Upload full round2 9000-step checkpoint

.gitattributes

@@ -572,3 +572,10 @@ checkpoints/r2/pick3/baseline/step8000/resume_state/ocdbt.process_0/d/49b8717bab
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+checkpoints/r2/pick3/baseline/step9000/params/ocdbt.process_0/d/11cfaf42369ea584374ef70b9caa3c87 filter=lfs diff=lfs merge=lfs -text
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checkpoints/r2/pick3/baseline/step9000/README.md

@@ -0,0 +1,49 @@
+---
+tags: [robotics, pi05, franka, lora]
+---
+
+# pi05-pick3-baseline-lora-gbs4-pgb1-gpu4-r2-step9000
+
+Second-round π0.5 LoRA fine-tuning for **pick3**, checkpoint **9,000**.
+Trained locally on **4 RTX A6000 GPUs**, **global batch 4**, **per-GPU batch 1**,
+without gradient accumulation. This checkpoint represents **36,000 sample exposures**;
+the run targets **12,500 optimizer updates / 50,000 sample exposures**.
+Checkpoints are saved every **1,000** updates and at the final **12,500**.
+Steps **5,000**, **10,000**, and **12,500** have standalone model repositories.
+Other complete checkpoints are retained in the
+[backup archive](https://huggingface.co/datasets/fm-dev/pi05-checkpoint-backups/tree/main/checkpoints/r2)
+under `task/method/stepN/` with the same loading files and full resume state.
+`r2` keeps these artifacts separate from the original 6,250-step experiment.
+
+Warmup: **250** updates to **5e-5**; cosine decay to **5e-6** at step **12,500**.
+EMA: **0.999^4 = 0.996005996001**. AdamW, LoRA rank32, seed42.
+Full settings are in `training_config.json`.
+
+No-history baseline: current base/wrist images, state and task instruction.
+
+Only robot execution rows supervise actions. Demonstration images, features and
+original episode/frame coordinates remain available as history; execution start
+does not reset the visual history. Episode splits and normalization use the
+training split only. The recorded Cartesian end-effector/tool pose convention
+must match the collection controller; do not apply an extra tool/flange offset.
+Outputs have shape `(20,8)`: absolute xyz, unit XYZW quaternion in the positive-qx
+chart, and gripper command in [0,1]. Numeric state/actions use STD normalization;
+state tokens use a separate bounded train-q01/q99 view.
+
+Unknown action components remain NaN/false in the training dataset and are masked
+in both flow conditioning and loss. Entirely unsupervised components:
+**[]**. In particular, Shuffle's
+gripper output has no command supervision and must not be interpreted as learned
+gripper control. Button Order has only limited verified closed-command labels.
+
+This repository includes EMA serving weights, normalization/history assets,
+inference source, exact dependency versions, and full non-EMA/optimizer/RNG/sampler
+resume state. Intermediate publication is not a policy-quality evaluation.
+Offline evaluation, when included, does not establish real-robot success rate.
+
+Load with `from load_model import load, observe; policy = load()` from this bundle.
+For history models call `observe(policy, base_rgb, state)` for every observed frame,
+including demonstrations, and reset between episodes. Status-D additionally requires
+explicit `history_keyframe_index` (an observed frame or None), `current_subgoal`,
+and causal `transition_context_*` inputs in `policy.infer(...)`; its output includes
+`transition_status`. Use the exported Writer schedule and matching control frame.

checkpoints/r2/pick3/baseline/step9000/_CHECKPOINT_METADATA

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+{"item_handlers": {"assets": "openpi.training.checkpoints.CallbackHandler", "params": "orbax.checkpoint._src.handlers.pytree_checkpoint_handler.PyTreeCheckpointHandler", "resume_state": "orbax.checkpoint._src.handlers.pytree_checkpoint_handler.PyTreeCheckpointHandler"}, "metrics": {}, "performance_metrics": {}, "init_timestamp_nsecs": 1789034667942919243, "commit_timestamp_nsecs": 1789034701939717475, "custom_metadata": {}}

checkpoints/r2/pick3/baseline/step9000/assets/franka/norm_stats.json

@@ -0,0 +1,88 @@
+{
+  "norm_stats": {
+    "state": {
+      "mean": [
+        0.506445050239563,
+        0.0677366852760315,
+        0.1022179052233696,
+        0.7645434141159058,
+        -0.5548984408378601,
+        0.011339339427649975,
+        -0.035980548709630966,
+        0.6065502762794495
+      ],
+      "std": [
+        0.03847506642341614,
+        0.11621241271495819,
+        0.0882495641708374,
+        0.1612463742494583,
+        0.27811434864997864,
+        0.03127811849117279,
+        0.042565494775772095,
+        0.3587312698364258
+      ],
+      "q01": [
+        0.4028370225429535,
+        -0.19707831919193267,
+        0.01968034952878952,
+        0.3611726975440979,
+        -0.9302726697921753,
+        -0.06597291976213455,
+        -0.1358087944984436,
+        0.0024296666961163282
+      ],
+      "q99": [
+        0.5855723643302918,
+        0.2234865361452103,
+        0.4132903504371644,
+        0.9994751596450806,
+        0.32387826323509217,
+        0.07973039388656622,
+        0.06342298448085817,
+        0.9937090873718262
+      ]
+    },
+    "actions": {
+      "mean": [
+        0.5073299407958984,
+        0.06330457329750061,
+        0.09898916631937027,
+        0.7643188834190369,
+        -0.5465783476829529,
+        0.011773715727031231,
+        -0.034094952046871185,
+        0.3916786313056946
+      ],
+      "std": [
+        0.03735748678445816,
+        0.12068101018667221,
+        0.08299557119607925,
+        0.1639757603406906,
+        0.2933126389980316,
+        0.031857892870903015,
+        0.04280579835176468,
+        0.4881254732608795
+      ],
+      "q01": [
+        0.40601533979177473,
+        -0.2072243608534336,
+        0.018736600484699013,
+        0.35329449266195295,
+        -0.932459711432457,
+        -0.07027546413242816,
+        -0.13156700164079665,
+        0.0
+      ],
+      "q99": [
+        0.5851748234033584,
+        0.22370200693607314,
+        0.40224643081426587,
+        0.9995471489429474,
+        0.32717189252376555,
+        0.08912940822541714,
+        0.06551531717181193,
+        1.0
+      ]
+    }
+  }
+}

checkpoints/r2/pick3/baseline/step9000/assets/policy_metadata.json

@@ -0,0 +1,47 @@
+{
+  "dataset": "/data/benchmarks/franka-demos/status-d-training/datasets/pick3",
+  "representation": "absolute recorded end-effector xyz, unit xyzw with qx positive, commanded gripper open in [0,1]",
+  "gripper": "full-rate Joy edges matched to saved server requests; unknown=NaN/mask false; no bootstrap",
+  "run_purpose": "fine-tuning",
+  "target_steps": 12500,
+  "save_interval": 1000,
+  "task": "pick3",
+  "prompt": "Pick up the cube and place it on the plate exactly three times, lifting it clear between placements, then press the blue button.",
+  "partial_action_supervision": true,
+  "unsupervised_action_components": [],
+  "current_state_tokens": "train q01/q99 bounded [-1,1], constant spans map to zero",
+  "training_recipe": {
+    "method": "LoRA + Cartesian projections + optional history modules",
+    "gpus": 4,
+    "global_batch_size": 4,
+    "fsdp_devices": 1,
+    "gradient_accumulation": 1,
+    "action_dim": 8,
+    "action_horizon": 20,
+    "max_token_len": 128,
+    "ema_decay": 0.996005996001,
+    "reference_steps": 50000,
+    "reference_global_batch": 1,
+    "reference_ema_decay": 0.999,
+    "reference_warmup_steps": 1000,
+    "sample_exposures": 50000,
+    "warmup_steps": 250,
+    "decay_steps": 12500,
+    "peak_lr": 5e-05,
+    "decay_lr": 5e-06
+  },
+  "training_round": 2,
+  "training_setting": "baseline",
+  "action_supervision": "execution frames only; demonstration frames retained as visual history",
+  "checkpoint_retention": {
+    "save_interval": 1000,
+    "local_latest": 3,
+    "milestones": [
+      5000,
+      10000,
+      12500
+    ],
+    "remote": "all"
+  },
+  "gpu_allocator": "platform"
+}

checkpoints/r2/pick3/baseline/step9000/checkpoint_info.json

@@ -0,0 +1,8 @@
+{
+  "optimizer_step": 9000,
+  "target_steps": 12500,
+  "sample_exposures": 36000,
+  "full_resume_state_included": true,
+  "evaluation_status": "pending",
+  "training_round": 2
+}

checkpoints/r2/pick3/baseline/step9000/code/LICENSE

@@ -0,0 +1,201 @@
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checkpoints/r2/pick3/baseline/step9000/code/integrations/robomme/examples/robomme/picmem_phase_a_rollout.py

