diff --git a/docs/algo-3-bayes.md b/docs/algo-3-bayes.md
index 2f20eb2..74a9283 100644
--- a/docs/algo-3-bayes.md
+++ b/docs/algo-3-bayes.md
@@ -14,8 +14,11 @@
 1. **感知层**：每频道一个贝叶斯后验（网格幸存集），融合全部正/负观测；
 2. **决策层**：站点扫频、定位测量、清除三类任务统一建表，开放路径
    最近邻 + 2-opt 排序，每个动作后滚动重排（动态 TSP）；
-3. **选点层**：定位测量点按期望后验半径 + λ·移动时间评分（信息增益贪心
-   的半径代理形式），直指 20m 清除证书阈值。
+3. **选点层**：默认按期望log幸存占比和“到检测点、再接近源”的移动代价评分。
+   已停靠位置可逐频道补交会观测，真实清除始终由完整角域证书批准。
+
+2026-09-11 当前修订的审核与配对验收见 [三四问算法审核与优化](算法审核与优化-20260911.md)。
+本文件第5节是早期版本的历史结果，不应当作当前默认参数的复算结果。
 
 ## 2. 网格幸存集滤波与真源保留定理
 
@@ -56,11 +59,15 @@
 
 评分（`BayesConfig.score_mode`）：
 
-- `radius`（默认）：期望后验半径 —— 对 K 个代表假设（幸存格均匀抽样）
+- `radius`（可选）：期望后验半径 —— 对 K 个代表假设（幸存格均匀抽样）
   各自模拟一次测量的幸存分支，分支半径用幸存子采样的质心最大距离近似，
   r_eff~U(1000,1500) 的不确定性解析积分（p_no_signal = (d−1000)/500）；
   总分 = E[半径] + λ·移动秒数（λ=0.1）；
-- `entropy`：期望 log 幸存占比（香农信息增益在均匀先验下的形式）。
+- `entropy`（当前默认，λ=0.0105）：期望log幸存占比，加上λ乘以
+  当前点→候选检测点→候选源中心的移动秒数。来向对称候选补充固定全局方向网格。
+
+这里的均匀先验、零误差代表读数和均匀接收半径是选点评分的工程假设，
+不属于题面给定的概率模型；只有完整±1.005°角域与距离界参与安全证明。
 
 λ 与半径同量纲，量级必须小：λ 过大时终局阶段"走 300m"的代价压过
 "半径 35m→25m"的收益，选点器原地重测、收敛停滞（消融实测 λ≥0.5 时
@@ -70,13 +77,15 @@
 
 每个决策点构建任务表并排序执行首个任务，随后滚动重排：
 
-- **站点任务**：七站（原点 + 1200m 环六点，覆盖半径解析上界 968.9m
-  < 1000m）上仍待测的 UNKNOWN 频道；跳测规则与覆盖账本过滤；
+- **站点任务**：七站（原点 + 当前1159.7m环六点）上的UNKNOWN频道；
+  构造时验证全向覆盖解析界小于1000m，跳测规则与覆盖账本过滤；
 - **定位任务**：DETECTED 且无证书的频道，位置由信息增益选点产生；
-- **清除任务**：有证书（凸或网格）的频道，目标为证书圆心。
+- **清除任务**：有证书（凸或网格）的频道，可沿当前位置方向移动证书圆心，
+  但平移量与原半径之和不得超过清除证书阈值，节省最后一段接近路程。
 
 排序 = 开放路径最近邻打底 + 2-opt 改进（`two_opt_passes` 轮，成本含
-移动 + 换频 + 动作耗时；终点自由不回起点）。这是 A2"站内最近邻服务
+移动 + 换频 + 动作耗时；换频按路径顺序逐步传递当前频道，clear保持频道；
+终点自由不回起点）。这是 A2"站内最近邻服务
 队列"的推广：消融显示距离缩短约 24% 是主要收益来源。
 
