self.resolved:
+            return None
+        self.resolved.add(key)
+        self.unobservable.pop(key, None)
+        return DeferralDecision(key[0], key[1], attempt, TaskObservationState.PASSED,
+            (key[0],), "trajectory_observation_resolved", 0)
+
+    def restore(self, records):
+        records = tuple(records)
+        state_positions = {}
+        for position, row in enumerate(records):
+            if row.get("kind") != "task_observation_state":
+                continue
+            if row.get("policy") != POLICY or row.get("state") not in {
+                    state.value for state in TaskObservationState}:
+                raise ValueError("task_deferral_checkpoint_policy_changed")
+            key = (str(row["task_name"]), int(row["cycle"]))
+            state_positions[key] = position
+            attempt = int(row["attempt"])
+            expected_affected = tuple(task.key for task in self.profile.motion.tasks
+                if task.key in dependency_closure(self.profile, key[0]))
+            if tuple(row.get("affected_tasks", ())) != expected_affected:
+                raise ValueError("task_deferral_checkpoint_dependencies_changed")
+            if row["state"] == TaskObservationState.PASSED.value:
+                if self.attempts.get(key) != attempt or key in self.resolved:
+                    raise ValueError("task_deferral_checkpoint_resolution_changed")
+                self.resolved.add(key)
+                self.unobservable.pop(key, None)
+                continue
+            if attempt != self.attempts.get(key, 0)+1 or attempt not in (1, 2):
+                raise ValueError("task_deferral_checkpoint_budget_changed")
+            self.attempts[key] = attempt
+            if row["state"] == TaskObservationState.UNOBSERVABLE.value:
+                self.unobservable[key] = str(row.get("reason", ""))
+        # If a crash happened after the final scan-unit commit but before the
+        # adjacent PASSED state record, the complete visit itself closes the
+        # pending state. A partial direction can never do so.
+        from .engine import CalibrationEngine
+        from ..core.domain.motion_path import record_scan_identity
+        completion_positions = {}
+        for position, row in enumerate(records):
+            if row.get("kind") == "scan_unit_complete" and row.get("passed") is True:
+                completion_positions[record_scan_identity(row)] = position
+        units = CalibrationEngine(self.profile).scan_units()
+        for key in set(self.attempts) - self.resolved - set(self.unobservable):
+            required = {unit.identity for unit in units
+                if (unit.task_key, unit.cycle) == key}
+            boundary = state_positions[key]
+            if required and all(completion_positions.get(identity, -1) > boundary
+                    for identity in required):
+                self.resolved.add(key)
+                self.inferred_resolutions.add(key)
+
+
+def deferred_visit_keys(profile, records):
+    """Return incomplete visits that may be followed by durable later visits.
+
+    A non-contiguous resume prefix is legal only when a versioned deferral
+    record explains the gap.  Replaying the queue also validates retry order,
+    dependency closure and terminal state before the gap is trusted.
+    """
+    rows = [row for row in records if row.get("kind") == "task_observation_state"]
+    if not rows:
+        return frozenset()
+    queue = TaskDeferralQueue(profile)
+    queue.restore(records)
+    latest = {}
+    for row in rows:
+        latest[(str(row["task_name"]), int(row["cycle"]))] = row
+    blocked = set()
+    for key, row in latest.items():
+        if row["state"] == TaskObservationState.PASSED.value or key in queue.resolved:
+            continue
+        blocked.update((task, key[1]) for task in row["affected_tasks"])
+    return frozenset(blocked)
+
+
+def unresolved_observation_records(profile, records):
+    """Return latest states that are not closed by a full durable visit."""
+    rows = [row for row in records if row.get("kind") == "task_observation_state"]
+    if not rows:
+        return ()
+    queue = TaskDeferralQueue(profile)
+    queue.restore(records)
+    latest = {}
+    for row in rows:
+        latest[(str(row["task_name"]), int(row["cycle"]))] = row
+    return tuple(row for key, row in latest.items() if key not in queue.resolved)

src/linkerhand_calibration/linkerhand_calibration/runtime/training.py

@@ -6,8 +6,8 @@ import threading
 import time
 import traceback
 
-from ..core.domain.capture_plan import (ADAPTIVE, STAGED, CapturePlan, configure_training,
+from ..core.domain.capture_plan import (ADAPTIVE, STAGED, TASKWISE_STAGED,
-    evidence_digest, select_task_training)
+    CapturePlan, configure_training, evidence_digest, select_task_training)
 from ..core.domain.reference import JointZeroReference
 from ..core.fitting.training_quality import (TRAINING_DECISION_VERSION, assess_training,
     training_snapshot)
@@ -22,7 +22,7 @@ def resolve_capture_plan(profile, records, *, source_urdf=None, verify_decisions
     base = configure_training(profile, profile.quality.training_policy)
     headers = [row for row in records if row.get("kind") == "session_start"]
     plan = CapturePlan.from_profile(base)
-    if base.quality.training_policy != ADAPTIVE:
+    if base.quality.training_policy not in {ADAPTIVE, TASKWISE_STAGED}:
         if any(row.get("kind") in {"training_decision", "staged_training_decision"} for row in records):
             raise ValueError("adaptive_decisions_in_fixed_capture")
         if headers and "capture_plan" in headers[0] and headers[0]["capture_plan"] != plan.as_dict():

src/linkerhand_calibration/linkerhand_calibration/runtime/zero_recovery.py

@@ -63,6 +63,22 @@ class ZeroRecovery:
     def restore(self, task_key, joints):
         self._used.add((task_key, tuple(joints)))
 
