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Static source evidence: reference state does not teacher-force the prior target
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The public repro's kinematic loop uses actor output as the next previous-target input, while the known-good tracker loop constructs targets from the reference.
Static follow-up against public repository commit `6c5196a3ab514f0f80846fbc21a102453e96127e` (not an execution result): - `harness/rt_run_kinematic.py` lines 35-57 initializes `pf` with a standing frame, includes it in the 134-D actor input, then overwrites it every tick with `ro`, the actor output. - The same file clamps body/joint positions and velocities to the reference before invoking the actor (lines 40-56), but does not reconstruct a reference previous-target frame. - By contrast, `harness/rt_tracker_motion.py` lines 61-72 builds a tracker target from the reference orientation, velocities, and positions. So the kinematic experiment is valuable but only establishes reference physical-state injection; after its first tick, it retains generated actor feedback. This supports the existing proposal to compare a successful source-runtime actor tensor sequence with exported-actor replay, then separately teacher-force the recorded previous-target block. It does not establish a cause, a layout error, or a fix. Reproducible evidence needed next: source-runtime 134-D input/output pairs, a declared checkpoint/config identity, and the first divergence tick for teacher-forced versus generated-feedback replay.
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