@@ -0,0 +1,1018 @@
+"""RoboMME simulator-side producer for the Phase-A evolving-memory rollout.
+
+The standard evaluator runs the simulator in a process separate from the
+policy server.  This module derives one strict runtime reset from the real
+reset demonstration and emits only newly arrived events from the current
+simulator trajectory.  The reset/event envelopes travel inside the existing
+``add_buffer`` request; images and robot states continue to use RoboMME's
+normal buffer wire.
+
+This is an explicitly privileged oracle producer for the Phase-A upper bound.
+It does not read a completed Run084 sidecar or any future rollout state.
+Training remains bound to the corrected full Run084 artifact; evaluation is
+bound instead to the pinned simulator episode identity and the exact live
+demonstration prefix.
+"""
+
+from __future__ import annotations
+
+import math
+from collections.abc import Mapping, Sequence
+from copy import deepcopy
+from dataclasses import dataclass
+from typing import Any
+
+import numpy as np
+
+from picmem.annotations import annotate_episode_from_steps
+from picmem.memory.contracts import ManagerMode
+from picmem.memory.manager import task_schema_for
+from picmem.provenance.run084 import events_from_sidecar
+from picmem.provenance.runtime_reader import (
+    RuntimeReadError,
+    build_runtime_event,
+    build_runtime_reset,
+    build_runtime_source_contract,
+    canonical_json_sha256,
+    runtime_state_sha256,
+)
+
+RUNTIME_BATCH_SCHEMA_VERSION = "picmem_phase_a_rollout_batch_v2"
+RUNTIME_START_SCHEMA_VERSION = "picmem_phase_a_rollout_start_v1"
+RUNTIME_ENVELOPE_SCHEMA_VERSION = "picmem_phase_a_rollout_event_envelope_v1"
+RUNTIME_ACK_SCHEMA_VERSION = "picmem_phase_a_rollout_batch_ack_v1"
+RUNTIME_RECEIPT_SCHEMA_VERSION = "picmem_phase_a_runtime_read_receipt_v3"
+PRODUCER_SCHEMA_VERSION = "picmem_phase_a_robomme_oracle_producer_v1"
+
+SUPPORTED_TASKS = frozenset({"MoveCube", "PickXtimes", "VideoPlaceButton", "VideoUnmask"})
+TERMINAL_STATUSES = frozenset({"success", "fail", "timeout", "unknown"})
+GENESIS_BATCH_SHA256 = "0" * 64
+_ACK_FIELDS = frozenset(
+    {
+        "schema_version",
+        "batch_sequence",
+        "batch_sha256",
+        "duplicate",
+        "runtime_receipt",
+    }
+)
+_TERMINAL_OUTCOME_FIELDS = frozenset({"stop", "status"})
+_RUNTIME_EVENT_RECEIPT_BINDING_FIELDS = (
+    "event_id",
+    "runtime_step",
+    "event_sha256",
+    "source_state_sha256",
+)
+
+
+@dataclass(frozen=True, slots=True)
+class RuntimeEpisodeBinding:
+    """The exact reset authorization sent once to the policy server."""
+
+    start: Mapping[str, Any]
+    source_identity_sha256: str
+    source_contract_sha256: str
+
+
+class RoboMMEPhaseAOracleProducer:
+    """Produce causal Phase-A runtime messages from one live RoboMME env."""
+
+    def __init__(
+        self,
+        *,
+        manager_mode: ManagerMode | str,
+        metadata_seed: int,
+        max_execution_steps: int,
+    ) -> None:
+        try:
+            self._manager_mode = ManagerMode(manager_mode)
+        except ValueError as exc:
+            raise RuntimeReadError(f"unsupported rollout manager_mode {manager_mode!r}") from exc
+        self._metadata_seed = _nat(metadata_seed, "metadata_seed")
+        self._max_execution_steps = _pos(max_execution_steps, "max_execution_steps")
+        self._task_env: Any | None = None
+        self._task_id: str | None = None
+        self._episode_id: int | None = None
+        self._identity_sha256: str | None = None
+        self._start: dict[str, Any] | None = None
+        self._start_sent = False
+        self._pending: list[dict[str, Any]] = []
+        self._next_batch_sequence = 0
+        self._last_acked_batch_sha256 = GENESIS_BATCH_SHA256
+        self._inflight: dict[str, Any] | None = None
+        self._inflight_event_count = 0
+        self._last_acked_runtime_receipt: dict[str, Any] | None = None
+        self._initial_event_ids: tuple[str, ...] = ()
+        self._revision = 0
+        self._event_ordinal = 0
+        self._last_runtime_step = -1
+        self._terminal_outcome: dict[str, Any] | None = None
+        self._last_task_timestep: int | None = None
+        self._target_cycles: int | None = None
+        self._cycle_start_step: int | None = None
+        self._last_move_subgoal: str | None = None
+        self._move_completions = 0
+        self._move_step_count = 0
+
+    @property
+    def manager_mode(self) -> ManagerMode:
+        return self._manager_mode
+
+    def begin_episode(
+        self,
+        env_runner: Any,
+        pretrajectory: Mapping[str, Any],
+    ) -> RuntimeEpisodeBinding:
+        """Bind and reset the producer from the real simulator reset result."""
+
+        self._clear_episode()
+        if not isinstance(pretrajectory, Mapping):
+            raise RuntimeReadError("RoboMME pretrajectory must be a mapping")
+        task_id = getattr(env_runner, "env_id", None)
+        if task_id not in SUPPORTED_TASKS:
+            raise RuntimeReadError(f"unsupported Phase-A rollout task {task_id!r}")
+        episode_id = _nat(getattr(env_runner, "episode_id", None), "episode_id")
+        env = getattr(env_runner, "env", None)
+        if env is None:
+            raise RuntimeReadError("RoboMME env_runner has no active environment")
+        task_env = _unwrapped(env)
+
+        images = pretrajectory.get("images")
+        if not isinstance(images, Sequence) or isinstance(images, (str, bytes)) or not images:
+            raise RuntimeReadError("RoboMME pretrajectory images must be a non-empty sequence")
+        exec_start_step = len(images) - 1
+        if task_id == "PickXtimes" and exec_start_step != 0:
+            raise RuntimeReadError("PickXtimes Phase-A rollout must begin execution at step zero")
+        if task_id != "PickXtimes" and exec_start_step <= 0:
+            raise RuntimeReadError(f"{task_id} Phase-A rollout requires a real demonstration prefix")
+        episode_end_step = exec_start_step + self._max_execution_steps
+        instruction = _canonical_instruction(pretrajectory.get("task_goal"))
+        reset_steps = _reset_steps_from_env(env, exec_start_step=exec_start_step, task_id=task_id)
+        source_path = f"robomme://test/{task_id}/{episode_id}"
+        dataset_version = "robomme_simulator_phase_a_runtime_v1"
+
+        full_contract = _build_full_source_contract(
+            task_id=task_id,
+            episode_id=episode_id,
+            instruction=instruction,
+            dataset_version=dataset_version,
+            source_path=source_path,
+            reset_steps=reset_steps,
+            exec_start_step=exec_start_step,
+            episode_end_step=episode_end_step,
+            task_env=task_env,
+            first_images=images,
+        )
+        source_contract = build_runtime_source_contract(
+            task_id=task_id,
+            source_contract=full_contract,
+            exec_start_step=exec_start_step,
+            episode_end_step=episode_end_step,
+        )
+        source_contract_sha256 = canonical_json_sha256(source_contract)
+        source_identity = _simulator_source_identity(
+            task_env,
+            task_id=task_id,
+            episode_id=episode_id,
+            instruction=instruction,
+            source_path=source_path,
+            exec_start_step=exec_start_step,
+            episode_end_step=episode_end_step,
+        )
+        source_identity_sha256 = canonical_json_sha256(source_identity)
+        reset = build_runtime_reset(
+            task_id=task_id,
+            episode_id=episode_id,
+            instruction=instruction,
+            dataset_version=dataset_version,
+            split="test",
+            source_path=source_path,
+            exec_start_step=exec_start_step,
+            episode_end_step=episode_end_step,
+            use_intervals=source_contract["use_intervals"],
+            source_identity_sha256=source_identity_sha256,
+            source_contract=source_contract,
+            reset_steps=reset_steps,
+        )
+        start = {
+            "schema_version": RUNTIME_START_SCHEMA_VERSION,
+            "reset": reset,
+            "expected_identity_sha256": reset["identity_sha256"],
+            "expected_source_identity_sha256": source_identity_sha256,
+            "expected_source_contract_sha256": source_contract_sha256,
+            "manager_mode": self._manager_mode.value,
+            "metadata_seed": self._metadata_seed,
+        }
+
+        initial_events = _initial_candidates(
+            task_id=task_id,
+            episode_id=episode_id,
+            instruction=instruction,
+            episode_end_step=episode_end_step,
+            exec_start_step=exec_start_step,
+            source_contract=full_contract,
+        )
+        self._task_env = task_env
+        self._task_id = task_id
+        self._episode_id = episode_id
+        self._identity_sha256 = reset["identity_sha256"]
+        self._start = start
+        self._initial_event_ids = tuple(event.event_id for event in initial_events)
+        self._event_ordinal = len(initial_events)
+        self._last_runtime_step = exec_start_step
+        if task_id == "PickXtimes":
+            timestep = _nat(_required_attr(task_env, "timestep"), "PickXtimes.timestep")
+            target = _pos(_required_attr(task_env, "num_repeats"), "PickXtimes.num_repeats")
+            if timestep != 0:
+                raise RuntimeReadError("PickXtimes simulator did not reset to cycle zero")
+            self._last_task_timestep = timestep
+            self._target_cycles = target
+            self._cycle_start_step = exec_start_step
+        elif task_id == "MoveCube":
+            self._move_step_count = sum(1 for event in initial_events if event.kind == "demo_step")
+            if self._move_step_count <= 0:
+                raise RuntimeReadError("MoveCube reset did not produce demonstrated procedure steps")
+            self._last_move_subgoal = _online_subgoal(getattr(env_runner, "info", {}))
+        return RuntimeEpisodeBinding(
+            start=deepcopy(start),
+            source_identity_sha256=source_identity_sha256,
+            source_contract_sha256=source_contract_sha256,
+        )
+
+    def observe_after_step(
+        self,
+        env_runner: Any,
+        *,
+        runtime_step: int,
+        terminal_outcome: Mapping[str, Any] | None = None,
+    ) -> tuple[Mapping[str, Any], ...]:
+        """Observe one returned simulator state and enqueue only causal events.
+
+        A terminal outcome describes the result of the action that produced
+        this exact state.  Successful PickXtimes and video tasks emit a final
+        ``task_complete`` event.  MoveCube completion remains the real final
+        ``step_complete`` transition, while failed/timeout/unknown outcomes
+        only cause the already-observed events to be delivered.
+        """
+
+        if self._task_env is None or self._task_id is None or self._episode_id is None:
+            raise RuntimeReadError("begin_episode must succeed before observe_after_step")
+        if self._terminal_outcome is not None:
+            raise RuntimeReadError("rollout already observed a terminal outcome")
+        runtime_step = _nat(runtime_step, "runtime_step")
+        if runtime_step <= self._last_runtime_step:
+            raise RuntimeReadError("rollout runtime_step must increase after env.step")
+        env = getattr(env_runner, "env", None)
+        if env is None or _unwrapped(env) is not self._task_env:
+            raise RuntimeReadError("RoboMME environment instance changed within an episode")
+
+        emitted: list[dict[str, Any]] = []
+        if self._task_id == "PickXtimes":
+            emitted.extend(self._observe_pick(runtime_step))
+        elif self._task_id == "MoveCube":
+            emitted.extend(self._observe_move(getattr(env_runner, "info", {}), runtime_step))
+        outcome = _terminal_outcome(terminal_outcome)
+        if outcome is not None:
+            if outcome["status"] == "success":
+                if self._task_id == "MoveCube":
+                    if (
+                        self._last_move_subgoal != "all tasks completed"
+                        or self._move_completions != self._move_step_count
+                    ):
+                        raise RuntimeReadError("successful MoveCube terminal state did not complete its live procedure")
+                else:
+                    if self._task_id == "PickXtimes":
+                        assert self._last_task_timestep is not None
+                        assert self._target_cycles is not None
+                        if self._last_task_timestep < 2 * self._target_cycles:
+                            raise RuntimeReadError("successful PickXtimes terminal state precedes its target cycles")
+                    emitted.append(self._terminal_completion(runtime_step, outcome))
+            self._terminal_outcome = deepcopy(outcome)
+        self._pending.extend(emitted)
+        self._last_runtime_step = runtime_step
+        return tuple(deepcopy(emitted))
+
+    def peek_add_buffer_payload(self) -> dict[str, Any]:
+        """Return the current delivery without committing any producer state.
+
+        Until an exact ACK arrives, every call returns a byte-equivalent deep
+        copy of the same in-flight batch.  Events observed after the batch was
+        formed remain queued for the next sequence and cannot be removed by
+        acknowledgement of the older delivery.
+        """
+
+        if self._start is None:
+            raise RuntimeReadError("Phase-A producer has no active episode")
+        if self._inflight is None:
+            body = {
+                "schema_version": RUNTIME_BATCH_SCHEMA_VERSION,
+                "batch_sequence": self._next_batch_sequence,
+                "previous_batch_sha256": self._last_acked_batch_sha256,
+                "start": None if self._start_sent else deepcopy(self._start),
+                "events": deepcopy(self._pending),
+            }
+            self._inflight = {**body, "batch_sha256": canonical_json_sha256(body)}
+            self._inflight_event_count = len(self._pending)
+        return deepcopy(self._inflight)
+
+    def acknowledge_add_buffer_payload(self, raw: Mapping[str, Any]) -> dict[str, Any]:
+        """Commit exactly the currently in-flight delivery after server ACK."""
+
+        if not isinstance(raw, Mapping) or set(raw) != _ACK_FIELDS:
+            raise RuntimeReadError("Phase-A rollout ACK fields mismatch")
+        if raw["schema_version"] != RUNTIME_ACK_SCHEMA_VERSION:
+            raise RuntimeReadError("Phase-A rollout ACK schema_version mismatch")
+        sequence = _nat(raw["batch_sequence"], "ack.batch_sequence")
+        batch_sha256 = _sha256(raw["batch_sha256"], "ack.batch_sha256")
+        if not isinstance(raw["duplicate"], bool):
+            raise RuntimeReadError("Phase-A rollout ACK duplicate must be boolean")
+        receipt = raw["runtime_receipt"]
+        receipt = _validated_runtime_receipt(receipt)
+        if self._inflight is None:
+            raise RuntimeReadError("Phase-A rollout ACK arrived without an in-flight batch")
+        if sequence != self._inflight["batch_sequence"]:
+            raise RuntimeReadError("Phase-A rollout ACK batch_sequence differs from in-flight")
+        if batch_sha256 != self._inflight["batch_sha256"]:
+            raise RuntimeReadError("Phase-A rollout ACK batch_sha256 differs from in-flight")
+        if self._inflight_event_count > len(self._pending):
+            raise RuntimeReadError("Phase-A rollout pending queue regressed before ACK")
+        if self._pending[: self._inflight_event_count] != self._inflight["events"]:
+            raise RuntimeReadError("Phase-A rollout pending prefix drifted before ACK")
+        if receipt.get("identity_sha256") != self._identity_sha256:
+            raise RuntimeReadError("Phase-A rollout ACK receipt identity differs from the episode")
+        if receipt.get("task_id") != self._task_id or receipt.get("episode_id") != self._episode_id:
+            raise RuntimeReadError("Phase-A rollout ACK receipt episode binding mismatch")
+        if receipt.get("manager_mode") != self._manager_mode.value:
+            raise RuntimeReadError("Phase-A rollout ACK receipt manager_mode mismatch")
+        self._validate_ack_receipt_progression(receipt)
+
+        del self._pending[: self._inflight_event_count]
+        if self._inflight["start"] is not None:
+            self._start_sent = True
+        self._last_acked_batch_sha256 = batch_sha256
+        self._next_batch_sequence += 1
+        self._last_acked_runtime_receipt = deepcopy(receipt)
+        self._inflight = None
+        self._inflight_event_count = 0
+        return deepcopy(dict(raw))
+
+    def _validate_ack_receipt_progression(self, receipt: Mapping[str, Any]) -> None:
+        """Bind one valid receipt to exactly the current in-flight event suffix."""
+
+        if self._inflight is None:
+            raise RuntimeReadError("Phase-A rollout ACK has no in-flight lineage")
+        previous = self._last_acked_runtime_receipt
+        previous_event_ids = [] if previous is None else _receipt_event_ids(previous, "previous runtime_receipt")
+        previous_events = [] if previous is None else _receipt_runtime_events(previous, "previous runtime_receipt")
+        base_revision = 0 if previous is None else _receipt_nat(previous, "next_revision", "previous runtime_receipt")
+        base_ordinal = (
+            len(self._initial_event_ids)
+            if previous is None
+            else _receipt_nat(previous, "next_event_ordinal", "previous runtime_receipt")
+        )
+
+        initial_event_ids = _receipt_event_ids(
+            receipt,
+            "runtime_receipt",
+            field="initial_event_ids",
+        )
+        if initial_event_ids != list(self._initial_event_ids):
+            raise RuntimeReadError("Phase-A rollout ACK initial_event_ids mismatch")
+
+        inflight_event_ids: list[str] = []
+        inflight_bindings: list[dict[str, Any]] = []
+        for index, raw_envelope in enumerate(self._inflight["events"]):
+            if not isinstance(raw_envelope, Mapping):
+                raise RuntimeReadError("Phase-A in-flight event envelope is not a mapping")
+            event = raw_envelope.get("event")
+            if not isinstance(event, Mapping):
+                raise RuntimeReadError("Phase-A in-flight runtime event is not a mapping")
+            event_id = _text(event.get("event_id"), f"inflight.events[{index}].event_id")
+            revision = _nat(event.get("revision"), f"inflight.events[{index}].revision")
+            ordinal = _nat(event.get("event_ordinal"), f"inflight.events[{index}].event_ordinal")
+            if revision != base_revision + index:
+                raise RuntimeReadError("Phase-A in-flight event revision is not contiguous with its ACK base")
+            if ordinal != base_ordinal + index:
+                raise RuntimeReadError("Phase-A in-flight event ordinal is not contiguous with its ACK base")
+            inflight_event_ids.append(event_id)
+            inflight_bindings.append(
+                {
+                    "event_id": event_id,
+                    "runtime_step": _nat(
+                        event.get("runtime_step"),
+                        f"inflight.events[{index}].runtime_step",
+                    ),
+                    "event_sha256": _sha256(
+                        event.get("event_sha256"),
+                        f"inflight.events[{index}].event_sha256",
+                    ),
+                    "source_state_sha256": _sha256(
+                        event.get("source_state_sha256"),
+                        f"inflight.events[{index}].source_state_sha256",
+                    ),
+                }
+            )
+
+        event_ids = _receipt_event_ids(receipt, "runtime_receipt")
+        expected_event_ids = [*previous_event_ids, *inflight_event_ids]
+        if event_ids != expected_event_ids:
+            raise RuntimeReadError("Phase-A rollout ACK runtime_event_ids do not match its batch lineage")
+
+        runtime_events = _receipt_runtime_events(receipt, "runtime_receipt")
+        if runtime_events[: len(previous_events)] != previous_events:
+            raise RuntimeReadError("Phase-A rollout ACK runtime_events changed its committed prefix")
+        suffix = runtime_events[len(previous_events) :]
+        if len(suffix) != len(inflight_bindings):
+            raise RuntimeReadError("Phase-A rollout ACK runtime_events length does not match its batch")
+        for index, (event_receipt, expected) in enumerate(zip(suffix, inflight_bindings, strict=True)):
+            actual = {field: event_receipt.get(field) for field in _RUNTIME_EVENT_RECEIPT_BINDING_FIELDS}
+            if actual != expected:
+                raise RuntimeReadError(f"Phase-A rollout ACK runtime_events[{index}] is not bound to its batch event")
+
+        expected_revision = base_revision + len(inflight_event_ids)
+        if _receipt_nat(receipt, "next_revision", "runtime_receipt") != expected_revision:
+            raise RuntimeReadError("Phase-A rollout ACK next_revision does not match its batch lineage")
+        expected_ordinal = base_ordinal + len(inflight_event_ids)
+        if _receipt_nat(receipt, "next_event_ordinal", "runtime_receipt") != expected_ordinal:
+            raise RuntimeReadError("Phase-A rollout ACK next_event_ordinal does not match its batch lineage")
+
+    def _terminal_completion(
+        self,
+        runtime_step: int,
+        outcome: Mapping[str, Any],
+    ) -> dict[str, Any]:
+        assert self._task_id is not None
+        assert self._episode_id is not None
+        observed_state = {
+            "schema_version": PRODUCER_SCHEMA_VERSION,
+            "task_id": self._task_id,
+            "episode_id": self._episode_id,
+            "runtime_step": runtime_step,
+            "terminal_outcome": deepcopy(dict(outcome)),
+        }
+        return self._envelope(
+            runtime_step=runtime_step,
+            event_id=f"{self._episode_id}:runtime:task-complete",
+            kind="task_complete",
+            evidence=None,
+            observed_state=observed_state,
+        )
+
+    def _observe_pick(self, runtime_step: int) -> list[dict[str, Any]]:
+        assert self._task_env is not None
+        assert self._last_task_timestep is not None
+        assert self._target_cycles is not None
+        timestep = _nat(_required_attr(self._task_env, "timestep"), "PickXtimes.timestep")
+        if timestep < self._last_task_timestep:
+            raise RuntimeReadError("PickXtimes simulator timestep regressed")
+        if timestep > 2 * self._target_cycles + 1:
+            raise RuntimeReadError("PickXtimes simulator timestep exceeds target-cycle protocol")
+        result: list[dict[str, Any]] = []
+        for edge in range(self._last_task_timestep + 1, timestep + 1):
+            if edge > 2 * self._target_cycles:
+                continue
+            if edge % 2 == 1:
+                self._cycle_start_step = runtime_step
+                continue
+            cycle = edge // 2
+            start = self._cycle_start_step if self._cycle_start_step is not None else runtime_step
+            observed_state = {
+                "schema_version": PRODUCER_SCHEMA_VERSION,
+                "task_id": "PickXtimes",
+                "episode_id": self._episode_id,
+                "runtime_step": runtime_step,
+                "task_timestep": timestep,
+                "target_cycles": self._target_cycles,
+                "completed_cycle": cycle,
+            }
+            result.append(
+                self._envelope(
+                    runtime_step=runtime_step,
+                    event_id=f"{self._episode_id}:runtime:cycle:{cycle}",
+                    kind="cycle_complete",
+                    evidence=(min(start, runtime_step), runtime_step),
+                    observed_state=observed_state,
+                )
+            )
+            self._cycle_start_step = runtime_step
+        self._last_task_timestep = timestep
+        return result
+
+    def _observe_move(self, info: Any, runtime_step: int) -> list[dict[str, Any]]:
+        current = _online_subgoal(info)
+        previous = self._last_move_subgoal
+        self._last_move_subgoal = current
+        if previous is None or current is None or current == previous:
+            return []
+        if previous in {"", "static", "no record", "all tasks completed"}:
+            return []
+        if self._move_completions >= self._move_step_count:
+            return []
+        self._move_completions += 1
+        observed_state = {
+            "schema_version": PRODUCER_SCHEMA_VERSION,
+            "task_id": "MoveCube",
+            "episode_id": self._episode_id,
+            "runtime_step": runtime_step,
+            "completed_subgoal": previous,
+            "next_subgoal": current,
+            "completed_step_index": self._move_completions,
+        }
+        return [
+            self._envelope(
+                runtime_step=runtime_step,
+                event_id=f"{self._episode_id}:runtime:step:{self._move_completions}",
+                kind="step_complete",
+                evidence=None,
+                observed_state=observed_state,
+            )
+        ]
+
+    def _envelope(
+        self,
+        *,
+        runtime_step: int,
+        event_id: str,
+        kind: str,
+        evidence: tuple[int, int] | None,
+        observed_state: Mapping[str, Any],
+    ) -> dict[str, Any]:
+        assert self._identity_sha256 is not None
+        assert self._task_id is not None
+        assert self._episode_id is not None
+        wire = build_runtime_event(
+            identity_sha256=self._identity_sha256,
+            task_id=self._task_id,
+            episode_id=self._episode_id,
+            runtime_step=runtime_step,
+            revision=self._revision,
+            event_id=event_id,
+            event_ordinal=self._event_ordinal,
+            kind=kind,
+            evidence=evidence,
+            value=None,
+            bindings=None,
+            confidence=1.0,
+            source_state_sha256=runtime_state_sha256(observed_state),
+        )
+        self._revision += 1
+        self._event_ordinal += 1
+        return {
+            "schema_version": RUNTIME_ENVELOPE_SCHEMA_VERSION,
+            "event": wire,
+            "observed_source_state": deepcopy(dict(observed_state)),
+        }
+
+    def _clear_episode(self) -> None:
+        self._task_env = None
+        self._task_id = None
+        self._episode_id = None
+        self._identity_sha256 = None
+        self._start = None
+        self._start_sent = False
+        self._pending.clear()
+        self._next_batch_sequence = 0
+        self._last_acked_batch_sha256 = GENESIS_BATCH_SHA256
+        self._inflight = None
+        self._inflight_event_count = 0
+        self._last_acked_runtime_receipt = None
+        self._initial_event_ids = ()
+        self._revision = 0
+        self._event_ordinal = 0
+        self._last_runtime_step = -1
+        self._terminal_outcome = None
+        self._last_task_timestep = None
+        self._target_cycles = None
+        self._cycle_start_step = None
+        self._last_move_subgoal = None
+        self._move_completions = 0
+        self._move_step_count = 0
+
+
+def attach_runtime_to_buffer(
+    buffer_payload: Mapping[str, Any],
+    producer: RoboMMEPhaseAOracleProducer,
+) -> dict[str, Any]:
+    """Copy a normal RoboMME buffer request and attach the strict runtime batch."""
+
+    if not isinstance(buffer_payload, Mapping) or buffer_payload.get("add_buffer") is not True:
+        raise RuntimeReadError("Phase-A runtime can attach only to an add_buffer request")
+    if "picmem_phase_a_runtime" in buffer_payload:
+        raise RuntimeReadError("add_buffer already contains a Phase-A runtime payload")
+    return {**dict(buffer_payload), "picmem_phase_a_runtime": producer.peek_add_buffer_payload()}
+
+
+def acknowledge_runtime_buffer(
+    buffer_payload: Mapping[str, Any],
+    response: Mapping[str, Any],
+    producer: RoboMMEPhaseAOracleProducer,
+) -> dict[str, Any]:
+    """Validate one completed host response and commit its producer delivery."""
+
+    if not isinstance(buffer_payload, Mapping):
+        raise RuntimeReadError("Phase-A ACK requires the original add_buffer request")
+    batch = buffer_payload.get("picmem_phase_a_runtime")
+    if not isinstance(batch, Mapping):
+        raise RuntimeReadError("Phase-A ACK request is missing its runtime batch")
+    if not isinstance(response, Mapping) or response.get("add_buffer_finished") is not True:
+        raise RuntimeReadError("Phase-A add_buffer response is not complete")
+    ack = response.get("picmem_phase_a_runtime_ack")
+    if not isinstance(ack, Mapping):
+        raise RuntimeReadError("Phase-A add_buffer response is missing its runtime ACK")
+    if ack.get("batch_sequence") != batch.get("batch_sequence"):
+        raise RuntimeReadError("Phase-A response ACK sequence differs from its request")
+    if ack.get("batch_sha256") != batch.get("batch_sha256"):
+        raise RuntimeReadError("Phase-A response ACK hash differs from its request")
+    return producer.acknowledge_add_buffer_payload(ack)
+
+
+def _build_full_source_contract(
+    *,
+    task_id: str,
+    episode_id: int,
+    instruction: str,
+    dataset_version: str,
+    source_path: str,
+    reset_steps: list[dict[str, Any]],
+    exec_start_step: int,
+    episode_end_step: int,
+    task_env: Any,
+    first_images: Sequence[Any],
+) -> dict[str, Any]:
+    contract_spec = task_schema_for(task_id, instruction).contracts[0]
+    timeline: list[dict[str, Any]] = []
+    if task_id in {"MoveCube", "VideoPlaceButton"}:
+        sentinel = {
+            "step": exec_start_step,
+            "simple_subgoal": "no record",
+            "grounded_subgoal": "no record",
+            "is_video_demo": False,
+            "is_subgoal_boundary": False,
+            "is_completed": False,
+        }
+        annotation = annotate_episode_from_steps(
+            task_id=task_id,
+            episode_id=episode_id,
+            steps=[*deepcopy(reset_steps), sentinel],
+            instruction=instruction,
+            dataset_version=dataset_version,
+            split="test",
+            source_path=source_path,
+            contract_source="runtime_reset_simulator",
+            policy_input_fields=["runtime visual history only"],
+            contract_variant="coarse",
+        ).to_json()
+        matches = [
+            value for value in annotation.get("contracts", []) if value.get("contract_id") == contract_spec.contract_id
+        ]
+        if len(matches) != 1:
+            raise RuntimeReadError(f"{task_id} reset did not derive one exact primary contract")
+        timeline = deepcopy(matches[0].get("value_timeline", []))
+        if not timeline:
+            raise RuntimeReadError(f"{task_id} reset did not derive initial oracle evidence")
+    elif task_id == "VideoUnmask":
+        actor = _required_attr(task_env, "bin_0")
+        point = _project_actor(task_env, actor, first_images)
+        timeline = [
+            {
+                "step": exec_start_step - 1,
+                "evidence_interval": [0, exec_start_step - 1],
+                "value": point,
+                "confidence": 1.0,
+                "source": "runtime_simulator_oracle",
+                "update_kind": "set_once_from_reveal_or_grounded_subgoal",
+            }
+        ]
+    return {
+        "contract_id": contract_spec.contract_id,
+        "query": contract_spec.query,
+        "semantic_type": contract_spec.semantic_type.value,
+        "reducer_type": contract_spec.reducer_type.value,
+        "open_step": contract_spec.open_step,
+        "use_intervals": [[exec_start_step, episode_end_step]],
+        "value_timeline": timeline,
+    }
+
+
+def _initial_candidates(
+    *,
+    task_id: str,
+    episode_id: int,
+    instruction: str,
+    episode_end_step: int,
+    exec_start_step: int,
+    source_contract: Mapping[str, Any],
+) -> tuple[Any, ...]:
+    annotation = {
+        "task_id": task_id,
+        "episode_id": episode_id,
+        "task_instruction": instruction,
+        "num_steps": episode_end_step + 1,
+        "exec_start_step": exec_start_step,
+        "contracts": [deepcopy(dict(source_contract))],
+        "ordered_subgoals": [],
+    }
+    return tuple(events_from_sidecar(annotation))
+
+
+def _reset_steps_from_env(env: Any, *, exec_start_step: int, task_id: str) -> list[dict[str, Any]]:
+    if exec_start_step == 0:
+        return []
+    wrapper = env
+    seen: set[int] = set()
+    demonstration_data: Any | None = None
+    while wrapper is not None and id(wrapper) not in seen:
+        seen.add(id(wrapper))
+        values = getattr(wrapper, "__dict__", None)
+        if isinstance(values, dict) and "demonstration_data" in values:
+            demonstration_data = values["demonstration_data"]
+            break
+        wrapper = values.get("env") if isinstance(values, dict) else None
+    if not isinstance(demonstration_data, tuple) or len(demonstration_data) != 5:
+        raise RuntimeReadError(f"{task_id} runtime demonstration_data is unavailable")
+    info = demonstration_data[4]
+    if not isinstance(info, Mapping):
+        raise RuntimeReadError("RoboMME runtime demonstration info batch is unavailable")
+    fields = (
+        "simple_subgoal",
+        "grounded_subgoal",
+        "is_video_demo",
+        "is_subgoal_boundary",
+        "is_completed",
+    )
+    columns = {name: info.get(name) for name in fields}
+    if any(not isinstance(value, Sequence) or isinstance(value, (str, bytes)) for value in columns.values()):
+        raise RuntimeReadError("RoboMME reset is missing exact demonstration annotation columns")
+    if any(len(value) != exec_start_step + 1 for value in columns.values()):
+        raise RuntimeReadError("RoboMME demonstration columns do not align with reset images")
+    result: list[dict[str, Any]] = []
+    for step in range(exec_start_step):
+        simple = _canonical_subgoal(columns["simple_subgoal"][step])
+        grounded = _canonical_subgoal(columns["grounded_subgoal"][step])
+        row = {
+            "step": step,
+            "simple_subgoal": simple,
+            "grounded_subgoal": grounded,
+            "is_video_demo": _bool(columns["is_video_demo"][step], "is_video_demo"),
+            "is_subgoal_boundary": _bool(columns["is_subgoal_boundary"][step], "is_subgoal_boundary"),
+            "is_completed": _bool(columns["is_completed"][step], "is_completed"),
+        }
+        if not row["is_video_demo"] or row["is_completed"]:
+            raise RuntimeReadError("RoboMME reset prefix is not a pure uncompleted demonstration")
+        result.append(row)
+    if _bool(columns["is_video_demo"][exec_start_step], "execution is_video_demo"):
+        raise RuntimeReadError("RoboMME execution boundary is still marked as video demonstration")
+    return result
+
+
+def _simulator_source_identity(
+    task_env: Any,
+    *,
+    task_id: str,
+    episode_id: int,
+    instruction: str,
+    source_path: str,
+    exec_start_step: int,
+    episode_end_step: int,
+) -> dict[str, Any]:
+    seed = getattr(task_env, "seed", 0)
+    if isinstance(seed, bool) or not isinstance(seed, (int, np.integer)):
+        raise RuntimeReadError("RoboMME simulator seed must be an integer")
+    difficulty = getattr(task_env, "difficulty", "unknown")
+    if not isinstance(difficulty, str) or not difficulty:
+        raise RuntimeReadError("RoboMME simulator difficulty must be non-empty")
+    spec = getattr(task_env, "task_spec", getattr(task_env, "spec", {}))
+    spec_sha256 = canonical_json_sha256(_plain_json(spec))
+    return {
+        "schema_version": PRODUCER_SCHEMA_VERSION,
+        "task_id": task_id,
+        "episode_id": episode_id,
+        "instruction": instruction,
+        "source_path": source_path,
+        "seed": int(seed),
+        "difficulty": difficulty,
+        "simulator_spec_sha256": spec_sha256,
+        "exec_start_step": exec_start_step,
+        "episode_end_step": episode_end_step,
+    }
+
+
+def _project_actor(task_env: Any, actor: Any, images: Sequence[Any]) -> dict[str, Any]:
+    image = np.asarray(images[-1])
+    if image.ndim != 3 or image.shape[-1] not in (3, 4):
+        raise RuntimeReadError("RoboMME front image must have shape [H,W,3|4]")
+    camera = getattr(task_env, "front_camera", getattr(task_env, "camera", None))
+    if camera is None:
+        raise RuntimeReadError("VideoUnmask simulator has no front camera")
+    intrinsic = _camera_matrix(camera, "get_intrinsic_matrix", "intrinsic_matrix")
+    if intrinsic.shape != (3, 3):
+        raise RuntimeReadError("RoboMME camera intrinsic matrix must be 3x3")
+    try:
+        extrinsic = _camera_matrix(camera, "get_extrinsic_matrix", "extrinsic_matrix")
+    except RuntimeReadError as exc:
+        model = _camera_matrix(camera, "get_model_matrix", "model_matrix")
+        if model.shape != (4, 4):
+            raise RuntimeReadError("RoboMME camera model matrix must be 4x4") from exc
+        try:
+            extrinsic = np.linalg.inv(model)
+        except np.linalg.LinAlgError as exc:
+            raise RuntimeReadError("RoboMME camera model matrix is singular") from exc
+    if extrinsic.shape not in {(3, 4), (4, 4)}:
+        raise RuntimeReadError("RoboMME camera extrinsic matrix must be 3x4 or 4x4")
+    position = _actor_position(actor)
+    world = np.concatenate((position, np.ones(1, dtype=np.float64)))
+    camera_point = extrinsic @ world
+    camera_xyz = camera_point[:3]
+    if not np.isfinite(camera_xyz).all() or camera_xyz[2] <= 0:
+        raise RuntimeReadError("VideoUnmask actor projects behind the front camera")
+    pixel = intrinsic @ camera_xyz
+    x = math.floor(float(pixel[0] / pixel[2]) + 0.5)
+    y = math.floor(float(pixel[1] / pixel[2]) + 0.5)
+    if not (0 <= x < image.shape[1] and 0 <= y < image.shape[0]):
+        raise RuntimeReadError("VideoUnmask actor projection is outside the front image")
+    return {"kind": "image_point", "x": x, "y": y}
+
+
+def _camera_matrix(camera: Any, method: str, attribute: str) -> np.ndarray:
+    getter = getattr(camera, method, None)
+    raw = getter() if callable(getter) else getattr(camera, attribute, None)
+    if raw is None:
+        raise RuntimeReadError(f"RoboMME camera is missing {method}")
+    result = np.asarray(raw, dtype=np.float64)
+    if not np.isfinite(result).all():
+        raise RuntimeReadError("RoboMME camera matrix must be finite")
+    return result
+
+
+def _actor_position(actor: Any) -> np.ndarray:
+    if isinstance(actor, (np.ndarray, list, tuple)):
+        raw = actor
+    else:
+        pose = actor.get_pose() if callable(getattr(actor, "get_pose", None)) else getattr(actor, "pose", None)
+        raw = getattr(pose, "p", None)
+    result = np.asarray(raw, dtype=np.float64)
+    if result.shape == (1, 3):
+        result = result[0]
+    if result.shape != (3,) or not np.isfinite(result).all():
+        raise RuntimeReadError("RoboMME actor position must be finite xyz")
+    return result
+
+
+def _online_subgoal(info: Any) -> str | None:
+    if not isinstance(info, Mapping):
+        return None
+    raw = info.get("simple_subgoal_online", info.get("simple_subgoal"))
+    if isinstance(raw, Sequence) and not isinstance(raw, (str, bytes)):
+        raw = raw[-1] if raw else None
+    return _canonical_subgoal(raw) if isinstance(raw, str) else None
+
+
+def _plain_json(value: Any) -> Any:
+    if value is None or isinstance(value, (str, bool, int)):
+        return value
+    if isinstance(value, (float, np.floating)):
+        result = float(value)
+        if not math.isfinite(result):
+            raise RuntimeReadError("simulator identity contains non-finite values")
+        return result
+    if isinstance(value, np.integer):
+        return int(value)
+    if isinstance(value, np.ndarray):
+        return _plain_json(value.tolist())
+    if isinstance(value, Mapping):
+        return {str(key): _plain_json(child) for key, child in value.items()}
+    if isinstance(value, Sequence) and not isinstance(value, (str, bytes)):
+        return [_plain_json(child) for child in value]
+    # Gym specs are objects; bind their stable public identifier rather than a
+    # repr that can contain an address.
+    identifier = getattr(value, "id", None)
+    if isinstance(identifier, str) and identifier:
+        return {"id": identifier}
+    raise RuntimeReadError(f"simulator identity contains unsupported {type(value).__name__}")
+
+
+def _unwrapped(env: Any) -> Any:
+    value = getattr(env, "unwrapped", None)
+    if value is None:
+        raise RuntimeReadError("RoboMME environment has no unwrapped task instance")
+    return value
+
+
+def _required_attr(value: Any, name: str) -> Any:
+    if not hasattr(value, name):
+        raise RuntimeReadError(f"RoboMME simulator is missing required current field {name!r}")
+    return getattr(value, name)
+
+
+def _canonical_instruction(value: Any) -> str:
+    if not isinstance(value, str) or not value.strip():
+        raise RuntimeReadError("RoboMME task_goal must be a non-empty string")
+    return " ".join(value.strip().lower().split())
+
+
+def _canonical_subgoal(value: Any) -> str:
+    if not isinstance(value, str):
+        raise RuntimeReadError("RoboMME subgoal must be a string")
+    return " ".join(value.strip().lower().split())
+
+
+def _bool(value: Any, name: str) -> bool:
+    if not isinstance(value, (bool, np.bool_)):
+        raise RuntimeReadError(f"RoboMME {name} must be boolean")
+    return bool(value)
+
+
+def _terminal_outcome(value: Mapping[str, Any] | None) -> dict[str, Any] | None:
+    if value is None:
+        return None
+    if not isinstance(value, Mapping) or set(value) != _TERMINAL_OUTCOME_FIELDS:
+        raise RuntimeReadError("terminal_outcome fields mismatch")
+    if not isinstance(value["stop"], (bool, np.bool_)) or not bool(value["stop"]):
+        raise RuntimeReadError("terminal_outcome.stop must be true")
+    status = value["status"]
+    if not isinstance(status, str) or status not in TERMINAL_STATUSES:
+        raise RuntimeReadError("terminal_outcome.status is unsupported")
+    return {"stop": True, "status": status}
+
+
+def _receipt_event_ids(
+    receipt: Mapping[str, Any],
+    name: str,
+    *,
+    field: str = "runtime_event_ids",
+) -> list[str]:
+    raw = receipt.get(field)
+    if not isinstance(raw, list) or any(not isinstance(value, str) or not value or "\0" in value for value in raw):
+        raise RuntimeReadError(f"Phase-A rollout ACK {name}.{field} must be a list of event IDs")
+    return list(raw)
+
+
+def _receipt_runtime_events(receipt: Mapping[str, Any], name: str) -> list[dict[str, Any]]:
+    raw = receipt.get("runtime_events")
+    if not isinstance(raw, list) or any(not isinstance(value, Mapping) for value in raw):
+        raise RuntimeReadError(f"Phase-A rollout ACK {name}.runtime_events must be a list of mappings")
+    return [deepcopy(dict(value)) for value in raw]
+
+
+def _receipt_nat(receipt: Mapping[str, Any], field: str, name: str) -> int:
+    return _nat(receipt.get(field), f"ACK {name}.{field}")
+
+
+def _text(value: Any, name: str) -> str:
+    if not isinstance(value, str) or not value or "\0" in value:
+        raise RuntimeReadError(f"{name} must be a non-empty string without NUL")
+    return value
+
+
+def _validated_runtime_receipt(value: Any) -> dict[str, Any]:
+    if not isinstance(value, Mapping):
+        raise RuntimeReadError("Phase-A rollout ACK runtime_receipt must be a mapping")
+    receipt = deepcopy(dict(value))
+    if receipt.get("schema_version") != RUNTIME_RECEIPT_SCHEMA_VERSION:
+        raise RuntimeReadError("Phase-A rollout ACK runtime_receipt schema_version mismatch")
+    receipt_sha256 = _sha256(
+        receipt.get("receipt_sha256"),
+        "ack.runtime_receipt.receipt_sha256",
+    )
+    body = {name: child for name, child in receipt.items() if name != "receipt_sha256"}
+    if canonical_json_sha256(body) != receipt_sha256:
+        raise RuntimeReadError("Phase-A rollout ACK runtime_receipt hash mismatch")
+    return receipt
+
+
+def _sha256(value: Any, name: str) -> str:
+    if (
+        not isinstance(value, str)
+        or len(value) != 64
+        or any(character not in "0123456789abcdef" for character in value)
+    ):
+        raise RuntimeReadError(f"{name} must be lowercase SHA-256")
+    return value
+
+
+def _nat(value: Any, name: str) -> int:
+    if isinstance(value, bool) or not isinstance(value, (int, np.integer)) or int(value) < 0:
+        raise RuntimeReadError(f"{name} must be a non-negative integer")
+    return int(value)
+
+
+def _pos(value: Any, name: str) -> int:
+    result = _nat(value, name)
+    if result <= 0:
+        raise RuntimeReadError(f"{name} must be positive")
+    return result
+
+
+__all__ = [
+    "GENESIS_BATCH_SHA256",
+    "PRODUCER_SCHEMA_VERSION",
+    "RUNTIME_ACK_SCHEMA_VERSION",
+    "RUNTIME_BATCH_SCHEMA_VERSION",
+    "RUNTIME_ENVELOPE_SCHEMA_VERSION",
+    "RUNTIME_RECEIPT_SCHEMA_VERSION",
+    "RUNTIME_START_SCHEMA_VERSION",
+    "RoboMMEPhaseAOracleProducer",
+    "RuntimeEpisodeBinding",
+    "acknowledge_runtime_buffer",
+    "attach_runtime_to_buffer",
+]

checkpoints/r2/pick3/baseline/step9000/code/integrations/robomme/franka_baseline.py