+    def take_parent_model_refresh(self, motion, *, stale_image_anchor):
+        """Spend one fresh-model allowance for a resumed parent reference.
+
+        This does not reacquire its joint zero or scan.  It only permits the
+        already declared safe approach to rebuild the image-domain model in
+        the current session's stationary camera coordinate frame.
+        """
+        if (not motion.reference_reuse or not stale_image_anchor
+                or len(motion.zero_joints) != 1):
+            return None
+        key = (motion.task_key, tuple(motion.zero_joints))
+        if key in self._used:
+            return None
+        self._used.add(key)
+        return "refresh_parent_model"
+
     def take(self, motion, *, geometry_error, reports, referenced_joints):
         if motion.reference_reuse:
             return None

src/linkerhand_calibration/test/test_checkpoint_observer_upgrade.py

@@ -11,7 +11,7 @@ from linkerhand_calibration.profiles import load_bundled_hand_profile
 from linkerhand_calibration.profiles.export import dump_hand_profile
 from linkerhand_calibration.profiles.observer_policy import configure_observer_policy
 from linkerhand_calibration.profiles.preparation import configure_preparation, preparation_contract
-from linkerhand_calibration.runtime.checkpoint_observer_upgrade import ObserverPolicyUpgrade
+from linkerhand_calibration.runtime.checkpoint_observer_upgrade import ObserverPolicyUpgrade, _copy_indexed_evidence
 from linkerhand_calibration.runtime.joint_resume import _index_motion_provenance
 
 
@@ -81,3 +81,18 @@ def test_active_observation_migration_only_adds_unmeasured_bounded_paths(migrati
     checkpoint.joints.references['index_dip']=object()
     with pytest.raises(ValueError,match='changes_existing_contract'):
         upgrade.metadata(checkpoint,inputs,'source.jsonl','c'*64)
+
+
+def test_indexed_checkpoint_migration_copies_content_bound_archive(tmp_path):
+    from linkerhand_calibration.core.artifacts.evidence_journal import (
+        initialize_evidence_journal, append_indexed_records, archive_path, manifest_path,
+    )
+    source = tmp_path/'source/raw_samples.jsonl'
+    source.parent.mkdir()
+    initialize_evidence_journal(source, threshold_bytes=128)
+    append_indexed_records(source, ({'kind': 'pnp_candidate_frame', 'view': 'side',
+        'image_stamp_ns': 1, 'pixels': 'x'*2048},), durable=True)
+    target = tmp_path/'target'; target.mkdir()
+    _copy_indexed_evidence(source, target)
+    assert (target/archive_path(source).name).read_bytes() == archive_path(source).read_bytes()
+    assert (target/manifest_path(source).name).read_bytes() == manifest_path(source).read_bytes()

src/linkerhand_calibration/test/test_o30_profile.py

@@ -117,7 +117,8 @@ def test_group_schedule_native_coverage_nodes_and_peak_velocity(profile):
     segment = task.segments[0]
     start = build_calibration_motion_command(task, segment.start, profile=profile, segment_key=segment.key)
     end = build_calibration_motion_command(task, segment.end, profile=profile, segment_key=segment.key)
-    execution = MotionExecution(profile, MotionCommand('sweep', tuple(end), 200),
+    execution = MotionExecution(profile, MotionCommand('sweep', tuple(end), 200,
+        measured_channels=segment.moving_channels),
         initial_command=start, initial_feedback=start, now=0., identity='linked',
         visual_observer=VisualMotionObserver(profile))
     previous = execution.sample(0)
@@ -127,8 +128,8 @@ def test_group_schedule_native_coverage_nodes_and_peak_velocity(profile):
         assert actual[3] == pytest.approx(80+175*progress, abs=1.)
         assert actual[2] == actual[4] == actual[5]
         # Integer bytes carry at most one unit of quantization error.
-        assert max(abs(a-b) for a,b in zip(actual,previous)) <= 30*.01+1.
+        assert max(abs(a-b) for a,b in zip(actual,previous)) <= 20*.01+1.
-        assert math.pi*255/(2*execution.duration) <= 30.000001
+        assert math.pi*255/(2*execution.duration) <= 20.000001
         previous = actual
 
 

src/linkerhand_calibration/test/test_parent_reference_reuse.py

@@ -22,6 +22,8 @@ from linkerhand_calibration.runtime.parent_reference import ParentReferenceRegis
 from linkerhand_calibration.runtime.capture import ObservationCapture
 from linkerhand_calibration.runtime.reference_lock import ReferenceLock
 from linkerhand_calibration.runtime.motion_execution import MotionCommand
+from linkerhand_calibration.runtime.execution import SessionExecution
+from linkerhand_calibration.runtime.session import CalibrationPhase as Phase
 from linkerhand_calibration.runtime.zero_recovery import ZeroRecovery
 from o30_capture_fixture import SOURCE
 
@@ -101,6 +103,11 @@ def test_registry_needs_both_sources_and_fresh_check_and_preserves_zeros(setup):
     with pytest.raises(ValueError, match="source_missing"): owner.sources(task, 2)
     with pytest.raises(ValueError, match="unverified"): owner.geometry(task, 1)
 
+    refresh = owner.authorize_refreshed_pose(task, 1, 9, reference)
+    assert refresh["passed_zero_preserved"] is True
+    assert refresh["image_model_sha256"] == roll_report["image_model_sha256"]
+    assert owner.pose_source(task, 1) == (roll, roll_report)
+
     for row in rows:
         row["pnp_observation_evidence"] = {"child": dict(tag_role="thumb_mcp",
             image_model_sha256=roll_report["image_model_sha256"],
@@ -168,11 +175,42 @@ def test_stationary_reference_cannot_trigger_a_new_solver_or_extra_motion_retry(
     assert owner.request("front", motion, session_epoch=1, motion_version=10) is None
     recovery = ZeroRecovery()
     assert recovery.take(motion, geometry_error="", reports={}, referenced_joints=()) is None
+    assert recovery.take_parent_model_refresh(motion, stale_image_anchor=False) is None
     ordinary = replace(motion, reference_only=False, reference_reuse=False, zero_joints=("thumb_ip",))
     assert recovery.take(ordinary, geometry_error="ambiguous", reports={"front": {
         "status": "unresolved", "reason": "image_motion_families_not_distinguishable"}}, referenced_joints=()) is None
 
