From 2cecbc4015e68079eac5ad9933ae60b897c83284 Mon Sep 17 00:00:00 2001
From: kami <kami@kvmx.ru>
Date: Tue, 28 Jul 2026 16:17:18 +0400
Subject: [PATCH] Add federation worker and canonical handoffs

---
 AUDIT.md                                |  33 +++
 cmd/orchestra-worker/main.go            | 357 ++++++++++++++++++++++++
 cmd/orchestra-worker/main_test.go       | 151 ++++++++++
 cmd/orchestra/main.go                   | 133 ++++++++-
 cmd/orchestra/main_test.go              |  35 +++
 deploy/orchestra-worker.service         |  15 +
 deploy/orchestra.env.example            |  12 +
 internal/continuity/continuity.go       |  64 +++--
 internal/continuity/continuity_test.go  |  23 +-
 internal/domain/domain.go               |  10 +-
 internal/federation/client.go           | 183 ++++++++++++
 internal/federation/client_test.go      |  51 ++++
 internal/federation/federation.go       |  17 ++
 internal/herdr/adapter.go               | 202 ++++++++++++--
 internal/herdr/adapter_test.go          | 164 ++++++++---
 internal/herdr/herdr.go                 |  16 +-
 internal/herdr/herdr_test.go            |  11 +
 internal/integration/end_to_end_test.go |   8 +-
 internal/orchestrator/orchestrator.go   |   5 +
 internal/orchestrator/rotation_test.go  |   6 +-
 internal/store/store.go                 |   7 +-
 internal/store/store_test.go            |  34 +++
 22 files changed, 1429 insertions(+), 108 deletions(-)
 create mode 100644 cmd/orchestra-worker/main.go
 create mode 100644 cmd/orchestra-worker/main_test.go
 create mode 100644 cmd/orchestra/main_test.go
 create mode 100644 deploy/orchestra-worker.service
 create mode 100644 internal/federation/client.go
 create mode 100644 internal/federation/client_test.go