 停止条件与基线一致：清满 16（数量上界）或全部频道 CLEARED/ABSENT；
diff --git a/docs/paper/main.pdf b/docs/paper/main.pdf
index b6f57fb..5d0d87f 100644
Binary files a/docs/paper/main.pdf and b/docs/paper/main.pdf differ
diff --git a/docs/算法审核与优化-20260911.md b/docs/算法审核与优化-20260911.md
new file mode 100644
index 0000000..467438a
--- /dev/null
+++ b/docs/算法审核与优化-20260911.md
@@ -0,0 +1,102 @@
+# 第三、四问算法审核与优化
+
+依据：原始 `issue/B题.pdf` 第1—3页，重点为附录2(3)(4)，并结合(1)(2)(5)(6)(8)与第三、四问要求。
+审核起点为 `9cf9428` 的程序；最后一次官方第三问演练为 `3BW5-9R54-NZNA-MYB9`，
+13/13源成功清除、虚拟总时间4058.709750秒。本轮改进验证使用本地模拟器，没有启动或消耗官方测试。
+
+## 1. 题设约束及审查结论
+
+附录2(3)中的交会是有宽度的角域交集。不能把两条示向线的交点当作精确真值，
+也不能利用同地重测求平均缩小±1°误差。程序已保留完整角域及0.005°舍入裕量，
+本轮继续使用该证据颁发清除证书。统计评分仅用于选点，不能替代保守几何证书。
+
+附录2(4)要求逐频道检测，换频1秒；结合(5)，每次停靠检测5秒且不能在移动中检测。
+已有HTTP客户端是串行的，没有把20频道视为一次免费测量。缺陷在于规划成本和站点利用：
+
+| 审核发现 | 影响 | 当前改进 |
+| --- | --- | --- |
+| 已停靠点只测UNKNOWN频道，已发现频道容易错失交会机会 | 之后为第二条方位线另走一段路 | 对DETECTED频道预测收缩；当前位置到整个候选集均小于1000m、未在此处测过且预测半径减少35%时，逐频道补测；每次仍支付5秒和实际换频成本 |
+| 定位选点只计到测点的移动 | 测完后到清除区域的路程没有进入选点目标 | 加入候选检测点→候选源中心的接近代价，保留后续根据真实响应重新规划 |
+| 候选方向固定在全局角度网格 | 与当前交会几何不对齐，可能产生多余绕行 | 增加以当前位置到候选中心为轴的对称候选；均仍位于距离保证盘内 |
+| 路线代价中的service_s按初始频道一次估计 | 2-opt比较不同顺序时没有正确传递频道状态 | 路径成本逐任务传递频道，站内当前频道优先，clear保持频道；两个任务也比较完整开放路径成本 |
+| 清除默认走到候选集包围圆心 | 未利用20米光学定位/清除范围 | 在证书允许范围内向当前位置平移目标；平移距离+原包围半径不超过阈值，保留三角不等式证明 |
+| 七站环半径可调但没有执行覆盖校验 | 不合法调参可能把“都没测到”误作不存在 | 构造时检查解析覆盖界；不满足条件直接拒绝运行 |
+| 第四问盘外探点无信号也可能记为定向遮挡 | 把接收距离不足误诊为已确认定向 | 仅当实际探点位于距离保证盘内才据无信号确认定向；盘外无信号保留不确定性 |
+| 第四问发现一个源就离站定位，后续频道再返回原站 | 同站频道间产生长距离往返 | 保留49站定向覆盖，先逐频道扫完本站，再按当前位置就近处理已发现源 |
+| 后备清除按初始位置距离静态排序 | 狭长候选集可能反复折返，且循环内无虚拟预算检查 | 每一步从当前位置选最近未处理格，并逐次检查虚拟预算 |
+
+第三问所有源均为全向，才能用no_signal排除1000米圆盘。第四问源类型与朝向未知，
+no_signal还可能是半平面遮挡，不能用上述排除规则，也不能直接沿用七站缺席证明。
+本轮没有把BayesLoop套到第四问；第四问继续采用49站覆盖和独立的定向定位/后备清除。
+回归用例包含(1800,0)向外发射的源：七站全无信号，49站中有站可检出。
+
+七站覆盖界为 `max(r/√3, sqrt(R²+r²−√3Rr))`，前提是`0<r≤√3R`。
+当前R=1800m、r=1159.7m，通过小于1000m的校验。网格滤波额外带Voronoi裕量，
+故无源时仍可能留下边界格；此时完整七站覆盖可以证明缺席，不要求PF一定为空。
+
+## 2. 验收口径
+
+4000秒目标按整场虚拟总时间（包含移动、换频、全部检测、清除和缺席确认）比较，
+没有在4000秒强行停止，也没有以只清除部分源或最后一次成功清除的时刻代替总时间。
+题面表格的平均定位清除时间仍等于总时间除以实际清除源数。
+
+第三问优化开发集固定为种子0—5、10/16源，加两个最小接收半径的圆周边界场景（14场）。
+选择实现后停止调整，再运行种子100—105、10/13/16源的独立验证集（18场）。
+同场景前后使用相同位置、频道、有效半径和逐点固定误差种子。
+真值只传给本地模拟器和执行后的校验，不提供给算法；全部请求和响应保存。
+
+有效运行要求：全部真实源清除、没有误判真实频道缺席、正常exit、无算法异常、逐步耗时复算一致。
+
+| 第三问指标 | 旧版 | 改进后 |
+| --- | ---: | ---: |
+| 开发集全清且有效 | 14/14 | 14/14 |
+| 开发集平均总时间 | 3812.97s | 3390.88s |
+| 开发集最大总时间 | 5535.13s | 4624.97s |
+| 开发集中小于4000s | 10/14 | 12/14 |
+| 独立验证集全清且有效 | 18/18 | 18/18 |
+| 独立验证集平均总时间 | 3799.72s | **3315.89s（减少12.73%）** |
+| 独立验证集最大总时间 | 4569.47s | **3981.74s** |
+| 独立验证集中小于4000s | 12/18 | **18/18** |
+
+两个人工圆周边界场景改进后仍为4145.19s、4624.97s左右。因此本轮实现达成的是
+独立验证组每场小于4000秒，**不是对全部合法题目场景的最坏时间保证**。
+旧官方案例已经结束，无法对新路线查询其未知响应；本地结果不冒充官方同案例重跑。
+更新后的官方成绩仍需新演练验证，不能由前后不同案例的数字直接得出提升比例。
+
+## 3. 第四问结果
+
+固定四场：10源/3定向，种子0、1；16源/8定向，种子2、3。覆盖朝向未知场景，
+每场源分布与误差种子前后相同。旧版、改进版均4/4全清、正常退出、零异常和零计时偏差。
+
+| 场景 | 旧版总时间 | 改进后总时间 |
+| --- | ---: | ---: |
+| 10源，种子0 | 18599.317s | 13652.140s |
+| 10源，种子1 | 16709.225s | 14918.134s |
+| 16源，种子2 | 16388.604s | 11635.398s |
+| 16源，种子3 | 16983.270s | 12453.274s |
+| 平均 | 17170.104s | **13164.737s（减少23.33%）** |
+
+第四问尚未降到4000秒。保留域外49站是为未知朝向源提供发现证据；本轮优化减少重复移动，
+没有用第三问假设缩小第四问覆盖范围。其后备清除仍是有预算上限的算法，不能据四场结果声称所有混合场景必定在预算内完成。
+
+## 4. 数据及复现
+
+- 第三问数据根目录：`output/q3/optimization-20260911/`，含冻结旧版代码、配置、逐场景真值、动作日志、summary及汇总。
+- 最终开发集：`development/improved/results.json`；独立验证：`validation/verified/results.json`；对应旧版在各自`baseline/results.json`。
+- 第四问：`output/q4/optimization-20260911/{baseline,improved}-{10,16}.json`。
+- 中间开发试验也保留：同点补测、移动前瞻、路线终点、来向候选、路径计费及自适应发现。最终未采用均值变差的路线终点估计和未知频道自适应补扫。
+- 回归测试：`pytest -q`，**166项全部通过**。新增用例验证串行6秒补测、不重复同地读数、频道状态成本、清除圆平移证书、无信号诊断及七站/49站的适用边界。
+
+在项目根目录运行（label使用未存在的名称以保护已有证据）：
+
+```powershell
+.venv/Scripts/python.exe scripts/benchmark_q3_revision.py --label rerun-development
+.venv/Scripts/python.exe scripts/benchmark_q3_revision.py --label rerun-validation --suite validation
+.venv/Scripts/python.exe scripts/benchmark_q3_revision.py --label rerun-baseline --suite validation --baseline
+.venv/Scripts/python.exe scripts/benchmark_q4.py --seeds 0,1 --sources 10 --directional 3 --out output/q4/rerun-10.json
+.venv/Scripts/python.exe scripts/benchmark_q4.py --seeds 2,3 --sources 16 --directional 8 --out output/q4/rerun-16.json
+```
+
+概率限制：网格幸存集是保守可行集，不是已知官方概率模型的精确贝叶斯后验。
+均匀源分布、接收半径分布、代表读数和哈希误差均属测试或启发式假设。
+完备覆盖与清除证书依赖题面给出的确定性边界，性能数字则依赖具体测试分布。
diff --git a/output/q3/optimization-20260911/baseline_bayes.py b/output/q3/optimization-20260911/baseline_bayes.py
new file mode 100644
index 0000000..8e566be
--- /dev/null
+++ b/output/q3/optimization-20260911/baseline_bayes.py
@@ -0,0 +1,429 @@
+"""P4b 贝叶斯网格滤波闭环（问题3新策略 ``bayes``）。
+
+在 :class:`OmnidirectionalLoop` 骨架（run/异常收尾/summary/预算/异常留痕）
+上的三层重构，对应 docs/algo-3-bayes.md 的架构：
+
+1. 感知层：每频道一个网格幸存集（particles.ChannelParticles），全部读数
+   （含 no_signal 负观测）即时更新；幸存集为空即缺席证明，无需等覆盖账本；
+2. 决策层：统一任务循环——站点扫频、定位测量、清除三类任务合成任务表，
+   开放路径最近邻 + 2-opt 排序，每执行一个任务滚动重排（动态 TSP）；
+3. 选点层：定位测量点在保证接收盘（凸证书）或 PF MEC 探索环（宽候选集）
+   内按"期望 log 幸存占比 + λ·移动时间"评分（信息增益贪心）。
+
+与基线 SevenBatch 的差异：负观测跳站/跳测（必 no_signal 的 (站,频道) 对
+不消耗检测与换频）、PF 缺席证明提前证毕、全局任务排序替代"站内最近邻"。
+清除证书仍以凸证书为主（PF 网格证书仅在负观测挖洞使幸存集更紧时提前
+触发），两者均满足 Voronoi/保守裕量，不牺牲全清率。
+"""
+
+from __future__ import annotations
+
+import math
+from dataclasses import dataclass
+
+from ..belief import ChannelStatus
+from ..config import ProblemConfig, Vec2
+from ..coverage import CoverageLedger
+from ..particles import ChannelParticles
+from ..protocol.client import SimulatorClient
+from ..protocol.rules import DIRECTION, NEAR, NO_SIGNAL
+from ..protocol.timing import move_time
+from . import (ClearCertificate, OmnidirectionalLoop, clear_certificate,
+               candidate_points, safe_disk_radius, select_measurement_point)
+from .seven import seven_points
+
+
+@dataclass(frozen=True)
+class Task:
+    """统一任务表的一项。service_s 为不含移动的固有耗时（检测+换频/清除）。"""
+
+    kind: str                      # "station" | "locate" | "clear"
+    position: Vec2
+    service_s: float
+    channel: int | None = None
+    station_index: int | None = None
+
+
+def _point_key(point: Vec2) -> tuple[int, int]:
+    """候选点去重键：0.5m 网格取整（同一物理点不重复测量）。"""
+    return (int(round(point[0] * 2)), int(round(point[1] * 2)))
+
+
+class BayesLoop(OmnidirectionalLoop):
+    """问题3贝叶斯闭环：负观测感知 + 信息增益选点 + 滚动任务排序。"""
+
+    def __init__(self, client: SimulatorClient,
+                 config: ProblemConfig = ProblemConfig()):
+        super().__init__(client, config)
+        self.ledger = CoverageLedger(
+            config, points=seven_points(config.bayes.station_ring_radius_m))
+        self.particles = {channel: ChannelParticles(config)
+                          for channel in self.belief.channels}
+        self._measured_points: dict[int, set[tuple[int, int]]] = {}
+        self._clear_failed: set[int] = set()   # 证书清除失败后须先补测再重试
+        self._stall: dict[int, int] = {}       # 连续无收缩计数（异常留痕用）
+        self._skip_cache: dict[tuple[int, int], tuple[int, bool]] = {}
+        self.skipped_measures = 0              # 跳测规则省下的检测次数
+        self.no_shrink_measures = 0            # 未收缩幸存集的定位检测（诊断用）
+        self.pf_absent_channels: list[int] = []  # 由幸存集为空证明缺席的频道
+
+    # ------------------------------------------------------------ 主循环
+    def _coverage_phase(self) -> None:
+        """统一任务循环：发现 + 定位 + 清除滚动调度，直到任务表为空。"""
+        while self.stop_reason is None:
+            if self._count_limit_reached() or self._virtual_cap_reached():
+                return
+            if not self._step_once():
+                return
+
+    def _step_once(self) -> bool:
+        """构建任务表、排序并执行首任务；无可执行任务返回 False。"""
+        tasks = self._build_tasks()
+        if not tasks:
+            return False
+        order = self._order_tasks(tasks)
+        self._execute_task(order[0])
+        return True
+
+    # ------------------------------------------------------------ 任务构建
+    def _station_pending(self, index: int) -> list[int]:
+        """站点待测频道：UNKNOWN、未测过、非"必 no_signal"且未证缺席。"""
+        point = self.ledger.points[index]
+        pending = []
+        for channel, belief in self.belief.channels.items():
+            if belief.status is not ChannelStatus.UNKNOWN:
+                continue
+            if self.ledger.measured_at(channel, index):
+                continue
+            if self._skip_station_channel(channel, index, point):
+                continue
+            pending.append(channel)
+        return pending
+
+    def _skip_station_channel(self, channel: int, index: int, point: Vec2) -> bool:
+        """跳测规则（按 pf.version 缓存；幸存集单调收缩，判定单调）。"""
+        pf = self.particles[channel]
+        if not len(pf):
+            return True
+        cached = self._skip_cache.get((channel, index))
+        if cached is not None and cached[0] == pf.version:
+            return cached[1]
+        value = pf.guaranteed_no_signal(point)
+        self._skip_cache[(channel, index)] = (pf.version, value)
+        return value
+
+    def _build_tasks(self) -> list[Task]:
+        tasks: list[Task] = []
+        for index, point in enumerate(self.ledger.points):
+            pending = self._station_pending(index)
+            if not pending:
+                continue
+            switches = len(pending) - (1 if self.client.state.channel in pending else 0)
+            tasks.append(Task("station", tuple(point),
+                              self.config.cost.measure_s * len(pending)
+                              + self.config.cost.switch_s * max(switches, 0),
+                              station_index=index))
+        for channel in self.belief.channels_by_status(ChannelStatus.DETECTED):
+            cert = self._best_certificate(channel)
+            if cert is not None and cert.certified \
+                    and channel not in self._clear_failed:
+                tasks.append(Task("clear", cert.center,
+                                  self.config.cost.clear_success_s,
+                                  channel=channel))
+                continue
+            point = self._select_point(channel)
+            if point is None:
+                continue
+            tasks.append(Task("locate", point,
+                              self.config.cost.measure_s + self.config.cost.switch_s,
+                              channel=channel))
+        return tasks
+
+    # ------------------------------------------------------------ 任务排序
+    def _order_tasks(self, tasks: list[Task]) -> list[Task]:
+        """开放路径排序：最近邻打底，2-opt 改进（终点自由，不回起点）。"""
+        if len(tasks) <= 2:
+            return sorted(tasks, key=lambda t: (
+                move_time(self.client.state.position, t.position, self.config.cost),
+                t.kind, t.channel or 0))
+        order = self._nearest_order(tasks)
+        if not self.config.bayes.two_opt_enabled:
+            return order
+        return self._two_opt(order)
+
+    def _nearest_order(self, tasks: list[Task]) -> list[Task]:
+        remaining = list(tasks)
+        order = []
+        position = self.client.state.position
+        while remaining:
+            best = min(remaining, key=lambda t: (
+                move_time(position, t.position, self.config.cost),
+                t.kind, t.channel or 0))
+            remaining.remove(best)
+            order.append(best)
+            position = best.position
+        return order
+
+    def _path_cost(self, order: list[Task]) -> float:
+        total = 0.0
+        position = self.client.state.position
+        for task in order:
+            total += move_time(position, task.position, self.config.cost)
+            total += task.service_s
+            position = task.position
+        return total
+
+    def _two_opt(self, order: list[Task]) -> list[Task]:
+        best = list(order)
+        best_cost = self._path_cost(best)
+        for _ in range(self.config.bayes.two_opt_passes):
+            improved = False
+            for i in range(len(best) - 1):
+                for j in range(i + 1, len(best)):
+                    candidate = best[:i] + best[i:j + 1][::-1] + best[j + 1:]
+                    cost = self._path_cost(candidate)
+                    if cost < best_cost - 1e-6:
+                        best, best_cost, improved = candidate, cost, True
+            if not improved:
+                break
+        return best
+
+    # ------------------------------------------------------------ 任务执行
+    def _execute_task(self, task: Task) -> None:
+        if task.kind == "station":
+            self._execute_station(task.station_index)
+        elif task.kind == "clear":
+            cert = self._best_certificate(task.channel)
+            if cert is not None and cert.certified:
+                if not self._attempt_clear(task.channel, cert.center, cert):
+                    self._clear_failed.add(task.channel)
+                    self._may_clear.discard(task.channel)
+                else:
+                    self._clear_failed.discard(task.channel)
+        elif task.kind == "locate":
+            self._execute_locate(task.channel, task.position)
+
+    def _execute_station(self, index: int) -> None:
+        """单站批量扫频：只测待测频道（跳测规则已过滤），扫完即返回重排。"""
+        point = self.ledger.points[index]
+        pending = self._station_pending(index)
+        unknown = [c for c, b in self.belief.channels.items()
+                   if b.status is ChannelStatus.UNKNOWN]
+        self.skipped_measures += len(unknown) - len(pending)
+        # 当前频道优先，减少换频；同站 near 直接清除不打断扫频
+        pending.sort(key=lambda c: (c != self.client.state.channel, c))
+        for channel in pending:
+            if self.stop_reason is not None or self._count_limit_reached() \
+                    or self._virtual_cap_reached():
+                return
+            outcome = self.client.measure(point, channel)
+            self.ledger.mark_measured(channel, index)
+            self._record_measure(channel, point, outcome)
+            if outcome.result in (DIRECTION, NEAR):
+                self._may_clear.add(channel)
+            if outcome.result == NEAR:
+                region = self.belief.candidate_set(channel)
+                cert = clear_certificate(region, channel, self.config)
+                if cert.certified:
+                    if self._attempt_clear(channel, point, cert):
+                        self._clear_failed.discard(channel)
+                    else:
+                        self._clear_failed.add(channel)
+                        self._may_clear.discard(channel)
+                else:
+                    self._anomaly("near_without_certificate", channel, position=point)
+
+    def _execute_locate(self, channel: int, point: Vec2) -> None:
+        """单步定位测量：执行后立即重排（滚动时域），收敛则顺路清除。"""
+        pf = self.particles[channel]
+        before = len(pf)
+        outcome = self.client.measure(point, channel)
+        self._record_measure(channel, point, outcome)
+        self._may_clear.add(channel)
+        if outcome.result == NO_SIGNAL:
+            region = self.belief.candidate_set(channel)
+            if region is not None and safe_disk_radius(region, self.config) >= 0 \
+                    and math.dist(point, region.mec()[0]) \
+                    <= safe_disk_radius(region, self.config):
+                self._anomaly("no_signal_in_safe_disk", channel, position=point)
+        after = len(pf)
+        cert = self._best_certificate(channel)
+        if cert is not None and cert.certified:
+            if self._attempt_clear(channel, cert.center, cert):
+                self._clear_failed.discard(channel)
+                self._stall.pop(channel, None)
+                return
+            self._clear_failed.add(channel)
+            self._may_clear.discard(channel)
+        if after == before:
+            self._stall[channel] = self._stall.get(channel, 0) + 1
+            self.no_shrink_measures += 1   # 只是浪费不破坏守恒性，不进异常表
+        else:
+            self._stall[channel] = 0
+
+    # ------------------------------------------------------------ 感知与证书
+    def _record_measure(self, channel: int, position: Vec2, outcome) -> None:
+        """belief（凸证书）与 PF（幸存集）同步更新；PF 空即证缺席。"""
+        self.belief.update_measure(channel, position, outcome.result,
+                                   outcome.svd_deg)
+        self._measured_points.setdefault(channel, set()).add(_point_key(position))
+        self._clear_failed.discard(channel)   # 新证据落地：允许再次尝试清除
+        belief = self.belief.channels[channel]
+        if belief.status in (ChannelStatus.CLEARED, ChannelStatus.ABSENT):
+            return   # 已证毕：清除/缺席后的 no_signal 与距离无关，不进 PF
+        pf = self.particles[channel]
+        pf.apply_measure(position, outcome.result, outcome.svd_deg)
+        if not len(pf):
+            if belief.status is ChannelStatus.UNKNOWN:
+                self.belief.mark_absent(channel)
+                if channel not in self.pf_absent_channels:
+                    self.pf_absent_channels.append(channel)
+            else:
+                self._anomaly("pf_empty_while_detected", channel, position=position)
+
+    def _best_certificate(self, channel: int) -> ClearCertificate | None:
+        """凸证书优先；负观测挖洞使 PF 幸存集更紧时用网格证书补位。"""
+        region = self.belief.candidate_set(channel)
+        cert = clear_certificate(region, channel, self.config) \
+            if region is not None else None
+        if cert is not None and cert.certified:
+            return cert
+        if self.config.bayes.grid_cert_enabled:
+            pf = self.particles[channel]
+            if len(pf):
+                center, radius = pf.mec()
+                limit = (self.config.field.clear_radius_m - pf.margin_m
+                         - self.config.search.clear_margin_m)
+                if radius <= limit:
+                    return ClearCertificate(channel, center, radius, limit, True)
+        return cert
+
+    # ------------------------------------------------------------ 信息增益选点
+    def _select_point(self, channel: int) -> Vec2 | None:
+        """定位测量点：期望 log 幸存占比 + λ·移动时间 最小的候选。"""
+        bayes, search = self.config.bayes, self.config.search
+        pf = self.particles[channel]
+        if not len(pf):
+            return None
+        region = self.belief.candidate_set(channel)
+        center, radius = pf.mec()
+        measured = self._measured_points.get(channel, set())
+        candidates: list[Vec2] = []
+        safe = safe_disk_radius(region, self.config) if region is not None else -1.0
+        if region is not None and safe >= 0:
+            # 保证接收盘（凸证书口径）：任意候选必产生 direction/near
+            candidates = candidate_points(tuple(region.mec()[0]), safe,
+                                          search.candidate_rings,
+                                          search.candidate_angles)
+        else:
+            # 宽候选集：PF MEC 探索环（负观测挖洞后幸存集的包围圆）
+            for fraction in bayes.wide_rings:
+                ring = max(radius * fraction, 2.0 * pf.margin_m)
+                candidates.extend(candidate_points(center, ring, (1.0,),
+                                                   search.candidate_angles))
+            candidates.append(tuple(center))
+        candidates = [c for c in candidates if _point_key(c) not in measured]
+        if not candidates:
+            return None
+        subsample = pf.subsample(bayes.score_subsample)
+        stride = max(len(subsample) // bayes.mc_representatives, 1)
+        representatives = [subsample[k]
+                           for k in range(0, len(subsample), stride)]
+        position = self.client.state.position
+
+        def score(q: Vec2) -> float:
+            move = bayes.lambda_move_s * move_time(position, q, self.config.cost)
+            if bayes.score_mode == "entropy":
+                return (pf.expected_survival(q, subsample, representatives)
+                        + move)
+            return (pf.expected_posterior_radius(q, subsample, representatives)
+                    + move)
+
+        return min(candidates, key=lambda q: (score(q), _point_key(q)))
+
+    # ------------------------------------------------------------ 安全网与复扫
+    def _localize_and_clear(self, channel: int) -> bool:
+        """阻塞式定位子循环（resolve 阶段安全网）：PF 选点，失败退凸选点。"""
+        search = self.config.search
+        self._may_clear.add(channel)
+        for _ in range(search.max_localize_steps):
+            if self._virtual_cap_reached():
+                return False
+            cert = self._best_certificate(channel)
+            if cert is not None and cert.certified and channel in self._may_clear:
+                if self._attempt_clear(channel, cert.center, cert):
+                    self._clear_failed.discard(channel)
+                    return True
+                self._clear_failed.add(channel)
+                self._may_clear.discard(channel)
+                continue
+            point = self._select_point(channel)
+            if point is None:
+                region = self.belief.candidate_set(channel)
+                if region is None:
+                    return False
+                point = select_measurement_point(
+                    region, self.client.state.position, self.config).position
+            outcome = self.client.measure(point, channel)
+            self._record_measure(channel, point, outcome)
+            self._may_clear.add(channel)
+            if outcome.result == NO_SIGNAL:
+                region = self.belief.candidate_set(channel)
+                if region is not None and safe_disk_radius(region, self.config) >= 0 \
+                        and math.dist(point, region.mec()[0]) \
+                        <= safe_disk_radius(region, self.config):
+                    self._anomaly("no_signal_in_safe_disk", channel, position=point)
+            cert = self._best_certificate(channel)
+            if cert is not None and cert.certified:
+                if self._attempt_clear(channel, cert.center, cert):
+                    self._clear_failed.discard(channel)
+                    return True
+                self._clear_failed.add(channel)
+                self._may_clear.discard(channel)
+        return self.belief.channels[channel].status is ChannelStatus.CLEARED
+
+    def _persistent_round(self) -> None:
+        """一轮复扫：与基线一致的全站复测，但读数同步进 PF（防假设偏差）。"""
+        measured: set[tuple[int, int]] = set()
+        while self.stop_reason is None:
+            index = self._next_resweep_point(measured)
+            if index is None:
+                return
+            point = self.ledger.points[index]
+            for channel in self._resweep_channels_at(index, measured):
+                if self._virtual_cap_reached():
+                    return
+                measured.add((channel, index))
+                was_absent = (self.belief.channels[channel].status
+                              is ChannelStatus.ABSENT)
+                outcome = self.client.measure(point, channel)
+                self._record_measure(channel, point, outcome)
+                if was_absent and outcome.result in (DIRECTION, NEAR):
+                    # 复测推翻了缺席证明：守恒性留痕，按新证据定位清除。
+                    self._anomaly("absent_detected_on_resweep", channel,
+                                  position=point, result=outcome.result)
+                if outcome.result == DIRECTION:
+                    self._localize_and_clear(channel)
+                elif outcome.result == NEAR:
+                    cert = self._best_certificate(channel)
+                    if cert is not None and cert.certified:
+                        if not self._attempt_clear(channel, cert.center, cert):
+                            self._clear_failed.add(channel)
+                    else:
+                        self._anomaly("near_without_certificate", channel,
+                                      position=point)
+                if self.stop_reason is not None:
+                    return
+
+    # ------------------------------------------------------------ 收尾
+    def _summary(self, info) -> dict:
+        report = super()._summary(info)
+        report["strategy"] = "bayes"
+        report["skipped_measures"] = self.skipped_measures
+        report["no_shrink_measures"] = self.no_shrink_measures
+        report["pf_absent_channels"] = sorted(self.pf_absent_channels)
+        report["pf_alive_final"] = {
+            str(channel): len(self.particles[channel])
+            for channel in sorted(self.particles)
+            if self.belief.channels[channel].status is ChannelStatus.DETECTED}
+        return report
diff --git a/output/q3/optimization-20260911/baseline_config.json b/output/q3/optimization-20260911/baseline_config.json
new file mode 100644
index 0000000..5efb56a
--- /dev/null
+++ b/output/q3/optimization-20260911/baseline_config.json
@@ -0,0 +1,79 @@
+{
+  "field": {
+    "omega_radius_m": 1800.0,
+    "channel_min": 1,
+    "channel_max": 20,
+    "source_count_min": 10,
+    "source_count_max": 16,
+    "r_eff_min_m": 1000.0,
+    "r_eff_max_m": 1500.0,
+    "near_radius_m": 5.0,
+    "clear_radius_m": 20.0,
+    "bearing_error_half_deg": 1.0,
+    "bearing_decimals": 2,
+    "coord_abs_limit_m": 2000000.0,
+    "directional_half_angle_deg": 90.0,
+    "max_virtual_duration_s": 360000.0,
+    "max_real_duration_s": 1200.0,
+    "test_window_s": 1500.0
+  },
+  "cost": {
+    "speed_mps": 5.0,
+    "measure_s": 5.0,
+    "switch_s": 1.0,
+    "clear_success_s": 5.0,
+    "clear_fail_s": 3.0
+  },
+  "session": {
+    "arena_id": "default",
+    "base_url": "http://127.0.0.1:2026",
+    "robot_id_max_bytes": 64,
+    "request_id_max_bytes": 128,
+    "request_body_max_bytes": 65536,
+    "connect_timeout_s": 5.0,
+    "read_timeout_s": 15.0,
+    "max_attempts": 3,
+    "retry_backoff_s": 0.25,
+    "reserve_exit_s": 60.0,
+    "real_rtt_p95_s": 1.0,
+    "self_test_real_budget_s": 1800.0
+  },
+  "search": {
+    "grid_step_m": 700.0,
+    "grid_half_cells": 3,
+    "fallback_clear_grid_m": 20.0,
+    "bearing_rounding_margin_deg": 0.005,
+    "polygon_sides": 192,
+    "witness_spacing_m": 60.0,
+    "candidate_rings": [
+      0.0,
+      0.4,
+      0.75,
+      1.0
+    ],
+    "candidate_angles": 12,
+    "clear_margin_m": 0.5,
+    "max_localize_steps": 8,
+    "max_anomalies_per_channel": 3,
+    "max_blocked_probes": 4,
+    "fallback_max_cells": 400,
+    "persistent_search": false,
+    "virtual_reserve_s": 10000.0
+  },
+  "bayes": {
+    "particle_spacing_m": 25.0,
+    "score_mode": "entropy",
+    "score_subsample": 800,
+    "mc_representatives": 7,
+    "lambda_move_s": 0.0105,
+    "wide_rings": [
+      1.0,
+      1.5,
+      2.0
+    ],
+    "station_ring_radius_m": 1159.7,
+    "two_opt_enabled": true,
+    "two_opt_passes": 3,
+    "grid_cert_enabled": true
+  }
+}
\ No newline at end of file
diff --git a/output/q3/optimization-20260911/development/adaptive-discovery/boundary-10.json b/output/q3/optimization-20260911/development/adaptive-discovery/boundary-10.json
new file mode 100644
index 0000000..a670b4a
--- /dev/null
+++ b/output/q3/optimization-20260911/development/adaptive-discovery/boundary-10.json
@@ -0,0 +1 @@
+{"sources": [{"channel": 1, "x": 1558.8457268119896, "y": 899.9999999999999, "r_eff_m": 1000, "directional": false, "heading_deg": 0.0}, {"channel": 2, "x": 732.1259575364406, "y": 1644.3818237566816, "r_eff_m": 1000, "directional": false, "heading_deg": 0.0}, {"channel": 3, "x": -374.2410434719664, "y": 1760.6656813208501, "r_eff_m": 1000, "directional": false, "heading_deg": 0.0}, {"channel": 4, "x": -1337.6606858593095, "y": 1204.435091445945, "r_eff_m": 1000, "directional": false, "heading_deg": 0.0}, {"channel": 5, "x": -1790.139411662892, "y": 188.15123388177673, "r_eff_m": 1000, "directional": false, "heading_deg": 0.0}, {"channel": 6, "x": -1558.8457268119898, "y": -899.9999999999995, "r_eff_m": 1000, "directional": false, "heading_deg": 0.0}, {"channel": 7, "x": -732.1259575364402, "y": -1644.3818237566818, "r_eff_m": 1000, "directional": false, "heading_deg": 0.0}, {"channel": 8, "x": 374.241043471967, "y": -1760.6656813208501, "r_eff_m": 1000, "directional": false, "heading_deg": 0.0}, {"channel": 9, "x": 1337.6606858593098, "y": -1204.4350914459446, "r_eff_m": 1000, "directional": false, "heading_deg": 0.0}, {"channel": 10, "x": 1790.139411662892, "y": -188.15123388177614, "r_eff_m": 1000, "directional": false, "heading_deg": 0.0}], "error_seed": 20260910, "summary": {"completed": true, "stop_reason": "all_resolved", "exit_reason": "user_exit", "virtual_time_s": 4342.19, "accounted_virtual_time_s": 4342.19, "persistent_search": false, "cleared_channels": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10], "absent_channels": [11, 12, 13, 14, 15, 16, 17, 18, 19, 20], "unresolved_channels": [], "measures": 175, "clears": 10, "clear_success": 10, "total_requests": 185, "move_distance_m": 16291.0, "avg_locate_clear_time_s": 434.219, "step_totals": {"count": 187, "real_elapsed_total_s": 0.026, "real_since_enter_total_s": 0.655, "virtual_move_s": 3258.19, "virtual_switch_s": 159.0, "virtual_measure_action_s": 875.0, "virtual_clear_action_s": 50.0, "virtual_total_s": 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diff --git a/output/q3/optimization-20260911/development/adaptive-discovery/boundary-16.json b/output/q3/optimization-20260911/development/adaptive-discovery/boundary-16.json
new file mode 100644
index 0000000..9d3f74a
--- /dev/null
+++ b/output/q3/optimization-20260911/development/adaptive-discovery/boundary-16.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/adaptive-discovery/random-10-0.json b/output/q3/optimization-20260911/development/adaptive-discovery/random-10-0.json
new file mode 100644
index 0000000..c0b45e0
--- /dev/null
+++ b/output/q3/optimization-20260911/development/adaptive-discovery/random-10-0.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/adaptive-discovery/random-10-1.json b/output/q3/optimization-20260911/development/adaptive-discovery/random-10-1.json
new file mode 100644
index 0000000..e68098e
--- /dev/null
+++ b/output/q3/optimization-20260911/development/adaptive-discovery/random-10-1.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/adaptive-discovery/random-10-2.json b/output/q3/optimization-20260911/development/adaptive-discovery/random-10-2.json
new file mode 100644
index 0000000..6523989
--- /dev/null
+++ b/output/q3/optimization-20260911/development/adaptive-discovery/random-10-2.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/adaptive-discovery/random-10-3.json b/output/q3/optimization-20260911/development/adaptive-discovery/random-10-3.json
new file mode 100644
index 0000000..4cb6a10
--- /dev/null
+++ b/output/q3/optimization-20260911/development/adaptive-discovery/random-10-3.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/adaptive-discovery/random-10-4.json b/output/q3/optimization-20260911/development/adaptive-discovery/random-10-4.json
new file mode 100644
index 0000000..c650ea3
--- /dev/null
+++ b/output/q3/optimization-20260911/development/adaptive-discovery/random-10-4.json
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diff --git a/output/q3/optimization-20260911/development/adaptive-discovery/random-10-5.json b/output/q3/optimization-20260911/development/adaptive-discovery/random-10-5.json
new file mode 100644
index 0000000..d5e2123
--- /dev/null
+++ b/output/q3/optimization-20260911/development/adaptive-discovery/random-10-5.json
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diff --git a/output/q3/optimization-20260911/development/adaptive-discovery/random-16-0.json b/output/q3/optimization-20260911/development/adaptive-discovery/random-16-0.json
new file mode 100644
index 0000000..ae3a655
--- /dev/null
+++ b/output/q3/optimization-20260911/development/adaptive-discovery/random-16-0.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/adaptive-discovery/random-16-1.json b/output/q3/optimization-20260911/development/adaptive-discovery/random-16-1.json
new file mode 100644
index 0000000..69a7a86
--- /dev/null
+++ b/output/q3/optimization-20260911/development/adaptive-discovery/random-16-1.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/adaptive-discovery/random-16-2.json b/output/q3/optimization-20260911/development/adaptive-discovery/random-16-2.json
new file mode 100644
index 0000000..0f31719
--- /dev/null
+++ b/output/q3/optimization-20260911/development/adaptive-discovery/random-16-2.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/adaptive-discovery/random-16-3.json b/output/q3/optimization-20260911/development/adaptive-discovery/random-16-3.json
new file mode 100644
index 0000000..7876ef8
--- /dev/null
+++ b/output/q3/optimization-20260911/development/adaptive-discovery/random-16-3.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/adaptive-discovery/random-16-4.json b/output/q3/optimization-20260911/development/adaptive-discovery/random-16-4.json
new file mode 100644
index 0000000..124cde4
--- /dev/null
+++ b/output/q3/optimization-20260911/development/adaptive-discovery/random-16-4.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/adaptive-discovery/random-16-5.json b/output/q3/optimization-20260911/development/adaptive-discovery/random-16-5.json
new file mode 100644
index 0000000..0b7ed33
--- /dev/null
+++ b/output/q3/optimization-20260911/development/adaptive-discovery/random-16-5.json
@@ -0,0 +1 @@
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new file mode 100644
index 0000000..a307aa2
--- /dev/null
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+}
\ No newline at end of file
diff --git a/output/q3/optimization-20260911/development/baseline/boundary-10.json b/output/q3/optimization-20260911/development/baseline/boundary-10.json
new file mode 100644
index 0000000..97f3276
--- /dev/null
+++ b/output/q3/optimization-20260911/development/baseline/boundary-10.json
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diff --git a/output/q3/optimization-20260911/development/baseline/boundary-16.json b/output/q3/optimization-20260911/development/baseline/boundary-16.json