 
+def test_stale_cross_session_anchor_gets_one_model_refresh_without_replacing_zero(setup):
+    profile, task, _ = setup
+    parent = task.parent_reference.pose_joint
+    motion = MotionCommand("joint_zero",
+        profile.motion.joint_zero_references[task.joints[0]].command, 200,
+        task_key=task.key, cycle=0, zero_joints=(parent,),
+        reference_only=True, reference_reuse=True)
+    recovery = ZeroRecovery()
+    assert recovery.take_parent_model_refresh(motion, stale_image_anchor=True) == "refresh_parent_model"
+    assert recovery.take_parent_model_refresh(motion, stale_image_anchor=True) is None
+
+    execution = SessionExecution(profile)
+    execution.session.phase = Phase.PREPARE
+    frozen = object()
+    execution.zero_references[parent] = frozen
+    execution._effects = [motion]
+    execution.refresh_parent_model(motion.target)
+    assert execution.zero_references[parent] is frozen
+    assert execution._effects[-1] is motion
+    refresh = execution._effects[:-1]
+    assert refresh and refresh[-1].phase == "joint_zero"
+    assert refresh[-1].zero_joints == (parent,)
+    assert all(item.parent_model_refresh_for == task.key for item in refresh)
+    assert all(item.reference_only and not item.reference_reuse for item in refresh)
+    moving = [item for item in refresh if item.phase == "zero_approach"]
+    from linkerhand_calibration.core.fitting.motion_fit import channel_for_joint
+    channel = channel_for_joint(profile, parent)
+    assert max(item.target[channel] for item in moving) != min(item.target[channel] for item in moving)
+
+
 def test_coordinator_waits_for_current_parent_images_and_keeps_both_joint_zeros(setup, tmp_path, monkeypatch):
     from linkerhand_calibration.runtime.coordinator import CalibrationCoordinator
     from linkerhand_calibration.runtime import coordinator as module

src/linkerhand_calibration/test/test_passed_resume.py

@@ -44,6 +44,73 @@ def test_passed_parent_model_keeps_original_source_in_new_observation_epoch():
     assert dict(pose_source[0].evidence_ids)['moving'] == 'a' * 64
 
 
+def test_passed_resume_does_not_restore_incomplete_task_preparation(monkeypatch):
+    profile = load_bundled_hand_profile('o30_right_18')
+    engine, resume = CalibrationEngine(profile), JointResume(profile)
+    passed, incomplete = profile.motion.tasks[:2]
+    rows = [*passed_records(engine, passed),
+        dict(kind='motion_branch_observation', task_name=passed.key,
+            view=passed.view, image_stamp_ns=1, session_epoch=1),
+        dict(kind='motion_branch_observation', task_name=incomplete.key,
+            view=incomplete.view, image_stamp_ns=2, session_epoch=1),
+        dict(kind='motion_branch_initialization', task_name=incomplete.key,
+            view=incomplete.view, status='resolved', session_epoch=1)]
+    monkeypatch.setattr(passed_resume, 'read_joint_zero_references',
+        lambda *args: stub_references([passed, incomplete]))
+
+    passed_resume.stage_passed_tasks(resume, engine, rows)
+    pending = passed_resume.reference_import(resume)
+
+    assert {row.get('task_name') for row in pending.rows if row.get('task_name')} == {passed.key}
+    assert not pending.model_records
+
+
+def test_taskwise_passed_resume_does_not_restore_unpassed_visit_model():
+    from linkerhand_calibration.runtime import staged_resume
+
+    profile = load_bundled_hand_profile('o30_right_18')
+    passed, incomplete = profile.motion.tasks[:2]
+    references = stub_references([passed, incomplete])
+    rows = [
+        dict(kind='motion_branch_observation', task_name=passed.key,
+            view=passed.view, image_stamp_ns=1, session_epoch=1),
+        dict(kind='motion_branch_observation', task_name=incomplete.key,
+            view=incomplete.view, image_stamp_ns=2, session_epoch=1),
+        dict(kind='motion_branch_initialization', task_name=incomplete.key,
+            view=incomplete.view, status='resolved', session_epoch=1),
+    ]
+    accepted = next(unit for unit in CalibrationEngine(profile).scan_units()
+        if unit.task_key == passed.key)
+    resume = JointResume(profile)
+    resume.rows, resume.references, resume.units = tuple(rows), references, {accepted.identity}
+
+    pending = staged_resume.reference_import(resume, reuse_passed_visits=True)
+
+    assert set(pending.references) == set(passed.joints)
+    assert {row.get('task_name') for row in pending.rows if row.get('task_name')} == {passed.key}
+    assert not pending.model_records
+
+
+def test_passed_resume_omits_orphaned_observer_cancellation():
+    from linkerhand_calibration.runtime import staged_resume
+
+    profile = load_bundled_hand_profile('o30_right_18')
+    task = profile.motion.tasks[0]
+    accepted = next(unit for unit in CalibrationEngine(profile).scan_units()
+        if unit.task_key == task.key)
+    orphan = dict(kind='observer_preparation_cancelled_before_excursion',
+        joint=task.joints[0], observer_preparation_id='a'*64,
+        session_epoch=1, stamp_ns=1)
+    resume = JointResume(profile)
+    resume.rows = (orphan,)
+    resume.references = stub_references([task])
+    resume.units = {accepted.identity}
+
+    pending = staged_resume.reference_import(resume, reuse_passed_visits=True)
+
+    assert orphan not in pending.rows
+
+
 @pytest.mark.parametrize('failure', [None, 'missing', 'failed', 'support', 'new_attempt'])
 def test_last_group_failure_keeps_128_prior_passes_without_recalculating(monkeypatch, failure):
     profile = load_bundled_hand_profile('o30_right_18')
@@ -81,7 +148,10 @@ def test_direct_resume_imports_durably_then_skips_old_joint_motion(tmp_path, mon
         expected_units = sum(unit.task_key == task.key for unit in host.execution.session.engine.scan_units())
         rows = [dict(kind='motion_branch_observation', view=task.view, image_stamp_ns=i,
             session_epoch=1, task_name=task.key)
-            for i in range(257)] + passed_records(host.execution.session.engine, task)
+            for i in range(257)] + [dict(kind='observer_preparation_decision',
+                task_name=task.key, joint=task.joints[0], action='excite',
+                action_index=0, session_epoch=1, stamp_ns=1)] + passed_records(
+                    host.execution.session.engine, task)
         references = stub_references([task])
         monkeypatch.setattr(passed_resume, 'read_joint_zero_references', lambda *args: references)
         resume = JointResume(host.profile)
@@ -123,13 +193,19 @@ def test_direct_resume_imports_durably_then_skips_old_joint_motion(tmp_path, mon
             assert host.state in {'ABORTED', 'PAUSED'}
             assert not host.execution.zero_references and host._resumed_count == 0
         else:
-            for _ in range(20):
+            # Reference restoration is intentionally sliced across callbacks
+            # and journal barriers run on a worker.  Give that worker real
+            # scheduling opportunities instead of spinning only the fake clock.
+            import time
+            for _ in range(400):
                 host.receive_feedback(host.profile.command.names, host.profile.command.baseline_values, host.ports.clock_ns())
                 host.tick()
                 if host.execution.session.current_unit.task_key != task.key:
                     break
+                time.sleep(.001)
             assert host._resumed_count == expected_units
             assert host.execution.zero_references == references
+            assert not host.branch_initialization.observer_preparation.decisions
             assert host.segment is None
             import json
             imported = [json.loads(line) for line in host.raw_path.read_text().splitlines()]

