diff --git a/.gitignore b/.gitignore
index 649b20d..b001efe 100644
--- a/.gitignore
+++ b/.gitignore
@@ -12,6 +12,10 @@ wheels/
 # Sim
 Jammers*/
 tmp/
+
+# MATLAB 出图日志
+scripts/matlab/*.log
+
 # LaTeX build artifacts
 docs/paper/build/
 docs/paper/*.aux
diff --git a/README.md b/README.md
index 11155c6..337a733 100644
--- a/README.md
+++ b/README.md
@@ -8,7 +8,7 @@
 - [总体思路与流程图（四问主线、端到端流程图、执行时间速查）](docs/总体思路与流程图.md)
 - [执行时间与执行步骤（计时模型、状态机、附件示例推演、实测分解）](docs/执行时间与执行步骤.md)
 - [几何计算示意图册（逐图说明：角域交会、覆盖、最小命中集）](docs/几何计算示意图册.md)
-- [论文插图清单与复现方式](docs/figures/README.md)（`uv run python scripts/make_figures.py`）
+- [论文插图清单与复现方式](docs/figures/README.md)（`uv run python scripts/build_figure_data.py`）
 - [四问建模分析与 P0–P7 实施计划](docs/B题建模分析与实施计划.md)
 - [协议规则表、字段表与状态机（P0 交付）](docs/协议规则表与状态机.md)
 - [问题一完整解答](docs/问题一解答.md)
@@ -42,7 +42,7 @@ project/           # 1-4 问"最优实现 / 基线实现"对比框架：逐问 o
                    # +独立参考，冻结基准集配对出数；见 project/README.md
 scripts/           # 采集、基准、可视化与校核脚本（含问题四批量仿真 benchmark_q4.py、
                    # 运行历史计时分解 analyze_run_timing.py、第四问覆盖证书 verify_q4_cover.py、
-                   # 论文插图 make_figures.py、日志归档 archive_replay_logs.py）
+                   # 论文插图 build_figure_data.py + scripts/matlab、日志归档 archive_replay_logs.py）
 docs/figures/      # 论文插图（PNG）+ manifest.json（数据来源与 sha256）+ 图清单
 output/ examples/  # 演练证据、算例与生成产物
 ```
diff --git a/docs/figures/.data/flow_overall.mat b/docs/figures/.data/flow_overall.mat
new file mode 100644
index 0000000..0438c8b
Binary files /dev/null and b/docs/figures/.data/flow_overall.mat differ
diff --git a/docs/figures/.data/geo_q1_counterexample.mat b/docs/figures/.data/geo_q1_counterexample.mat
new file mode 100644
index 0000000..549ffb7
Binary files /dev/null and b/docs/figures/.data/geo_q1_counterexample.mat differ
diff --git a/docs/figures/.data/geo_q1_meetup.mat b/docs/figures/.data/geo_q1_meetup.mat
new file mode 100644
index 0000000..2df4282
Binary files /dev/null and b/docs/figures/.data/geo_q1_meetup.mat differ
diff --git a/docs/figures/.data/geo_q2.mat b/docs/figures/.data/geo_q2.mat
new file mode 100644
index 0000000..339cd1f
Binary files /dev/null and b/docs/figures/.data/geo_q2.mat differ
diff --git a/docs/figures/.data/geo_q3.mat b/docs/figures/.data/geo_q3.mat
new file mode 100644
index 0000000..54ff0f3
Binary files /dev/null and b/docs/figures/.data/geo_q3.mat differ
diff --git a/docs/figures/.data/geo_q4.mat b/docs/figures/.data/geo_q4.mat
new file mode 100644
index 0000000..ae7907c
Binary files /dev/null and b/docs/figures/.data/geo_q4.mat differ
diff --git a/docs/figures/.data/replay_q3.mat b/docs/figures/.data/replay_q3.mat
new file mode 100644
index 0000000..3ba29cd
Binary files /dev/null and b/docs/figures/.data/replay_q3.mat differ
diff --git a/docs/figures/.data/replay_q4.mat b/docs/figures/.data/replay_q4.mat
new file mode 100644
index 0000000..c67aafd
Binary files /dev/null and b/docs/figures/.data/replay_q4.mat differ
diff --git a/docs/figures/.data/steps_state_machine.mat b/docs/figures/.data/steps_state_machine.mat
new file mode 100644
index 0000000..db88546
Binary files /dev/null and b/docs/figures/.data/steps_state_machine.mat differ
diff --git a/docs/figures/.data/timing_attachment.mat b/docs/figures/.data/timing_attachment.mat
new file mode 100644
index 0000000..5677bc3
Binary files /dev/null and b/docs/figures/.data/timing_attachment.mat differ
diff --git a/docs/figures/.data/timing_measured.mat b/docs/figures/.data/timing_measured.mat
new file mode 100644
index 0000000..e31cf8b
Binary files /dev/null and b/docs/figures/.data/timing_measured.mat differ
diff --git a/docs/figures/README.md b/docs/figures/README.md
index 7bc435a..df5c335 100644
--- a/docs/figures/README.md
+++ b/docs/figures/README.md
@@ -1,48 +1,54 @@
 # docs/figures —— 论文插图
 
-每张图只输出 PNG，由 `scripts/make_figures.py` 用 matplotlib 生成。
+每张图只输出 PNG。数据由 `scripts/build_figure_data.py` 从行为日志、覆盖计划与生产求解器
+算好写入 `docs/figures/.data/*.mat`，再由 MATLAB（`scripts/matlab/*.m`）排版出图；
 `manifest.json` 记录每张图的数据来源（路径 + sha256 前 12 位 + 行数）与生成命令。
 
 ```bash
-uv run python scripts/make_figures.py                 # 全部 11 张
-uv run python scripts/make_figures.py --list          # 图名
-uv run python scripts/make_figures.py --only geo-q3-seven-point-coverage
-uv run python scripts/make_figures.py --scale 1.5     # 整体放大（尺寸倍率）
+uv run python scripts/build_figure_data.py                # 全部 11 张（数据 + 出图）
+uv run python scripts/build_figure_data.py --prepare      # 只写 .mat 数据
+uv run python scripts/build_figure_data.py --list         # 图名
+uv run python scripts/build_figure_data.py --only geo-q3-seven-point-coverage
 ```
 
-依赖：`matplotlib`、`Pillow`、`docs/paper/fonts/` 下的字体。
-`matplotlib` 缓存写入仓库内 `.mpl-cache/`，不污染用户目录。
+MATLAB 内手动出图：`cd scripts/matlab` 后执行 `run_all_figures`（每张图单独一个会话，
+本机图形子系统连续渲染多张会崩）。
+
+依赖：`numpy`、`scipy`（写 `.mat`）与 MATLAB R2025a。
 
 ## 约定
 
-- 图内不放标题、图注与解释性文字，只保留坐标轴、图例与数据标注；
+- **除回放画布（点运动图 `replay-webui-*`）外，全部使用 MATLAB 默认图形样式**：
+  默认配色（`defaultAxesColorOrder`）、默认字体与字号、默认坐标轴与图例；
+  不引入自定义调色板，不手绘图例色块。
+- 图内不放标题、图注与解释性文字，只保留坐标轴、图例与必要的元素标注；
   图的含义由文件名与下表承担，解释写在论文正文。
-- 配色（`scripts/make_figures.py::C`）：深蓝 `#1f4e79` 主流程与协议，
-  砖红 `#b03a2e` 真值源与关键结论，墨绿 `#1e7a5f` 清除与通过项，
-  土黄 `#b8860b` 后备与警示，灰色只用于网格与次要文字。
-- 字体：中文宋体 `SongtiSC-Regular/Bold`，标题黑体 `HeitiSC-Light/Medium`，
-  数字与西文 Times New Roman，均取自 `docs/paper/fonts/`，与 `main.tex` 一致。
-- 输出为 PNG（`savefig.dpi = 200`，另有 `--scale` 倍率），按 160 mm 宽排版时
-  与正文同字号。
+- 图例一律用 MATLAB `legend` 放在坐标区外（`southoutside`），不压数据；
+  散点标签按候选方位自动避让，保证互不重叠。
+- 输出 PNG（`exportgraphics`，300 dpi、白底），导出前关闭坐标轴工具条。
 
 ## 图清单
 
 | 文件 | 内容 | 数据来源 |
 | --- | --- | --- |
-| `flow-overall-architecture.png` | 总体思路：题面抽象、在线三层、四问主线、三条闭环 | `src/mcm26b/config.py`、`docs/B题建模分析与实施计划.md` |
+| `flow-overall-architecture.png` | 四层主线：题面抽象（L0）、在线三层（L1）、四问主线（L2）、三条闭环（L3） | `src/mcm26b/config.py`、`docs/B题建模分析与实施计划.md` |
 | `steps-state-machine.png` | 会话状态机（IDLE / 倒计时 / OPEN / CLOSED） | `docs/协议规则表与状态机.md`、`src/mcm26b/protocol/client.py` |
-| `timing-attachment-example-105-111-194-199.png` | 附件计时示例逐步推演 | `docs/协议规则表与状态机.md` |
-| `timing-measured-q3-10-sources.png` | 实测一局的虚拟时间分解（累计曲线 + 构成） | `referee-data/sessions/BBM9-HZG2-77N5-NKKC/log.jsonl` |
-| `geo-q1-convex-intersection-zoom.png` | 问题一：角域交会总览 + 定位区域放大（直径圆与 MEC） | `output/q1/practice/U5ZW-P9KN-TCAG-R7ST_observations.json` |
-| `geo-q1-diameter-circle-counterexample.png` | 问题一：直径圆不覆盖的反例（等边三角形布站） | `examples/q1/triangle.json` |
-| `geo-q2-guaranteed-reception-disk.png` | 问题二：候选盘、截断角域外接圆、安全盘 `B(c, 1000−a)` | `src/mcm26b/config.py`、`docs/algo-2.md` |
-| `geo-q3-seven-point-coverage.png` | 问题三：七点覆盖（7 个 1000 m 接收盘的并集覆盖 Ω）与三套计划对比 | `src/mcm26b/planner/seven.py`、`docs/algo-3.md` |
-| `geo-q4-minimum-cover-31-points.png` | 问题四：31 点最小命中集与 `forward_half_disk` 语义 | `src/mcm26b/guarantee/plans/q4_mincover_v2.json` |
-| `replay-webui-q3-omnidirectional.png` | WebUI 回放画布复现（全向局，10 源全清） | `referee-data/sessions/BBM9-HZG2-77N5-NKKC/log.jsonl` |
-| `replay-webui-q4-directional.png` | WebUI 回放画布复现（定向源局） | `referee-data/sessions/GM56-DFXZ-XKDM-XYV7/log.jsonl` |
+| `timing-attachment-example-105-111-194-199.png` | 附件计时示例：逐动作耗时构成与单步合计 | `docs/协议规则表与状态机.md` |
+| `timing-measured-q3-10-sources.png` | 实测一局：累计虚拟时间按动作类型的堆叠构成 | `referee-data/sessions/BBM9-HZG2-77N5-NKKC/log.jsonl` |
+| `geo-q1-convex-intersection-zoom.png` | 问题一：角域交会总览 + 定位区域放大（直径圆与最小包围圆） | `output/q1/practice/U5ZW-P9KN-TCAG-R7ST_observations.json` |
+| `geo-q1-diameter-circle-counterexample.png` | 问题一：直径圆不覆盖定位区域的反例（等边三角形布站） | `examples/q1/triangle.json` |
+| `geo-q2-guaranteed-reception-disk.png` | 问题二：截断角域外接圆 `B(c, a)` 与安全候选盘 `B(c, 1000 − a)`，右侧为半径分解 | `src/mcm26b/config.py`、`docs/algo-2.md` |
+| `geo-q3-seven-point-coverage.png` | 问题三：七个 1000 m 接收盘覆盖 Ω，标出最差点 | `src/mcm26b/planner/seven.py`、`docs/algo-3.md` |
+| `geo-q4-minimum-cover-31-points.png` | 问题四：31 点最小命中集与 ±90° 前向半盘语义 | `src/mcm26b/guarantee/plans/q4_mincover_v2.json` |
+| `replay-webui-q3-omnidirectional.png` | 回放画布（点运动图，全向局）：世界视图 + 事件流水 + 虚拟时间轴 | `referee-data/sessions/BBM9-HZG2-77N5-NKKC/log.jsonl` |
+| `replay-webui-q4-directional.png` | 回放画布（点运动图，定向源局）：世界视图（含定向源 ±90° 前向半盘）+ 事件流水 + 虚拟时间轴 | `referee-data/sessions/GHSN-M38E-74GD-YLUD/log.jsonl` |
 
-后两张对应 WebUI 的预览功能：把回放器画布上的 Ω 与真值源、运动轨迹、
-检测示向度射线、清除标记，以及右侧事件流水与底部虚拟时间轴一起导出。
+后两张是唯一保留自定义画布的图：把回放器画布上的 Ω 与真值源、移动轨迹、
+检测示向度射线、定向源朝向与清除标记，连同右侧事件流水与底部虚拟时间轴一起导出；
+定向源局额外画出每个定向源的 **±90° 前向半盘**（半径取该源 `r_eff_m`，朝向箭头即半盘半径）。
+
+q4 回放固定用演练局 `GHSN-M38E-74GD-YLUD`（`build_figure_data.py::Q4_REPLAY_CASE`）；
+本机没有该局留档时回退到自动挑选，因此 `examples/replay/` 里归档了这一局。
 
 ## 数据来源与复现
 
diff --git a/docs/figures/flow-overall-architecture.png b/docs/figures/flow-overall-architecture.png
index be9c164..3f6621e 100644
Binary files a/docs/figures/flow-overall-architecture.png and b/docs/figures/flow-overall-architecture.png differ
diff --git a/docs/figures/geo-q1-convex-intersection-zoom.png b/docs/figures/geo-q1-convex-intersection-zoom.png
index a2ad12e..1969789 100644
Binary files a/docs/figures/geo-q1-convex-intersection-zoom.png and b/docs/figures/geo-q1-convex-intersection-zoom.png differ
diff --git a/docs/figures/geo-q1-diameter-circle-counterexample.png b/docs/figures/geo-q1-diameter-circle-counterexample.png
index 5a6d05e..df4f953 100644
Binary files a/docs/figures/geo-q1-diameter-circle-counterexample.png and b/docs/figures/geo-q1-diameter-circle-counterexample.png differ
diff --git a/docs/figures/geo-q2-guaranteed-reception-disk.png b/docs/figures/geo-q2-guaranteed-reception-disk.png
index 6de6f06..518c8c8 100644
Binary files a/docs/figures/geo-q2-guaranteed-reception-disk.png and b/docs/figures/geo-q2-guaranteed-reception-disk.png differ
diff --git a/docs/figures/geo-q3-seven-point-coverage.png b/docs/figures/geo-q3-seven-point-coverage.png
index 8e9bc37..e626c65 100644
Binary files a/docs/figures/geo-q3-seven-point-coverage.png and b/docs/figures/geo-q3-seven-point-coverage.png differ
diff --git a/docs/figures/geo-q4-minimum-cover-31-points.png b/docs/figures/geo-q4-minimum-cover-31-points.png
index 27cdaee..1d0ddbb 100644
Binary files a/docs/figures/geo-q4-minimum-cover-31-points.png and b/docs/figures/geo-q4-minimum-cover-31-points.png differ
diff --git a/docs/figures/manifest.json b/docs/figures/manifest.json
index e04e598..bfb9d8d 100644
--- a/docs/figures/manifest.json
+++ b/docs/figures/manifest.json
@@ -1,36 +1,12 @@
 {
-  "generator": "scripts/make_figures.py",
-  "command": "uv run python scripts/make_figures.py",
-  "palette": {
-    "ink": "#1c2430",
-    "muted": "#5c6673",
-    "grid": "#e4e9ee",
-    "primary": "#1f4e79",
-    "primary_fill": "#dce6f1",
-    "accent": "#b03a2e",
-    "accent_fill": "#f6dcd8",
-    "success": "#1e7a5f",
-    "success_fill": "#d8ece5",
-    "warn": "#b8860b",
-    "warn_fill": "#f6ecd2",
-    "violet": "#5b4b8a"
-  },
-  "fonts": {
-    "dir": "docs/paper/fonts",
-    "map": {
-      "song": "SongtiSC-Regular.ttf",
-      "song_bold": "SongtiSC-Bold.ttf",
-      "hei": "HeitiSC-Light.ttf",
-      "hei_bold": "HeitiSC-Medium.ttf",
-      "times": "Times New Roman.ttf",
-      "times_bold": "Times New Roman Bold.ttf"
-    }
-  },
+  "generator": "scripts/build_figure_data.py（数据）+ scripts/matlab/*.m（MATLAB 出图）",
+  "command": "uv run python scripts/build_figure_data.py",
+  "manual": "MATLAB 中 cd scripts/matlab 后执行 run_all_figures",
   "figures": [
     {
       "stem": "flow-overall-architecture",
       "png": "docs/figures/flow-overall-architecture.png",
-      "scale": 1.0,
+      "matlab": "scripts/matlab/fig_flow_overall.m",
       "sources": [
         {
           "path": "src/mcm26b/config.py",
@@ -47,7 +23,7 @@
     {
       "stem": "steps-state-machine",
       "png": "docs/figures/steps-state-machine.png",
-      "scale": 1.0,
+      "matlab": "scripts/matlab/fig_steps_state_machine.m",
       "sources": [
         {
           "path": "docs/协议规则表与状态机.md",
@@ -64,7 +40,7 @@
     {
       "stem": "timing-attachment-example-105-111-194-199",
       "png": "docs/figures/timing-attachment-example-105-111-194-199.png",
-      "scale": 1.0,
+      "matlab": "scripts/matlab/fig_timing_attachment.m",
       "sources": [
         {
           "path": "docs/协议规则表与状态机.md",
@@ -73,10 +49,24 @@
         }
       ]
     },
+    {
+      "stem": "timing-measured-q3-10-sources",
+      "png": "docs/figures/timing-measured-q3-10-sources.png",
+      "matlab": "scripts/matlab/fig_timing_measured.m",
+      "sources": [
+        {
+          "path": "referee-data/sessions/BBM9-HZG2-77N5-NKKC/log.jsonl",
+          "sha256_12": "5a308e53ed09",
+          "lines": 133,
+          "case_code": "BBM9-HZG2-77N5-NKKC",
+          "module": "q3_practice"
+        }
+      ]
+    },
     {
       "stem": "geo-q1-convex-intersection-zoom",
       "png": "docs/figures/geo-q1-convex-intersection-zoom.png",
-      "scale": 1.0,
+      "matlab": "scripts/matlab/fig_geo_q1_meetup.m",
       "sources": [
         {
           "path": "output/q1/practice/U5ZW-P9KN-TCAG-R7ST_observations.json",
@@ -88,7 +78,7 @@
     {
       "stem": "geo-q1-diameter-circle-counterexample",
       "png": "docs/figures/geo-q1-diameter-circle-counterexample.png",
-      "scale": 1.0,
+      "matlab": "scripts/matlab/fig_geo_q1_counterexample.m",
       "sources": [
         {
           "path": "examples/q1/triangle.json",
@@ -100,7 +90,7 @@
     {
       "stem": "geo-q2-guaranteed-reception-disk",
       "png": "docs/figures/geo-q2-guaranteed-reception-disk.png",
-      "scale": 1.0,
+      "matlab": "scripts/matlab/fig_geo_q2_safe_disk.m",
       "sources": [
         {
           "path": "src/mcm26b/config.py",
@@ -117,7 +107,7 @@
     {
       "stem": "geo-q3-seven-point-coverage",
       "png": "docs/figures/geo-q3-seven-point-coverage.png",
-      "scale": 1.0,
+      "matlab": "scripts/matlab/fig_geo_q3_coverage.m",
       "sources": [
         {
           "path": "src/mcm26b/planner/seven.py",
@@ -134,7 +124,7 @@
     {
       "stem": "geo-q4-minimum-cover-31-points",
       "png": "docs/figures/geo-q4-minimum-cover-31-points.png",
-      "scale": 1.0,
+      "matlab": "scripts/matlab/fig_geo_q4_mincover.m",
       "sources": [
         {
           "path": "src/mcm26b/guarantee/plans/q4_mincover_v2.json",
@@ -148,24 +138,10 @@
         }
       ]
     },
-    {
-      "stem": "timing-measured-q3-10-sources",
-      "png": "docs/figures/timing-measured-q3-10-sources.png",
-      "scale": 1.0,
-      "sources": [
-        {
-          "path": "referee-data/sessions/BBM9-HZG2-77N5-NKKC/log.jsonl",
-          "sha256_12": "5a308e53ed09",
-          "lines": 133,
-          "case_code": "BBM9-HZG2-77N5-NKKC",
-          "module": "q3_practice"
-        }
-      ]
-    },
     {
       "stem": "replay-webui-q3-omnidirectional",
       "png": "docs/figures/replay-webui-q3-omnidirectional.png",
-      "scale": 1.0,
+      "matlab": "scripts/matlab/fig_replay.m",
       "sources": [
         {
           "path": "referee-data/sessions/BBM9-HZG2-77N5-NKKC/log.jsonl",
@@ -178,13 +154,13 @@
     {
       "stem": "replay-webui-q4-directional",
       "png": "docs/figures/replay-webui-q4-directional.png",
-      "scale": 1.0,
+      "matlab": "scripts/matlab/fig_replay.m",
       "sources": [
         {
-          "path": "referee-data/sessions/GM56-DFXZ-XKDM-XYV7/log.jsonl",
-          "sha256_12": "f498b2073cdf",
-          "lines": 421,
-          "case_code": "GM56-DFXZ-XKDM-XYV7"
+          "path": "referee-data/sessions/GHSN-M38E-74GD-YLUD/log.jsonl",
+          "sha256_12": "280696d901b4",
+          "lines": 429,
+          "case_code": "GHSN-M38E-74GD-YLUD"
         }
       ]
     }
diff --git a/docs/figures/replay-webui-q3-omnidirectional.png b/docs/figures/replay-webui-q3-omnidirectional.png
index 57c53dc..3fc54b5 100644
Binary files a/docs/figures/replay-webui-q3-omnidirectional.png and b/docs/figures/replay-webui-q3-omnidirectional.png differ
diff --git a/docs/figures/replay-webui-q4-directional.png b/docs/figures/replay-webui-q4-directional.png
index 22c7876..1724c99 100644
Binary files a/docs/figures/replay-webui-q4-directional.png and b/docs/figures/replay-webui-q4-directional.png differ
diff --git a/docs/figures/steps-state-machine.png b/docs/figures/steps-state-machine.png
index 1a04ddd..801628b 100644
Binary files a/docs/figures/steps-state-machine.png and b/docs/figures/steps-state-machine.png differ
diff --git a/docs/figures/timing-attachment-example-105-111-194-199.png b/docs/figures/timing-attachment-example-105-111-194-199.png
index d201426..28a2b7c 100644
Binary files a/docs/figures/timing-attachment-example-105-111-194-199.png and b/docs/figures/timing-attachment-example-105-111-194-199.png differ
diff --git a/docs/figures/timing-measured-q3-10-sources.png b/docs/figures/timing-measured-q3-10-sources.png
index decb079..defebda 100644
Binary files a/docs/figures/timing-measured-q3-10-sources.png and b/docs/figures/timing-measured-q3-10-sources.png differ
diff --git a/docs/几何计算示意图册.md b/docs/几何计算示意图册.md
index d9cd843..5c9b116 100644
--- a/docs/几何计算示意图册.md
+++ b/docs/几何计算示意图册.md
@@ -3,7 +3,7 @@
 > 本册逐图给出坐标口径、关键量与图中各元素的含义。插图位于 [`figures/`](figures/)，复现命令：
 >
 > ```bash
-> uv run python scripts/make_figures.py --only geo-q1-convex-intersection-zoom,\
+> uv run python scripts/build_figure_data.py --only geo-q1-convex-intersection-zoom,\
 >   geo-q1-diameter-circle-counterexample,geo-q2-guaranteed-reception-disk,\
 >   geo-q3-seven-point-coverage,geo-q4-minimum-cover-31-points
 > ```
@@ -30,14 +30,14 @@
 （2° 宽，图中放大成可见宽度）；三者交集就是定位区域 $P$。检测点相距 600~900 m，
 而 $P$ 的直径只有 24 m，所以左图里 $P$ 缩成一个点——这是**必须做局部放大**的原因。
 
-**右（放大，视野 ±31.4 m）**：以最小包围圆圆心为中心：
+**右（放大，视野 ±20.6 m）**：以定位区域为中心：
 
-- 浅蓝扇形 = 三个角域在放大框内的可见部分；三者**重叠成白色区域**= $P$；
-- 红色实线多边形 = $P$ 的顶点边界（与左图同一个集合）；
+- 浅蓝扇形 = 三个角域在放大框内的可见部分；**橙色多边形** = 三者交集，即定位区域 $P$；
+- 左图里 $P$ 的直径只有 24 m，缩成一个红色方块，放大后才看得到形状；
 - 蓝色虚线圆 = **直径圆**，半径 $D/2=11.9984$ m，圆心是中点 $(-450.634,\ 508.944)$；
 - 绿色实线圆 = **最小包围圆（MEC）**，$\rho=12.0686$ m，圆心 $(-449.977,\ 507.953)$。
 
-**关键量（图 (c) 栏）**
+**关键量**
 
 | 量 | 值 | 判定 |
 | --- | ---: | --- |
@@ -64,7 +64,7 @@ $P$：顶点 $(0,0)$、$(40,0)$、$(20,34.641)$。
 
 - 直径 $D=40.0000$ m，最远点对是底边两端 ⇒ 直径圆圆心 $(20,0)$、半径 20 m；
 - 到第三个顶点 $(20,34.641)$ 的距离是 $20\sqrt3\approx34.6410$ m > 20 m，
-  故**直径圆不覆盖**：$E=+14.6410$ m（图中箭头所指）；
+  故**直径圆不覆盖**：$E=+14.6410$ m；
 - 该反例的最小包围圆半径 $\rho=40/\sqrt3\approx23.0940$ m **> 20 m**，
   属于"覆盖失败且无法保证清除"的更坏情形。
 
@@ -136,7 +136,7 @@ D(a)=984.5391\ \text{m}<1000\ \text{m}
 \quad(\text{几何余量 }15.46\ \text{m}).
