#2252)

Activate the existing PlanVerifier skeleton with per-task and whole-plan
verification gates, a completeness_threshold config field, and a single-cycle
gap-filling replan loop based on the VMAO paper (arXiv:2603.11445).

- Add completeness_threshold: f32 (default 0.7) to OrchestrationConfig with
  sanitizer clamping to [0.0, 1.0] and startup validation
- Add verify_plan() for whole-plan verification after DagScheduler completion
- Add replan_from_plan() generating root TaskNodes for plan-level gaps
- Wire SchedulerAction::Verify handler in agent loop (was a no-op since #2235)
- Add whole-plan verification step between Done{Completed} and aggregation
- Partial replan DAG runs in a separate DagScheduler with max_replans=0 and
  verify_completeness=false to prevent recursive loops (INV-2)
- Partial DAG outputs merged with original task outputs before aggregation
- Output truncated to verify_max_tokens*4 chars before verify_plan() call
- GapSeverity implements Display returning lowercase names consistent with
  serde snake_case serialization and LLM system prompt expectations
- All LLM error paths are fail-open: verify returns complete=true, replan
  returns empty Vec, whole-plan verify returns None
- 25 new unit tests across verifier.rs and experiment.rs
- verify_completeness = false by default; no behavior change when disabled

Closes #2252

#2252)

Activate the existing PlanVerifier skeleton with per-task and whole-plan
verification gates, a completeness_threshold config field, and a single-cycle
gap-filling replan loop based on the VMAO paper (arXiv:2603.11445).

- Add completeness_threshold: f32 (default 0.7) to OrchestrationConfig with
  sanitizer clamping to [0.0, 1.0] and startup validation
- Add verify_plan() for whole-plan verification after DagScheduler completion
- Add replan_from_plan() generating root TaskNodes for plan-level gaps
- Wire SchedulerAction::Verify handler in agent loop (was a no-op since #2235)
- Add whole-plan verification step between Done{Completed} and aggregation
- Partial replan DAG runs in a separate DagScheduler with max_replans=0 and
  verify_completeness=false to prevent recursive loops (INV-2)
- Partial DAG outputs merged with original task outputs before aggregation
- Output truncated to verify_max_tokens*4 chars before verify_plan() call
- GapSeverity implements Display returning lowercase names consistent with
  serde snake_case serialization and LLM system prompt expectations
- All LLM error paths are fail-open: verify returns complete=true, replan
  returns empty Vec, whole-plan verify returns None
- 25 new unit tests across verifier.rs and experiment.rs
- verify_completeness = false by default; no behavior change when disabled

Closes #2252

#2252) (#2346)

Activate the existing PlanVerifier skeleton with per-task and whole-plan
verification gates, a completeness_threshold config field, and a single-cycle
gap-filling replan loop based on the VMAO paper (arXiv:2603.11445).

- Add completeness_threshold: f32 (default 0.7) to OrchestrationConfig with
  sanitizer clamping to [0.0, 1.0] and startup validation
- Add verify_plan() for whole-plan verification after DagScheduler completion
- Add replan_from_plan() generating root TaskNodes for plan-level gaps
- Wire SchedulerAction::Verify handler in agent loop (was a no-op since #2235)
- Add whole-plan verification step between Done{Completed} and aggregation
- Partial replan DAG runs in a separate DagScheduler with max_replans=0 and
  verify_completeness=false to prevent recursive loops (INV-2)
- Partial DAG outputs merged with original task outputs before aggregation
- Output truncated to verify_max_tokens*4 chars before verify_plan() call
- GapSeverity implements Display returning lowercase names consistent with
  serde snake_case serialization and LLM system prompt expectations
- All LLM error paths are fail-open: verify returns complete=true, replan
  returns empty Vec, whole-plan verify returns None
- 25 new unit tests across verifier.rs and experiment.rs
- verify_completeness = false by default; no behavior change when disabled

Closes #2252