new file mode 100644
index 0000000..0eb7386
--- /dev/null
+++ b/output/q3/optimization-20260911/development/baseline/boundary-16.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/baseline/random-10-0.json b/output/q3/optimization-20260911/development/baseline/random-10-0.json
new file mode 100644
index 0000000..da180bf
--- /dev/null
+++ b/output/q3/optimization-20260911/development/baseline/random-10-0.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/baseline/random-10-1.json b/output/q3/optimization-20260911/development/baseline/random-10-1.json
new file mode 100644
index 0000000..5f0d4a0
--- /dev/null
+++ b/output/q3/optimization-20260911/development/baseline/random-10-1.json
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diff --git a/output/q3/optimization-20260911/development/baseline/random-10-2.json b/output/q3/optimization-20260911/development/baseline/random-10-2.json
new file mode 100644
index 0000000..3e5c9a1
--- /dev/null
+++ b/output/q3/optimization-20260911/development/baseline/random-10-2.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/baseline/random-10-3.json b/output/q3/optimization-20260911/development/baseline/random-10-3.json
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+++ b/output/q3/optimization-20260911/development/baseline/random-10-3.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/baseline/random-10-4.json b/output/q3/optimization-20260911/development/baseline/random-10-4.json
new file mode 100644
index 0000000..b90a13b
--- /dev/null
+++ b/output/q3/optimization-20260911/development/baseline/random-10-4.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/baseline/random-10-5.json b/output/q3/optimization-20260911/development/baseline/random-10-5.json
new file mode 100644
index 0000000..691fdce
--- /dev/null
+++ b/output/q3/optimization-20260911/development/baseline/random-10-5.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/baseline/random-16-0.json b/output/q3/optimization-20260911/development/baseline/random-16-0.json
new file mode 100644
index 0000000..98881bb
--- /dev/null
+++ b/output/q3/optimization-20260911/development/baseline/random-16-0.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/baseline/random-16-1.json b/output/q3/optimization-20260911/development/baseline/random-16-1.json
new file mode 100644
index 0000000..75254d6
--- /dev/null
+++ b/output/q3/optimization-20260911/development/baseline/random-16-1.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/baseline/random-16-2.json b/output/q3/optimization-20260911/development/baseline/random-16-2.json
new file mode 100644
index 0000000..ff4548f
--- /dev/null
+++ b/output/q3/optimization-20260911/development/baseline/random-16-2.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/baseline/random-16-3.json b/output/q3/optimization-20260911/development/baseline/random-16-3.json
new file mode 100644
index 0000000..108aaaf
--- /dev/null
+++ b/output/q3/optimization-20260911/development/baseline/random-16-3.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/baseline/random-16-4.json b/output/q3/optimization-20260911/development/baseline/random-16-4.json
new file mode 100644
index 0000000..a12d30c
--- /dev/null
+++ b/output/q3/optimization-20260911/development/baseline/random-16-4.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/baseline/random-16-5.json b/output/q3/optimization-20260911/development/baseline/random-16-5.json
new file mode 100644
index 0000000..764a90c
--- /dev/null
+++ b/output/q3/optimization-20260911/development/baseline/random-16-5.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/baseline/results.json b/output/q3/optimization-20260911/development/baseline/results.json
new file mode 100644
index 0000000..fb06f66
--- /dev/null
+++ b/output/q3/optimization-20260911/development/baseline/results.json
@@ -0,0 +1,257 @@
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+}
\ No newline at end of file
diff --git a/output/q3/optimization-20260911/development/crossing-frame/boundary-10.json b/output/q3/optimization-20260911/development/crossing-frame/boundary-10.json
new file mode 100644
index 0000000..00d7fd2
--- /dev/null
+++ b/output/q3/optimization-20260911/development/crossing-frame/boundary-10.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/crossing-frame/boundary-16.json b/output/q3/optimization-20260911/development/crossing-frame/boundary-16.json
new file mode 100644
index 0000000..e28415e
--- /dev/null
+++ b/output/q3/optimization-20260911/development/crossing-frame/boundary-16.json
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diff --git a/output/q3/optimization-20260911/development/crossing-frame/random-10-0.json b/output/q3/optimization-20260911/development/crossing-frame/random-10-0.json
new file mode 100644
index 0000000..7ff1ced
--- /dev/null
+++ b/output/q3/optimization-20260911/development/crossing-frame/random-10-0.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/crossing-frame/random-10-1.json b/output/q3/optimization-20260911/development/crossing-frame/random-10-1.json
new file mode 100644
index 0000000..750d384
--- /dev/null
+++ b/output/q3/optimization-20260911/development/crossing-frame/random-10-1.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/crossing-frame/random-10-2.json b/output/q3/optimization-20260911/development/crossing-frame/random-10-2.json
new file mode 100644
index 0000000..c39a89c
--- /dev/null
+++ b/output/q3/optimization-20260911/development/crossing-frame/random-10-2.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/crossing-frame/random-10-3.json b/output/q3/optimization-20260911/development/crossing-frame/random-10-3.json
new file mode 100644
index 0000000..6e1f8f7
--- /dev/null
+++ b/output/q3/optimization-20260911/development/crossing-frame/random-10-3.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/crossing-frame/random-10-4.json b/output/q3/optimization-20260911/development/crossing-frame/random-10-4.json
new file mode 100644
index 0000000..6693da9
--- /dev/null
+++ b/output/q3/optimization-20260911/development/crossing-frame/random-10-4.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/crossing-frame/random-10-5.json b/output/q3/optimization-20260911/development/crossing-frame/random-10-5.json
new file mode 100644
index 0000000..e6f1f6c
--- /dev/null
+++ b/output/q3/optimization-20260911/development/crossing-frame/random-10-5.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/crossing-frame/random-16-0.json b/output/q3/optimization-20260911/development/crossing-frame/random-16-0.json
new file mode 100644
index 0000000..d66c637
--- /dev/null
+++ b/output/q3/optimization-20260911/development/crossing-frame/random-16-0.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/crossing-frame/random-16-1.json b/output/q3/optimization-20260911/development/crossing-frame/random-16-1.json
new file mode 100644
index 0000000..fcd846c
--- /dev/null
+++ b/output/q3/optimization-20260911/development/crossing-frame/random-16-1.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/crossing-frame/random-16-2.json b/output/q3/optimization-20260911/development/crossing-frame/random-16-2.json
new file mode 100644
index 0000000..4ee4403
--- /dev/null
+++ b/output/q3/optimization-20260911/development/crossing-frame/random-16-2.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/crossing-frame/random-16-3.json b/output/q3/optimization-20260911/development/crossing-frame/random-16-3.json
new file mode 100644
index 0000000..a2f07ae
--- /dev/null
+++ b/output/q3/optimization-20260911/development/crossing-frame/random-16-3.json
@@ -0,0 +1 @@
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index 0000000..168a516
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+++ b/output/q3/optimization-20260911/development/crossing-frame/random-16-4.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/crossing-frame/random-16-5.json b/output/q3/optimization-20260911/development/crossing-frame/random-16-5.json
new file mode 100644
index 0000000..0d0091d
--- /dev/null
+++ b/output/q3/optimization-20260911/development/crossing-frame/random-16-5.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/crossing-frame/results.json b/output/q3/optimization-20260911/development/crossing-frame/results.json
new file mode 100644
index 0000000..222011c
--- /dev/null
+++ b/output/q3/optimization-20260911/development/crossing-frame/results.json
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+}
\ No newline at end of file
diff --git a/output/q3/optimization-20260911/development/improved/boundary-10.json b/output/q3/optimization-20260911/development/improved/boundary-10.json
new file mode 100644
index 0000000..6362e67
--- /dev/null
+++ b/output/q3/optimization-20260911/development/improved/boundary-10.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/improved/boundary-16.json b/output/q3/optimization-20260911/development/improved/boundary-16.json
new file mode 100644
index 0000000..43f0df9
--- /dev/null
+++ b/output/q3/optimization-20260911/development/improved/boundary-16.json
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diff --git a/output/q3/optimization-20260911/development/improved/random-10-0.json b/output/q3/optimization-20260911/development/improved/random-10-0.json
new file mode 100644
index 0000000..e6475cf
--- /dev/null
+++ b/output/q3/optimization-20260911/development/improved/random-10-0.json
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diff --git a/output/q3/optimization-20260911/development/improved/random-10-1.json b/output/q3/optimization-20260911/development/improved/random-10-1.json
new file mode 100644
index 0000000..cefcf3e
--- /dev/null
+++ b/output/q3/optimization-20260911/development/improved/random-10-1.json
@@ -0,0 +1 @@
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index 0000000..88c38b5
--- /dev/null
+++ b/output/q3/optimization-20260911/development/improved/random-10-2.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/improved/random-10-3.json b/output/q3/optimization-20260911/development/improved/random-10-3.json
new file mode 100644
index 0000000..021c10b
--- /dev/null
+++ b/output/q3/optimization-20260911/development/improved/random-10-3.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/improved/random-10-4.json b/output/q3/optimization-20260911/development/improved/random-10-4.json
new file mode 100644
index 0000000..18bb73c
--- /dev/null
+++ b/output/q3/optimization-20260911/development/improved/random-10-4.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/improved/random-10-5.json b/output/q3/optimization-20260911/development/improved/random-10-5.json
new file mode 100644
index 0000000..b08c854
--- /dev/null
+++ b/output/q3/optimization-20260911/development/improved/random-10-5.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/improved/random-16-0.json b/output/q3/optimization-20260911/development/improved/random-16-0.json
new file mode 100644
index 0000000..67aa55b
--- /dev/null
+++ b/output/q3/optimization-20260911/development/improved/random-16-0.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/improved/random-16-1.json b/output/q3/optimization-20260911/development/improved/random-16-1.json
new file mode 100644
index 0000000..b4b6ed6
--- /dev/null
+++ b/output/q3/optimization-20260911/development/improved/random-16-1.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/improved/random-16-2.json b/output/q3/optimization-20260911/development/improved/random-16-2.json
new file mode 100644
index 0000000..5de5548
--- /dev/null
+++ b/output/q3/optimization-20260911/development/improved/random-16-2.json
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diff --git a/output/q3/optimization-20260911/development/improved/random-16-3.json b/output/q3/optimization-20260911/development/improved/random-16-3.json
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+++ b/output/q3/optimization-20260911/development/improved/random-16-3.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/improved/random-16-4.json b/output/q3/optimization-20260911/development/improved/random-16-4.json
new file mode 100644
index 0000000..e18b91d
--- /dev/null
+++ b/output/q3/optimization-20260911/development/improved/random-16-4.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/improved/random-16-5.json b/output/q3/optimization-20260911/development/improved/random-16-5.json
new file mode 100644
index 0000000..1ae046b
--- /dev/null
+++ b/output/q3/optimization-20260911/development/improved/random-16-5.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/improved/results.json b/output/q3/optimization-20260911/development/improved/results.json
new file mode 100644
index 0000000..e60e76e
--- /dev/null
+++ b/output/q3/optimization-20260911/development/improved/results.json
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+}
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diff --git a/output/q3/optimization-20260911/development/priced-route/boundary-10.json b/output/q3/optimization-20260911/development/priced-route/boundary-10.json
new file mode 100644
index 0000000..e86b528
--- /dev/null
+++ b/output/q3/optimization-20260911/development/priced-route/boundary-10.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/priced-route/boundary-16.json b/output/q3/optimization-20260911/development/priced-route/boundary-16.json
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+++ b/output/q3/optimization-20260911/development/priced-route/boundary-16.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/priced-route/random-10-0.json b/output/q3/optimization-20260911/development/priced-route/random-10-0.json
new file mode 100644
index 0000000..b1c07b7
--- /dev/null
+++ b/output/q3/optimization-20260911/development/priced-route/random-10-0.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/priced-route/random-10-1.json b/output/q3/optimization-20260911/development/priced-route/random-10-1.json
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+++ b/output/q3/optimization-20260911/development/priced-route/random-10-1.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/priced-route/random-10-2.json b/output/q3/optimization-20260911/development/priced-route/random-10-2.json
new file mode 100644
index 0000000..6d1864e
--- /dev/null
+++ b/output/q3/optimization-20260911/development/priced-route/random-10-2.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/priced-route/random-10-3.json b/output/q3/optimization-20260911/development/priced-route/random-10-3.json
new file mode 100644
index 0000000..98866a7
--- /dev/null
+++ b/output/q3/optimization-20260911/development/priced-route/random-10-3.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/priced-route/random-10-4.json b/output/q3/optimization-20260911/development/priced-route/random-10-4.json
new file mode 100644
index 0000000..85a01d4
--- /dev/null
+++ b/output/q3/optimization-20260911/development/priced-route/random-10-4.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/priced-route/random-10-5.json b/output/q3/optimization-20260911/development/priced-route/random-10-5.json
new file mode 100644
index 0000000..5cecaa0
--- /dev/null
+++ b/output/q3/optimization-20260911/development/priced-route/random-10-5.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/priced-route/random-16-0.json b/output/q3/optimization-20260911/development/priced-route/random-16-0.json
new file mode 100644
index 0000000..e339b39
--- /dev/null
+++ b/output/q3/optimization-20260911/development/priced-route/random-16-0.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/priced-route/random-16-1.json b/output/q3/optimization-20260911/development/priced-route/random-16-1.json
new file mode 100644
index 0000000..420d9fd
--- /dev/null
+++ b/output/q3/optimization-20260911/development/priced-route/random-16-1.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/priced-route/random-16-2.json b/output/q3/optimization-20260911/development/priced-route/random-16-2.json
new file mode 100644
index 0000000..ba38b62
--- /dev/null
+++ b/output/q3/optimization-20260911/development/priced-route/random-16-2.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/priced-route/random-16-3.json b/output/q3/optimization-20260911/development/priced-route/random-16-3.json
new file mode 100644
index 0000000..dfa2f85
--- /dev/null
+++ b/output/q3/optimization-20260911/development/priced-route/random-16-3.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/priced-route/random-16-4.json b/output/q3/optimization-20260911/development/priced-route/random-16-4.json
new file mode 100644
index 0000000..abcec08
--- /dev/null
+++ b/output/q3/optimization-20260911/development/priced-route/random-16-4.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/priced-route/random-16-5.json b/output/q3/optimization-20260911/development/priced-route/random-16-5.json
new file mode 100644
index 0000000..4b83a72
--- /dev/null
+++ b/output/q3/optimization-20260911/development/priced-route/random-16-5.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/priced-route/results.json b/output/q3/optimization-20260911/development/priced-route/results.json
new file mode 100644
index 0000000..df0347e
--- /dev/null
+++ b/output/q3/optimization-20260911/development/priced-route/results.json
@@ -0,0 +1,259 @@
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+  }
+}
\ No newline at end of file
diff --git a/output/q3/optimization-20260911/development/route-endpoint/boundary-10.json b/output/q3/optimization-20260911/development/route-endpoint/boundary-10.json
new file mode 100644
index 0000000..903ab49
--- /dev/null
+++ b/output/q3/optimization-20260911/development/route-endpoint/boundary-10.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/route-endpoint/boundary-16.json b/output/q3/optimization-20260911/development/route-endpoint/boundary-16.json
new file mode 100644
index 0000000..4460e7f
--- /dev/null
+++ b/output/q3/optimization-20260911/development/route-endpoint/boundary-16.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/route-endpoint/random-10-0.json b/output/q3/optimization-20260911/development/route-endpoint/random-10-0.json
new file mode 100644
index 0000000..acf35da
--- /dev/null
+++ b/output/q3/optimization-20260911/development/route-endpoint/random-10-0.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/route-endpoint/random-10-1.json b/output/q3/optimization-20260911/development/route-endpoint/random-10-1.json
new file mode 100644
index 0000000..48cdf0f
--- /dev/null
+++ b/output/q3/optimization-20260911/development/route-endpoint/random-10-1.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/route-endpoint/random-10-2.json b/output/q3/optimization-20260911/development/route-endpoint/random-10-2.json
new file mode 100644
index 0000000..6239e46
--- /dev/null
+++ b/output/q3/optimization-20260911/development/route-endpoint/random-10-2.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/output/q3/optimization-20260911/development/route-endpoint/random-10-3.json b/output/q3/optimization-20260911/development/route-endpoint/random-10-3.json
new file mode 100644
index 0000000..d5dbdb0
--- /dev/null
+++ b/output/q3/optimization-20260911/development/route-endpoint/random-10-3.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/route-endpoint/random-10-4.json b/output/q3/optimization-20260911/development/route-endpoint/random-10-4.json
new file mode 100644
index 0000000..bf6de8d
--- /dev/null
+++ b/output/q3/optimization-20260911/development/route-endpoint/random-10-4.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/route-endpoint/random-10-5.json b/output/q3/optimization-20260911/development/route-endpoint/random-10-5.json
new file mode 100644
index 0000000..5dfce8f
--- /dev/null
+++ b/output/q3/optimization-20260911/development/route-endpoint/random-10-5.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/route-endpoint/random-16-0.json b/output/q3/optimization-20260911/development/route-endpoint/random-16-0.json
new file mode 100644
index 0000000..4c525f5
--- /dev/null
+++ b/output/q3/optimization-20260911/development/route-endpoint/random-16-0.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/route-endpoint/random-16-1.json b/output/q3/optimization-20260911/development/route-endpoint/random-16-1.json
new file mode 100644
index 0000000..ab9b010
--- /dev/null
+++ b/output/q3/optimization-20260911/development/route-endpoint/random-16-1.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/output/q3/optimization-20260911/development/route-endpoint/random-16-2.json b/output/q3/optimization-20260911/development/route-endpoint/random-16-2.json
new file mode 100644
index 0000000..cf537db
--- /dev/null
+++ b/output/q3/optimization-20260911/development/route-endpoint/random-16-2.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/route-endpoint/random-16-3.json b/output/q3/optimization-20260911/development/route-endpoint/random-16-3.json
new file mode 100644
index 0000000..1cbf865
--- /dev/null
+++ b/output/q3/optimization-20260911/development/route-endpoint/random-16-3.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/route-endpoint/random-16-4.json b/output/q3/optimization-20260911/development/route-endpoint/random-16-4.json
new file mode 100644
index 0000000..efee6b2
--- /dev/null
+++ b/output/q3/optimization-20260911/development/route-endpoint/random-16-4.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/output/q3/optimization-20260911/development/route-endpoint/random-16-5.json b/output/q3/optimization-20260911/development/route-endpoint/random-16-5.json
new file mode 100644
index 0000000..a878df0
--- /dev/null
+++ b/output/q3/optimization-20260911/development/route-endpoint/random-16-5.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/route-endpoint/results.json b/output/q3/optimization-20260911/development/route-endpoint/results.json
new file mode 100644
index 0000000..30dd387
--- /dev/null
+++ b/output/q3/optimization-20260911/development/route-endpoint/results.json
@@ -0,0 +1,259 @@
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+  }
+}
\ No newline at end of file
diff --git a/output/q3/optimization-20260911/development/stop-bearings/boundary-10.json b/output/q3/optimization-20260911/development/stop-bearings/boundary-10.json
new file mode 100644
index 0000000..28915cf
--- /dev/null
+++ b/output/q3/optimization-20260911/development/stop-bearings/boundary-10.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/stop-bearings/boundary-16.json b/output/q3/optimization-20260911/development/stop-bearings/boundary-16.json
new file mode 100644
index 0000000..e910866
--- /dev/null
+++ b/output/q3/optimization-20260911/development/stop-bearings/boundary-16.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/stop-bearings/random-10-0.json b/output/q3/optimization-20260911/development/stop-bearings/random-10-0.json
new file mode 100644
index 0000000..1854f48
--- /dev/null
+++ b/output/q3/optimization-20260911/development/stop-bearings/random-10-0.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/stop-bearings/random-10-1.json b/output/q3/optimization-20260911/development/stop-bearings/random-10-1.json
new file mode 100644
index 0000000..15deb85
--- /dev/null
+++ b/output/q3/optimization-20260911/development/stop-bearings/random-10-1.json
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diff --git a/output/q3/optimization-20260911/development/stop-bearings/random-10-2.json b/output/q3/optimization-20260911/development/stop-bearings/random-10-2.json
new file mode 100644
index 0000000..34cad63
--- /dev/null
+++ b/output/q3/optimization-20260911/development/stop-bearings/random-10-2.json
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diff --git a/output/q3/optimization-20260911/development/stop-bearings/random-10-3.json b/output/q3/optimization-20260911/development/stop-bearings/random-10-3.json
new file mode 100644
index 0000000..171c213
--- /dev/null
+++ b/output/q3/optimization-20260911/development/stop-bearings/random-10-3.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/stop-bearings/random-10-4.json b/output/q3/optimization-20260911/development/stop-bearings/random-10-4.json
new file mode 100644
index 0000000..d3e946d
--- /dev/null
+++ b/output/q3/optimization-20260911/development/stop-bearings/random-10-4.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/stop-bearings/random-10-5.json b/output/q3/optimization-20260911/development/stop-bearings/random-10-5.json
new file mode 100644
index 0000000..95671b9
--- /dev/null
+++ b/output/q3/optimization-20260911/development/stop-bearings/random-10-5.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/stop-bearings/random-16-0.json b/output/q3/optimization-20260911/development/stop-bearings/random-16-0.json
new file mode 100644
index 0000000..966c8f0
--- /dev/null
+++ b/output/q3/optimization-20260911/development/stop-bearings/random-16-0.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/stop-bearings/random-16-1.json b/output/q3/optimization-20260911/development/stop-bearings/random-16-1.json
new file mode 100644
index 0000000..c238591
--- /dev/null
+++ b/output/q3/optimization-20260911/development/stop-bearings/random-16-1.json
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diff --git a/output/q3/optimization-20260911/development/stop-bearings/random-16-2.json b/output/q3/optimization-20260911/development/stop-bearings/random-16-2.json
new file mode 100644
index 0000000..e9419f1
--- /dev/null
+++ b/output/q3/optimization-20260911/development/stop-bearings/random-16-2.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/stop-bearings/random-16-3.json b/output/q3/optimization-20260911/development/stop-bearings/random-16-3.json
new file mode 100644
index 0000000..b7f0156
--- /dev/null
+++ b/output/q3/optimization-20260911/development/stop-bearings/random-16-3.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/stop-bearings/random-16-4.json b/output/q3/optimization-20260911/development/stop-bearings/random-16-4.json
new file mode 100644
index 0000000..88640b3
--- /dev/null
+++ b/output/q3/optimization-20260911/development/stop-bearings/random-16-4.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/stop-bearings/random-16-5.json b/output/q3/optimization-20260911/development/stop-bearings/random-16-5.json
new file mode 100644
index 0000000..4826a86
--- /dev/null
+++ b/output/q3/optimization-20260911/development/stop-bearings/random-16-5.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/stop-bearings/results.json b/output/q3/optimization-20260911/development/stop-bearings/results.json
new file mode 100644
index 0000000..79cfd99
--- /dev/null
+++ b/output/q3/optimization-20260911/development/stop-bearings/results.json
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+  }
+}
\ No newline at end of file
diff --git a/output/q3/optimization-20260911/development/terminal-move/boundary-10.json b/output/q3/optimization-20260911/development/terminal-move/boundary-10.json
new file mode 100644
index 0000000..4d7ef8c
--- /dev/null
+++ b/output/q3/optimization-20260911/development/terminal-move/boundary-10.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/terminal-move/boundary-16.json b/output/q3/optimization-20260911/development/terminal-move/boundary-16.json
new file mode 100644
index 0000000..af5b9ca
--- /dev/null
+++ b/output/q3/optimization-20260911/development/terminal-move/boundary-16.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/terminal-move/random-10-0.json b/output/q3/optimization-20260911/development/terminal-move/random-10-0.json
new file mode 100644
index 0000000..e86e910
--- /dev/null
+++ b/output/q3/optimization-20260911/development/terminal-move/random-10-0.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/terminal-move/random-10-1.json b/output/q3/optimization-20260911/development/terminal-move/random-10-1.json
new file mode 100644
index 0000000..aa3ac3b
--- /dev/null
+++ b/output/q3/optimization-20260911/development/terminal-move/random-10-1.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/terminal-move/random-10-2.json b/output/q3/optimization-20260911/development/terminal-move/random-10-2.json
new file mode 100644
index 0000000..fc23de9
--- /dev/null
+++ b/output/q3/optimization-20260911/development/terminal-move/random-10-2.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/terminal-move/random-10-3.json b/output/q3/optimization-20260911/development/terminal-move/random-10-3.json
new file mode 100644
index 0000000..c38ec82
--- /dev/null
+++ b/output/q3/optimization-20260911/development/terminal-move/random-10-3.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/terminal-move/random-10-4.json b/output/q3/optimization-20260911/development/terminal-move/random-10-4.json
new file mode 100644
index 0000000..a7ab347
--- /dev/null
+++ b/output/q3/optimization-20260911/development/terminal-move/random-10-4.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/terminal-move/random-10-5.json b/output/q3/optimization-20260911/development/terminal-move/random-10-5.json
new file mode 100644
index 0000000..5b045f2
--- /dev/null
+++ b/output/q3/optimization-20260911/development/terminal-move/random-10-5.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/terminal-move/random-16-0.json b/output/q3/optimization-20260911/development/terminal-move/random-16-0.json
new file mode 100644
index 0000000..d4ae099
--- /dev/null
+++ b/output/q3/optimization-20260911/development/terminal-move/random-16-0.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/terminal-move/random-16-1.json b/output/q3/optimization-20260911/development/terminal-move/random-16-1.json
new file mode 100644
index 0000000..a29c6da
--- /dev/null
+++ b/output/q3/optimization-20260911/development/terminal-move/random-16-1.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/terminal-move/random-16-2.json b/output/q3/optimization-20260911/development/terminal-move/random-16-2.json
new file mode 100644
index 0000000..a876efc
--- /dev/null
+++ b/output/q3/optimization-20260911/development/terminal-move/random-16-2.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/output/q3/optimization-20260911/development/terminal-move/random-16-3.json b/output/q3/optimization-20260911/development/terminal-move/random-16-3.json
new file mode 100644
index 0000000..516c143
--- /dev/null
+++ b/output/q3/optimization-20260911/development/terminal-move/random-16-3.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/terminal-move/random-16-4.json b/output/q3/optimization-20260911/development/terminal-move/random-16-4.json
new file mode 100644
index 0000000..d46cc1a
--- /dev/null
+++ b/output/q3/optimization-20260911/development/terminal-move/random-16-4.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/terminal-move/random-16-5.json b/output/q3/optimization-20260911/development/terminal-move/random-16-5.json
new file mode 100644
index 0000000..ff3bf31
--- /dev/null
+++ b/output/q3/optimization-20260911/development/terminal-move/random-16-5.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/development/terminal-move/results.json b/output/q3/optimization-20260911/development/terminal-move/results.json
new file mode 100644
index 0000000..5a6b9c4
--- /dev/null
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+}
\ No newline at end of file
diff --git a/output/q3/optimization-20260911/validation/baseline/holdout-10-100.json b/output/q3/optimization-20260911/validation/baseline/holdout-10-100.json
new file mode 100644
index 0000000..c716ccf
--- /dev/null
+++ b/output/q3/optimization-20260911/validation/baseline/holdout-10-100.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/validation/baseline/holdout-10-101.json b/output/q3/optimization-20260911/validation/baseline/holdout-10-101.json
new file mode 100644
index 0000000..0e6bbe9
--- /dev/null
+++ b/output/q3/optimization-20260911/validation/baseline/holdout-10-101.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/validation/baseline/holdout-10-102.json b/output/q3/optimization-20260911/validation/baseline/holdout-10-102.json
new file mode 100644
index 0000000..60048c4
--- /dev/null
+++ b/output/q3/optimization-20260911/validation/baseline/holdout-10-102.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/validation/baseline/holdout-10-103.json b/output/q3/optimization-20260911/validation/baseline/holdout-10-103.json
new file mode 100644
index 0000000..775cda3
--- /dev/null
+++ b/output/q3/optimization-20260911/validation/baseline/holdout-10-103.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/validation/baseline/holdout-10-104.json b/output/q3/optimization-20260911/validation/baseline/holdout-10-104.json
new file mode 100644
index 0000000..85a904e
--- /dev/null
+++ b/output/q3/optimization-20260911/validation/baseline/holdout-10-104.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/validation/baseline/holdout-10-105.json b/output/q3/optimization-20260911/validation/baseline/holdout-10-105.json
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+++ b/output/q3/optimization-20260911/validation/baseline/holdout-10-105.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/validation/baseline/holdout-13-100.json b/output/q3/optimization-20260911/validation/baseline/holdout-13-100.json
new file mode 100644
index 0000000..235bac7
--- /dev/null
+++ b/output/q3/optimization-20260911/validation/baseline/holdout-13-100.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/validation/baseline/holdout-13-101.json b/output/q3/optimization-20260911/validation/baseline/holdout-13-101.json
new file mode 100644
index 0000000..dede5eb
--- /dev/null
+++ b/output/q3/optimization-20260911/validation/baseline/holdout-13-101.json
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diff --git a/output/q3/optimization-20260911/validation/baseline/holdout-13-102.json b/output/q3/optimization-20260911/validation/baseline/holdout-13-102.json
new file mode 100644
index 0000000..7c719b8
--- /dev/null
+++ b/output/q3/optimization-20260911/validation/baseline/holdout-13-102.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/validation/baseline/holdout-13-103.json b/output/q3/optimization-20260911/validation/baseline/holdout-13-103.json
