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I have checked. There will be some changes from winter to summer schedules, but all the info have been able to find, SNCF, CUK (french equiv) is pretty clear: bags or boxed or not at all. You can take bikes on most TER trains but they are seriously slow 5 1/2 hours as compared to 2 hours for TGV from Paris > Lyon.
Can't get it on the train. And we will have to bag the bikes, it seems. Our jump off point is Lyon, and Lyon is served only by double-deck TGVs, which don't space for un-bagged or un-boxed bikes.