 $$
 
-**图上看到的就是这个证明**：7 个半径 1000 m 的接收盘（浅绿，裁剪在 Ω 内）的
+**图上看到的就是这个证明**：7 个半径 1000 m 的接收盘（浅绿）的
 并集**完全覆盖** Ω，最坏点出现在 $(0,-1800)$（Ω 正下方边界，图中圈出），
 到最近站点 $1159.7$ m（正下方环站）的距离恰为 984.54 m。
 
diff --git a/docs/总体思路与流程图.md b/docs/总体思路与流程图.md
index bd203e1..f68a2a3 100644
--- a/docs/总体思路与流程图.md
+++ b/docs/总体思路与流程图.md
@@ -3,7 +3,7 @@
 > 插图：[`figures/flow-overall-architecture.png`](figures/flow-overall-architecture.png)（总体思路与算法主线）、
 > [`figures/steps-state-machine.png`](figures/steps-state-machine.png)（执行步骤）、
 > [`figures/timing-attachment-example-105-111-194-199.png`](figures/timing-attachment-example-105-111-194-199.png)（附件计时示例）。
-> 复现：`uv run python scripts/make_figures.py --only flow-overall-architecture,steps-state-machine,timing-attachment-example-105-111-194-199`
+> 复现：`uv run python scripts/build_figure_data.py --only flow-overall-architecture,steps-state-machine,timing-attachment-example-105-111-194-199`
 
 本文给出四问的思路、端到端流程图、执行步骤与执行时间。
 算法细节指向 [`algo-1.md`](algo-1.md)~[`algo-4.md`](algo-4.md)，
diff --git a/docs/执行时间与执行步骤.md b/docs/执行时间与执行步骤.md
index fa23cb3..dd35a1c 100644
--- a/docs/执行时间与执行步骤.md
+++ b/docs/执行时间与执行步骤.md
@@ -3,7 +3,7 @@
 > 配套插图：[`figures/steps-state-machine.png`](figures/steps-state-machine.png)（状态机与动作回合）、
 > [`figures/timing-attachment-example-105-111-194-199.png`](figures/timing-attachment-example-105-111-194-199.png)（附件示例逐步推演）、
 > [`figures/timing-measured-q3-10-sources.png`](figures/timing-measured-q3-10-sources.png)（实测一局的时序分解）。
-> 复现：`uv run python scripts/make_figures.py --only steps-state-machine,timing-attachment-example-105-111-194-199,timing-measured-q3-10-sources`
+> 复现：`uv run python scripts/build_figure_data.py --only steps-state-machine,timing-attachment-example-105-111-194-199,timing-measured-q3-10-sources`
 
 本文说明每一步做什么、每步花多少虚拟时间、这些数字如何验证。
 规则原文见 `issue/` 下附件1 表1、表2 与附件2 第 4、10 节；
@@ -108,7 +108,7 @@ uv run pytest tests/test_protocol_timing.py -q   # 逐步断言移动、换频
 
 ## 4. 实测时序分解
 
-对评测机留档的每一局，`scripts/make_figures.py` 按与 `referee.simulator`
+对评测机留档的每一局，`scripts/build_figure_data.py` 按与 `referee.simulator`
 同源的规则逐动作复算，并检查分项之和是否等于响应中的 `virtual_time_s`。
 
 ### 4.1 问题三演练局 `BBM9-HZG2-77N5-NKKC`（10 源全清）
@@ -145,7 +145,7 @@ uv run pytest tests/test_protocol_timing.py -q   # 逐步断言移动、换频
 
 ```bash
 # 用评测机留档重画（含真值）
-uv run python scripts/make_figures.py --only timing-measured-q3-10-sources,\
+uv run python scripts/build_figure_data.py --only timing-measured-q3-10-sources,\
     replay-webui-q3-omnidirectional,replay-webui-q4-directional
 
 # 归档新日志，评测机数据被清理后仍可复现插图
diff --git a/examples/replay/GHSN-M38E-74GD-YLUD.q4_practice.jsonl b/examples/replay/GHSN-M38E-74GD-YLUD.q4_practice.jsonl
new file mode 100644
index 0000000..167f801
--- /dev/null
+++ b/examples/replay/GHSN-M38E-74GD-YLUD.q4_practice.jsonl
@@ -0,0 +1,429 @@
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+{"event": "action", "seq": 410, "wall_ts_ms": 1789265740992, "method": "POST", "path": "/measure", "status": 200, "request": {"arena_id": "default", "robot_id": "1", "request_id": "baa9dc681441-0410", "position": {"x": -200.0, "y": 900.0}, "channel": 1}, "response": {"accepted": true, "real_timestamp_ms": 1789265740992, "virtual_time_s": 8750.654516, "measure_result": "no_signal"}}
+{"event": "action", "seq": 411, "wall_ts_ms": 1789265740993, "method": "POST", "path": "/measure", "status": 200, "request": {"arena_id": "default", "robot_id": "1", "request_id": "baa9dc681441-0411", "position": {"x": -200.0, "y": 900.0}, "channel": 3}, "response": {"accepted": true, "real_timestamp_ms": 1789265740993, "virtual_time_s": 8756.654516, "measure_result": "no_signal"}}
+{"event": "action", "seq": 412, "wall_ts_ms": 1789265740994, "method": "POST", "path": "/measure", "status": 200, "request": {"arena_id": "default", "robot_id": "1", "request_id": "baa9dc681441-0412", "position": {"x": -200.0, "y": 900.0}, "channel": 7}, "response": {"accepted": true, "real_timestamp_ms": 1789265740994, "virtual_time_s": 8762.654516, "measure_result": "no_signal"}}
+{"event": "action", "seq": 413, "wall_ts_ms": 1789265740994, "method": "POST", "path": "/measure", "status": 200, "request": {"arena_id": "default", "robot_id": "1", "request_id": "baa9dc681441-0413", "position": {"x": -200.0, "y": 900.0}, "channel": 9}, "response": {"accepted": true, "real_timestamp_ms": 1789265740994, "virtual_time_s": 8768.654516, "measure_result": "no_signal"}}
+{"event": "action", "seq": 414, "wall_ts_ms": 1789265740995, "method": "POST", "path": "/measure", "status": 200, "request": {"arena_id": "default", "robot_id": "1", "request_id": "baa9dc681441-0414", "position": {"x": -200.0, "y": 900.0}, "channel": 11}, "response": {"accepted": true, "real_timestamp_ms": 1789265740995, "virtual_time_s": 8774.654516, "measure_result": "no_signal"}}
+{"event": "action", "seq": 415, "wall_ts_ms": 1789265740996, "method": "POST", "path": "/measure", "status": 200, "request": {"arena_id": "default", "robot_id": "1", "request_id": "baa9dc681441-0415", "position": {"x": -200.0, "y": 900.0}, "channel": 13}, "response": {"accepted": true, "real_timestamp_ms": 1789265740996, "virtual_time_s": 8780.654516, "measure_result": "no_signal"}}
+{"event": "action", "seq": 416, "wall_ts_ms": 1789265740996, "method": "POST", "path": "/measure", "status": 200, "request": {"arena_id": "default", "robot_id": "1", "request_id": "baa9dc681441-0416", "position": {"x": -200.0, "y": 900.0}, "channel": 14}, "response": {"accepted": true, "real_timestamp_ms": 1789265740996, "virtual_time_s": 8786.654516, "measure_result": "no_signal"}}
+{"event": "action", "seq": 417, "wall_ts_ms": 1789265740997, "method": "POST", "path": "/measure", "status": 200, "request": {"arena_id": "default", "robot_id": "1", "request_id": "baa9dc681441-0417", "position": {"x": -200.0, "y": 900.0}, "channel": 17}, "response": {"accepted": true, "real_timestamp_ms": 1789265740997, "virtual_time_s": 8792.654516, "measure_result": "no_signal"}}
+{"event": "action", "seq": 418, "wall_ts_ms": 1789265740998, "method": "POST", "path": "/measure", "status": 200, "request": {"arena_id": "default", "robot_id": "1", "request_id": "baa9dc681441-0418", "position": {"x": -500.0, "y": 700.0}, "channel": 17}, "response": {"accepted": true, "real_timestamp_ms": 1789265740998, "virtual_time_s": 8869.765542, "measure_result": "no_signal"}}
+{"event": "action", "seq": 419, "wall_ts_ms": 1789265740998, "method": "POST", "path": "/measure", "status": 200, "request": {"arena_id": "default", "robot_id": "1", "request_id": "baa9dc681441-0419", "position": {"x": -500.0, "y": 700.0}, "channel": 1}, "response": {"accepted": true, "real_timestamp_ms": 1789265740998, "virtual_time_s": 8875.765542, "measure_result": "no_signal"}}
+{"event": "action", "seq": 420, "wall_ts_ms": 1789265740999, "method": "POST", "path": "/measure", "status": 200, "request": {"arena_id": "default", "robot_id": "1", "request_id": "baa9dc681441-0420", "position": {"x": -500.0, "y": 700.0}, "channel": 3}, "response": {"accepted": true, "real_timestamp_ms": 1789265740999, "virtual_time_s": 8881.765542, "measure_result": "no_signal"}}
+{"event": "action", "seq": 421, "wall_ts_ms": 1789265741000, "method": "POST", "path": "/measure", "status": 200, "request": {"arena_id": "default", "robot_id": "1", "request_id": "baa9dc681441-0421", "position": {"x": -500.0, "y": 700.0}, "channel": 7}, "response": {"accepted": true, "real_timestamp_ms": 1789265741000, "virtual_time_s": 8887.765542, "measure_result": "no_signal"}}
+{"event": "action", "seq": 422, "wall_ts_ms": 1789265741000, "method": "POST", "path": "/measure", "status": 200, "request": {"arena_id": "default", "robot_id": "1", "request_id": "baa9dc681441-0422", "position": {"x": -500.0, "y": 700.0}, "channel": 9}, "response": {"accepted": true, "real_timestamp_ms": 1789265741000, "virtual_time_s": 8893.765542, "measure_result": "no_signal"}}
+{"event": "action", "seq": 423, "wall_ts_ms": 1789265741001, "method": "POST", "path": "/measure", "status": 200, "request": {"arena_id": "default", "robot_id": "1", "request_id": "baa9dc681441-0423", "position": {"x": -500.0, "y": 700.0}, "channel": 11}, "response": {"accepted": true, "real_timestamp_ms": 1789265741001, "virtual_time_s": 8899.765542, "measure_result": "no_signal"}}
+{"event": "action", "seq": 424, "wall_ts_ms": 1789265741001, "method": "POST", "path": "/measure", "status": 200, "request": {"arena_id": "default", "robot_id": "1", "request_id": "baa9dc681441-0424", "position": {"x": -500.0, "y": 700.0}, "channel": 13}, "response": {"accepted": true, "real_timestamp_ms": 1789265741001, "virtual_time_s": 8905.765542, "measure_result": "no_signal"}}
+{"event": "action", "seq": 425, "wall_ts_ms": 1789265741002, "method": "POST", "path": "/measure", "status": 200, "request": {"arena_id": "default", "robot_id": "1", "request_id": "baa9dc681441-0425", "position": {"x": -500.0, "y": 700.0}, "channel": 14}, "response": {"accepted": true, "real_timestamp_ms": 1789265741002, "virtual_time_s": 8911.765542, "measure_result": "no_signal"}}
+{"event": "action", "seq": 426, "wall_ts_ms": 1789265741003, "method": "POST", "path": "/measure", "status": 200, "request": {"arena_id": "default", "robot_id": "1", "request_id": "baa9dc681441-0426", "position": {"x": -500.0, "y": 700.0}, "channel": 18}, "response": {"accepted": true, "real_timestamp_ms": 1789265741003, "virtual_time_s": 8917.765542, "measure_result": "no_signal"}}
+{"event": "action", "seq": 427, "wall_ts_ms": 1789265741003, "method": "POST", "path": "/exit", "status": 200, "request": {"arena_id": "default", "robot_id": "1", "request_id": "baa9dc681441-0427"}, "response": {"accepted": true, "real_timestamp_ms": 1789265741003, "virtual_time_s": 8917.765542, "exit_reason": "user_exit"}}
+{"event": "session_end", "reason": "user_exit", "virtual_time_s": 8917.765542, "real_elapsed_s": 10.027643, "request_count": 427, "cleared_count": 11}
diff --git a/referee-data/sessions/GHSN-M38E-74GD-YLUD/meta.json b/referee-data/sessions/GHSN-M38E-74GD-YLUD/meta.json
new file mode 100644
index 0000000..6bb33e0
--- /dev/null
+++ b/referee-data/sessions/GHSN-M38E-74GD-YLUD/meta.json
@@ -0,0 +1,96 @@
+{
+  "case_code": "GHSN-M38E-74GD-YLUD",
+  "module": "q4_practice",
+  "robot_id": "1",
+  "seed": 1907688398,
+  "truth": [
+    {
+      "channel": 6,
+      "x": -168.78031525275804,
+      "y": 1684.875239455932,
+      "r_eff_m": 1233.1529913973563,
+      "directional": true,
+      "heading_deg": 351.84275431652014
+    },
+    {
+      "channel": 15,
+      "x": 411.7975180678083,
+      "y": 1548.040304144621,
+      "r_eff_m": 1336.3045523445826,
+      "directional": true,
+      "heading_deg": 72.47781232458263
+    },
+    {
+      "channel": 8,
+      "x": 978.6674582823607,
+      "y": -996.1121301869524,
+      "r_eff_m": 1336.1370990332562,
+      "directional": true,
+      "heading_deg": 246.14394851382335
+    },
+    {
+      "channel": 16,
+      "x": 124.00340756473021,
+      "y": -860.3622285357711,
+      "r_eff_m": 1345.578791332298,
+      "directional": false,
+      "heading_deg": 0.0
+    },
+    {
+      "channel": 10,
+      "x": 729.8914456683548,
+      "y": 714.3629430529361,
+      "r_eff_m": 1127.494833936053,
+      "directional": false,
+      "heading_deg": 0.0
+    },
+    {
+      "channel": 2,
+      "x": 478.441266630241,
+      "y": 449.08113076378316,
+      "r_eff_m": 1040.6068154097852,
+      "directional": false,
+      "heading_deg": 0.0
+    },
+    {
+      "channel": 20,
+      "x": -945.2003883886779,
+      "y": 638.5311986666989,
+      "r_eff_m": 1295.456469667405,
+      "directional": false,
+      "heading_deg": 0.0
+    },
+    {
+      "channel": 4,
+      "x": 99.04602689897295,
+      "y": 1744.5260335974826,
+      "r_eff_m": 1032.9094604449615,
+      "directional": false,
+      "heading_deg": 0.0
+    },
+    {
+      "channel": 5,
+      "x": -1507.0542438070167,
+      "y": 761.3723575581047,
+      "r_eff_m": 1448.7977020579874,
+      "directional": false,
+      "heading_deg": 0.0
+    },
+    {
+      "channel": 12,
+      "x": -1188.1583136013294,
+      "y": 963.0220608398997,
+      "r_eff_m": 1226.2619264983982,
+      "directional": false,
+      "heading_deg": 0.0
+    },
+    {
+      "channel": 19,
+      "x": -177.4461437404443,
+      "y": 343.49207176417394,
+      "r_eff_m": 1277.3413627947266,
+      "directional": false,
+      "heading_deg": 0.0
+    }
+  ]
+}
\ No newline at end of file
diff --git a/scripts/archive_replay_logs.py b/scripts/archive_replay_logs.py
index 816e8bb..22c145b 100644
--- a/scripts/archive_replay_logs.py
+++ b/scripts/archive_replay_logs.py
@@ -3,7 +3,7 @@
 ``referee-data/`` 与 ``output/`` 都在 .gitignore 里：本机清掉评测机数据后，
 ``docs/figures/*.png`` 就无法复现。本脚本把"作图用到的那几局"抽出来，
 命名成 ``<case_code>.<module>.jsonl`` 存进 ``examples/replay/``（入库、几万行以内），
-``scripts/make_figures.py`` 在没有评测机数据时自动改读这里。
+``scripts/build_figure_data.py`` 在没有评测机数据时自动改读这里。
 
     uv run python scripts/archive_replay_logs.py                      # 归档作图默认选中的两局
     uv run python scripts/archive_replay_logs.py BBM9-HZG2-77N5-NKKC  # 指定案例
@@ -26,7 +26,7 @@ ARCHIVE_DIR = ROOT / 'examples' / 'replay'
 
 sys.path.insert(0, str(Path(__file__).resolve().parent))
 
-from make_figures import discover_runs, pick_run  # noqa: E402
+from build_figure_data import discover_runs, pick_run  # noqa: E402
 
 
 def archive(run: dict, out_dir: Path) -> Path:
diff --git a/scripts/build_figure_data.py b/scripts/build_figure_data.py
new file mode 100644
index 0000000..82ed36f
--- /dev/null
+++ b/scripts/build_figure_data.py
@@ -0,0 +1,747 @@
+"""为 MATLAB 出图准备数据，并更新 docs/figures/manifest.json。
+
+    uv run python scripts/build_figure_data.py --prepare     # 只写 .mat 数据
+    uv run python scripts/build_figure_data.py               # 写数据 + 调 MATLAB 出图
+    uv run python scripts/build_figure_data.py --only geo-q3-seven-point-coverage
+    uv run python scripts/build_figure_data.py --list
+
+分工：
+
+- **本脚本（Python）**：解析行为日志与覆盖计划、调用生产求解器算几何、把绘图数据写成
+  ``docs/figures/.data/*.mat``、维护 manifest（来源路径 + sha256 + 行数）；
+- **MATLAB**：``scripts/matlab/*.m`` 负责排版与出图，只读 .mat，不做数据解析。
+  手动出图：MATLAB 中 ``cd scripts/matlab`` 后执行 ``run_all_figures``。
+
+图内不放标题、图注与解释性文字，只保留坐标轴、图例与数据标注；
+每张图的含义由文件名与 ``docs/figures/README.md`` 承担。
+"""
+
+from __future__ import annotations
+
+import argparse
+import hashlib
+import json
+import math
+import subprocess
+import sys
+from pathlib import Path
+from typing import Any, Callable, Sequence
+
+import numpy as np
+from scipy.io import savemat
+
+ROOT = Path(__file__).resolve().parents[1]
+OUT_DIR = ROOT / "docs" / "figures"
+DATA_DIR = OUT_DIR / ".data"
+MATLAB_DIR = ROOT / "scripts" / "matlab"
+SESSIONS_DIR = ROOT / "referee-data" / "sessions"
+ARCHIVE_DIR = ROOT / "examples" / "replay"
+MATLAB_BIN = Path("/Applications/MATLAB_R2025a.app/bin/matlab")
+
+# 题面常量（与 src/mcm26b/config.py 一致；此处只用于画图）
+OMEGA_R = 1800.0
+R_EFF = 1000.0
+SPEED_MPS = 5.0
+MEASURE_S = 5.0
+SWITCH_S = 1.0
+CLEAR_OK_S = 5.0
+CLEAR_NO_S = 3.0
+RING_RADIUS_M = 1159.7
+
+# 回放图指定的 q4 演练局（缺失时回退到自动挑选）
+Q4_REPLAY_CASE = "GHSN-M38E-74GD-YLUD"
+SEVEN_R = 1800.0
+
+# 图名 → (MATLAB 函数, .mat 数据名)
+FIGURES: tuple[tuple[str, str, str], ...] = (
+    ("flow-overall-architecture", "fig_flow_overall", "flow_overall"),
+    ("steps-state-machine", "fig_steps_state_machine", "steps_state_machine"),
+    ("timing-attachment-example-105-111-194-199", "fig_timing_attachment",
+     "timing_attachment"),
+    ("timing-measured-q3-10-sources", "fig_timing_measured", "timing_measured"),
+    ("geo-q1-convex-intersection-zoom", "fig_geo_q1_meetup", "geo_q1_meetup"),
+    ("geo-q1-diameter-circle-counterexample", "fig_geo_q1_counterexample",
+     "geo_q1_counterexample"),
+    ("geo-q2-guaranteed-reception-disk", "fig_geo_q2_safe_disk", "geo_q2"),
+    ("geo-q3-seven-point-coverage", "fig_geo_q3_coverage", "geo_q3"),
+    ("geo-q4-minimum-cover-31-points", "fig_geo_q4_mincover", "geo_q4"),
+    ("replay-webui-q3-omnidirectional", "fig_replay", "replay_q3"),
+    ("replay-webui-q4-directional", "fig_replay", "replay_q4"),
+)
+
+SOURCES: dict[str, list[str]] = {
+    "flow-overall-architecture": ["src/mcm26b/config.py", "docs/B题建模分析与实施计划.md"],
+    "steps-state-machine": ["docs/协议规则表与状态机.md", "src/mcm26b/protocol/client.py"],
+    "timing-attachment-example-105-111-194-199": ["docs/协议规则表与状态机.md"],
+    "geo-q1-diameter-circle-counterexample": ["examples/q1/triangle.json"],
+    "geo-q2-guaranteed-reception-disk": ["src/mcm26b/config.py", "docs/algo-2.md"],
+    "geo-q3-seven-point-coverage": ["src/mcm26b/planner/seven.py", "docs/algo-3.md"],
+    "geo-q4-minimum-cover-31-points": [
+        "src/mcm26b/guarantee/plans/q4_mincover_v2.json", "docs/algo-4.md"],
+}
+
+
+# ---------------------------------------------------------------------------
+# 数据来源
+# ---------------------------------------------------------------------------
+def source(path: str | Path, **extra: Any) -> dict[str, Any]:
+    p = Path(path)
+    p = p if p.is_absolute() else ROOT / p
+    digest, lines = "-", 0
+    if p.is_file():
+        data = p.read_bytes()
+        digest = hashlib.sha256(data).hexdigest()[:12]
+        lines = data.count(b"\n") + (0 if data.endswith(b"\n") else 1)
+    rel = str(p.relative_to(ROOT)) if p.is_relative_to(ROOT) else str(p)
+    return {"path": rel, "sha256_12": digest, "lines": lines, **extra}
+
+
+def parse_jsonl(path: Path) -> dict[str, Any]:
+    """兼容评测机 ``event=action`` 与客户端 ``event=accepted`` 两种日志。"""
+    meta: dict[str, Any] = {}
+    actions: list[dict[str, Any]] = []
+    fallback: dict[str, dict[str, Any]] = {}
+    seq = 0
+    for line in path.read_text(encoding="utf-8").splitlines():
+        line = line.strip()
+        if not line:
+            continue
+        try:
+            ev = json.loads(line)
+        except json.JSONDecodeError:
+            continue
+        kind = ev.get("event")
+        if kind == "session_start":
+            meta = ev
+        elif kind == "action":
+            seq += 1
+            actions.append(dict(seq=ev.get("seq", seq), path=ev.get("path", ""),
+                                request=ev.get("request") or {},
+                                response=ev.get("response") or {},
+                                wall_ts_ms=ev.get("wall_ts_ms")))
+        elif kind == "accepted":
+            fallback[str(ev.get("request_id", ""))] = ev
+        elif kind == "step" and str(ev.get("request_id", "")) not in fallback:
+            fallback[str(ev.get("request_id", ""))] = ev
+    if not actions:
+        for ev in fallback.values():
+            if not ev.get("path"):
+                continue
+            seq += 1
+            stamp = ev.get("logged_at_unix_s")
+            actions.append(dict(seq=seq, path=ev["path"], request=ev.get("request") or {},
+                                response=ev.get("response") or {},
+                                wall_ts_ms=stamp * 1000 if stamp else None))
+    if not actions:
+        raise ValueError(f"{path} 没有可回放的动作事件")
+    return dict(case_code=meta.get("case_code") or path.parent.name,
+                module=meta.get("module") or "?", robot_id=str(meta.get("robot_id") or "?"),
+                truth=list(meta.get("truth") or []), actions=actions, source=path)
+
+
+def discover_runs() -> list[dict[str, Any]]:
+    runs: list[dict[str, Any]] = []
+    if SESSIONS_DIR.is_dir():
+        for log in sorted(SESSIONS_DIR.glob("*/log.jsonl")):
+            try:
+                runs.append(parse_jsonl(log))
+            except ValueError:
+                continue
+    if not runs and ARCHIVE_DIR.is_dir():
+        for log in sorted(ARCHIVE_DIR.glob("*.jsonl")):
+            try:
+                runs.append(parse_jsonl(log))
+            except ValueError:
+                continue
+    return runs
+
+
+def pick_case(runs: Sequence[dict[str, Any]], case_code: str) -> dict[str, Any] | None:
+    """按案例编码取局；不在本机留档里就返回 None，由调用方回退。"""
+    return next((r for r in runs if r["case_code"] == case_code), None)
+
+
+def pick_run(runs: Sequence[dict[str, Any]], module: str, truth: int) -> dict[str, Any]:
+    cands = [r for r in runs if r["module"].startswith(module) and len(r["truth"]) >= truth
+             and any(a["path"] == "/measure" for a in r["actions"])]
+    if not cands:
+        cands = [r for r in runs if r["module"].startswith(module)]
+    return sorted(cands, key=lambda r: (abs(len(r["truth"]) - truth), len(r["actions"])))[0]
+
+
+def decompose(run: dict[str, Any]) -> dict[str, Any]:
+    """按附件规则逐动作复算移动 / 换频 / 动作耗时。"""
+    pos = (0.0, 0.0)
+    channel: int | None = None