new file mode 100644
index 0000000..4bcd5f9
--- /dev/null
+++ b/output/q3/optimization-20260911/validation/baseline/holdout-13-103.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/validation/baseline/holdout-13-104.json b/output/q3/optimization-20260911/validation/baseline/holdout-13-104.json
new file mode 100644
index 0000000..6ba9b51
--- /dev/null
+++ b/output/q3/optimization-20260911/validation/baseline/holdout-13-104.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/validation/baseline/holdout-13-105.json b/output/q3/optimization-20260911/validation/baseline/holdout-13-105.json
new file mode 100644
index 0000000..d063327
--- /dev/null
+++ b/output/q3/optimization-20260911/validation/baseline/holdout-13-105.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/validation/baseline/holdout-16-100.json b/output/q3/optimization-20260911/validation/baseline/holdout-16-100.json
new file mode 100644
index 0000000..e3ad118
--- /dev/null
+++ b/output/q3/optimization-20260911/validation/baseline/holdout-16-100.json
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diff --git a/output/q3/optimization-20260911/validation/baseline/holdout-16-101.json b/output/q3/optimization-20260911/validation/baseline/holdout-16-101.json
new file mode 100644
index 0000000..43eec94
--- /dev/null
+++ b/output/q3/optimization-20260911/validation/baseline/holdout-16-101.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/validation/baseline/holdout-16-102.json b/output/q3/optimization-20260911/validation/baseline/holdout-16-102.json
new file mode 100644
index 0000000..2e8b34e
--- /dev/null
+++ b/output/q3/optimization-20260911/validation/baseline/holdout-16-102.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/validation/baseline/holdout-16-103.json b/output/q3/optimization-20260911/validation/baseline/holdout-16-103.json
new file mode 100644
index 0000000..49f94ff
--- /dev/null
+++ b/output/q3/optimization-20260911/validation/baseline/holdout-16-103.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/validation/baseline/holdout-16-104.json b/output/q3/optimization-20260911/validation/baseline/holdout-16-104.json
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+++ b/output/q3/optimization-20260911/validation/baseline/holdout-16-104.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/validation/baseline/holdout-16-105.json b/output/q3/optimization-20260911/validation/baseline/holdout-16-105.json
new file mode 100644
index 0000000..040ba40
--- /dev/null
+++ b/output/q3/optimization-20260911/validation/baseline/holdout-16-105.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/validation/baseline/results.json b/output/q3/optimization-20260911/validation/baseline/results.json
new file mode 100644
index 0000000..2be7434
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+}
\ No newline at end of file
diff --git a/output/q3/optimization-20260911/validation/improved/holdout-10-100.json b/output/q3/optimization-20260911/validation/improved/holdout-10-100.json
new file mode 100644
index 0000000..df80f06
--- /dev/null
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diff --git a/output/q3/optimization-20260911/validation/improved/holdout-10-101.json b/output/q3/optimization-20260911/validation/improved/holdout-10-101.json
new file mode 100644
index 0000000..931e9d9
--- /dev/null
+++ b/output/q3/optimization-20260911/validation/improved/holdout-10-101.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/validation/improved/holdout-10-102.json b/output/q3/optimization-20260911/validation/improved/holdout-10-102.json
new file mode 100644
index 0000000..24f3f74
--- /dev/null
+++ b/output/q3/optimization-20260911/validation/improved/holdout-10-102.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/validation/improved/holdout-10-103.json b/output/q3/optimization-20260911/validation/improved/holdout-10-103.json
new file mode 100644
index 0000000..a29380d
--- /dev/null
+++ b/output/q3/optimization-20260911/validation/improved/holdout-10-103.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/validation/improved/holdout-10-104.json b/output/q3/optimization-20260911/validation/improved/holdout-10-104.json
new file mode 100644
index 0000000..9ba02a9
--- /dev/null
+++ b/output/q3/optimization-20260911/validation/improved/holdout-10-104.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/validation/improved/holdout-10-105.json b/output/q3/optimization-20260911/validation/improved/holdout-10-105.json
new file mode 100644
index 0000000..f7e1ede
--- /dev/null
+++ b/output/q3/optimization-20260911/validation/improved/holdout-10-105.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/validation/improved/holdout-13-100.json b/output/q3/optimization-20260911/validation/improved/holdout-13-100.json
new file mode 100644
index 0000000..bee0ddd
--- /dev/null
+++ b/output/q3/optimization-20260911/validation/improved/holdout-13-100.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/validation/improved/holdout-13-101.json b/output/q3/optimization-20260911/validation/improved/holdout-13-101.json
new file mode 100644
index 0000000..1e6ce59
--- /dev/null
+++ b/output/q3/optimization-20260911/validation/improved/holdout-13-101.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/validation/improved/holdout-13-102.json b/output/q3/optimization-20260911/validation/improved/holdout-13-102.json
new file mode 100644
index 0000000..100de21
--- /dev/null
+++ b/output/q3/optimization-20260911/validation/improved/holdout-13-102.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/validation/improved/holdout-13-103.json b/output/q3/optimization-20260911/validation/improved/holdout-13-103.json
new file mode 100644
index 0000000..3e6eecd
--- /dev/null
+++ b/output/q3/optimization-20260911/validation/improved/holdout-13-103.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/validation/improved/holdout-13-104.json b/output/q3/optimization-20260911/validation/improved/holdout-13-104.json
new file mode 100644
index 0000000..d756dce
--- /dev/null
+++ b/output/q3/optimization-20260911/validation/improved/holdout-13-104.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/validation/improved/holdout-13-105.json b/output/q3/optimization-20260911/validation/improved/holdout-13-105.json
new file mode 100644
index 0000000..7253bd8
--- /dev/null
+++ b/output/q3/optimization-20260911/validation/improved/holdout-13-105.json
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diff --git a/output/q3/optimization-20260911/validation/improved/holdout-16-100.json b/output/q3/optimization-20260911/validation/improved/holdout-16-100.json
new file mode 100644
index 0000000..d2b4ae8
--- /dev/null
+++ b/output/q3/optimization-20260911/validation/improved/holdout-16-100.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/validation/improved/holdout-16-101.json b/output/q3/optimization-20260911/validation/improved/holdout-16-101.json
new file mode 100644
index 0000000..bb9be63
--- /dev/null
+++ b/output/q3/optimization-20260911/validation/improved/holdout-16-101.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/validation/improved/holdout-16-102.json b/output/q3/optimization-20260911/validation/improved/holdout-16-102.json
new file mode 100644
index 0000000..85bb140
--- /dev/null
+++ b/output/q3/optimization-20260911/validation/improved/holdout-16-102.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/validation/improved/holdout-16-103.json b/output/q3/optimization-20260911/validation/improved/holdout-16-103.json
new file mode 100644
index 0000000..95943bd
--- /dev/null
+++ b/output/q3/optimization-20260911/validation/improved/holdout-16-103.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/validation/improved/holdout-16-104.json b/output/q3/optimization-20260911/validation/improved/holdout-16-104.json
new file mode 100644
index 0000000..03d172f
--- /dev/null
+++ b/output/q3/optimization-20260911/validation/improved/holdout-16-104.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/validation/improved/holdout-16-105.json b/output/q3/optimization-20260911/validation/improved/holdout-16-105.json
new file mode 100644
index 0000000..85fde00
--- /dev/null
+++ b/output/q3/optimization-20260911/validation/improved/holdout-16-105.json
@@ -0,0 +1 @@
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new file mode 100644
index 0000000..b7e4e8a
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+}
\ No newline at end of file
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new file mode 100644
index 0000000..4e9cdea
--- /dev/null
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diff --git a/output/q3/optimization-20260911/validation/verified/holdout-10-101.json b/output/q3/optimization-20260911/validation/verified/holdout-10-101.json
new file mode 100644
index 0000000..844f5a6
--- /dev/null
+++ b/output/q3/optimization-20260911/validation/verified/holdout-10-101.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/validation/verified/holdout-10-102.json b/output/q3/optimization-20260911/validation/verified/holdout-10-102.json
new file mode 100644
index 0000000..d0c74eb
--- /dev/null
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diff --git a/output/q3/optimization-20260911/validation/verified/holdout-10-103.json b/output/q3/optimization-20260911/validation/verified/holdout-10-103.json
new file mode 100644
index 0000000..33dae33
--- /dev/null
+++ b/output/q3/optimization-20260911/validation/verified/holdout-10-103.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/validation/verified/holdout-10-104.json b/output/q3/optimization-20260911/validation/verified/holdout-10-104.json
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+++ b/output/q3/optimization-20260911/validation/verified/holdout-10-104.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/validation/verified/holdout-10-105.json b/output/q3/optimization-20260911/validation/verified/holdout-10-105.json
new file mode 100644
index 0000000..a148853
--- /dev/null
+++ b/output/q3/optimization-20260911/validation/verified/holdout-10-105.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/validation/verified/holdout-13-100.json b/output/q3/optimization-20260911/validation/verified/holdout-13-100.json
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+++ b/output/q3/optimization-20260911/validation/verified/holdout-13-100.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/validation/verified/holdout-13-101.json b/output/q3/optimization-20260911/validation/verified/holdout-13-101.json
new file mode 100644
index 0000000..b520f46
--- /dev/null
+++ b/output/q3/optimization-20260911/validation/verified/holdout-13-101.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/validation/verified/holdout-13-102.json b/output/q3/optimization-20260911/validation/verified/holdout-13-102.json
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+++ b/output/q3/optimization-20260911/validation/verified/holdout-13-102.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/validation/verified/holdout-13-103.json b/output/q3/optimization-20260911/validation/verified/holdout-13-103.json
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+++ b/output/q3/optimization-20260911/validation/verified/holdout-13-103.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/validation/verified/holdout-13-104.json b/output/q3/optimization-20260911/validation/verified/holdout-13-104.json
new file mode 100644
index 0000000..188d1f6
--- /dev/null
+++ b/output/q3/optimization-20260911/validation/verified/holdout-13-104.json
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diff --git a/output/q3/optimization-20260911/validation/verified/holdout-13-105.json b/output/q3/optimization-20260911/validation/verified/holdout-13-105.json
new file mode 100644
index 0000000..83f4167
--- /dev/null
+++ b/output/q3/optimization-20260911/validation/verified/holdout-13-105.json
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diff --git a/output/q3/optimization-20260911/validation/verified/holdout-16-100.json b/output/q3/optimization-20260911/validation/verified/holdout-16-100.json
new file mode 100644
index 0000000..b3df275
--- /dev/null
+++ b/output/q3/optimization-20260911/validation/verified/holdout-16-100.json
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diff --git a/output/q3/optimization-20260911/validation/verified/holdout-16-101.json b/output/q3/optimization-20260911/validation/verified/holdout-16-101.json
new file mode 100644
index 0000000..2bd6029
--- /dev/null
+++ b/output/q3/optimization-20260911/validation/verified/holdout-16-101.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/validation/verified/holdout-16-102.json b/output/q3/optimization-20260911/validation/verified/holdout-16-102.json
new file mode 100644
index 0000000..7890fcf
--- /dev/null
+++ b/output/q3/optimization-20260911/validation/verified/holdout-16-102.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/validation/verified/holdout-16-103.json b/output/q3/optimization-20260911/validation/verified/holdout-16-103.json
new file mode 100644
index 0000000..809ae0b
--- /dev/null
+++ b/output/q3/optimization-20260911/validation/verified/holdout-16-103.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/validation/verified/holdout-16-104.json b/output/q3/optimization-20260911/validation/verified/holdout-16-104.json
new file mode 100644
index 0000000..db51c83
--- /dev/null
+++ b/output/q3/optimization-20260911/validation/verified/holdout-16-104.json
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diff --git a/output/q3/optimization-20260911/validation/verified/holdout-16-105.json b/output/q3/optimization-20260911/validation/verified/holdout-16-105.json
new file mode 100644
index 0000000..63f7156
--- /dev/null
+++ b/output/q3/optimization-20260911/validation/verified/holdout-16-105.json
@@ -0,0 +1 @@
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diff --git a/output/q3/optimization-20260911/validation/verified/results.json b/output/q3/optimization-20260911/validation/verified/results.json
new file mode 100644
index 0000000..99fc198
--- /dev/null
+++ b/output/q3/optimization-20260911/validation/verified/results.json
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+  }
+}
\ No newline at end of file
diff --git a/output/q3/practice/20260911-095659-bayes-port2026/effect_audit.json b/output/q3/practice/20260911-095659-bayes-port2026/effect_audit.json
new file mode 100644
index 0000000..a9488ab
--- /dev/null
+++ b/output/q3/practice/20260911-095659-bayes-port2026/effect_audit.json
@@ -0,0 +1,40 @@
+{
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+  "cleared_count": 13,
+  "cleared_channels": [
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+    2,
+    3,
+    4,
+    5,
+    6,
+    7,
+    9,
+    10,
+    13,
+    17,
+    19,
+    20
+  ],
+  "all_clear_requests_succeeded": true,
+  "last_successful_clear_virtual_s": 4058.70975,
+  "last_successful_clear_wall_s": 2.154125690460205,
+  "measures_through_last_clear": 138,
+  "measures_after_last_clear": 0,
+  "extra_virtual_s_after_last_clear": 0.0,
+  "final_virtual_s": 4058.70975,
+  "accepted_actions": 153,
+  "attempt_records": 153,
+  "all_actions_first_attempt": true,
+  "timing_mismatches": 0,
+  "normal_exit": true,
+  "unresolved_channels": [],
+  "anomalies": [],
+  "official_total_source_count": 13,
+  "official_case_code": "3BW5-9R54-NZNA-MYB9",
+  "official_package_hash_matches": true,
+  "official_run_window_matches": true,
+  "all_official_sources_cleared": true,
+  "first_all_accounted_virtual_s": 4058.71,
+  "scope": "已核对官方结果、案例时间窗口和日志包哈希；清除数与官方源数的比较见all_official_sources_cleared。"
+}
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new file mode 100644
index 0000000..e30ef85
--- /dev/null
+++ b/output/q3/practice/20260911-095659-bayes-port2026/execution.json
@@ -0,0 +1,4 @@
+{
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+  "wall_s": 2.524196899990784
+}
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new file mode 100644
index 0000000..e90c890
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@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/output/q3/practice/20260911-095659-bayes-port2026/run_metadata.json b/output/q3/practice/20260911-095659-bayes-port2026/run_metadata.json
new file mode 100644
index 0000000..a65ab3b
--- /dev/null
+++ b/output/q3/practice/20260911-095659-bayes-port2026/run_metadata.json
@@ -0,0 +1,115 @@
+{
+  "source": "official_practice",
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+  "strategy": "bayes",
+  "robot_id": "202608023016",
+  "started_local": "2026-09-11T09:56:59.008246+08:00",
+  "git_head": "9cf94281a92875ab2977691f85ff1fa1ed1e14d9",
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+      "channel_max": 20,
+      "source_count_min": 10,
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+      "r_eff_max_m": 1500.0,
+      "near_radius_m": 5.0,
+      "clear_radius_m": 20.0,
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+      "bearing_decimals": 2,
+      "coord_abs_limit_m": 2000000.0,
+      "directional_half_angle_deg": 90.0,
+      "max_virtual_duration_s": 360000.0,
+      "max_real_duration_s": 1200.0,
+      "test_window_s": 1500.0
+    },
+    "cost": {
+      "speed_mps": 5.0,
+      "measure_s": 5.0,
+      "switch_s": 1.0,
+      "clear_success_s": 5.0,
+      "clear_fail_s": 3.0
+    },
+    "session": {
+      "arena_id": "default",
+      "base_url": "http://127.0.0.1:2026",
+      "robot_id_max_bytes": 64,
+      "request_id_max_bytes": 128,
+      "request_body_max_bytes": 65536,
+      "connect_timeout_s": 5.0,
+      "read_timeout_s": 15.0,
+      "max_attempts": 3,
+      "retry_backoff_s": 0.25,
+      "reserve_exit_s": 60.0,
+      "real_rtt_p95_s": 1.0,
+      "self_test_real_budget_s": 1800.0
+    },
+    "search": {
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+      "grid_half_cells": 3,
+      "fallback_clear_grid_m": 20.0,
+      "bearing_rounding_margin_deg": 0.005,
+      "polygon_sides": 192,
+      "witness_spacing_m": 60.0,
+      "candidate_rings": [
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+        0.4,
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+      "clear_margin_m": 0.5,
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+      "max_anomalies_per_channel": 3,
+      "max_blocked_probes": 4,
+      "fallback_max_cells": 400,
+      "persistent_search": false,
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+    },
+    "bayes": {
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+    "src\\mcm26b\\geometry\\localization.py": "019a04a4205ca5cfb5832c7e2337e6ae3274ef9bdae1981c3764b8df8c2afd97",
+    "src\\mcm26b\\geometry\\planning.py": "5d6a11b2c4633c4f27bb4a61f77f4fbd20cfdce653d839845a735f9f1d3be2d1",
+    "src\\mcm26b\\particles.py": "c2cfabb07154883d4293f5c739b8ab06bd4b467c773365e1d4c153a0bd0fc30b",
+    "src\\mcm26b\\planner\\__init__.py": "bdd36737b2a8562612634d45290bf7165ee81c80fa8e7bcb9fcc9f4001390cda",
+    "src\\mcm26b\\planner\\bayes_loop.py": "068cde2bbcbea0333193b5d3d6ec850d8e310fb1368f682fcaa4f5f0fd90379b",
+    "src\\mcm26b\\planner\\seven.py": "cc143ce0703f231d8b5444ac6a2b2f4925cabf1556e58b0ea5166a510e6933f0",
+    "src\\mcm26b\\protocol\\__init__.py": "67423a0fe7f3ee3c7b1c0439da9554dab4bc30a09c5f3720d69e11076a36de0c",
+    "src\\mcm26b\\protocol\\client.py": "a486694b570bc00286ad30d4be04b01687ef3801d95154e75caa6209314dac36",
+    "src\\mcm26b\\protocol\\log.py": "0eb51302a0bdfa3c680b7726d0be59cebe6fdc6197fd9643a4d5cc0646e34ac3",
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+    "src\\mcm26b\\protocol\\state.py": "dc4c50f38cc1014af848f21d3f972b2f51fba28b0feb3320ce85bf51389d3d34",
+    "src\\mcm26b\\protocol\\timing.py": "49fb1ca99db9db273364ddb27281b95e6e76099c16ce7fccddccbfe105d604ac",
+    "src\\mcm26b\\protocol\\transport.py": "668a8ab280e5e42a7994d7cedc0f487af19b140622d76b04da0dbbea3ad4940f",
+    "src\\mcm26b\\sim\\__init__.py": "7adcbaab5b94d4006ff926306a43c1042182be14789026e71885ed69389a6d55",
+    "src\\mcm26b\\sim\\playback.py": "073b74c149334604cd678c218e112f69d64fe907ef7c3b6f42b69470e48fbb7a",
+    "src\\mcm26b\\sim\\scenes.py": "0647bd19409acb5160625dd39e71157aeb20f9e979e82a7fe86aaec75a1cbf32",
+    "src\\mcm26b\\sim\\simulator.py": "553bf9fbb9fd4875a6ec68792e90a08287e5b87c749ffda9a7556b582a5ecba3",
+    "src\\mcm26b\\sim\\transport.py": "889c06965fdb905f5d9fa8e947940ea68be216f60a487340c2f326b6e8a9a36d"
+  }
+}
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new file mode 100644
index 0000000..cc682ae
--- /dev/null
+++ b/output/q3/practice/20260911-095659-bayes-port2026/session.jsonl
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diff --git a/output/q3/practice/20260911-095659-bayes-port2026/stderr.txt b/output/q3/practice/20260911-095659-bayes-port2026/stderr.txt
new file mode 100644
index 0000000..e69de29
diff --git a/output/q3/practice/20260911-095659-bayes-port2026/summary.json b/output/q3/practice/20260911-095659-bayes-port2026/summary.json
new file mode 100644
index 0000000..7598da2
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index 0000000..5df0985
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+    {
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+    },
+    {
+      "index": 152,
+      "path": "/exit",
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+    }
+  ],
+  "final_virtual_time_s": 4058.70975,
+  "mismatches": []
+}
diff --git a/output/q4/optimization-20260911/baseline-10.json b/output/q4/optimization-20260911/baseline-10.json
new file mode 100644
index 0000000..d147727
--- /dev/null
+++ b/output/q4/optimization-20260911/baseline-10.json
@@ -0,0 +1,57 @@
+{
+  "summary": {
+    "config": {
+      "sources": 10,
+      "directional": 3,
+      "bearing_margin_deg": 0.005
+    },
+    "games": 2,
+    "completed": 2,
+    "all_cleared": 2,
+    "measures_total": 1214,
+    "clears_total": 185,
+    "total_requests_total": 1399,
+    "fallback_attempts_total": 167,
+    "fallback_attempts_max": 167,
+    "virtual_time_s_max": 18599.317,
+    "mismatch_total": 0,
+    "anomaly_total": 0
+  },
+  "games": [
+    {
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+      "sources": 10,
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+      "stop_reason": "all_resolved",
+      "all_cleared": true,
+      "measures": 588,
+      "clears": 175,
+      "total_requests": 763,
+      "fallback_cells": [
+        192,
+        183
+      ],
+      "fallback_attempts": 167,
+      "virtual_time_s": 18599.317,
+      "virtual_recompute_mismatches": 0,
+      "anomaly_count": 0
+    },
+    {
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+      "sources": 10,
+      "directional": 3,
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+      "stop_reason": "all_resolved",
+      "all_cleared": true,
+      "measures": 626,
+      "clears": 10,
+      "total_requests": 636,
+      "fallback_cells": [],
+      "fallback_attempts": 0,
+      "virtual_time_s": 16709.225,
+      "virtual_recompute_mismatches": 0,
+      "anomaly_count": 0
+    }
+  ]
+}
diff --git a/output/q4/optimization-20260911/baseline-16.json b/output/q4/optimization-20260911/baseline-16.json
new file mode 100644
index 0000000..467a141
--- /dev/null
+++ b/output/q4/optimization-20260911/baseline-16.json
@@ -0,0 +1,58 @@
+{
+  "summary": {
+    "config": {
+      "sources": 16,
+      "directional": 8,
+      "bearing_margin_deg": 0.005
+    },
+    "games": 2,
+    "completed": 2,
+    "all_cleared": 2,
+    "measures_total": 730,
+    "clears_total": 41,
+    "total_requests_total": 771,
+    "fallback_attempts_total": 12,
+    "fallback_attempts_max": 12,
+    "virtual_time_s_max": 16983.27,
+    "mismatch_total": 0,
+    "anomaly_total": 0
+  },
+  "games": [
+    {
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+      "sources": 16,
+      "directional": 8,
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+      "stop_reason": "sixteen_cleared",
+      "all_cleared": true,
+      "measures": 327,
+      "clears": 25,
+      "total_requests": 352,
+      "fallback_cells": [
+        7,
+        7,
+        6
+      ],
+      "fallback_attempts": 12,
+      "virtual_time_s": 16388.604,
+      "virtual_recompute_mismatches": 0,
+      "anomaly_count": 0
+    },
+    {
+      "seed": 3,
+      "sources": 16,
+      "directional": 8,
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+      "stop_reason": "sixteen_cleared",
+      "all_cleared": true,
+      "measures": 403,
+      "clears": 16,
+      "total_requests": 419,
+      "fallback_cells": [],
+      "fallback_attempts": 0,
+      "virtual_time_s": 16983.27,
+      "virtual_recompute_mismatches": 0,
+      "anomaly_count": 0
+    }
+  ]
+}
diff --git a/output/q4/optimization-20260911/improved-10.json b/output/q4/optimization-20260911/improved-10.json
new file mode 100644
index 0000000..8922c50
--- /dev/null
+++ b/output/q4/optimization-20260911/improved-10.json
@@ -0,0 +1,58 @@
+{
+  "summary": {
+    "config": {
+      "sources": 10,
+      "directional": 3,
+      "bearing_margin_deg": 0.005
+    },
+    "games": 2,
+    "completed": 2,
+    "all_cleared": 2,
+    "measures_total": 1139,
+    "clears_total": 32,
+    "total_requests_total": 1171,
+    "fallback_attempts_total": 14,
+    "fallback_attempts_max": 9,
+    "virtual_time_s_max": 14918.134,
+    "mismatch_total": 0,
+    "anomaly_total": 0
+  },
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+      "measures": 560,
+      "clears": 18,
+      "total_requests": 578,
+      "fallback_cells": [
+        192
+      ],
+      "fallback_attempts": 9,
+      "virtual_time_s": 13652.14,
+      "virtual_recompute_mismatches": 0,
+      "anomaly_count": 0
+    },
+    {
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+      "stop_reason": "all_resolved",
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+      "measures": 579,
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+      "total_requests": 593,
+      "fallback_cells": [
+        181
+      ],
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+      "virtual_recompute_mismatches": 0,
+      "anomaly_count": 0
+    }
+  ]
+}
diff --git a/output/q4/optimization-20260911/improved-16.json b/output/q4/optimization-20260911/improved-16.json
new file mode 100644
index 0000000..a669f72
--- /dev/null
+++ b/output/q4/optimization-20260911/improved-16.json
@@ -0,0 +1,57 @@
+{
+  "summary": {
+    "config": {
+      "sources": 16,
+      "directional": 8,
+      "bearing_margin_deg": 0.005
+    },
+    "games": 2,
+    "completed": 2,
+    "all_cleared": 2,
+    "measures_total": 615,
+    "clears_total": 37,
+    "total_requests_total": 652,
+    "fallback_attempts_total": 7,
+    "fallback_attempts_max": 7,
+    "virtual_time_s_max": 12453.274,
+    "mismatch_total": 0,
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+  },
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+      "virtual_recompute_mismatches": 0,
+      "anomaly_count": 0
+    },
+    {
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+      "sources": 16,
+      "directional": 8,
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+      "stop_reason": "sixteen_cleared",
+      "all_cleared": true,
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+  ]
+}
diff --git a/scripts/benchmark_q3_revision.py b/scripts/benchmark_q3_revision.py
new file mode 100644
index 0000000..1266fed
--- /dev/null
+++ b/scripts/benchmark_q3_revision.py
@@ -0,0 +1,93 @@
+"""固定场景配对审核：先保存 baseline，再以相同场景、误差种子比较改进。
+
+不连接官方模拟器；真值仅用于本地模拟器和执行后的验收。
+"""
+import argparse
+from dataclasses import asdict
+from dataclasses import replace
+import hashlib
+import importlib.util
+import json
+import math
+from pathlib import Path
+from statistics import mean, median
+from time import perf_counter
+import sys
+
+from mcm26b.config import ProblemConfig
+from mcm26b.evaluation import recompute_virtual_time
+from mcm26b.planner.bayes_loop import BayesLoop
+from mcm26b.protocol.client import SimulatorClient
+from mcm26b.sim import LocalSimulator, LocalSimTransport, Source
+from mcm26b.sim.scenes import random_omni_scene
+
+
+def main():
+    parser = argparse.ArgumentParser(description=__doc__)
+    parser.add_argument('--label', required=True)
+    parser.add_argument('--out', type=Path, default=Path('output/q3/optimization-20260911'))
+    parser.add_argument('--suite', choices=('development', 'validation'), default='development')
+    parser.add_argument('--baseline', action='store_true', help='加载输出根目录冻结的baseline_bayes.py及配置')
+    args = parser.parse_args()
+    folder = args.out / args.suite / args.label
+    folder.mkdir(parents=True, exist_ok=False)
+    config = ProblemConfig()
+    loop_cls = BayesLoop
+    if args.baseline:
+        frozen = json.loads((args.out/'baseline_config.json').read_text(encoding='utf-8'))
+        config = replace(config, **{name: replace(getattr(config, name), **values)
+                                    for name, values in frozen.items()})
+        spec = importlib.util.spec_from_file_location('mcm26b.planner._frozen_baseline',
+                                                      args.out/'baseline_bayes.py')
+        module = importlib.util.module_from_spec(spec)
+        sys.modules[spec.name] = module
+        spec.loader.exec_module(module)
+        loop_cls = module.BayesLoop
+    source_sha256 = {str(p): hashlib.sha256(p.read_bytes()).hexdigest()
+                     for p in sorted(Path('src/mcm26b').rglob('*.py'))}
+    if args.baseline:
+        for name in ('baseline_bayes.py', 'baseline_config.json'):
+            source_sha256[str(args.out/name)] = hashlib.sha256((args.out/name).read_bytes()).hexdigest()
+    scenes = []
+    if args.suite == 'development':
+        for count in (10, 16):
+            for seed in range(6):
+                scenes.append((f'random-{count}-{seed}', random_omni_scene(seed, count), 20260910 + seed))
+            edge = [Source(c+1, 1800*math.cos(math.pi/6+2*math.pi*c/count),
+                           1800*math.sin(math.pi/6+2*math.pi*c/count), 1000) for c in range(count)]
+            scenes.append((f'boundary-{count}', edge, 20260910))
+    else:
+        for count in (10, 13, 16):
+            for seed in range(100, 106):
+                scenes.append((f'holdout-{count}-{seed}', random_omni_scene(seed, count), 20260910+seed))
+    rows = []
+    for name, sources, error_seed in scenes:
+        sim = LocalSimulator(sources, robot_id='BENCH', config=config, error_seed=error_seed)
+        client = SimulatorClient('BENCH', config=config, transport=LocalSimTransport(sim))
+        start = perf_counter()
+        summary = loop_cls(client, config).run()
+        actions = client.log.action_events()
+        valid = (summary['completed'] and sim.cleared == {s.channel for s in sources}
+                 and not summary['anomalies'] and summary['exit_reason'] == 'user_exit'
+                 and not recompute_virtual_time(actions)['mismatches']
+                 and not ({s.channel for s in sources} & set(summary['absent_channels'])))
+        row = dict(case=name, valid=valid, virtual_s=client.state.virtual_time_s,
+                   measures=summary['measures'], clears=summary['clears'],
+                   failed_clears=summary['clears']-len(sim.cleared),
+                   distance_m=summary['move_distance_m'], wall_s=perf_counter()-start)
+        rows.append(row)
+        (folder / (name+'.json')).write_text(json.dumps(dict(
+            sources=[asdict(s) for s in sources], error_seed=error_seed,
+            summary=summary, actions=actions), ensure_ascii=False), encoding='utf-8')
+        print(f'{name}: valid={valid} T={row["virtual_s"]:.1f} M={row["measures"]}', flush=True)
+    result = dict(config=asdict(config), source='local_simulator_only', baseline=args.baseline, rows=rows,
+                  mean_s=mean(r['virtual_s'] for r in rows), median_s=median(r['virtual_s'] for r in rows),
+                  max_s=max(r['virtual_s'] for r in rows), valid=sum(r['valid'] for r in rows),
+                  under_4000=sum(r['virtual_s'] < 4000 for r in rows),
+                  source_sha256=source_sha256)
+    (folder/'results.json').write_text(json.dumps(result, ensure_ascii=False, indent=2), encoding='utf-8')
+    print({k:result[k] for k in ('mean_s','median_s','max_s','valid','under_4000')}, flush=True)
+
+
+if __name__ == '__main__':
+    main()
diff --git a/src/mcm26b/config.py b/src/mcm26b/config.py
index 2f42527..1d7f72d 100644
--- a/src/mcm26b/config.py
+++ b/src/mcm26b/config.py
@@ -113,8 +113,8 @@ class BayesConfig:
     particle_spacing_m: float = 25.0   # 网格间距；Voronoi 裕量 ≈ 17.68m；
                                        # 全域约 1.6 万格/频道，20 频道内存与耗时可控
     # ---- 信息增益评分 [工程，Optuna TPE 调参回填 2026-09-11] ----
-    # 全量消融（14 场景，对齐找全口径）：均值 3650s、配对降幅 31.0%、
-    # 14/14 全清零异常；调参记录见 output/q3/bayes-tuning/。
+    # 原调参记录见 output/q3/bayes-tuning/；当前代码的配对验收记录见
+    # output/q3/optimization-20260911/，随机分布与信息评分仅为工程假设。
     score_mode: str = "entropy"        # entropy=期望 log 幸存占比（信息增益）|
                                        # radius=期望后验半径（直指证书）
     score_subsample: int = 800         # 期望幸存熵估计的粒子子采样规模
@@ -123,13 +123,14 @@ class BayesConfig:
                                        # entropy 口径下信息项为 O(1) 对数值，λ须极小
     wide_rings: tuple = (1.0, 1.5, 2.0)   # 无保证接收盘时的探索环（× PF MEC 半径）
     # ---- 站点与覆盖 [工程] ----
-    station_ring_radius_m: float = 1159.7   # 七点环半径；调参后仍 < 1178.5
-                                            # （覆盖半径须 < 1000 − √3·1800·...解析界）
+    station_ring_radius_m: float = 1159.7   # 七点环半径；构造时检验全向覆盖解析上界
     # ---- 任务排序 [工程] ----
     two_opt_enabled: bool = True       # 开放路径 2-opt 改进（最近邻打底）
     two_opt_passes: int = 3            # 2-opt 最大改进轮数
     # ---- PF 清除证书 [工程] ----
     grid_cert_enabled: bool = True     # 允许用幸存集 MEC 颁发清除证书（凸证书之外）
+    opportunistic_measure: bool = True  # 已停靠位置顺路交会；仍逐频道计费
+    opportunistic_radius_ratio: float = 0.65  # 预测后验半径至少减少35%才补测
 