@@ -0,0 +1,625 @@
+"""Franka converted HDF5 to the existing pi05 baseline training pipeline.
+
+Run with the robomme environment and the checkout root and robomme/src on PYTHONPATH.
+Only converted HDF5 is read. No ROS runtime or raw bags are needed.
+"""
+
+from __future__ import annotations
+
+import argparse
+import dataclasses
+import json
+import pickle
+from concurrent.futures import ProcessPoolExecutor
+from pathlib import Path
+
+import cv2
+import h5py
+import numpy as np
+
+BASE = "_cam_base_camera_color_image_raw_compressed"
+WRIST = "_cam_hand_camera_color_image_raw_compressed"
+POSE = "_franka_robot_state_broadcaster_current_pose"
+PROMPTS = {
+    "pick3": "Pick up the cube and place it on the plate exactly three times, lifting it clear between placements, then press the blue button.",
+    "button_order": "Press the buttons in the same order as shown in the demonstration.",
+    "shuffle": "Track the cup hiding the cube during the shuffle, then press the button next to that cup.",
+}
+
+
+def canonical_pose(pose):
+    """Cartesian xyz + unit xyzw, in the qx-positive chart used by these demos."""
+    pose = np.array(pose, dtype=np.float32, copy=True)
+    quaternion = pose[..., 3:7]
+    norm = np.linalg.norm(quaternion, axis=-1, keepdims=True)
+    if np.any(norm < 1e-6) or not np.isfinite(pose).all():
+        raise ValueError("Pose must be finite with a nonzero quaternion")
+    quaternion /= norm
+    # This dataset keeps the tool facing down. Reject a crossing of this chart
+    # instead of introducing a discontinuity; other workspaces need another chart.
+    if np.any(np.abs(quaternion[..., 0]) < 0.1):
+        raise ValueError("Quaternion is outside this dataset's qx-positive chart")
+    quaternion *= np.where(quaternion[..., :1] < 0, -1, 1)
+    return pose
+
+
+def command_targets(timestamps, joy_timestamps, buttons, initial_open):
+    """14=open, 15=close; pressed command persists after button release.
+
+    Use the recorded Joy event time, not the nearest RGB frame, so a future
+    command cannot enter an earlier target. Simultaneous commands are unknown.
+    """
+    order = np.argsort(joy_timestamps, kind="stable")
+    result = np.empty(len(timestamps), dtype=np.float32)
+    latch = initial_open
+    cursor = 0
+    for i, stamp in enumerate(timestamps):
+        while cursor < len(order) and joy_timestamps[order[cursor]] <= stamp:
+            opened, closed = buttons[order[cursor], 14:16] != 0
+            if opened or closed:
+                latch = np.nan if opened and closed else float(opened)
+            cursor += 1
+        result[i] = latch
+    return result
+
+
+def window_starts(timestamps, valid, horizon):
+    """Complete windows on the original ~15 Hz clock, never across a data gap."""
+    if horizon <= 0:
+        raise ValueError("action horizon must be positive")
+    if len(timestamps) < horizon:
+        return np.empty(0, dtype=np.int64)
+    good = np.lib.stride_tricks.sliding_window_view(valid, horizon).all(axis=1)
+    if horizon > 1:
+        dt = np.diff(timestamps)
+        gaps_ok = (dt > 0) & (dt <= 100_000_000)
+        good &= np.lib.stride_tricks.sliding_window_view(gaps_ok, horizon - 1).all(axis=1)
+    return np.flatnonzero(good)
+
+
+def initial_target(timestamps, joy_timestamps, buttons, widths):
+    """Infer a recording-start command only from its uninterrupted endpoint.
+
+    A gripper can still be moving when recording starts. The first measured
+    width is therefore not its target. This uses the pre-command response as
+    offline supervision only; no future measurements become model inputs.
+    """
+    events = joy_timestamps[np.any(buttons[:, 14:16], axis=1)]
+    prefix = widths[timestamps < events.min()] if len(events) else widths
+    prefix = prefix[np.isfinite(prefix)]
+    if len(prefix) < 5 or np.ptp(prefix[-5:]) > 0.05:
+        return np.nan
+    if np.all(prefix[-5:] >= 0.9) and np.all(np.diff(prefix) >= -0.05):
+        return 1.0
+    if np.all(prefix[-5:] <= 0.1) and np.all(np.diff(prefix) <= 0.05):
+        return 0.0
+    return np.nan
+
+
+def decode_image(dataset):
+    image = cv2.imdecode(dataset[:], cv2.IMREAD_COLOR)
+    if image is None:
+        raise ValueError(f"Invalid JPEG: {dataset.name}")
+    image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB)
+    return prepare_rgb(image)
+
+
+def prepare_rgb(image):
+    """The same RGB resize/padding for converted data and online inference."""
+    image = np.asarray(image)
+    if image.shape[:2] == (224, 224):
+        return image
+    h, w = image.shape[:2]
+    scale = 224 / max(h, w)
+    image = cv2.resize(image, (int(w * scale), int(h * scale)), interpolation=cv2.INTER_LINEAR)
+    result = np.zeros((224, 224, 3), dtype=np.uint8)
+    y, x = (224 - image.shape[0]) // 2, (224 - image.shape[1]) // 2
+    result[y : y + image.shape[0], x : x + image.shape[1]] = image
+    return result
+
+
+def convert_episode(args):
+    path, output, episode_id, horizon = args
+    cv2.setNumThreads(1)
+    with h5py.File(path, "r") as source:
+        keys = sorted(source)
+        n = len(keys)
+        timestamps = np.zeros(n, dtype=np.int64)
+        joy_timestamps = np.zeros(n, dtype=np.int64)
+        buttons = np.zeros((n, 16), dtype=np.int32)
+        state = np.full((n, 8), np.nan, dtype=np.float32)
+        actions = np.full((n, 8), np.nan, dtype=np.float32)
+        valid = np.zeros(n, dtype=bool)
+        action_synced = np.zeros(n, dtype=bool)
+        missing_wrist = 0
+        required = [
+            BASE,
+            WRIST,
+            POSE + "_position",
+            POSE + "_orientation",
+            "_target_pose_position",
+            "_target_pose_orientation",
+            "_franka_gripper_joint_states/position",
+        ]
+        for i, key in enumerate(keys):
+            frame = source[key]
+            timestamps[i] = frame.attrs["timestamp"]
+            joy_timestamps[i] = frame["original_timestamps"].attrs.get("_spacenav_joy", timestamps[i])
+            if "_spacenav_joy_buttons" in frame:
+                values = frame["_spacenav_joy_buttons"][:]
+                buttons[i, : min(16, len(values))] = values[:16]
+            if "_franka_gripper_joint_states/position" in frame:
+                gripper = frame["_franka_gripper_joint_states"]
+                names = [name.decode() for name in gripper["joint_names"][:]]
+                if len(names) != 2 or not all("finger_joint" in name for name in names):
+                    raise ValueError(f"Unexpected gripper joints: {names}")
+                state[i, 7] = np.sum(gripper["position"][:]) / 0.08
+            if "_target_pose_position" in frame and "_target_pose_orientation" in frame:
+                actions[i, :7] = canonical_pose(
+                    np.r_[frame["_target_pose_position"][:], frame["_target_pose_orientation"][:]]
+                )
+                action_synced[i] = abs(frame["sync_quality"].attrs.get("_target_pose", np.inf)) <= 40_000_000
+            missing_wrist += WRIST not in frame
+            if not all(k in frame for k in required):
+                continue
+            state[i, :7] = canonical_pose(np.r_[frame[POSE + "_position"][:], frame[POSE + "_orientation"][:]])
+            sync = frame["sync_quality"].attrs
+            valid[i] = all(
+                abs(sync.get(k, np.inf)) <= 40_000_000 for k in [WRIST, POSE, "_franka_gripper_joint_states"]
+            )
+        initial_open = initial_target(timestamps, joy_timestamps, buttons, state[:, 7])
+        actions[:, 7] = command_targets(timestamps, joy_timestamps, buttons, initial_open)
+        valid &= np.isfinite(state).all(axis=1)
+        # Only the observation at the start of a chunk is a model input.
+        # Future action targets need synchronized commands, not future images.
+        action_valid = action_synced & np.isfinite(actions).all(axis=1)
+        starts = window_starts(timestamps, action_valid, horizon)
+        starts = starts[valid[starts]]
+        output.mkdir(parents=True, exist_ok=False)
+        for local_index, i in enumerate(starts):
+            frame = source[keys[i]]
+            sample = {
+                "image": decode_image(frame[BASE]),
+                "wrist_image": decode_image(frame[WRIST]),
+                "state": state[i],
+                "actions": actions[i : i + horizon],
+                "prompt": PROMPTS[path.parent.name],
+                "epis_idx": np.asarray(episode_id),
+                "step_idx": np.asarray(i),
+                "timestamp_ns": timestamps[i],
+            }
+            with (output / f"{local_index}.pkl").open("xb") as handle:
+                pickle.dump(sample, handle, protocol=pickle.HIGHEST_PROTOCOL)
+        summary = {
+            "episode": path.stem,
+            "task": path.parent.name,
+            "frames": n,
+            "samples": len(starts),
+            "missing_wrist": int(missing_wrist),
+            "invalid_frames": int((~valid).sum()),
+            "initial_gripper_open": float(initial_open) if np.isfinite(initial_open) else None,
+            "fps": float(1e9 / np.median(np.diff(timestamps))),
+        }
+        return summary, state[starts], actions[starts[:, None] + np.arange(horizon)]
+
+
+def prepare(source, output, horizon=20, workers=8):
+    from openpi.shared import normalize
+
+    files = sorted(Path(source).glob("*/*.h5"))
+    if not files:
+        raise ValueError("No converted HDF5 episodes found")
+    output = Path(output)
+    output.mkdir(parents=True, exist_ok=False)
+    splits = {"train": [], "validation": []}
+    # Split whole episodes, independently within each task, with a fixed seed.
+    rng = np.random.default_rng(42)
+    for task in sorted({p.parent.name for p in files}):
+        group = [p for p in files if p.parent.name == task]
+        order = rng.permutation(len(group))
+        held_out = set(order[: max(1, round(len(group) * 0.1))])
+        for i, path in enumerate(group):
+            splits["validation" if i in held_out else "train"].append(path)
+    stats = {key: normalize.RunningStats() for key in ["state", "actions"]}
+    summaries = []
+    with ProcessPoolExecutor(workers) as pool:
+        for split, paths in splits.items():
+            data_dir = output / split / "data"
+            data_dir.mkdir(parents=True)
+            jobs = [(path, output / "episodes" / path.stem, files.index(path), horizon) for path in paths]
+            count = 0
+            for (summary, states, actions), job in zip(pool.map(convert_episode, jobs), jobs, strict=True):
+                summary["split"] = split
+                summaries.append(summary)
+                for i in range(summary["samples"]):
+                    (job[1] / f"{i}.pkl").rename(data_dir / f"{count + i}.pkl")
+                job[1].rmdir()
+                count += summary["samples"]
+                if split == "train" and len(states):
+                    stats["state"].update(states)
+                    stats["actions"].update(actions)
+                print(json.dumps(summary), flush=True)
+            (output / split / "meta").mkdir()
+            (output / split / "meta" / "stats.json").write_text(json.dumps({"total_samples": count}))
+    normalize.save(output / "assets" / "franka", {key: value.get_statistics() for key, value in stats.items()})
+    (output / "episodes").rmdir()
+    (output / "dataset.json").write_text(
+        json.dumps(
+            {
+                "source": str(Path(source).resolve()),
+                "action_horizon": horizon,
+                "representation": "absolute flange xyz, unit xyzw with qx positive, gripper open in [0,1]",
+                "gripper": (
+                    "Joy 14 open / 15 close, latched at original event timestamps; initial stable measured endpoint"
+                ),
+                "image_processing": "JPEG decode to RGB, aspect-preserving 224x224 bilinear resize with black padding",
+                "sync_tolerance_ms": 40,
+                "max_window_gap_ms": 100,
+                "prompts": PROMPTS,
+                "episodes": summaries,
+            },
+            indent=2,
+        )
+    )
+
+
+@dataclasses.dataclass(frozen=True)
+class FrankaInputs:
+    disable_context_gripper_command: bool = False
+
+    def __call__(self, data):
+        result = {
+            "image": {"base_0_rgb": data["image"], "left_wrist_0_rgb": data["wrist_image"]},
+            "image_mask": {"base_0_rgb": np.True_, "left_wrist_0_rgb": np.True_},
+            "state": np.r_[canonical_pose(data["state"][:7]), data["state"][7]].astype(np.float32),
+            "prompt": data["prompt"],
+            "simple_subgoal": None,
+            "grounded_subgoal": None,
+        }
+        if "actions" in data:
+            result["actions"] = data["actions"]
+        if "action_component_valid_mask" in data:
+            result["action_component_valid_mask"] = data["action_component_valid_mask"]
+        for key in [
+            "static_image_emb", "static_pos_emb", "static_state_emb", "static_mask",
+            "current_subgoal", "transition_context_action_delta", "transition_context_state_delta",
+            "transition_context_relative_age", "transition_context_valid_mask",
+            "transition_span_target", "transition_last_span_target", "transition_status_valid",
+            "transition_last_span_valid",
+        ]:
+            if data.get(key) is not None:
+                result[key] = data[key]
+        if self.disable_context_gripper_command and "transition_context_action_delta" in result:
+            context = np.asarray(result["transition_context_action_delta"]).copy()
+            context[..., 7] = 0
+            result["transition_context_action_delta"] = context
+        return result
+
+
+@dataclasses.dataclass(frozen=True)
+class FrankaOutputs:
+    def __call__(self, data):
+        actions = np.asarray(data["actions"])[..., :8].copy()
+        actions[..., :7] = canonical_pose(actions[..., :7])
+        actions[..., 7] = np.clip(actions[..., 7], 0, 1)
+        return {"actions": actions}
+
+
+@dataclasses.dataclass(frozen=True)
+class ResizeOnlyWhenNeeded:
+    def __call__(self, data):
+        if all(image.shape[:2] == (224, 224) for image in data["image"].values()):
+            return data
+        return {**data, "image": {key: prepare_rgb(image) for key, image in data["image"].items()}}
+
+
+@dataclasses.dataclass(frozen=True)
+class FrankaDataConfig:
+    assets_path: str
+    partial_supervision: bool = False
+    disable_context_gripper_command: bool = False
+
+    def create(self, assets_dirs, model_config):
+        from mme_vla_suite.training import config
+        from openpi import transforms
+        from openpi.shared import normalize
+
+        stats = normalize.load(Path(self.assets_path))
+        data_inputs = [FrankaInputs(self.disable_context_gripper_command)]
+        model_transforms = config.ModelTransformFactory()(model_config)
+        model_inputs = list(model_transforms.inputs)
+        if self.partial_supervision:
+            from integrations.robomme.franka_partial import BoundedStateForTokenization
+
+            data_inputs.append(BoundedStateForTokenization(stats["state"]))
+            model_inputs = [
+                dataclasses.replace(
+                    transform,
+                    tokenizer=config.PaligemmaTokenizer(model_config.max_token_len, reject_truncation=True),
+                    state_input_key="state_for_tokenization",
+                ) if isinstance(transform, config.TokenizePromptWithMemory) else transform
+                for transform in model_inputs
+            ]
+        model_transforms = transforms.Group(
+            inputs=[ResizeOnlyWhenNeeded() if isinstance(transform, transforms.ResizeImages) else transform
+                    for transform in model_inputs],
+            outputs=model_transforms.outputs,
+        )
+        return config.DataConfig(
+            repo_id="franka",
+            asset_id="franka",
+            norm_stats=stats,
+            use_quantile_norm=not self.partial_supervision,
+            data_transforms=transforms.Group(inputs=data_inputs, outputs=[FrankaOutputs()]),
+            model_transforms=model_transforms,
+        )
+
+
+def equivalent_step_budget(reference_steps=25000, reference_batch=1, global_batch=4):
+    """Preserve example count and sample-based warmup/EMA timescales."""
+    if min(reference_steps, reference_batch, global_batch) <= 0:
+        raise ValueError("Steps and batch sizes must be positive")
+    return {
+        "reference_steps": reference_steps, "reference_global_batch": reference_batch,
+        "global_batch": global_batch, "sample_exposures": reference_steps * reference_batch,
+        "steps": (reference_steps * reference_batch + global_batch - 1) // global_batch,
+        "warmup_steps": (1000 * reference_batch + global_batch - 1) // global_batch,
+        "ema_decay": .999 ** (global_batch / reference_batch),
+    }
+
+
+FORMAL_BUDGET = equivalent_step_budget()
+
+
+def model_repo_id(task, history_frames, step):
+    """User-facing names explicitly identify global/per-GPU batch and checkpoint."""
+    variant = f"uniform{history_frames}" if history_frames else "baseline"
+    return f"fm-dev/pi05-{task.replace('_', '-')}-{variant}-lora-gbs4-pgb1-gpu4-step{step}"
+
+
+def make_train_config(
+    dataset, run_root, steps=FORMAL_BUDGET["steps"], resume=False, uniform_history=False,
+    save_interval=5000, warmup_steps=FORMAL_BUDGET["warmup_steps"], decay_steps=FORMAL_BUDGET["steps"],
+    exp_name="button-order", log_interval=100, history_frames=32,
+):
+    from mme_vla_suite.training import config
+    from openpi.training import optimizer, weight_loaders
+
+    dataset, run_root = Path(dataset).resolve(), Path(run_root).resolve()
+    spec = json.loads((dataset / "dataset.json").read_text())
+    partial = spec.get("partial_action_supervision", False)
+    cfg = config.get_config("pi05_baseline")
+    cfg = dataclasses.replace(
+        cfg,
+        name="pi05_franka_baseline",
+        exp_name=exp_name,
+        model=dataclasses.replace(
+            cfg.model, action_horizon=spec["action_horizon"], discrete_state_input=True, max_token_len=128
+        ),
+        data=FrankaDataConfig(str(dataset / "assets" / "franka"), partial_supervision=partial),
+        dataset_path=str(dataset / "train"),
+        batch_size=4 if partial else 8,
+        fsdp_devices=1 if partial else 4,
+        num_workers=4 if partial else 0,
+        ema_decay=FORMAL_BUDGET["ema_decay"] if partial else 0.99,
+        num_train_steps=steps,
+        full_state_checkpoints=True,
+        lr_schedule=optimizer.CosineDecaySchedule(
+            warmup_steps=warmup_steps, peak_lr=5e-5 if partial else 2.5e-5,
+            decay_steps=decay_steps, decay_lr=5e-6 if partial else 2.5e-6,
+        ),
+        checkpoint_base_dir=str(run_root / "checkpoints"),
+        weight_loader=weight_loaders.CheckpointWeightLoader(
+            "/data/robomme/models/openpi/openpi-assets/checkpoints/pi05_base/params"
+        ),
+        save_interval=save_interval,
+        keep_period=save_interval,
+        log_interval=log_interval,
+        wandb_enabled=False,
+        resume=resume,
+        policy_metadata={
+            "dataset": str(dataset),
+            "representation": spec["representation"],
+            "gripper": spec["gripper"],
+            "run_purpose": "fine-tuning" if steps > 110 else "local training pipeline validation",
+            "target_steps": steps,
+            "save_interval": save_interval,
+            "task": spec.get("task", "pick3 + button_order"),
+            "prompt": spec.get("prompts", {}).get(spec.get("task")),
+            "partial_action_supervision": partial,
+            "unsupervised_action_components": spec.get("unsupervised_action_components", []),
+            "current_state_tokens": spec.get("current_state_tokens", "legacy quantile input"),
+        },
+        metrics_path=str(run_root / "metrics.tsv"),
+    )
+    if uniform_history:
+        from mme_vla_suite.models.config.utils import resolve_history_config_path
+
+        if history_frames not in (16, 32):
+            raise ValueError("Franka uniform history supports 16 or 32 frames")
+        history_path = resolve_history_config_path(f"perceptual-franka-uniform{history_frames}-modul.yaml")
+        cfg = dataclasses.replace(
+            cfg,
+            name=f"pi05_franka_uniform{history_frames}_baseline",
+            model=dataclasses.replace(cfg.model, use_history=True, history_config=str(history_path)),
+            policy_metadata={
+                **cfg.policy_metadata,
+                "history": {
+                    "sampling": "uniform over [0,t], inclusive",
+                    "frames": history_frames,
+                    "camera": "base",
+                    "tokens_per_frame": 16,
+                    "integration": "FrameSamp modulation",
+                },
+            },
+        )
+    if partial:
+        from flax import nnx
+        from openpi.shared import nnx_utils
+        from integrations.robomme.franka_partial import CartesianWeightLoader
+
+        model = dataclasses.replace(
+            cfg.model, action_dim=8, paligemma_variant="gemma_2b_lora", action_expert_variant="gemma_300m_lora"
+        )
+        cfg = dataclasses.replace(
+            cfg, model=model,
+            freeze_filter=nnx.Any(model.get_freeze_filter(), nnx_utils.PathRegex("time_mlp_.*")),
+            weight_loader=CartesianWeightLoader(cfg.weight_loader.params_path),
+            policy_metadata={**cfg.policy_metadata, "training_recipe": {
+                "method": "LoRA + Cartesian projections + optional history modules",
+                "gpus": 4, "global_batch_size": 4, "fsdp_devices": 1,
+                "gradient_accumulation": 1, "action_dim": 8, "action_horizon": 20,
+                "max_token_len": 128, "ema_decay": FORMAL_BUDGET["ema_decay"],
+                "reference_steps": 25000, "reference_global_batch": 1,
+                "reference_ema_decay": .999, "reference_warmup_steps": 1000,
+                "sample_exposures": steps * 4,
+                "warmup_steps": warmup_steps, "decay_steps": decay_steps,
+                "peak_lr": 5e-5, "decay_lr": 5e-6,
+            }},
+        )
+    return cfg
+
+
+def train(dataset, run_root, steps=FORMAL_BUDGET["steps"], resume=False, uniform_history=False, **training_options):
+    import os
+    import sys
+
+    if uniform_history:
+        # Free temporary initialization buffers so concurrent policy servers
+        # can share the four GPUs. The model/batch/optimizer are unchanged.
+        os.environ.setdefault("XLA_PYTHON_CLIENT_ALLOCATOR", "platform")
+    root = Path(__file__).resolve().parents[2]
+    sys.path.insert(0, str(root / "robomme" / "scripts"))
+    import train as trainer
+
+    config = make_train_config(dataset, run_root, steps, resume, uniform_history, **training_options)
+    config = dataclasses.replace(config, policy_metadata={
+        **config.policy_metadata, "gpu_allocator": os.environ.get("XLA_PYTHON_CLIENT_ALLOCATOR", "default"),
+    })
+    trainer.main(config)
+    assets = config.checkpoint_dir / str(steps) / "assets"
+    if uniform_history:
+        (assets / "history_config.yaml").write_text(Path(config.model.history_config).read_text())
+    (assets / "policy_metadata.json").write_text(json.dumps(config.policy_metadata, indent=2))
+
+
+def replay(dataset, checkpoint, output, uniform_history=False, history_frames=32):
+    """Reload a serving checkpoint and run one held-out observation per episode."""
+    from mme_vla_suite.policies.policy_config import create_trained_policy
+
+    dataset, checkpoint = Path(dataset), Path(checkpoint)
+    config = make_train_config(dataset, checkpoint.parents[3], uniform_history=uniform_history, history_frames=history_frames)
+    policy = create_trained_policy(config, checkpoint)
+    spec = json.loads((dataset / "dataset.json").read_text())
+    results = []
+    offset = 0
+    for episode in spec["episodes"]:
+        if episode["split"] != "validation":
+            continue
+        count = episode["samples"]
+        if count:
+            with (dataset / "validation" / "data" / f"{offset + count // 2}.pkl").open("rb") as handle:
+                sample = pickle.load(handle)
+            if uniform_history:
+                from picmem.data.semantic_transition.sampling import even_sampling_indices
+
+                policy.reset()
+                step = int(sample["step_idx"])
+                episode_id = int(sample["epis_idx"])
+                for index in even_sampling_indices(step, policy._metadata["history"]["frames"]):
+                    feature = dataset / "features" / f"episode_{episode_id}" / f"token_emb_{index}.npy"
+                    policy.mem_buffer._history_feats[index] = np.load(feature, allow_pickle=True).item()
+                policy.step_idx = step
+            prediction = policy.infer({key: sample[key] for key in ["image", "wrist_image", "state", "prompt"]})
+            actions = prediction["actions"]
+            if actions.shape != (spec["action_horizon"], 8) or not np.isfinite(actions).all():
+                raise ValueError(f"Invalid policy output for {episode['episode']}")
+            results.append(
+                {
+                    "episode": episode["episode"],
+                    "task": episode["task"],
+                    "shape": list(actions.shape),
+                    "all_finite": True,
+                    "gripper_range": [float(actions[:, 7].min()), float(actions[:, 7].max())],
+                    "infer_time_ms": float(prediction["infer_time_ms"]),
+                }
+            )
+            print(json.dumps(results[-1]), flush=True)
+        offset += count
+    Path(output).write_text(
+        json.dumps(
+            {
+                "checkpoint": str(checkpoint),
+                "observations": results,
+                "scope": "offline checkpoint load and finite-output check; no robot rollout",
+            },
+            indent=2,
+        )
+    )
+
+
+def load_policy(checkpoint):
+    """Load either formal model using only its exported checkpoint directory."""
+    from mme_vla_suite.training import config as training_config
+    from mme_vla_suite.policies.policy_config import create_trained_policy
+
+    checkpoint = Path(checkpoint).resolve()
+    metadata = json.loads((checkpoint / "assets/policy_metadata.json").read_text())
+    if not metadata.get("partial_action_supervision"):
+        raise ValueError("This entrypoint expects the verified partial Cartesian8 training recipe")
+    cfg = training_config.get_config("pi05_baseline")
+    history_path = checkpoint / "assets/history_config.yaml"
+    cfg = dataclasses.replace(
+        cfg,
+        model=dataclasses.replace(
+            cfg.model, action_dim=8, action_horizon=20,
+            max_token_len=metadata.get("training_recipe", {}).get("max_token_len", 128), discrete_state_input=True,
+            paligemma_variant="gemma_2b_lora", action_expert_variant="gemma_300m_lora",
+            use_history=history_path.exists(), history_config=str(history_path) if history_path.exists() else None,
+        ),
+        data=FrankaDataConfig(
+            str(checkpoint / "assets/franka"), partial_supervision=True,
+            disable_context_gripper_command=metadata.get("disable_context_gripper_command", False),
+        ),
+        policy_metadata=metadata,
+    )
+    return create_trained_policy(cfg, checkpoint)
+
+
+def observe(policy, base_rgb, state):
+    """Append each observed source frame, including current, before uniform-history inference."""
+    if policy.mem_buffer is None:
+        return
+    state = np.r_[canonical_pose(np.asarray(state)[:7]), np.asarray(state)[7]].astype(np.float32)
+    policy.add_buffer({"images": prepare_rgb(base_rgb)[None, None], "state": state[None]})
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(description=__doc__)
+    commands = parser.add_subparsers(dest="command", required=True)
+    prep = commands.add_parser("prepare")
+    prep.add_argument("--source", type=Path, required=True)
+    prep.add_argument("--output", type=Path, required=True)
+    prep.add_argument("--horizon", type=int, default=20)
+    prep.add_argument("--workers", type=int, default=8)
+    training = commands.add_parser("train")
+    training.add_argument("--dataset", type=Path, required=True)
+    training.add_argument("--run-root", type=Path, required=True)
+    training.add_argument("--steps", type=int, default=FORMAL_BUDGET["steps"])
+    training.add_argument("--resume", action="store_true")
+    training.add_argument("--uniform-history", action="store_true")
+    training.add_argument("--history-frames", type=int, choices=[16, 32], default=32)
+    training.add_argument("--save-interval", type=int, default=5000)
+    training.add_argument("--warmup-steps", type=int, default=FORMAL_BUDGET["warmup_steps"])
+    training.add_argument("--decay-steps", type=int, default=FORMAL_BUDGET["steps"])
+    training.add_argument("--exp-name", default="button-order")
+    training.add_argument("--log-interval", type=int, default=100)
+    replay_parser = commands.add_parser("replay")
+    replay_parser.add_argument("--dataset", type=Path, required=True)
+    replay_parser.add_argument("--checkpoint", type=Path, required=True)
+    replay_parser.add_argument("--output", type=Path, required=True)
+    replay_parser.add_argument("--uniform-history", action="store_true")
+    replay_parser.add_argument("--history-frames", type=int, choices=[16, 32], default=32)
+    args = vars(parser.parse_args())
+    command = args.pop("command")
+    {"prepare": prepare, "train": train, "replay": replay}[command](**args)

checkpoints/r2/pick3/baseline/step9000/code/integrations/robomme/franka_execution.py

