Supplementary Video S1. Visualization-only Town10HD rerun (ClearNoon, seed 4102) using the frozen TransFuser checkpoint. The same newly recorded scene stream is used for both scheduler overlays. Frozen original evaluation markers show PRS calling at 4.15 s inside the 3.95–4.45 s useful window, event onset at 4.45 s, and the non-PRS History-MLP comparator calling at 4.75 s. Ten corrupted sensor frames in the 1.25 s event segment are displayed using previous-valid-frame hold and are excluded from quantitative evaluation. The rerun does not claim bit-exact reproduction of the original trajectory.