 
 @dataclass(frozen=True)
diff --git a/src/mcm26b/planner/__init__.py b/src/mcm26b/planner/__init__.py
index b5522c0..15b911b 100644
--- a/src/mcm26b/planner/__init__.py
+++ b/src/mcm26b/planner/__init__.py
@@ -11,8 +11,8 @@ P3 第二检测点（验收：保证收到信号；Q 空时退化；near 分支
 
 P4 全向闭环（验收：10/16/0 源场景、边界源、预算耗尽与故障注入）：
 发现（coverage.CoverageLedger）→ 定位（belief 收敛）→ 清除 → 持续复扫
-→ /exit。全部频道"已清除或证明不存在"后按 persistent_search（默认开
-[用户决策 2026-09-11]）只复扫未清除频道，扫到限时为止（清除数达 16 /
+→ /exit。全部频道"已清除或证明不存在"后默认立即退出；显式开启
+persistent_search时只复扫未清除频道，扫到限时为止（清除数达 16 /
 实机预算耗尽 / 虚拟安全余量不足）。completed 表示任务证明完成（结束
 时每频道均 CLEARED/ABSENT 且无中断）；accounted_virtual_time_s 记录
 首次证明找全的虚拟时刻，与"复扫到限时才停"相互独立。
@@ -199,7 +199,7 @@ class OmnidirectionalLoop:
     串行驱动 SimulatorClient：覆盖阶段在 49 点网格上对每个 UNKNOWN 频道
     检测；发现 direction 即进入该频道的定位子循环（选点→测量→收敛→
     证书清除），near 直接清除。全部频道"已清除或证明不存在"后按
-    ``search.persistent_search``（默认开 [用户决策 2026-09-11]）只复扫
+    ``search.persistent_search``（默认关闭）可选择只复扫
     未清除频道，直到清除数达 16、实机预算耗尽或虚拟安全余量不足。
     stop_reason 记录循环结束原因；``completed`` 表示任务证明完成
     （结束时每频道均 CLEARED/ABSENT 且无中断），与"复扫到限时才停"
@@ -598,9 +598,43 @@ class DirectionalExtension(OmnidirectionalLoop):
                  config: ProblemConfig = ProblemConfig()):
         super().__init__(client, config)
         self.directional_observed: list[int] = []   # 观测到定向性的频道
-        self.blocked_probes: dict[int, Vec2] = {}   # channel -> 被遮挡的探点
+        self.blocked_probes: dict[int, list[Vec2]] = {}
         self.fallback_log: list[dict] = []          # 后备清除逐次留痕
 