@@ -0,0 +1,113 @@
+"""Select execution action rows while retaining each episode's complete visual history."""
+from __future__ import annotations
+
+import argparse
+from collections import Counter
+import copy
+import json
+from pathlib import Path
+import pickle
+import tempfile
+
+import numpy as np
+
+from integrations.robomme.franka_partial import validate_actions
+
+
+def prepare(dataset, annotations, output):
+    from openpi.shared import normalize
+
+    dataset, annotations, output = map(Path, (dataset, annotations, output))
+    if output.exists():
+        raise FileExistsError(f"Preserve the existing dataset: {output}")
+    spec = copy.deepcopy(json.loads((dataset / "dataset.json").read_text()))
+    task = spec["task"]
+    candidates = {}
+    for path in (annotations / "events-candidates-v1" / task).glob("*.json"):
+        record = json.loads(path.read_text())
+        if "raw_episode_id" in record:
+            candidates[record["raw_episode_id"]] = record
+    writer_version = "writer-astra-real-v2" if task == "button_order" else "writer-astra-real-v1"
+    episodes = {record["episode_id"]: record for record in spec["episodes"]}
+    source_offsets, cursor = {}, 0
+    for episode in spec["episodes"]:
+        source_offsets[episode["episode_id"]] = cursor
+        cursor += episode["frames"]
+        if episode["split"] == "excluded":
+            continue
+        annotation = candidates[episode["episode"]]
+        if annotation["total_frames"] != episode["frames"]:
+            raise ValueError(f"Annotation/frame count mismatch: {episode['episode']}")
+        writer = json.loads((annotations / writer_version / task / f"episode_{annotation['episode_id']:06d}.json").read_text())
+        if writer["total_frames"] != episode["frames"] or writer["first_decision_frame"] != annotation["execution_start"]:
+            raise ValueError(f"Writer/phase boundary mismatch: {episode['episode']}")
+        episode.update(execution_start=annotation["execution_start"], writer_episode_id=annotation["episode_id"])
+        spec["prompts"][task] = writer["task_instruction"]
+    output.parent.mkdir(parents=True, exist_ok=True)
+    states, actions, counts, episode_counts = {}, {}, {}, Counter()
+    with tempfile.TemporaryDirectory(prefix=f".{output.name}-", dir=output.parent) as temporary:
+        build = Path(temporary)
+        (build / "features").symlink_to((dataset / "features").resolve(), target_is_directory=True)
+        for split in ("train", "validation", "test"):
+            (build / split / "data").mkdir(parents=True)
+            (build / split / "meta").mkdir()
+            (build / split / "features").symlink_to("../features", target_is_directory=True)
+            count = 0
+            paths = sorted((dataset / split / "data").glob("*.pkl"), key=lambda p: int(p.stem))
+            for path in paths:
+                with path.open("rb") as stream:
+                    row = pickle.load(stream)
+                episode_id, frame = int(row["epis_idx"]), int(row["step_idx"])
+                episode = episodes[episode_id]
+                if frame < episode["execution_start"]:
+                    continue
+                validate_actions(row["actions"], row["action_component_valid_mask"])
+                row.update(exec_start_idx=np.asarray(episode["execution_start"]), is_demo=np.asarray(False),
+                           global_episode_id=np.asarray(episode_id), task_id=f"franka_{task}",
+                           source_index=np.asarray(source_offsets[episode_id] + frame), prompt=spec["prompts"][task])
+                with (build / split / "data" / f"{count}.pkl").open("xb") as stream:
+                    pickle.dump(row, stream, protocol=pickle.HIGHEST_PROTOCOL)
+                count += 1
+                episode_counts[episode_id] += 1
+                if split == "train":
+                    states[episode_id, frame] = row["state"]
+                    for offset, action in enumerate(row["actions"]):
+                        key = episode_id, frame + offset
+                        if key in actions and not np.array_equal(actions[key], action, equal_nan=True):
+                            raise ValueError(f"Overlapping action windows disagree: {key}")
+                        actions[key] = action
+            counts[split] = count
+            (build / split / "meta/stats.json").write_text(json.dumps({"total_samples": count, "execution_samples": count}))
+        norms, valid_counts = {}, {}
+        for field, rows in (("state", states), ("actions", actions)):
+            matrix = np.stack(list(rows.values()))
+            columns = [v[np.isfinite(v)] for v in matrix.T]
+            if any(not len(v) for v in columns[:7]) or field == "state" and not len(columns[7]):
+                raise ValueError(f"Missing required normalization evidence: {field}")
+            norms[field] = normalize.NormStats(
+                mean=np.array([v.mean() if len(v) else 0 for v in columns]),
+                std=np.array([v.std() if len(v) else 1 for v in columns]),
+                q01=np.array([np.quantile(v, .01) if len(v) else 0 for v in columns]),
+                q99=np.array([np.quantile(v, .99) if len(v) else 0 for v in columns]),
+            )
+            valid_counts[field] = [len(v) for v in columns]
+        normalize.save(build / "assets/franka", norms)
+        for episode in spec["episodes"]:
+            episode["samples"] = episode_counts[episode["episode_id"]]
+        spec.update(counts=counts, normalization_valid_counts=valid_counts,
+                    normalization="train-only known-component STD; unique frames used in execution training windows",
+                    action_supervision="execution frames only; demonstration frames retained as visual history",
+                    frame_coordinates="original episode/frame IDs, never shifted at execution start",
+                    representation="absolute recorded end-effector xyz, unit xyzw with qx positive, commanded gripper open in [0,1]",
+                    previous_dataset=str(dataset.resolve()), annotation_source=str(annotations.resolve()),
+                    unsupervised_action_components=[i for i, count in enumerate(valid_counts["actions"]) if not count])
+        (build / "dataset.json").write_text(json.dumps(spec, indent=2))
+        build.rename(output)
+    return {"task": task, "counts": counts, "output": str(output), "history_start_frame": 0}
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(description=__doc__)
+    for name in ("dataset", "annotations", "output"):
+        parser.add_argument("--" + name, type=Path, required=True)
+    print(json.dumps(prepare(**vars(parser.parse_args()))), flush=True)

checkpoints/r2/pick3/baseline/step9000/code/integrations/robomme/franka_history.py

@@ -0,0 +1,258 @@
+"""Cache frozen base-camera features for the existing Uniform16 FrameSamp loader."""
+
+from __future__ import annotations
+
+import argparse
+import json
+import multiprocessing
+import os
+import pickle
+import shutil
+from concurrent.futures import ProcessPoolExecutor
+from pathlib import Path
+
+import cv2
+import h5py
+import numpy as np
+
+from integrations.robomme.franka_baseline import BASE, POSE, canonical_pose, decode_image
+
+
+def decode_episode(path):
+    cv2.setNumThreads(1)
+    with h5py.File(path, "r") as source:
+        keys = sorted(source)
+        images = np.empty((len(keys), 224, 224, 3), dtype=np.uint8)
+        states = np.zeros((len(keys), 8), dtype=np.float32)
+        state_valid = np.zeros(len(keys), dtype=bool)
+        for i, key in enumerate(keys):
+            frame = source[key]
+            images[i] = decode_image(frame[BASE])
+            required = [POSE + "_position", POSE + "_orientation", "_franka_gripper_joint_states/position"]
+            if all(name in frame for name in required):
+                states[i, :7] = canonical_pose(np.r_[frame[required[0]][:], frame[required[1]][:]])
+                states[i, 7] = frame[required[2]][:].sum() / 0.08
+                state_valid[i] = True
+        # The recipe uses visual/position history only. Missing historical state
+        # remains a finite placeholder and is recorded, never used by the encoder.
+        return images, states, state_valid
+
+
+def frozen_encoder():
+    import flax.nnx as nnx
+    import flax.nnx.bridge as bridge
+    import jax
+    import jax.numpy as jnp
+    from openpi.models import model, siglip
+
+    params = model.restore_params(
+        "/data/robomme/models/openpi/openpi-assets/checkpoints/pi05_base/params",
+        restore_type=np.ndarray,
+    )["PaliGemma"]["img"]
+    encoder = bridge.ToNNX(
+        siglip.Module(
+            num_classes=2048,
+            variant="So400m/14",
+            pool_type="none",
+            scan=True,
+            dtype_mm="bfloat16",
+        )
+    )
+    encoder.lazy_init(jnp.zeros((1, 224, 224, 3)), train=False, rngs=nnx.Rngs(0))
+    graph, state = nnx.split(encoder)
+    # Match init_train_state's frozen-parameter dtype and checkpoint exactly.
+    state.replace_by_pure_dict(jax.tree.map(lambda x: jnp.asarray(x, dtype=jnp.bfloat16), params))
+    return nnx.merge(graph, state)
+
+
+def prepare(dataset, output, workers=8, batch_size=32):
+    import flax.nnx as nnx
+    import jax
+    import jax.numpy as jnp
+    from mme_vla_suite.shared.data_utils import pool_tokens_to_size
+    from mme_vla_suite.shared.posemb_3d import PosEmb3D
+
+    dataset, output = Path(dataset).resolve(), Path(output).resolve()
+    spec = json.loads((dataset / "dataset.json").read_text())
+    paths = sorted(Path(spec["source"]).glob("*/*.h5"))
+    output.mkdir(parents=True, exist_ok=False)
+    features = output / "features"
+    features.mkdir()
+    encoder = frozen_encoder()
+    position_encoder = PosEmb3D(768)
+
+    @nnx.jit
+    def encode(module, images):
+        tokens, _ = module(images, train=False)
+        return pool_tokens_to_size(tokens, 16)
+
+    summaries = []
+    with ProcessPoolExecutor(workers, mp_context=multiprocessing.get_context("spawn")) as pool:
+        for episode_id, (path, decoded) in enumerate(zip(paths, pool.map(decode_episode, paths), strict=True)):
+            images, states, state_valid = decoded
+            destination = features / f"episode_{episode_id}"
+            destination.mkdir()
+            positions = np.asarray(position_encoder(jnp.arange(len(images)), 4), dtype=np.float32)
+            for start in range(0, len(images), batch_size):
+                batch = images[start : start + batch_size]
+                length = len(batch)
+                # A fixed batch shape avoids recompiling for every episode tail.
+                if length < batch_size:
+                    batch = np.pad(batch, ((0, batch_size - length), (0, 0), (0, 0), (0, 0)))
+                embeddings = np.asarray(
+                    encode(encoder, jnp.asarray(batch, dtype=jnp.float32) / 127.5 - 1), dtype=np.float32
+                )
+                for offset in range(length):
+                    i = start + offset
+                    np.save(
+                        destination / f"token_emb_{i}.npy",
+                        {
+                            "image_emb_4x4": embeddings[offset : offset + 1],
+                            "pos_emb_4x4": positions[i : i + 1],
+                            "state_emb": states[i],
+                        },
+                    )
+            summary = {
+                "episode": path.stem,
+                "episode_id": episode_id,
+                "frames": len(images),
+                "missing_unused_state_frames": int((~state_valid).sum()),
+            }
+            summaries.append(summary)
+            print(json.dumps(summary), flush=True)
+    del encoder
+    jax.clear_caches()
+
+    for split in ["train", "validation"]:
+        destination = output / split
+        (destination / "data").mkdir(parents=True)
+        shutil.copytree(dataset / split / "meta", destination / "meta")
+        (destination / "features").symlink_to("../features", target_is_directory=True)
+        count = json.loads((destination / "meta" / "stats.json").read_text())["total_samples"]
+        for i in range(count):
+            with (dataset / split / "data" / f"{i}.pkl").open("rb") as handle:
+                row = pickle.load(handle)
+            # FrameSamp samples the whole observed prefix and does not use this
+            # recurrent/Status compatibility field to select its history.
+            row["exec_start_idx"] = np.asarray(0)
+            with (destination / "data" / f"{i}.pkl").open("xb") as handle:
+                pickle.dump(row, handle, protocol=pickle.HIGHEST_PROTOCOL)
+    shutil.copytree(dataset / "assets", output / "assets")
+    spec["baseline_dataset"] = str(dataset)
+    spec["history"] = {
+        "frames": 16,
+        "sampling": "even_sampling_indices(t,16), inclusive [0,t]",
+        "camera": "base",
+        "tokens_per_frame": 16,
+        "tokens": 256,
+        "use_historical_state": False,
+        "position": "absolute source-frame index and 4x4 spatial position",
+        "vision_checkpoint": "/data/robomme/models/openpi/openpi-assets/checkpoints/pi05_base/params",
+        "vision_dtype": "bfloat16",
+        "cache_dtype": "float32",
+    }
+    (output / "dataset.json").write_text(json.dumps(spec, indent=2))
+    (output / "feature-summary.json").write_text(json.dumps(summaries, indent=2))
+    print(f"Completed: {len(summaries)} episodes, {sum(row['frames'] for row in summaries)} frame features", flush=True)
+
+
+def select_task(dataset, output, task):
+    """Reuse source rows and cached features; fit normalization on one task's train split."""
+    from openpi.shared import normalize
+
+    dataset, output = Path(dataset).resolve(), Path(output).resolve()
+    spec = json.loads((dataset / "dataset.json").read_text())
+    selected = [episode for episode in spec["episodes"] if episode["task"] == task]
+    if not selected:
+        raise ValueError(f"No episodes for task {task}")
+    output.mkdir(parents=True, exist_ok=False)
+    (output / "features").symlink_to(dataset / "features", target_is_directory=True)
+    statistics = {key: normalize.RunningStats() for key in ["state", "actions"]}
+    counts = {"train": 0, "validation": 0}
+    offsets = dict(counts)
+    for split in counts:
+        (output / split / "data").mkdir(parents=True)
+        (output / split / "meta").mkdir()
+        (output / split / "features").symlink_to("../features", target_is_directory=True)
+    for episode in spec["episodes"]:
+        split, count = episode["split"], episode["samples"]
+        start = offsets[split]
+        offsets[split] += count
+        if episode["task"] != task:
+            continue
+        for index in range(start, start + count):
+            source = dataset / split / "data" / f"{index}.pkl"
+            os.link(source, output / split / "data" / f"{counts[split]}.pkl")
+            counts[split] += 1
+            if split == "train":
+                with source.open("rb") as handle:
+                    row = pickle.load(handle)
+                for key in statistics:
+                    statistics[key].update(row[key][None])
+    for split, count in counts.items():
+        (output / split / "meta" / "stats.json").write_text(json.dumps({"total_samples": count}))
+    normalize.save(output / "assets" / "franka", {key: value.get_statistics() for key, value in statistics.items()})
+    spec.update({"episodes": selected, "task": task, "parent_dataset": str(dataset),
+                 "normalization_source": f"{task} training episodes only"})
+    (output / "dataset.json").write_text(json.dumps(spec, indent=2))
+    print(json.dumps({"task": task, "episodes": len(selected), "samples": counts}), flush=True)
+
+
+def cache_task(source, output, task, batch_size=8):
+    """Cache every original frame for an additional task using the frozen encoder."""
+    import flax.nnx as nnx
+    import jax.numpy as jnp
+    from mme_vla_suite.shared.data_utils import pool_tokens_to_size
+    from mme_vla_suite.shared.posemb_3d import PosEmb3D
+
+    source, output = Path(source), Path(output)
+    paths = sorted(source.glob("*/*.h5"))
+    selected = [(i,p) for i,p in enumerate(paths) if p.parent.name == task]
+    if not selected:
+        raise ValueError(f"No converted episodes for {task}")
+    output.mkdir(parents=True, exist_ok=True)
+    encoder = frozen_encoder()
+    position_encoder = PosEmb3D(768)
+
+    @nnx.jit
+    def encode(module, images):
+        tokens, _ = module(images, train=False)
+        return pool_tokens_to_size(tokens, 16)
+
+    records = []
+    for episode_id, path in selected:
+        images, states, state_valid = decode_episode(path)
+        destination = output / f"episode_{episode_id}"
+        destination.mkdir(exist_ok=True)
+        positions = np.asarray(position_encoder(jnp.arange(len(images)), 4), dtype=np.float32)
+        for start in range(0, len(images), batch_size):
+            batch = images[start:start + batch_size]
+            length = len(batch)
+            batch = np.pad(batch, ((0,batch_size-length),(0,0),(0,0),(0,0)))
+            embeddings = np.asarray(encode(encoder, jnp.asarray(batch, dtype=jnp.float32) / 127.5 - 1), dtype=np.float32)
+            for offset in range(length):
+                i = start + offset
+                np.save(destination / f"token_emb_{i}.npy", {
+                    "image_emb_4x4": embeddings[offset:offset + 1],
+                    "pos_emb_4x4": positions[i:i + 1], "state_emb": states[i],
+                })
+        record = {"episode":path.stem,"episode_id":episode_id,"frames":len(images),
+                  "missing_unused_state_frames":int((~state_valid).sum())}
+        records.append(record)
+        print(json.dumps(record),flush=True)
+    (output / "feature-summary.json").write_text(json.dumps(records,indent=2))
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(description=__doc__)
+    parser.add_argument("--dataset", type=Path, required=True)
+    parser.add_argument("--output", type=Path, required=True)
+    parser.add_argument("--workers", type=int, default=8)
+    parser.add_argument("--batch-size", type=int, default=32)
+    parser.add_argument("--task", help="Select one task from an already cached dataset instead of encoding features")
+    args = vars(parser.parse_args())
+    task = args.pop("task")
+    if task:
+        select_task(args["dataset"], args["output"], task)
+    else:
+        prepare(**args)

checkpoints/r2/pick3/baseline/step9000/code/integrations/robomme/franka_matrix.py

@@ -0,0 +1,114 @@
+"""Run the remaining real-robot tasks and archive every complete checkpoint."""
+from __future__ import annotations
+
+import argparse
+import json
+from pathlib import Path
+import subprocess
+import sys
+import time
+
+from integrations.robomme.franka_baseline import FORMAL_BUDGET, model_repo_id
+
+
+def checkpoint_jobs(matrix):
+    for task in matrix["tasks"]:
+        slug = task["task"].replace("_", "-")
+        for variant in ("baseline", "uniform32"):
+            config = "pi05_franka_baseline" if variant == "baseline" else "pi05_franka_uniform32_baseline"
+            for step in (5000, FORMAL_BUDGET["steps"]):
+                yield {
+                    "task": task["task"], "variant": variant, "step": step,
+                    "checkpoint": str(Path(task["run_root"]) / variant / "checkpoints" / config / slug / str(step)),
+                    "repo_id": model_repo_id(task["task"], 32 if variant == "uniform32" else 0, step),
+                }
+
+
+def archive(matrix_path):
+    from huggingface_hub import HfApi
+
+    matrix_path = Path(matrix_path)
+    tasks = json.loads(matrix_path.read_text())
+    jobs = list(checkpoint_jobs(tasks))
+    receipts = matrix_path.parent / "checkpoint-uploads"
+    receipts.mkdir(exist_ok=True)
+    api = HfApi()
+    while jobs:
+        for job in jobs[:]:
+            source = Path(job["checkpoint"])
+            receipt = receipts / f"{job['task']}-{job['variant']}-{job['step']}.json"
+            if receipt.exists():
+                jobs.remove(job)
+                continue
+            if not (source / "_CHECKPOINT_METADATA").exists():
+                continue
+            if not (source / "resume_state").is_dir():
+                raise ValueError(f"Complete training state is missing: {source}")
+            print(f"Uploading complete checkpoint {job['task']}/{job['variant']}/{job['step']}", flush=True)
+            api.create_repo(job["repo_id"], repo_type="model", private=False, exist_ok=True)
+            commit = api.upload_folder(
+                repo_id=job["repo_id"], repo_type="model", folder_path=source,
+                commit_message=f"Archive complete {job['step']}-step checkpoint including optimizer and sampler",
+            )
+            remote = {f.path: f.size for f in api.list_repo_tree(job["repo_id"], recursive=True)
+                      if hasattr(f, "size")}
+            files = [p for p in source.rglob("*") if p.is_file()]
+            for path in files:
+                name = path.relative_to(source).as_posix()
+                if remote.get(name) != path.stat().st_size:
+                    raise RuntimeError(f"Remote checkpoint file missing or wrong size: {job['repo_id']}/{name}")
+            receipt.write_text(json.dumps({
+                **job, "commit": commit.oid, "complete_checkpoint_verified": True,
+                "files": len(files), "bytes": sum(p.stat().st_size for p in files),
+            }, indent=2))
+            jobs.remove(job)
+            print(f"Verified complete checkpoint: {job['repo_id']}", flush=True)
+        if jobs:
+            time.sleep(10)
+    print("All formal checkpoints uploaded with full resume state", flush=True)
+
+
+def train_remaining(matrix_path, wait_pid):
+    import psutil
+
+    matrix_path = Path(matrix_path)
+    matrix = json.loads(matrix_path.read_text())
+    if wait_pid:
+        print(f"Waiting for current button_order controller PID {wait_pid}", flush=True)
+        try:
+            psutil.Process(wait_pid).wait()
+        except psutil.NoSuchProcess:
+            pass
+    button = next(t for t in matrix["tasks"] if t["task"] == "button_order")
+    button_root = Path(button["run_root"])
+    final = button_root / "uniform32/checkpoints/pi05_franka_uniform32_baseline/button-order" / str(FORMAL_BUDGET["steps"])
+    evaluation = button_root / "uniform32-evaluation.json"
+    if not (final / "_CHECKPOINT_METADATA").exists() or not evaluation.exists():
+        raise RuntimeError("button_order training/evaluation must finish before the remaining tasks start")
+    if not json.loads(evaluation.read_text())["all_outputs_finite"]:
+        raise RuntimeError("button_order final evaluation failed")
+    for task in matrix["tasks"]:
+        if task["task"] == "button_order":
+            continue
+        dataset = Path(task["dataset"])
+        if not (dataset / "dataset.json").exists():
+            raise RuntimeError(f"Prepared dataset is not ready: {dataset}")
+        print(f"Starting both settings for {task['task']}", flush=True)
+        with (matrix_path.parent / f"{task['task']}-controller.log").open("a") as log:
+            subprocess.run([
+                sys.executable, "-m", "integrations.robomme.franka_release", "run",
+                "--dataset", str(dataset), "--run-root", task["run_root"],
+            ], stdout=log, stderr=subprocess.STDOUT, check=True)
+    print("All task/settings finished training and evaluation; check upload receipts separately", flush=True)
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(description=__doc__)
+    parser.add_argument("command", choices=["archive", "train-remaining"])
+    parser.add_argument("--matrix-path", type=Path, required=True)
+    parser.add_argument("--wait-pid", type=int, default=0)
+    args = parser.parse_args()
+    if args.command == "archive":
+        archive(args.matrix_path)
+    else:
+        train_remaining(args.matrix_path, args.wait_pid)

checkpoints/r2/pick3/baseline/step9000/code/integrations/robomme/franka_partial.py