src/linkerhand_calibration/test/test_resume_storage.py

@@ -10,6 +10,8 @@ from linkerhand_calibration.runtime.resume_storage import (
     DeferredCaptureRecord, load_passed_capture,
 )
 from linkerhand_calibration.runtime.joint_resume import ResumeJournalImport, _index_motion_provenance
+from linkerhand_calibration.runtime.staged_resume import _essential_indexed_provenance
+from linkerhand_calibration.runtime.motion_provenance import source_frame_sha256
 from linkerhand_calibration.core.domain.motion_path import record_scan_identity
 from linkerhand_calibration.runtime.diagnostic_capture import reject_diagnostic_capture
 from linkerhand_calibration.core.artifacts.evidence_journal import (
@@ -18,6 +20,8 @@ from linkerhand_calibration.core.artifacts.evidence_journal import (
 )
 from linkerhand_calibration.storage import append_jsonl, append_jsonl_many
 from linkerhand_calibration.runtime.acquisition import load_capture
+from linkerhand_calibration.runtime.capture_index import CaptureRecordIndex
+from linkerhand_calibration.runtime.resume import discover_resume_candidate
 
 
 def capture(tmp_path, rows):
@@ -49,7 +53,7 @@ def test_scalar_index_never_reads_image_payload_and_import_is_bounded(tmp_path,
         assert len(batch) == size and len(calls)-before == size
         assert all(type(r) is dict for r in batch)
         imported.extend(batch)
-    assert pending.complete and imported == original
+    assert pending.transfer_complete and not pending.complete and imported == original
     assert all("pnp_observation_evidence" not in r.metadata for r in rows)
 
 
@@ -101,6 +105,7 @@ def test_indexed_journal_keeps_resume_fields_inline_and_restores_full_evidence(t
     deferred = load_passed_capture(path)
     assert all(isinstance(row, DeferredCaptureRecord) for row in deferred[1:])
     assert deferred[1]["relative_quaternion_xyzw"] == [0., 0., 0., 1.]
+    assert "relative_quaternion_xyzw" not in deferred[1].metadata
     assert deferred[1].materialize() == samples[0]
 