+    def _coverage_phase(self) -> None:
+        """49站的定向覆盖证明不变；每站先串行扫频，再就近服务已发现源。
+
+        避免检测一个源后远行清除，再返回同站检测下一个频道。
+        no_signal不用于删空间候选，也不使用第三问的七站缺席证明。
+        """
+        while not self._count_limit_reached() and self.stop_reason is None:
+            index = self._next_point_index()
+            if index is None:
+                return
+            point = self.ledger.points[index]
+            pending = self._pending_channels_at(index)
+            pending.sort(key=lambda c: (c != self.client.state.channel, c))
+            for channel in pending:
+                if self._virtual_cap_reached():
+                    return
+                outcome = self.client.measure(point, channel)
+                self.ledger.mark_measured(channel, index)
+                self.belief.update_measure(channel, point, outcome.result, outcome.svd_deg)
+                if outcome.result == NEAR:
+                    cert = clear_certificate(self.belief.candidate_set(channel), channel, self.config)
+                    if cert.certified:
+                        self._attempt_clear(channel, point, cert)
+                if self._count_limit_reached():
+                    return
+            queue = self.belief.channels_by_status(ChannelStatus.DETECTED)
+            while queue and self.stop_reason is None:
+                channel = min(queue, key=lambda c: (
+                    math.dist(self.client.state.position, self.belief.candidate_set(c).mec()[0]), c))
+                queue.remove(channel)
+                self._localize_and_clear(channel)
+                if self._count_limit_reached():
+                    return
+
     # ------------------------------------------------------------ 定位与清除
     def _localize_and_clear(self, channel: int) -> bool:
         """定位子循环：选点测量收敛候选集，拿到清除证书后清除。
@@ -627,19 +661,17 @@ class DirectionalExtension(OmnidirectionalLoop):
             if len(self.blocked_probes.get(channel, [])) >= search.max_blocked_probes:
                 break   # 梯子用尽仍被遮挡：定位停滞，转后备清除
             point = self._next_probe(region, channel)
+            within_range = (math.dist(point, region.mec()[0])
+                            <= safe_disk_radius(region, self.config))
             outcome = self.client.measure(point, channel)
             self.belief.update_measure(channel, point, outcome.result,
                                        outcome.svd_deg)
             self._may_clear.add(channel)
-            if outcome.result == NO_SIGNAL \
-                    and safe_disk_radius(region, self.config) >= 0:
-                if channel not in self.directional_observed:
+            if outcome.result == NO_SIGNAL:
+                if within_range and channel not in self.directional_observed:
                     self.directional_observed.append(channel)
                 self.blocked_probes.setdefault(channel, []).append(point)
-                continue   # 被遮挡探点不消耗定位步数，由遮挡预算限流
-            if outcome.result == NO_SIGNAL:
-                self._anomaly("no_signal_outside_safe_disk", channel,
-                              position=point)
+                continue   # 盘外无信号也可能是距离不足，不据此断言定向
             else:
                 self.blocked_probes.pop(channel, None)
             steps += 1
@@ -709,9 +741,15 @@ class DirectionalExtension(OmnidirectionalLoop):
                 + session.reserve_exit_s > remaining:
             entry["outcome"] = "skipped_budget"
             return False
-        position = self.client.state.position
         attempts = 0
-        for cell in sorted(cells, key=lambda c: math.dist(position, c)):
+        remaining_cells = list(cells)
+        while remaining_cells:
+            if self._virtual_cap_reached():
+                entry["outcome"] = "skipped_virtual_budget"
+                entry["attempts"] = attempts
+                return False
+            cell = min(remaining_cells, key=lambda c: (math.dist(self.client.state.position, c), c))
+            remaining_cells.remove(cell)
             attempts += 1
             outcome = self.client.clear(cell, channel)
             if outcome.result == CLEAR_SUCCESS:
diff --git a/src/mcm26b/planner/bayes_loop.py b/src/mcm26b/planner/bayes_loop.py
index 8e566be..e7872bd 100644
--- a/src/mcm26b/planner/bayes_loop.py
+++ b/src/mcm26b/planner/bayes_loop.py
@@ -21,7 +21,7 @@ from __future__ import annotations
 import math
 from dataclasses import dataclass
 
