Canonical refused fits, PhaseSkill option memory, hypothesis prompts - #162
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…eter
The invented-predicate parameter view raised "accessed before any
parameter fit; call sim.fit()" for any missing key. In run_20260829
cycle 1 an agent deleted ParamSpec("butt_gap_tol") while a predicate
still read it, and the advice sent it to sim.fit() several times for
a name that no longer existed. The error now names the missing key,
lists the parameters that are available, and says what fixes it:
declare the ParamSpec or update the classifier (values refresh from
the current file at the next sim call; sim.fit() fits them).
Claude-Session: https://claude.ai/code/session_01Pbv9TvedRD2iKyoKMJKx6H
…d physics fits restore the margin gate When the rollout-sysID trimming guard found no explainable trajectory, sim.fit returned its report before publishing, so the probe kept saying UNFITTED after the agent did fit and the deploy step re-ran the same refused fit under a misleading FIT FALLBACK warning (both sim_predicator runs, cycles 1-2). The refusal is now published as the canonical fit of that file, pinned at the declared inits with the planner's physical params left untouched, exactly as the harness fallback would have ended. Deploying a published physics fit also re-applies its physical values and restores the cycle-applied snapshot and the physics-margin sigma points (applying resets them; only the harness joint fit used to rebuild them), so skipping the harness refit no longer empties the capture gate's margin sweep. sim.fit computes the sigma points from its own identifiability report and publishes them alongside the fit. Claude-Session: https://claude.ai/code/session_01Pbv9TvedRD2iKyoKMJKx6H
_initiable reset only phase_idx, so a grounded option re-executed by the explorer's certified-plan replay (or a suffix replan) ran its phases from the previous execution's state: cached BiRRT waypoints from a different start pose, a Place aim offset for a landing that never happened, exhausted retries. In the 2026-08-29 bridge runs 10 of 11 replays of a plan that had just solved the task failed this way, which is what kept the runs from early-stopping. Reproduced in a fresh process: fresh grounding gives the solved episode's step counts, the same objects give the failed replay's; with the reset both agree. Claude-Session: https://claude.ai/code/session_01Pbv9TvedRD2iKyoKMJKx6H
…cycle attempts the goal and runs the top open question In the 2026-08-29 bridge runs no cycle-0 episode consummated a bond (glue on faces that touched nothing, spans placed near but not against each other), so the learners had no event to model. The plan-arm learners then followed the learn prompt's "never ship a never-observed mechanism" rule, the belief had no bond, and the test session proved the goal unreachable and submitted a partial plan. Learn prompt: a hypothesis the goal can do without is still recorded and not shipped; a mechanism the goal REQUIRES ships as a labelled hypothesis with declared ParamSpecs and its confirming experiment as the ledger's first entry, and a GO may rest on it if it says so. Explore prompt: a cycle's data must contain at least one full-goal attempt and the top open question's experiment as specified; the first-cycle coverage rule now demands each named interaction be carried to its consequence (contact, release, wait, probe), and the explorer's ledger guidance makes the top entry mandatory. Claude-Session: https://claude.ai/code/session_01Pbv9TvedRD2iKyoKMJKx6H
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A refused sysID fit is still the file's canonical fit and reused physics fits restore the margin gate, every PhaseSkill execution starts with clean option memory, dangling params[...] references name the missing parameter, and prompts ship goal-required mechanisms as labelled hypotheses with every cycle attempting the goal and running the top open question.
Commits:
Part of the bridge-learning merge stack.
🤖 Generated with Claude Code
https://claude.ai/code/session_01VQkk8ycwwwiSKraDw88FVm