 
@@ -162,3 +167,90 @@ def test_resume_import_hard_links_compressed_evidence_without_copying_records(tm
     archive_path(source).unlink()
     source.unlink()
     assert load_capture(target) == original
+
+
+def test_linked_joint_samples_use_bounded_batches_and_concrete_training_digest(tmp_path):
+    path = tmp_path / "raw_samples.jsonl"
+    initialize_evidence_journal(path, threshold_bytes=1)
+    leading = [dict(kind="image_observation_frame", task_name="index_dip_side",
+        cycle=0, direction="increasing", image_stamp_ns=-stamp-1,
+        pixels=list(range(100))) for stamp in range(10)]
+    samples = [dict(kind="joint_sample", task_name="index_dip_side", joint="index_dip",
+        cycle=0, direction="increasing", image_stamp_ns=stamp,
+        command_u8=stamp, feedback_u8=stamp, relative_quaternion_xyzw=[0., 0., 0., 1.])
+        for stamp in range(100)]
+    append_jsonl_many(path, (*leading, *samples))
+    pending = ResumeJournalImport(tuple(load_passed_capture(path)))
+
+    assert len(pending.take_batch()) == len(leading)
+    first = pending.take_batch()
+    assert len(first) == len(samples) and all(row.get("kind") == "joint_sample" for row in first)
+    index = CaptureRecordIndex(retain_complete=False, retain_training_geometry=True)
+    index.extend(first)
+    assert len(index) == len(samples)
+    assert all(len(row["source_record_sha256"]) == 64 for row in index)
+
+
+def test_training_index_materializes_each_deferred_sample_once(tmp_path, monkeypatch):
+    path = tmp_path / "raw_samples.jsonl"
+    initialize_evidence_journal(path, threshold_bytes=1)
+    sample = dict(kind="joint_sample", task_name="index_dip_side", joint="index_dip",
+        cycle=0, direction="increasing", image_stamp_ns=1, command_u8=20,
+        feedback_u8=19, relative_quaternion_xyzw=[0., 0., 0., 1.],
+        relative_translation_xyz_m=[0., 0., .01])
+    append_jsonl(path, sample)
+    row = load_passed_capture(path)[0]
+    original = DeferredCaptureRecord.materialize_plain
+    calls = []
+
+    def observed(record):
+        calls.append(record.reference.record_sha256)
+        return original(record)
+
+    monkeypatch.setattr(DeferredCaptureRecord, "materialize_plain", observed)
+    index = CaptureRecordIndex(retain_complete=False, retain_training_geometry=True)
+    index.append(row)
+
+    assert len(calls) == 1
+    assert index[0]["relative_translation_xyz_m"] == [0., 0., .01]
+
+
+def test_compact_passed_resume_keeps_only_digest_referenced_motion_frames(tmp_path):
+    path = tmp_path / "raw_samples.jsonl"
+    initialize_evidence_journal(path, threshold_bytes=1)
+    used = {"kind": "motion_branch_observation", "task_name": "index_dip_side",
+        "view": "side", "image_stamp_ns": 10, "pixels": list(range(100))}
+    unused = {**used, "image_stamp_ns": 20, "pixels": list(range(101))}
+    accepted = {"kind": "motion_branch_initialization", "status": "resolved",
+        "task_name": "index_dip_side", "view": "side",
+        "source_frame_hashes": {"10": source_frame_sha256(used)}}
+    append_jsonl_many(path, (used, unused, accepted))
+
+    indexed = tuple(_index_motion_provenance(load_passed_capture(path)).values())
+    essential = _essential_indexed_provenance(indexed)
+
+    observations = [row for row in essential if row.get("kind") == "motion_branch_observation"]
+    assert len(observations) == 1
+    assert observations[0].canonical_sha256 == source_frame_sha256(used)
+
+
+def test_discovery_reads_large_compressed_session_header(tmp_path):
+    from linkerhand_calibration.runtime.engine import ACQUISITION_POLICY_VERSION
+    from linkerhand_calibration.core.geometry.pnp import POSE_TRACKING_POLICY_VERSION
+    session = tmp_path / "SERIAL" / "20260101_000000"
+    session.mkdir(parents=True)
+    path = session / "raw_samples.jsonl"
+    initialize_evidence_journal(path, threshold_bytes=128)
+    hashes = {"profile_config_sha256": "a" * 64}
+    contract = {"large": list(range(100))}
+    append_jsonl_many(path, [{"kind": "session_start", "profile_id": "O30/right/layout/v1",
+        "serial_number": "SERIAL", "acquisition_policy_version": ACQUISITION_POLICY_VERSION,
+        "capture_schedule_version": "unified_schedule_v13_staged_training",
+        "pose_tracking_policy_version": POSE_TRACKING_POLICY_VERSION, "protected_hashes": hashes,
+        "capture_plan": {"policy": "staged_2_to_3"}, "preparation_contract": contract},
+        {"kind": "fixed_base_reference_locked"},
+        {"kind": "scan_unit_complete", "task_name": "index_dip_side", "cycle": 0,
+            "direction": "increasing", "passed": True}])
+    assert discover_resume_candidate(tmp_path / "SERIAL", profile_id="O30/right/layout/v1",
+        serial_number="SERIAL", protected_hashes=hashes, training_policy="staged_2_to_3",
+        preparation_contract=contract) == session

src/linkerhand_calibration/test/test_rigid_pair_observer.py

@@ -10,6 +10,7 @@ from linkerhand_calibration.profiles import load_hand_profile
 from linkerhand_calibration.profiles.export import write_hand_profile
 from linkerhand_calibration.profiles.validator import validate_executable_profile
 from linkerhand_calibration.profiles.preparation import preparation_contract
+from linkerhand_calibration.profiles.observer_policy import TRAJECTORY_OBSERVER
 from linkerhand_calibration.runtime.observer_reference import ObserverBridgeInput,build_observer_bridge,validate_observer_references
 from linkerhand_calibration.runtime.shared_tag_reference import bridge_frames
 from linkerhand_calibration.runtime.branch_initialization import BranchInitializationRequest,solve_initialization,initialization_artifacts
@@ -72,6 +73,17 @@ def test_independent_parent_branches_converge_on_real_bounded_probe(tmp_path):
     assert bridge.translation_uncertainty_m<.001
     assert all(p==0 for _,p in record['pose']['comparison_adjusted_p_values'])
     assert set(record['pose']['training_stamps']).isdisjoint(record['pose']['validation_stamps'])
+    measurements=dict(profile.measurement.measurements)
+    measurements['index_dip']=replace(measurements['index_dip'],
+        observer_pose_policy=TRAJECTORY_OBSERVER)
+    trajectory_profile=replace(profile,measurement=replace(profile.measurement,
+        measurements=measurements))
+    trajectory_bridge,trajectory_record=build_observer_bridge(trajectory_profile,
+        ObserverBridgeInput('index_dip',model,parent,(),endpoints,(16,),evidence))
+    assert trajectory_record['version']=='observer_pose_bridge_v4'
+    assert trajectory_record['trajectory_branch_decision']['holdout_role']=='veto_only'
+    assert trajectory_record['trajectory_branch_decision']['corner_evidence_sha256']
+    assert trajectory_bridge.rotation_uncertainty_rad<.017453293
 