-from ..belief import ChannelStatus
+from ..belief import CandidateRegion, ChannelStatus
 from ..config import ProblemConfig, Vec2
 from ..coverage import CoverageLedger
 from ..particles import ChannelParticles
@@ -30,7 +30,7 @@ from ..protocol.rules import DIRECTION, NEAR, NO_SIGNAL
 from ..protocol.timing import move_time
 from . import (ClearCertificate, OmnidirectionalLoop, clear_certificate,
                candidate_points, safe_disk_radius, select_measurement_point)
-from .seven import seven_points
+from .seven import seven_points, validate_seven_coverage
 
 
 @dataclass(frozen=True)
@@ -42,6 +42,7 @@ class Task:
     service_s: float
     channel: int | None = None
     station_index: int | None = None
+    station_channels: tuple[int, ...] = ()
 
 
 def _point_key(point: Vec2) -> tuple[int, int]:
@@ -55,6 +56,7 @@ class BayesLoop(OmnidirectionalLoop):
     def __init__(self, client: SimulatorClient,
                  config: ProblemConfig = ProblemConfig()):
         super().__init__(client, config)
+        validate_seven_coverage(config.bayes.station_ring_radius_m, config)
         self.ledger = CoverageLedger(
             config, points=seven_points(config.bayes.station_ring_radius_m))
         self.particles = {channel: ChannelParticles(config)
@@ -66,6 +68,7 @@ class BayesLoop(OmnidirectionalLoop):
         self.skipped_measures = 0              # 跳测规则省下的检测次数
         self.no_shrink_measures = 0            # 未收缩幸存集的定位检测（诊断用）
         self.pf_absent_channels: list[int] = []  # 由幸存集为空证明缺席的频道
+        self.opportunistic_measures = 0
 
     # ------------------------------------------------------------ 主循环
     def _coverage_phase(self) -> None:
@@ -78,6 +81,8 @@ class BayesLoop(OmnidirectionalLoop):
 
     def _step_once(self) -> bool:
         """构建任务表、排序并执行首任务；无可执行任务返回 False。"""
+        if self.config.bayes.opportunistic_measure:
+            self._measure_at_stop()
         tasks = self._build_tasks()
         if not tasks:
             return False
@@ -85,6 +90,44 @@ class BayesLoop(OmnidirectionalLoop):
         self._execute_task(order[0])
         return True
 