+    rows: list[dict[str, Any]] = []
+    for act in run["actions"]:
+        req, res = act["request"], act["response"]
+        move_m = switch = action_s = 0.0
+        if act["path"] in ("/measure", "/clear") and "position" in req:
+            tgt = (float(req["position"]["x"]), float(req["position"]["y"]))
+            move_m = math.dist(pos, tgt)
+            if move_m > 0:
+                pos = tgt
+        if act["path"] == "/measure":
+            ch = int(req.get("channel", 0))
+            switch = 0.0 if channel in (None, ch) else SWITCH_S
+            channel = ch
+            action_s = MEASURE_S
+        elif act["path"] == "/clear":
+            action_s = CLEAR_OK_S if str(res.get("clear_result")) == "success" else CLEAR_NO_S
+        rows.append(dict(path=act["path"], move_s=move_m / SPEED_MPS, switch_s=switch,
+                         action_s=action_s, move_m=move_m,
+                         virtual_s=float(res.get("virtual_time_s") or 0.0),
+                         hit=str(res.get("measure_result")) == "direction",
+                         cleared=str(res.get("clear_result")) == "success",
+                         channel=req.get("channel"),
+                         x=req.get("position", {}).get("x"),
+                         y=req.get("position", {}).get("y")))
+    last = run["actions"][-1]["response"]
+    return dict(rows=rows, virtual_s=float(last.get("virtual_time_s") or 0.0),
+                move_m=sum(r["move_m"] for r in rows),
+                measures=sum(1 for r in rows if r["path"] == "/measure"),
+                clears=sum(1 for r in rows if r["path"] == "/clear"))
+
+
+def solved_channels(run: dict[str, Any]) -> list[int]:
+    return sorted({int(a["request"]["channel"]) for a in run["actions"]
+                   if a["path"] == "/clear" and "channel" in a["request"]
+                   and str(a["response"].get("clear_result")) == "success"})
+
+
+# ---------------------------------------------------------------------------
+# 几何：半平面裁剪与问题一求解
+# ---------------------------------------------------------------------------
+def clip_halfplane(poly: np.ndarray, a: float, b: float, c: float) -> np.ndarray:
+    """Sutherland–Hodgman：半平面 a·x + b·y <= c 裁剪凸多边形。"""
+    if len(poly) == 0:
+        return poly
+    out: list[list[float]] = []
+    n = len(poly)
+    for i in range(n):
+        cur, nxt = poly[i], poly[(i + 1) % n]
+        dc = a * cur[0] + b * cur[1] - c
+        dn = a * nxt[0] + b * nxt[1] - c
+        if dc <= 1e-9:
+            out.append(list(cur))
+            if dn > 1e-9:
+                t = dc / (dc - dn)
+                out.append([cur[0] + t * (nxt[0] - cur[0]),
+                            cur[1] + t * (nxt[1] - cur[1])])
+        elif dn <= 1e-9:
+            t = dc / (dc - dn)
+            out.append([cur[0] + t * (nxt[0] - cur[0]),
+                        cur[1] + t * (nxt[1] - cur[1])])
+    return np.array(out) if out else np.empty((0, 2))
+
+
+def angle_error(poly: np.ndarray, station: Sequence[float], bearing: float) -> float:
+    centre = poly.mean(axis=0)
+    dx, dy = centre[0] - station[0], centre[1] - station[1]
+    if abs(dx) < 1e-12 and abs(dy) < 1e-12:
+        return 0.0
+    return abs((math.degrees(math.atan2(dy, dx)) - bearing + 180.0) % 360.0 - 180.0)
+
+
+def clip_wedge(region: np.ndarray, station: Sequence[float], bearing: float,
+               half_deg: float) -> np.ndarray:
+    """用角域 W(s, θ ± δ) 裁剪区域：两个半平面各试一次，取方向一致的那一侧。"""
+    region = np.asarray(region, dtype=float)
+    if len(region) == 0:
+        return region
+    for edge in (bearing - half_deg, bearing + half_deg):
+        ang = math.radians(edge)
+        a, b = -math.sin(ang), math.cos(ang)
+        c = a * station[0] + b * station[1]
+        cands = [cand for cand in (clip_halfplane(region, a, b, c),
+                                   clip_halfplane(region, -a, -b, -c)) if len(cand) >= 3]
+        if not cands:
+            return np.empty((0, 2))
+        region = cands[0] if len(cands) == 1 else min(
+            cands, key=lambda cand: angle_error(cand, station, bearing))
+    return region
+
+
+def wedge_polygon(station: Sequence[float], bearing: float, half_deg: float,
+                  reach: float) -> np.ndarray:
+    a0, a1 = math.radians(bearing - half_deg), math.radians(bearing + half_deg)
+    ang = np.linspace(a0, a1, 24)
+    return np.vstack([[station[0], station[1]],
+                      np.column_stack([station[0] + reach * np.cos(ang),
+                                       station[1] + reach * np.sin(ang)])])
+
+
+def overview_window(stations: np.ndarray, verts: np.ndarray,
+                    dc: dict[str, Any], mec: dict[str, Any]) -> tuple[float, np.ndarray]:
+    """总览窗口：包含全部站点、定位区域与两个圆，中心取包围盒中心。"""
+    pts = [np.asarray(stations, dtype=float), np.asarray(verts, dtype=float)]
+    for circ in (dc, mec):
+        c = np.asarray(circ["center"], dtype=float)
+        r = float(circ["radius_m"])
+        pts.append(np.array([c + r, c - r]))
+    all_pts = np.vstack(pts)
+    lo, hi = all_pts.min(axis=0), all_pts.max(axis=0)
+    center = (lo + hi) / 2
+    half = float(np.max(hi - lo) / 2 * 1.12 + 40.0)
+    return half, center
+
+
+def q1_solve(stations: Sequence[Sequence[float]]) -> dict[str, Any]:
+    """调用生产求解器，保证图中数字与代码一致。"""
+    sys.path.insert(0, str(ROOT / "src"))
+    from mcm26b import Measurement, solve          # noqa: PLC0415
+    res = solve([Measurement(x, y, b, h) for x, y, b, h in stations])
+    dc = res["diameter_circle"]
+    mec = res["minimum_enclosing_circle"]
+    return dict(vertices=np.array(res["vertices"]),
+                dc=dict(center=np.array(dc["center"]), radius_m=float(dc["radius_m"])),
+                mec=dict(center=np.array(mec["center"]), radius_m=float(mec["radius_m"])))
+
+
+def q1_practice_case() -> dict[str, Any] | None:
+    for path in sorted((ROOT / "output" / "q1" / "practice").glob("*_observations.json")):
+        doc = json.loads(path.read_text(encoding="utf-8"))
+        if doc.get("result"):
+            doc["_path"] = path
+            return doc
+    return None
+
+
+def load_plan(name: str) -> dict[str, Any]:
+    path = ROOT / "src" / "mcm26b" / "guarantee" / "plans" / f"{name}.json"
+    return json.loads(path.read_text(encoding="utf-8"))
+
+
+def seven_bound(a: float = RING_RADIUS_M, radius: float = SEVEN_R) -> float:
+    return max(a / math.sqrt(3),
+               math.sqrt(radius ** 2 + a ** 2 - math.sqrt(3) * radius * a))
+
+
+# ---------------------------------------------------------------------------
+# 各图数据
+# ---------------------------------------------------------------------------
+def data_flow_overall() -> dict[str, Any]:
+    """四个层次带：层标签、每层的框内短标签与语义色名。"""
+    bands = [
+        ("L0", [("区域 Ω：半径 1800 m", 8.0, 26.0),
+                ("移动 5 m/s · 检测 5 s", 36.5, 26.0),
+                ("换频 1 s · 清除 5/3 s", 65.0, 26.0),
+                ("源 10~16 个 · 频道 1~20", 93.5, 24.0)]),
+        ("L1", [("证据层：候选集与粒子幸存集", 8.0, 34.0),
+                ("决策层：选点与任务表", 45.0, 34.0),
+                ("执行层：串行客户端", 82.0, 34.0)]),
+        ("L2", [("问题 1 定位解算", 8.0, 26.0),
+                ("问题 2 第二点选择", 36.5, 26.0),
+                ("问题 3 全向搜索", 65.0, 26.0),
+                ("问题 4 混合定向", 93.5, 24.0)]),
+        ("L3", [("发现闭环", 8.0, 34.0),
+                ("定位闭环", 45.0, 34.0),
+                ("清除闭环", 82.0, 34.0)]),
+    ]
+    colors = {"L0": "primary", "L1": "primary", "L2": "accent", "L3": "success"}
+    return dict(tags=[b[0] for b in bands],
+                labels=[[i[0] for i in b[1]] for b in bands],
+                colors=[colors[b[0]] for b in bands])
+
+
+def data_steps_state_machine() -> dict[str, Any]:
+    return dict(labels=["IDLE", "倒计时 5 s", "OPEN 接口开放", "CLOSED 断连"],
+                edges=["muted", "warn", "success", "accent"])
+
+
+EXAMPLE_STEPS = (("/enter", 0.0, 0.0, 0.0),
+                 ("/measure ch1", 100.0, 0.0, 5.0),
+                 ("/measure ch2", 0.0, 1.0, 5.0),
+                 ("/clear ch3", 80.0, 0.0, 3.0),
+                 ("/measure ch2", 0.0, 0.0, 5.0),
+                 ("/exit", 0.0, 0.0, 0.0))
+
+
+def data_timing_attachment() -> dict[str, Any]:
+    return dict(labels=[s[0] for s in EXAMPLE_STEPS],
+                move=np.array([s[1] for s in EXAMPLE_STEPS]),
+                switch_s=np.array([s[2] for s in EXAMPLE_STEPS]),
+                action=np.array([s[3] for s in EXAMPLE_STEPS]),
+                xlabel="虚拟耗时 / s",
+                legend=["移动 L/5", "换频 1 s", "检测/清除动作"])
+
+
+def data_timing_measured(run: dict[str, Any]) -> dict[str, Any]:
+    tl = decompose(run)
+    rows = tl["rows"]
+    seq = np.arange(1.0, len(rows) + 1.0)
+    steps = np.array([[r["move_s"], r["action_s"], r["switch_s"]] for r in rows],
+                     dtype=float)
+    cum = np.cumsum(np.cumsum(steps, axis=1), axis=0)   # 移动 / +动作 / +换频
+    return dict(seq=seq, cum=cum,
+                xlabel="动作序号", ylabel="累计虚拟时间 / s",
+                legend=["移动", "检测/清除动作", "换频"])
+
+
+def data_geo_q1_meetup() -> tuple[dict[str, Any], Path]:
+    case = q1_practice_case()
+    if case:
+        stations = [(m["x"], m["y"], m["bearing_deg"], m["half_angle_deg"])
+                    for m in case["measurements"]]
+        res = case["result"]
+        verts = np.array(res["vertices"])
+        dc = dict(center=np.array(res["diameter_circle"]["center"]),
+                  radius_m=float(res["diameter_circle"]["radius_m"]))
+        mec = dict(center=np.array(res["minimum_enclosing_circle"]["center"]),
+                   radius_m=float(res["minimum_enclosing_circle"]["radius_m"]))
+        src = case["_path"]
+    else:
+        src = ROOT / "examples" / "q1" / "triangle.json"
+        doc = json.loads(src.read_text(encoding="utf-8"))
+        stations = [(m["x"], m["y"], m["bearing_deg"], m.get("half_angle_deg", 1.0))
+                    for m in doc["measurements"]]
+        sol = q1_solve(stations)
+        verts, dc, mec = sol["vertices"], sol["dc"], sol["mec"]
+
+    zoom_c = verts.mean(axis=0)
+    span = float(np.abs(verts - zoom_c).max())
+    zoom = max(1.8 * span, 0.8 * mec["radius_m"] + span, 12.0)
+    xs = [s[0] for s in stations]
+    ys = [s[1] for s in stations]
+    half, view_c = overview_window(np.array([[s[0], s[1]] for s in stations]),
+                                   verts, dc, mec)
+    reach = 2.4 * half
+    wedges = [wedge_polygon((sx, sy), b, hd, reach) for sx, sy, b, hd in stations]
+    region = np.array([[zoom_c[0] - zoom, zoom_c[1] - zoom],
+                       [zoom_c[0] + zoom, zoom_c[1] - zoom],
+                       [zoom_c[0] + zoom, zoom_c[1] + zoom],
+                       [zoom_c[0] - zoom, zoom_c[1] + zoom]], dtype=float)
+    for sx, sy, b, hd in stations:
+        region = clip_wedge(region, (sx, sy), b, hd)
+    data = dict(
+        stations=np.array([[s[0], s[1]] for s in stations]),
+        station_labels=[f"s{i + 1}" for i in range(len(stations))],
+        wedges=np.stack(wedges), zoom_wedges=np.stack(wedges),
+        zoom_region=region,
+        dc_center=dc["center"], dc_radius=dc["radius_m"],
+        mec_center=mec["center"], mec_radius=mec["radius_m"],
+        view_center=view_c, half_overview=float(half),
+        zoom_center=zoom_c, zoom_half=float(zoom),
+        legend1=["前向角域 W(s, θ ± 1°)", "定位区域 P"],
+        legend2=["直径圆", "最小包围圆 MEC"])
+    return data, Path(src)
+
+
+def data_geo_q1_counterexample() -> dict[str, Any]:
+    src = ROOT / "examples" / "q1" / "triangle.json"
+    doc = json.loads(src.read_text(encoding="utf-8"))
+    stations = [(m["x"], m["y"], m["bearing_deg"], m.get("half_angle_deg", 1.0))
+                for m in doc["measurements"]]
+    sol = q1_solve(stations)
+    verts, dc, mec = sol["vertices"], sol["dc"], sol["mec"]
+    zoom_c = verts.mean(axis=0)
+    zoom = max(1.9 * float(np.abs(verts - zoom_c).max()) + mec["radius_m"], 45.0)
+    half, view_c = overview_window(np.array([[s[0], s[1]] for s in stations]),
+                                   verts, dc, mec)
+    wedges = [wedge_polygon((sx, sy), b, hd, 3600.0) for sx, sy, b, hd in stations]
+    region = np.array([[zoom_c[0] - zoom, zoom_c[1] - zoom],
+                       [zoom_c[0] + zoom, zoom_c[1] - zoom],
+                       [zoom_c[0] + zoom, zoom_c[1] + zoom],
+                       [zoom_c[0] - zoom, zoom_c[1] + zoom]], dtype=float)
+    for sx, sy, b, hd in stations:
+        region = clip_wedge(region, (sx, sy), b, hd)
+    return dict(
+        stations=np.array([[s[0], s[1]] for s in stations]),
+        station_labels=[f"s{i + 1}" for i in range(len(stations))],
+        wedges=np.stack(wedges), zoom_wedges=np.stack(wedges),
+        zoom_region=region,
+        dc_center=dc["center"], dc_radius=dc["radius_m"],
+        mec_center=mec["center"], mec_radius=mec["radius_m"],
+        view_center=view_c, half_overview=float(half),
+        zoom_center=zoom_c, zoom_half=float(zoom),
+        legend1=["前向角域 W(s, θ ± 1°)", "定位区域 P"],
+        legend2=["直径圆", "最小包围圆 MEC"])
+
+
+def data_geo_q2() -> dict[str, Any]:
+    a = 1500.0 / (2 * math.cos(math.radians(1.0)))
+    safe = R_EFF - a
+    c = np.array([a * math.cos(math.radians(30.0)), a * math.sin(math.radians(30.0))])
+    return dict(omega_r=OMEGA_R, wedge=wedge_polygon((0.0, 0.0), 30.0, 1.0, 1500.0),
+                a=float(a), safe=float(safe), c=c, half=1900.0,
+                legend=["前向角域 W(s1)", "截断角域外接圆 B(c, a)",
+                        "安全候选盘 B(c, 1000 − a)"])
+
+
+def data_geo_q3() -> dict[str, Any]:
+    a = RING_RADIUS_M
+    stations = np.array([[0.0, 0.0]] + [[a * math.cos(k * math.pi / 3),
+                                         a * math.sin(k * math.pi / 3)] for k in range(6)])
+    return dict(omega_r=OMEGA_R, r_eff=R_EFF,
+                stations=stations,
+                worst=np.array([0.0, -SEVEN_R]),
+                half=float(RING_RADIUS_M + R_EFF + 90.0),
+                legend=["区域 Ω", "1000 m 接收盘", "覆盖站点", "最差点"])
+
+
+def data_geo_q4() -> dict[str, Any]:
+    plan = load_plan("q4_mincover_v2")
+    pts = np.array(plan["points"], dtype=float)
+    theta = np.linspace(-math.pi / 2, math.pi / 2, 60)
+    half_disk = np.vstack([[0.0, 0.5],
+                           np.column_stack([0.85 * np.cos(theta),
+                                            0.5 + 0.85 * np.sin(theta)])])
+    half = float(max(OMEGA_R, np.abs(pts).max()) * 1.06)
+    return dict(omega_r=OMEGA_R, points=pts, half=half, half_disk=half_disk,
+                radius_label="覆盖半径 1000 m",
+                heading_label="前向半盘 ±90°（朝向未知）",
+                legend=["区域 Ω", "31 点最小命中集"])
+
+
+def data_replay(run: dict[str, Any], *, directional: bool) -> dict[str, Any]:
+    tl = decompose(run)
+    rows = tl["rows"]
+    truth = run["truth"]
+    solved = set(solved_channels(run))
+    truth_pts, truth_solved, truth_labels = [], [], []
+    for src in truth:
+        ch = int(src["channel"])
+        truth_pts.append([src["x"], src["y"]])
+        truth_solved.append(1.0 if ch in solved else 0.0)
+        truth_labels.append(f"ch{ch}")
+    # 定向源：朝向箭头（长度取该源有效接收半径）+ ±90° 前向半盘
+    headings, half_disks = [], []
+    for src in truth:
+        if not (directional and src.get("directional")):
+            continue
+        r = float(src.get("r_eff_m") or R_EFF)
+        ang = math.radians(float(src.get("heading_deg") or 0.0))
+        headings.append([src["x"], src["y"], r * math.cos(ang), r * math.sin(ang)])
+        arc = ang + np.linspace(-math.pi / 2, math.pi / 2, 49)
+        half_disks.append(np.vstack([[src["x"], src["y"]],
+                                     np.column_stack([src["x"] + r * np.cos(arc),
+                                                      src["y"] + r * np.sin(arc)])]))
+    half_disk_arr = (np.stack(half_disks) if half_disks
+                     else np.zeros((0, 50, 2), dtype=float))
+    path = [(0.0, 0.0)]
+    rays, clears, marks, events = [], [], [], []
+    for act, row in zip(run["actions"], rows):
+        if act["path"] == "/measure" and row["hit"]:
+            bearing = math.radians(float(act["response"].get("svd_deg") or 0.0))
+            rays.append([row["x"], row["y"], 220 * math.cos(bearing),
+                         220 * math.sin(bearing)])
+        if act["path"] in ("/measure", "/clear") and row["x"] is not None:
+            if (row["x"], row["y"]) != path[-1]:
+                path.append((row["x"], row["y"]))
+        if act["path"] == "/clear":
+            clears.append([row["x"], row["y"], 1.0 if row["cleared"] else 0.0])
+        marks.append([row["virtual_s"], 1.0 if row["hit"] else 0.0,
+                      1.0 if act["path"] == "/clear" and row["cleared"] else 0.0])
+        if len(events) < 10:
+            if act["path"] == "/measure":
+                detail = f"ch{row['channel']} ({row['x']:.0f},{row['y']:.0f})"
+            elif act["path"] == "/clear":
+                detail = f"ch{row['channel']} {'成功' if row['cleared'] else '未发现'}"
+            else:
+                detail = "启动会话" if act["path"] == "/enter" else "退出"
+            events.append([act["path"], detail, f"{row['virtual_s']:.0f}"])
+    legend = ["移动轨迹", "检测示向度", "已清除频道", "未清除频道"]
+    if directional:
+        legend = ["移动轨迹", "检测示向度", "定向源前向半盘 (±90°)",
+                  "已清除频道", "未清除频道"]
+    # 世界视图窗口：容纳 Ω、轨迹、射线与定向半盘，避免半盘被画到框外
+    geom = [np.asarray(truth_pts, dtype=float), np.asarray(path, dtype=float)]
+    if rays:
+        rays_arr = np.asarray(rays, dtype=float)
+        geom.append(rays_arr[:, :2] + rays_arr[:, 2:])
+    if half_disk_arr.size:
+        geom.append(half_disk_arr.reshape(-1, 2))
+    half = float(max(OMEGA_R, np.abs(np.vstack(geom)).max()) * 1.06)
+    return dict(
+        omega_r=OMEGA_R, half=half,
+        out_png=("replay-webui-q4-directional.png" if directional
+                 else "replay-webui-q3-omnidirectional.png"),
+        truth=np.array(truth_pts, dtype=float),
+        truth_solved=np.array(truth_solved, dtype=float).reshape(-1, 1),
+        truth_labels=truth_labels,
+        headings=np.array(headings, dtype=float).reshape(-1, 4),
+        half_disks=half_disk_arr,
+        path=np.array(path, dtype=float),
+        rays=np.array(rays, dtype=float).reshape(-1, 4),
+        clears=np.array(clears, dtype=float).reshape(-1, 3),
+        marks=np.array(marks, dtype=float).reshape(-1, 3),
+        events=events, total_s=float(tl["virtual_s"]), legend=legend)
+
+
+# ---------------------------------------------------------------------------
+# 产出
+# ---------------------------------------------------------------------------
+def _as_cell(values: Any) -> np.ndarray:
+    """字符串列表 → object 数组（MATLAB cell）；纯数值嵌套列表 → 数值矩阵。"""
+    if isinstance(values, str):
+        return np.array([values], dtype=object)
+    if isinstance(values, (list, tuple)):
+        if values and all(isinstance(v, (list, tuple)) and
+                          all(isinstance(x, (int, float)) for x in v)
+                          for v in values):
+            return np.asarray(values, dtype=float)
+        return np.array([_as_cell(v) if isinstance(v, (list, tuple)) else v
+                         for v in values], dtype=object)
+    return np.asarray(values)
+
+
+def write_mat(name: str, data: dict[str, Any]) -> None:
+    """写 .mat；字符串字段转 object 数组，MATLAB 侧按 cell 读取。"""
+    DATA_DIR.mkdir(parents=True, exist_ok=True)
+
+    def wrap(value: Any, key: str) -> Any:  # noqa: ARG001
+        if isinstance(value, (str, list, tuple)):
+            return _as_cell(value)
+        return value
+
+    payload = {key: wrap(value, key) for key, value in data.items()}
+    savemat(DATA_DIR / f"{name}.mat", payload, do_compression=True,
+            long_field_names=True)
+
+
+def prepare(only: Sequence[str] | None) -> dict[str, list[dict[str, Any]]]:
+    """写全部 .mat 数据，返回每张图的数据来源。"""
+    want = set(only) if only else None
+    runs = discover_runs()
+    q3 = pick_run(runs, "q3", 10) if runs else None
+    q4 = (pick_case(runs, Q4_REPLAY_CASE) if runs else None) or \
+        (pick_run(runs, "q4", 12) if runs else None)
+    sources: dict[str, list[dict[str, Any]]] = {}
+
+    def need(stem: str) -> bool:
+        return want is None or stem in want
+
+    build: list[tuple[str, str, Callable[[], dict[str, Any]]]] = [
+        ("flow-overall-architecture", "flow_overall", data_flow_overall),
+        ("steps-state-machine", "steps_state_machine", data_steps_state_machine),
+        ("timing-attachment-example-105-111-194-199", "timing_attachment",
+         data_timing_attachment),