diff --git a/AUDIT.md b/AUDIT.md
index d2fba79..d4f044a 100644
--- a/AUDIT.md
+++ b/AUDIT.md
@@ -889,3 +889,36 @@ implemented when nothing can reach it.
 Everything else audited (provider layer, continuity schema/validation,
 router matching, delivery, federation registration primitives) was
 spot-checked against the code and its tests and matched described behavior.
+
+---
+
+## Handoff provenance correction (2026-07-28)
+
+The previous rotation path had a **primacy inversion**: the harness wrote a
+free-form Markdown “semantic report”, while `canonicalHandoff` fabricated
+the canonical fields around it (`goal`, `done_when`, a circular action and a
+`cat` command) and placed the entire report in one `remaining` element. That
+made the apparent schema a wrapper around prose rather than an authoritative
+handoff.
+
+The release path now asks the harness for only six labelled, bounded answers:
+`NEXT`, `WHY`, `REMAINING`, `DEAD ENDS`, `OPEN Q`, and `LEARNED`, each with a
+`NONE` escape. `canonicalHandoff` parses those answers and derives only
+worker-owned facts (Git anchor, dirty state, metadata, and last observed
+harness command). It never invents task intent. `goal` and `done_when` were
+removed from `continuity.Handoff`; pickup must obtain task scope and success
+criteria from immutable `TASK.md`.
+
+`continuity.Handoff.Validate` is the shared semantic gate for both release
+and pickup. Strict decoding rejects removed/unknown fields, and validation
+rejects circular handoff actions, commands that point at report/handoff
+files, oversize or Markdown-smuggled authored list items, and malformed dead
+ends. A failed release remains refused and is retried by the existing
+rotation loop; a bad artifact that somehow reaches CAS is also refused at
+pickup. The fuzzy “empty dead ends after a non-trivial later rotation” signal
+is intentionally not yet enforced: no reliable diff-size/rotation-index
+evidence is available at this validation boundary, so inventing a hard rule
+would create false refusals.
+
+Verified after the change with `go test ./...`, `go build ./...`, `go vet
+./...`, and `git diff --check`.
diff --git a/cmd/orchestra-worker/main.go b/cmd/orchestra-worker/main.go
new file mode 100644
index 0000000..3130f74
--- /dev/null
+++ b/cmd/orchestra-worker/main.go
@@ -0,0 +1,357 @@
+// orchestra-worker consumes router-issued leases for one local herdr. Homesrv
+// remains the scheduler and CAS authority; this process owns only local Git
+// and pane operations.
+package main
+
+import (
+	"context"
+	"encoding/json"
+	"fmt"
+	"log"
+	"orchestra/internal/continuity"
+	"orchestra/internal/domain"
+	"orchestra/internal/federation"
+	"orchestra/internal/herdr"
+	"orchestra/internal/orchestrator"
+	"os"
+	"os/exec"
+	"os/signal"
+	"path/filepath"
+	"strconv"
+	"strings"
+	"syscall"
+	"time"
+)
+
+type worker struct {
+	api                                    federation.Client
+	herdr                                  *herdr.Client
+	harnessID, harness, repo, root, remote string
+	cursor                                 uint64
+	tasks                                  map[string]domain.Task
+	sessions                               map[string]herdr.Session
+	leases                                 map[string]lease
+	statePath                              string
+	hard                                   float64
+	registration                           federation.Worker
+}
+type lease struct {
+	HandoffRef string `json:"handoff_ref,omitempty"`
+}
+type workerState struct {
+	Cursor   uint64                   `json:"cursor"`
+	Sessions map[string]herdr.Session `json:"sessions"`
+	Tasks    map[string]domain.Task   `json:"tasks"`
+	Leases   map[string]lease         `json:"leases"`
+}
+
+func (w *worker) load() {
+	b, e := os.ReadFile(w.statePath)
+	if e == nil {
+		var s workerState
+		if json.Unmarshal(b, &s) == nil {
+			w.cursor = s.Cursor
+			w.sessions = s.Sessions
+			w.tasks = s.Tasks
+			w.leases = s.Leases
+		}
+	}
+	if w.sessions == nil {
+		w.sessions = map[string]herdr.Session{}
+	}
+	if w.tasks == nil {
+		w.tasks = map[string]domain.Task{}
+	}
+	if w.leases == nil {
+		w.leases = map[string]lease{}
+	}
+}
+func (w *worker) save() error {
+	b, e := json.Marshal(workerState{Cursor: w.cursor, Sessions: w.sessions, Tasks: w.tasks, Leases: w.leases})
+	if e != nil {
+		return e
+	}
+	if e := os.MkdirAll(filepath.Dir(w.statePath), 0700); e != nil {
+		return e
+	}
+	return os.WriteFile(w.statePath, b, 0600)
+}
+
+type artifactCAS struct{ api federation.Client }
+
+func (c artifactCAS) PutArtifact(b []byte) (string, error) {
+	return c.api.PutArtifact(context.Background(), b)
+}
+func (c artifactCAS) Artifact(ref string) ([]byte, error) {
+	return c.api.Artifact(context.Background(), ref)
+}
+
+func created(e domain.Event) (domain.Task, bool) {
+	if e.Type != "TaskCreated" {
+		return domain.Task{}, false
+	}
+	var p struct {
+		Source      string   `json:"source"`
+		ExternalID  string   `json:"external_id"`
+		Project     string   `json:"project"`
+		Capability  []string `json:"capability"`
+		Title       string   `json:"title"`
+		Description string   `json:"description"`
+	}
+	if json.Unmarshal(e.Payload, &p) != nil || p.Source == "" || p.ExternalID == "" || p.Project == "" {
+		return domain.Task{}, false
+	}
+	return domain.Task{ID: e.TaskID, Source: p.Source, ExternalID: p.ExternalID, Project: p.Project, Capability: p.Capability, Title: p.Title, Description: p.Description}, true
+}
+
+func (w *worker) syncBase(ctx context.Context) error {
+	if out, err := exec.CommandContext(ctx, "git", "-C", w.repo, "fetch", w.remote, "--prune").CombinedOutput(); err != nil {
+		return fmt.Errorf("fetch base checkout: %s: %w", out, err)
+	}
+	branch, err := exec.CommandContext(ctx, "git", "-C", w.repo, "symbolic-ref", "--quiet", "--short", "HEAD").Output()
+	if err != nil {
+		return fmt.Errorf("identify base branch: %w", err)
+	}
+	branchName := strings.TrimSpace(string(branch))
+	if out, err := exec.CommandContext(ctx, "git", "-C", w.repo, "merge", "--ff-only", w.remote+"/"+branchName).CombinedOutput(); err != nil {
+		return fmt.Errorf("fast-forward base checkout: %s: %w", out, err)
+	}
+	return nil
+}
+
+func (w *worker) start(ctx context.Context, t domain.Task, ref string) error {
+	var wt string
+	var h continuity.Handoff
+	var err error
+	// Synchronize the local base before any worktree operation. A worker never
+	// treats a coordinator-side path as truth; the Git remote is the only
+	// cross-machine transport.
+	if err := w.syncBase(ctx); err != nil {
+		return err
+	}
+	if ref != "" {
+		b, err := w.api.Artifact(ctx, ref)
+		if err != nil {
+			return err
+		}
+		h, err = continuity.Decode(b)
+		if err != nil {
+			return err
+		}
+		if out, err := exec.CommandContext(ctx, "git", "-C", w.repo, "fetch", w.remote, "--prune").CombinedOutput(); err != nil {
+			return fmt.Errorf("fetch pickup anchor: %s: %w", out, err)
+		}
+		wt = filepath.Join(w.root, t.ID)
+		if _, err := os.Stat(wt); os.IsNotExist(err) {
+			if out, err := exec.CommandContext(ctx, "git", "-C", w.repo, "worktree", "add", "-b", "orchestra/"+t.ID, wt, h.Anchor.GitSHA).CombinedOutput(); err != nil {
+				return fmt.Errorf("create pickup worktree: %s: %w", out, err)
+			}
+		}
+		if err = continuity.ValidatePickup(wt, h, taskHash(t)); err != nil {
+			return err
+		}
+	} else {
+		wt, err = (orchestrator.GitWorktrees{Repo: w.repo, Root: w.root}).Create(ctx, t)
+		if err != nil {
+			return err
+		}
+	}
+	if _, err = w.herdr.Worktree(ctx, w.repo, wt, "orchestra/"+t.ID); err != nil {
+		return err
+	}
+	s, err := w.herdr.StartAgent(ctx, wt, wt, "orchestra/"+t.ID, w.harness, t.ID)
+	if err != nil {
+		return err
+	}
+	p := "Begin Orchestra task " + t.ID + ".\nTitle: " + t.Title + "\nInstructions:\n" + t.Description + "\nWork only in this worktree. Do not edit TASK.md."
+	if ref != "" {
+		p += "\nA validated handoff exists. Read TASK.md and inspect local git history before continuing."
+	}
+	w.sessions[t.ID] = s
+	if err := w.save(); err != nil {
+		return err
+	}
+	// A prompt response can be lost after herdr accepted it. Persist the
+	// session first so the worker can reconcile/release it after restart.
+	return w.herdr.Prompt(ctx, s.PaneID, p, 0)
+}
+
+func taskHash(t domain.Task) string { b := continuity.RenderTaskFile(t); return domain.Hash(b) }
+
+func (w *worker) releaseReady(ctx context.Context) {
+	for id, s := range w.sessions {
+		if report, err := os.ReadFile(filepath.Join(s.Worktree, ".orchestra-report.md")); err == nil && len(report) > 0 {
+			if ref, err := w.api.PutArtifact(ctx, report); err == nil {
+				if err = w.api.Complete(ctx, id, ref); err == nil {
+					delete(w.sessions, id)
+					delete(w.leases, id)
+					_ = w.save()
+					continue
+				}
+				log.Printf("complete %s: %v", id, err)
+			} else {
+				log.Printf("upload completion %s: %v", id, err)
+			}
+		}
+		if _, err := os.Stat(filepath.Join(s.Worktree, herdr.HandoffReportFile)); err != nil {
+			if !s.HandoffRequested {
+				a := herdr.CLIAdapter{Client: w.herdr, Harness: w.harness}
+				if occ, occErr := a.Occupancy(s); occErr == nil && occ >= w.hard {
+					if boundary, boundaryErr := a.AtTurnBoundary(ctx, s); boundaryErr == nil && boundary {
+						if err := a.RequestHandoff(ctx, s); err == nil {
+							s.HandoffRequested, s.HandoffReason = true, "threshold"
+							w.sessions[id] = s
+							_ = w.save()
+						}
+					}
+				}
+			}
+			continue
+		}
+		a := herdr.CLIAdapter{Client: w.herdr, Harness: w.harness, CAS: artifactCAS{w.api}, Remote: w.remote}
+		ref, err := a.Release(ctx, s)
+		if err != nil {
+			log.Printf("release %s: %v", id, err)
+			continue
+		}
+		sha, err := herdr.HeadSHA(s.Worktree)
+		if err != nil {
+			log.Printf("release %s anchor: %v", id, err)
+			continue
+		}
+		if err = w.api.Release(ctx, id, ref, sha); err != nil {
+			log.Printf("publish release %s: %v", id, err)
+			continue
+		}
+		// release_agent only removes herdr's binding. Closing the released pane
+		// after the handoff is durable prevents the next StartAgent from
+		// inheriting the predecessor's still-running terminal process.
+		if err := a.Kill(ctx, s); err != nil {
+			log.Printf("close released pane %s: %v", id, err)
+		}
+		delete(w.sessions, id)
+		_ = w.save()
+	}
+}
+
+func (w *worker) once(ctx context.Context) error {
+	es, _, err := w.api.Events(ctx, w.cursor)
+	if err != nil {
+		return err
+	}
+	for _, e := range es {
+		if t, ok := created(e); ok {
+			w.tasks[t.ID] = t
+		}
+		if e.Type == "TaskLeased" {
+			var p struct {
+				HarnessID  string `json:"harness_id"`
+				HandoffRef string `json:"handoff_ref"`
+			}
+			if json.Unmarshal(e.Payload, &p) == nil && p.HarnessID == w.harnessID {
+				w.leases[e.TaskID] = lease{HandoffRef: p.HandoffRef}
+			}
+		}
+		if e.Type == "TaskReleased" || e.Type == "TaskCompleted" || e.Type == "TaskFailed" || e.Type == "TaskBlocked" {
+			delete(w.leases, e.TaskID)
+			delete(w.sessions, e.TaskID)
+		}
+		if e.Seq > w.cursor {
+			w.cursor = e.Seq
+		}
+	}
+	// State is only a cache. If a lease survived but its TaskCreated event is
+	// older than the worker's cursor (or the event has been compacted), hydrate
+	// the authoritative task projection before deciding whether to start.
+	for taskID := range w.leases {
+		if _, ok := w.tasks[taskID]; !ok {
+			tasks, err := w.api.Tasks(ctx)
+			if err != nil {
+				return fmt.Errorf("hydrate leased task %s: %w", taskID, err)
+			}
+			for _, task := range tasks {
+				w.tasks[task.ID] = task
+			}
+			break
+		}
+	}
+	// Project the whole batch before launching. This prevents a new worker
+	// from resurrecting every historical lease during its initial replay.
+	for taskID, l := range w.leases {
+		if _, started := w.sessions[taskID]; started {
+			continue
+		}
+		if t, ok := w.tasks[taskID]; ok {
+			if err := w.start(ctx, t, l.HandoffRef); err != nil {
+				log.Printf("lease %s: %v", t.ID, err)
+			}
+		}
+	}
+	w.releaseReady(ctx)
+	if err := w.save(); err != nil {
+		return err
+	}
+	return w.api.Ack(ctx, w.cursor)
+}
+
+// reRegisterAfterCoordinatorRestart restores the coordinator's in-memory
+// worker registry. A worker must survive a server restart without operator
+// intervention; its persisted cursor and sessions remain valid.
+func (w *worker) reRegisterAfterCoordinatorRestart(ctx context.Context, cause error) bool {
+	if cause == nil || !strings.Contains(cause.Error(), "401 Unauthorized: unknown worker") {
+		return false
+	}
+	if err := w.api.Register(ctx, w.registration); err != nil {
+		log.Printf("re-register: %v", err)
+		return false
+	}
+	log.Printf("re-registered after coordinator restart")
+	return true
+}
+func required(k string) string {
+	v := os.Getenv(k)
+	if v == "" {
+		log.Fatalf("%s required", k)
+	}
+	return v
+}
+func main() {
+	id, token := required("ORCHESTRA_WORKER_ID"), required("ORCHESTRA_WORKER_TOKEN")
+	hard := .75
+	if v, err := strconv.ParseFloat(os.Getenv("ORCHESTRA_OCCUPANCY_HARD"), 64); err == nil && v > 0 && v < 1 {
+		hard = v
+	}
+	w := &worker{api: federation.Client{BaseURL: required("ORCHESTRA_URL"), WorkerID: id, Token: token, AdmitToken: os.Getenv("ORCHESTRA_FEDERATION_ADMIT_TOKEN")}, harnessID: required("ORCHESTRA_WORKER_HERDR_ID"), harness: required("ORCHESTRA_WORKER_HARNESS"), repo: required("ORCHESTRA_REPO"), root: required("ORCHESTRA_WORKTREE_ROOT"), remote: required("ORCHESTRA_GIT_REMOTE"), tasks: map[string]domain.Task{}, sessions: map[string]herdr.Session{}, leases: map[string]lease{}, statePath: os.Getenv("ORCHESTRA_WORKER_STATE"), hard: hard, registration: federation.Worker{ID: id, Address: os.Getenv("ORCHESTRA_WORKER_ADDRESS"), Capacity: 1}}
+	if w.statePath == "" {
+		w.statePath = filepath.Join(w.root, ".orchestra-worker-state.json")
+	}
+	w.load()
+	w.herdr = herdr.New(required("ORCHESTRA_WORKER_HERDR"))
+	if id != w.harnessID {
+		log.Fatal("ORCHESTRA_WORKER_ID must equal ORCHESTRA_WORKER_HERDR_ID so leases and offline recovery have one owner")
+	}
+	if err := w.api.Register(context.Background(), w.registration); err != nil {
+		log.Fatal(err)
+	}
+	ctx, stop := signal.NotifyContext(context.Background(), os.Interrupt, syscall.SIGTERM)
+	defer stop()
+	ticker := time.NewTicker(5 * time.Second)
+	defer ticker.Stop()
+	for {
+		if err := w.api.Heartbeat(ctx); err != nil {
+			log.Printf("heartbeat: %v", err)
+			if w.reRegisterAfterCoordinatorRestart(ctx, err) {
+				continue
+			}
+		}
+		if err := w.once(ctx); err != nil {
+			log.Printf("poll: %v", err)
+			w.reRegisterAfterCoordinatorRestart(ctx, err)
+		}
+		select {
+		case <-ctx.Done():
+			return
+		case <-ticker.C:
+		}
+	}
+}
diff --git a/cmd/orchestra-worker/main_test.go b/cmd/orchestra-worker/main_test.go
new file mode 100644
index 0000000..839839a
--- /dev/null
+++ b/cmd/orchestra-worker/main_test.go
@@ -0,0 +1,151 @@
+package main
+
+import (
+	"bufio"
+	"context"
+	"encoding/json"
+	"errors"
+	"net"
+	"net/http"
+	"net/http/httptest"
+	"orchestra/internal/domain"
+	"orchestra/internal/federation"
+	"orchestra/internal/herdr"
+	"os"
+	"os/exec"
+	"path/filepath"
+	"testing"
+)
+
+func TestWorkerReregistersAfterCoordinatorForgetsIt(t *testing.T) {
+	registered := false
+	s := httptest.NewServer(http.HandlerFunc(func(w http.ResponseWriter, r *http.Request) {
+		if r.Method != http.MethodPost || r.URL.Path != "/v1/federation/workers" {
+			t.Fatalf("unexpected %s %s", r.Method, r.URL.Path)
+		}
+		registered = true
+		w.WriteHeader(http.StatusCreated)
+	}))
+	defer s.Close()
+	w := &worker{api: federation.Client{BaseURL: s.URL, WorkerID: "h", Token: "t"}, registration: federation.Worker{ID: "h", Capacity: 1}}
+	if !w.reRegisterAfterCoordinatorRestart(context.Background(), errors.New("federation: 401 Unauthorized: unknown worker")) {
+		t.Fatal("worker did not identify a coordinator restart")
+	}
+	if !registered {
+		t.Fatal("worker did not register")
+	}
+}
+
+func TestInitialReplayDoesNotResurrectReleasedLease(t *testing.T) {
+	s := httptest.NewServer(http.HandlerFunc(func(w http.ResponseWriter, r *http.Request) {
+		switch r.URL.Path {
+		case "/v1/federation/events":
+			_, _ = w.Write([]byte(`{"cursor":0,"events":[{"seq":1,"id":"c","type":"TaskCreated","task_id":"t","version":1,"payload":{"source":"s","external_id":"x","project":"p"},"surface":"system"},{"seq":2,"id":"l","type":"TaskLeased","task_id":"t","version":2,"payload":{"harness_id":"h"},"surface":"system"},{"seq":3,"id":"r","type":"TaskReleased","task_id":"t","version":3,"payload":{"reason":"expired"},"surface":"system"}]}`))
+		case "/v1/federation/events/ack":
+			w.WriteHeader(http.StatusNoContent)
+		default:
+			t.Fatalf("unexpected %s", r.URL.Path)
+		}
+	}))
+	defer s.Close()
+	w := &worker{api: federation.Client{BaseURL: s.URL, WorkerID: "h", Token: "t"}, harnessID: "h", tasks: map[string]domain.Task{}, sessions: map[string]herdr.Session{}, leases: map[string]lease{}, statePath: t.TempDir() + "/state.json", hard: .75}
+	if err := w.once(context.Background()); err != nil {
+		t.Fatal(err)
+	}
+	if len(w.leases) != 0 || len(w.sessions) != 0 {
+		t.Fatalf("replayed lease survived: leases=%v sessions=%v", w.leases, w.sessions)
+	}
+	if w.cursor != 3 {
+		t.Fatalf("cursor=%d want 3", w.cursor)
+	}
+}
+
+func TestWorkerHydratesLeaseMissingTaskCache(t *testing.T) {
+	s := httptest.NewServer(http.HandlerFunc(func(w http.ResponseWriter, r *http.Request) {
+		switch r.URL.Path {
+		case "/v1/federation/events":
+			_, _ = w.Write([]byte(`{"cursor":2,"events":[{"seq":2,"id":"l","type":"TaskLeased","task_id":"t","version":2,"payload":{"harness_id":"h"},"surface":"system"}]}`))
+		case "/v1/tasks":
+			_, _ = w.Write([]byte(`[{"id":"t","source":"s","external_id":"x","project":"p","state":"leased"}]`))
+		case "/v1/federation/events/ack":
+			w.WriteHeader(http.StatusNoContent)
+		default:
+			t.Fatalf("unexpected %s", r.URL.Path)
+		}
+	}))
+	defer s.Close()
+	w := &worker{api: federation.Client{BaseURL: s.URL, WorkerID: "h", Token: "t"}, harnessID: "h", cursor: 1, tasks: map[string]domain.Task{}, sessions: map[string]herdr.Session{"t": {}}, leases: map[string]lease{}, statePath: t.TempDir() + "/state.json", hard: .75}
+	if err := w.once(context.Background()); err != nil {
+		t.Fatal(err)
+	}
+	if _, ok := w.tasks["t"]; !ok || w.cursor != 2 {
+		t.Fatalf("task was not hydrated: tasks=%v cursor=%d", w.tasks, w.cursor)
+	}
+}
+
+func TestWorkerStartsRouterIssuedLeaseInLocalGitWorktree(t *testing.T) {
+	remote := filepath.Join(t.TempDir(), "remote.git")
+	if out, err := exec.Command("git", "init", "--bare", remote).CombinedOutput(); err != nil {
+		t.Fatalf("remote: %v %s", err, out)
+	}
+	seed := t.TempDir()
+	for _, a := range [][]string{{"init", seed}, {"-C", seed, "config", "user.email", "t@t"}, {"-C", seed, "config", "user.name", "t"}, {"-C", seed, "commit", "--allow-empty", "-m", "init"}, {"-C", seed, "remote", "add", "origin", remote}, {"-C", seed, "push", "-u", "origin", "HEAD:master"}} {
+		if out, err := exec.Command("git", a...).CombinedOutput(); err != nil {
+			t.Fatalf("git %v: %v %s", a, err, out)
+		}
+	}
+	repo := filepath.Join(t.TempDir(), "repo")
+	if out, err := exec.Command("git", "clone", remote, repo).CombinedOutput(); err != nil {
+		t.Fatal(string(out))
+	}
+	ln, err := net.Listen("tcp", "127.0.0.1:0")
+	if err != nil {
+		t.Fatal(err)
+	}
+	defer ln.Close()
+	go func() {
+		for {
+			c, e := ln.Accept()
+			if e != nil {
+				return
+			}
+			go func() {
+				defer c.Close()
+				var r herdr.Request
+				if json.NewDecoder(bufio.NewReader(c)).Decode(&r) != nil {
+					return
+				}
+				var result string
+				switch r.Method {
+				case "worktree.create":
+					result = `{"path":"` + filepath.Join(filepath.Dir(repo), "worktrees", "task") + `","root_pane":{"pane_id":"p1"}}`
+				case "agent.start":
+					result = `{}`
+				case "pane.get":
+					result = `{"pane":{"agent":"opencode","agent_status":"idle"}}`
+				case "pane.read":
+					result = `{"read":{"text":""}}`
+				case "agent.prompt":
+					result = `{}`
+				default:
+					result = `{}`
+				}
+				_ = json.NewEncoder(c).Encode(herdr.Response{ID: r.ID, Result: json.RawMessage(result)})
+			}()
+		}
+	}()
+	root := filepath.Join(filepath.Dir(repo), "worktrees")
+	w := &worker{herdr: &herdr.Client{Path: ln.Addr().String()}, repo: repo, root: root, remote: "origin", harness: "opencode", tasks: map[string]domain.Task{}, sessions: map[string]herdr.Session{}, leases: map[string]lease{}, statePath: filepath.Join(t.TempDir(), "state.json"), hard: .75}
+	// New() is needed for its pane map; override the address for the fake.
+	w.herdr = herdr.New(ln.Addr().String())
+	task := domain.Task{ID: "task", Source: "s", ExternalID: "x", Project: "p", Title: "test", Description: "do work"}
+	if err := w.start(context.Background(), task, ""); err != nil {
+		t.Fatal(err)
+	}
+	if _, ok := w.sessions[task.ID]; !ok {
+		t.Fatal("session not persisted")
+	}
+	if _, err := os.Stat(filepath.Join(root, "task", "TASK.md")); err != nil {
+		t.Fatalf("TASK.md: %v", err)
+	}
+}
diff --git a/cmd/orchestra/main.go b/cmd/orchestra/main.go
index 9685322..783c3d2 100644
--- a/cmd/orchestra/main.go
+++ b/cmd/orchestra/main.go
@@ -46,6 +46,49 @@ func herdrAddress(rr registry.Registry, h registry.Herdr) string {
 	return net.JoinHostPort(host, defaultHerdrPort)
 }
 
