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Publish S1: M5 GDN S sweep, completed epoch 1 (step 3852), verified serving weights

Browse files
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+ # S1 — M5 GDN-only S sweep, completed epoch 1
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+
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+ Memory priority: **mean over heads of the unscaled delta-rule residual ‖e‖, e = v − S̄ᵀk (token)**.
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+ Score `S1`, unit `token`, head reduction `mean`,
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+ backend `fp32_torch_unscaled_residual_block64_v1`. Everything else is M5 (`episodic_window_v1` at R4/B1200):
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+ 4 recent observation groups including the current one plus a
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+ 1200-token episodic budget, native K/V rows kept at their original positions,
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+ canonical text action history and full-episode BPTT.
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+
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+ This folder is the arm's serving model; `provenance/` holds the evidence and `SHA256SUMS.json` the published hashes.
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+
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+ ## Training (matched to M5_E1)
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+
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+ The recipe is M5_E1's apart from the memory priority and two loader-only settings (asserted before launch):
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+ original Qwen3.5-4B revision `851bf6e806efd8d0a36b00ddf55e13ccb7b8cd0a`, joint R2R + English RxR15deg
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+ (30,815 episodes), one epoch of 3,852 optimizer updates, global batch 8 (4 H100 x 1 episode x accumulation 2),
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+ seed 429, backbone LR 5e-6 with 116 warmup updates and cosine decay to 0.1, Adam 0.9/0.95, weight decay 0.01,
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+ clip 1, ZeRO-2 with CPU Adam. Every rank saw exactly M5_E1's episodes in M5_E1's order.
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+
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+ | | S1 | M5_E1 |
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+ |---|---:|---:|
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+ | Action-weighted epoch loss | 0.12647 | 0.12658 |
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+ | Final update loss | 0.07020 | |
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+
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+ Training loss is not navigation success. Wall time 14.09 h including load and saves; no GPU or host OOM.
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+
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+ ## Verification
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+
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+ The lane controller declared the run complete; the bound identity re-derives from the sealed source; all
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+ 3,852 updates and exposures are covered on every rank with finite losses; checkpoint-3852 is a complete
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+ epoch-boundary recovery checkpoint. Serving tensors are bitwise identical to it and the real navigation model
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+ strictly reloads on CPU with exact serializer and memory metadata. No completed-model GPU replay is claimed.
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+
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+ ## Use
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+
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+ Code: SimpleMemVLN branch `m5_gdn_s_sweep`, source `dabf4ad085d20512640fe0ba3bda72ad4724dc76` (memory mode
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+ `episodic_window_gdn_sweep_v1`). Load with
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+ `qwen_vl.train.vln_runtime.load_checkpoint('S1', base_model_path)` after downloading this folder.
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+ These are navigation-wrapper weights for inference; optimizer/RNG state stays on the cluster.
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+ "MOVE_FORWARD",
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+ "TURN_LEFT",
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+ "TURN_RIGHT",
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