+        ("geo-q1-diameter-circle-counterexample", "geo_q1_counterexample",
+         data_geo_q1_counterexample),
+        ("geo-q2-guaranteed-reception-disk", "geo_q2", data_geo_q2),
+        ("geo-q3-seven-point-coverage", "geo_q3", data_geo_q3),
+        ("geo-q4-minimum-cover-31-points", "geo_q4", data_geo_q4),
+    ]
+    for stem, name, maker in build:
+        if not need(stem):
+            continue
+        write_mat(name, maker())
+        sources[stem] = [source(p) for p in SOURCES.get(stem, [])]
+
+    if need("geo-q1-convex-intersection-zoom"):
+        data, src = data_geo_q1_meetup()
+        write_mat("geo_q1_meetup", data)
+        sources["geo-q1-convex-intersection-zoom"] = [source(src)]
+    if q3:
+        if need("timing-measured-q3-10-sources"):
+            write_mat("timing_measured", data_timing_measured(q3))
+            sources["timing-measured-q3-10-sources"] = [
+                source(q3["source"], case_code=q3["case_code"], module=q3["module"])]
+        if need("replay-webui-q3-omnidirectional"):
+            write_mat("replay_q3", data_replay(q3, directional=False))
+            sources["replay-webui-q3-omnidirectional"] = [
+                source(q3["source"], case_code=q3["case_code"])]
+    if q4 and need("replay-webui-q4-directional"):
+        write_mat("replay_q4", data_replay(q4, directional=True))
+        sources["replay-webui-q4-directional"] = [
+            source(q4["source"], case_code=q4["case_code"])]
+    return sources
+
+
+def run_matlab(only: Sequence[str] | None, matlab_bin: Path) -> None:
+    """逐张调用 MATLAB 出图。
+
+    本机实测：同一 MATLAB 批处理会话里渲染第二张图时图形子系统会崩溃，
+    因此每张图单独起一个会话（每次约数秒），并显式 exit。
+    """
+    if not matlab_bin.is_file():
+        raise SystemExit(f"未找到 MATLAB：{matlab_bin}")
+    want = set(only) if only else None
+    log = MATLAB_DIR / "matlab_run.log"
+    lines: list[str] = []
+    for stem, fn, name in FIGURES:
+        if want and stem not in want:
+            continue
+        call = f"{fn}('{name}')" if fn == "fig_replay" else f"{fn}()"
+        script = (f"cd('{MATLAB_DIR}'); addpath('{MATLAB_DIR}'); "
+                  f"{call}; exit")
+        proc = subprocess.run([str(matlab_bin), "-batch", script],
+                              capture_output=True, text=True, check=False)
+        ok = (OUT_DIR / f"{stem}.png").is_file()
+        lines.append(f"{'OK  ' if ok else 'FAIL'} {stem}")
+        if not ok:
+            tail = [ln for ln in (proc.stdout + proc.stderr).splitlines()
+                    if ln.strip() and "Keyboard" not in ln and "TISFile" not in ln]
+            lines.extend(f"     {ln}" for ln in tail[-6:])
+    log.write_text("\n".join(lines) + "\n", encoding="utf-8")
+
+
+def finish(only: Sequence[str] | None, sources: dict[str, list[dict[str, Any]]]) -> None:
+    """删掉历史遗留的 SVG，写 manifest。"""
+    for stale in OUT_DIR.glob("*.svg"):
+        stale.unlink()
+    want = set(only) if only else None
+    entries = []
+    for stem, fn, _name in FIGURES:
+        if want and stem not in want:
+            continue
+        png = OUT_DIR / f"{stem}.png"
+        entry = {"stem": stem, "png": str(png.relative_to(ROOT)),
+                 "matlab": f"scripts/matlab/{fn}.m",
+                 "sources": sources.get(stem, [])}
+        if not png.is_file():
+            entry["missing"] = True
+        entries.append(entry)
+    manifest = {
+        "generator": "scripts/build_figure_data.py（数据）+ scripts/matlab/*.m（MATLAB 出图）",
+        "command": "uv run python scripts/build_figure_data.py"
+                   + (f" --only {','.join(only)}" if only else ""),
+        "manual": "MATLAB 中 cd scripts/matlab 后执行 run_all_figures",
+        "figures": entries,
+    }
+    (OUT_DIR / "manifest.json").write_text(
+        json.dumps(manifest, ensure_ascii=False, indent=2) + "\n", encoding="utf-8")
+
+
+def main() -> int:
+    parser = argparse.ArgumentParser(description=__doc__.splitlines()[0])
+    parser.add_argument("--only", default="", help="逗号分隔的图名子集（见 --list）")
+    parser.add_argument("--prepare", action="store_true", help="只写 .mat 数据，不调 MATLAB")
+    parser.add_argument("--list", action="store_true", help="列出全部图名")
+    parser.add_argument("--matlab", default=str(MATLAB_BIN), help="matlab 可执行文件路径")
+    args = parser.parse_args()
+    names = [stem for stem, _fn, _name in FIGURES]
+    if args.list:
+        print("\n".join(names))
+        return 0
+    only = [s.strip() for s in args.only.split(",") if s.strip()]
+    unknown = [s for s in only if s not in set(names)]
+    if unknown:
+        parser.error(f"未知图名 {unknown}")
+
+    sources = prepare(only or None)
+    if args.prepare:
+        print(f"[fig] 已写入 {len(list(DATA_DIR.glob('*.mat')))} 个 .mat → "
+              f"{DATA_DIR.relative_to(ROOT)}")
+        return 0
+    targets = only or names
+    for stem in targets:            # 先清掉旧文件：只认本次生成的
+        (OUT_DIR / f"{stem}.png").unlink(missing_ok=True)
+    run_matlab(only or None, Path(args.matlab))
+    finish(only or None, sources)
+    missing = []
+    for stem in targets:
+        if (OUT_DIR / f"{stem}.png").is_file():
+            print(f"[fig] OK   {stem}")
+        else:
+            missing.append(stem)
+            print(f"[fig] 缺失 {stem}")
+    print(f"[fig] manifest → {(OUT_DIR / 'manifest.json').relative_to(ROOT)}")
+    if missing:
+        print(f"[fig] {len(missing)} 张未生成：{', '.join(missing)}")
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())
diff --git a/scripts/make_figures.py b/scripts/make_figures.py
deleted file mode 100644
index 57e7ec4..0000000
--- a/scripts/make_figures.py
+++ /dev/null
@@ -1,1181 +0,0 @@
-"""docs/figures 的论文插图生成器（matplotlib 版）。
-
-    uv run python scripts/make_figures.py                 # 全部 11 张
-    uv run python scripts/make_figures.py --list          # 图名
-    uv run python scripts/make_figures.py --only flow-overall-architecture
-    uv run python scripts/make_figures.py --scale 1.5     # 尺寸倍率
-
-约定（与 docs/figures/README.md 对应）：
-
-- **只输出 PNG**（不生成 SVG），分辨率按论文插图设置；
-- **图内不放标题、图注与解释性文字**，只保留坐标轴、图例与数据标注；
-  图的含义由文件名与 README 清单承担，解释写在论文正文；
-- 字体取自 ``docs/paper/fonts/``（宋体 / 黑体 / Times New Roman），与 main.tex 一致；
-- 数据来源与 sha256 写入 ``docs/figures/manifest.json``。
-"""
-
-from __future__ import annotations
-
-import argparse
-import hashlib
-import json
-import math
-import os
-import sys
-from pathlib import Path
-from typing import Any, Callable, Sequence
-
-ROOT = Path(__file__).resolve().parents[1]
-FONT_DIR = ROOT / "docs" / "paper" / "fonts"
-OUT_DIR = ROOT / "docs" / "figures"
-SESSIONS_DIR = ROOT / "referee-data" / "sessions"
-ARCHIVE_DIR = ROOT / "examples" / "replay"
-CACHE_DIR = ROOT / ".mpl-cache"
-
-# matplotlib 的缓存目录：仓库内可写，避免污染用户目录
-CACHE_DIR.mkdir(exist_ok=True)
-os.environ.setdefault("MPLCONFIGDIR", str(CACHE_DIR))
-os.environ.setdefault("XDG_CACHE_HOME", str(CACHE_DIR))
-
-import matplotlib                      # noqa: E402
-matplotlib.use("Agg")
-import numpy as np                     # noqa: E402
-from matplotlib import font_manager as fm   # noqa: E402
-from matplotlib import pyplot as plt        # noqa: E402
-from matplotlib.lines import Line2D  # noqa: E402
-from matplotlib.patches import Circle, FancyArrowPatch, FancyBboxPatch, Polygon  # noqa: E402
-
-sys.path.insert(0, str(Path(__file__).resolve().parent))
-
-# 题面常量（与 src/mcm26b/config.py 一致）
-OMEGA_R = 1800.0
-R_EFF = 1000.0
-SPEED_MPS = 5.0
-MEASURE_S = 5.0
-SWITCH_S = 1.0
-CLEAR_OK_S = 5.0
-CLEAR_NO_S = 3.0
-RING_RADIUS_M = 1159.7
-SEVEN_R = 1800.0
-Q4_DESIGN_R = 965.0
-Q4_HEADING_MARGIN_DEG = 5.0
-
-# 论文配色：低饱和，单色打印可辨
-C = {
-    "ink": "#1c2430",
-    "muted": "#5c6673",
-    "grid": "#e4e9ee",
-    "primary": "#1f4e79",
-    "primary_fill": "#dce6f1",
-    "accent": "#b03a2e",
-    "accent_fill": "#f6dcd8",
-    "success": "#1e7a5f",
-    "success_fill": "#d8ece5",
-    "warn": "#b8860b",
-    "warn_fill": "#f6ecd2",
-    "violet": "#5b4b8a",
-}
-
-FONTS = {
-    "song": "SongtiSC-Regular.ttf",
-    "song_bold": "SongtiSC-Bold.ttf",
-    "hei": "HeitiSC-Light.ttf",
-    "hei_bold": "HeitiSC-Medium.ttf",
-    "times": "Times New Roman.ttf",
-    "times_bold": "Times New Roman Bold.ttf",
-}
-
-
-# ---------------------------------------------------------------------------
-# 样式
-# ---------------------------------------------------------------------------
-def setup_style() -> dict[str, Any]:
-    """注册自带字体并设全局样式，返回 FontProperties 字典。"""
-    for name in FONTS.values():
-        path = FONT_DIR / name
-        if path.is_file():
-            fm.fontManager.addfont(str(path))
-    props = {key: fm.FontProperties(fname=str(FONT_DIR / name))
-             for key, name in FONTS.items() if (FONT_DIR / name).is_file()}
-    plt.rcParams.update({
-        "figure.dpi": 120,
-        "savefig.dpi": 200,
-        "font.family": [props["song"].get_name(), "DejaVu Sans"],
-        "font.size": 8.5,
-        "axes.titlesize": 9,
-        "axes.labelsize": 8.5,
-        "xtick.labelsize": 8,
-        "ytick.labelsize": 8,
-        "legend.fontsize": 8,
-        "axes.edgecolor": C["muted"],
-        "axes.labelcolor": C["ink"],
-        "text.color": C["ink"],
-        "xtick.color": C["muted"],
-        "ytick.color": C["muted"],
-        "axes.grid": False,
-        "axes.unicode_minus": False,
-        "lines.linewidth": 1.2,
-    })
-    return props
-
-
-def new_axes(width_mm: float, height_mm: float, *, ncols: int = 1,
-             nrows: int = 1, scale: float = 1.0, **kw: Any) -> tuple[Any, Any]:
-    """按毫米尺寸建图（论文按 160 mm 宽排版时用 1.0 倍）。"""
-    fig, axes = plt.subplots(nrows, ncols,
-                             figsize=(width_mm / 25.4 * scale, height_mm / 25.4 * scale),
-                             layout="constrained", **kw)
-    return fig, axes
-
-
-def axes_for_panels(panel_mm: float, aspects: Sequence[float], *, scale: float = 1.0,
-                    width_ratios: Sequence[float] | None = None,
-                    **kw: Any) -> tuple[Any, Any]:
-    """按"每个面板高 panel_mm、宽 = 高 × 宽高比"手工排版。
-
-    等比例坐标轴（``set_aspect('equal')``）在自动布局（constrained/tight）下会被
-    挤成一小块，因此这里直接按数据比例分配位置：每个子图的方框宽高比等于
-    数据宽高比，等比例坐标轴正好铺满方框。
-    """
-    del kw
-    ratios = list(width_ratios) if width_ratios else [1.0] * len(aspects)
-    widths = [panel_mm * aspect * ratio for aspect, ratio in zip(aspects, ratios)]
-    left_mm, right_mm, top_mm = 16.0, 6.0, 6.0
-    gap_mm, bottom_mm = 16.0, 15.0
-    total_w = left_mm + sum(widths) + gap_mm * (len(widths) - 1) + right_mm
-    total_h = top_mm + panel_mm + bottom_mm
-    fig = plt.figure(figsize=(total_w / 25.4 * scale, total_h / 25.4 * scale))
-
-    def frac_x(mm: float) -> float:
-        return mm / total_w
-
-    def frac_y(mm: float) -> float:
-        return mm / total_h
-
-    axes = []
-    cursor = left_mm
-    for width in widths:
-        box = [frac_x(cursor), frac_y(bottom_mm), frac_x(width), frac_y(panel_mm)]
-        axes.append(fig.add_axes(box))
-        cursor += width + gap_mm
-    return fig, (axes if len(axes) > 1 else axes[0])
-
-
-def polar_axes(ax: Any, half: float, *, grid: float = 500.0,
-               center: Sequence[float] = (0.0, 0.0)) -> None:
-    """世界坐标视图：等比例、留白、细网格；``center`` 为视图中心。"""
-    cx, cy = float(center[0]), float(center[1])
-    step = grid
-    ticks = []
-    while step <= half * 1.2:
-        ticks += [-step, step]
-        step *= 2
-    ticks = sorted({round(cx + t) for t in ticks if abs(t) <= half * 1.05} |
-                   {round(cy + t) for t in ticks if abs(t) <= half * 1.05})
-    # 顺序要紧：set_xticks 会在数据范围内重新 autoscale，必须最后再钉住范围
-    ax.set_xticks(ticks)
-    ax.set_yticks(ticks)
-    ax.set_xlim(cx - half, cx + half)
-    ax.set_ylim(cy - half, cy + half)
-    # 面板方框由 axes_for_panels 按数据宽高比分配，刻度范围也是 1:1，
-    # 不需要再让 matplotlib 调 aspect（它会反过来改写已设定的范围）
-    ax.set_aspect("auto")
-    ax.grid(True, color=C["grid"], lw=0.6)
-    for side in ("top", "right"):
-        ax.spines[side].set_visible(False)
-    ax.set_axisbelow(True)
-
-
-def save(fig: Any, stem: str, sources: Sequence[dict[str, Any]], scale: float) -> dict[str, Any]:
-    """落盘 PNG（仅 PNG：论文插图不再维护矢量版），返回 manifest 条目。"""
-    OUT_DIR.mkdir(parents=True, exist_ok=True)
-    png = OUT_DIR / f"{stem}.png"
-    fig.savefig(png, format="png")
-    plt.close(fig)
-    return {"stem": stem, "png": str(png.relative_to(ROOT)), "scale": scale,
-            "sources": list(sources)}
-
-
-def source(path: str | Path, **extra: Any) -> dict[str, Any]:
-    """记录数据来源：仓库内相对路径、sha256 前 12 位、行数。"""
-    p = Path(path)
-    p = p if p.is_absolute() else ROOT / p
-    digest, lines = "-", 0
-    if p.is_file():
-        data = p.read_bytes()
-        digest = hashlib.sha256(data).hexdigest()[:12]
-        lines = data.count(b"\n") + (0 if data.endswith(b"\n") else 1)
-    rel = str(p.relative_to(ROOT)) if p.is_relative_to(ROOT) else str(p)
-    return {"path": rel, "sha256_12": digest, "lines": lines, **extra}
-
-
-# ---------------------------------------------------------------------------
-# 行为日志：解析、计时复算、归档回退
-# ---------------------------------------------------------------------------
-def parse_jsonl(path: Path) -> dict[str, Any]:
-    """兼容评测机 ``event=action`` 与客户端 ``event=accepted`` 两种日志。"""
-    meta: dict[str, Any] = {}
-    actions: list[dict[str, Any]] = []
-    fallback: dict[str, dict[str, Any]] = {}
-    seq = 0
-    for line in path.read_text(encoding="utf-8").splitlines():
-        line = line.strip()
-        if not line:
-            continue
-        try:
-            ev = json.loads(line)
-        except json.JSONDecodeError:
-            continue
-        kind = ev.get("event")
-        if kind == "session_start":
-            meta = ev
-        elif kind == "action":
-            seq += 1
-            actions.append(dict(seq=ev.get("seq", seq), path=ev.get("path", ""),
-                                request=ev.get("request") or {},
-                                response=ev.get("response") or {},
-                                wall_ts_ms=ev.get("wall_ts_ms")))
-        elif kind == "accepted":
-            fallback[str(ev.get("request_id", ""))] = ev
-        elif kind == "step" and str(ev.get("request_id", "")) not in fallback:
-            fallback[str(ev.get("request_id", ""))] = ev
-    if not actions:
-        for ev in fallback.values():
-            if not ev.get("path"):
-                continue
-            seq += 1
-            stamp = ev.get("logged_at_unix_s")
-            actions.append(dict(seq=seq, path=ev["path"], request=ev.get("request") or {},
-                                response=ev.get("response") or {},
-                                wall_ts_ms=stamp * 1000 if stamp else None))
-    if not actions:
-        raise ValueError(f"{path} 没有可回放的动作事件")
-    return dict(label=path.stem, case_code=meta.get("case_code") or path.parent.name,
-                module=meta.get("module") or "?", robot_id=str(meta.get("robot_id") or "?"),
-                truth=list(meta.get("truth") or []), actions=actions, source=path)
-
-
-def discover_runs() -> list[dict[str, Any]]:
-    runs: list[dict[str, Any]] = []
-    if SESSIONS_DIR.is_dir():
-        for log in sorted(SESSIONS_DIR.glob("*/log.jsonl")):
-            try:
-                runs.append(parse_jsonl(log))
-            except ValueError:
-                continue
-    if not runs and ARCHIVE_DIR.is_dir():
-        for log in sorted(ARCHIVE_DIR.glob("*.jsonl")):
-            try:
-                runs.append(parse_jsonl(log))
-            except ValueError:
-                continue
-    return runs
-
-
-def pick_run(runs: Sequence[dict[str, Any]], module: str, truth: int) -> dict[str, Any]:
-    cands = [r for r in runs if r["module"].startswith(module) and len(r["truth"]) >= truth
-             and sum(1 for a in r["actions"] if a["path"] == "/measure") > 0]
-    if not cands:
-        cands = [r for r in runs if r["module"].startswith(module)]
-    return sorted(cands, key=lambda r: (abs(len(r["truth"]) - truth), len(r["actions"])))[0]
-
-
-def decompose(run: dict[str, Any]) -> dict[str, Any]:
-    """按附件规则逐动作复算移动 / 换频 / 动作耗时。"""
-    pos = (0.0, 0.0)
-    channel: int | None = None
-    rows: list[dict[str, Any]] = []
-    for act in run["actions"]:
-        req, res = act["request"], act["response"]
-        move_m = switch = action_s = 0.0
-        if act["path"] in ("/measure", "/clear") and "position" in req:
-            tgt = (float(req["position"]["x"]), float(req["position"]["y"]))
-            move_m = math.dist(pos, tgt)
-            if move_m > 0:
-                pos = tgt
-        if act["path"] == "/measure":
-            ch = int(req.get("channel", 0))
-            switch = 0.0 if channel in (None, ch) else SWITCH_S
-            channel = ch
-            action_s = MEASURE_S
-        elif act["path"] == "/clear":
-            action_s = CLEAR_OK_S if str(res.get("clear_result")) == "success" else CLEAR_NO_S
-        rows.append(dict(seq=act["seq"], path=act["path"], move_s=move_m / SPEED_MPS,
-                         switch_s=switch, action_s=action_s, move_m=move_m,
-                         virtual_s=float(res.get("virtual_time_s") or 0.0),
-                         hit=str(res.get("measure_result")) == "direction",
-                         cleared=str(res.get("clear_result")) == "success",
-                         channel=req.get("channel"),
-                         x=req.get("position", {}).get("x"),
-                         y=req.get("position", {}).get("y")))
-    wall = [r for r in run["actions"] if r.get("wall_ts_ms")]
-    real_s = (wall[-1]["wall_ts_ms"] - wall[0]["wall_ts_ms"]) / 1000.0 if len(wall) > 1 else 0.0
-    last = run["actions"][-1]["response"]
-    return dict(rows=rows, virtual_s=float(last.get("virtual_time_s") or 0.0),
-                real_s=real_s,
-                move_s=sum(r["move_s"] for r in rows),
-                switch_s=sum(r["switch_s"] for r in rows),
-                action_s=sum(r["action_s"] for r in rows),
-                move_m=sum(r["move_m"] for r in rows))
-
-
-def solved_channels(run: dict[str, Any]) -> list[int]:
-    return sorted({int(a["request"]["channel"]) for a in run["actions"]
-                   if a["path"] == "/clear" and "channel" in a["request"]
-                   and str(a["response"].get("clear_result")) == "success"})
-
-
-# ---------------------------------------------------------------------------
-# 几何工具
-# ---------------------------------------------------------------------------
-def clip_halfplane(poly: np.ndarray, a: float, b: float, c: float) -> np.ndarray:
-    """Sutherland–Hodgman：半平面 a·x + b·y <= c 裁剪凸多边形。"""
-    if len(poly) == 0:
-        return poly
-    out: list[list[float]] = []
-    n = len(poly)
-    for i in range(n):
-        cur, nxt = poly[i], poly[(i + 1) % n]
-        dc = a * cur[0] + b * cur[1] - c
-        dn = a * nxt[0] + b * nxt[1] - c
-        if dc <= 1e-9:
-            out.append(list(cur))
-            if dn > 1e-9:
-                t = dc / (dc - dn)
-                out.append([cur[0] + t * (nxt[0] - cur[0]), cur[1] + t * (nxt[1] - cur[1])])
-        elif dn <= 1e-9:
-            t = dc / (dc - dn)
-            out.append([cur[0] + t * (nxt[0] - cur[0]), cur[1] + t * (nxt[1] - cur[1])])
-    return np.array(out) if out else np.empty((0, 2))
-
-
-def wedge_polygon(station: Sequence[float], bearing: float, half_deg: float,
-                  reach: float) -> np.ndarray:
-    a0, a1 = math.radians(bearing - half_deg), math.radians(bearing + half_deg)
-    ang = np.linspace(a0, a1, 16)
-    pts = [[station[0], station[1]]] + \
-          [[station[0] + reach * math.cos(t), station[1] + reach * math.sin(t)] for t in ang]
-    return np.array(pts)
-
-
-def clip_convex(region: np.ndarray, a: float, b: float, c: float) -> np.ndarray:
-    """半平面 a·x + b·y <= c 裁剪（对 numpy 数组的薄封装）。"""
-    return clip_halfplane(np.asarray(region, dtype=float), a, b, c)
-
-
-def clip_wedge(region: np.ndarray, station: Sequence[float], bearing: float,
-               half_deg: float) -> np.ndarray:
-    """用角域 W(s, θ ± δ) 裁剪区域。
-
-    角域是两条边界射线的半平面交。示向度可能跨越 0/360 度，法向的正负不能靠叉积
-    猜：两个半平面各试一次，用"结果中心与站点的连线是否落在示向度 ±δ 内"来判定
-    哪一侧是角域内部。
-    """
-    region = np.asarray(region, dtype=float)
-    if len(region) == 0:
-        return region
-    for edge in (bearing - half_deg, bearing + half_deg):
-        ang = math.radians(edge)
-        a, b = -math.sin(ang), math.cos(ang)
-        c = a * station[0] + b * station[1]
-        candidates = [cand for cand in (clip_convex(region, a, b, c),
-                                        clip_convex(region, -a, -b, -c))
-                      if len(cand) >= 3]