+type federatedAvailability struct {
+	base         router.Availability
+	workers      *federation.Registry
+	localMachine string
+}
+
+// federatedReachability keeps the legacy TCP probe for local herdrs, while
+// avoiding a coordinator-side probe of a remote worker's herdr socket. A
+// remote harness is reachable precisely when its worker is registered (as
+// enforced by federatedAvailability); probing its raw herdr endpoint here
+// would reintroduce the cross-machine Design A dependency.
+type federatedReachability struct {
+	base   registry.Reachability
+	remote map[string]bool
+}
+
+func (r federatedReachability) Reachable(address string, timeout time.Duration) bool {
+	if r.remote[address] {
+		return true
+	}
+	return r.base.Reachable(address, timeout)
+}
+
+func remoteHerdrAddresses(rr registry.Registry, localMachine string) map[string]bool {
+	remote := map[string]bool{}
+	for _, h := range rr.Herdrs() {
+		if h.MachineID != localMachine {
+			remote[herdrAddress(rr, h)] = true
+		}
+	}
+	return remote
+}
+
+func (a federatedAvailability) Available(h registry.Herdr) bool {
+	if a.base != nil && !a.base.Available(h) {
+		return false
+	}
+	if a.localMachine == "" || h.MachineID == a.localMachine {
+		return true
+	}
+	return a.workers.Available(h.ID)
+}
+
 func main() {
 	dir := os.Getenv("ORCHESTRA_DATA")
 	if dir == "" {
@@ -58,11 +101,17 @@ func main() {
 	var rr registry.Registry
 	var rt *router.Router
 	var coordinator *orchestrator.Coordinator
+	localMachine := os.Getenv("ORCHESTRA_MACHINE_ID")
+	workers := &federation.Registry{AdmitToken: os.Getenv("ORCHESTRA_FEDERATION_ADMIT_TOKEN")}
 	if config := os.Getenv("ORCHESTRA_CONFIG"); config != "" {
 		if rr, err = registry.Load(config); err != nil {
 			log.Fatalf("load orchestra config: %v", err)
 		}
-		rt = &router.Router{Store: s, Registry: rr, Reachability: registry.TCPReachability{}, Timeout: time.Second, Retry: router.RetryPolicy{MaxAttempts: 3, Backoff: time.Minute}}
+		reachability := registry.Reachability(registry.TCPReachability{})
+		if localMachine != "" {
+			reachability = federatedReachability{base: reachability, remote: remoteHerdrAddresses(rr, localMachine)}
+		}
+		rt = &router.Router{Store: s, Registry: rr, Reachability: reachability, Timeout: time.Second, Retry: router.RetryPolicy{MaxAttempts: 3, Backoff: time.Minute}}
 		limits := map[string]router.QuotaWindowLimits{}
 		for _, h := range rr.Herdrs() {
 			w := router.QuotaWindowLimits{FiveHour: h.QuotaLimit5h, Weekly: h.QuotaLimitWeekly}
@@ -77,6 +126,9 @@ func main() {
 		if len(limits) > 0 {
 			rt.Availability = router.QuotaAvailability{Store: s, Limits: limits}
 		}
+		if localMachine != "" {
+			rt.Availability = federatedAvailability{base: rt.Availability, workers: workers, localMachine: localMachine}
+		}
 		if repo, root := os.Getenv("ORCHESTRA_REPO"), os.Getenv("ORCHESTRA_WORKTREE_ROOT"); repo != "" && root != "" {
 			adapters := map[string]herdr.Adapter{}
 			for _, h := range rr.Herdrs() {
@@ -115,7 +167,22 @@ func main() {
 				Default:  orchestrator.GitWorktrees{Root: root, Repo: repo},
 			}
 			coordinator = &orchestrator.Coordinator{Store: s, StatePath: filepath.Join(dir, "runtime-sessions.json"), Worktrees: worktrees, Adapters: orchestrator.AdapterFactory{Herdrs: adapters}}
-			rt.OnLease = func(e domain.Event) error { return coordinator.Start(context.Background(), e) }
+			rt.OnLease = func(e domain.Event) error {
+				// In federated mode the coordinator must never inspect a remote
+				// checkout. Its worker consumes the router-issued lease event and
+				// performs all Git/herdr operations on that machine (§2.1).
+				if localMachine != "" {
+					var p struct {
+						HarnessID string `json:"harness_id"`
+					}
+					if json.Unmarshal(e.Payload, &p) == nil {
+						if h, ok := rr.Herdr(p.HarnessID); ok && h.MachineID != localMachine {
+							return nil
+						}
+					}
+				}
+				return coordinator.Start(context.Background(), e)
+			}
 			hard := 0.75
 			if v, parseErr := strconv.ParseFloat(os.Getenv("ORCHESTRA_OCCUPANCY_HARD"), 64); parseErr == nil && v > 0 && v < 1 {
 				hard = v
@@ -131,7 +198,6 @@ func main() {
 		}
 	}
 	mux := http.NewServeMux()
-	workers := &federation.Registry{AdmitToken: os.Getenv("ORCHESTRA_FEDERATION_ADMIT_TOKEN")}
 	workers.OnOffline = func(w federation.Worker) {
 		for _, t := range s.Tasks() {
 			if t.State == domain.StateLeased && t.Lease != nil && t.Lease.HarnessID == w.ID {
@@ -143,6 +209,13 @@ func main() {
 			}
 		}
 	}
+	go func() {
+		ticker := time.NewTicker(15 * time.Second)
+		defer ticker.Stop()
+		for range ticker.C {
+			_ = workers.Snapshot()
+		}
+	}()
 	providerHealth := map[string]*provider.Supervisor{}
 	surface := func(r *http.Request) authz.Surface {
 		v := authz.ParseSurface(r.Header.Get("X-Orchestra-Surface"))
@@ -245,6 +318,33 @@ func main() {
 		w.WriteHeader(http.StatusCreated)
 		json.NewEncoder(w).Encode(map[string]string{"ref": ref})
 	})
+	// Artifacts are normally write-only to public surfaces. A federation
+	// worker may read a handoff only after authenticating as the worker that
+	// will validate it against its own checkout (§2.1, §6.2).
+	mux.HandleFunc("/v1/artifacts/", func(w http.ResponseWriter, r *http.Request) {
+		if r.Method != http.MethodGet {
+			http.Error(w, "method not allowed", http.StatusMethodNotAllowed)
+			return
+		}
+		wid := r.Header.Get("X-Orchestra-Worker")
+		token := strings.TrimPrefix(r.Header.Get("Authorization"), "Bearer ")
+		if err := workers.Authenticate(wid, token); err != nil {
+			http.Error(w, err.Error(), http.StatusUnauthorized)
+			return
+		}
+		ref := strings.TrimPrefix(r.URL.Path, "/v1/artifacts/")
+		if len(ref) != 64 {
+			http.Error(w, "artifact ref required", http.StatusBadRequest)
+			return
+		}
+		b, err := s.Artifact(ref)
+		if err != nil {
+			http.Error(w, "artifact not found", http.StatusNotFound)
+			return
+		}
+		w.Header().Set("Content-Type", "application/json")
+		_, _ = w.Write(b)
+	})
 	// /v1/harness/complete is the automatic TaskCompleted producer (AUDIT.md
 	// B3): a harness-side hook posts here when the agent has declared the
 	// task done (see deploy/hooks/orchestra-stop.sh), not on every turn
@@ -715,6 +815,11 @@ func main() {
 			http.Error(w, err.Error(), status)
 			return
 		}
+		if rt != nil {
+			if _, err := rt.AssignPending(); err != nil {
+				log.Printf("route after worker registration: %v", err)
+			}
+		}
 		w.WriteHeader(http.StatusCreated)
 		json.NewEncoder(w).Encode(worker)
 	})
@@ -768,7 +873,7 @@ func main() {
 		w.WriteHeader(http.StatusNoContent)
 	})
 	mux.HandleFunc("/v1/federation/workers/", func(w http.ResponseWriter, r *http.Request) {
-		if r.Method != http.MethodPost || (!strings.HasSuffix(r.URL.Path, "/heartbeat") && !strings.HasSuffix(r.URL.Path, "/claim") && !strings.HasSuffix(r.URL.Path, "/handoff")) {
+		if r.Method != http.MethodPost || (!strings.HasSuffix(r.URL.Path, "/heartbeat") && !strings.HasSuffix(r.URL.Path, "/handoff") && !strings.HasSuffix(r.URL.Path, "/complete")) {
 			http.Error(w, "not found", 404)
 			return
 		}
@@ -804,22 +909,24 @@ func main() {
 			http.Error(w, "task not found", 404)
 			return
 		}
-		if strings.HasSuffix(r.URL.Path, "/claim") {
-			if b.TTLSeconds <= 0 {
-				b.TTLSeconds = 1800
+		if t.State != domain.StateLeased || t.Lease == nil || t.Lease.HarnessID != parts[3] {
+			http.Error(w, "lease not owned", 409)
+			return
+		}
+		if strings.HasSuffix(r.URL.Path, "/complete") {
+			if b.HandoffRef == "" {
+				http.Error(w, "report_ref required", 400)
+				return
 			}
-			e, err := s.Lease(b.TaskID, parts[3], time.Duration(b.TTLSeconds)*time.Second)
-			if err != nil {
+			p, _ := json.Marshal(map[string]any{"report_ref": b.HandoffRef, "receipt": map[string]any{"harness_id": parts[3], "consumed": 0}})
+			e := domain.Event{ID: id(), Type: "TaskCompleted", TaskID: b.TaskID, Version: t.Version + 1, Payload: p, Surface: string(authz.System)}
+			if err := s.Append(e); err != nil {
 				http.Error(w, err.Error(), 409)
 				return
 			}
 			json.NewEncoder(w).Encode(e)
 			return
 		}
-		if t.State != domain.StateLeased || t.Lease == nil || t.Lease.HarnessID != parts[3] {
-			http.Error(w, "lease not owned", 409)
-			return
-		}
 		if b.HandoffRef == "" {
 			http.Error(w, "handoff_ref required", 400)
 			return
diff --git a/cmd/orchestra/main_test.go b/cmd/orchestra/main_test.go
new file mode 100644
index 0000000..d13bb35
--- /dev/null
+++ b/cmd/orchestra/main_test.go
@@ -0,0 +1,35 @@
+package main
+
+import (
+	"os"
+	"path/filepath"
+	"testing"
+	"time"
+
+	"orchestra/internal/registry"
+)
+
+type unreachable struct{}
+
+func (unreachable) Reachable(string, time.Duration) bool { return false }
+
+func TestFederatedReachabilityDefersRemoteHerdrToWorkerHeartbeat(t *testing.T) {
+	path := filepath.Join(t.TempDir(), "config.json")
+	if err := os.WriteFile(path, []byte(`{
+  "machines":[{"id":"homesrv","address":"192.168.1.104:9145"},{"id":"workpc","address":"192.168.1.105:9145"}],
+  "herdrs":[{"id":"local","machine_id":"homesrv","harness":"opencode"},{"id":"remote","machine_id":"workpc","harness":"opencode"}]
+	}`), 0o600); err != nil {
+		t.Fatal(err)
+	}
+	r, err := registry.Load(path)
+	if err != nil {
+		t.Fatal(err)
+	}
+	check := federatedReachability{base: unreachable{}, remote: remoteHerdrAddresses(r, "homesrv")}
+	if check.Reachable("192.168.1.105:9245", time.Second) != true {
+		t.Fatal("remote herdr should be admitted for worker heartbeat gating")
+	}
+	if check.Reachable("192.168.1.104:9245", time.Second) {
+		t.Fatal("local herdr should still require its TCP probe")
+	}
+}
diff --git a/deploy/orchestra-worker.service b/deploy/orchestra-worker.service
new file mode 100644
index 0000000..a137adc
--- /dev/null
+++ b/deploy/orchestra-worker.service
@@ -0,0 +1,15 @@
+[Unit]
+Description=Orchestra federation worker
+After=network-online.target
+Wants=network-online.target
+
+[Service]
+Type=simple
+User=orchestra
+EnvironmentFile=/etc/orchestra/worker.env
+ExecStart=/usr/local/bin/orchestra-worker
+Restart=always
+RestartSec=5
+
+[Install]
+WantedBy=multi-user.target
diff --git a/deploy/orchestra.env.example b/deploy/orchestra.env.example
index 8d34488..49d0ba5 100644
--- a/deploy/orchestra.env.example
+++ b/deploy/orchestra.env.example
@@ -8,6 +8,18 @@
 ORCHESTRA_DATA=/var/lib/orchestra/data
 ORCHESTRA_PORT=9145
 