 
 @pytest.fixture(scope='module')

src/linkerhand_calibration/test/test_staged_training.py

@@ -7,7 +7,9 @@ from pathlib import Path
 
 import pytest
 
-from linkerhand_calibration.core.domain.capture_plan import STAGED, CapturePlan, configure_training, select_task_training
+from linkerhand_calibration.core.domain.capture_plan import (
+    STAGED, TASKWISE_STAGED, CapturePlan, configure_training, select_task_training,
+)
 from linkerhand_calibration.core.domain.reference import read_joint_zero_references
 from linkerhand_calibration.profiles import load_bundled_hand_profile
 from linkerhand_calibration.runtime.engine import CalibrationEngine
@@ -41,6 +43,52 @@ def test_all_first_visits_precede_second_and_validation_keeps_original_motion():
     assert fixed.quality.training_policy == 'fixed'
 
 
+def test_taskwise_schedule_keeps_first_pass_and_validation_global_but_supplements_locally():
+    profile = configure_training(load_bundled_hand_profile('o30_right_18'), TASKWISE_STAGED)
+    plan = CapturePlan.from_profile(profile).as_dict()
+    assert plan['version'] == 'capture_plan_v3'
+    assert plan['schedule'] == (
+        'first_whole_hand_pass_then_taskwise_second_pass_with_immediate_supplement_then_validation'
+    )
+    first_task = profile.motion.tasks[0]
+    profile = select_task_training(profile, first_task.key, (0, 1, 2))
+    units = CalibrationEngine(profile).scan_units()
+    visits = []
+    for unit in units:
+        visit = unit.task_key, unit.cycle
+        if not visits or visits[-1] != visit:
+            visits.append(visit)
+    task_keys = [task.key for task in profile.motion.tasks]
+    assert visits[:len(task_keys)] == [(key, 0) for key in task_keys]
+    training_visits = visits[len(task_keys):-len(task_keys)]
+    assert training_visits[:2] == [(first_task.key, 1), (first_task.key, 2)]
+    assert training_visits[2:] == [(key, 1) for key in task_keys[1:]]
+    assert visits[-len(task_keys):] == [(key, 3) for key in task_keys]
+
+
+def test_taskwise_resume_carries_the_decision_that_created_optional_round():
+    from linkerhand_calibration.runtime.joint_resume import JointResume
+    from linkerhand_calibration.runtime.staged_resume import visit_rows
+
+    profile = configure_training(load_bundled_hand_profile('o30_right_18'), TASKWISE_STAGED)
+    task = profile.motion.tasks[0]
+    profile = select_task_training(profile, task.key, (0, 1, 2))
+    units = [unit for unit in CalibrationEngine(profile).scan_units()
+        if unit.task_key == task.key and unit.cycle == 2]
+    decision = {'kind': 'training_decision', 'task_name': task.key,
+        'assessed_cycles': [0, 1, 2], 'decision': 'freeze'}
+    rows = [dict(kind='scan_unit_complete', task_name=unit.task_key,
+        cycle=unit.cycle, direction=unit.direction, segment_key=unit.segment_key,
+        passed=True) for unit in units]
+    resume = JointResume(profile)
+    resume.rows = (*rows, decision)
+    resume.units = {unit.identity for unit in units}
+    resume.verified_visits.update((joint, 2) for joint in task.joints)
+    used, imported = visit_rows(resume, task.key, 2)
+    assert used == tuple(sorted(unit.identity for unit in units))
+    assert [row for row in imported if row.get('kind') == 'training_decision'] == [decision]
+
+
 def test_revisit_reuses_model_but_checks_zero_via_existing_path():
     profile = configure_training(load_bundled_hand_profile('o30_right_18'), STAGED)
     execution = SessionExecution(profile)