@@ -0,0 +1,226 @@
+"""Verified partial Cartesian supervision and the local four-GPU Franka recipe.
+
+Preparation reads converted HDF5 plus the saved Joy-edge/server evidence from
+fm-dev/shulin_ws. It never reads ROS bags or infers commands from finger width.
+"""
+from __future__ import annotations
+
+import argparse
+import dataclasses
+import importlib.util
+import json
+import pickle
+from pathlib import Path
+
+import h5py
+import numpy as np
+
+from integrations.robomme.franka_baseline import BASE, WRIST, POSE, PROMPTS, canonical_pose, decode_image, window_starts
+
+PROMPT = PROMPTS["button_order"]
+
+
+@dataclasses.dataclass(frozen=True)
+class BoundedStateForTokenization:
+    stats: object
+
+    def __call__(self, data):
+        low, high = np.asarray(self.stats.q01), np.asarray(self.stats.q99)
+        span = high - low
+        state = np.asarray(data["state"], dtype=np.float32)
+        bounded = 2 * (state - low) / np.where(span > 1e-6, span, 1) - 1
+        return {**data, "state_for_tokenization": np.where(
+            span > 1e-6, np.clip(bounded, -1, 1), 0
+        ).astype(np.float32)}
+
+
+@dataclasses.dataclass(frozen=True)
+class CartesianWeightLoader:
+    params_path: str
+
+    def load(self, params):
+        from flax import traverse_util
+        from openpi.models import model
+        from openpi.training.weight_loaders import _merge_params
+
+        loaded = model.restore_params(self.params_path, restore_type=np.ndarray)
+        # The base's padded joint-space heads do not represent Cartesian D8.
+        for key in ("action_in_proj", "action_out_proj", "state_proj"):
+            loaded.pop(key, None)
+        reference = traverse_util.flatten_dict(params, sep="/")
+        for key, value in traverse_util.flatten_dict(loaded, sep="/").items():
+            if key in reference and value is not None and value.shape != reference[key].shape:
+                raise ValueError(f"Unexpected pretrained shape mismatch: {key}")
+        return _merge_params(loaded, params, missing_regex=".*")
+
+
+def validate_actions(actions, mask):
+    if actions.shape != mask.shape or actions.shape[-1] != 8 or mask.dtype != bool:
+        raise ValueError("Partial action arrays require matching [H,8] targets and boolean masks")
+    if not np.isfinite(actions[mask]).all() or not np.isnan(actions[~mask]).all():
+        raise ValueError("Known actions must be finite; unknown disk targets must be NaN")
+    if np.any(mask[..., 3:7] != mask[..., 3:4]):
+        raise ValueError("Quaternion validity must be all-or-none")
+
+
+def read_h5_signals(path):
+    """Numeric signals from converted HDF5, with missing measurements left unknown."""
+    with h5py.File(path, "r") as source:
+        keys = sorted(source)
+        stamps = np.array([source[k].attrs["timestamp"] for k in keys], dtype=np.int64)
+        state_pose = np.full((len(keys), 7), np.nan)
+        target_pose = np.full((len(keys), 7), np.nan)
+        width = np.full(len(keys), np.nan)
+        for i, key in enumerate(keys):
+            frame = source[key]
+            if POSE + "_position" in frame and POSE + "_orientation" in frame:
+                state_pose[i] = np.r_[frame[POSE + "_position"][:], frame[POSE + "_orientation"][:]]
+            if "_target_pose_position" in frame and "_target_pose_orientation" in frame:
+                target_pose[i] = np.r_[frame["_target_pose_position"][:], frame["_target_pose_orientation"][:]]
+            if "_franka_gripper_joint_states/position" in frame:
+                width[i] = frame["_franka_gripper_joint_states/position"][:].sum() / .08
+    return stamps, state_pose, target_pose, width
+
+
+def prepare(source, reference, split_manifest, output, features, task="button_order"):
+    from openpi.shared import normalize
+
+    source, reference, output = Path(source), Path(reference), Path(output)
+    manifest = json.loads(Path(split_manifest).read_text())
+    entries = manifest["episodes"]
+    available = {p.stem: p for p in (source / task).glob("*.h5")}
+    if {e["raw_episode_id"] for e in entries} != set(available):
+        raise ValueError(f"Split must cover exactly the converted {task} episodes")
+    # Reuse the user's reviewed event/clock logic, never its older bootstrap.
+    evidence_source = reference / "scripts/build_franka_baseline_dataset.py"
+    module_spec = importlib.util.spec_from_file_location("franka_evidence", evidence_source)
+    evidence = importlib.util.module_from_spec(module_spec)
+    module_spec.loader.exec_module(evidence)
+    commands, server_counts = evidence.parse_server_commands(reference / "evidence/remote_gripper_server_events.log")
+    output.mkdir(parents=True, exist_ok=False)
+    (output / "features").symlink_to(Path(features).resolve(), target_is_directory=True)
+    counts = {"train": 0, "validation": 0, "test": 0}
+    for split in counts:
+        (output / split / "data").mkdir(parents=True)
+        (output / split / "meta").mkdir()
+        (output / split / "features").symlink_to("../features", target_is_directory=True)
+    # Feature IDs follow the original sorted converted inventory, not split order.
+    all_files = sorted(source.glob("*/*.h5"))
+    records, state_rows, action_rows = [], [], []
+    for entry in entries:
+        name, split = entry["raw_episode_id"], entry["split"]
+        path = available[name]
+        episode_id = all_files.index(path)
+        qc_path = reference / "data/qc_state" / f"{task}__{name}.npz"
+        if qc_path.exists():
+            with np.load(qc_path) as qc:
+                stamps = qc["ts"].copy()
+                state_pose = np.c_[qc["ee_pos"], qc["ee_quat"]]
+                target_pose = np.c_[qc["tgt_pos"], qc["tgt_quat"]]
+                width = qc["grip_pos"].sum(axis=1) / 0.08
+        else:
+            stamps, state_pose, target_pose, width = read_h5_signals(path)
+        n = len(stamps)
+        state = np.full((n, 8), np.nan, dtype=np.float32)
+        actions = np.full((n, 8), np.nan, dtype=np.float32)
+        state_finite = np.isfinite(state_pose).all(axis=1) & np.isfinite(width)
+        pose_finite = np.isfinite(target_pose).all(axis=1)
+        state[state_finite, :7] = canonical_pose(state_pose[state_finite])
+        state[state_finite, 7] = width[state_finite]
+        actions[pose_finite, :7] = canonical_pose(target_pose[pose_finite])
+        joy_path = reference / "evidence/joy_edges" / task / f"{name}.json"
+        verified = []
+        if joy_path.exists():
+            verified, _ = evidence.verified_commands(json.loads(joy_path.read_text()), commands)
+        actions[:, 7] = [np.nan if (v := evidence.command_at(int(t), verified)) is None else v for t in stamps]
+        mask = np.isfinite(actions)
+        # Keep the local 40 ms stream tolerance and 100 ms gap filter. Missing
+        # command evidence removes one component, not the known pose targets.
+        obs_valid = state_finite.copy()
+        target_synced = np.zeros(n, dtype=bool)
+        with h5py.File(path, "r") as h5:
+            keys = sorted(h5)
+            if len(keys) != n:
+                raise ValueError(f"QC/HDF5 frame count differs: {name}")
+            for i, key in enumerate(keys):
+                frame = h5[key]
+                if int(frame.attrs["timestamp"]) != int(stamps[i]):
+                    raise ValueError(f"QC/HDF5 timestamp differs: {name}/{key}")
+                if POSE + "_position" in frame:
+                    np.testing.assert_array_equal(frame[POSE + "_position"][:], state_pose[i, :3])
+                sync = frame["sync_quality"].attrs
+                obs_valid[i] &= BASE in frame and WRIST in frame and all(
+                    abs(sync.get(k, np.inf)) <= 40_000_000
+                    for k in (WRIST, POSE, "_franka_gripper_joint_states")
+                )
+                target_synced[i] = abs(sync.get("_target_pose", np.inf)) <= 40_000_000
+            starts = window_starts(stamps, pose_finite & target_synced, 20)
+            starts = starts[obs_valid[starts]]
+            if entry.get("exclude_reason"):
+                starts = starts[:0]
+            for i in starts:
+                frame = h5[keys[i]]
+                row = {
+                    "image": decode_image(frame[BASE]), "wrist_image": decode_image(frame[WRIST]),
+                    "state": state[i], "actions": actions[i:i + 20],
+                    "action_component_valid_mask": mask[i:i + 20], "prompt": PROMPTS[task],
+                    "epis_idx": np.asarray(episode_id), "step_idx": np.asarray(i),
+                    "exec_start_idx": np.asarray(0), "timestamp_ns": stamps[i],
+                }
+                validate_actions(row["actions"], row["action_component_valid_mask"])
+                with (output / split / "data" / f"{counts[split]}.pkl").open("xb") as stream:
+                    pickle.dump(row, stream, protocol=pickle.HIGHEST_PROTOCOL)
+                counts[split] += 1
+        if split == "train" and not entry.get("exclude_reason"):
+            state_rows.append(state[obs_valid])
+            # Fit once per original known source frame, avoiding window overlap weighting.
+            action_rows.append(actions[pose_finite & target_synced])
+        records.append({
+            "episode": name, "episode_id": episode_id, "task": task, "split": split,
+            "frames": n, "samples": len(starts), "known_gripper_frames": int(mask[:, 7].sum()),
+            "verified_commands": len(verified),
+            "exclude_reason": entry.get("exclude_reason"),
+        })
+        print(json.dumps(records[-1]), flush=True)
+    stats, valid_counts = {}, {}
+    for key, arrays in (("state", state_rows), ("actions", action_rows)):
+        values = np.concatenate(arrays).astype(np.float64)
+        known = [v[np.isfinite(v)] for v in values.T]
+        valid_counts[key] = [len(v) for v in known]
+        if any(len(v) == 0 for v in known[:7]) or (key == "state" and not len(known[7])):
+            raise ValueError(f"No training evidence for one or more {key} components")
+        # A wholly unobserved action-gripper dimension uses the physical unit
+        # coordinate (identity normalization), not invented fitted statistics.
+        # Its labels stay NaN/false and its output is explicitly unsupervised.
+        stats[key] = normalize.NormStats(
+            mean=np.array([v.mean() if len(v) else 0 for v in known]),
+            std=np.array([v.std() if len(v) else 1 for v in known]),
+            q01=np.array([np.quantile(v, .01) if len(v) else 0 for v in known]),
+            q99=np.array([np.quantile(v, .99) if len(v) else 1 for v in known]),
+        )
+    normalize.save(output / "assets/franka", stats)
+    for split, count in counts.items():
+        (output / split / "meta/stats.json").write_text(json.dumps({"total_samples": count}))
+    spec = {
+        "source": str(source), "task": task, "action_horizon": 20,
+        "prompts": {task: PROMPTS[task]},
+        "partial_action_supervision": True, "normalization": "train-only known-component STD",
+        "representation": "absolute flange xyz, unit xyzw with qx positive, commanded gripper open in [0,1]",
+        "gripper": "full-rate Joy edges matched to saved server requests; unknown=NaN/mask false; no bootstrap",
+        "split_manifest": str(split_manifest), "command_evidence_source": str(evidence_source),
+        "sync_tolerance_ms": 40, "max_window_gap_ms": 100,
+        "current_state_tokens": "train q01/q99 bounded [-1,1], constant spans map to zero",
+        "server_evidence_counts": server_counts, "episodes": records, "counts": counts,
+        "normalization_valid_counts": valid_counts,
+        "unsupervised_action_components": [i for i,n in enumerate(valid_counts["actions"]) if n == 0],
+    }
+    (output / "dataset.json").write_text(json.dumps(spec, indent=2))
+    print(json.dumps(counts), flush=True)
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(description=__doc__)
+    for name in ("source", "reference", "split-manifest", "output", "features"):
+        parser.add_argument("--" + name, type=Path, required=True)
+    parser.add_argument("--task", choices=list(PROMPTS), default="button_order")
+    prepare(**vars(parser.parse_args()))

checkpoints/r2/pick3/baseline/step9000/code/integrations/robomme/franka_release.py

@@ -0,0 +1,420 @@
+"""Evaluate final Franka policies and publish portable model bundles to fm-dev."""
+from __future__ import annotations
+
+import argparse
+import importlib.metadata
+import json
+import os
+from pathlib import Path
+import pickle
+import shutil
+import subprocess
+import sys
+import time
+
+import numpy as np
+
+from integrations.robomme.franka_baseline import FORMAL_BUDGET, load_policy, model_repo_id
+
+
+def training_settings(metadata, spec, checkpoint_step):
+    recipe = metadata["training_recipe"]
+    history = metadata.get("history", {})
+    return {
+        "model": "pi0.5", "task": spec["task"], "fine_tuning": "LoRA",
+        "setting": f"uniform{history['frames']}" if history else "baseline",
+        "checkpoint_step": checkpoint_step, "target_steps": metadata["target_steps"],
+        "global_batch_size": recipe["global_batch_size"],
+        "per_gpu_batch_size": recipe["global_batch_size"] // recipe["gpus"],
+        "num_gpus": recipe["gpus"], "gpu_model": "NVIDIA RTX A6000",
+        "gradient_accumulation_steps": recipe["gradient_accumulation"],
+        "parallelism": "JAX data parallel", "fsdp_devices": recipe["fsdp_devices"],
+        "samples_seen": checkpoint_step * recipe["global_batch_size"],
+        "reference_budget": {"batch_size": recipe["reference_global_batch"], "steps": recipe["reference_steps"]},
+        "optimizer": {"name": "AdamW", "beta1": .9, "beta2": .95, "epsilon": 1e-8,
+                      "weight_decay": 1e-10, "clip_gradient_norm": 1.0},
+        "lr_schedule": {"name": "cosine", "warmup_steps": recipe["warmup_steps"],
+                        "peak_lr": recipe["peak_lr"], "decay_steps": recipe["decay_steps"],
+                        "final_lr": recipe["decay_lr"]},
+        "ema_decay": recipe["ema_decay"], "seed": 42, "data_loader_workers": 4,
+        "lora_backbones": ["gemma_2b_lora", "gemma_300m_lora"], "lora_rank": 32,
+        "trainable": recipe["method"],
+        "compute_dtype": "bfloat16", "trainable_parameter_dtype": "float32",
+        "action_dim": recipe["action_dim"], "action_horizon": recipe["action_horizon"],
+        "state_tokens": {"enabled": True, "max_token_len": recipe["max_token_len"],
+                         "normalization": "bounded train q01/q99; constant spans map to0"},
+        "history": {**history, "history_tokens": history.get("frames", 0) * history.get("tokens_per_frame", 0)},
+        "normalization": "train-only known-component STD", "dataset_sample_counts": spec["counts"],
+        "checkpoint_save_steps": [5000, metadata["target_steps"]],
+        "full_resume_state_included": True,
+        "unsupervised_action_components": spec.get("unsupervised_action_components", []),
+        "gpu_allocator": metadata.get("gpu_allocator", "default"),
+    }
+
+
+def evaluate(dataset, checkpoint, output, per_episode=25):
+    from picmem.data.semantic_transition.sampling import even_sampling_indices
+
+    dataset, checkpoint = Path(dataset), Path(checkpoint)
+    spec = json.loads((dataset / "dataset.json").read_text())
+    policy = load_policy(checkpoint)
+    history = (checkpoint / "assets/history_config.yaml").exists()
+    offsets = {"validation": 0, "test": 0}
+    collected = {split: {"position_l2_m": [], "quaternion_angle_rad": [], "gripper_mae": []} for split in offsets}
+    records = []
+    for episode in spec["episodes"]:
+        split = episode["split"]
+        if split not in offsets:
+            continue
+        count = episode["samples"]
+        indices = np.unique(np.linspace(0, count - 1, min(count, per_episode), dtype=int)) if count else []
+        for local_index in indices:
+            with (dataset / split / "data" / f"{offsets[split] + local_index}.pkl").open("rb") as stream:
+                sample = pickle.load(stream)
+            if history:
+                # Offline samples provide their own complete frame features and
+                # sample key. Keep the encoder/position tables, clear only history.
+                policy.mem_buffer._history_feats.clear()
+                step, episode_id = int(sample["step_idx"]), int(sample["epis_idx"])
+                for index in even_sampling_indices(step, policy._metadata["history"]["frames"]):
+                    feature = dataset / "features" / f"episode_{episode_id}" / f"token_emb_{index}.npy"
+                    policy.mem_buffer._history_feats[index] = np.load(feature, allow_pickle=True).item()
+                policy.step_idx = step
+            obs = {key: sample[key] for key in ("image", "wrist_image", "state", "prompt")}
+            obs["sample_key"] = [split, episode["episode"], int(sample["step_idx"]), 42]
+            pred = policy.infer(obs)["actions"]
+            if pred.shape != (20, 8) or not np.isfinite(pred).all():
+                raise ValueError("Invalid restored policy output")
+            target, mask = sample["actions"], sample["action_component_valid_mask"]
+            position_mask, quat_mask = mask[:, :3].all(-1), mask[:, 3:7].all(-1)
+            position = np.linalg.norm(pred[position_mask, :3] - target[position_mask, :3], axis=-1)
+            dot = np.sum(pred[quat_mask, 3:7] * target[quat_mask, 3:7], axis=-1)
+            angle = 2 * np.arccos(np.clip(np.abs(dot), 0, 1))
+            gripper = np.abs(pred[mask[:, 7], 7] - target[mask[:, 7], 7])
+            for name, values in zip(collected[split], (position, angle, gripper), strict=True):
+                collected[split][name].extend(values.tolist())
+            records.append({"split": split, "episode": episode["episode"], "frame": int(sample["step_idx"])})
+        offsets[split] += count
+        print(f"Evaluated {split}/{episode['episode']}: {len(indices)} observations", flush=True)
+    report = {
+        "checkpoint": str(checkpoint.resolve()), "optimizer_step": int(checkpoint.name),
+        "all_outputs_finite": True, "action_shape": [20, 8], "per_episode": per_episode,
+        "scope": "Held-out offline H20 action error; no physical robot rollout or success-rate claim",
+        "splits": {split: {name: {"count": len(v), "mean": float(np.mean(v)) if v else None}
+                           for name, v in metrics.items()} for split, metrics in collected.items()},
+        "observations": records,
+    }
+    Path(output).write_text(json.dumps(report, indent=2, allow_nan=False))
+    print(json.dumps(report["splits"]), flush=True)
+
+
+def publish(dataset, checkpoint, evaluation, output, repo_id, intermediate=False):
+    from huggingface_hub import HfApi
+
+    dataset, checkpoint, output = Path(dataset), Path(checkpoint), Path(output)
+    metadata = json.loads((checkpoint / "assets/policy_metadata.json").read_text())
+    report = json.loads(Path(evaluation).read_text()) if evaluation is not None else None
+    target_steps = FORMAL_BUDGET["steps"]
+    checkpoint_step = int(checkpoint.name)
+    if intermediate:
+        if (checkpoint_step != 5000 or metadata["target_steps"] != target_steps
+                or not (checkpoint / "_CHECKPOINT_METADATA").exists()):
+            raise ValueError("Intermediate upload requires the completed 5,000-step checkpoint")
+    elif (checkpoint_step != target_steps or metadata["target_steps"] != target_steps
+            or report is None or report["optimizer_step"] != target_steps or not report["all_outputs_finite"]
+            or Path(report["checkpoint"]).resolve() != checkpoint.resolve()):
+        raise ValueError(f"Only the evaluated {target_steps}-update model can be published")
+    if not repo_id.startswith("fm-dev/"):
+        raise ValueError("This task publishes only to the authorized fm-dev namespace")
+    # Controllers started before the user's rename request still pass legacy IDs.
+    # Resolve those IDs before any Hub write, preserving running trainers.
+    history_frames = metadata.get("history", {}).get("frames", 0)
+    task_slug = metadata["task"].replace("_", "-")
+    legacy = f"fm-dev/pi05-{task_slug}-{'uniform32-' if history_frames else ''}lora{'-5000' if intermediate else ''}"
+    destination = model_repo_id(metadata["task"], history_frames, checkpoint_step)
+    if repo_id not in {legacy, destination}:
+        raise ValueError(f"Model name must identify this task, setting and checkpoint: {destination}")
+    repo_id = destination
+    output.mkdir(parents=True, exist_ok=True)
+    shutil.copyfile(dataset / "dataset.json", output / "dataset_manifest.json")
+    # Publish serving weights and the complete optimizer/RNG/sampler resume state.
+    for directory in ("params", "assets", "resume_state"):
+        if not (output / directory).exists():
+            shutil.copytree(checkpoint / directory, output / directory, copy_function=os.link)
+    shutil.copyfile(checkpoint / "_CHECKPOINT_METADATA", output / "_CHECKPOINT_METADATA")
+    if evaluation is not None:
+        shutil.copyfile(evaluation, output / "evaluation.json")
+    (output / "checkpoint_info.json").write_text(json.dumps({
+        "optimizer_step": checkpoint_step, "target_steps": target_steps,
+        "sample_exposures": checkpoint_step * 4,
+        "evaluation_status": "pending" if intermediate else "completed",
+        "resume_state_included": True,
+    }, indent=2))
+    root = Path(__file__).resolve().parents[2]
+    for directory in ("integrations", "src", "robomme/src", "robomme/packages/openpi-client/src"):
+        for source in (root / directory).rglob("*"):
+            if source.is_file() and source.suffix in {".py", ".yaml", ".yml", ".json"}:
+                dest = output / "code" / source.relative_to(root)
+                dest.parent.mkdir(parents=True, exist_ok=True)
+                shutil.copyfile(source, dest)
+    for directory in ("", "robomme"):
+        for name in ("LICENSE", "pyproject.toml"):
+            source = root / directory / name
+            if source.exists():
+                dest = output / "code" / directory / name
+                dest.parent.mkdir(parents=True, exist_ok=True)
+                shutil.copyfile(source, dest)
+    requirements = []
+    for dist in importlib.metadata.distributions():
+        name = dist.metadata["Name"]
+        if name.lower().replace("_", "-") in {"picmem-dev", "openpi", "openpi-client", "flash-attn-jax"}:
+            continue
+        requirements.append(f"{name}=={dist.version}")
+    (output / "requirements.txt").write_text(
+        "--extra-index-url https://download.pytorch.org/whl/cu126\n" + "\n".join(sorted(set(requirements))) + "\n"
+    )
+    (output / "load_model.py").write_text(
+        'from pathlib import Path\nimport sys\n'
+        'ROOT = Path(__file__).resolve().parent\n'
+        'for path in ("code", "code/src", "code/robomme/src", "code/robomme/packages/openpi-client/src"):\n'
+        '    sys.path.insert(0, str(ROOT / path))\n'
+        'from integrations.robomme.franka_baseline import load_policy, observe\n'
+        'def load():\n    return load_policy(ROOT)\n'
+    )
+    spec = json.loads((dataset / "dataset.json").read_text())
+    uniform = "history" in metadata
+    (output / "training_config.json").write_text(json.dumps(training_settings(metadata, spec, checkpoint_step), indent=2))
+    frames = metadata.get("history", {}).get("frames", 0)
+    task = spec["task"]
+    instruction = metadata.get("prompt") or spec["prompts"][task]
+    split_episodes = {s: sum(e["split"] == s for e in spec["episodes"]) for s in ("train", "validation", "test")}
+    gripper_evidence = {s: sum(e["known_gripper_frames"] for e in spec["episodes"] if e["split"] == s)
+                        for s in split_episodes}
+    (output / "README.md").write_text(f'''---
+base_model: physical-intelligence/pi05_base
+tags: [robotics, pi05, franka, lora]
+---
+
+# {repo_id.split('/')[-1]}
+
+Trained locally for **{checkpoint_step:,} optimizer updates** on four NVIDIA RTX A6000s.
+Global batch4 ×{checkpoint_step:,}updates ={checkpoint_step * 4:,} training examples.
+The complete run targets6,250updates =25,000examples, matching the sample
+budget of the reference single-GPU batch1 ×25,000-update experiment.
+{'This 5k checkpoint is uploaded immediately at the user request while training continues. Held-out evaluation of this intermediate checkpoint is pending.' if intermediate else 'This final checkpoint has completed the held-out offline evaluation below.'}
+This repository contains full EMA serving weights, normalization and history
+assets, inference source and exact installed dependency versions.
+{'An offline evaluation report is included.' if not intermediate else 'No policy-quality evaluation is claimed for this intermediate upload.'}
+The complete optimizer, non-EMA parameters, RNG and sampler cursor are included
+under `resume_state/`; `params/` contains EMA serving weights. This is a
+Cartesian8 LoRA adaptation of π0.5.
+
+Input: base and wrist RGB images, current flange xyz + unit XYZW quaternion
+(positive qx chart), measured finger opening divided by0.08, and task text.
+Output:20 absolute target flange poses and gripper commands (0closed,1open).
+Numeric state/actions use train-only STD normalization. Current-state tokens
+use a separate train-q01/q99 bounded view, max128tokens. Task prompt:
+`{instruction}`
+
+History: {f'{frames} uniformly spaced frames over the entire inclusive observed prefix [0,t], base camera only,16 pooled spatial tokens/frame, modulation; short prefixes use masked padding.' if uniform else 'Current observations only.'}
+No Writer, Status head, subgoal, or semantic-memory inputs are used.
+
+Training: LoRA Gemma2B and300M; fresh Cartesian projections and optional history
+modules trainable; pretrained backbones and time MLPs frozen. AdamW, global
+batch4 (one/GPU), no accumulation,250-step warmup, cosine5e-5→5e-6 through
+step6,250. EMA0.999^4 =0.996005996001 preserves the reference per-sample
+smoothing timescale. Checkpoints saved at5,000 and6,250updates.
+Episode splits:{split_episodes}; accepted train/validation/test windows:{spec['counts']}.
+The original40ms synchronization and100ms maximum-gap filters are retained.
+
+Gripper command labels require saved full-rate Joy edges matched to server
+requests and clock bounds. Unknown targets are NaN/false on disk and masked
+in both flow conditioning and loss. Measured width is state only. Source-frame
+gripper evidence counts by split:{gripper_evidence}. Entirely unsupervised
+action components:{spec.get('unsupervised_action_components', [])}.
+{'Button Order has only closed training gripper targets; this does not establish a learned open/close policy.' if task == 'button_order' else ''}
+{'Shuffle gripper commands have no verified evidence and are not supervised. Its gripper output must not be interpreted as a learned command.' if not gripper_evidence['train'] else ''}
+Metrics with no known labels are null, not zero.
+Evaluation reports known-component offline errors, not robot success rates.
+
+## Load
+
+Use Python3.10 and a CUDA12 GPU environment. Download this repository, then:
+
+```bash
+python -m pip install -r requirements.txt
+```
+
+```python
+from load_model import load, observe
+policy = load()
+# Arrays: RGB uint8 images, float32 state[8]. Resized to224 with aspect padding.
+observe(policy, base_rgb, state)  # Append every observed frame for the history model.
+result = policy.infer({{
+    "image": base_rgb, "wrist_image": wrist_rgb, "state": state,
+    "prompt": {instruction!r},
+}})
+actions = result["actions"]  # (20,8)
+```
+
+For the history model, call `observe(policy, base_rgb, state)` for every original
+observation frame, including the current one, and `policy.reset()` between
+episodes. It uses the checkpoint's frozen vision encoder and appends frame
+indices in order; the policy samples{frames} across the full prefix. `observe` is a
+no-op for the model without history. The offline evaluator in
+`code/integrations/robomme/franka_release.py` demonstrates this with cached
+features. This bundle does not include demonstration images or private raw
+workspace evidence. Robot control must use the same Cartesian frame and tool
+convention as the training data.
+''')
+    # Exercise the packaged source and online history path before publishing.
+    # A separate process avoids retaining GPU allocations in the upload worker.
+    if not intermediate:
+        check_packaged_inference(output)
+    api = HfApi()
+    api.create_repo(repo_id, repo_type="model", private=False, exist_ok=True)
+    commit = api.upload_folder(repo_id=repo_id, repo_type="model", folder_path=output,
+                               commit_message=f"Upload {'intermediate' if intermediate else 'evaluated'} {checkpoint_step}-step Franka pi05 model")
+    remote = {f.path: f.size for f in api.list_repo_tree(repo_id, repo_type="model", recursive=True)
+              if hasattr(f, "size")}
+    for local in output.rglob("*"):
+        if local.is_file() and ".cache" not in local.relative_to(output).parts:
+            name = local.relative_to(output).as_posix()
+            if remote.get(name) != local.stat().st_size:
+                raise RuntimeError(f"Remote model file missing or wrong size: {name}")
+    receipt = {"repo_id": repo_id, "optimizer_step": checkpoint_step, "commit": commit.oid,
+               "verified_files": len(remote)}
+    print(json.dumps(receipt), flush=True)
+    return receipt
+
+
+def check_packaged_inference(output):
+    smoke = subprocess.run(
+        [sys.executable, "-c", '''
+import json
+import numpy as np
+from load_model import load, observe
+policy = load()
+image = np.zeros((224, 224, 3), dtype=np.uint8)
+state = np.array([.45, 0, .15, .7, -.7, 0, 0, 0], dtype=np.float32)
+observe(policy, image, state)
+actions = policy.infer({"image": image, "wrist_image": image, "state": state,
+                       "prompt": policy._metadata["prompt"]})["actions"]
+assert actions.shape == (20, 8) and np.isfinite(actions).all()
+print(json.dumps({"packaged_inference": "passed", "shape": list(actions.shape)}))
+'''], cwd=output, capture_output=True, text=True, check=True,
+        env={**os.environ, "PYTHONPATH": str(output), "JAX_PLATFORMS": "cuda", "CUDA_VISIBLE_DEVICES": "0"},
+    )
+    (output / "packaged-inference-check.txt").write_text(smoke.stdout.splitlines()[-1] + "\n")
+
+
+def upload_5k(dataset, run_root):
+    """Upload each 5k model as soon as Orbax finishes saving, without using GPUs."""
+    root = Path(run_root)
+    task = json.loads((Path(dataset) / "dataset.json").read_text())["task"]
+    slug = task.replace("_", "-")
+    for variant, name in (("baseline", "pi05_franka_baseline"), ("uniform32", "pi05_franka_uniform32_baseline")):
+        checkpoint = root / variant / "checkpoints" / name / slug / "5000"
+        receipt_path = root / f"{variant}-5000-upload.json"
+        if receipt_path.exists():
+            continue
+        print(f"Waiting for committed checkpoint: {checkpoint}", flush=True)
+        while not (checkpoint / "_CHECKPOINT_METADATA").exists():
+            time.sleep(5)
+        repo_id = model_repo_id(task, 32 if variant == "uniform32" else 0, 5000)
+        print(f"Uploading 5k checkpoint to {repo_id}", flush=True)
+        receipt = publish(dataset, checkpoint, None, root / f"{variant}-5000-export", repo_id, intermediate=True)
+        receipt_path.write_text(json.dumps(receipt, indent=2))
+
+
+def wait_for_baseline(pid, root):
+    """Attach a new controller to a baseline trainer that is already running."""
+    import psutil
+
+    root = Path(root).resolve()
+    final = root / "baseline/checkpoints/pi05_franka_baseline/button-order" / str(FORMAL_BUDGET["steps"])
+    try:
+        process = psutil.Process(pid)
+        command = process.cmdline()
+        if ("integrations.robomme.franka_baseline" not in command
+                or str(root / "baseline") not in command):
+            raise ValueError("The existing process is not this run's baseline trainer")
+        print(f"Waiting for existing baseline trainer PID {pid}; next model is Uniform32", flush=True)
+        process.wait()
+    except psutil.NoSuchProcess:
+        pass
+    if not (final / "_CHECKPOINT_METADATA").exists():
+        raise RuntimeError("Existing baseline trainer exited without its final complete checkpoint")
+
+
+def run(dataset, run_root, wait_baseline_pid=0):
+    """Durable sequential train → evaluate → publish, each model uses all four GPUs."""
+    root = Path(run_root)
+    root.mkdir(parents=True, exist_ok=True)
+    task = json.loads((Path(dataset) / "dataset.json").read_text())["task"]
+    slug = task.replace("_", "-")
+    if wait_baseline_pid:
+        wait_for_baseline(wait_baseline_pid, root)
+    for history, variant in ((False, "baseline"), (True, "uniform32")):
+        run = root / variant
+        name = "pi05_franka_uniform32_baseline" if history else "pi05_franka_baseline"
+        checkpoints = run / "checkpoints" / name / slug
+        final = checkpoints / str(FORMAL_BUDGET["steps"])
+        command = [sys.executable, "-m", "integrations.robomme.franka_baseline", "train",
+                   "--dataset", str(dataset), "--run-root", str(run), "--exp-name", slug]
+        if history:
+            command.extend(["--uniform-history", "--history-frames", "32"])
+        if checkpoints.exists() and any(p.is_dir() and p.name.isdigit() for p in checkpoints.iterdir()):
+            command.append("--resume")
+        if not final.exists():
+            with (root / f"{variant}-train.log").open("a") as log:
+                subprocess.run(command, stdout=log, stderr=subprocess.STDOUT, check=True)
+        report = root / f"{variant}-evaluation.json"
+        with (root / f"{variant}-evaluation.log").open("a") as log:
+            subprocess.run([sys.executable, "-m", "integrations.robomme.franka_release", "evaluate",
+                            "--dataset", str(dataset), "--checkpoint", str(final), "--output", str(report)],
+                           stdout=log, stderr=subprocess.STDOUT, check=True,
+                           env={**os.environ, "CUDA_VISIBLE_DEVICES": "0"})
+        repo_id = model_repo_id(task, 32 if history else 0, FORMAL_BUDGET["steps"])
+        (root / f"{variant}-trained.json").write_text(json.dumps({
+            "steps": FORMAL_BUDGET["steps"], "evaluation": str(report), "repo_id": repo_id,
+        }))
+        with (root / f"{variant}-upload.log").open("a") as log:
+            publication = subprocess.run([
+                sys.executable, "-m", "integrations.robomme.franka_release", "publish",
+                "--dataset", str(dataset), "--checkpoint", str(final), "--evaluation", str(report),
+                "--output", str(root / f"{variant}-export"), "--repo-id", repo_id,
+            ], stdout=log, stderr=subprocess.STDOUT, check=False,
+                env={**os.environ, "JAX_PLATFORMS": "cpu"})
+        if publication.returncode:
+            print(f"Upload pending for {repo_id}; training queue continues. See {variant}-upload.log", flush=True)
+            continue
+        (root / f"{variant}-complete.json").write_text(json.dumps({
+            "steps": FORMAL_BUDGET["steps"], "sample_exposures": FORMAL_BUDGET["sample_exposures"],
+            "repo_id": repo_id,
+        }))
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(description=__doc__)
+    commands = parser.add_subparsers(dest="command", required=True)
+    evaluation = commands.add_parser("evaluate")
+    for name in ("dataset", "checkpoint", "output"):
+        evaluation.add_argument("--" + name, type=Path, required=True)
+    evaluation.add_argument("--per-episode", type=int, default=25)
+    publication = commands.add_parser("publish")
+    for name in ("dataset", "checkpoint", "output"):
+        publication.add_argument("--" + name, type=Path, required=True)
+    publication.add_argument("--evaluation", type=Path)
+    publication.add_argument("--repo-id", required=True)
+    publication.add_argument("--intermediate", action="store_true")
+    early = commands.add_parser("upload-5k")
+    early.add_argument("--dataset", type=Path, required=True)
+    early.add_argument("--run-root", type=Path, required=True)
+    runner = commands.add_parser("run")
+    runner.add_argument("--dataset", type=Path, required=True)
+    runner.add_argument("--run-root", type=Path, required=True)
+    runner.add_argument("--wait-baseline-pid", type=int, default=int(os.environ.get("FRANKA_WAIT_BASELINE_PID", "0")))
+    args = vars(parser.parse_args())
+    command = args.pop("command")
+    {"evaluate": evaluate, "publish": publish, "run": run, "upload-5k": upload_5k}[command](**args)