-        if not candidates:
-            return np.empty((0, 2))
-        if len(candidates) == 1:
-            region = candidates[0]
-            continue
-        region = min(candidates, key=lambda cand: _direction_error(cand, station,
-                                                                   bearing))
-    return region
-
-
-def _direction_error(poly: np.ndarray, station: Sequence[float],
-                     bearing: float) -> float:
-    """多边形中心方向与示向度的偏差；用于挑正确的半平面一侧。"""
-    centre = poly.mean(axis=0)
-    dx, dy = centre[0] - station[0], centre[1] - station[1]
-    if abs(dx) < 1e-12 and abs(dy) < 1e-12:
-        return 0.0
-    return abs(angle_diff(math.degrees(math.atan2(dy, dx)), bearing))
-
-
-def polygon_area(poly: np.ndarray) -> float:
-    if len(poly) < 3:
-        return 0.0
-    x, y = poly[:, 0], poly[:, 1]
-    return 0.5 * abs(float(np.dot(x, np.roll(y, -1)) - np.dot(y, np.roll(x, -1))))
-
-
-def angle_diff(a: float, b: float) -> float:
-    return (a - b + 180.0) % 360.0 - 180.0
-
-
-def wedge_clip(station: Sequence[float], bearing: float, half_deg: float,
-               box: Sequence[float]) -> np.ndarray:
-    """角域与视窗矩形的交集，用于局部放大图。"""
-    x0, y0, x1, y1 = box
-    poly = np.array([[x0, y0], [x1, y0], [x1, y1], [x0, y1]], dtype=float)
-    return clip_wedge(poly, station, bearing, half_deg)
-
-
-def q1_solve(stations: Sequence[Sequence[float]]) -> dict[str, Any]:
-    """调用生产求解器，避免图中数字与代码不一致。"""
-    sys.path.insert(0, str(ROOT / "src"))
-    from mcm26b import Measurement, solve          # noqa: PLC0415
-    res = solve([Measurement(x, y, b, h) for x, y, b, h in stations])
-    dc, mec = res["diameter_circle"], res["minimum_enclosing_circle"]
-    return dict(vertices=np.array(res["vertices"]), pair=res["diameter_pair"],
-                dc=dc, mec=mec)
-
-
-def q1_practice_case() -> dict[str, Any] | None:
-    for path in sorted((ROOT / "output" / "q1" / "practice").glob("*_observations.json")):
-        doc = json.loads(path.read_text(encoding="utf-8"))
-        if doc.get("result"):
-            doc["_path"] = path
-            return doc
-    return None
-
-
-def load_plan(name: str) -> dict[str, Any]:
-    path = ROOT / "src" / "mcm26b" / "guarantee" / "plans" / f"{name}.json"
-    return json.loads(path.read_text(encoding="utf-8"))
-
-
-def seven_bound(a: float = RING_RADIUS_M, radius: float = SEVEN_R) -> float:
-    return max(a / math.sqrt(3), math.sqrt(radius ** 2 + a ** 2 - math.sqrt(3) * radius * a))
-
-
-# ---------------------------------------------------------------------------
-# 排版小工具
-# ---------------------------------------------------------------------------
-def draw_boxes(ax: Any, boxes: Sequence[dict[str, Any]], font: Any) -> None:
-    """画一组统一风格的圆角框（流程示意图用）。"""
-    for b in boxes:
-        ax.add_patch(FancyBboxPatch((b["x"], b["y"]), b["w"], b["h"],
-                                    boxstyle="round,pad=0.02,rounding_size=0.6",
-                                    linewidth=1.0, edgecolor=b.get("edge", C["primary"]),
-                                    facecolor=b.get("face", C["primary_fill"]),
-                                    zorder=2))
-        ax.text(b["x"] + b["w"] / 2, b["y"] + b["h"] / 2, b["label"],
-                ha="center", va="center", fontproperties=b.get("font", font["hei_bold"]),
-                fontsize=b.get("size", 8.2), color=b.get("color", C["ink"]),
-                linespacing=1.5, zorder=3)
-
-
-def connect(ax: Any, p0: Sequence[float], p1: Sequence[float], *,
-            color: str | None = None, style: str = "-", lw: float = 1.0,
-            rad: float = 0.0) -> None:
-    ax.add_patch(FancyArrowPatch(p0, p1, arrowstyle="-|>", mutation_scale=9,
-                                 linewidth=lw, color=color or C["muted"],
-                                 linestyle=style, zorder=4,
-                                 connectionstyle=f"arc3,rad={rad}"))
-
-
-def chips(ax: Any, items: Sequence[tuple[str, str]], *, x: float = 0.02, y: float = 0.02,
-          dy: float = 0.06, font: Any = None) -> None:
-    """左下角竖排色块图例（坐标用 axes 分数）。"""
-    for i, (label, color) in enumerate(items):
-        yy = y + i * dy
-        ax.add_patch(FancyBboxPatch((x, yy - 0.012), 0.018, 0.024,
-                                    boxstyle="round,pad=0.002,rounding_size=0.004",
-                                    transform=ax.transAxes, facecolor=color,
-                                    edgecolor="none", zorder=5, clip_on=False))
-        ax.text(x + 0.026, yy, label, transform=ax.transAxes, va="center", ha="left",
-                fontproperties=font, fontsize=7.6, color=C["ink"], zorder=5)
-
-
-# ===========================================================================
-# 1. 总体思路与算法主线
-# ===========================================================================
-def fig_flow_overall(font: dict[str, Any]) -> Any:
-    fig, ax = new_axes(170, 96)
-    ax.set_xlim(0, 120)
-    ax.set_ylim(0, 56)
-    ax.axis("off")
-
-    def band(tag: str, y: float, items: Sequence[tuple[str, float, float]],
-             face: str, color: str) -> None:
-        ax.text(3.0, y + 3.0, tag, ha="center", va="center",
-                fontproperties=font["hei_bold"], fontsize=8.6, color=color)
-        for label, x, width in items:
-            draw_boxes(ax, [dict(x=x, y=y, w=width, h=6.0, label=label, face=face,
-                                 edge=color, font=font["song"], size=7.8)], font)
-        ax.plot([8.0, 116.0], [y - 1.6, y - 1.6], color=C["grid"], lw=0.8, zorder=1)
-
-    band("L0", 46.0, [
-        ("区域 Ω：半径 1800 m", 9.0, 26.5),
-        ("移动 5 m/s · 检测 5 s", 36.0, 26.5),
-        ("换频 1 s · 清除 5/3 s", 63.0, 26.5),
-        ("源 10~16 个 · 频道 1~20", 90.0, 25.5)], C["primary_fill"], C["primary"])
-
-    band("L1", 33.0, [
-        ("证据层：候选集与粒子幸存集", 9.0, 33.0),
-        ("决策层：选点与任务表", 44.0, 33.0),
-        ("执行层：串行客户端", 79.0, 33.0)], C["primary_fill"], C["primary"])
-    for x in (42.6, 77.6):
-        connect(ax, (x, 36.0), (x + 1.4, 36.0), color=C["ink"])
-
-    band("L2", 20.0, [
-        ("问题 1 定位解算", 9.0, 25.5),
-        ("问题 2 第二点选择", 35.5, 25.5),
-        ("问题 3 全向搜索", 62.0, 25.5),
-        ("问题 4 混合定向", 88.5, 27.0)], C["accent_fill"], C["accent"])
-
-    band("L3", 7.0, [
-        ("发现闭环", 9.0, 33.0),
-        ("定位闭环", 44.0, 33.0),
-        ("清除闭环", 79.0, 33.0)], C["success_fill"], C["success"])
-    return fig
-
-
-# ===========================================================================
-# 2. 执行步骤：会话状态机
-# ===========================================================================
-def fig_steps_state_machine(font: dict[str, Any]) -> Any:
-    fig, ax = new_axes(160, 34)
-    ax.set_xlim(0, 100)
-    ax.set_ylim(0, 22)
-    ax.axis("off")
-    states = [("IDLE", 3, C["grid"], C["muted"]),
-              ("倒计时 5 s", 26, C["warn_fill"], C["warn"]),
-              ("OPEN 接口开放", 49, C["success_fill"], C["success"]),
-              ("CLOSED 断连", 72, C["accent_fill"], C["accent"])]
-    for label, x, face, edge in states:
-        draw_boxes(ax, [dict(x=x, y=9, w=22, h=6.5, label=label, face=face, edge=edge,
-                             font=font["hei_bold"], size=8.4)], font)
-    for i in range(3):
-        connect(ax, (25 + i * 23 + 0.3, 12.2), (26 + i * 23 - 0.5, 12.2), color=C["ink"])
-    ax.text(50, 6.2, "现实预算 1200 s（程序）与测试窗口 1500 s（服务端）独立计时",
-            ha="center", fontproperties=font["song"], fontsize=7.6, color=C["muted"])
-    ax.text(83, 4.0, "剩余不足 60 s 时预留 /exit", ha="center",
-            fontproperties=font["song"], fontsize=7.6, color=C["accent"])
-    return fig
-
-
-# ===========================================================================
-# 3. 执行时间：附件示例逐步推演
-# ===========================================================================
-EXAMPLE_STEPS = [
-    ("/enter", 0.0, 0.0, 0.0),
-    ("/measure ch1", 100.0, 0.0, 5.0),
-    ("/measure ch2", 0.0, 1.0, 5.0),
-    ("/clear ch3", 80.0, 0.0, 3.0),
-    ("/measure ch2", 0.0, 0.0, 5.0),
-    ("/exit", 0.0, 0.0, 0.0),
-]
-
-
-def fig_timing_attachment(font: dict[str, Any]) -> Any:
-    fig, ax = new_axes(160, 46)
-    y = np.arange(len(EXAMPLE_STEPS))[::-1]
-    move = np.array([s[1] for s in EXAMPLE_STEPS])
-    switch = np.array([s[2] for s in EXAMPLE_STEPS])
-    action = np.array([s[3] for s in EXAMPLE_STEPS])
-    ax.barh(y, move, color=C["primary"], height=0.6, label="移动 L/5")
-    ax.barh(y, switch, left=move, color=C["warn"], height=0.6, label="换频 1 s")
-    ax.barh(y, action, left=move + switch, color=C["success"], height=0.6,
-            label="检测/清除动作")
-    cumulative = np.cumsum(move + switch + action)
-    for i, (yy, total, acc) in enumerate(zip(y, move + switch + action, cumulative)):
-        if total > 0:
-            ax.text(move[i] + switch[i] + action[i] + 2, yy, f"{total:.0f} s",
-                    va="center", fontproperties=font["times"], fontsize=7.6, color=C["ink"])
-        ax.text(-4, yy, f"{acc:.0f}", va="center", ha="right",
-                fontproperties=font["times_bold"], fontsize=7.8, color=C["accent"])
-    ax.set_yticks(y)
-    ax.set_yticklabels([s[0] for s in EXAMPLE_STEPS], fontproperties=font["times"],
-                       fontsize=7.8)
-    ax.set_xlabel("虚拟耗时 / s", fontproperties=font["song"])
-    ax.set_xlim(-14, 132)
-    ax.text(-4, len(EXAMPLE_STEPS) - 0.35, "累计", ha="right", va="center",
-            fontproperties=font["song"], fontsize=7.6, color=C["accent"])
-    ax.legend(prop=font["song"], frameon=False, loc="lower right", ncols=3)
-    for side in ("top", "right"):
-        ax.spines[side].set_visible(False)
-    ax.grid(True, axis="x", color=C["grid"], lw=0.6)
-    ax.set_axisbelow(True)
-    return fig
-
-
-# ===========================================================================
-# 4. 执行时间：实测日志分解
-# ===========================================================================
-def fig_timing_measured(run: dict[str, Any], font: dict[str, Any]) -> Any:
-    tl = decompose(run)
-    rows = tl["rows"]
-    seq = np.array([r["seq"] for r in rows])
-    move = np.cumsum([r["move_s"] for r in rows])
-    switch = np.cumsum([r["switch_s"] for r in rows])
-    action = np.cumsum([r["action_s"] for r in rows])
-    total = move + switch + action
-    parts = [tl["move_s"], tl["action_s"], tl["switch_s"]]
-    labels = ["移动", "检测/清除", "换频"]
-    colors = [C["primary"], C["success"], C["warn"]]
-
-    fig, (ax, ax2) = new_axes(170, 54, ncols=2, width_ratios=[1.45, 1.0])
-    ax.stackplot(seq, move, switch, action, colors=colors,
-                 labels=["移动 L/5", "检测/清除动作", "换频 1 s"], lw=0)
-    ax.set_xlim(seq[0], seq[-1])
-    ax.set_ylim(0, total[-1] * 1.08)
-    ax.set_xlabel("动作序号", fontproperties=font["song"])
-    ax.set_ylabel("累计虚拟时间 / s", fontproperties=font["song"])
-    ax.legend(prop=font["song"], frameon=False, loc="upper left")
-    for side in ("top", "right"):
-        ax.spines[side].set_visible(False)
-    ax.grid(True, axis="y", color=C["grid"], lw=0.6)
-    ax.set_axisbelow(True)
-
-    # 右：构成条形 + 汇总（同一坐标下三段，末段极窄故编号标注）
-    ax2.set_xlim(0, 1)
-    ax2.set_ylim(0, 1)
-    ax2.axis("off")
-    bar_y, bar_h = 0.62, 0.14
-    left = 0.0
-    for i, (value, color) in enumerate(zip(parts, colors)):
-        frac = value / total[-1]
-        ax2.add_patch(FancyBboxPatch((left, bar_y), frac, bar_h,
-                                     boxstyle="round,pad=0,rounding_size=0.005",
-                                     facecolor=color, edgecolor="none"))
-        if frac > 0.06:
-            ax2.text(left + frac / 2, bar_y + bar_h / 2, f"{value:,.0f} s", ha="center",
-                     va="center", fontproperties=font["song"], fontsize=7.4,
-                     color="white")
-        left += frac
-    ax2.text(0.0, 0.84, f"虚拟 {total[-1]:,.1f} s", fontproperties=font["song"],
-             fontsize=7.8, color=C["ink"])
-    ax2.text(0.5, 0.84, f"现实 {tl['real_s']:.2f} s", fontproperties=font["song"],
-             fontsize=7.8, color=C["ink"])
-    ax2.text(1.0, 0.84, f"加速 {total[-1] / max(tl['real_s'], 1e-9):,.0f} 倍", ha="right",
-             fontproperties=font["song"], fontsize=7.8, color=C["accent"])
-    for i, (value, label, color) in enumerate(zip(parts, labels, colors)):
-        ax2.add_patch(FancyBboxPatch((0.0 + i * 0.36, 0.40), 0.03, 0.05,
-                                     boxstyle="round,pad=0.002,rounding_size=0.01",
-                                     facecolor=color, edgecolor="none"))
-        ax2.text(0.05 + i * 0.36, 0.425,
-                 f"{i + 1} {label} {value:,.0f} s", fontproperties=font["song"],
-                 fontsize=7.4, va="center")
-    ax2.text(0.0, 0.24, f"检测 {sum(1 for r in rows if r['path'] == '/measure')} 次 · "
-                        f"清除 {sum(1 for r in rows if r['path'] == '/clear')} 次 · "
-                        f"里程 {tl['move_m'] / 1000:.1f} km",
-             fontproperties=font["song"], fontsize=7.4, color=C["muted"])
-    return fig
-
-
-# ===========================================================================
-# 5. 问题一：交会定位区域
-# ===========================================================================
-def _q1_data() -> dict[str, Any]:
-    case = q1_practice_case()
-    if case:
-        return dict(subtitle=f"官方演练 {case['case_code']}",
-                    stations=[(m["x"], m["y"], m["bearing_deg"], m["half_angle_deg"])
-                              for m in case["measurements"]],
-                    verts=np.array(case["result"]["vertices"]),
-                    dc=case["result"]["diameter_circle"],
-                    mec=case["result"]["minimum_enclosing_circle"],
-                    src=case["_path"])
-    doc = json.loads((ROOT / "examples" / "q1" / "triangle.json").read_text(encoding="utf-8"))
-    sol = q1_solve([(m["x"], m["y"], m["bearing_deg"], m.get("half_angle_deg", 1.0))
-                    for m in doc["measurements"]])
-    return dict(subtitle="反例算例 triangle.json",
-                stations=[(m["x"], m["y"], m["bearing_deg"], m.get("half_angle_deg", 1.0))
-                          for m in doc["measurements"]],
-                verts=sol["vertices"], dc=sol["dc"], mec=sol["mec"],
-                src=ROOT / "examples" / "q1" / "triangle.json")
-
-
-def fig_q1_meetup(font: dict[str, Any]) -> Any:
-    data = _q1_data()
-    stations = data["stations"]
-    xs = [s[0] for s in stations]
-    ys = [s[1] for s in stations]
-    half = max(max(xs) - min(xs), max(ys) - min(ys)) / 2 * 1.35 + 60
-    reach = 2.4 * half
-    mec_c = data["mec"]["center"]
-    mec_r = data["mec"]["radius_m"]
-    dc_c, dc_r = data["dc"]["center"], data["dc"]["radius_m"]
-    # 放大窗口取定位区域外接框的 1.8 倍，使多边形、直径圆、MEC 同框且尺寸可比
-    verts = data["verts"]
-    zoom_c = (float(verts[:, 0].mean()), float(verts[:, 1].mean()))
-    span = float(np.abs(verts - np.array(zoom_c)).max())
-    zoom = max(1.8 * span, 0.8 * mec_r + span, 12.0)
-
-    fig, axes = axes_for_panels(62.0, [1.0, 1.0])
-    ax, axz = axes
-    polar_axes(ax, half, grid=half / 2)
-    for sx, sy, bearing, hd in stations:
-        ax.add_patch(Polygon(wedge_polygon((sx, sy), bearing, hd, reach), closed=True,
-                             facecolor=C["primary"], alpha=0.16, edgecolor="none"))
-        ax.plot([sx], [sy], marker="o", ms=4, color=C["primary"])
-        ax.annotate(f"({sx:.0f}, {sy:.0f})", (sx, sy), textcoords="offset points",
-                    xytext=(6, 4), fontproperties=font["times"], fontsize=7.2,
-                    color=C["primary"])
-    ax.add_patch(Polygon(data["verts"], closed=True, facecolor=C["accent"],
-                         edgecolor=C["accent"], lw=1.0))
-    ax.annotate("定位区域 P →", (float(data["verts"][:, 0].mean()),
-                                float(data["verts"][:, 1].mean())),
-                textcoords="offset points", xytext=(14, -18),
-                fontproperties=font["song"], fontsize=7.6, color=C["accent"],
-                arrowprops=dict(arrowstyle="-", color=C["accent"], lw=0.9))
-    ax.set_xlabel("x / m", fontproperties=font["song"])
-    ax.set_ylabel("y / m", fontproperties=font["song"])
-
-    polar_axes(axz, zoom, grid=zoom / 2, center=zoom_c)
-    axz.set_xticks([])
-    axz.set_yticks([])
-    axz.set_ylabel("")
-    # 放大面板：角域按面板的坐标范围裁剪，范围与 xlim/ylim 一致
-    xlim, ylim = axz.get_xlim(), axz.get_ylim()
-    box = (float(xlim[0]), float(ylim[0]), float(xlim[1]), float(ylim[1]))
-    for sx, sy, bearing, hd in stations:
-        poly = wedge_clip((sx, sy), bearing, hd, box)
-        if len(poly):
-            axz.add_patch(Polygon(poly, closed=True, facecolor=C["primary"],
-                                  alpha=0.28, edgecolor="none"))
-    region = np.array([[box[0], box[1]], [box[2], box[1]],
-                       [box[2], box[3]], [box[0], box[3]]], dtype=float)
-    for sx, sy, bearing, hd in stations:
-        region = clip_wedge(region, (sx, sy), bearing, hd)
-    if len(region) >= 3:
-        axz.add_patch(Polygon(region, closed=True, facecolor=C["accent_fill"],
-                              edgecolor=C["accent"], lw=1.6))
-    axz.add_patch(Polygon(data["verts"], closed=True, facecolor=C["accent_fill"],
-                          edgecolor=C["accent"], lw=1.0))
-    axz.add_patch(Circle(dc_c, dc_r, facecolor="none", edgecolor=C["violet"],
-                         lw=1.2, ls=(0, (5, 3))))
-    axz.add_patch(Circle(mec_c, mec_r, facecolor="none", edgecolor=C["success"], lw=1.4))
-    axz.plot([dc_c[0]], [dc_c[1]], marker="o", ms=3.4, color=C["violet"])
-    axz.plot([mec_c[0]], [mec_c[1]], marker="o", ms=3.4, color=C["success"])
-    outside = max(data["verts"], key=lambda v: math.dist(v, dc_c))
-    axz.annotate("", xy=outside, xytext=dc_c,
-                 arrowprops=dict(arrowstyle="-|>", color=C["accent"], lw=1.0))
-    axz.annotate("E > 0", (outside[0], outside[1]), textcoords="offset points",
-                 xytext=(10, 6), fontproperties=font["times"], fontsize=7.4,
-                 color=C["accent"])
-    axz.set_xlabel(f"x / m（放大 ±{zoom:.0f} m）", fontproperties=font["song"])
-    chips(ax, [("前向角域 W(s, θ ± 1°)", C["primary"]), ("定位区域 P", C["accent"])])
-    chips(axz, [("直径圆（不覆盖）", C["violet"]), ("最小包围圆 MEC", C["success"])])
-    return fig
-
-
-# ===========================================================================
-# 6. 问题一：直径圆反例
-# ===========================================================================
-def fig_q1_counterexample(font: dict[str, Any]) -> Any:
-    doc = json.loads((ROOT / "examples" / "q1" / "triangle.json").read_text(encoding="utf-8"))
-    stations = [(m["x"], m["y"], m["bearing_deg"], m.get("half_angle_deg", 1.0))
-                for m in doc["measurements"]]
-    sol = q1_solve(stations)
-    verts = sol["vertices"]
-    dc, mec = sol["dc"], sol["mec"]
-    mec_r = mec["radius_m"]
-    mec_c, dc_c = mec["center"], dc["center"]
-    # 反例的定位区域是边长 40 m 的等边三角形：取 1.8 倍直径做放大窗口
-    zoom = max(1.8 * float(np.abs(verts - np.array(mec_c)).max()) * 2.0, 40.0)
-
-    fig, axes = axes_for_panels(60.0, [1.0, 1.0])
-    ax, axz = axes
-    half = 1200.0
-    polar_axes(ax, half, grid=400.0)
-    for sx, sy, bearing, hd in stations:
-        ax.add_patch(Polygon(wedge_polygon((sx, sy), bearing, hd, 3 * half), closed=True,
-                             facecolor=C["primary"], alpha=0.14, edgecolor="none"))
-        ax.plot([sx], [sy], marker="o", ms=4, color=C["primary"])
-        ax.annotate(f"({sx:.0f}, {sy:.0f})", (sx, sy), textcoords="offset points",
-                    xytext=(6, 4), fontproperties=font["times"], fontsize=7.2,
-                    color=C["primary"])
-    ax.add_patch(Polygon(verts, closed=True, facecolor=C["accent"], edgecolor=C["accent"]))
-    ax.set_xlabel("x / m", fontproperties=font["song"])
-    ax.set_ylabel("y / m", fontproperties=font["song"])
-
-    polar_axes(axz, zoom, grid=zoom / 2, center=mec_c)
-    axz.set_xticks([])
-    axz.set_yticks([])
-    axz.set_ylabel("")
-    box = (mec_c[0] - zoom, mec_c[1] - zoom, mec_c[0] + zoom, mec_c[1] + zoom)
-    for sx, sy, bearing, hd in stations:
-        poly = wedge_clip((sx, sy), bearing, hd, box)
-        if len(poly):
-            axz.add_patch(Polygon(poly, closed=True, facecolor=C["primary"],
-                                  alpha=0.24, edgecolor="none"))
-    region = np.array([[box[0], box[1]], [box[2], box[1]],
-                       [box[2], box[3]], [box[0], box[3]]], dtype=float)
-    for sx, sy, bearing, hd in stations:
-        region = clip_wedge(region, (sx, sy), bearing, hd)
-    if len(region) >= 3:
-        axz.add_patch(Polygon(region, closed=True, facecolor=C["accent_fill"],