src/linkerhand_calibration/test/test_trajectory_observation_v3.py

@@ -0,0 +1,207 @@
+"""v3 trajectory observation, bounded deferral and publication refusal."""
+
+import hashlib
+from types import SimpleNamespace
+
+import pytest
+
+from linkerhand_calibration.core.domain.capture_plan import (
+    STAGED, TASKWISE_STAGED, configure_training, select_task_training,
+)
+from linkerhand_calibration.core.urdf.kinematics import UrdfKinematicModel
+from linkerhand_calibration.profiles import load_bundled_hand_profile
+from linkerhand_calibration.profiles.observer_policy import TRAJECTORY_OBSERVER
+from linkerhand_calibration.profiles.observer_policy import configure_observer_policy
+from linkerhand_calibration.profiles.observer_preparation import configure_observer_preparations
+from linkerhand_calibration.profiles.export import dump_hand_profile
+from linkerhand_calibration.profiles.preparation import configure_preparation, preparation_contract
+from linkerhand_calibration.runtime.artifacts.capture_validation import validate_capture_units
+from linkerhand_calibration.runtime.session import CalibrationPhase, CalibrationSession
+from linkerhand_calibration.runtime.checkpoint_observer_upgrade import ObserverPolicyUpgrade
+from linkerhand_calibration.runtime.task_deferral import (
+    POLICY, TaskDeferralQueue, TaskObservationState, deferred_visit_keys,
+    dependency_closure, recoverable_observation_reason,
+)
+from o30_capture_fixture import SOURCE
+
+
+@pytest.fixture
+def trajectory_profile():
+    profile = configure_training(load_bundled_hand_profile('o30_right_18'), STAGED)
+    profile = configure_preparation(profile, 'occlusion_aware_trajectory_v3')
+    return configure_observer_preparations(profile, UrdfKinematicModel(SOURCE))
+
+
+def test_v3_is_a_versioned_profile_contract_with_two_action_bound(trajectory_profile):
+    policy = preparation_contract(trajectory_profile)['observer_preparations']
+    assert policy['policy'] == 'occlusion_aware_trajectory_v3'
+    assert policy['trajectory_solver']['holdout_selects_model'] is False
+    assert policy['trajectory_solver']['maximum_actions_per_task'] == 2
+    assert all(1 <= len(plan.actions) <= 2
+        for plan in trajectory_profile.motion.observer_preparations.values())
+    assert trajectory_profile.measurement.measurements['index_dip'].observer_pose_policy \
+        == TRAJECTORY_OBSERVER
+
+
+def test_visual_ambiguity_is_deferred_but_hardware_failure_is_not():
+    assert recoverable_observation_reason('image_motion_frame_angles_ambiguous')
+    assert recoverable_observation_reason('motion_candidates_missing')
+    assert not recoverable_observation_reason('sdk_disconnected')
+    assert not recoverable_observation_reason('feedback_stalled')
+    assert not recoverable_observation_reason('over_temperature')
+
+
+def test_parent_deferral_moves_dependency_closure_to_stage_end(trajectory_profile):
+    assert 'index_dip_side' in dependency_closure(trajectory_profile, 'index_pip_side')
+    session = CalibrationSession(trajectory_profile)
+    session.phase = CalibrationPhase.PREPARE
+    session._unit_index = next(i for i, unit in enumerate(session._units)
+        if unit.task_key == 'index_pip_side' and unit.cycle == 0)
+    original_prefix = tuple(unit.identity for unit in session._units[:session._unit_index])
+    decision = session.defer_current_task('rigid_pair_candidates_unresolved')
+    assert decision.state == TaskObservationState.PENDING
+    assert {'index_pip_side', 'index_dip_side'} <= set(decision.affected_tasks)
+    record = decision.as_record(stamp_ns=1)
+    assert record['dependency_states']['index_dip_side'] == 'dependency_pending'
+    assert tuple(unit.identity for unit in session._units[:session._unit_index]) == original_prefix
+    same_cycle = [unit.task_key for unit in session._units if unit.cycle == 0]
+    assert same_cycle[-1] == 'index_dip_side'
+
+
+def test_staged_assessment_waits_for_deferred_visit(trajectory_profile):
+    from linkerhand_calibration.runtime.execution import SessionExecution
+    execution = SessionExecution(trajectory_profile)
+    session = execution.session
+    session.phase = CalibrationPhase.PREPARE
+    session._unit_index = next(i for i, unit in enumerate(session._units)
+        if unit.task_key == 'index_pip_side' and unit.cycle == 1)
+    session.defer_current_task('rigid_pair_candidates_unresolved')
+    cycle = [unit for unit in session.scheduled_units if unit.cycle == 1]
+    assert cycle[-1].task_key == 'index_dip_side'
+    session._unit_index = session._units.index(cycle[-2])
+    assert not execution.training_check_due()
+    session._unit_index = session._units.index(cycle[-1])
+    assert execution.training_check_due()
+
+
+def test_second_failure_is_terminal_and_budget_survives_restart(trajectory_profile):
+    queue = TaskDeferralQueue(trajectory_profile)
+    first = queue.decide('index_dip_side', 0, 'rigid_pair_candidates_unresolved', 2)
+    records = [first.as_record(stamp_ns=1, corner_evidence_sha256='a'*64)]
+    restored = TaskDeferralQueue(trajectory_profile)
+    restored.restore(records)
+    second = restored.decide('index_dip_side', 0,
+        'rigid_pair_candidates_unresolved', 2)
+    assert second.state == TaskObservationState.UNOBSERVABLE
+    records.append(second.as_record(stamp_ns=2, corner_evidence_sha256='b'*64))
+    again = TaskDeferralQueue(trajectory_profile)
+    again.restore(records)
+    assert again.attempts[('index_dip_side', 0)] == 2
+    assert ('index_dip_side', 0) in again.unobservable
+    with pytest.raises(ValueError, match='budget_exhausted'):
+        again.decide('index_dip_side', 0, 'rigid_pair_candidates_unresolved', 1)
+    with pytest.raises(ValueError, match='budget_changed'):
+        again.restore([first.as_record(stamp_ns=3)])
+
+