checkpoints/r2/pick3/baseline/step9000/code/integrations/robomme/franka_round.py

@@ -0,0 +1,103 @@
+"""Settings and upload-aware local retention for the second Franka training round."""
+from __future__ import annotations
+
+import json
+import dataclasses
+from pathlib import Path
+import shutil
+
+TARGET_STEPS = 12_500
+SAVE_INTERVAL = 1_000
+MILESTONE_STEPS = (5_000, 10_000, TARGET_STEPS)
+BACKUP_REPO_ID = "fm-dev/pi05-checkpoint-backups"
+
+
+def training_options():
+    # Keep every periodic checkpoint until the uploader verifies its remote copy.
+    # make_train_config sets keep_period to save_interval; pruning happens below.
+    return {"steps": TARGET_STEPS, "save_interval": SAVE_INTERVAL,
+            "warmup_steps": 250, "decay_steps": TARGET_STEPS}
+
+
+def checkpoint_steps():
+    return [*range(SAVE_INTERVAL, TARGET_STEPS, SAVE_INTERVAL), TARGET_STEPS]
+
+
+def model_repo_id(task, setting, step):
+    if setting not in {"status_d", "baseline", "uniform32"} or step not in checkpoint_steps():
+        raise ValueError("Unknown second-round model setting or checkpoint step")
+    return f"fm-dev/pi05-{task.replace('_', '-')}-{setting.replace('_', '-')}-lora-gbs4-pgb1-gpu4-r2-step{step}"
+
+
+def checkpoint_storage(task, setting, step):
+    """Keep milestones as models and other full checkpoints in archive folders."""
+    model_id = model_repo_id(task, setting, step)
+    if step in MILESTONE_STEPS:
+        return model_id, "model", ""
+    return BACKUP_REPO_ID, "dataset", f"checkpoints/r2/{task}/{setting}/step{step}"
+
+
+def make_config(dataset, run_root, setting, **overrides):
+    from integrations.robomme.franka_baseline import make_train_config
+
+    if setting not in {"status_d", "baseline", "uniform32"}:
+        raise ValueError(f"Unsupported setting: {setting}")
+    dataset = Path(dataset).resolve()
+    spec = json.loads((dataset / "dataset.json").read_text())
+    cfg = make_train_config(dataset, run_root, uniform_history=setting != "baseline",
+                            history_frames=32, exp_name=spec["task"].replace("_", "-"),
+                            **(training_options() | overrides))
+    metadata = {**cfg.policy_metadata, "training_round": 2, "training_setting": setting,
+                "action_supervision": spec["action_supervision"],
+                "checkpoint_retention": {"save_interval": SAVE_INTERVAL, "local_latest": 3,
+                                         "milestones": [5000, 10000, TARGET_STEPS], "remote": "all"},
+                "training_recipe": {**cfg.policy_metadata["training_recipe"],
+                                    "reference_steps": TARGET_STEPS * 4,
+                                    "reference_global_batch": 1}}
+    if setting == "status_d":
+        history = dataset / "assets/history_status_d.yaml"
+        if not history.is_file():
+            raise FileNotFoundError(f"Prepare the Status/Writer data before training: {history}")
+        cfg = dataclasses.replace(
+            cfg, name="pi05_franka_status_d",
+            model=dataclasses.replace(cfg.model, history_config=str(history), max_token_len=256),
+            data=dataclasses.replace(cfg.data, disable_context_gripper_command=True),
+            aux_dataset_path=str(dataset / "status/train"), aux_dataset_fraction=.10,
+        )
+        metadata.update(
+            disable_context_gripper_command=True,
+            status_context="48-step causal pose-command and measured-state context; command-gripper feature disabled",
+            writer_schedule=json.loads((dataset / "writer/dataset-index.json").read_text())["writer_schedule"],
+            history={**metadata["history"], "keyframe_slots": 1, "tokens": 528, "use_historical_state": False},
+        )
+        metadata["training_recipe"]["max_token_len"] = 256
+        metadata["training_recipe"]["status_auxiliary_fraction"] = .10
+    return dataclasses.replace(cfg, policy_metadata=metadata)
+
+
+def prune_uploaded_checkpoints(checkpoint_root, export_root, receipt_root):
+    """Keep the newest three and milestones; never delete an unverified upload."""
+    checkpoint_root, export_root, receipt_root = map(Path, (checkpoint_root, export_root, receipt_root))
+    committed = sorted(
+        (p for p in checkpoint_root.iterdir()
+         if p.name.isdigit() and not p.is_symlink() and (p / "_CHECKPOINT_METADATA").is_file()),
+        key=lambda p: int(p.name),
+    )
+    protected = {p.name for p in committed[-3:]} | {"5000", "10000", str(TARGET_STEPS)}
+    removed = []
+    for checkpoint in committed:
+        receipt = receipt_root / f"{checkpoint.name}.json"
+        if checkpoint.name in protected or not receipt.is_file():
+            continue
+        record = json.loads(receipt.read_text())
+        if (record.get("full_bundle_verified") is not True
+                or record.get("checkpoint") != str(checkpoint.resolve())):
+            continue
+        export = export_root / checkpoint.name
+        if export.is_symlink():
+            raise ValueError(f"Export directory must not be a symlink: {export}")
+        if export.exists():
+            shutil.rmtree(export)
+        shutil.rmtree(checkpoint)
+        removed.append(int(checkpoint.name))
+    return removed

checkpoints/r2/pick3/baseline/step9000/code/integrations/robomme/franka_round_evaluate.py

@@ -0,0 +1,147 @@
+"""Offline action/Status checks with the exported model's real Writer and history inputs."""
+from __future__ import annotations
+
+import argparse
+from collections import defaultdict
+import json
+from pathlib import Path
+import pickle
+
+import numpy as np
+
+from integrations.robomme.franka_baseline import canonical_pose, load_policy
+from integrations.robomme.franka_partial import read_h5_signals
+from integrations.robomme.franka_status_data import causal_context
+from picmem.data.semantic_transition.sampling import even_sampling_indices
+from picmem.data.semantic_transition.scheduled_writer import ScheduledWriterReader
+from picmem.training.transition_metrics import evaluate_transition_predictions
+
+
+def status_metrics(rows):
+    metrics = {}
+    for name, target, probability in (
+        ("span", "span_target", "p_transition_span"),
+        ("conditional_last_span", "last_span_target", "p_transition_last_given_span"),
+    ):
+        valid = np.array([name == "span" or (r["span_target"] == 1 and r["last_span_valid"]) for r in rows])
+        metrics[name] = evaluate_transition_predictions(
+            span_target=np.array([r[target] for r in rows]), status_valid=valid,
+            span_probability=np.array([r[probability] for r in rows]),
+        ) if valid.any() else None
+    return metrics
+
+
+def evaluate(dataset, checkpoint, output, per_episode=25):
+    dataset, checkpoint, output = map(Path, (dataset, checkpoint, output))
+    spec = json.loads((dataset / "dataset.json").read_text())
+    policy = load_policy(checkpoint)
+    status = policy.metadata.get("training_setting") == "status_d"
+    writer = ScheduledWriterReader(dataset / "writer", expected_schedule="status") if status else None
+    offsets = {"validation": 0, "test": 0}
+    labels, status_paths = {}, defaultdict(list)
+    status_predictions = {split: [] for split in offsets}
+    if status:
+        labels = {(r["global_episode_id"], r["step_idx"]): r
+                  for r in json.loads((dataset / "status/labels.json").read_text())}
+        for split in offsets:
+            for path in sorted((dataset / "status" / split / "data").glob("*.pkl")):
+                with path.open("rb") as stream:
+                    row = pickle.load(stream)
+                status_paths[int(row["epis_idx"])].append(path.resolve())
+    errors = {s: {"position_l2_m": [], "quaternion_angle_rad": [], "gripper_mae": []} for s in offsets}
+    horizon_errors = {s: [] for s in offsets}
+    observations, predictions = [], []
+    for episode in spec["episodes"]:
+        split = episode["split"]
+        if split not in offsets:
+            continue
+        count = episode["samples"]
+        indices = np.unique(np.linspace(0, count - 1, min(count, per_episode), dtype=int)) if count else []
+        action_paths = [(dataset / split / "data" / f"{offsets[split] + index}.pkl").resolve() for index in indices]
+        paths = list(dict.fromkeys([*action_paths, *status_paths[episode["episode_id"]]]))
+        if status and paths:
+            stamps, state_pose, target_pose, widths = read_h5_signals(Path(spec["source"]) / spec["task"] / f"{episode['episode']}.h5")
+            states = np.c_[state_pose, widths].astype(np.float32)
+            finite = np.isfinite(states[:, :7]).all(-1)
+            states[finite, :7] = canonical_pose(states[finite, :7])
+            poses = target_pose.astype(np.float32)
+            finite = np.isfinite(poses).all(-1)
+            poses[finite] = canonical_pose(poses[finite])
+        for path in paths:
+            with path.open("rb") as stream:
+                row = pickle.load(stream)
+            frame, episode_id = int(row["step_idx"]), int(row["epis_idx"])
+            obs = {k: row[k] for k in ("image", "wrist_image", "state", "prompt")}
+            if policy.mem_buffer is not None:
+                selected = even_sampling_indices(frame, 32)
+                if writer is not None:
+                    snapshot = writer.snapshot_for(global_episode_id=episode_id, frame_index=frame, task_instruction=row["prompt"])
+                    obs.update(history_keyframe_index=snapshot.keyframe_frame_index, current_subgoal=snapshot.current_subgoal)
+                    if snapshot.keyframe_frame_index is not None:
+                        selected.append(snapshot.keyframe_frame_index)
+                    obs.update(causal_context(stamps, states, poses, frame).as_numpy())
+                policy.mem_buffer._history_feats.clear()
+                for selected_frame in set(selected):
+                    feature_path = dataset / "features" / f"episode_{episode_id}" / f"token_emb_{selected_frame}.npy"
+                    policy.mem_buffer._history_feats[selected_frame] = np.load(feature_path, allow_pickle=True).item()
+                policy.step_idx = frame
+            obs["sample_key"] = [split, episode["episode"], frame, 42]
+            result = policy.infer(obs)
+            actions = result["actions"]
+            if actions.shape != (20, 8) or not np.isfinite(actions).all():
+                raise ValueError("Restored model produced invalid actions")
+            target, mask = row["actions"], row["action_component_valid_mask"]
+            position = np.linalg.norm(actions[:, :3] - target[:, :3], axis=-1)
+            angle = 2 * np.arccos(np.clip(np.abs(np.sum(actions[:, 3:7] * target[:, 3:7], axis=-1)), 0, 1))
+            if path in action_paths:
+                errors[split]["position_l2_m"].extend(position[mask[:, :3].all(-1)].tolist())
+                errors[split]["quaternion_angle_rad"].extend(angle[mask[:, 3:7].all(-1)].tolist())
+                errors[split]["gripper_mae"].extend(np.abs(actions[mask[:, 7], 7] - target[mask[:, 7], 7]).tolist())
+                horizon_errors[split].append(position)
+                observations.append({"split": split, "episode": episode["episode"], "frame": frame})
+            predictions.append({"split": split, "episode": episode["episode"], "frame": frame,
+                                "actions": actions.tolist(), "position_l2_m": position.tolist(),
+                                "action_evaluation_sample": path in action_paths,
+                                "transition_status": result.get("transition_status")})
+            if status and any(not np.isfinite(v) or not 0 <= v <= 1 for v in result["transition_status"].values()):
+                raise ValueError("Restored model produced invalid Status probabilities")
+            label = labels.get((episode_id, frame))
+            if label is not None:
+                if label["split"] != split:
+                    raise ValueError("Status label split does not match its observation")
+                status_predictions[split].append({**label, **result["transition_status"]})
+        offsets[split] += count
+        print(f"Evaluated {split}/{episode['episode']}: {len(indices)} action samples, {len(paths)} total observations", flush=True)
+    report = {
+        "checkpoint": str(checkpoint.resolve()), "optimizer_step": int(checkpoint.name),
+        "all_outputs_finite": True, "action_shape": [20, 8], "per_episode": per_episode,
+        "scope": "Held-out offline action error; Status-D uses causal expert-history Writer projections, not a physical or closed-loop success-rate evaluation",
+        "splits": {s: {k: {"count": len(v), "mean": float(np.mean(v)) if v else None,
+                            "p90": float(np.quantile(v, .9)) if v else None} for k, v in metrics.items()}
+                   for s, metrics in errors.items()},
+        "position_by_horizon": {s: {str(n): {"mean_m": float(np.mean(np.stack(v)[:, :n])),
+                                             "p90_m": float(np.quantile(np.stack(v)[:, :n], .9))}
+                                    for n in (1, 4, 16, 20)} for s, v in horizon_errors.items() if v},
+        "observations": observations,
+    }
+    if status:
+        report["status_evaluation"] = {
+            "scope": "All labeled held-out windows; agent/model-reviewed labels, not human ground truth. "
+                     "Unreviewed endpoints stay masked. Small, positive-enriched label sets do not establish "
+                     "online trigger reliability. A split with no negatives cannot estimate false-positive rate.",
+            "splits": {split: status_metrics(rows) for split, rows in status_predictions.items()},
+            "predictions": status_predictions,
+        }
+    output.parent.mkdir(parents=True, exist_ok=True)
+    output.write_text(json.dumps(report, indent=2, allow_nan=False))
+    output.with_name(output.stem + "-predictions.json").write_text(json.dumps(predictions, allow_nan=False))
+    print(json.dumps(report["splits"]), flush=True)
+    return report
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(description=__doc__)
+    for name in ("dataset", "checkpoint", "output"):
+        parser.add_argument("--" + name, type=Path, required=True)
+    parser.add_argument("--per-episode", type=int, default=25)
+    evaluate(**vars(parser.parse_args()))

checkpoints/r2/pick3/baseline/step9000/code/integrations/robomme/franka_round_finish.py

@@ -0,0 +1,97 @@
+"""Evaluate a completed round-two model and attach its reports to the public final checkpoint."""
+from __future__ import annotations
+
+import argparse
+import json
+import os
+from pathlib import Path
+import shutil
+import subprocess
+import sys
+import time
+
+from integrations.robomme.franka_round import TARGET_STEPS, model_repo_id
+from integrations.robomme.franka_round_evaluate import evaluate
+
+
+def finish(round_root, task, setting):
+    from huggingface_hub import HfApi
+
+    root = Path(round_root)
+    run = root / "runs" / task / setting
+    name = {"status_d": "pi05_franka_status_d", "baseline": "pi05_franka_baseline", "uniform32": "pi05_franka_uniform32_baseline"}[setting]
+    checkpoint = run / "checkpoints" / name / task.replace("_", "-") / str(TARGET_STEPS)
+    while not (checkpoint / "_CHECKPOINT_METADATA").is_file():
+        time.sleep(10)
+    report = run / "evaluation.json"
+    if not report.exists():
+        evaluate(root / "datasets" / task, checkpoint, report)
+        import gc
+        import jax
+
+        jax.clear_caches()
+        gc.collect()
+    result = json.loads(report.read_text())
+    if (result["optimizer_step"] != TARGET_STEPS or not result["all_outputs_finite"]
+            or Path(result["checkpoint"]).resolve() != checkpoint.resolve()):
+        raise ValueError("Final checkpoint evaluation did not pass")
+    receipt = run / "receipts" / f"{TARGET_STEPS}.json"
+    while not receipt.exists():
+        time.sleep(10)
+    exported = run / "exports" / str(TARGET_STEPS)
+    check = exported / "packaged-inference-check.txt"
+    if not check.exists():
+        code = '''
+import json
+import numpy as np
+from load_model import load, observe
+policy = load()
+image = np.zeros((224,224,3),dtype=np.uint8)
+state = np.array([.45,0,.15,.7,-.7,0,0,0],dtype=np.float32)
+observe(policy,image,state)
+obs = {"image":image,"wrist_image":image,"state":state,"prompt":policy.metadata["prompt"]}
+if policy.metadata.get("training_setting")=="status_d":
+    from mme_vla_suite.training.semantic_transition_reader import runtime_only_zero_transition_metadata
+    obs.update({k:v for k,v in runtime_only_zero_transition_metadata().items() if k.startswith("transition_context_")})
+    obs.update(history_keyframe_index=None,current_subgoal=None)
+result = policy.infer(obs)
+assert result["actions"].shape==(20,8) and np.isfinite(result["actions"]).all()
+print(json.dumps({"packaged_inference":"passed","shape":[20,8],"status":result.get("transition_status")}))
+'''
+        smoke = subprocess.run([sys.executable, "-c", code], cwd=exported, capture_output=True, text=True, check=True,
+                               env={**os.environ, "PYTHONPATH": str(exported), "CUDA_VISIBLE_DEVICES": "0"})
+        check.write_text(smoke.stdout.splitlines()[-1] + "\n")
+    shutil.copyfile(report, exported / "evaluation.json")
+    info_path = exported / "checkpoint_info.json"
+    info = json.loads(info_path.read_text())
+    info["evaluation_status"] = "completed"
+    info_path.write_text(json.dumps(info, indent=2))
+    card_path = exported / "README.md"
+    card = card_path.read_text()
+    note = "\nFinal checkpoint checks: offline evaluation completed; packaged-source inference and finite-output checks passed. See `evaluation.json` and `packaged-inference-check.txt`; no physical robot success-rate claim.\n"
+    card = card.replace("Final checkpoint validation: held-out offline evaluation and packaged-source inference passed.",
+                        "Final checkpoint checks: offline evaluation completed; packaged-source inference and finite-output checks passed.")
+    if note not in card:
+        card += note
+    card_path.write_text(card)
+    repo = model_repo_id(task, setting, TARGET_STEPS)
+    api = HfApi()
+    commit = api.upload_folder(repo_id=repo, folder_path=exported, repo_type="model",
+                               allow_patterns=["evaluation.json", "checkpoint_info.json", "packaged-inference-check.txt", "README.md"],
+                               commit_message="Add final offline evaluation and packaged inference validation")
+    remote = {f.rfilename: f.size for f in api.model_info(repo, files_metadata=True).siblings}
+    for filename in ("evaluation.json", "checkpoint_info.json", "packaged-inference-check.txt", "README.md"):
+        if remote.get(filename) != (exported / filename).stat().st_size:
+            raise RuntimeError(f"Final report missing or wrong size on Hub: {filename}")
+    complete = {"task": task, "setting": setting, "steps": TARGET_STEPS, "sample_exposures": TARGET_STEPS * 4,
+                "repo_id": repo, "evaluation": str(report), "packaged_inference": "passed", "commit": commit.oid}
+    (run / "complete.json").write_text(json.dumps(complete, indent=2))
+    print(json.dumps(complete), flush=True)
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(description=__doc__)
+    parser.add_argument("--round-root", type=Path, required=True)
+    parser.add_argument("--task", choices=("button_order", "pick3", "shuffle"), required=True)
+    parser.add_argument("--setting", choices=("status_d", "baseline", "uniform32"), required=True)
+    finish(**vars(parser.parse_args()))

checkpoints/r2/pick3/baseline/step9000/code/integrations/robomme/franka_round_run.py