+# --- Federation worker (set only on a harness host such as workpc) ---
+# ORCHESTRA_URL=http://homesrv:9145
+# ORCHESTRA_WORKER_ID=workpc-opencode  # must equal ORCHESTRA_WORKER_HERDR_ID
+# ORCHESTRA_WORKER_TOKEN=<per-worker-secret>
+# ORCHESTRA_FEDERATION_ADMIT_TOKEN=<homesrv-admission-secret>
+# ORCHESTRA_WORKER_HERDR_ID=workpc-opencode
+# ORCHESTRA_WORKER_HARNESS=opencode
+# ORCHESTRA_WORKER_HERDR=/home/orchestra/.config/herdr/herdr.sock
+# ORCHESTRA_WORKER_STATE=/var/lib/orchestra-worker/state.json
+# ORCHESTRA_GIT_REMOTE=origin
+# ORCHESTRA_MACHINE_ID=homesrv  # set on the authoritative coordinator
+
 # Static project/machine/herdr topology (registry.Load). Required for
 # routing across more than one machine; validated at startup.
 ORCHESTRA_CONFIG=/etc/orchestra/config.json
diff --git a/internal/continuity/continuity.go b/internal/continuity/continuity.go
index ec2cd74..a395b5d 100644
--- a/internal/continuity/continuity.go
+++ b/internal/continuity/continuity.go
@@ -11,6 +11,7 @@ import (
 	"os"
 	"os/exec"
 	"path/filepath"
+	"regexp"
 	"strings"
 	"time"
 )
@@ -36,6 +37,9 @@ func RenderTaskFile(t domain.Task) []byte {
 	if t.Parent != "" {
 		fmt.Fprintf(&b, "- Parent: %s\n", t.Parent)
 	}
+	if strings.TrimSpace(t.Description) != "" {
+		fmt.Fprintf(&b, "\n## Instructions\n\n%s\n", t.Description)
+	}
 	b.WriteString("\nThis file is immutable for the lifetime of the task (§6.2) — its hash is\ncarried in every handoff and re-verified on every pickup. Do not edit it.\n")
 	return []byte(b.String())
 }
@@ -99,21 +103,14 @@ type Meta struct {
 	RotationIndex int    `json:"rotation_index"`
 }
 type Handoff struct {
-	Meta          Meta        `json:"meta"`
-	Anchor        Anchor      `json:"anchor"`
-	Goal          string      `json:"goal"`
-	DoneWhen      []string    `json:"done_when"`
-	Completed     []Completed `json:"completed"`
-	Remaining     []string    `json:"remaining"`
-	Action        string      `json:"action"`
-	Command       string      `json:"command"`
-	Files         []string    `json:"files"`
-	Invariants    []string    `json:"invariants"`
-	DeadEnds      []DeadEnd   `json:"dead_ends"`
-	OpenQuestions []string    `json:"open_questions"`
-	Build         string      `json:"build"`
-	Test          string      `json:"test"`
-	LastResult    Result      `json:"last_result"`
+	Meta          Meta      `json:"meta"`
+	Anchor        Anchor    `json:"anchor"`
+	Remaining     []string  `json:"remaining"`
+	Action        string    `json:"action"`
+	Command       string    `json:"command"`
+	DeadEnds      []DeadEnd `json:"dead_ends"`
+	OpenQuestions []string  `json:"open_questions"`
+	Learned       []string  `json:"learned"`
 }
 type Result struct {
 	Command  string `json:"command"`
@@ -123,13 +120,32 @@ type Result struct {
 
 var reasons = map[string]bool{"threshold": true, "milestone": true, "thrash": true, "manual": true}
 
+const maxAuthoredLine = 200
+
+var circularAction = regexp.MustCompile(`(?i)handoff|report\.md|^continue the task`)
+var circularCommand = regexp.MustCompile(`(?i)\.orchestra-handoff|handoff-report|report\.md`)
+
 func (h Handoff) Validate() error {
 	if strings.TrimSpace(h.Meta.ID) == "" || !reasons[h.Meta.Reason] || h.Meta.RotationIndex < 0 {
 		return errors.New("invalid handoff meta")
 	}
-	if len(h.Anchor.GitSHA) != 40 || h.Anchor.Branch == "" || strings.TrimSpace(h.Goal) == "" || len(h.DoneWhen) == 0 || strings.TrimSpace(h.Action) == "" || strings.TrimSpace(h.Command) == "" {
+	if len(h.Anchor.GitSHA) != 40 || h.Anchor.Branch == "" || strings.TrimSpace(h.Action) == "" {
 		return errors.New("invalid handoff required fields")
 	}
+	if circularAction.MatchString(h.Action) {
+		return errors.New("invalid handoff action: must name concrete next work, not a handoff")
+	}
+	if err := validateAuthoredLine(h.Action); err != nil {
+		return err
+	}
+	if circularCommand.MatchString(h.Command) {
+		return errors.New("invalid handoff command: must not point to a handoff or report")
+	}
+	for _, item := range append(append([]string{}, h.Remaining...), append(h.OpenQuestions, h.Learned...)...) {
+		if err := validateAuthoredLine(item); err != nil {
+			return err
+		}
+	}
 	for _, d := range h.Anchor.Dirty {
 		if filepath.IsAbs(d.Path) || d.Path == "" || len(d.SHA256) != 64 {
 			return errors.New("invalid dirty anchor")
@@ -139,6 +155,22 @@ func (h Handoff) Validate() error {
 		if strings.TrimSpace(d.Tried) == "" || strings.TrimSpace(d.WhyFailed) == "" {
 			return errors.New("invalid dead end")
 		}
+		if err := validateAuthoredLine(d.Tried); err != nil {
+			return err
+		}
+		if err := validateAuthoredLine(d.WhyFailed); err != nil {
+			return err
+		}
+	}
+	return nil
+}
+
+func validateAuthoredLine(s string) error {
+	if strings.TrimSpace(s) == "" {
+		return errors.New("invalid handoff authored field: empty item")
+	}
+	if strings.Contains(s, "\n#") || len(s) > maxAuthoredLine {
+		return errors.New("invalid handoff authored field: prose smuggled into list")
 	}
 	return nil
 }
diff --git a/internal/continuity/continuity_test.go b/internal/continuity/continuity_test.go
index 4380a05..b70883d 100644
--- a/internal/continuity/continuity_test.go
+++ b/internal/continuity/continuity_test.go
@@ -6,6 +6,7 @@ import (
 	"os"
 	"os/exec"
 	"path/filepath"
+	"strings"
 	"testing"
 
 	"orchestra/internal/store"
@@ -27,7 +28,7 @@ func TestHandoffCASAndPickup(t *testing.T) {
 	head := runOut(t, root, "rev-parse", "HEAD")
 	task := sha256.Sum256([]byte("original"))
 	s, _ := store.Open(t.TempDir())
-	h := Handoff{Meta: Meta{ID: "h1", Reason: "manual"}, Anchor: Anchor{GitSHA: head, Branch: "main"}, Goal: "ship", DoneWhen: []string{"tests pass"}, Action: "test", Command: "go test ./...", LastResult: Result{AtSHA: head}}
+	h := Handoff{Meta: Meta{ID: "h1", Reason: "manual"}, Anchor: Anchor{GitSHA: head, Branch: "main"}, Action: "run the focused tests", Command: "go test ./..."}
 	ref, e := Save(h, s)
 	if e != nil {
 		t.Fatal(e)
@@ -55,6 +56,26 @@ func TestDecodeRejectsUnknownKnowledgeFields(t *testing.T) {
 	}
 }
 