+def test_restart_restores_pending_visit_at_end_of_taskwise_stage(trajectory_profile):
+    profile = configure_training(trajectory_profile, TASKWISE_STAGED)
+    profile = select_task_training(profile, profile.motion.tasks[0].key, (0, 1, 2))
+    queue = TaskDeferralQueue(profile)
+    pending = queue.decide('index_dip_side', 0,
+        'image_motion_no_observable_image_model', 2).as_record(stamp_ns=1)
+    session = CalibrationSession(profile)
+    session.restore_task_deferrals([pending])
+    first_stage = [unit for unit in session.scheduled_units if unit.cycle == 0]
+    assert first_stage[-1].task_key == 'index_dip_side'
+    assert session.task_deferrals.attempts[('index_dip_side', 0)] == 1
+
+    # The same rule treats cycle 1 and optional cycle 2 as one training stage,
+    # so a restored revisit cannot jump ahead of later training or into holdout.
+    queue = TaskDeferralQueue(profile)
+    pending = queue.decide('index_dip_side', 1,
+        'image_motion_no_observable_image_model', 2).as_record(stamp_ns=2)
+    session = CalibrationSession(profile)
+    session.restore_task_deferrals([pending])
+    training_stage = [unit for unit in session.scheduled_units if unit.cycle in {1, 2}]
+    assert training_stage[-1].task_key == 'index_dip_side'
+    assert session.scheduled_units[session.scheduled_units.index(training_stage[-1]) + 1].cycle == 3
+
+
+def test_deferral_audit_allows_only_declared_noncontiguous_resume_gap(trajectory_profile):
+    queue = TaskDeferralQueue(trajectory_profile)
+    pending = queue.decide('index_pip_side', 1,
+        'rigid_pair_candidates_unresolved', 4).as_record(stamp_ns=1)
+    keys = deferred_visit_keys(trajectory_profile, [pending])
+    assert ('index_pip_side', 1) in keys
+    assert ('index_dip_side', 1) in keys
+    changed = {**pending, 'affected_tasks': ['index_pip_side']}
+    with pytest.raises(ValueError, match='dependencies_changed'):
+        deferred_visit_keys(trajectory_profile, [changed])
+
+
+def test_full_visit_commit_closes_crash_window_but_partial_visit_does_not(trajectory_profile):
+    from linkerhand_calibration.runtime.engine import CalibrationEngine
+    queue = TaskDeferralQueue(trajectory_profile)
+    pending = queue.decide('index_dip_side', 1,
+        'rigid_pair_candidates_unresolved', 2).as_record(stamp_ns=1)
+    units = [unit for unit in CalibrationEngine(trajectory_profile).scan_units()
+        if (unit.task_key, unit.cycle) == ('index_dip_side', 1)]
+    completed = [dict(kind='scan_unit_complete', task_name=unit.task_key,
+        cycle=unit.cycle, direction=unit.direction, segment_key=unit.segment_key,
+        passed=True) for unit in units]
+    partial = TaskDeferralQueue(trajectory_profile)
+    partial.restore([pending, *completed[:-1]])
+    assert ('index_dip_side', 1) not in partial.resolved
+    restored = TaskDeferralQueue(trajectory_profile)
+    restored.restore([pending, *completed])
+    assert ('index_dip_side', 1) in restored.inferred_resolutions
+
+
+def test_unobservable_record_blocks_release_before_fitting(trajectory_profile):
+    queue = TaskDeferralQueue(trajectory_profile)
+    first = queue.decide('index_dip_side', 0,
+        'rigid_pair_candidates_unresolved', 2).as_record(stamp_ns=1)
+    row = queue.decide('index_dip_side', 0,
+        'rigid_pair_candidates_unresolved', 2).as_record(stamp_ns=2)
+    with pytest.raises(ValueError, match='capture_unobservable_tasks:index_dip_side:0:unobservable'):
+        validate_capture_units(trajectory_profile, [first, row])
+
+
+def test_resolved_revisit_clears_release_blocker_state(trajectory_profile):
+    queue = TaskDeferralQueue(trajectory_profile)
+    first = queue.decide('index_dip_side', 0, 'rigid_pair_candidates_unresolved', 2)
+    passed = queue.resolve('index_dip_side', 0)
+    assert passed is not None and passed.state == TaskObservationState.PASSED
+    restored = TaskDeferralQueue(trajectory_profile)
+    restored.restore([first.as_record(stamp_ns=1), passed.as_record(stamp_ns=2)])
+    assert ('index_dip_side', 0) in restored.resolved
+    assert not restored.unobservable
+
+
+def test_v3_checkpoint_upgrade_preserves_accepted_joint_semantics():
+    base = configure_training(load_bundled_hand_profile('o30_right_18'), STAGED)
+    source = configure_preparation(base, 'occlusion_aware_witness_v2')
+    source = configure_observer_preparations(source, UrdfKinematicModel(SOURCE))
+    preserved = set(source.measurement.measurements)-{'index_dip'}
+    target = configure_observer_policy(source, preserved_joints=preserved,
+        policy=TRAJECTORY_OBSERVER)
+    source_yaml, target_yaml = (dump_hand_profile(profile).encode()
+        for profile in (source, target))
+    upgrade = ObserverPolicyUpgrade(source, target, source_yaml, target_yaml,
+        source_urdf=SOURCE)
+    inputs = {'profile_config_sha256': hashlib.sha256(target_yaml).hexdigest(),
+        'source_urdf_sha256': 'a'*64}
+    old_inputs = {**inputs, 'profile_config_sha256': hashlib.sha256(source_yaml).hexdigest()}
+    header = {'kind': 'session_start', **old_inputs,
+        'preparation_contract': preparation_contract(source)}
+    reference = {'kind': 'fixed_base_reference_locked',
+        'protected_hashes': {**old_inputs, 'intrinsics_sha256': 'b'*64}}
+    checkpoint = SimpleNamespace(header=header, fixed_reference=reference,
+        rows=(header, reference), joints=SimpleNamespace(
+            references={joint: object() for joint in preserved}, units=set()))
+    _, _, audit = upgrade.metadata(checkpoint, inputs, 'source.jsonl', 'c'*64)
+    assert audit['policy'] == 'unmeasured_observer_upgrade_v3'
+    assert audit['preserved_joints'] == sorted(preserved)
+    assert audit['observer_policy_changes'] == {
+        'index_dip': {'previous': 'rigid_pair_v1', 'current': TRAJECTORY_OBSERVER}}