+    def _measure_at_stop(self) -> None:
+        """利用已停靠位置补交会方位；评分只作选测，证书仍用完整角域。
+
+        只测尚未在此处测过、有望显著收缩且保证距离可接收的已发现频道。
+        逐频道调用measure，换频与5秒检测照常计费；不在移动中检测。
+        此距离保证仅适用于第三问，不能用于未知定向源。
+        """
+        point = self.client.state.position
+        channels = self.belief.channels_by_status(ChannelStatus.DETECTED)
+        channels.sort(key=lambda c: (c != self.client.state.channel, c))
+        for channel in channels:
+            if self._virtual_cap_reached():
+                return
+            if _point_key(point) in self._measured_points.get(channel, set()):
+                continue
+            cert = self._best_certificate(channel)
+            if cert is not None and cert.certified:
+                continue
+            region = self.belief.candidate_set(channel)
+            if max(math.dist(point, v) for v in region.polygon) > self.config.field.r_eff_min_m - 1e-3:
+                continue
+            radius = region.mec()[1]
+            vertices = region.polygon
+            stride = max(1, len(vertices) // self.config.bayes.mc_representatives)
+            radii = []
+            delta = self.config.field.bearing_error_half_deg + self.config.search.bearing_rounding_margin_deg
+            for target in vertices[::stride]:
+                theta = math.degrees(math.atan2(target[1]-point[1], target[0]-point[0]))
+                probe = CandidateRegion(list(vertices), region.slack_m)
+                probe.clip_wedge(point, theta, delta)
+                radii.append(probe.mec()[1] if probe.polygon else radius)
+            if sum(radii) / len(radii) > radius * self.config.bayes.opportunistic_radius_ratio:
+                continue
+            outcome = self.client.measure(point, channel)
+            self._record_measure(channel, point, outcome)
+            self._may_clear.add(channel)
+            self.opportunistic_measures += 1
+
     # ------------------------------------------------------------ 任务构建
     def _station_pending(self, index: int) -> list[int]:
         """站点待测频道：UNKNOWN、未测过、非"必 no_signal"且未证缺席。"""
@@ -122,7 +165,7 @@ class BayesLoop(OmnidirectionalLoop):
             tasks.append(Task("station", tuple(point),
                               self.config.cost.measure_s * len(pending)
                               + self.config.cost.switch_s * max(switches, 0),
-                              station_index=index))
+                              station_index=index, station_channels=tuple(pending)))
         for channel in self.belief.channels_by_status(ChannelStatus.DETECTED):
             cert = self._best_certificate(channel)
             if cert is not None and cert.certified \
@@ -143,9 +186,10 @@ class BayesLoop(OmnidirectionalLoop):
     def _order_tasks(self, tasks: list[Task]) -> list[Task]:
         """开放路径排序：最近邻打底，2-opt 改进（终点自由，不回起点）。"""
         if len(tasks) <= 2:
-            return sorted(tasks, key=lambda t: (
+            ordered = sorted(tasks, key=lambda t: (
                 move_time(self.client.state.position, t.position, self.config.cost),
                 t.kind, t.channel or 0))
+            return min((ordered, ordered[::-1]), key=self._path_cost)
         order = self._nearest_order(tasks)
         if not self.config.bayes.two_opt_enabled:
             return order
@@ -167,9 +211,20 @@ class BayesLoop(OmnidirectionalLoop):
     def _path_cost(self, order: list[Task]) -> float:
         total = 0.0
         position = self.client.state.position
+        channel = self.client.state.channel
         for task in order:
             total += move_time(position, task.position, self.config.cost)
-            total += task.service_s
+            if task.kind == "locate":
+                total += self.config.cost.measure_s
+                total += self.config.cost.switch_s * (channel != task.channel)
+                channel = task.channel
+            elif task.kind == "station" and task.station_channels:
+                pending = sorted(task.station_channels, key=lambda c: (c != channel, c))
+                total += self.config.cost.measure_s * len(pending)
+                total += self.config.cost.switch_s * (len(pending) - (channel in pending))
+                channel = pending[-1]
+            else:
+                total += task.service_s  # 清除不改变测向频道
             position = task.position
         return total
 
@@ -287,7 +342,7 @@ class BayesLoop(OmnidirectionalLoop):
         cert = clear_certificate(region, channel, self.config) \
             if region is not None else None
         if cert is not None and cert.certified:
-            return cert
+            return self._near_clear_target(cert)
         if self.config.bayes.grid_cert_enabled:
             pf = self.particles[channel]
             if len(pf):
@@ -295,9 +350,19 @@ class BayesLoop(OmnidirectionalLoop):
                 limit = (self.config.field.clear_radius_m - pf.margin_m
                          - self.config.search.clear_margin_m)
                 if radius <= limit:
-                    return ClearCertificate(channel, center, radius, limit, True)
+                    return self._near_clear_target(ClearCertificate(channel, center, radius, limit, True))
         return cert
 
+    def _near_clear_target(self, cert: ClearCertificate) -> ClearCertificate:
+        """沿当前来向利用20m清除容差；三角不等式保留整集覆盖证明。"""
+        position = self.client.state.position
+        distance = math.dist(position, cert.center)
+        shift = min(distance, max(0.0, cert.limit_m - cert.radius_m - 1e-6))
+        if distance <= 1e-9 or shift <= 0:
+            return cert
+        target = tuple(c + (p-c)*shift/distance for p, c in zip(position, cert.center))
+        return ClearCertificate(cert.channel, target, cert.radius_m+shift, cert.limit_m, True)
+
     # ------------------------------------------------------------ 信息增益选点
     def _select_point(self, channel: int) -> Vec2 | None:
         """定位测量点：期望 log 幸存占比 + λ·移动时间 最小的候选。"""
@@ -315,6 +380,17 @@ class BayesLoop(OmnidirectionalLoop):
             candidates = candidate_points(tuple(region.mec()[0]), safe,
                                           search.candidate_rings,
                                           search.candidate_angles)
+            # 以实际来向生成对称交会候选，避免固定全局角度网格的旋转偏差。
+            geometric_center = region.mec()[0]
+            base_angle = math.atan2(self.client.state.position[1]-geometric_center[1],
+                                    self.client.state.position[0]-geometric_center[0])
+            for fraction in search.candidate_rings:
+                if fraction <= 0:
+                    continue
+                for offset in (-math.pi/3, -math.pi/6, 0, math.pi/6, math.pi/3):
+                    angle = base_angle + offset
+                    candidates.append((geometric_center[0]+safe*fraction*math.cos(angle),
+                                       geometric_center[1]+safe*fraction*math.sin(angle)))
         else:
             # 宽候选集：PF MEC 探索环（负观测挖洞后幸存集的包围圆）
             for fraction in bayes.wide_rings:
@@ -332,7 +408,9 @@ class BayesLoop(OmnidirectionalLoop):
         position = self.client.state.position
 
         def score(q: Vec2) -> float:
-            move = bayes.lambda_move_s * move_time(position, q, self.config.cost)
+            # 一次定位后仍需接近源才能清除；仅计到检测点的移动会偏好绕行。
+            move = bayes.lambda_move_s * (move_time(position, q, self.config.cost)
+                                         + move_time(q, center, self.config.cost))
             if bayes.score_mode == "entropy":
                 return (pf.expected_survival(q, subsample, representatives)
                         + move)
@@ -419,6 +497,7 @@ class BayesLoop(OmnidirectionalLoop):
     def _summary(self, info) -> dict:
         report = super()._summary(info)
         report["strategy"] = "bayes"
+        report["opportunistic_measures"] = self.opportunistic_measures
         report["skipped_measures"] = self.skipped_measures
         report["no_shrink_measures"] = self.no_shrink_measures
         report["pf_absent_channels"] = sorted(self.pf_absent_channels)
diff --git a/src/mcm26b/planner/seven.py b/src/mcm26b/planner/seven.py
index 2c69aed..8b2d652 100644
--- a/src/mcm26b/planner/seven.py
+++ b/src/mcm26b/planner/seven.py
@@ -2,8 +2,8 @@
 
 从 scripts/benchmark_q3_search.py 提升为库代码（A2 基线，官方演练
 12/12 全清、虚拟 5232s）。覆盖几何：原点 + 半径 RING_RADIUS_M 环上
-6 等分点；切换最近站的半径 a/sqrt(3)，域内任意点到最近站距离的解析
-上界 max(R/sqrt(3), sqrt(Rom³/(sqrt(3)·Rring)+...)) < 1000m [题面
+6 等分点；域半径R、环半径r时，最近站距离的解析
+上界 max(r/√3, sqrt(R²+r²−√3Rr)) < 1000m [题面
 r_eff 下界]，故任意合法源必被至少一站检出——缺席证明只需该频道
 7 站全 no_signal（CoverageLedger.coverage_complete）。
 
@@ -32,12 +32,29 @@ def seven_points(ring_radius_m: float = RING_RADIUS_M) -> list[tuple[float, floa
                             ring_radius_m * math.sin(k * math.pi / 3)) for k in range(6)]
 
 
+def validate_seven_coverage(ring_radius_m: float, config: ProblemConfig) -> float:
+    """六个60°扇区内的最近站最远距离上界；仅证明全向源覆盖。
+
+    原点/环站Voronoi交点给出r/√3，目标圆边界的扇区接缝给出另一项。
+    环半径满足0<r<=√3R时这两项覆盖全部极值。
+    """
+    radius = config.field.omega_radius_m
+    if not 0 < ring_radius_m <= math.sqrt(3)*radius:
+        raise ValueError("七站环半径不满足全域覆盖证明的前提")
+    bound = max(ring_radius_m / math.sqrt(3), math.sqrt(
+        radius**2 + ring_radius_m**2 - math.sqrt(3)*radius*ring_radius_m))
+    if bound > config.field.r_eff_min_m - 1e-6:
+        raise ValueError("七站未覆盖整个目标域，不能据此证明频道缺席")
+    return bound
+
+
 class SevenImmediate(OmnidirectionalLoop):
     """七点覆盖 + 站内即时定位（基类覆盖阶段逻辑不变，仅换站集）。"""
 
     def __init__(self, client, config: ProblemConfig = ProblemConfig(),
                  ring_radius_m: float = RING_RADIUS_M):
         super().__init__(client, config)
+        validate_seven_coverage(ring_radius_m, config)
         self.ledger = CoverageLedger(config=config, points=seven_points(ring_radius_m))
 
 
diff --git a/tests/test_bayes_loop_q3.py b/tests/test_bayes_loop_q3.py
index 3b803b5..306014a 100644
--- a/tests/test_bayes_loop_q3.py
+++ b/tests/test_bayes_loop_q3.py
@@ -76,7 +76,9 @@ class BayesLoopAcceptanceTests(unittest.TestCase):
         self.assertEqual(summary["stop_reason"], "all_resolved")
         self.assertEqual(sorted(summary["absent_channels"]),
                          list(range(1, 21)))
-        self.assertEqual(summary["pf_absent_channels"], list(range(1, 21)))
+        # 粗格保守外扩可能保留边界格；七站完整覆盖也可证明缺席。
+        self.assertEqual(summary["unresolved_channels"], [])
+        self.assertEqual(summary["measures"], 7 * 20)
         self.assertEqual(summary["clears"], 0)
         self.assertEqual(summary["anomalies"], [])
         self.assertEqual(report["mismatches"], [])
@@ -147,8 +149,8 @@ class BayesLoopAcceptanceTests(unittest.TestCase):
             client = SimulatorClient("T001", config=CONFIG,
                                      transport=LocalSimTransport(simulator))
             loop = loop_cls(client, CONFIG)
-            expected = seven_points() if name in ("bayes", "seven") \
-                else coverage_points(CONFIG)
+            expected = (seven_points(CONFIG.bayes.station_ring_radius_m) if name == "bayes"
+                        else seven_points() if name == "seven" else coverage_points(CONFIG))
             self.assertEqual(loop.ledger.points, expected)
 
 
diff --git a/tests/test_planner_revision.py b/tests/test_planner_revision.py
new file mode 100644
index 0000000..9c556a4
--- /dev/null
+++ b/tests/test_planner_revision.py
@@ -0,0 +1,88 @@
+"""附录2交会/串行换频约束和本轮优化的回归用例。"""
+from dataclasses import replace
+import math
+
+import pytest
+
+from mcm26b.config import ProblemConfig
+from mcm26b.planner import ClearCertificate, DirectionalExtension
+from mcm26b.planner.bayes_loop import BayesLoop, Task
+from mcm26b.planner.seven import validate_seven_coverage
+from mcm26b.protocol.client import SimulatorClient
+from mcm26b.protocol.rules import DIRECTION, NO_SIGNAL
+from mcm26b.sim import LocalSimulator, LocalSimTransport, Source
+
+
+def setup(sources=(), cls=BayesLoop, config=ProblemConfig()):
+    sim = LocalSimulator(list(sources), robot_id='TEST', config=config)
+    client = SimulatorClient('TEST', config=config, transport=LocalSimTransport(sim))
+    return sim, client, cls(client, config)
+
+
+def test_seven_coverage_checks_tuned_radius_and_rejects_holes():
+    config = ProblemConfig()
+    assert validate_seven_coverage(config.bayes.station_ring_radius_m, config) < 1000
+    for radius in (0, 500, 2000):
+        with pytest.raises(ValueError):
+            validate_seven_coverage(radius, config)
+
+
+def test_seven_stations_cannot_prove_directional_absence():
+    # +x边界源朝外，七站全在源背面；第四问必须保留域外发现站。
+    source = Source(1, 1800, 0, 1000, directional=True, heading_deg=0)
+    sim, _, loop = setup([source])
+    assert all(sim._observe(p, 1)[0] == NO_SIGNAL for p in loop.ledger.points)
+    _, _, directional = setup([source], cls=DirectionalExtension)
+    assert any(sim._observe(p, 1)[0] == DIRECTION for p in directional.ledger.points)
+
+
+def test_stopped_opportunistic_measure_is_serial_and_never_repeats_location():
+    sim, client, loop = setup([Source(1, 800, 200, 1500)])
+    client.enter()
+    loop._record_measure(1, (0, 0), client.measure((0, 0), 1))
+    client.measure((600, 0), 2)
+    before = client.state.virtual_time_s
+    loop._measure_at_stop()
+    assert loop.opportunistic_measures == 1
+    assert client.state.virtual_time_s - before == 6  # 1秒换频+5秒停靠检测
+    assert client.state.position == (600, 0)
+    assert loop.belief.candidate_set(1).contains((800, 200))
+    loop._measure_at_stop()
+    assert client.state.virtual_time_s - before == 6
+
+
+def test_route_cost_accounts_for_channel_state_and_clear_preserves_it():
+    _, client, loop = setup()
+    client.state.channel = 3
+    at = (0., 0.)
+    clear = Task('clear', at, 5, channel=7)
+    locate = Task('locate', at, 6, channel=3)
+    station = Task('station', at, 18, station_index=0, station_channels=(1, 2, 3))
+    assert loop._path_cost([clear, locate]) == 10
+    assert loop._path_cost([locate, station]) == 5 + 17
+    assert loop._path_cost([station, locate]) == 17 + 6
+
+
+def test_shorter_clear_target_still_covers_every_possible_source():
+    _, _, loop = setup()
+    cert = ClearCertificate(1, (100, 0), 5, 19.5, True)
+    result = loop._near_clear_target(cert)
+    assert math.dist((0, 0), result.center) < 100
+    assert result.radius_m <= result.limit_m
+    for k in range(360):
+        p = (100 + 5*math.cos(math.radians(k)), 5*math.sin(math.radians(k)))
+        assert math.dist(result.center, p) <= 19.5
+
+
+def test_out_of_range_probe_does_not_certify_directionality():
+    base = ProblemConfig()
+    config = replace(base, search=replace(base.search, max_blocked_probes=1))
+    _, client, loop = setup([Source(1, 800, 0, 1000)], cls=DirectionalExtension, config=config)
+    client.enter()
+    outcome = client.measure((0, 0), 1)
+    loop.belief.update_measure(1, (0, 0), outcome.result, outcome.svd_deg)
+    loop._next_probe = lambda region, channel: (3000, 0)
+    loop._fallback_clear = lambda channel, region: False
+    assert not loop._localize_and_clear(1)
+    assert loop.directional_observed == []
+    assert loop.anomalies == []