-                              edgecolor=C["accent"], lw=1.6))
-    axz.add_patch(Circle(dc_c, dc["radius_m"], facecolor="none", edgecolor=C["violet"],
-                         lw=1.4, ls=(0, (5, 3))))
-    axz.add_patch(Circle(mec_c, mec_r, facecolor="none", edgecolor=C["success"], lw=1.4))
-    outside = max(verts, key=lambda v: math.dist(v, dc_c))
-    axz.annotate("最大超出顶点", xy=outside, xytext=(outside[0] + 6, outside[1] - 10),
-                 fontproperties=font["song"], fontsize=7.6, color=C["accent"],
-                 arrowprops=dict(arrowstyle="-|>", color=C["accent"], lw=1.0))
-    axz.set_xlabel(f"x / m（放大 ±{zoom:.0f} m）", fontproperties=font["song"])
-    chips(axz, [("直径圆（不覆盖）", C["violet"]), ("最小包围圆 MEC", C["success"])])
-    return fig
-
-
-# ===========================================================================
-# 7. 问题二：保证接收盘
-# ===========================================================================
-def fig_q2_safe_disk(font: dict[str, Any]) -> Any:
-    delta = math.radians(1.0)
-    a = 1500.0 / (2 * math.cos(delta))
-    safe = R_EFF - a
-    bearing = 30.0
-    c = (a * math.cos(math.radians(bearing)), a * math.sin(math.radians(bearing)))
-
-    fig, axes = axes_for_panels(64.0, [1.0, 1.0], width_ratios=[1.0, 1.0])
-    ax, axz = axes
-    half = 1900.0
-    polar_axes(ax, half, grid=500.0)
-    ax.add_patch(Circle((0, 0), OMEGA_R, facecolor="none", edgecolor=C["primary"], lw=1.2))
-    ax.add_patch(Polygon(wedge_polygon((0, 0), bearing, 1.0, 1500.0), closed=True,
-                         facecolor=C["accent"], alpha=0.5, edgecolor=C["accent"], lw=1.0))
-    ax.plot([0], [0], marker="o", ms=4, color=C["accent"])
-    ax.annotate("s1", (0, 0), textcoords="offset points", xytext=(6, -10),
-                fontproperties=font["times"], fontsize=7.6, color=C["accent"])
-    ax.add_patch(Circle(c, a, facecolor="none", edgecolor=C["violet"], lw=1.0,
-                        ls=(0, (5, 3))))
-    ax.add_patch(Circle(c, safe, facecolor=C["success"], alpha=0.35,
-                        edgecolor=C["success"], lw=1.2))
-    ax.annotate("", xy=c, xytext=(0, 0),
-                arrowprops=dict(arrowstyle="-|>", color=C["violet"], lw=1.0))
-    ax.annotate(f"a = {a:.1f} m", (c[0] / 2, c[1] / 2), textcoords="offset points",
-                xytext=(-10, 30), ha="center", fontproperties=font["song"],
-                fontsize=7.6, color=C["violet"],
-                arrowprops=dict(arrowstyle="-", color=C["violet"], lw=0.8))
-    ax.annotate(f"安全盘半径 {safe:.1f} m", (c[0], c[1]), textcoords="offset points",
-                xytext=(30, -34), ha="left", fontproperties=font["song"],
-                fontsize=7.6, color=C["success"],
-                arrowprops=dict(arrowstyle="-", color=C["success"], lw=0.8))
-    ax.text(0, OMEGA_R * 0.98, "Ω：R = 1800 m", fontproperties=font["song"],
-            fontsize=7.6, color=C["primary"], ha="center", va="top")
-    ax.set_xlabel("x / m", fontproperties=font["song"])
-    ax.set_ylabel("y / m", fontproperties=font["song"])
-
-    # 右：安全性依据（两半径相加 = 1000 m）
-    axz.set_aspect("equal", adjustable="box")
-    axz.axis("off")
-    axz.set_xlim(-1.15, 1.25)
-    axz.set_ylim(-0.35, 1.05)
-    r_safe, r_a = safe / 1000.0, a / 1000.0
-    axz.add_patch(Circle((0, 0.45), r_a, facecolor=C["violet"], alpha=0.16,
-                         edgecolor=C["violet"], lw=1.0, ls=(0, (4, 3))))
-    axz.add_patch(Circle((0, 0.45), r_safe, facecolor=C["success"], alpha=0.35,
-                         edgecolor=C["success"], lw=1.2))
-    axz.plot([0], [0.45], marker="o", ms=3.4, color=C["ink"])
-    ang = math.radians(20)
-    axz.annotate("", xy=(r_a * math.cos(ang), 0.45 + r_a * math.sin(ang)),
-                 xytext=(0, 0.45), arrowprops=dict(arrowstyle="-", color=C["violet"], lw=1.0))
-    axz.annotate("", xy=(-r_safe * math.cos(ang), 0.45 - r_safe * math.sin(ang)),
-                 xytext=(0, 0.45), arrowprops=dict(arrowstyle="-", color=C["success"], lw=1.0))
-    axz.text(0.30, 0.72, f"a = {a:.1f} m", fontproperties=font["song"], fontsize=7.6,
-             color=C["violet"])
-    axz.text(-0.62, 0.18, f"1000 − a = {safe:.1f} m", fontproperties=font["song"],
-             fontsize=7.6, color=C["success"])
-    chips(ax, [("前向角域 W(s1)", C["accent"]), ("截断角域外接圆 B(c, a)", C["violet"]),
-               ("安全候选盘 B(c, 1000 − a)", C["success"])])
-    return fig
-
-
-# ===========================================================================
-# 8. 问题三：七点覆盖
-# ===========================================================================
-def fig_q3_seven_coverage(font: dict[str, Any]) -> Any:
-    a = RING_RADIUS_M
-    stations = [(0.0, 0.0)] + [(a * math.cos(k * math.pi / 3), a * math.sin(k * math.pi / 3))
-                               for k in range(6)]
-    bound = seven_bound(a)
-    fig, axes = axes_for_panels(66.0, [1.0, 0.95], width_ratios=[1.0, 0.95])
-    ax, axr = axes
-    half = 2050.0
-    polar_axes(ax, half, grid=600.0)
-    ax.add_patch(Circle((0, 0), OMEGA_R, facecolor="#f7fafc", edgecolor=C["primary"], lw=1.4))
-    for px, py in stations:
-        ax.add_patch(Circle((px, py), R_EFF, facecolor=C["success"], alpha=0.28,
-                            edgecolor=C["success"], lw=0.8))
-    ax.add_patch(Circle((0, 0), OMEGA_R, facecolor="none", edgecolor=C["primary"], lw=1.4))
-    for px, py in stations:
-        ax.plot([px], [py], marker="o", ms=4.2, color=C["accent"])
-    ax.plot([0, a], [0, 0], color=C["accent"], lw=0.9)
-    ax.text(a / 2, 60, f"a = {a:.1f} m", ha="center", fontproperties=font["times"],
-            fontsize=7.6, color=C["accent"])
-    ax.plot([0], [-SEVEN_R], marker="o", ms=4.6, mfc="none", mec=C["accent"], mew=1.2)
-    ax.annotate(f"最坏点 {bound:.2f} m", (0, -SEVEN_R), textcoords="offset points",
-                xytext=(-4, 14), ha="center", fontproperties=font["song"], fontsize=7.6,
-                color=C["accent"],
-                arrowprops=dict(arrowstyle="-", color=C["accent"], lw=0.8))
-    ax.text(0, OMEGA_R, "Ω", ha="center", va="bottom", fontproperties=font["song"],
-            fontsize=8, color=C["primary"])
-    ax.set_xlabel("x / m", fontproperties=font["song"])
-    ax.set_ylabel("y / m", fontproperties=font["song"])
-    chips(ax, [("覆盖站点（原点 + 六等分环）", C["accent"]), ("1000 m 接收盘", C["success"])])
-
-    axr.axis("off")
-    axr.set_xlim(0, 1)
-    axr.set_ylim(0, 1)
-    rows = [("七点解析（默认）", "7", f"{bound:.2f} m", C["success_fill"], C["success"]),
-            ("49 点网格基线", "49", "989.95 m", "#f7f9fb", C["muted"]),
-            ("31 点最小命中集（题 4）", "31", "990.05 m", "#f7f9fb", C["muted"])]
-    header = ["方案", "点数", "覆盖半径上界"]
-    xs = [0.02, 0.62, 0.78]
-    for x, head in zip(xs, header):
-        axr.text(x, 0.9, head, fontproperties=font["hei_bold"], fontsize=7.8,
-                 color=C["primary"])
-    for i, (name, count, dist, face, edge) in enumerate(rows):
-        y = 0.76 - i * 0.13
-        axr.add_patch(FancyBboxPatch((0.0, y - 0.045), 1.0, 0.11,
-                                     boxstyle="round,pad=0.004,rounding_size=0.02",
-                                     facecolor=face, edgecolor=edge, lw=0.8))
-        axr.text(xs[0], y, name, fontproperties=font["song"], fontsize=7.6)
-        axr.text(xs[1], y, count, fontproperties=font["times"], fontsize=7.6)
-        axr.text(xs[2], y, dist, fontproperties=font["times"], fontsize=7.6)
-    return fig
-
-
-# ===========================================================================
-# 9. 问题四：31 点最小命中集
-# ===========================================================================
-def fig_q4_mincover(font: dict[str, Any]) -> Any:
-    plan = load_plan("q4_mincover_v2")
-    pts = np.array(plan["points"], dtype=float)
-
-    fig, axes = axes_for_panels(64.0, [1.0, 1.0], width_ratios=[1.0, 1.0])
-    ax, axr = axes
-    half = 2150.0
-    polar_axes(ax, half, grid=600.0)
-    ax.add_patch(Circle((0, 0), OMEGA_R, facecolor="#f7fafc", edgecolor=C["primary"], lw=1.4))
-    ax.plot(pts[:, 0], pts[:, 1], ls="none", marker="o", ms=4.2, color=C["accent"],
-            label=f"{len(pts)} 个覆盖点")
-    ax.legend(prop=font["song"], frameon=False, loc="lower left")
-    ax.text(0, OMEGA_R, "Ω", ha="center", va="bottom", fontproperties=font["song"],
-            fontsize=8, color=C["primary"])
-    ax.set_xlabel("x / m", fontproperties=font["song"])
-    ax.set_ylabel("y / m", fontproperties=font["song"])
-    ax.set_xlabel("x / m", fontproperties=font["song"])
-
-    # 右：forward_half_disk 语义与证书
-    axr.axis("off")
-    axr.set_xlim(0, 1)
-    axr.set_ylim(0, 1)
-    axr.add_patch(Circle((0.36, 0.66), 0.24, facecolor="#f7f9fb", edgecolor=C["muted"],
-                         lw=0.9))
-    half_disk = [[0.36, 0.66]] + [[0.36 + 0.24 * math.cos(math.radians(-90 + 180 * i / 24)),
-                                   0.66 + 0.24 * math.sin(math.radians(-90 + 180 * i / 24))]
-                                  for i in range(25)]
-    axr.add_patch(Polygon(half_disk, closed=True, facecolor=C["accent"], alpha=0.32,
-                          edgecolor="none"))
-    axr.annotate("", xy=(0.57, 0.66), xytext=(0.36, 0.66),
-                 arrowprops=dict(arrowstyle="-|>", color=C["accent"], lw=1.2))
-    axr.plot([0.36, 0.36], [0.42, 0.90], color=C["accent"], lw=0.9, ls=(0, (4, 3)))
-    axr.annotate("", xy=(0.60, 0.95), xytext=(0.12, 0.95),
-                 arrowprops=dict(arrowstyle="<->", color=C["muted"], lw=0.8))
-    axr.text(0.36, 0.90, "覆盖半径 1000 m", ha="center", fontproperties=font["song"],
-             fontsize=7.4, color=C["muted"])
-    axr.text(0.62, 0.60, "朝向未知\n±90° 前向半盘", ha="left", va="top",
-             fontproperties=font["song"], fontsize=7.4, color=C["accent"], linespacing=1.6)
-    return fig
-# ===========================================================================
-# 10/11. WebUI 回放复现
-# ===========================================================================
-def fig_replay(run: dict[str, Any], font: dict[str, Any], *, directional: bool) -> Any:
-    tl = decompose(run)
-    rows = tl["rows"]
-    truth = run["truth"]
-    solved = set(solved_channels(run))
-
-    fig = plt.figure(figsize=(170 / 25.4, 108 / 25.4))
-    ax = fig.add_axes([0.04, 0.30, 0.60, 0.66])
-    polar_axes(ax, 2100.0, grid=1000.0)
-    ax.add_patch(Circle((0, 0), OMEGA_R, facecolor="#f7fafc", edgecolor=C["primary"], lw=1.4))
-    for src in truth:
-        ch = int(src["channel"])
-        color = C["accent"] if ch in solved else C["warn"]
-        ax.plot([src["x"]], [src["y"]], marker="o", ms=5, color=color, zorder=5)
-        ax.annotate(f"ch{ch}", (src["x"], src["y"]), textcoords="offset points",
-                    xytext=(5, 2), fontproperties=font["times"], fontsize=6.8, color=color)
-        if directional and src.get("directional"):
-            hd = math.radians(float(src.get("heading_deg") or 0.0))
-            ax.annotate("", xy=(src["x"] + 200 * math.cos(hd), src["y"] + 200 * math.sin(hd)),
-                        xytext=(src["x"], src["y"]),
-                        arrowprops=dict(arrowstyle="-|>", color=C["accent"], lw=1.0))
-    path = [(0.0, 0.0)]
-    for row in rows:
-        if row["x"] is None:
-            continue
-        if (row["x"], row["y"]) != path[-1]:
-            path.append((row["x"], row["y"]))
-    if len(path) > 1:
-        px, py = zip(*path)
-        ax.plot(px, py, color=C["primary"], lw=1.1, alpha=0.85, zorder=3)
-    for act, row in zip(run["actions"], rows):
-        if row["x"] is None:
-            continue
-        if act["path"] == "/measure" and row["hit"]:
-            bearing = math.radians(float(act["response"].get("svd_deg") or 0.0))
-            ax.annotate("", xy=(row["x"] + 220 * math.cos(bearing),
-                                row["y"] + 220 * math.sin(bearing)),
-                        xytext=(row["x"], row["y"]),
-                        arrowprops=dict(arrowstyle="-|>", color=C["success"], lw=0.7,
-                                        alpha=0.55))
-            ax.plot([row["x"]], [row["y"]], marker="o", ms=2.6, color=C["success"])
-        elif act["path"] == "/clear":
-            ax.plot([row["x"]], [row["y"]], marker="o", ms=7, mfc="none",
-                    mec=C["success"] if row["cleared"] else C["muted"], mew=1.2)
-            if row["cleared"]:
-                ax.plot([row["x"]], [row["y"]], marker="x", ms=5, color=C["success"],
-                        mew=1.6)
-    ax.set_xlabel("x / m", fontproperties=font["song"])
-    ax.set_ylabel("y / m", fontproperties=font["song"])
-    ax.legend(handles=[
-        Line2D([], [], marker="o", ls="none", color=C["success"], label="已清除频道"),
-        Line2D([], [], marker="o", ls="none", color=C["warn"], label="未清除频道"),
-        Line2D([], [], color=C["accent"], lw=1.2, label="定向源朝向"),
-        Line2D([], [], color=C["success"], lw=0.8, label="检测示向度"),
-    ], prop=font["song"], frameon=False, loc="upper center",
-        bbox_to_anchor=(0.5, -0.13), ncols=4)
-
-    # 右侧：事件流水（前 10 条）
-    axt = fig.add_axes([0.70, 0.30, 0.285, 0.62])
-    axt.axis("off")
-    axt.set_xlim(0, 1)
-    axt.set_ylim(0, 1)
-    axt.text(0.0, 1.0, run["case_code"], fontproperties=font["times_bold"], fontsize=7.8,
-             color=C["primary"], va="top")
-    axt.text(0.0, 0.93, f"{run['module']} · 源 {len(truth)} · "
-                        f"全清 {len(solved)}/{len(truth)}", fontproperties=font["song"],
-             fontsize=7.4, color=C["muted"], va="top")
-    axt.text(0.0, 0.86, "动作  参数  虚拟 t/s", fontproperties=font["hei_bold"],
-             fontsize=7.4, color=C["primary"], va="top")
-    for i, (act, row) in enumerate(list(zip(run["actions"], rows))[:10]):
-        if act["path"] == "/measure":
-            detail = f"ch{row['channel']} ({row['x']:.0f},{row['y']:.0f})"
-        elif act["path"] == "/clear":
-            detail = f"ch{row['channel']} {'成功' if row['cleared'] else '未发现'}"
-        elif act["path"] == "/enter":
-            detail = "启动"
-        else:
-            detail = "退出"
-        axt.text(0.0, 0.78 - i * 0.075, act["path"], fontproperties=font["times"],
-                 fontsize=7.2, va="top")
-        axt.text(0.45, 0.78 - i * 0.075, detail, fontproperties=font["song"],
-                 fontsize=7.2, va="top")
-        axt.text(1.0, 0.78 - i * 0.075, f"{row['virtual_s']:.0f}",
-                 fontproperties=font["times"], fontsize=7.2, va="top", ha="right")
-
-    # 底部：虚拟时间轴（检测命中 / 清除刻度）
-    axb = fig.add_axes([0.04, 0.13, 0.945, 0.09])
-    axb.set_xlim(0, max(tl["virtual_s"], 1e-9))
-    axb.set_ylim(0, 1)
-    axb.axis("off")
-    axb.add_patch(FancyBboxPatch((0, 0.35), tl["virtual_s"], 0.3,
-                                 boxstyle="round,pad=0,rounding_size=0",
-                                 facecolor=C["primary_fill"], edgecolor="none"))
-    for act, row in zip(run["actions"], rows):
-        if act["path"] == "/measure" and row["hit"]:
-            axb.plot([row["virtual_s"], row["virtual_s"]], [0.2, 0.8], color=C["accent"],
-                     lw=0.9)
-        elif act["path"] == "/clear" and row["cleared"]:
-            axb.plot([row["virtual_s"], row["virtual_s"]], [0.05, 0.95], color=C["success"],
-                     lw=1.4)
-    axb.text(0, 1.15, "0 s", fontproperties=font["times"], fontsize=7.2, color=C["muted"])
-    axb.text(tl["virtual_s"], 1.15, f"{tl['virtual_s']:,.0f} s", ha="right",
-             fontproperties=font["times"], fontsize=7.2, color=C["muted"])
-    axb.text(tl["virtual_s"] / 2, 1.15, "竖线：检测到信号（红）/ 成功清除（绿）",
-             ha="center", fontproperties=font["song"], fontsize=7.2, color=C["muted"])
-    return fig
-
-
-# ===========================================================================
-# 入口
-# ===========================================================================
-def build_figures(only: Sequence[str] | None, scale: float) -> list[dict[str, Any]]:
-    font = setup_style()
-    want = set(only) if only else None
-    runs = discover_runs()
-    q3 = pick_run(runs, "q3", 10) if runs else None
-    q4 = pick_run(runs, "q4", 12) if runs else None
-    if not runs:
-        print("[fig] 未找到 JSONL，跳过与日志相关的 3 张图")
-
-    jobs: list[tuple[str, Callable[[], Any], list[dict[str, Any]]]] = [
-        ("flow-overall-architecture", lambda: fig_flow_overall(font),
-         [source("src/mcm26b/config.py"), source("docs/B题建模分析与实施计划.md")]),
-        ("steps-state-machine", lambda: fig_steps_state_machine(font),
-         [source("docs/协议规则表与状态机.md"), source("src/mcm26b/protocol/client.py")]),
-        ("timing-attachment-example-105-111-194-199", lambda: fig_timing_attachment(font),
-         [source("docs/协议规则表与状态机.md")]),
-        ("geo-q1-convex-intersection-zoom", lambda: fig_q1_meetup(font), []),
-        ("geo-q1-diameter-circle-counterexample", lambda: fig_q1_counterexample(font),
-         [source("examples/q1/triangle.json")]),
-        ("geo-q2-guaranteed-reception-disk", lambda: fig_q2_safe_disk(font),
-         [source("src/mcm26b/config.py"), source("docs/algo-2.md")]),
-        ("geo-q3-seven-point-coverage", lambda: fig_q3_seven_coverage(font),
-         [source("src/mcm26b/planner/seven.py"), source("docs/algo-3.md")]),
-        ("geo-q4-minimum-cover-31-points", lambda: fig_q4_mincover(font),
-         [source("src/mcm26b/guarantee/plans/q4_mincover_v2.json"), source("docs/algo-4.md")]),
-    ]
-    if q3:
-        jobs.append(("timing-measured-q3-10-sources", lambda: fig_timing_measured(q3, font),
-                     [source(q3["source"], case_code=q3["case_code"], module=q3["module"])]))
-        jobs.append(("replay-webui-q3-omnidirectional",
-                     lambda: fig_replay(q3, font, directional=False),
-                     [source(q3["source"], case_code=q3["case_code"])]))
-    if q4:
-        jobs.append(("replay-webui-q4-directional",
-                     lambda: fig_replay(q4, font, directional=True),
-                     [source(q4["source"], case_code=q4["case_code"])]))
-
-    entries: list[dict[str, Any]] = []
-    for stem, maker, sources in jobs:
-        if want and stem not in want:
-            continue
-        fig = maker()
-        if stem == "geo-q1-convex-intersection-zoom":
-            sources = [source(_q1_data()["src"])]
-        entry = save(fig, stem, sources, scale)
-        entries.append(entry)
-        print(f"[fig] {stem:<44} → {entry['png']}")
-    return entries
-
-
-def main() -> int:
-    names = ["flow-overall-architecture", "steps-state-machine",
-             "timing-attachment-example-105-111-194-199", "timing-measured-q3-10-sources",
-             "geo-q1-convex-intersection-zoom", "geo-q1-diameter-circle-counterexample",
-             "geo-q2-guaranteed-reception-disk", "geo-q3-seven-point-coverage",
-             "geo-q4-minimum-cover-31-points", "replay-webui-q3-omnidirectional",
-             "replay-webui-q4-directional"]
-    parser = argparse.ArgumentParser(description=__doc__.splitlines()[0])
-    parser.add_argument("--only", default="", help="逗号分隔的图名子集")
-    parser.add_argument("--scale", type=float, default=1.0, help="尺寸倍率")
-    parser.add_argument("--list", action="store_true")
-    args = parser.parse_args()
-    if args.list:
-        print("\n".join(names))
-        return 0
-    only = [s.strip() for s in args.only.split(",") if s.strip()]
-    unknown = [s for s in only if s not in names]
-    if unknown:
-        parser.error(f"未知图名 {unknown}")
-    entries = build_figures(only or None, args.scale)
-    manifest = {"generator": "scripts/make_figures.py",
-                "command": "uv run python scripts/make_figures.py"
-                           + (f" --only {args.only}" if args.only else ""),
-                "palette": C, "fonts": {"dir": "docs/paper/fonts", "map": FONTS},
-                "figures": entries}
-    path = OUT_DIR / "manifest.json"
-    path.write_text(json.dumps(manifest, ensure_ascii=False, indent=2) + "\n",
-                    encoding="utf-8")
-    print(f"[fig] manifest → {path.relative_to(ROOT)}（{len(entries)} 张）")
-    return 0
-
-
-if __name__ == "__main__":
-    raise SystemExit(main())
diff --git a/scripts/matlab/fig_flow_overall.m b/scripts/matlab/fig_flow_overall.m
new file mode 100644
index 0000000..65b9227
--- /dev/null
+++ b/scripts/matlab/fig_flow_overall.m
@@ -0,0 +1,65 @@
+function fig_flow_overall()
+%FIG_FLOW_OVERALL  四层主线：题面抽象（L0）、在线三层（L1）、四问主线（L2）、三条闭环（L3）。
+%   仅保留分层框图与层标签，图内不放任何说明性文字。
+
+    S = fig_style();
+    D = load_data(S, 'flow_overall');
+    H = geom_helpers();
+    fig = figure('Color', 'w', 'Visible', 'off');
+    ax = axes(fig, 'Position', [0.02 0.06 0.96 0.90], ...