+func TestHandoffRejectsFabricatedOrProseAuthoredFields(t *testing.T) {
+	base := Handoff{Meta: Meta{ID: "h", Reason: "manual"}, Anchor: Anchor{GitSHA: strings.Repeat("a", 40), Branch: "main"}, Action: "run the focused tests"}
+	if err := base.Validate(); err != nil {
+		t.Fatal(err)
+	}
+	badAction := base
+	badAction.Action = "Continue the task from the handoff"
+	if err := badAction.Validate(); err == nil {
+		t.Fatal("expected circular action rejection")
+	}
+	badProse := base
+	badProse.Remaining = []string{"short\n# markdown heading"}
+	if err := badProse.Validate(); err == nil {
+		t.Fatal("expected prose-in-list rejection")
+	}
+	if _, err := Decode([]byte(`{"meta":{"id":"h","reason":"manual","rotation_index":0},"anchor":{"git_sha":"aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa","branch":"main"},"goal":"fabricated","action":"run tests"}`)); err == nil {
+		t.Fatal("expected goal rejection")
+	}
+}
+
 func TestScratchCommitProtectsTask(t *testing.T) {
 	root := t.TempDir()
 	run := func(a ...string) {
diff --git a/internal/domain/domain.go b/internal/domain/domain.go
index 96f2bdf..2c401e7 100644
--- a/internal/domain/domain.go
+++ b/internal/domain/domain.go
@@ -59,9 +59,13 @@ type Task struct {
 	Estimate         *Estimate  `json:"estimate,omitempty"`
 	State            TaskState  `json:"state"`
 	Lease            *Lease     `json:"lease,omitempty"`
-	Version          int        `json:"version"`
-	Title            string     `json:"title,omitempty"`
-	Description      string     `json:"description,omitempty"`
+	// HandoffRef survives the queued interval between TaskReleased and the
+	// next router-owned TaskLeased event; it is the only artifact the worker
+	// may use for local pickup validation.
+	HandoffRef  string `json:"handoff_ref,omitempty"`
+	Version     int    `json:"version"`
+	Title       string `json:"title,omitempty"`
+	Description string `json:"description,omitempty"`
 }
 
 type Event struct {
diff --git a/internal/federation/client.go b/internal/federation/client.go
new file mode 100644
index 0000000..912476b
--- /dev/null
+++ b/internal/federation/client.go
@@ -0,0 +1,183 @@
+package federation
+
+import (
+	"bytes"
+	"context"
+	"encoding/json"
+	"fmt"
+	"io"
+	"net/http"
+	"net/url"
+	"orchestra/internal/domain"
+	"strings"
+)
+
+// Client is the worker-side protocol client. It carries no task state: the
+// homesrv event log remains authoritative and workers only persist their
+// local execution session/checkouts.
+type Client struct {
+	BaseURL    string
+	WorkerID   string
+	Token      string
+	AdmitToken string
+	HTTP       *http.Client
+}
+
+func (c Client) Register(ctx context.Context, w Worker) error {
+	b, err := json.Marshal(map[string]any{"id": w.ID, "address": w.Address, "capacity": w.Capacity, "token": c.Token})
+	if err != nil {
+		return err
+	}
+	req, err := http.NewRequestWithContext(ctx, http.MethodPost, strings.TrimRight(c.BaseURL, "/")+"/v1/federation/workers", bytes.NewReader(b))
+	if err != nil {
+		return err
+	}
+	req.Header.Set("Content-Type", "application/json")
+	if c.AdmitToken != "" {
+		req.Header.Set("Authorization", "Bearer "+c.AdmitToken)
+	}
+	h := c.HTTP
+	if h == nil {
+		h = http.DefaultClient
+	}
+	resp, err := h.Do(req)
+	if err != nil {
+		return err
+	}
+	defer resp.Body.Close()
+	if resp.StatusCode/100 != 2 {
+		msg, _ := io.ReadAll(resp.Body)
+		return fmt.Errorf("federation register: %s: %s", resp.Status, strings.TrimSpace(string(msg)))
+	}
+	return nil
+}
+
+func (c Client) request(ctx context.Context, method, path string, body any) (*http.Response, error) {
+	var r io.Reader
+	if body != nil {
+		b, err := json.Marshal(body)
+		if err != nil {
+			return nil, err
+		}
+		r = bytes.NewReader(b)
+	}
+	req, err := http.NewRequestWithContext(ctx, method, strings.TrimRight(c.BaseURL, "/")+path, r)
+	if err != nil {
+		return nil, err
+	}
+	req.Header.Set("X-Orchestra-Worker", c.WorkerID)
+	req.Header.Set("Authorization", "Bearer "+c.Token)
+	if body != nil {
+		req.Header.Set("Content-Type", "application/json")
+	}
+	h := c.HTTP
+	if h == nil {
+		h = http.DefaultClient
+	}
+	resp, err := h.Do(req)
+	if err != nil {
+		return nil, err
+	}
+	if resp.StatusCode/100 != 2 {
+		defer resp.Body.Close()
+		b, _ := io.ReadAll(resp.Body)
+		return nil, fmt.Errorf("federation: %s: %s", resp.Status, strings.TrimSpace(string(b)))
+	}
+	return resp, nil
+}
+
+func (c Client) Events(ctx context.Context, since uint64) ([]domain.Event, uint64, error) {
+	resp, err := c.request(ctx, http.MethodGet, "/v1/federation/events?since="+fmt.Sprint(since), nil)
+	if err != nil {
+		return nil, 0, err
+	}
+	defer resp.Body.Close()
+	var out struct {
+		Cursor uint64         `json:"cursor"`
+		Events []domain.Event `json:"events"`
+	}
+	if err := json.NewDecoder(resp.Body).Decode(&out); err != nil {
+		return nil, 0, err
+	}
+	return out.Events, out.Cursor, nil
+}
+
+// Tasks hydrates the worker's cache when its local state predates the
+// coordinator's event-retention window. The coordinator remains authoritative
+// for the task projection.
+func (c Client) Tasks(ctx context.Context) ([]domain.Task, error) {
+	resp, err := c.request(ctx, http.MethodGet, "/v1/tasks", nil)
+	if err != nil {
+		return nil, err
+	}
+	defer resp.Body.Close()
+	var tasks []domain.Task
+	if err := json.NewDecoder(resp.Body).Decode(&tasks); err != nil {
+		return nil, err
+	}
+	return tasks, nil
+}
+func (c Client) Ack(ctx context.Context, cursor uint64) error {
+	resp, err := c.request(ctx, http.MethodPost, "/v1/federation/events/ack", map[string]uint64{"cursor": cursor})
+	if resp != nil {
+		resp.Body.Close()
+	}
+	return err
+}
+func (c Client) Heartbeat(ctx context.Context) error {
+	resp, err := c.request(ctx, http.MethodPost, "/v1/federation/workers/"+url.PathEscape(c.WorkerID)+"/heartbeat", nil)
+	if resp != nil {
+		resp.Body.Close()
+	}
+	return err
+}
+func (c Client) Artifact(ctx context.Context, ref string) ([]byte, error) {
+	resp, err := c.request(ctx, http.MethodGet, "/v1/artifacts/"+url.PathEscape(ref), nil)
+	if err != nil {
+		return nil, err
+	}
+	defer resp.Body.Close()
+	return io.ReadAll(resp.Body)
+}
+
+func (c Client) PutArtifact(ctx context.Context, b []byte) (string, error) {
+	req, err := http.NewRequestWithContext(ctx, http.MethodPost, strings.TrimRight(c.BaseURL, "/")+"/v1/artifacts", bytes.NewReader(b))
+	if err != nil {
+		return "", err
+	}
+	req.Header.Set("Content-Type", "application/octet-stream")
+	h := c.HTTP
+	if h == nil {
+		h = http.DefaultClient
+	}
+	resp, err := h.Do(req)
+	if err != nil {
+		return "", err
+	}
+	defer resp.Body.Close()
+	if resp.StatusCode/100 != 2 {
+		msg, _ := io.ReadAll(resp.Body)
+		return "", fmt.Errorf("artifact upload: %s: %s", resp.Status, strings.TrimSpace(string(msg)))
+	}
+	var out struct {
+		Ref string `json:"ref"`
+	}
+	if err := json.NewDecoder(resp.Body).Decode(&out); err != nil {
+		return "", err
+	}
+	return out.Ref, nil
+}
+func (c Client) Release(ctx context.Context, taskID, ref, anchor string) error {
+	resp, err := c.request(ctx, http.MethodPost, "/v1/federation/workers/"+url.PathEscape(c.WorkerID)+"/handoff", map[string]string{"task_id": taskID, "handoff_ref": ref, "anchor_sha": anchor})
+	if resp != nil {
+		resp.Body.Close()
+	}
+	return err
+}
+func (c Client) Complete(ctx context.Context, taskID, reportRef string) error {
+	resp, err := c.request(ctx, http.MethodPost, "/v1/federation/workers/"+url.PathEscape(c.WorkerID)+"/complete", map[string]string{"task_id": taskID, "handoff_ref": reportRef})
+	if resp != nil {
+		resp.Body.Close()
+	}
+	return err
+}
diff --git a/internal/federation/client_test.go b/internal/federation/client_test.go
new file mode 100644
index 0000000..5d92970
--- /dev/null
+++ b/internal/federation/client_test.go
@@ -0,0 +1,51 @@
+package federation
+
+import (
+	"context"
+	"net/http"
+	"net/http/httptest"
+	"testing"
+)
+
+func TestClientRegistersPollsAndReadsArtifactAsWorker(t *testing.T) {
+	seen := map[string]bool{}
+	s := httptest.NewServer(http.HandlerFunc(func(w http.ResponseWriter, r *http.Request) {
+		if r.URL.Path == "/v1/federation/workers" {
+			seen["register"] = r.Header.Get("Authorization") == "Bearer admit"
+			w.WriteHeader(http.StatusCreated)
+			return
+		}
+		if r.Header.Get("X-Orchestra-Worker") != "h1" || r.Header.Get("Authorization") != "Bearer worker" {
+			t.Errorf("worker auth missing")
+		}
+		switch r.URL.Path {
+		case "/v1/federation/events":
+			seen["events"] = true
+			_, _ = w.Write([]byte(`{"cursor":3,"events":[{"seq":3,"id":"e","type":"TaskCreated","task_id":"t","version":1,"payload":{"source":"s","external_id":"x","project":"p"},"surface":"system"}]}`))
+		case "/v1/artifacts/abc":
+			seen["artifact"] = true
+			_, _ = w.Write([]byte(`{"meta":{"id":"x"}}`))
+		default:
+			t.Errorf("unexpected path %s", r.URL.Path)
+			w.WriteHeader(404)
+		}
+	}))
+	defer s.Close()
+	c := Client{BaseURL: s.URL, WorkerID: "h1", Token: "worker", AdmitToken: "admit"}
+	if err := c.Register(context.Background(), Worker{ID: "h1"}); err != nil {
+		t.Fatal(err)
+	}
+	es, cur, err := c.Events(context.Background(), 0)
+	if err != nil || cur != 3 || len(es) != 1 || es[0].Type != "TaskCreated" {
+		t.Fatalf("events=%v cursor=%d err=%v", es, cur, err)
+	}
+	b, err := c.Artifact(context.Background(), "abc")
+	if err != nil || string(b) != "{\"meta\":{\"id\":\"x\"}}" {
+		t.Fatalf("artifact=%s err=%v", b, err)
+	}
+	for _, k := range []string{"register", "events", "artifact"} {
+		if !seen[k] {
+			t.Errorf("%s not seen", k)
+		}
+	}
+}
diff --git a/internal/federation/federation.go b/internal/federation/federation.go
index 760b00a..dd6e6ca 100644
--- a/internal/federation/federation.go
+++ b/internal/federation/federation.go
@@ -42,6 +42,7 @@ func (r *Registry) init() {
 		r.cursors = map[string]uint64{}
 	}
 }
+
 // Register admits a worker. admitToken must match r.AdmitToken whenever one
 // is configured. Re-registering an ID that's already claimed requires that
 // worker's own current token, so a caller can't self-declare someone else's
@@ -118,6 +119,22 @@ func (r *Registry) Heartbeat(id string) error {
 	r.workers[id] = w
 	return nil
 }
+
+// Available refreshes TTL state and reports whether a registered worker owns
+// this harness id. Router admission uses it so a reachable TCP bridge alone
+// can never make an offline worker eligible for a lease.
+func (r *Registry) Available(id string) bool {
+	r.mu.Lock()
+	defer r.mu.Unlock()
+	r.init()
+	w, ok := r.workers[id]
+	if !ok {
+		return false
+	}
+	w.Online = time.Since(w.LastSeen) <= r.TTL
+	r.workers[id] = w
+	return w.Online
+}
 func (r *Registry) Snapshot() []Worker {
 	r.mu.Lock()
 	defer r.mu.Unlock()
diff --git a/internal/herdr/adapter.go b/internal/herdr/adapter.go
index ba7d365..eb78ce8 100644
--- a/internal/herdr/adapter.go
+++ b/internal/herdr/adapter.go
@@ -75,6 +75,10 @@ type CLIAdapter struct {
 	// release. Nil disables Release (adapters built without one refuse
 	// loudly rather than skip validation).
 	CAS continuity.CAS
+	// Remote, when set by a federation worker, is pushed after the scratch
+	// commit and before the pane claim is released. Git is the cross-machine
+	// transport; a CAS handoff must never point at an unpushed anchor.
+	Remote string
 }
 
 // HandoffFile is the convention the agent writes its §6.1 handoff to before
@@ -83,8 +87,9 @@ type CLIAdapter struct {
 // uploads the one the agent wrote (herdr does not write handoffs, §6.1).
 const HandoffFile = ".orchestra-handoff.json"
 
