Design 3-A4i rung C1: the LMA measured inputs never leave the GPU.
- pose_lma_assemble (grid over resident corr rows): peaks {dx,dy,str,e0x,
  e0y,l0,l1,valid} + packed corr indices -> per-tile y offsets, raw strength
  weights, eigen 2x2 transform (setEigenTransform math, float; identity when
  use_eigen==0) and the fx selection mask. Parameterized contract (counts,
  slot, shift, components, policy scalars) - CUAS specifics stay host policy.
- pose_lma_prepare_norm + pose_lma_prepare_finish: SERIAL one-thread tails
  (sample normalize + pull rows; y+=fx, H diagonal in Java getWJtJlambda
  order, regularization weights, full-weight normalize + pure_weight) -
  serial by design so the Java/C++ float clones gate BIT-EXACT.
- tp_proc_exec_pose_lma_prepare_resident: camera/pose/centers/policy H2D,
  assemble -> norm -> pose_fx_jacobian(current, NO readback) -> finish;
  D2H = 8-float compact result (+optional capture of y/weights/eigen for
  the one-shot oracle). Same scratch bookkeeping as the step so a following
  no-H2D step never regrows.
- tp_proc_exec_pose_lma_resident_step: all-NULL weights/y/eigen = use the
  resident prepared buffers (skip H2D); mixed NULLs rejected.
Gates: direct CUDA prepare 5120/159 BIT-EXACT vs serial float oracle
(y/weights/eigen/selection/scalars all 0 mismatches); resident + 19-float +
fx_jacobian NVRTC PASS; pose_corr bit-exact @tol 0; compute-sanitizer 0
errors on both binaries.
Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>