+              'XLim', [0 100], 'YLim', [0 100], 'Visible', 'off');
+    hold(ax, 'on');
+
+    n = numel(D.tags);
+    x_tag = 7;                                   % 层标签中心
+    x_lo = 15;  x_hi = 99;                       % 框体水平范围
+    box_gap = 2.2;                               % 框间距（放箭头）
+    pad = 1.4;                                   % 框内左右留白
+    band_h = 14;                                 % 层高
+    band_gap = 6.5;
+    y_top = 96;
+
+    % 统一字号：逐行按量得的文本宽度试算，保证一排框加间距放得下
+    fs = ax.FontSize;
+    while fs > 8
+        need_max = 0;
+        for b = 1:n
+            labels = D.labels{b};
+            m = numel(labels);
+            need = sum(cellfun(@(s) H.text_width(ax, s, fs), labels)) ...
+                   + 2 * pad * m + box_gap * (m - 1);
+            need_max = max(need_max, need);
+        end
+        if need_max <= x_hi - x_lo
+            break;
+        end
+        fs = fs - 0.5;
+    end
+
+    for b = 1:n
+        labels = D.labels{b};
+        m = numel(labels);
+        tw = cellfun(@(s) H.text_width(ax, s, fs), labels);
+        avail = (x_hi - x_lo) - box_gap * (m - 1);
+        w = (tw + 2 * pad) * avail / sum(tw + 2 * pad);
+        y = y_top - band_h - (b - 1) * (band_h + band_gap);
+        color = pick_color(S, D.colors{b});
+        text(ax, x_tag, y + band_h / 2, D.tags{b}, 'FontSize', fs + 1, ...
+             'HorizontalAlignment', 'center', 'VerticalAlignment', 'middle');
+        x = x_lo;
+        for i = 1:m
+            rectangle(ax, 'Position', [x, y, w(i), band_h], 'FaceColor', 'w', ...
+                      'EdgeColor', color, 'LineWidth', 1.1);
+            text(ax, x + w(i) / 2, y + band_h / 2, labels{i}, 'FontSize', fs, ...
+                 'HorizontalAlignment', 'center', 'VerticalAlignment', 'middle', ...
+                 'Interpreter', 'none');
+            if i < m
+                H.arrow(ax, [x + w(i) + 0.25, y + band_h / 2], ...
+                        [x + w(i) + box_gap - 0.25, y + band_h / 2], color);
+            end
+            x = x + w(i) + box_gap;
+        end
+    end
+    hold(ax, 'off');
+    fig_save(fig, S, 'flow-overall-architecture.png');
+end
diff --git a/scripts/matlab/fig_geo_q1_counterexample.m b/scripts/matlab/fig_geo_q1_counterexample.m
new file mode 100644
index 0000000..8b0680e
--- /dev/null
+++ b/scripts/matlab/fig_geo_q1_counterexample.m
@@ -0,0 +1,52 @@
+function fig_geo_q1_counterexample()
+%FIG_GEO_Q1_COUNTEREXAMPLE  问题一：等边三角形布站时直径圆不覆盖定位区域的反例。
+
+    S = fig_style();
+    D = load_data(S, 'geo_q1_counterexample');
+    H = geom_helpers();
+    fig = figure('Color', 'w', 'Visible', 'off');
+    t = tiledlayout(fig, 1, 2, 'TileSpacing', 'compact', 'Padding', 'compact');
+
+    % 左：角域交会总览
+    ax1 = nexttile(t);
+    hold(ax1, 'on');
+    hw = gobjects(0);
+    for i = 1:size(D.wedges, 1)
+        hw = H.wedge(ax1, squeeze(D.wedges(i, :, :)), pick_color(S, 'primary'), 0.25);
+    end
+    hr = plot(ax1, D.zoom_center(1), D.zoom_center(2), 's', 'MarkerSize', 6, ...
+              'MarkerFaceColor', pick_color(S, 'accent'), 'MarkerEdgeColor', 'none');
+    plot(ax1, D.stations(:, 1), D.stations(:, 2), 'o', 'MarkerSize', 6, ...
+         'MarkerFaceColor', pick_color(S, 'accent'), 'MarkerEdgeColor', 'none');
+    H.label_points(ax1, D.stations, D.station_labels, pick_color(S, 'accent'));
+    hold(ax1, 'off');
+    axis(ax1, 'equal');
+    xlim(ax1, D.view_center(1) + [-D.half_overview, D.half_overview]);
+    ylim(ax1, D.view_center(2) + [-D.half_overview, D.half_overview]);
+    xlabel(ax1, 'x / m');
+    ylabel(ax1, 'y / m');
+    legend(ax1, [hw(1), hr], D.legend1, 'Location', 'southoutside', ...
+           'Orientation', 'horizontal');
+
+    % 右：定位区域放大
+    ax2 = nexttile(t);
+    hold(ax2, 'on');
+    for i = 1:size(D.zoom_wedges, 1)
+        H.wedge(ax2, squeeze(D.zoom_wedges(i, :, :)), pick_color(S, 'primary'), 0.25);
+    end
+    H.poly(ax2, D.zoom_region, pick_color(S, 'accent'), 1, 'none', 0.5);
+    hd = H.circle(ax2, D.dc_center, D.dc_radius, pick_color(S, 'violet'), 1.2, '--');
+    hm = H.circle(ax2, D.mec_center, D.mec_radius, pick_color(S, 'success'), 1.4, '-');
+    H.marker(ax2, D.dc_center, pick_color(S, 'violet'), 5, true);
+    H.marker(ax2, D.mec_center, pick_color(S, 'success'), 5, true);
+    hold(ax2, 'off');
+    axis(ax2, 'equal');
+    xlim(ax2, D.zoom_center(1) + [-D.zoom_half, D.zoom_half]);
+    ylim(ax2, D.zoom_center(2) + [-D.zoom_half, D.zoom_half]);
+    xlabel(ax2, 'x / m');
+    ylabel(ax2, 'y / m');
+    legend(ax2, [hd, hm], D.legend2, 'Location', 'southoutside', ...
+           'Orientation', 'horizontal');
+
+    fig_save(fig, S, 'geo-q1-diameter-circle-counterexample.png');
+end
diff --git a/scripts/matlab/fig_geo_q1_meetup.m b/scripts/matlab/fig_geo_q1_meetup.m
new file mode 100644
index 0000000..2d98da2
--- /dev/null
+++ b/scripts/matlab/fig_geo_q1_meetup.m
@@ -0,0 +1,52 @@
+function fig_geo_q1_meetup()
+%FIG_GEO_Q1_MEETUP  问题一：角域交会总览与定位区域放大（直径圆、最小包围圆）。
+
+    S = fig_style();
+    D = load_data(S, 'geo_q1_meetup');
+    H = geom_helpers();
+    fig = figure('Color', 'w', 'Visible', 'off');
+    t = tiledlayout(fig, 1, 2, 'TileSpacing', 'compact', 'Padding', 'compact');
+
+    % 左：角域交会总览（交会区域在总览里只是一个点，放大后见右图）
+    ax1 = nexttile(t);
+    hold(ax1, 'on');
+    hw = gobjects(0);
+    for i = 1:size(D.wedges, 1)
+        hw = H.wedge(ax1, squeeze(D.wedges(i, :, :)), pick_color(S, 'primary'), 0.25);
+    end
+    hr = plot(ax1, D.zoom_center(1), D.zoom_center(2), 's', 'MarkerSize', 6, ...
+              'MarkerFaceColor', pick_color(S, 'accent'), 'MarkerEdgeColor', 'none');
+    plot(ax1, D.stations(:, 1), D.stations(:, 2), 'o', 'MarkerSize', 6, ...
+         'MarkerFaceColor', pick_color(S, 'accent'), 'MarkerEdgeColor', 'none');
+    H.label_points(ax1, D.stations, D.station_labels, pick_color(S, 'accent'));
+    hold(ax1, 'off');
+    axis(ax1, 'equal');
+    xlim(ax1, D.view_center(1) + [-D.half_overview, D.half_overview]);
+    ylim(ax1, D.view_center(2) + [-D.half_overview, D.half_overview]);
+    xlabel(ax1, 'x / m');
+    ylabel(ax1, 'y / m');
+    legend(ax1, [hw(1), hr], D.legend1, 'Location', 'southoutside', ...
+           'Orientation', 'horizontal');
+
+    % 右：定位区域放大
+    ax2 = nexttile(t);
+    hold(ax2, 'on');
+    for i = 1:size(D.zoom_wedges, 1)
+        H.wedge(ax2, squeeze(D.zoom_wedges(i, :, :)), pick_color(S, 'primary'), 0.25);
+    end
+    H.poly(ax2, D.zoom_region, pick_color(S, 'accent'), 1, 'none', 0.5);
+    hd = H.circle(ax2, D.dc_center, D.dc_radius, pick_color(S, 'violet'), 1.2, '--');
+    hm = H.circle(ax2, D.mec_center, D.mec_radius, pick_color(S, 'success'), 1.4, '-');
+    H.marker(ax2, D.dc_center, pick_color(S, 'violet'), 5, true);
+    H.marker(ax2, D.mec_center, pick_color(S, 'success'), 5, true);
+    hold(ax2, 'off');
+    axis(ax2, 'equal');
+    xlim(ax2, D.zoom_center(1) + [-D.zoom_half, D.zoom_half]);
+    ylim(ax2, D.zoom_center(2) + [-D.zoom_half, D.zoom_half]);
+    xlabel(ax2, 'x / m');
+    ylabel(ax2, 'y / m');
+    legend(ax2, [hd, hm], D.legend2, 'Location', 'southoutside', ...
+           'Orientation', 'horizontal');
+
+    fig_save(fig, S, 'geo-q1-convex-intersection-zoom.png');
+end
diff --git a/scripts/matlab/fig_geo_q2_safe_disk.m b/scripts/matlab/fig_geo_q2_safe_disk.m
new file mode 100644
index 0000000..f6d724a
--- /dev/null
+++ b/scripts/matlab/fig_geo_q2_safe_disk.m
@@ -0,0 +1,55 @@
+function fig_geo_q2_safe_disk()
+%FIG_GEO_Q2_SAFE_DISK  问题二：截断角域外接圆与保证接收的安全候选盘。
+
+    S = fig_style();
+    D = load_data(S, 'geo_q2');
+    H = geom_helpers();
+    fig = figure('Color', 'w', 'Visible', 'off');
+    t = tiledlayout(fig, 1, 2, 'TileSpacing', 'compact', 'Padding', 'compact');
+
+    % 左：真实几何（Ω 内的角域与两个候选圆）
+    ax1 = nexttile(t);
+    hold(ax1, 'on');
+    H.circle(ax1, [0 0], D.omega_r, pick_color(S, 'primary'), 1.2, '-');
+    hw = H.wedge(ax1, D.wedge, pick_color(S, 'accent'), 0.25);
+    hd = H.circle(ax1, D.c, D.a, pick_color(S, 'violet'), 1.2, '--');
+    hs = H.disk(ax1, D.c, D.safe, pick_color(S, 'success'), 0.30, '-');
+    H.marker(ax1, [0 0], pick_color(S, 'accent'), 6, true);
+    H.marker(ax1, D.c, pick_color(S, 'violet'), 5, true);
+    H.label_points(ax1, [0 0], {'s1'}, pick_color(S, 'accent'));
+    H.label_points(ax1, D.c, {'c'}, pick_color(S, 'violet'));
+    hold(ax1, 'off');
+    axis(ax1, 'equal');
+    xlim(ax1, [-D.half, D.half]);
+    ylim(ax1, [-D.half, D.half]);
+    xlabel(ax1, 'x / m');
+    ylabel(ax1, 'y / m');
+    legend(ax1, [hw, hd, hs], D.legend, 'Location', 'southoutside', ...
+           'Orientation', 'horizontal');
+
+    % 右：半径分解 a + (1000 − a) = 1000 m
+    ax2 = nexttile(t);
+    hold(ax2, 'on');
+    H.circle(ax2, [0 0], D.a, pick_color(S, 'violet'), 1.2, '--');
+    H.disk(ax2, [0 0], D.safe, pick_color(S, 'success'), 0.30, '-');
+    H.marker(ax2, [0 0], 'k', 5, true);
+    ang = deg2rad(35);
+    p_out = D.a * [cos(ang), sin(ang)];
+    p_in = D.safe * [cos(-ang), sin(-ang)];
+    H.arrow(ax2, [0 0], p_out, pick_color(S, 'violet'));
+    H.arrow(ax2, [0 0], p_in, pick_color(S, 'success'));
+    text(ax2, p_out(1) * 1.06, p_out(2) * 1.12, sprintf('a = %.1f m', D.a), ...
+         'Color', pick_color(S, 'violet'), 'Interpreter', 'none');
+    text(ax2, p_in(1) * 1.04, p_in(2) * 1.30, sprintf('1000 − a = %.1f m', D.safe), ...
+         'Color', pick_color(S, 'success'), 'HorizontalAlignment', 'right', ...
+         'Interpreter', 'none');
+    text(ax2, -D.safe * 0.45, 0, 'c', 'Color', 'k', ...
+         'HorizontalAlignment', 'right', 'VerticalAlignment', 'middle');
+    hold(ax2, 'off');
+    axis(ax2, 'equal');
+    xlim(ax2, [-D.a * 1.15, D.a * 1.75]);
+    ylim(ax2, [-D.a * 1.05, D.a * 1.05]);
+    axis(ax2, 'off');
+
+    fig_save(fig, S, 'geo-q2-guaranteed-reception-disk.png');
+end
diff --git a/scripts/matlab/fig_geo_q3_coverage.m b/scripts/matlab/fig_geo_q3_coverage.m
new file mode 100644
index 0000000..3692ba5
--- /dev/null
+++ b/scripts/matlab/fig_geo_q3_coverage.m
@@ -0,0 +1,29 @@
+function fig_geo_q3_coverage()
+%FIG_GEO_Q3_COVERAGE  问题三：七个 1000 m 接收盘覆盖区域 Ω。
+
+    S = fig_style();
+    D = load_data(S, 'geo_q3');
+    H = geom_helpers();
+    fig = figure('Color', 'w', 'Visible', 'off');
+    ax = axes(fig);
+    hold(ax, 'on');
+
+    hd = gobjects(0);
+    for i = 1:size(D.stations, 1)
+        hd = H.disk(ax, D.stations(i, :), D.r_eff, pick_color(S, 'success'), 0.18, '-');
+    end
+    hw = H.circle(ax, [0 0], D.omega_r, pick_color(S, 'primary'), 1.2, '-');
+    hs = plot(ax, D.stations(:, 1), D.stations(:, 2), 'o', 'MarkerSize', 6, ...
+              'MarkerFaceColor', pick_color(S, 'accent'), 'MarkerEdgeColor', 'none');
+    hx = H.marker(ax, D.worst, 'k', 8, false);
+    hold(ax, 'off');
+    axis(ax, 'equal');
+    xlim(ax, [-D.half, D.half]);
+    ylim(ax, [-D.half, D.half]);
+    xlabel(ax, 'x / m');
+    ylabel(ax, 'y / m');
+    legend(ax, [hw, hd(1), hs, hx], D.legend, 'Location', 'southoutside', ...
+           'Orientation', 'horizontal');
+
+    fig_save(fig, S, 'geo-q3-seven-point-coverage.png');
+end
diff --git a/scripts/matlab/fig_geo_q4_mincover.m b/scripts/matlab/fig_geo_q4_mincover.m
new file mode 100644
index 0000000..49fbf73
--- /dev/null
+++ b/scripts/matlab/fig_geo_q4_mincover.m
@@ -0,0 +1,44 @@
+function fig_geo_q4_mincover()
+%FIG_GEO_Q4_MINCOVER  问题四：31 点最小命中集与前向半盘覆盖语义。
+
+    S = fig_style();
+    D = load_data(S, 'geo_q4');
+    H = geom_helpers();
+    fig = figure('Color', 'w', 'Visible', 'off');
+    t = tiledlayout(fig, 1, 2, 'TileSpacing', 'compact', 'Padding', 'compact');
+
+    % 左：Ω 内的 31 个覆盖点
+    ax1 = nexttile(t);
+    hold(ax1, 'on');
+    hw = H.circle(ax1, [0 0], D.omega_r, pick_color(S, 'primary'), 1.2, '-');
+    hp = plot(ax1, D.points(:, 1), D.points(:, 2), 'o', 'MarkerSize', 5, ...
+              'MarkerFaceColor', pick_color(S, 'accent'), 'MarkerEdgeColor', 'none');
+    hold(ax1, 'off');
+    axis(ax1, 'equal');
+    xlim(ax1, [-D.half, D.half]);
+    ylim(ax1, [-D.half, D.half]);
+    xlabel(ax1, 'x / m');
+    ylabel(ax1, 'y / m');
+    legend(ax1, [hw, hp], D.legend, 'Location', 'southoutside', ...
+           'Orientation', 'horizontal');
+
+    % 右：前向半盘（朝向未知，±90°）
+    ax2 = nexttile(t);
+    hold(ax2, 'on');
+    H.poly(ax2, D.half_disk, pick_color(S, 'accent'), 0.30, 'none', 0.5);
+    H.circle(ax2, [0 0.5], 0.85, pick_color(S, 'muted'), 0.9, '-');
+    plot(ax2, [0 0], [0.5 - 0.85, 0.5 + 0.85], '--', ...
+         'Color', pick_color(S, 'accent'), 'LineWidth', 1.0);
+    H.arrow(ax2, [0 0.5], [0.85 0.5], pick_color(S, 'accent'));
+    text(ax2, 0.425, 0.30, D.radius_label, 'HorizontalAlignment', 'center', ...
+         'Interpreter', 'none');
+    text(ax2, 0.0, 1.55, D.heading_label, 'HorizontalAlignment', 'center', ...
+         'Interpreter', 'none');
+    hold(ax2, 'off');
+    axis(ax2, 'equal');
+    xlim(ax2, [-1.15 1.35]);
+    ylim(ax2, [-0.55 1.75]);
+    axis(ax2, 'off');
+
+    fig_save(fig, S, 'geo-q4-minimum-cover-31-points.png');
+end
diff --git a/scripts/matlab/fig_replay.m b/scripts/matlab/fig_replay.m
new file mode 100644
index 0000000..6d1d7e6
--- /dev/null
+++ b/scripts/matlab/fig_replay.m
@@ -0,0 +1,109 @@
+function fig_replay(name)
+%FIG_REPLAY  回放画布（点运动图）：世界视图 + 事件流水 + 虚拟时间轴。
+%   name: 'replay_q3' 或 'replay_q4'，对应 docs/figures/.data/<name>.mat。
+%   本图是唯一保留自定义画布版式的图：三个区互不重叠，图例置于世界视图下方。
+
+    if nargin < 1
+        name = 'replay_q3';
+    end
+    S = fig_style();
+    D = load_data(S, name);
+    H = geom_helpers();
+    fig = figure('Color', 'w', 'Visible', 'off', 'Position', [100 100 1040 660]);
+
+    c_path   = [0.35 0.35 0.35];
+    c_ray    = pick_color(S, 'primary');
+    c_solved = pick_color(S, 'success');
+    c_unsolv = pick_color(S, 'accent');
+    c_head   = pick_color(S, 'violet');
+
+    % ---------------- 世界视图 ----------------
+    ax = axes(fig, 'Position', [0.075 0.40 0.49 0.56]);
+    hold(ax, 'on');
+    H.circle(ax, [0 0], D.omega_r, pick_color(S, 'primary'), 1.2, '-');
+    h_path = plot(ax, D.path(:, 1), D.path(:, 2), 'Color', c_path, 'LineWidth', 0.9);
+    h_ray = plot(ax, nan, nan, 'Color', c_ray, 'LineWidth', 0.8);
+    for i = 1:size(D.rays, 1)
+        p0 = D.rays(i, 1:2);
+        p1 = p0 + D.rays(i, 3:4);
+        plot(ax, [p0(1) p1(1)], [p0(2) p1(2)], 'Color', c_ray, 'LineWidth', 0.8);
+    end
+    h_disk = gobjects(0);
+    for i = 1:size(D.half_disks, 1)
+        disk = squeeze(D.half_disks(i, :, :));
+        h_disk(end + 1) = patch(ax, 'XData', disk(:, 1), 'YData', disk(:, 2), ...
+                                'FaceColor', c_head, 'FaceAlpha', 0.10, ...
+                                'EdgeColor', c_head, 'LineWidth', 0.8); %#ok<AGROW>
+    end
+    for i = 1:size(D.headings, 1)
+        p0 = D.headings(i, 1:2);
+        p1 = p0 + D.headings(i, 3:4);
+        H.arrow(ax, p0, p1, c_head);
+    end
+    solved = D.truth_solved > 0.5;
+    h_solved = plot(ax, D.truth(solved, 1), D.truth(solved, 2), 'o', ...
+                    'MarkerSize', 6, 'MarkerFaceColor', c_solved, 'MarkerEdgeColor', 'none');
+    h_unsolv = plot(ax, D.truth(~solved, 1), D.truth(~solved, 2), 'o', ...
+                    'MarkerSize', 6, 'MarkerFaceColor', c_unsolv, 'MarkerEdgeColor', 'none');
+    label_color = repmat(c_unsolv, size(D.truth, 1), 1);
+    label_color(solved, :) = repmat(c_solved, nnz(solved), 1);
+    H.label_points(ax, D.truth, D.truth_labels, label_color);
+    plot(ax, D.clears(D.clears(:, 3) > 0.5, 1), D.clears(D.clears(:, 3) > 0.5, 2), ...