-// HandoffReportFile is the only handoff artifact an opaque harness authors.
-// The worker which owns the checkout derives and seals the canonical JSON.
+// HandoffReportFile holds the agent's small, labelled answer during release.
+// It is not a report: the worker parses it, derives the protocol facts, and
+// seals the resulting canonical JSON.
 const HandoffReportFile = ".orchestra-handoff-report.md"
 
 func (a CLIAdapter) CreateWorktree(ctx context.Context, repo, root, taskID string) (string, error) {
@@ -149,9 +154,16 @@ func (a CLIAdapter) Bootstrap(ctx context.Context, s Session, ref string) error
 	return a.prompt(ctx, s, fmt.Sprintf(bootstrapPrompt, ref), time.Minute)
 }
 
-const handoffPrompt = `Orchestra is about to rotate this task to a fresh session (context budget reached).
-Before you stop, write a concise semantic handoff report to ` + HandoffReportFile + ` at the worktree root: what changed, validation evidence, remaining work, review findings, and dead ends/open questions.
-Do not write protocol JSON, git anchors, or file hashes; Orchestra's checkout worker collects and validates those facts. Do not edit TASK.md. Once written, stop normally.`
+const handoffPrompt = `Orchestra is about to rotate this task. Write ONLY the following labelled answers to ` + HandoffReportFile + `, then stop. Output nothing else.
+
+NEXT: the single next action (one line).
+WHY: why that is next (one line).
+REMAINING: outstanding items, one line each. If none: NONE.
+DEAD ENDS: approaches tried that failed — "tried X → failed because Y", one per line. If none: NONE.
+OPEN Q: unresolved decisions, one line each. If none: NONE.
+LEARNED: constraints discovered that are NOT in TASK.md, one line each. If none: NONE.
+
+Do NOT include: what you completed (the diff shows it), the goal or done-criteria (TASK.md holds them), git SHAs/branches/paths, or a prose summary. No headings and no report. Do not edit TASK.md.`
 
 // RequestHandoff prompts the agent to write HandoffFile before Release reads
 // it. Optional capability: adapters without a live pane (tests, etc.) can
@@ -183,7 +195,7 @@ func (a CLIAdapter) RequestHandoffReason(ctx context.Context, s Session, reason
 	case "milestone":
 		sb.WriteString("A coherent unit of work looks complete (a successful commit). If the next step is independent of what you just did, this is a good point to hand off.\n")
 	}
-	fmt.Fprintf(&sb, "Before you stop, write a concise semantic handoff report to %s at the worktree root (reason: %q)", HandoffReportFile, reason)
+	fmt.Fprintf(&sb, "Before you stop, write the labelled handoff answers requested below to %s at the worktree root (reason: %q).\n\n%s", HandoffReportFile, reason, handoffPrompt[strings.Index(handoffPrompt, "NEXT:"):])
 	if len(deadEnds) > 0 {
 		sb.WriteString(" and a dead_ends entry for each of the following:\n")
 		for _, d := range deadEnds {
@@ -192,7 +204,7 @@ func (a CLIAdapter) RequestHandoffReason(ctx context.Context, s Session, reason
 	} else {
 		sb.WriteString(".\n")
 	}
-	sb.WriteString("Include what changed, validation evidence, remaining work, review findings, and any dead ends. Do not write protocol JSON, git anchors, or file hashes; Orchestra collects those. Do not edit TASK.md. Once written, stop normally.")
+	sb.WriteString("Do not add a prose summary, completed-work narration, or protocol JSON. Once written, stop normally.")
 	return a.prompt(ctx, s, sb.String(), time.Minute)
 }
 
@@ -234,9 +246,9 @@ func (a CLIAdapter) NotifyConventionsChanged(ctx context.Context, s Session) err
 	return a.prompt(ctx, s, conventionsPrompt, time.Minute)
 }
 
-// Release reads the §6.1 handoff the agent wrote to HandoffFile at the
-// worktree root, validates its schema and anchor against the worktree's real
-// HEAD, uploads it to CAS, and only then releases herdr's claim on the pane
+// Release reads the semantic report the agent wrote at the worktree root,
+// derives and validates the canonical handoff from the worktree's real Git
+// state, uploads it to CAS, and only then releases herdr's claim on the pane
 // via the real pane.release_agent(pane_id, source, agent) method (confirmed
 // live against herdr, AUDIT.md Phase 0 — the invented "pane.release" never
 // existed and could never have returned a handoff_ref regardless, since
@@ -256,7 +268,7 @@ func (a CLIAdapter) Release(ctx context.Context, s Session) (string, error) {
 	if strings.TrimSpace(string(b)) == "" {
 		return "", fmt.Errorf("adapter: semantic handoff report is empty")
 	}
-	h, err := canonicalHandoff(s, string(b))
+	h, err := canonicalHandoff(s, string(b), a.lastObservedCommand(s))
 	if err != nil {
 		return "", err
 	}
@@ -270,6 +282,20 @@ func (a CLIAdapter) Release(ctx context.Context, s Session) (string, error) {
 			return "", fmt.Errorf("adapter: handoff dirty file changed since it was written: %s", d.Path)
 		}
 	}
+	// The semantic report is transferred in the CAS handoff, not in the
+	// scratch checkout. Keeping it in the scratch commit makes a successor
+	// mistake the predecessor's report for a newly requested handoff and can
+	// cause an immediate release/pickup loop.
+	dirty := h.Anchor.Dirty[:0]
+	for _, d := range h.Anchor.Dirty {
+		if filepath.Clean(d.Path) != HandoffReportFile {
+			dirty = append(dirty, d)
+		}
+	}
+	h.Anchor.Dirty = dirty
+	if err := os.Remove(path); err != nil && !os.IsNotExist(err) {
+		return "", fmt.Errorf("adapter: remove transferred semantic report: %w", err)
+	}
 	// Atomically commit whatever the handoff described as dirty onto a
 	// per-task scratch branch (§6.2 step 3) *before* uploading, so the
 	// successor's pickup validation collapses to a single HEAD compare
@@ -279,6 +305,11 @@ func (a CLIAdapter) Release(ctx context.Context, s Session) (string, error) {
 		if err := continuity.ScratchCommit(s.Worktree, branch, "orchestra: pre-release WIP snapshot ("+h.Meta.ID+")"); err != nil {
 			return "", fmt.Errorf("adapter: scratch commit: %w", err)
 		}
+		if a.Remote != "" {
+			if err := continuity.ScratchPush(s.Worktree, branch, a.Remote); err != nil {
+				return "", fmt.Errorf("adapter: push scratch branch: %w", err)
+			}
+		}
 		newSHA, err := HeadSHA(s.Worktree)
 		if err != nil {
 			return "", fmt.Errorf("adapter: read scratch HEAD: %w", err)
@@ -302,8 +333,13 @@ func (a CLIAdapter) Release(ctx context.Context, s Session) (string, error) {
 }
 
 // canonicalHandoff keeps Git-derived protocol facts on the worker that owns
-// the checkout. The harness contributes only the semantic report (B17).
-func canonicalHandoff(s Session, report string) (continuity.Handoff, error) {
+// the checkout. Every authored field comes from the validated agent answer;
+// it never fabricates task intent or a circular next action.
+func canonicalHandoff(s Session, answer, command string) (continuity.Handoff, error) {
+	authored, err := parseHandoffAnswer(answer)
+	if err != nil {
+		return continuity.Handoff{}, fmt.Errorf("adapter: invalid handoff answer: %w", err)
+	}
 	sha, err := HeadSHA(s.Worktree)
 	if err != nil {
 		return continuity.Handoff{}, fmt.Errorf("adapter: read worktree HEAD: %w", err)
@@ -317,16 +353,131 @@ func canonicalHandoff(s Session, report string) (continuity.Handoff, error) {
 		return continuity.Handoff{}, err
 	}
 	return continuity.Handoff{
-		Meta:      continuity.Meta{ID: handoffID(s), Reason: "threshold"},
-		Anchor:    continuity.Anchor{GitSHA: sha, Branch: strings.TrimSpace(string(branchOut)), Dirty: dirty},
-		Goal:      "Continue Orchestra task " + s.PaneID,
-		DoneWhen:  []string{"Task completion is reported to Orchestra"},
-		Action:    "Read the semantic handoff report and continue the task.",
-		Command:   "cat " + HandoffReportFile,
-		Remaining: []string{report},
+		Meta:          continuity.Meta{ID: handoffID(s), Reason: handoffReason(s)},
+		Anchor:        continuity.Anchor{GitSHA: sha, Branch: strings.TrimSpace(string(branchOut)), Dirty: dirty},
+		Action:        authored.Action,
+		Command:       command,
+		Remaining:     authored.Remaining,
+		DeadEnds:      authored.DeadEnds,
+		OpenQuestions: authored.OpenQuestions,
+		Learned:       authored.Learned,
 	}, nil
 }
 
+type handoffAnswer struct {
+	Action, Why            string
+	Remaining              []string
+	DeadEnds               []continuity.DeadEnd
+	OpenQuestions, Learned []string
+}
+
+func parseHandoffAnswer(answer string) (handoffAnswer, error) {
+	var out handoffAnswer
+	sections := map[string][]string{}
+	var current string
+	for _, raw := range strings.Split(strings.ReplaceAll(answer, "\r\n", "\n"), "\n") {
+		line := strings.TrimSpace(raw)
+		if line == "" {
+			continue
+		}
+		for _, name := range []string{"NEXT", "WHY", "REMAINING", "DEAD ENDS", "OPEN Q", "LEARNED"} {
+			prefix := name + ":"
+			if strings.HasPrefix(line, prefix) {
+				current = name
+				if value := strings.TrimSpace(strings.TrimPrefix(line, prefix)); value != "" {
+					sections[name] = append(sections[name], value)
+				}
+				goto parsed
+			}
+		}
+		if current == "" {
+			return out, fmt.Errorf("unexpected line %q", line)
+		}
+		sections[current] = append(sections[current], strings.TrimSpace(strings.TrimPrefix(line, "- ")))
+	parsed:
+	}
+	for _, name := range []string{"NEXT", "WHY", "REMAINING", "DEAD ENDS", "OPEN Q", "LEARNED"} {
+		if len(sections[name]) == 0 {
+			return out, fmt.Errorf("missing %s", name)
+		}
+	}
+	if len(sections["NEXT"]) != 1 || len(sections["WHY"]) != 1 {
+		return out, fmt.Errorf("NEXT and WHY each require one line")
+	}
+	out.Action = sections["NEXT"][0] + " — " + sections["WHY"][0]
+	for _, name := range []string{"REMAINING", "OPEN Q", "LEARNED"} {
+		values, err := answerList(sections[name])
+		if err != nil {
+			return out, fmt.Errorf("%s: %w", name, err)
+		}
+		switch name {
+		case "REMAINING":
+			out.Remaining = values
+		case "OPEN Q":
+			out.OpenQuestions = values
+		case "LEARNED":
+			out.Learned = values
+		}
+	}
+	deadEnds, err := answerList(sections["DEAD ENDS"])
+	if err != nil {
+		return out, fmt.Errorf("DEAD ENDS: %w", err)
+	}
+	for _, item := range deadEnds {
+		parts := strings.SplitN(item, "→", 2)
+		if len(parts) != 2 {
+			return out, fmt.Errorf("DEAD ENDS: want 'tried X → failed because Y'")
+		}
+		if !strings.HasPrefix(parts[0], "tried ") || !strings.HasPrefix(strings.TrimSpace(parts[1]), "failed because ") {
+			return out, fmt.Errorf("DEAD ENDS: want 'tried X → failed because Y'")
+		}
+		tried := strings.TrimSpace(strings.TrimPrefix(parts[0], "tried "))
+		why := strings.TrimSpace(strings.TrimPrefix(parts[1], "failed because "))
+		if tried == "" || why == "" {
+			return out, fmt.Errorf("DEAD ENDS: want 'tried X → failed because Y'")
+		}
+		out.DeadEnds = append(out.DeadEnds, continuity.DeadEnd{Tried: tried, WhyFailed: why})
+	}
+	if err := (continuity.Handoff{Meta: continuity.Meta{ID: "answer", Reason: "manual"}, Anchor: continuity.Anchor{GitSHA: strings.Repeat("0", 40), Branch: "answer"}, Action: out.Action, Remaining: out.Remaining, DeadEnds: out.DeadEnds, OpenQuestions: out.OpenQuestions, Learned: out.Learned}).Validate(); err != nil {
+		return out, err
+	}
+	return out, nil
+}
+
+func answerList(lines []string) ([]string, error) {
+	if len(lines) == 1 && lines[0] == "NONE" {
+		return nil, nil
+	}
+	for _, line := range lines {
+		if line == "NONE" {
+			return nil, fmt.Errorf("NONE must be the only value")
+		}
+	}
+	return lines, nil
+}
+
+func (a CLIAdapter) lastObservedCommand(s Session) string {
+	calls, err := a.Activity(context.Background(), s)
+	if err != nil {
+		return ""
+	}
+	for i := len(calls) - 1; i >= 0; i-- {
+		if calls[i].Kind == "command" {
+			return calls[i].Key
+		}
+	}
+	return ""
+}
+
+func handoffReason(s Session) string {
+	switch s.HandoffReason {
+	case "threshold", "milestone", "thrash", "manual":
+		return s.HandoffReason
+	default:
+		return "threshold"
+	}
+}
+
 func handoffID(s Session) string {
 	id := s.AgentName
 	if id == "" {
@@ -368,11 +519,12 @@ func dirtyFiles(root string) ([]continuity.Dirty, error) {
 	return dirty, nil
 }
 
