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docs(memory): specify branch heads and handoff checkpoint refs (#356) - #381
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Recreates #373 (by @sun-970) as an in-repo branch; fork PRs cannot satisfy the required CodeQL check name in branch protection. Content rebuilt verbatim from the fork head.
Design-only for #356: per-agent branch heads, required merge records, handoff packages carry checkpoint + receipt refs (not leftover grants or transcripts). Agent B cannot silently overwrite Agent A's checkpoint. Successor permissions re-evaluated at recall (#328). No runtime.
Original review history lives on #373. Supersedes #373.