@@ -0,0 +1,249 @@
+"""Train and archive the second Franka round, preserving every uploaded 1k checkpoint."""
+from __future__ import annotations
+
+import argparse
+import dataclasses
+import importlib.metadata
+import json
+import os
+from pathlib import Path
+import shutil
+import sys
+import time
+
+from integrations.robomme.franka_round import TARGET_STEPS, checkpoint_steps, checkpoint_storage, make_config, model_repo_id, prune_uploaded_checkpoints
+
+
+def train(dataset, run_root, setting, resume=False):
+    os.environ.setdefault("XLA_PYTHON_CLIENT_ALLOCATOR", "platform")
+    cfg = make_config(dataset, run_root, setting, resume=resume)
+    cfg = dataclasses.replace(cfg, policy_metadata={**cfg.policy_metadata, "gpu_allocator": "platform"})
+    sys.path.insert(0, str(Path(__file__).resolve().parents[2] / "robomme/scripts"))
+    import train as trainer
+
+    trainer.main(cfg)
+
+
+def export_bundle(dataset, checkpoint, output, setting):
+    from integrations.robomme.franka_release import training_settings
+
+    dataset, checkpoint, output = map(Path, (dataset, checkpoint, output))
+    metadata = json.loads((checkpoint / "assets/policy_metadata.json").read_text())
+    spec = json.loads((dataset / "dataset.json").read_text())
+    if (metadata.get("training_round") != 2 or metadata.get("training_setting") != setting
+            or metadata.get("target_steps") != TARGET_STEPS or metadata.get("task") != spec["task"]):
+        raise ValueError("Only the matching formal second-round run may use this model name")
+    if setting == "status_d" and "pinned_writer" not in metadata:
+        raise ValueError("Status-D serving export requires the actual Writer provenance")
+    step = int(checkpoint.name)
+    repo = model_repo_id(spec["task"], setting, step)
+    output.mkdir(parents=True, exist_ok=True)
+    for folder in ("params", "assets", "resume_state"):
+        for source in (checkpoint / folder).rglob("*"):
+            if not source.is_file():
+                continue
+            target = output / source.relative_to(checkpoint)
+            target.parent.mkdir(parents=True, exist_ok=True)
+            if target.exists() and target.stat().st_size != source.stat().st_size:
+                target.unlink()
+            if not target.exists():
+                os.link(source, target)
+    shutil.copyfile(checkpoint / "_CHECKPOINT_METADATA", output / "_CHECKPOINT_METADATA")
+    shutil.copyfile(dataset / "dataset.json", output / "dataset_manifest.json")
+    config = training_settings(metadata, spec, step)
+    config.update(setting=setting, checkpoint_save_steps=checkpoint_steps(), training_round=2,
+                  action_supervision=spec["action_supervision"], frame_coordinates=spec["frame_coordinates"],
+                  checkpoint_retention=metadata["checkpoint_retention"])
+    if setting == "status_d":
+        config["history"]["history_tokens"] = 528
+        config["status_context"] = metadata["status_context"]
+        config["writer_schedule"] = metadata["writer_schedule"]
+        shutil.copyfile(dataset / "status/summary.json", output / "status_supervision_summary.json")
+        projection = json.loads((dataset / "writer/dataset-index.json").read_text())
+        original_writer = json.loads((Path(projection["source_annotations"]) / "dataset-index.json").read_text())
+        fields = ("writer_model", "writer_models_by_context", "writer_prompt_version", "writer_system_prompt",
+                  "writer_evidence", "writer_api", "sampling_parameters", "dataset_version")
+        provenance = {k: original_writer[k] for k in fields if k in original_writer}
+        provenance.update(writer_schedule=projection["writer_schedule"], deployment_writer_model=projection["deployment_writer_model"])
+        if "task_definition_correction" in projection:
+            provenance["task_definition_correction"] = projection["task_definition_correction"]
+        (output / "writer_provenance.json").write_text(json.dumps(provenance, indent=2))
+    (output / "training_config.json").write_text(json.dumps(config, indent=2))
+    (output / "checkpoint_info.json").write_text(json.dumps({
+        "optimizer_step": step, "target_steps": TARGET_STEPS, "sample_exposures": step * 4,
+        "full_resume_state_included": True, "evaluation_status": "pending", "training_round": 2,
+    }, indent=2))
+    code_root = Path(__file__).resolve().parents[2]
+    for directory in ("integrations", "src", "robomme/src", "robomme/packages/openpi-client/src"):
+        for source in (code_root / directory).rglob("*"):
+            if source.is_file() and source.suffix in {".py", ".yaml", ".yml", ".json"}:
+                target = output / "code" / source.relative_to(code_root)
+                target.parent.mkdir(parents=True, exist_ok=True)
+                shutil.copyfile(source, target)
+    for directory in ("", "robomme"):
+        for filename in ("LICENSE", "pyproject.toml"):
+            source = code_root / directory / filename
+            if source.is_file():
+                target = output / "code" / directory / filename
+                target.parent.mkdir(parents=True, exist_ok=True)
+                shutil.copyfile(source, target)
+    excluded = {"picmem-dev", "openpi", "openpi-client", "flash-attn-jax"}
+    requirements = sorted({f"{d.metadata['Name']}=={d.version}" for d in importlib.metadata.distributions()
+                           if d.metadata["Name"].lower().replace("_", "-") not in excluded})
+    (output / "requirements.txt").write_text("--extra-index-url https://download.pytorch.org/whl/cu126\n" + "\n".join(requirements) + "\n")
+    (output / "load_model.py").write_text(
+        'from pathlib import Path\nimport sys\nROOT = Path(__file__).resolve().parent\n'
+        'for path in ("code", "code/src", "code/robomme/src", "code/robomme/packages/openpi-client/src"):\n'
+        '    sys.path.insert(0, str(ROOT / path))\n'
+        'from integrations.robomme.franka_baseline import load_policy, observe\n'
+        'def load():\n    return load_policy(ROOT)\n'
+    )
+    method = (
+        "Status-D: 32 uniformly sampled frames over the complete observed episode prefix [0,t], "
+        "plus one nullable Writer keyframe (528 visual tokens total), and a held Writer current subgoal. "
+        "The Writer initializes at execution start and subsequently updates at Status events. "
+        "Offline Writer timing is projected using coarse event estimates; this is teacher conditioning, "
+        "not a claim of an online predicted-Status rollout. Status span positives use supported event brackets; "
+        "endpoint and negative supervision comes only from explicitly reviewed windows. Unreviewed labels "
+        "remain masked. Review provenance is agent/model review, not human ground truth. "
+        "The 48-step Status context uses recorded pose commands and measured state. Its command-gripper "
+        "feature is disabled consistently in training and inference; no missing gripper command is invented. "
+        "Historical state embeddings are disabled."
+        if setting == "status_d" else
+        "Uniform32: 32 uniformly sampled frames over the complete observed episode prefix [0,t], "
+        "512 visual tokens, including demonstration history. Historical state embeddings are disabled."
+        if setting == "uniform32" else "No-history baseline: current base/wrist images, state and task instruction."
+    )
+    (output / "README.md").write_text(f'''---
+tags: [robotics, pi05, franka, lora]
+---
+
+# {repo.split('/')[-1]}
+
+Second-round π0.5 LoRA fine-tuning for **{spec['task']}**, checkpoint **{step:,}**.
+Trained locally on **4 RTX A6000 GPUs**, **global batch 4**, **per-GPU batch 1**,
+without gradient accumulation. This checkpoint represents **{step * 4:,} sample exposures**;
+the run targets **12,500 optimizer updates / 50,000 sample exposures**.
+Checkpoints are saved every **1,000** updates and at the final **12,500**.
+Steps **5,000**, **10,000**, and **12,500** have standalone model repositories.
+Other complete checkpoints are retained in the
+[backup archive](https://huggingface.co/datasets/fm-dev/pi05-checkpoint-backups/tree/main/checkpoints/r2)
+under `task/method/stepN/` with the same loading files and full resume state.
+`r2` keeps these artifacts separate from the original 6,250-step experiment.
+
+Warmup: **250** updates to **5e-5**; cosine decay to **5e-6** at step **12,500**.
+EMA: **0.999^4 = 0.996005996001**. AdamW, LoRA rank32, seed42.
+Full settings are in `training_config.json`.
+
+{method}
+
+Only robot execution rows supervise actions. Demonstration images, features and
+original episode/frame coordinates remain available as history; execution start
+does not reset the visual history. Episode splits and normalization use the
+training split only. The recorded Cartesian end-effector/tool pose convention
+must match the collection controller; do not apply an extra tool/flange offset.
+Outputs have shape `(20,8)`: absolute xyz, unit XYZW quaternion in the positive-qx
+chart, and gripper command in [0,1]. Numeric state/actions use STD normalization;
+state tokens use a separate bounded train-q01/q99 view.
+
+Unknown action components remain NaN/false in the training dataset and are masked
+in both flow conditioning and loss. Entirely unsupervised components:
+**{spec.get('unsupervised_action_components', [])}**. In particular, Shuffle's
+gripper output has no command supervision and must not be interpreted as learned
+gripper control. Button Order has only limited verified closed-command labels.
+
+This repository includes EMA serving weights, normalization/history assets,
+inference source, exact dependency versions, and full non-EMA/optimizer/RNG/sampler
+resume state. Intermediate publication is not a policy-quality evaluation.
+Offline evaluation, when included, does not establish real-robot success rate.
+
+Load with `from load_model import load, observe; policy = load()` from this bundle.
+For history models call `observe(policy, base_rgb, state)` for every observed frame,
+including demonstrations, and reset between episodes. Status-D additionally requires
+explicit `history_keyframe_index` (an observed frame or None), `current_subgoal`,
+and causal `transition_context_*` inputs in `policy.infer(...)`; its output includes
+`transition_status`. Use the exported Writer schedule and matching control frame.
+''')
+    return repo
+
+
+def archive(round_root, settings):
+    from huggingface_hub import HfApi
+    from huggingface_hub.hf_api import RepoFile
+
+    root = Path(round_root)
+    names = {"status_d": "pi05_franka_status_d", "baseline": "pi05_franka_baseline", "uniform32": "pi05_franka_uniform32_baseline"}
+    jobs = [(task, setting, step) for setting in settings for task in ("button_order", "pick3", "shuffle") for step in checkpoint_steps()]
+    api = HfApi()
+    while jobs:
+        for task, setting, step in jobs[:]:
+            run = root / "runs" / task / setting
+            checkpoints = run / "checkpoints" / names[setting] / task.replace("_", "-")
+            checkpoint, export = checkpoints / str(step), run / "exports" / str(step)
+            receipts = run / "receipts"
+            receipt = receipts / f"{step}.json"
+            if receipt.exists():
+                record = json.loads(receipt.read_text())
+                if record.get("full_bundle_verified") is not True:
+                    raise ValueError(f"Incomplete upload receipt: {receipt}")
+                jobs.remove((task, setting, step))
+                continue
+            if not (checkpoint / "_CHECKPOINT_METADATA").is_file():
+                continue
+            model_id = export_bundle(root / "datasets" / task, checkpoint, export, setting)
+            repo, repo_type, path_in_repo = checkpoint_storage(task, setting, step)
+            prefix = f"{path_in_repo}/" if path_in_repo else ""
+            try:
+                api.create_repo(repo, private=False, repo_type=repo_type, exist_ok=True)
+                commit = api.upload_folder(repo_id=repo, folder_path=export, repo_type=repo_type,
+                                           path_in_repo=path_in_repo or None,
+                                           ignore_patterns=[".cache/**", "**/__pycache__/**"],
+                                           commit_message=f"Upload full round2 {step}-step checkpoint")
+                info = api.repo_info(repo, repo_type=repo_type)
+                if info.private:
+                    api.update_repo_settings(repo_id=repo, repo_type=repo_type, private=False)
+                    info = api.repo_info(repo, repo_type=repo_type)
+                remote = {f.path: f.size for f in api.list_repo_tree(
+                    repo, repo_type=repo_type, path_in_repo=path_in_repo or None, recursive=True
+                ) if isinstance(f, RepoFile)}
+                for path in checkpoint.rglob("*"):
+                    if path.is_file() and remote.get(prefix + path.relative_to(checkpoint).as_posix()) != path.stat().st_size:
+                        raise RuntimeError(f"Source checkpoint file missing remotely: {repo}/{path.relative_to(checkpoint)}")
+                files = [p for p in export.rglob("*") if p.is_file() and not {".cache", "__pycache__"}.intersection(p.relative_to(export).parts)]
+                for path in files:
+                    if remote.get(prefix + path.relative_to(export).as_posix()) != path.stat().st_size:
+                        raise RuntimeError(f"Remote file missing or wrong size: {repo}/{path.relative_to(export)}")
+                receipts.mkdir(parents=True, exist_ok=True)
+                temporary = receipt.with_suffix(".tmp")
+                temporary.write_text(json.dumps({"checkpoint": str(checkpoint.resolve()), "repo_id": repo,
+                                                 "repo_type": repo_type, "path_in_repo": path_in_repo,
+                                                 "model_id": model_id,
+                                                 "step": step, "full_bundle_verified": True, "commit": commit.oid,
+                                                 "files": len(files), "public": not info.private}, indent=2))
+                temporary.replace(receipt)
+                jobs.remove((task, setting, step))
+                print(f"Verified {repo_type}:{repo}/{path_in_repo}", flush=True)
+                removed = prune_uploaded_checkpoints(checkpoints, run / "exports", receipts)
+                if removed:
+                    print(f"Pruned verified local checkpoints {task}/{setting}: {removed}", flush=True)
+            except Exception as error:
+                print(f"Upload retry pending {repo}: {type(error).__name__}: {error}", flush=True)
+                time.sleep(30)
+        if jobs:
+            time.sleep(10)
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(description=__doc__)
+    commands = parser.add_subparsers(dest="command", required=True)
+    training = commands.add_parser("train")
+    training.add_argument("--dataset", type=Path, required=True)
+    training.add_argument("--run-root", type=Path, required=True)
+    training.add_argument("--setting", choices=("status_d", "baseline", "uniform32"), required=True)
+    training.add_argument("--resume", action="store_true")
+    uploading = commands.add_parser("archive")
+    uploading.add_argument("--round-root", type=Path, required=True)
+    uploading.add_argument("--settings", nargs="+", choices=("status_d", "baseline", "uniform32"), default=["status_d"])
+    args = vars(parser.parse_args())
+    command = args.pop("command")
+    {"train": train, "archive": archive}[command](**args)

checkpoints/r2/pick3/baseline/step9000/code/integrations/robomme/franka_status_data.py

@@ -0,0 +1,227 @@
+"""Bind real Franka observations, partial Status labels, and causal Writer projections."""
+from __future__ import annotations
+
+from collections import Counter
+import hashlib
+import json
+from pathlib import Path
+import pickle
+
+import numpy as np
+import polars as pl
+import yaml
+
+from integrations.robomme.franka_baseline import canonical_pose
+from integrations.robomme.franka_partial import read_h5_signals
+from picmem.data.semantic_transition.canonical import canonical_json_sha256
+from picmem.data.semantic_transition.pinned_keyframe import parse_pinned_episode
+from picmem.data.semantic_transition.scheduled_writer import EVIDENCE_POLICY, INDEX_SCHEMA_VERSION, project_writer_episode, teacher_status_triggers
+from picmem.data.semantic_transition.sequence_targets import (
+    TransitionRowKey, TransitionSequence, TransitionSequenceManifest, TransitionSourceRow,
+    TransitionStatusRowTarget, _sequence_identity_payload, write_transition_sequence_manifest,
+)
+from picmem.data.semantic_transition.training_materializer import build_realized_transition_context
+
+
+def event_records(annotations, task):
+    result = {}
+    for version in ("events-astra-v2", "events-astra-refinements-v3"):
+        for path in sorted((Path(annotations) / version / task).glob("episode_*/candidate_*/annotation.json")):
+            record = json.loads(path.read_text())
+            result[record["raw_episode_id"], record["candidate_id"]] = record
+    return list(result.values())
+
+
+def prepare_writer(dataset, annotations):
+    dataset, annotations = Path(dataset), Path(annotations)
+    spec = json.loads((dataset / "dataset.json").read_text())
+    output = dataset / "writer"
+    if output.exists():
+        return json.loads((output / "dataset-index.json").read_text())
+    output.mkdir()
+    records = event_records(annotations, spec["task"])
+    version = "writer-astra-real-v2" if spec["task"] == "button_order" else "writer-astra-real-v1"
+    source_root = annotations / version / spec["task"]
+    source_index = json.loads((source_root / "dataset-index.json").read_text())
+    schedule = {"mode": "status", "initialization": "episode_start", "period_frames": None,
+                "evidence": EVIDENCE_POLICY}
+    selected, summaries = [], []
+    for episode in spec["episodes"]:
+        if episode["split"] == "excluded":
+            continue
+        source_path = source_root / f"episode_{episode['writer_episode_id']:06d}.json"
+        source = json.loads(source_path.read_text())
+        for name in ("inference_backend", "native_backend"):
+            source.pop(name, None)
+        source["episode_id"] = episode["episode_id"]
+        parse_pinned_episode(source)
+        events = [r["event"] for r in records if r["raw_episode_id"] == episode["episode"]
+                  and r["result"]["verdict"] == "observed" and r.get("event") is not None]
+        mapping = {"episode_id": str(episode["episode_id"]), "total_frames": episode["frames"],
+                   "unit_mappings": [{"unit_id": e["event_id"], "phase": "execution", "semantic_transition": True,
+                                      "action_start_frame": e["action_start_frame"], "action_end_frame": e["action_end_frame"]}
+                                     for e in events]}
+        triggers, queries = teacher_status_triggers(mapping, execution_start_frame=episode["execution_start"],
+                                                    task_name=f"franka_{spec['task']}")
+        for trigger in triggers:
+            trigger["trigger_source"] = "franka_coarse_event_teacher_controller"
+        projected = project_writer_episode(source, triggers, schedule=schedule,
+                                           dataset_version=f"franka-{spec['task']}-status-d-r2")
+        (output / f"episode_{episode['episode_id']:06d}.json").write_text(json.dumps(projected, indent=2))
+        trace = {"source_episode": str(source_path), "global_episode_id": episode["episode_id"],
+                 "source_episode_id": episode["writer_episode_id"], "raw_episode_id": episode["episode"],
+                 "teacher_scope": "coarse event estimates used only for Writer timing; not certified negative Status labels",
+                 "queries": queries, "triggers": triggers}
+        (output / f"teacher-{episode['episode_id']:06d}.json").write_text(json.dumps(trace, indent=2))
+        selected.append(episode["episode_id"])
+        summaries.append({"episode_id": episode["episode_id"], "updates": len(projected["updates"])})
+    index = {"schema_version": INDEX_SCHEMA_VERSION, "complete": True, "selected_episode_ids": sorted(selected),
+             "episode_count": len(selected), "dataset_version": f"franka-{spec['task']}-status-d-r2",
+             "writer_schedule": schedule, "source_annotations": str(source_root.resolve()),
+             "source_dataset_version": source_index["dataset_version"],
+             "annotation_writer": {k: source_index[k] for k in ("writer_model", "writer_models_by_context", "writer_prompt_version", "writer_evidence")},
+             "deployment_writer_model": "gemini-3.7-flash", "episodes": summaries,
+             "teacher_scope": "coarse interval teacher projection; source own-bank labels may differ from sparse online Writer"}
+    (output / "dataset-index.json").write_text(json.dumps(index, indent=2))
+    return index
+
+
+def causal_context(stamps, states, poses, target):
+    """Use the last contiguous observed history; the command-gripper feature is disabled."""
+    first = target
+    for previous in range(target - 1, max(-1, target - 49), -1):
+        if (not np.isfinite(states[previous:previous + 2]).all() or not np.isfinite(poses[previous]).all()
+                or not 0 < stamps[previous + 1] - stamps[previous] <= 100_000_000):
+            break
+        first = previous
+    command_features = np.zeros((target - first + 1, 8), dtype=np.float32)
+    command_features[:-1, :7] = poses[first:target]
+    return build_realized_transition_context(actions=command_features, states=states[first:target + 1],
+                                             target_index=target - first)
+
+
+def prepare_status(dataset, canonical, reviews, version="v1"):
+    dataset, canonical, reviews = map(Path, (dataset, canonical, reviews))
+    spec = json.loads((dataset / "dataset.json").read_text())
+    output = dataset / f"status-{version}"
+    output.mkdir(exist_ok=False)
+    episodes = {e["episode_id"]: e for e in spec["episodes"]}
+    labels = {(r["global_episode_id"], r["step_idx"]): r
+              for r in json.loads((reviews / f"{spec['task']}-coarse-positive-spans.json").read_text())["labels"]}
+    for path in reviews.rglob("*-reviewed.json"):
+        record = json.loads(path.read_text())
+        if record.get("task") != spec["task"]:
+            continue
+        for label in record["labels"]:
+            key = record["global_episode_id"], label["step_idx"]
+            if not set(range(key[1], key[1] + 17)) <= set(label["observed_frames"]):
+                raise ValueError(f"Reviewed labels require complete consecutive observations: {key}")
+            if key in labels and labels[key]["span_target"] != label["span_target"]:
+                raise ValueError(f"Review contradicts a coarse-positive target; resolve explicitly: {key}")
+            labels[key] = {**label, "global_episode_id": key[0], "split": episodes[key[0]]["split"],
+                           "source_review": str(path.resolve())}
+    inputs, input_values = {}, {}
+    for split in ("train", "validation", "test"):
+        for path in (dataset / split / "data").glob("*.pkl"):
+            with path.open("rb") as stream:
+                row = pickle.load(stream)
+            key = int(row["epis_idx"]), int(row["step_idx"])
+            inputs[key], input_values[key] = path, row
+    sequences, bindings, context_rows = {s: [] for s in ("train", "validation", "test")}, [], []
+    for split in sequences:
+        (output / split / "data").mkdir(parents=True)
+        (output / split / "meta").mkdir()
+        (output / split / "features").symlink_to(dataset / "features", target_is_directory=True)
+    current_episode, frames, signals = None, None, None
+    source_rows = {}
+    for key, label in sorted(labels.items()):
+        episode_id, step = key
+        episode = episodes[episode_id]
+        split = episode["split"]
+        if key not in inputs:
+            raise ValueError(f"Status query lacks an accepted model input: {key}")
+        if current_episode != episode_id:
+            frames = pl.read_parquet(canonical / "data/chunk-000" / f"episode_{episode['writer_episode_id']:06d}.parquet")
+            stamps, state_pose, target_pose, widths = read_h5_signals(Path(spec["source"]) / spec["task"] / f"{episode['episode']}.h5")
+            states = np.c_[state_pose, widths].astype(np.float32)
+            finite = np.isfinite(states[:, :7]).all(-1)
+            states[finite, :7] = canonical_pose(states[finite, :7])
+            poses = target_pose.astype(np.float32)
+            finite = np.isfinite(poses).all(-1)
+            poses[finite] = canonical_pose(poses[finite])
+            signals = stamps, states, poses
+            current_episode = episode_id
+        context = causal_context(*signals, step)
+        bound = []
+        for frame in range(step, step + 17):
+            source_key = episode_id, frame
+            if source_key not in source_rows:
+                if source_key in inputs:
+                    path = inputs[source_key]
+                    data = path.read_bytes()
+                    kind = "accepted_model_input"
+                else:
+                    observation = frames.row(frame, named=True)
+                    if int(observation["frame_index"]) != frame:
+                        raise ValueError("Canonical observation/frame index mismatch")
+                    data = pickle.dumps(observation, protocol=pickle.HIGHEST_PROTOCOL)
+                    path = output / "observations" / f"{episode_id}-{frame}.pkl"
+                    path.parent.mkdir(exist_ok=True)
+                    path.write_bytes(data)
+                    kind = "canonical_result_observation_only"
+                source_rows[source_key] = TransitionSourceRow(
+                    TransitionRowKey(f"franka_{spec['task']}", episode_id, frame), hashlib.sha256(data).hexdigest())
+                bindings.append({"key": source_rows[source_key].key.to_dict(), "file": str(path.resolve()),
+                                 "kind": kind, "sha256": source_rows[source_key].row_sha256})
+            bound.append(source_rows[source_key])
+        target = TransitionStatusRowTarget(
+            source_row=bound[0], chunk_index=0, candidate_observation_steps=tuple(range(step + 1, step + 17)),
+            candidate_observation_row_sha256=tuple(r.row_sha256 for r in bound[1:]),
+            transition_span_target=label["span_target"], transition_last_span_target=label["last_span_target"],
+            transition_status_valid=True, transition_last_span_valid=label["last_span_valid"],
+            realized_transition_context=context,
+        )
+        annotation_sha = canonical_json_sha256(label)
+        identity = _sequence_identity_payload(start_key=target.source_row.key, annotation_sha256=annotation_sha,
+                                               reviewed_through_step=step + 16, rows=[target])
+        sequence = TransitionSequence(canonical_json_sha256(identity), target.source_row.key, annotation_sha,
+                                      tuple(range(step + 1, step + 49)), step + 16, (target,))
+        index = len(sequences[split])
+        (output / split / "data" / f"{index}.pkl").symlink_to(inputs[key].resolve())
+        sequences[split].append(sequence)
+        if split == "train":
+            values = context.as_numpy()
+            array = np.c_[values["transition_context_action_delta"], values["transition_context_state_delta"], values["transition_context_relative_age"]]
+            context_rows.extend(array[values["transition_context_valid_mask"]])
+    summary = {"task": spec["task"], "counts": {}, "manifest_sha256": {}, "context_disabled_action_components": [7]}
+    for split, values in sequences.items():
+        manifest = TransitionSequenceManifest(canonical_json_sha256(bindings), canonical_json_sha256(list(labels.values())), tuple(values))
+        digest = write_transition_sequence_manifest(output / split / "transition-sequence-manifest.json", manifest)
+        (output / split / "meta/stats.json").write_text(json.dumps({"total_samples": len(values)}))
+        summary["manifest_sha256"][split] = digest
+        summary["counts"][split] = dict(Counter(
+            "negative" if not s.rows[0].transition_span_target else "positive_final" if s.rows[0].transition_last_span_valid and s.rows[0].transition_last_span_target else "positive"
+            for s in values))
+    context_matrix = np.stack(context_rows)
+    mean, std = context_matrix.mean(0), context_matrix.std(0)
+    mean[7], std[7] = 0, 1
+    std = np.where(std > 1e-6, std, 1)
+    summary["context_input_mean"], summary["context_input_std"] = mean.tolist(), std.tolist()
+    (output / "source-bindings.json").write_text(json.dumps(bindings, indent=2))
+    (output / "labels.json").write_text(json.dumps(list(labels.values()), indent=2))
+    (output / "summary.json").write_text(json.dumps(summary, indent=2))
+    history_source = Path(__file__).resolve().parents[2] / "robomme/src/mme_vla_suite/models/config/robomme/perceptual-uniform32-status-d-modul.yaml"
+    history = yaml.safe_load(history_source.read_text())
+    history["use_state_emb"] = False
+    history["pinned_keyframe"]["annotation_dir"] = str((dataset / "writer").resolve())
+    history["transition_status"].update(
+        training_manifest_path=str((output / "train/transition-sequence-manifest.json").resolve()),
+        training_manifest_sha256=summary["manifest_sha256"]["train"],
+        context_input_mean=mean.tolist(), context_input_std=std.tolist(),
+    )
+    (dataset / "assets/history_status_d.yaml").write_text(yaml.safe_dump(history, sort_keys=False))
+    status_link = dataset / "status"
+    if status_link.is_symlink():
+        status_link.unlink()
+    status_link.symlink_to(output.name, target_is_directory=True)
+    return summary

checkpoints/r2/pick3/baseline/step9000/code/integrations/robomme/franka_status_labels.py