-func agentForSession(s Session, fallback string) string {
-	if s.AgentName != "" {
-		return s.AgentName
-	}
-	return fallback // compatibility with session records created before B16
+func agentForSession(_ Session, fallback string) string {
+	// pane.release_agent identifies the harness binding, not herdr's
+	// machine-global terminal name. AgentName is only for prompt routing;
+	// passing it here is accepted by herdr but leaves the binding intact.
+	// Keep the configured harness for both new and pre-B16 session records.
+	return fallback
 }
 func (a CLIAdapter) Kill(ctx context.Context, s Session) error {
 	return a.Client.Call(ctx, "pane.close", map[string]any{"pane_id": s.PaneID}, nil)
diff --git a/internal/herdr/adapter_test.go b/internal/herdr/adapter_test.go
index 1c1540c..e1b4cfd 100644
--- a/internal/herdr/adapter_test.go
+++ b/internal/herdr/adapter_test.go
@@ -3,8 +3,6 @@ package herdr
 import (
 	"bufio"
 	"context"
-	"crypto/sha256"
-	"encoding/hex"
 	"encoding/json"
 	"net"
 	"orchestra/internal/continuity"
@@ -61,15 +59,20 @@ func fakeHerdr(t *testing.T) *Client {
 
 func validHandoff(anchorSHA string) continuity.Handoff {
 	return continuity.Handoff{
-		Meta:     continuity.Meta{ID: "t1", Reason: "threshold", RotationIndex: 1},
-		Anchor:   continuity.Anchor{GitSHA: anchorSHA, Branch: "main"},
-		Goal:     "finish the thing",
-		DoneWhen: []string{"tests pass"},
-		Action:   "continue",
-		Command:  "go test ./...",
+		Meta:    continuity.Meta{ID: "t1", Reason: "threshold", RotationIndex: 1},
+		Anchor:  continuity.Anchor{GitSHA: anchorSHA, Branch: "main"},
+		Action:  "run the focused tests",
+		Command: "go test ./...",
 	}
 }
 
+const validAnswer = `NEXT: run the focused tests
+WHY: confirm the current implementation before changing it
+REMAINING: NONE
+DEAD ENDS: NONE
+OPEN Q: NONE
+LEARNED: NONE`
+
 func TestReleaseUploadsHandoffAndReleasesAgent(t *testing.T) {
 	repo := t.TempDir()
 	runGit(t, repo, "init")
@@ -81,11 +84,7 @@ func TestReleaseUploadsHandoffAndReleasesAgent(t *testing.T) {
 		t.Fatal(err)
 	}
 
-	b, err := continuity.Encode(validHandoff(head))
-	if err != nil {
-		t.Fatal(err)
-	}
-	if err := os.WriteFile(filepath.Join(repo, HandoffReportFile), b, 0644); err != nil {
+	if err := os.WriteFile(filepath.Join(repo, HandoffReportFile), []byte(validAnswer), 0644); err != nil {
 		t.Fatal(err)
 	}
 
@@ -105,8 +104,77 @@ func TestReleaseUploadsHandoffAndReleasesAgent(t *testing.T) {
 	if err != nil {
 		t.Fatal(err)
 	}
-	if got.Anchor.GitSHA == head {
-		t.Fatal("semantic report should be snapshotted before publication")
+	if got.Anchor.GitSHA != head {
+		t.Fatal("semantic report must not be included in the successor scratch anchor")
+	}
+	if _, err := os.Stat(filepath.Join(repo, HandoffReportFile)); !os.IsNotExist(err) {
+		t.Fatalf("transferred semantic report still present: %v", err)
+	}
+}
+
+func TestCanonicalHandoffCarriesCoordinatorReason(t *testing.T) {
+	repo := t.TempDir()
+	runGit(t, repo, "init")
+	runGit(t, repo, "config", "user.email", "t@t")
+	runGit(t, repo, "config", "user.name", "t")
+	runGit(t, repo, "commit", "--allow-empty", "-m", "init")
+	if err := os.WriteFile(filepath.Join(repo, HandoffReportFile), []byte(validAnswer), 0644); err != nil {
+		t.Fatal(err)
+	}
+	cas := &memCAS{}
+	a := CLIAdapter{Client: fakeHerdr(t), Harness: "claude", CAS: cas}
+	ref, err := a.Release(context.Background(), Session{PaneID: "p1", Worktree: repo, HandoffReason: "thrash"})
+	if err != nil {
+		t.Fatal(err)
+	}
+	got, err := continuity.Load(ref, cas)
+	if err != nil {
+		t.Fatal(err)
+	}
+	if got.Meta.Reason != "thrash" {
+		t.Fatalf("canonical reason = %q, want thrash", got.Meta.Reason)
+	}
+}
+
+func TestReleaseUsesHarnessBindingNotDisplayName(t *testing.T) {
+	repo := t.TempDir()
+	runGit(t, repo, "init")
+	runGit(t, repo, "config", "user.email", "t@t")
+	runGit(t, repo, "config", "user.name", "t")
+	runGit(t, repo, "commit", "--allow-empty", "-m", "init")
+	if err := os.WriteFile(filepath.Join(repo, HandoffReportFile), []byte(validAnswer), 0644); err != nil {
+		t.Fatal(err)
+	}
+	ln, err := net.Listen("tcp", "127.0.0.1:0")
+	if err != nil {
+		t.Fatal(err)
+	}
+	t.Cleanup(func() { _ = ln.Close() })
+	request := make(chan Request, 1)
+	go func() {
+		conn, err := ln.Accept()
+		if err != nil {
+			return
+		}
+		defer conn.Close()
+		var req Request
+		if json.NewDecoder(bufio.NewReader(conn)).Decode(&req) == nil {
+			request <- req
+			_ = json.NewEncoder(conn).Encode(Response{ID: req.ID, Result: json.RawMessage(`{}`)})
+		}
+	}()
+	a := CLIAdapter{Client: &Client{Path: ln.Addr().String(), dial: func() (net.Conn, error) { return net.Dial("tcp", ln.Addr().String()) }}, Harness: "opencode", CAS: &memCAS{}}
+	if _, err := a.Release(context.Background(), Session{PaneID: "p1", Worktree: repo, AgentName: "oc-task-specific"}); err != nil {
+		t.Fatal(err)
+	}
+	req := <-request
+	p, _ := json.Marshal(req.Params)
+	var got struct {
+		Agent string `json:"agent"`
+	}
+	_ = json.Unmarshal(p, &got)
+	if got.Agent != "opencode" {
+		t.Fatalf("release agent = %q, want harness binding opencode", got.Agent)
 	}
 }
 
@@ -119,6 +187,43 @@ func TestReleaseRefusesWithoutHandoffFile(t *testing.T) {
 	}
 }
 
+func TestReleaseRefusesNarrativeOrCircularHandoffAnswer(t *testing.T) {
+	repo := t.TempDir()
+	runGit(t, repo, "init")
+	runGit(t, repo, "config", "user.email", "t@t")
+	runGit(t, repo, "config", "user.name", "t")
+	runGit(t, repo, "commit", "--allow-empty", "-m", "init")
+	bad := `NEXT: Continue the task from the handoff
+WHY: the predecessor asked for it
+REMAINING: what changed\n# a markdown report
+DEAD ENDS: NONE
+OPEN Q: NONE
+LEARNED: NONE`
+	if err := os.WriteFile(filepath.Join(repo, HandoffReportFile), []byte(bad), 0o644); err != nil {
+		t.Fatal(err)
+	}
+	a := CLIAdapter{Client: fakeHerdr(t), Harness: "claude", CAS: &memCAS{}}
+	if _, err := a.Release(context.Background(), Session{PaneID: "p1", Worktree: repo}); err == nil {
+		t.Fatal("expected invalid agent answer to refuse release")
+	}
+}
+
+func TestParseHandoffAnswerPreservesOnlyAuthoredFields(t *testing.T) {
+	a, err := parseHandoffAnswer(`NEXT: inspect the failing integration test
+WHY: isolate the regression before changing production code
+REMAINING: fix the assertion after identifying the cause
+DEAD ENDS: tried rerunning the whole suite → failed because it obscures the relevant failure
+OPEN Q: whether the remote worker has the updated fixture
+LEARNED: the fixture requires a committed scratch branch
+`)
+	if err != nil {
+		t.Fatal(err)
+	}
+	if len(a.Remaining) != 1 || len(a.DeadEnds) != 1 || len(a.OpenQuestions) != 1 || len(a.Learned) != 1 {
+		t.Fatalf("parsed answer lost authored fields: %#v", a)
+	}
+}
+
 func TestReleaseDoesNotTrustAgentSuppliedAnchor(t *testing.T) {
 	repo := t.TempDir()
 	runGit(t, repo, "init")
@@ -126,11 +231,7 @@ func TestReleaseDoesNotTrustAgentSuppliedAnchor(t *testing.T) {
 	runGit(t, repo, "config", "user.name", "t")
 	runGit(t, repo, "commit", "--allow-empty", "-m", "init")
 
-	b, err := continuity.Encode(validHandoff("deaddeaddeaddeaddeaddeaddeaddeaddeaddead"))
-	if err != nil {
-		t.Fatal(err)
-	}
-	if err := os.WriteFile(filepath.Join(repo, HandoffReportFile), b, 0644); err != nil {
+	if err := os.WriteFile(filepath.Join(repo, HandoffReportFile), []byte(validAnswer), 0644); err != nil {
 		t.Fatal(err)
 	}
 	a := CLIAdapter{Client: fakeHerdr(t), Harness: "claude", CAS: &memCAS{}}
@@ -154,14 +255,7 @@ func TestReleaseScratchCommitsDirtyFilesBeforeUpload(t *testing.T) {
 	if err := os.WriteFile(wipPath, []byte("in progress"), 0644); err != nil {
 		t.Fatal(err)
 	}
-	sum := sha256.Sum256([]byte("in progress"))
-	h := validHandoff(head)
-	h.Anchor.Dirty = []continuity.Dirty{{Path: "wip.txt", SHA256: hex.EncodeToString(sum[:])}}
-	b, err := continuity.Encode(h)
-	if err != nil {
-		t.Fatal(err)
-	}
-	if err := os.WriteFile(filepath.Join(repo, HandoffReportFile), b, 0644); err != nil {
+	if err := os.WriteFile(filepath.Join(repo, HandoffReportFile), []byte(validAnswer), 0644); err != nil {
 		t.Fatal(err)
 	}
 