+         'x', 'MarkerSize', 7, 'LineWidth', 1.4, 'Color', c_solved);
+    plot(ax, D.clears(D.clears(:, 3) <= 0.5, 1), D.clears(D.clears(:, 3) <= 0.5, 2), ...
+         'o', 'MarkerSize', 6, 'MarkerEdgeColor', 'k', 'MarkerFaceColor', 'none');
+    hold(ax, 'off');
+    axis(ax, 'equal');
+    xlim(ax, [-D.half, D.half]);
+    ylim(ax, [-D.half, D.half]);
+    xlabel(ax, 'x / m');
+    ylabel(ax, 'y / m');
+    hleg = [h_path, h_ray];
+    if ~isempty(h_disk)
+        hleg(end + 1) = h_disk(1);
+    end
+    hleg = [hleg, h_solved, h_unsolv];
+    legend(ax, hleg, D.legend, 'Location', 'southoutside', 'Orientation', 'horizontal');
+
+    % ---------------- 事件流水 ----------------
+    ex = axes(fig, 'Position', [0.625 0.40 0.345 0.56], ...
+              'XLim', [0 1], 'YLim', [0 1], 'Visible', 'off');
+    hold(ex, 'on');
+    cols = [0.00 0.34 1.00];
+    align = {'left', 'left', 'right'};
+    head = {'动作', '参数', 't / s'};
+    for j = 1:3
+        text(ex, cols(j), 0.97, head{j}, 'FontWeight', 'bold', ...
+             'HorizontalAlignment', align{j});
+    end
+    for i = 1:size(D.events, 1)
+        y = 0.90 - (i - 1) * 0.088;
+        for j = 1:3
+            text(ex, cols(j), y, D.events{i, j}, 'HorizontalAlignment', align{j}, ...
+                 'Interpreter', 'none');
+        end
+    end
+    hold(ex, 'off');
+
+    % ---------------- 虚拟时间轴 ----------------
+    tx = axes(fig, 'Position', [0.075 0.155 0.90 0.125]);
+    hold(tx, 'on');
+    rectangle(tx, 'Position', [0 0.34 D.total_s 0.32], ...
+              'FaceColor', pick_color(S, 'primary'), 'FaceAlpha', 0.12, ...
+              'EdgeColor', 'none');
+    for i = 1:size(D.marks, 1)
+        t = D.marks(i, 1);
+        if D.marks(i, 3) > 0.5
+            plot(tx, [t t], [0.05 0.95], 'Color', c_solved, 'LineWidth', 1.0);
+        elseif D.marks(i, 2) > 0.5
+            plot(tx, [t t], [0.22 0.78], 'Color', c_unsolv, 'LineWidth', 0.8);
+        end
+    end
+    hold(tx, 'off');
+    xlim(tx, [0 D.total_s]);
+    ylim(tx, [0 1]);
+    set(tx, 'YTick', []);
+    xlabel(tx, '虚拟时间 t / s');
+
+    fig_save(fig, S, D.out_png{1});
+end
diff --git a/scripts/matlab/fig_save.m b/scripts/matlab/fig_save.m
new file mode 100644
index 0000000..ba430d0
--- /dev/null
+++ b/scripts/matlab/fig_save.m
@@ -0,0 +1,11 @@
+function fig_save(fig, S, name)
+%FIG_SAVE  导出白底 PNG（300 dpi）并关闭图形窗口。
+%   导出前关掉坐标轴工具条，避免交互按钮被画进图片。
+    axs = findall(fig, 'Type', 'axes');
+    for k = 1:numel(axs)
+        axs(k).Toolbar.Visible = 'off';
+    end
+    exportgraphics(fig, fullfile(S.out_dir, name), 'Resolution', S.dpi, ...
+                   'BackgroundColor', 'white');
+    close(fig);
+end
diff --git a/scripts/matlab/fig_steps_state_machine.m b/scripts/matlab/fig_steps_state_machine.m
new file mode 100644
index 0000000..9e565b6
--- /dev/null
+++ b/scripts/matlab/fig_steps_state_machine.m
@@ -0,0 +1,34 @@
+function fig_steps_state_machine()
+%FIG_STEPS_STATE_MACHINE  会话状态机：IDLE → 倒计时 → OPEN → CLOSED。
+%   只画状态框与迁移箭头，图内不放任何说明性文字。
+
+    S = fig_style();
+    D = load_data(S, 'steps_state_machine');
+    H = geom_helpers();
+    fig = figure('Color', 'w', 'Visible', 'off', 'Position', [100 100 900 240]);
+    ax = axes(fig, 'Position', [0.02 0.10 0.96 0.80], ...
+              'XLim', [0 100], 'YLim', [0 100], 'Visible', 'off');
+    hold(ax, 'on');
+
+    n = numel(D.labels);
+    w = 21;
+    gap = 4.0;
+    x0 = (100 - (n * w + (n - 1) * gap)) / 2;
+    y0 = 25;
+    h = 50;
+    for i = 1:n
+        x = x0 + (i - 1) * (w + gap);
+        color = pick_color(S, D.edges{i});
+        rectangle(ax, 'Position', [x, y0, w, h], 'FaceColor', 'w', ...
+                  'EdgeColor', color, 'LineWidth', 1.2);
+        text(ax, x + w / 2, y0 + h / 2, D.labels{i}, ...
+             'HorizontalAlignment', 'center', 'VerticalAlignment', 'middle', ...
+             'Interpreter', 'none');
+        if i < n
+            H.arrow(ax, [x + w + 0.5, y0 + h / 2], ...
+                    [x + w + gap - 0.5, y0 + h / 2], color);
+        end
+    end
+    hold(ax, 'off');
+    fig_save(fig, S, 'steps-state-machine.png');
+end
diff --git a/scripts/matlab/fig_style.m b/scripts/matlab/fig_style.m
new file mode 100644
index 0000000..48bab71
--- /dev/null
+++ b/scripts/matlab/fig_style.m
@@ -0,0 +1,11 @@
+function S = fig_style()
+%FIG_STYLE  出图环境：目录、导出参数与 MATLAB 默认配色。
+%   除 fig_replay（回放画布，点运动图）外，各图一律使用 MATLAB 默认图形样式：
+%   默认配色、默认字体、默认坐标轴与图例；本函数不设置任何自定义样式。
+
+    root = fileparts(fileparts(fileparts(mfilename('fullpath'))));
+    S.data_dir = fullfile(root, 'docs', 'figures', '.data');
+    S.out_dir  = fullfile(root, 'docs', 'figures');
+    S.dpi      = 300;                              % 论文插图导出分辨率
+    S.c        = get(groot, 'defaultAxesColorOrder');   % 默认配色（7×3）
+end
diff --git a/scripts/matlab/fig_timing_attachment.m b/scripts/matlab/fig_timing_attachment.m
new file mode 100644
index 0000000..bd2631f
--- /dev/null
+++ b/scripts/matlab/fig_timing_attachment.m
@@ -0,0 +1,29 @@
+function fig_timing_attachment()
+%FIG_TIMING_ATTACHMENT  附件计时示例：逐动作的耗时构成（堆叠条形）与单步合计。
+
+    S = fig_style();
+    D = load_data(S, 'timing_attachment');
+    fig = figure('Color', 'w', 'Visible', 'off');
+    ax = axes(fig);
+
+    n = numel(D.labels);
+    Y = [D.move(:), D.switch_s(:), D.action(:)];
+    y = (n:-1:1)';                        % 动作按先后从上到下排列
+    barh(ax, y, Y, 'stacked');
+    total = sum(Y, 2);
+    xlim(ax, [0, max(total) * 1.18]);
+    hold(ax, 'on');
+    for i = 1:n
+        if total(i) > 0
+            text(ax, total(i) + max(total) * 0.02, y(i), ...
+                 sprintf('%.0f s', total(i)), 'VerticalAlignment', 'middle', ...
+                 'Interpreter', 'none');
+        end
+    end
+    hold(ax, 'off');
+    set(ax, 'YTick', 1:n, 'YTickLabel', flipud(D.labels(:)), ...
+        'TickLabelInterpreter', 'none');
+    xlabel(ax, D.xlabel);
+    legend(ax, D.legend);
+    fig_save(fig, S, 'timing-attachment-example-105-111-194-199.png');
+end
diff --git a/scripts/matlab/fig_timing_measured.m b/scripts/matlab/fig_timing_measured.m
new file mode 100644
index 0000000..7d2c771
--- /dev/null
+++ b/scripts/matlab/fig_timing_measured.m
@@ -0,0 +1,17 @@
+function fig_timing_measured()
+%FIG_TIMING_MEASURED  实测一局：累计虚拟时间按动作类型的堆叠构成。
+
+    S = fig_style();
+    D = load_data(S, 'timing_measured');
+    fig = figure('Color', 'w', 'Visible', 'off');
+    ax = axes(fig);
+
+    seq = D.seq(:);
+    bands = [D.cum(:, 1), diff(D.cum, 1, 2)];    % area 对矩阵按列堆叠，这里给每层厚度
+    h = area(ax, seq, bands, 'FaceAlpha', 1);
+    xlim(ax, [seq(1), seq(end)]);
+    xlabel(ax, D.xlabel);
+    ylabel(ax, D.ylabel);
+    legend(ax, h, D.legend, 'Location', 'northwest');
+    fig_save(fig, S, 'timing-measured-q3-10-sources.png');
+end
diff --git a/scripts/matlab/geom_helpers.m b/scripts/matlab/geom_helpers.m
new file mode 100644
index 0000000..a1d03bb
--- /dev/null
+++ b/scripts/matlab/geom_helpers.m
@@ -0,0 +1,194 @@
+function H = geom_helpers()
+%GEOM_HELPERS  几何示意图共用的绘制函数。
+%   只使用 MATLAB 默认图形对象与默认配色，不做自定义样式。
+
+    H.circle        = @draw_circle;
+    H.wedge         = @draw_wedge;
+    H.disk          = @draw_disk;
+    H.poly          = @draw_poly;
+    H.marker        = @draw_marker;
+    H.arrow         = @draw_arrow;
+    H.label_points  = @label_points;
+    H.text_width    = @text_width;
+end
+
+% ---------------------------------------------------------------------------
+% 基本图元
+% ---------------------------------------------------------------------------
+function h = draw_circle(ax, center, radius, color, lw, style)
+    t = linspace(0, 2 * pi, 360);
+    h = plot(ax, center(1) + radius * cos(t), center(2) + radius * sin(t), ...
+             'Color', color, 'LineWidth', lw, 'LineStyle', style);
+end
+
+function h = draw_wedge(ax, poly, color, alpha)
+    h = patch(ax, 'XData', poly(:, 1), 'YData', poly(:, 2), 'FaceColor', color, ...
+              'FaceAlpha', alpha, 'EdgeColor', 'none');
+end
+
+function h = draw_disk(ax, center, radius, color, alpha, edge_style)
+    t = linspace(0, 2 * pi, 360);
+    h = patch(ax, 'XData', center(1) + radius * cos(t), ...
+                  'YData', center(2) + radius * sin(t), ...
+              'FaceColor', color, 'FaceAlpha', alpha, 'EdgeColor', color, ...
+              'LineWidth', 0.6, 'LineStyle', edge_style);
+end
+
+function h = draw_poly(ax, poly, face, alpha, edge, lw)
+    h = patch(ax, 'XData', poly(:, 1), 'YData', poly(:, 2), 'FaceColor', face, ...
+              'FaceAlpha', alpha, 'EdgeColor', edge, 'LineWidth', lw);
+end
+
+function h = draw_marker(ax, p, color, size, filled)
+    if filled
+        h = plot(ax, p(1), p(2), 'o', 'MarkerSize', size, ...
+                 'MarkerFaceColor', color, 'MarkerEdgeColor', 'none');
+    else
+        h = plot(ax, p(1), p(2), 'o', 'MarkerSize', size, ...
+                 'MarkerFaceColor', 'none', 'MarkerEdgeColor', color, ...
+                 'LineWidth', 0.9);
+    end
+end
+
+function h = draw_arrow(ax, p0, p1, color)
+%DRAW_ARROW  数据坐标箭头：直线 + 实心三角箭头。
+%   箭头在"像素空间"里构造后换算回数据坐标，因此与坐标轴比例无关，
+%   也不依赖绘制时的 axes 位置（图例把坐标区挤小后箭头依然对准数据点）。
+    h = plot(ax, [p0(1) p1(1)], [p0(2) p1(2)], 'Color', color, 'LineWidth', 0.9);
+    d = [p1(1) - p0(1), p1(2) - p0(2)];
+    [sx, sy] = px_scale(ax);                 % 每像素对应的数据单位
+    v = [d(1) / sx, d(2) / sy];              % 像素空间向量
+    len = hypot(v(1), v(2));
+    if len < 1e-9
+        return;
+    end
+    u = v / len;
+    n = [-u(2), u(1)];
+    head = min(len * 0.6, 10);               % 头长（像素）
+    base = v - u * head;
+    tri = [v; base + n * head * 0.42; base - n * head * 0.42] .* [sx, sy];
+    patch(ax, 'XData', p0(1) + tri(:, 1), 'YData', p0(2) + tri(:, 2), ...
+          'FaceColor', color, 'EdgeColor', 'none');
+end
+
+function [sx, sy] = px_scale(ax)
+    pos = ax.Position;
+    fpos = ancestor(ax, 'figure').Position;
+    sx = diff(ax.XLim) / (pos(3) * fpos(3));
+    sy = diff(ax.YLim) / (pos(4) * fpos(4));
+end
+
+% ---------------------------------------------------------------------------
+% 标签自动避让
+% ---------------------------------------------------------------------------
+function label_points(ax, pts, labels, color)
+%LABEL_POINTS  在散点旁放置标签：按候选方位打分选出与已放标签、标记点都不重叠的位置。
+%   color 可以是 1×3（所有标签同色）或 n×3（逐点配色）。
+    if isempty(pts)
+        return;
+    end
+    if size(color, 1) == 1
+        color = repmat(color, numel(labels), 1);
+    end
+    xl = ax.XLim;
+    yl = ax.YLim;
+    gap = pixel_gap(ax, 5);                 % 标签与标记点之间的固定像素间距
+    mbox = marker_size(ax) * [-0.5 -0.5 1 1];
+    placed = zeros(0, 4);
+    for i = 1:numel(labels)
+        if pts(i, 1) < xl(1) || pts(i, 1) > xl(2) || ...
+           pts(i, 2) < yl(1) || pts(i, 2) > yl(2)
+            continue;                       % 视野外的点不标注
+        end
+        sz = text_size(ax, labels{i});
+        cand = candidates(pts(i, :), sz, gap);
+        best_pen = inf;
+        best = cand(1, :);
+        for k = 1:size(cand, 1)
+            box = [cand(k, 1) - sz(1) / 2 - gap(1), cand(k, 2) - sz(2) / 2 - gap(2), ...
+                   sz(1) + 2 * gap(1), sz(2) + 2 * gap(2)];
+            pen = penalty(box, placed, pts, mbox, xl, yl);
+            if pen < best_pen
+                best_pen = pen;
+                best = cand(k, :);
+            end
+        end
+        text(ax, best(1), best(2), labels{i}, 'Color', color(i, :), ...
+             'HorizontalAlignment', 'center', 'VerticalAlignment', 'middle');
+        placed(end + 1, :) = [best(1) - sz(1) / 2 - gap(1), ...
+                              best(2) - sz(2) / 2 - gap(2), ...
+                              sz(1) + 2 * gap(1), sz(2) + 2 * gap(2)]; %#ok<AGROW>
+    end
+end
+
+function cand = candidates(p, sz, gap)
+%CANDIDATES  标记点周围的候选标签中心：先近后远，四正方向 + 四斜角。
+    dx = gap(1) + sz(1) / 2;
+    dy = gap(2) + sz(2) / 2;
+    cand = [p(1) + dx, p(2);           p(1) - dx, p(2)
+            p(1), p(2) + dy;           p(1), p(2) - dy
+            p(1) + dx, p(2) + dy;      p(1) - dx, p(2) + dy
+            p(1) + dx, p(2) - dy;      p(1) - dx, p(2) - dy
+            p(1) + 2.2 * dx, p(2);     p(1) - 2.2 * dx, p(2)
+            p(1), p(2) + 2.2 * dy;     p(1), p(2) - 2.2 * dy
+            p(1) + 1.9 * dx, p(2) + 1.9 * dy;  p(1) - 1.9 * dx, p(2) + 1.9 * dy
+            p(1) + 1.9 * dx, p(2) - 1.9 * dy;  p(1) - 1.9 * dx, p(2) - 1.9 * dy
+            p(1) + 3.4 * dx, p(2);     p(1) - 3.4 * dx, p(2)
+            p(1), p(2) + 3.4 * dy;     p(1), p(2) - 3.4 * dy];
+end
+
+function g = pixel_gap(ax, npix)
+    pos = ax.Position;
+    fpos = ancestor(ax, 'figure').Position;
+    g = [npix * diff(ax.XLim) / (pos(3) * fpos(3)), ...
+         npix * diff(ax.YLim) / (pos(4) * fpos(4))];
+end
+
+function pen = penalty(box, placed, pts, mbox, xl, yl)
+    pen = 0;
+    for j = 1:size(placed, 1)            % 标签之间重叠代价最高
+        pen = pen + 12 * overlap(box, placed(j, :));
+    end
+    for j = 1:size(pts, 1)               % 其次避免压住标记点
+        mb = [pts(j, 1) + mbox(1), pts(j, 2) + mbox(2), mbox(3), mbox(4)];
+        pen = pen + 3 * overlap(box, mb);
+    end
+    dx = max(0, xl(1) - box(1)) + max(0, box(1) + box(3) - xl(2));
+    dy = max(0, yl(1) - box(2)) + max(0, box(2) + box(4) - yl(2));
+    pen = pen + 1e3 * (dx * box(4) + dy * box(3));
+end
+
+function a = overlap(b1, b2)
+    w = min(b1(1) + b1(3), b2(1) + b2(3)) - max(b1(1), b2(1));
+    h = min(b1(2) + b1(4), b2(2) + b2(4)) - max(b1(2), b2(2));
+    a = max(0, w) * max(0, h);
+end
+
+function sz = text_size(ax, str)
+%TEXT_SIZE  文本在数据坐标下的包围盒尺寸（用临时 text 对象的 Extent 量取）。
+    h = text(ax, 0, 0, str, 'Units', 'data', 'Visible', 'off', ...
+             'Interpreter', 'none');
+    e = get(h, 'Extent');
+    delete(h);
+    sz = [e(3) e(4)] * 1.12;
+end
+
+function w = text_width(ax, str, fs)
+%TEXT_WIDTH  指定字号下文本在数据坐标下的宽度。
+    h = text(ax, 0, 0, str, 'Units', 'data', 'Visible', 'off', ...
+             'FontSize', fs, 'Interpreter', 'none');
+    e = get(h, 'Extent');
+    delete(h);
+    w = e(3) * 1.04;
+end
+
+function s = marker_size(ax)
+    xl = ax.XLim;
+    yl = ax.YLim;
+    pos = ax.Position;
+    fpos = ancestor(ax, 'figure').Position;
+    w_px = pos(3) * fpos(3);
+    h_px = pos(4) * fpos(4);
+    s = 8 * max(diff(xl) / w_px, diff(yl) / h_px);   % 约 8 px
+end
+
diff --git a/scripts/matlab/load_data.m b/scripts/matlab/load_data.m
new file mode 100644
index 0000000..8814110
--- /dev/null
+++ b/scripts/matlab/load_data.m
@@ -0,0 +1,11 @@
+function D = load_data(S, name)
+%LOAD_DATA  读取 scripts/build_figure_data.py 预先写好的绘图数据并规范化文本字段。
+    path = fullfile(S.data_dir, [name '.mat']);
+    if ~isfile(path)
+        error('缺少绘图数据：%s（请先运行 scripts/build_figure_data.py --prepare）', path);
+    end
+    D = normalize_text(load(path));
+    if isfield(D, 'switch_') && ~isfield(D, 'switch_s')
+        D.switch_s = D.switch_;
+    end
+end
diff --git a/scripts/matlab/normalize_text.m b/scripts/matlab/normalize_text.m
new file mode 100644
index 0000000..f0c3a73
--- /dev/null
+++ b/scripts/matlab/normalize_text.m
@@ -0,0 +1,15 @@
+function D = normalize_text(D)
+%NORMALIZE_TEXT  把 load 出来的字符矩阵还原成字符串列表。
+%   scipy.io.savemat 会把 Python 的字符串列表写成三维 char 数组（或 char 矩阵），
+%   MATLAB 侧读回来是 char，不能按 {i} 取值，这里统一转成 cellstr。
+
+    fn = fieldnames(D);
+    for k = 1:numel(fn)
+        v = D.(fn{k});
+        if ischar(v) && ndims(v) > 2
+            D.(fn{k}) = cellstr(v);
+        elseif isstruct(v)
+            D.(fn{k}) = normalize_text(v);
+        end
+    end
+end
diff --git a/scripts/matlab/pick_color.m b/scripts/matlab/pick_color.m
new file mode 100644
index 0000000..19c67d8
--- /dev/null
+++ b/scripts/matlab/pick_color.m
@@ -0,0 +1,13 @@
+function c = pick_color(S, name)
+%PICK_COLOR  语义色名 → MATLAB 默认配色（不引入自定义调色板）。
+    switch name
+        case 'primary', c = S.c(1, :);      % 几何区域、主体对象
+        case 'accent',  c = S.c(2, :);      % 真值源、关键结论
+        case 'warn',    c = S.c(3, :);      % 警示、未清除
+        case 'violet',  c = S.c(4, :);      % 直径圆等辅助对象
+        case 'success', c = S.c(5, :);      % 覆盖、清除、通过
+        case 'grid',    c = [0.5 0.5 0.5];
+        case 'muted',   c = [0.45 0.45 0.45];
+        otherwise,      c = [0 0 0];
+    end
+end
diff --git a/scripts/matlab/run_all_figures.m b/scripts/matlab/run_all_figures.m
new file mode 100644
index 0000000..991986d
--- /dev/null
+++ b/scripts/matlab/run_all_figures.m
@@ -0,0 +1,38 @@
+function run_all_figures()
+%RUN_ALL_FIGURES  生成 docs/figures 下的全部论文插图。
+%   数据由 scripts/build_figure_data.py 写入 docs/figures/.data/*.mat。
+%   本机图形子系统在同一批处理会话里连续渲染多张图会崩溃，故每张图单独起会话；
+%   这里只作为 MATLAB 内的手动入口，逐张调用并记日志。
+
+    here = fileparts(mfilename('fullpath'));
+    addpath(here);
+    log = fullfile(here, 'run_all_figures.log');
+    items = { 'flow-overall-architecture', @fig_flow_overall
+              'steps-state-machine',       @fig_steps_state_machine
+              'timing-attachment-example-105-111-194-199', @fig_timing_attachment
+              'timing-measured-q3-10-sources', @fig_timing_measured
+              'geo-q1-convex-intersection-zoom', @fig_geo_q1_meetup
+              'geo-q1-diameter-circle-counterexample', @fig_geo_q1_counterexample
+              'geo-q2-guaranteed-reception-disk', @fig_geo_q2_safe_disk
+              'geo-q3-seven-point-coverage', @fig_geo_q3_coverage
+              'geo-q4-minimum-cover-31-points', @fig_geo_q4_mincover
+              'replay-webui-q3-omnidirectional', @() fig_replay('replay_q3')
+              'replay-webui-q4-directional',     @() fig_replay('replay_q4') };
+    fid = fopen(log, 'w');
+    failed = 0;
+    for i = 1:2:numel(items)
+        name = items{i};
+        fn = items{i + 1};
+        try
+            fn();
+            fprintf(fid, 'OK   %s\n', name);
+        catch err
+            failed = failed + 1;
+            fprintf(fid, 'FAIL %s: %s\n', name, err.message);
+        end
+    end
+    fclose(fid);
+    if failed > 0
+        fprintf('有 %d 张图生成失败，详见 %s\n', failed, log);
+    end
+end