Phase B5b's K=3 input concat passed plan_params=NULL because the
collector had no trade plan launch. Trainer-side K=3 forward trained
on real plan_params while the collector queried at plan_params=0 —
documented train/inference asymmetry on the plan-conditioning surface.
Phase B5b-2 mirrors the (now-corrected) trainer
`launch_trade_plan_forward` chain on the collector inside the rollout
step:
1. SGEMM: hidden[N, AH] = h_s2_q[N, SH2] @ W_fc[AH, SH2]^T
2. bias+relu in-place on hidden
3. SGEMM: pre_out[N, 6] = hidden[N, AH] @ W_out[6, AH]^T
4. trade_plan_activate → exp_plan_params[N, 6]
Weight resolution uses the same `aux_w_ptrs` array the K=3 forward
already consumes (`f32_weight_ptrs_from_base`); indices 91-94 match
the corrected trainer-side reads. The `trade_plan_activate` kernel is
loaded from `EXPERIENCE_KERNELS_CUBIN` (same cubin the rest of
`exp_module_extra` uses; the trainer loads it from there too).
The K=3 concat now takes `exp_plan_params.raw_ptr()` instead of NULL
— both sides see f(h_s2; W_plan_*_init), symmetry restored. Plan
tensors at [91..94] still have no backward (no Adam updates), so the
plan-head weights stay at Xavier cold-start forever. This commit
delivers the symmetry the K=3 head requires, not a learned plan
signal — adding a real plan-head backward is a follow-up project.
New struct fields on GpuExperienceCollector:
- exp_trade_plan_hidden_buf [alloc_episodes × adv_h]
- exp_trade_plan_pre_out_buf [alloc_episodes × 6]
- exp_plan_params [alloc_episodes × 6]
- exp_trade_plan_activate_kernel: CudaFunction
Lib test suite: 1016/0 green maintained. Audit doc updated.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
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