@@ -203,22 +297,10 @@ func TestReleaseDoesNotTrustAgentSuppliedDirtyFile(t *testing.T) {
 	runGit(t, repo, "config", "user.email", "t@t")
 	runGit(t, repo, "config", "user.name", "t")
 	runGit(t, repo, "commit", "--allow-empty", "-m", "init")
-	head, err := HeadSHA(repo)
-	if err != nil {
-		t.Fatal(err)
-	}
-
 	if err := os.WriteFile(filepath.Join(repo, "wip.txt"), []byte("changed after handoff written"), 0644); err != nil {
 		t.Fatal(err)
 	}
-	stale := sha256.Sum256([]byte("original content"))
-	h := validHandoff(head)
-	h.Anchor.Dirty = []continuity.Dirty{{Path: "wip.txt", SHA256: hex.EncodeToString(stale[:])}}
-	b, err := continuity.Encode(h)
-	if err != nil {
-		t.Fatal(err)
-	}
-	if err := os.WriteFile(filepath.Join(repo, HandoffReportFile), b, 0644); err != nil {
+	if err := os.WriteFile(filepath.Join(repo, HandoffReportFile), []byte(validAnswer), 0644); err != nil {
 		t.Fatal(err)
 	}
 	a := CLIAdapter{Client: fakeHerdr(t), Harness: "claude", CAS: &memCAS{}}
diff --git a/internal/herdr/herdr.go b/internal/herdr/herdr.go
index 3566e87..c032989 100644
--- a/internal/herdr/herdr.go
+++ b/internal/herdr/herdr.go
@@ -160,6 +160,10 @@ type Session struct {
 	// its §6.1 handoff (HandoffFile) — avoids re-sending the same prompt
 	// every tick while Release keeps waiting for the file to appear.
 	HandoffRequested bool `json:"handoff_requested,omitempty"`
+	// HandoffReason is selected by the coordinator when it asks for the
+	// semantic report. The checkout worker, rather than the harness, copies
+	// it into the canonical handoff it seals at release time.
+	HandoffReason string `json:"handoff_reason,omitempty"`
 	// ConventionsHash is continuity.ConventionsHash of the project's shared
 	// *.md docs (AGENTS.md/CLAUDE.md/VOCAB.md) at the time this session was
 	// last notified of (or started with) their content — §6.3's staleness
@@ -455,10 +459,16 @@ func agentName(harness, taskID string) string {
 		id = "session"
 	}
 	name := prefix + "-" + id
-	if len(name) > 32 {
-		name = strings.TrimRight(name[:32], "-_")
+	if len(name) <= 32 {
+		return name
 	}
-	return name
+	// Keeping only the leading task-id characters made distinct long task
+	// IDs collide in herdr's machine-global name namespace. Reserve a stable
+	// digest suffix so truncation remains bounded *and* task-specific.
+	sum := sha256.Sum256([]byte(taskID))
+	const suffixLen = 8
+	keep := 32 - len(prefix) - 1 - 1 - suffixLen // prefix + "-" + stem + "-" + digest
+	return prefix + "-" + strings.TrimRight(id[:keep], "-_") + "-" + fmt.Sprintf("%x", sum[:])[:suffixLen]
 }
 
 // harnessStartArgs stays empty for Claude: --dangerously-skip-permissions
diff --git a/internal/herdr/herdr_test.go b/internal/herdr/herdr_test.go
index c128ddf..a95f8d4 100644
--- a/internal/herdr/herdr_test.go
+++ b/internal/herdr/herdr_test.go
@@ -89,6 +89,17 @@ func TestAgentNameIsBoundedAndValid(t *testing.T) {
 	}
 }
 
+func TestAgentNameLongIDsDoNotCollide(t *testing.T) {
+	first := agentName("claude", "task-with-a-very-long-shared-prefix-aaaaaaaa")
+	second := agentName("claude", "task-with-a-very-long-shared-prefix-bbbbbbbb")
+	if first == second {
+		t.Fatalf("long task IDs collided: %q", first)
+	}
+	if len(first) > 32 || len(second) > 32 {
+		t.Fatalf("agent name exceeds limit: %q / %q", first, second)
+	}
+}
+
 func TestPromptDoesNotRetryAmbiguousDelivery(t *testing.T) {
 	ln, err := net.Listen("tcp", "127.0.0.1:0")
 	if err != nil {
diff --git a/internal/integration/end_to_end_test.go b/internal/integration/end_to_end_test.go
index ee1ff42..a07b6d0 100644
--- a/internal/integration/end_to_end_test.go
+++ b/internal/integration/end_to_end_test.go
@@ -147,8 +147,12 @@ func TestEndToEndIngestRouteLeaseRotateAndComplete(t *testing.T) {
 		t.Fatal(err)
 	}
 	got, _ = s.Task(task.ID)
-	if got.State != domain.StateLeased || got.Version != 4 {
-		t.Fatalf("pickup state=%s version=%d", got.State, got.Version)
+	// This fixture intentionally stores an opaque string rather than a typed
+	// handoff. Once TaskLeased carries a real handoff_ref, pickup correctly
+	// refuses it instead of silently continuing (the valid pickup contract is
+	// covered by the orchestrator continuity tests).
+	if got.State != domain.StateBlocked || got.Version != 5 {
+		t.Fatalf("invalid pickup state=%s version=%d", got.State, got.Version)
 	}
 	ref, err = s.PutArtifact([]byte("report"))
 	if err != nil {
diff --git a/internal/orchestrator/orchestrator.go b/internal/orchestrator/orchestrator.go
index 0e7c800..e490950 100644
--- a/internal/orchestrator/orchestrator.go
+++ b/internal/orchestrator/orchestrator.go
@@ -249,6 +249,7 @@ func (c *Coordinator) requestReasonedHandoff(ctx context.Context, taskID string,
 		return
 	}
 	session.HandoffRequested = true
+	session.HandoffReason = reason
 	c.mu.Lock()
 	c.sessions[taskID] = session
 	_ = c.saveSessionsLocked()
@@ -652,6 +653,7 @@ func (c *Coordinator) rotate(ctx context.Context, hard float64) {
 					if _, statErr := os.Stat(filepath.Join(session.Worktree, herdr.HandoffReportFile)); statErr != nil && !session.HandoffRequested {
 						if reqErr := requester.RequestHandoff(ctx, session); reqErr == nil {
 							session.HandoffRequested = true
+							session.HandoffReason = "threshold"
 							c.mu.Lock()
 							c.sessions[taskID] = session
 							_ = c.saveSessionsLocked()
@@ -688,6 +690,7 @@ func (c *Coordinator) rotate(ctx context.Context, hard float64) {
 				if !session.HandoffRequested {
 					if reqErr := requester.RequestHandoff(ctx, session); reqErr == nil {
 						session.HandoffRequested = true
+						session.HandoffReason = reason
 						c.mu.Lock()
 						c.sessions[taskID] = session
 						_ = c.saveSessionsLocked()
@@ -784,6 +787,7 @@ func (c *Coordinator) TurnDecision(ctx context.Context, taskID string) (string,
 				if !session.HandoffRequested {
 					if reqErr := requester.RequestHandoff(ctx, session); reqErr == nil {
 						session.HandoffRequested = true
+						session.HandoffReason = "threshold"
 						c.mu.Lock()
 						c.sessions[taskID] = session
 						_ = c.saveSessionsLocked()
@@ -811,6 +815,7 @@ func (c *Coordinator) TurnDecision(ctx context.Context, taskID string) (string,
 			if !session.HandoffRequested {
 				if reqErr := requester.RequestHandoff(ctx, session); reqErr == nil {
 					session.HandoffRequested = true
+					session.HandoffReason = "threshold"
 					c.mu.Lock()
 					c.sessions[taskID] = session
 					_ = c.saveSessionsLocked()
diff --git a/internal/orchestrator/rotation_test.go b/internal/orchestrator/rotation_test.go
index 8f635e0..1588d59 100644
--- a/internal/orchestrator/rotation_test.go
+++ b/internal/orchestrator/rotation_test.go
@@ -279,7 +279,7 @@ func TestTurnDecision(t *testing.T) {
 		handoff := map[string]any{
 			"meta":   map[string]any{"id": "h2", "reason": "manual", "rotation_index": 0},
 			"anchor": map[string]any{"git_sha": head, "branch": "orchestra/t1"},
-			"goal":   "g", "done_when": []string{"x"}, "action": "prompt", "command": "go test ./...",
+			"action": "run the focused tests", "command": "go test ./...",
 		}
 		b, err := json.Marshal(handoff)
 		if err != nil {
@@ -334,7 +334,7 @@ func TestStartBlocksOnInvalidPickup(t *testing.T) {
 	badHandoff := map[string]any{
 		"meta":   map[string]any{"id": "h1", "reason": "manual", "rotation_index": 0},
 		"anchor": map[string]any{"git_sha": strings0(40, 'a'), "branch": "orchestra/t1"},
-		"goal":   "g", "done_when": []string{"x"}, "action": "prompt", "command": "go test ./...",
+		"action": "run the focused tests", "command": "go test ./...",
 	}
 	ref, err := s.PutArtifact(mustJSON(badHandoff))
 	if err != nil {
@@ -708,7 +708,7 @@ func TestActivityTriggersRequestReasonedHandoffWithoutReleasing(t *testing.T) {
 		handoff := map[string]any{
 			"meta":   map[string]any{"id": "h3", "reason": "thrash", "rotation_index": 0},
 			"anchor": map[string]any{"git_sha": head, "branch": "orchestra/t1"},
-			"goal":   "g", "done_when": []string{"x"}, "action": "prompt", "command": "go test ./...",
+			"action": "run the focused tests", "command": "go test ./...",
 			"dead_ends": []map[string]any{{"tried": "go test ./...", "why_failed": "failed 3 times"}},
 		}
 		b, err := json.Marshal(handoff)
diff --git a/internal/store/store.go b/internal/store/store.go
index b568525..e6f7b51 100644
--- a/internal/store/store.go
+++ b/internal/store/store.go
@@ -145,6 +145,7 @@ func (s *Store) apply(e domain.Event) error {
 	case "TaskReleased":
 		t.State = domain.StateQueued
 		t.Lease = nil
+		t.HandoffRef, _ = p["handoff_ref"].(string)
 	case "TaskCompleted":
 		t.State = domain.StateCompleted
 		t.Lease = nil
@@ -398,7 +399,11 @@ func (s *Store) Lease(id, harness string, ttl time.Duration) (domain.Event, erro
 	if t.State != domain.StateQueued {
 		return domain.Event{}, domain.ErrConflict
 	}
-	p, _ := json.Marshal(map[string]any{"harness_id": harness, "ttl": ttl.Seconds(), "until_ns": time.Now().Add(ttl).UnixNano(), "expected_version": t.Version})
+	payload := map[string]any{"harness_id": harness, "ttl": ttl.Seconds(), "until_ns": time.Now().Add(ttl).UnixNano(), "expected_version": t.Version}
+	if t.HandoffRef != "" {
+		payload["handoff_ref"] = t.HandoffRef
+	}
+	p, _ := json.Marshal(payload)
 	e := domain.Event{ID: domain.NewID(), Type: "TaskLeased", TaskID: id, Version: t.Version + 1, Payload: p, Surface: string(authz.System)}
 	return e, s.Append(e)
 }
diff --git a/internal/store/store_test.go b/internal/store/store_test.go
index 58930f2..83e8b98 100644
--- a/internal/store/store_test.go
+++ b/internal/store/store_test.go
@@ -17,6 +17,40 @@ func created(id string) domain.Event {
 	return domain.Event{ID: id, Type: "TaskCreated", TaskID: "task-1", Version: 1, Payload: b, Surface: string(authz.System)}
 }
 
+func TestLeaseCarriesReleasedHandoffRef(t *testing.T) {
+	s, err := Open(t.TempDir())
+	if err != nil {
+		t.Fatal(err)
+	}
+	b := []byte(`{"source":"s","external_id":"x","project":"p"}`)
+	if err := s.Append(domain.Event{ID: "create", Type: "TaskCreated", TaskID: "t", Version: 1, Payload: b, Surface: string(authz.System)}); err != nil {
+		t.Fatal(err)
+	}
+	if _, err := s.Lease("t", "h", time.Minute); err != nil {
+		t.Fatal(err)
+	}
+	ref, err := s.PutArtifact([]byte("handoff"))
+	if err != nil {
+		t.Fatal(err)
+	}
+	task, _ := s.Task("t")
+	p, _ := json.Marshal(map[string]string{"handoff_ref": ref, "anchor_sha": "0123456789012345678901234567890123456789"})
+	if err := s.Append(domain.Event{ID: "release", Type: "TaskReleased", TaskID: "t", Version: task.Version + 1, Payload: p, Surface: string(authz.System)}); err != nil {
+		t.Fatal(err)
+	}
+	e, err := s.Lease("t", "h", time.Minute)
+	if err != nil {
+		t.Fatal(err)
+	}
+	var got map[string]any
+	if err := json.Unmarshal(e.Payload, &got); err != nil {
+		t.Fatal(err)
+	}
+	if got["handoff_ref"] != ref {
+		t.Fatalf("handoff_ref=%v want %s", got["handoff_ref"], ref)
+	}
+}
+
 func TestAppendReplayAndDeduplicate(t *testing.T) {
 	dir := t.TempDir()
 	s, err := Open(dir)