`transcripts/{paper_id}/images/{filename}` in S3 (services/pdf_extraction.py's image_s3_key). The transcript markdown references figures as `images/{filename}`, so this is the "frontend route" that key scheme's docstring anticipates -- the paper reader rewrites those relative refs to this URL.
Deliberately no DB lookup and no auth, same as /transcript: the paper id and filename fully determine the S3 key, and only figures already extracted to our bucket are reachable. Missing object -> 404, unsafe filename -> 404.