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…vcnav v2) MATERIAL_NAV.md documented only fixed MaterialParams lam_soft/lam_hard. Document that a trained coefficient net can instead predict them per-agent — the source method's sigmoid-bounded lam heads — landed as the .cvcnav format-v2 two-head reroute: - single head (4th output overrides lam_soft, softplus) vs two heads (4th/5th = lam_soft/lam_hard, each lam_max*sigmoid); - why sigmoid bounding (clean channel suppression), the per-head ceilings in the v2 trailer, the pre-v2 host hard-fail, and that lam_hard stays ungated; - orthogonal to the mu-in-features widen; fixed params remain supported.
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docs/MATERIAL_NAV.mddocumented only fixedMaterialParamslam_soft/lam_hard. The shipping learned two-head sigmoid reroute (#105 —.cvcnavformat v2) was undocumented. Docs-only.Changes
A new "Learned lam — the two-head sigmoid reroute" subsection under Using it:
lam_soft/lam_hardper-agent (the source method's sigmoid-bounded λ heads) instead of using fixed params;lam_soft, softplus) vs two heads (4th/5th =lam_soft/lam_hard, eachlam_max·σ(raw));λ→0), the per-head ceilings stored in the.cvcnavv2 trailer, the pre-v2-host hard-fail, and thatlam_hardstays ungated (witness gate multiplies the predictedlam_softonly);Parallels the corresponding libcvc
NAV_MATERIAL.mdupdate for the C++ twin.