@@ -0,0 +1,48 @@
+"""Use accepted coarse events only as certain positive spans; leave endpoint/negative targets unknown."""
+from __future__ import annotations
+
+import json
+from pathlib import Path
+import pickle
+
+
+def positive_span_labels(dataset, annotations):
+    dataset, annotations = Path(dataset), Path(annotations)
+    spec = json.loads((dataset / "dataset.json").read_text())
+    episodes = {e["episode"]: e for e in spec["episodes"]}
+    available = {}
+    for split in ("train", "validation", "test"):
+        for path in (dataset / split / "data").glob("*.pkl"):
+            with path.open("rb") as stream:
+                row = pickle.load(stream)
+            available.setdefault(int(row["epis_idx"]), []).append(int(row["step_idx"]))
+    events = {}
+    for version in ("events-astra-v2", "events-astra-refinements-v3"):
+        for path in sorted((annotations / version / spec["task"]).glob("episode_*/candidate_*/annotation.json")):
+            record = json.loads(path.read_text())
+            events[record["raw_episode_id"], record["candidate_id"]] = (path, record)
+    labels, omitted = [], []
+    for (raw_episode, candidate), (path, record) in sorted(events.items()):
+        if record["result"]["verdict"] != "observed" or record.get("event") is None:
+            continue
+        episode = episodes[raw_episode]
+        window = record["event"]["observable_window"]
+        earliest, latest = window["earliest_frame"], window["latest_frame"]
+        # A whole supported change bracket must lie among this chunk's resulting
+        # observations. No exact action endpoint or negative coverage is inferred.
+        starts = [t for t in available.get(episode["episode_id"], []) if t < earliest <= latest <= t + 16]
+        if not starts:
+            omitted.append({"episode": raw_episode, "candidate_id": candidate,
+                            "reason": "No valid policy input window contains the full observable bracket"})
+            continue
+        start = min(starts, key=lambda t: (abs(t - ((earliest + latest) / 2 - 8)), t))
+        labels.append({
+            "task": spec["task"], "global_episode_id": episode["episode_id"],
+            "raw_episode_id": raw_episode, "split": episode["split"], "step_idx": start,
+            "span_target": 1, "last_span_target": 0, "last_span_valid": False,
+            "source_annotation": str(path.resolve()), "candidate_id": candidate,
+            "observable_bracket": [earliest, latest],
+            "supervision_scope": "accepted coarse positive span only; endpoint and negatives unsupervised",
+            "human_ground_truth": False,
+        })
+    return {"task": spec["task"], "labels": labels, "omitted": omitted}

checkpoints/r2/pick3/baseline/step9000/code/integrations/robomme/franka_status_review.py

@@ -0,0 +1,55 @@
+"""Render consecutive observed frames for targeted Status review; never assign labels automatically."""
+from __future__ import annotations
+
+import argparse
+import io
+import json
+from pathlib import Path
+
+from PIL import Image, ImageDraw, ImageOps
+import polars as pl
+
+
+def render(canonical, output, episode_id, starts):
+    canonical, output = Path(canonical), Path(output)
+    source = canonical / "data/chunk-000" / f"episode_{episode_id:06d}.parquet"
+    indices = sorted({i for start in starts for i in range(max(0, start - 2), start + 19)})
+    frames = pl.read_parquet(source, columns=["frame_index", "image", "wrist_image"])
+    if min(starts) < 0 or max(starts) + 16 >= frames.height:
+        raise ValueError("Each review must include all 16 resulting observations")
+    selected = frames.filter(pl.col("frame_index").is_in(indices)).sort("frame_index")
+    tiles = []
+    for row in selected.iter_rows(named=True):
+        for column, label in (("image", "FRONT DETAIL"), ("wrist_image", "WRIST")):
+            tile = Image.new("RGB", (256, 280), "black")
+            draw = ImageDraw.Draw(tile)
+            draw.text((5, 5), f"TP {row['frame_index']} {label}", fill="white")
+            value = row[column]
+            if value is None or not value.get("bytes"):
+                draw.text((20, 120), "MISSING VIEW", fill="red")
+            else:
+                image = Image.open(io.BytesIO(value["bytes"])).convert("RGB")
+                if column == "image":
+                    image = image.crop((560, 0, min(1280, image.width), min(720, image.height)))
+                image = ImageOps.contain(image, (256, 256))
+                tile.paste(image, ((256 - image.width) // 2, 24 + (256 - image.height) // 2))
+            tiles.append(tile)
+    sheet = Image.new("RGB", (2048, ((len(tiles) + 7) // 8) * 280), "black")
+    for i, tile in enumerate(tiles):
+        sheet.paste(tile, ((i % 8) * 256, (i // 8) * 280))
+    output.parent.mkdir(parents=True, exist_ok=True)
+    sheet.save(output, quality=92)
+    metadata = {"source": str(source), "episode_id": episode_id, "query_starts": starts,
+                "observed_frames": selected["frame_index"].to_list(), "review_status": "pending",
+                "image_size": list(sheet.size)}
+    output.with_suffix(".json").write_text(json.dumps(metadata, indent=2))
+    return metadata
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(description=__doc__)
+    parser.add_argument("--canonical", type=Path, required=True)
+    parser.add_argument("--output", type=Path, required=True)
+    parser.add_argument("--episode-id", type=int, required=True)
+    parser.add_argument("--starts", type=int, nargs="+", required=True)
+    print(json.dumps(render(**vars(parser.parse_args()))))

checkpoints/r2/pick3/baseline/step9000/code/integrations/robomme/manifest.json

@@ -0,0 +1,182 @@
+{
+  "schema_version": "picmem_robomme_phase_a_overlay_v6",
+  "base": {
+    "repository": "git@github.com:shulin16/wam_dev.git",
+    "branch": "main",
+    "commit": "8b1a6f7512c839b67449254535fc564db0876593",
+    "source_root": "robomme_policy_learning",
+    "source_files": {
+      "src/mme_vla_suite/shared/mem_buffer.py": {
+        "path": "robomme_policy_learning/src/mme_vla_suite/shared/mem_buffer.py",
+        "sha256": "ed37406c663cc9be9035cbadb2b961ad2babcc26d7fb8883535aaff1698efef7"
+      },
+      "src/mme_vla_suite/training/dataset.py": {
+        "path": "robomme_policy_learning/src/mme_vla_suite/training/dataset.py",
+        "sha256": "435df6266d4fbc3c1c8ca1c3e7b72c7f53f398f929a62f7488daa64cdcecfa48"
+      }
+    }
+  },
+  "target": {
+    "repository": "git@github.com:shulin16/wam_dev.git",
+    "branch": "feat/robomme-mme-vla-pipeline",
+    "commit": "8aeb20dc5be051606618aae4b379f97af8cc407d",
+    "workspace_root": "picmem"
+  },
+  "paths": [
+    {
+      "path": "src/mme_vla_suite/shared/mem_buffer.py",
+      "base_sha256": "ed37406c663cc9be9035cbadb2b961ad2babcc26d7fb8883535aaff1698efef7",
+      "target_preimage_sha256": "ed37406c663cc9be9035cbadb2b961ad2babcc26d7fb8883535aaff1698efef7",
+      "overlay_sha256": "f1f3eb94b9423eb39065322cb1751a176a2bca7778bf2e4cb878b892119e088b"
+    },
+    {
+      "path": "src/mme_vla_suite/training/picmem_phase_a.py",
+      "base_sha256": null,
+      "target_preimage_sha256": null,
+      "overlay_sha256": "771b71fbcf5e7f7482ab40fc1acbba2a19c24c6259a081f467e0dc946eb6062b"
+    },
+    {
+      "path": "src/mme_vla_suite/training/picmem_phase_a_full_state.py",
+      "base_sha256": null,
+      "target_preimage_sha256": null,
+      "overlay_sha256": "e8b165aeec8d023b9df72a956ee6b1c227a44e71e2dc7114fd383ecfc9e7fe30"
+    },
+    {
+      "path": "src/mme_vla_suite/training/picmem_phase_a_reader.py",
+      "base_sha256": null,
+      "target_preimage_sha256": null,
+      "overlay_sha256": "75015051b775c12e07f8d6f8b893108cba1951ecbe4a445f33a3e490d524a4aa"
+    },
+    {
+      "path": "src/mme_vla_suite/training/picmem_phase_a_runtime.py",
+      "base_sha256": null,
+      "target_preimage_sha256": null,
+      "overlay_sha256": "5b218f15545dd1ee75ccb7271300ef985a2b46fcaaedaf74170f638c702ae43c"
+    },
+    {
+      "path": "src/mme_vla_suite/training/dataset.py",
+      "base_sha256": "435df6266d4fbc3c1c8ca1c3e7b72c7f53f398f929a62f7488daa64cdcecfa48",
+      "target_preimage_sha256": "62f867c89b0073f484ba15ff1e3a5f5554ec520bcae00b06cdcff3f19fbf0d3b",
+      "overlay_sha256": "e60d8f245dc20c1c805014690297a2a00f5a4fb6e18f09280d743847edab2c68"
+    },
+    {
+      "path": "src/mme_vla_suite/models/representation/phase_a_reader.py",
+      "base_sha256": null,
+      "target_preimage_sha256": null,
+      "overlay_sha256": "1bf7794d8acc8c478b39654894b36d6451669283f261aac41461ea034cfe8ad9"
+    },
+    {
+      "path": "src/mme_vla_suite/models/config/robomme/perceptual-picmem-phase-a-modul.yaml",
+      "base_sha256": null,
+      "target_preimage_sha256": null,
+      "overlay_sha256": "735b2c4f49a7b94c460153a8b72177a07d72dd8b224200a93c7867e8abebe286"
+    },
+    {
+      "path": "scripts/picmem_phase_a_dataset_smoke.py",
+      "base_sha256": null,
+      "target_preimage_sha256": null,
+      "overlay_sha256": "44b3c7e6eb99c322b76f84c121ebc8954b665a84100894049b18bf24a32a3a54"
+    },
+    {
+      "path": "scripts/picmem_phase_a_checkpoint_probe.py",
+      "base_sha256": null,
+      "target_preimage_sha256": null,
+      "overlay_sha256": "bf21aea49ca166db2e2c0fa788725a0bf1a52025594363d56467d3ef665012fe"
+    },
+    {
+      "path": "scripts/picmem_phase_a_full_state_train.py",
+      "base_sha256": null,
+      "target_preimage_sha256": null,
+      "overlay_sha256": "8aea4aa5d8a7540e42003ceceeb5a696a8f78bd8795dbee13ffba825ae764cea"
+    },
+    {
+      "path": "scripts/picmem_phase_a_full_state_smoke.py",
+      "base_sha256": null,
+      "target_preimage_sha256": null,
+      "overlay_sha256": "cd6e16b048b5ff1f11fa358fd571956d57d45ca78a7303dc859eb9943a4b640b"
+    },
+    {
+      "path": "scripts/run_20260731_picmem_phase_a_8gpu.sh",
+      "base_sha256": null,
+      "target_preimage_sha256": null,
+      "overlay_sha256": "b5ef128664eb1c480afb30c5b10678a1dcc5bcdc9d19e6c5c300abfa9b09170b"
+    },
+    {
+      "path": "scripts/run_20260731_picmem_phase_a_h200.sh",
+      "base_sha256": null,
+      "target_preimage_sha256": null,
+      "overlay_sha256": "b2ea492ea5e847270888a33887e560fce82474a70bf6d6ea1ce78321090f394b"
+    },
+    {
+      "path": "src/mme_vla_suite/policies/picmem_phase_a_rollout.py",
+      "base_sha256": null,
+      "target_preimage_sha256": null,
+      "overlay_sha256": "b429681ec30d6bf68d419bfc3ef401362656e543cec6b9d5d38b584ece09d18b"
+    },
+    {
+      "path": "examples/robomme/picmem_phase_a_rollout.py",
+      "base_sha256": null,
+      "target_preimage_sha256": null,
+      "overlay_sha256": "ecc19b94db23699eb4143fab50349c43196e2528bda2cd4724580ef77de48b8e"
+    }
+  ],
+  "patches": [
+    {
+      "path": "patches/phase_a_reader_host.patch",
+      "sha256": "eb00053c9db76e980f04a1d243ac2a68785535f05fa0b8034c5dd976236de31c",
+      "files": [
+        {
+          "path": "src/mme_vla_suite/models/integration/history_observation.py",
+          "target_preimage_sha256": "e510f75496770d418d770f3e2a56f6ddc9d972a5ff68b6cd14b7a15665ec39a8",
+          "patched_sha256": "1823a44a223e648dee481ca0c625d21ac77117cfb70da2ebd118789a515c8087"
+        },
+        {
+          "path": "src/mme_vla_suite/models/integration/history_pi0.py",
+          "target_preimage_sha256": "9192bfc229ac1386a3d36835c6d1e220617431d44b462016b062bc3df07a337f",
+          "patched_sha256": "2f7a490ac70cddcbaefb721d9ff83d52266adcb61bb01d4691cc739b2824a524"
+        },
+        {
+          "path": "src/mme_vla_suite/models/representation/percep_mem.py",
+          "target_preimage_sha256": "39ef28ef3ee30f302b57a306351be9ae6f8cc18100a460d2e61a4f5dd1dc986f",
+          "patched_sha256": "a70618d50a65fcd5f50c5bccd11806e8170c0f207fab449252b367c447ed833c"
+        },
+        {
+          "path": "src/mme_vla_suite/policies/robomme_policy.py",
+          "target_preimage_sha256": "78dbf3393bac91a16096d02b17239ca0e14c38be7ce32042d88f96b1e89e35e2",
+          "patched_sha256": "747a2ed2ebb7dfa83d8dd255c3b77e0367ef5dec82c041e0f1c6427c9103c12b"
+        },
+        {
+          "path": "src/mme_vla_suite/training/config.py",
+          "target_preimage_sha256": "47041573dae2c48b99b56035763f4fd611f6cc5395e7875849dd6017227ce247",
+          "patched_sha256": "75580e400a350ab6535840ed2a8d99d25767c7955bd1fd2abdadde25399d9097"
+        },
+        {
+          "path": "src/mme_vla_suite/training/dataloader.py",
+          "target_preimage_sha256": "48d7c121120bddd98f37733924519eb40c9bd7375e9dc38815f9e68c435e7cb7",
+          "patched_sha256": "be402665224b060e4ff762b65e27cb42658b5dfa3b717169a2c9f288d9481139"
+        }
+      ]
+    },
+    {
+      "path": "patches/phase_a_rollout_host.patch",
+      "sha256": "859d80ccdaaf297975902182968d6881b45b942a2cea7e40b585180790ec6ca2",
+      "files": [
+        {
+          "path": "examples/robomme/eval.py",
+          "target_preimage_sha256": "2b51b942af18f7a3412814b66eca67a0fc4ff374794bceac5f44d87e1e367c41",
+          "patched_sha256": "90b846c40da2593d5985c3c22fa915ba7e9f2d104f0463547193a7413e16dd28"
+        },
+        {
+          "path": "src/mme_vla_suite/policies/policy.py",
+          "target_preimage_sha256": "dc31fce752172e1861de4840445b6c300dfa2a675a797dedbee1b108f7f4e20d",
+          "patched_sha256": "dae90802dcb7e14b2a5de58b636439ad7228a1289462f2e03812d26e89ddae83"
+        },
+        {
+          "path": "src/mme_vla_suite/serving/websocket_policy_server.py",
+          "target_preimage_sha256": "7f145fb4633a0f10fc6f545e0104d2c4aeffecfd86689983ce7ddd691f89a107",
+          "patched_sha256": "8a8de436fe8a8c8f3664223687f1e3211035d9fee38651eed5774d41e6839c7a"
+        }
+      ]
+    }
+  ]
+}

checkpoints/r2/pick3/baseline/step9000/code/integrations/robomme/scripts/picmem_phase_a_checkpoint_probe.py

@@ -0,0 +1,528 @@
+#!/usr/bin/env python3
+"""Paired real-checkpoint action probe for the pinned Phase-A cohort."""
+
+from __future__ import annotations
+
+import argparse
+import dataclasses
+import hashlib
+import json
+import os
+import pickle
+import re
+from collections.abc import Mapping
+from pathlib import Path
+from typing import Any
+
+import numpy as np
+
+
+def require(condition: bool, message: str) -> None:
+    if not condition:
+        raise RuntimeError(message)
+
+
+def load_json(path: Path, label: str) -> dict[str, Any]:
+    require(path.is_file(), f"missing {label}: {path}")
+    value = json.loads(path.read_text(encoding="utf-8"))
+    require(isinstance(value, dict), f"{label} must be a JSON object")
+    return value
+
+
+def scalar_int(value: Any, name: str) -> int:
+    value = value.item() if hasattr(value, "item") else value
+    require(not isinstance(value, bool) and isinstance(value, int) and value >= 0, f"bad {name}: {value!r}")
+    return int(value)
+
+
+def array_hash(value: Any) -> str:
+    array = np.ascontiguousarray(np.asarray(value))
+    digest = hashlib.sha256(f"{array.dtype}:{array.shape}".encode())
+    digest.update(array.tobytes())
+    return digest.hexdigest()
+
+
+def byte_exact(left: Any, right: Any) -> bool:
+    left_array = np.ascontiguousarray(np.asarray(left))
+    right_array = np.ascontiguousarray(np.asarray(right))
+    return bool(
+        left_array.dtype == right_array.dtype
+        and left_array.shape == right_array.shape
+        and left_array.tobytes() == right_array.tobytes()
+    )
+
+
+def observation_hashes(observation: Any, jax: Any) -> dict[str, str | None]:
+    result: dict[str, str | None] = {}
+
+    def visit(name: str, value: Any) -> None:
+        if value is None:
+            result[name] = None
+        elif isinstance(value, Mapping):
+            for key in sorted(value):
+                visit(f"{name}.{key}", value[key])
+        else:
+            result[name] = array_hash(jax.device_get(value))
+
+    for field in dataclasses.fields(observation):
+        if field.name != "static_image_emb":
+            visit(field.name, getattr(observation, field.name))
+    return result
+
+
+def load_frame(dataset: Path, episode: int, frame: int, token_per_image: int) -> tuple[Path, np.ndarray]:
+    path = dataset / "features" / f"episode_{episode}" / f"token_emb_{frame}.npy"
+    require(path.is_file(), f"missing frame feature: {path}")
+    payload = np.load(path, allow_pickle=True).item()
+    tokens = np.asarray(payload["image_emb_4x4"])
+    require(tokens.shape == (1, token_per_image, 2048), f"bad feature shape: {tokens.shape}")
+    return path, tokens.reshape(token_per_image, 2048)
+
+
+def parse_args() -> argparse.Namespace:
+    parser = argparse.ArgumentParser(description=__doc__)
+    parser.add_argument("--checkpoint", required=True, type=Path)
+    parser.add_argument("--dataset", required=True, type=Path)
+    parser.add_argument("--sidecar-dir", required=True, type=Path)
+    parser.add_argument("--history-config", required=True, type=Path)
+    parser.add_argument("--cohort", required=True, type=Path)
+    parser.add_argument("--output", required=True, type=Path)
+    parser.add_argument("--subset-manifest", required=True, type=Path)
+    parser.add_argument("--subset-manifest-sha256", required=True)
+    parser.add_argument("--replacement-manifest", required=True, type=Path)
+    parser.add_argument("--replacement-manifest-sha256", required=True)
+    parser.add_argument("--best-visible-manifest", required=True, type=Path)
+    parser.add_argument("--best-visible-manifest-sha256", required=True)
+    args = parser.parse_args()
+    for name in (
+        "checkpoint",
+        "dataset",
+        "sidecar_dir",
+        "history_config",
+        "cohort",
+        "output",
+        "subset_manifest",
+    ):
+        setattr(args, name, getattr(args, name).expanduser().resolve())
+    for name in ("replacement_manifest", "best_visible_manifest"):
+        # Preserve the final component so package-root symlinks fail closed.
+        setattr(args, name, getattr(args, name).expanduser().absolute())
+    for name in (
+        "subset_manifest_sha256",
+        "replacement_manifest_sha256",
+        "best_visible_manifest_sha256",
+    ):
+        require(
+            re.fullmatch(r"[0-9a-f]{64}", getattr(args, name)) is not None,
+            f"{name} must be a lowercase SHA-256 digest",
+        )
+    return args
+
+
+def main() -> int:
+    args = parse_args()
+    require(
+        args.subset_manifest.is_file() and not args.subset_manifest.is_symlink(),
+        f"missing regular subset manifest: {args.subset_manifest}",
+    )
+    for path in (args.replacement_manifest, args.best_visible_manifest):
+        require(
+            path.is_dir() and not path.is_symlink(),
+            f"missing completed frozen package root: {path}",
+        )
+    cohort = load_json(args.cohort, "probe cohort")
+    require(
+        cohort.get("schema_version") == "picmem_phase_a_run084_checkpoint_probe_cohort_v1",
+        "unsupported probe cohort schema",
+    )
+    geometry = cohort["memory_geometry"]
+    token_budget = scalar_int(geometry["token_budget"], "token budget")
+    token_per_image = scalar_int(geometry["token_per_image"], "token_per_image")
+    frame_budget = scalar_int(geometry["frame_capacity"], "frame capacity")
+    require((token_budget, token_per_image, frame_budget) == (512, 16, 32), "cohort geometry drift")
+
+    batch_size = 64
+    task = cohort["task"]
+    episode = scalar_int(cohort["target"]["episode"], "target episode")
+    step = scalar_int(cohort["target"]["step"], "target step")
+    cohort_evidence_frame = scalar_int(
+        cohort["target"]["evidence_frame"],
+        "cohort evidence frame",
+    )
+    donor_episode = scalar_int(cohort["donor"]["episode"], "donor episode")
+    donor_frame = scalar_int(cohort["donor"]["frame"], "donor frame")
+    instruction = cohort["instruction"]
+    seed = scalar_int(cohort["sampling"]["seed"], "seed")
+    noise_seed = scalar_int(cohort["sampling"]["noise_seed"], "noise seed")
+    num_steps = scalar_int(cohort["sampling"]["num_steps"], "sampling steps")
+    action_tolerance = float(cohort["acceptance"]["action_tolerance"])
+    margin = float(cohort["acceptance"]["margin"])
+    require(
+        num_steps > 0,
+        "invalid cohort batch/sampling values",
+    )
+
+    os.environ["PICMEM_PHASE_A_SIDECAR_DIR"] = str(args.sidecar_dir)
+    os.environ["PICMEM_PHASE_A_SUBSET_MANIFEST"] = str(args.subset_manifest)
+    os.environ["PICMEM_PHASE_A_SUBSET_MANIFEST_SHA256"] = args.subset_manifest_sha256
+    os.environ["PICMEM_PHASE_A_REPLACEMENT_MANIFEST"] = str(args.replacement_manifest)
+    os.environ["PICMEM_PHASE_A_REPLACEMENT_MANIFEST_SHA256"] = args.replacement_manifest_sha256
+    os.environ["PICMEM_PHASE_A_BEST_VISIBLE_MANIFEST"] = str(args.best_visible_manifest)
+    os.environ["PICMEM_PHASE_A_BEST_VISIBLE_MANIFEST_SHA256"] = args.best_visible_manifest_sha256
+
+    import jax
+    import jax.numpy as jnp
+    import openpi.models.model as openpi_model
+    import openpi.shared.nnx_utils as nnx_utils
+    from mme_vla_suite.training import config as train_config
+    from mme_vla_suite.training.dataloader import create_data_loader
+    from mme_vla_suite.training.picmem_phase_a import load_episode_sidecar, selected_frame_read
+    from omegaconf import OmegaConf
+
+    from picmem.memory.causal import paired_action_effect
+    from picmem.provenance.frozen_reader import FrozenSelectionReader
+    from picmem.provenance.run084 import replay_sidecar
+    from picmem.sampling.run084_sampler import Run084TaskBalancedSampler
+
+    reader = FrozenSelectionReader.load_formal(
+        subset_manifest_path=args.subset_manifest,
+        subset_manifest_sha256=args.subset_manifest_sha256,
+        replacement_manifest_path=args.replacement_manifest,
+        replacement_manifest_sha256=args.replacement_manifest_sha256,
+        best_visible_manifest_path=args.best_visible_manifest,
+        best_visible_manifest_sha256=args.best_visible_manifest_sha256,
+    )
+    candidates = tuple(
+        row
+        for row in reader.subset.records
+        if (
+            row.task_id,
+            row.global_episode_id,
+            row.step_idx,
+            row.instruction,
+        )
+        == (task, episode, step, instruction)
+    )
+    require(
+        len(candidates) == 1,
+        f"cohort must resolve exactly one corrected sample identity, got {len(candidates)}",
+    )
+    frozen_row = candidates[0]
+    dataset_index = frozen_row.new_sample_idx
+    loader_seed = int(reader.replacements.seed)
+    locator = Run084TaskBalancedSampler(
+        reader.subset,
+        batch_size=batch_size,
+        seed=loader_seed,
+        auto_advance=False,
+    )
+    sampler_epoch, batch_cursor, batch_row = locator.locate_sample_identity(
+        frozen_row.sample_identity_sha256
+    )
+    locator.set_position(epoch=sampler_epoch, batch_cursor=batch_cursor)
+    sampler_state = locator.state_dict()
+    require(
+        locator.next_batch_indices()[batch_row] == dataset_index
+        and locator.next_batch_sample_ids()[batch_row] == frozen_row.sample_identity_sha256,
+        "sampler locator did not bind the exact corrected sample identity",
+    )
+
+    params_dir = args.checkpoint / "params"
+    assets_dir = args.checkpoint / "assets"
+    norm_stats = assets_dir / "robomme" / "norm_stats.json"
+    raw_path = args.dataset / "data" / f"{dataset_index}.pkl"
+    for path in (params_dir, norm_stats, raw_path, args.history_config):
+        require(path.exists(), f"missing probe input: {path}")
+
+    with raw_path.open("rb") as stream:
+        raw = pickle.load(stream)
+    raw_episode = scalar_int(raw.get("epis_idx"), "raw episode")
+    raw_step = scalar_int(raw.get("step_idx"), "raw step")
+    raw_exec_start = scalar_int(raw.get("exec_start_idx"), "raw exec start")
+    require((raw_episode, raw_step, raw.get("prompt")) == (episode, step, instruction), "cohort row drift")
+    reader.subset.validate_raw_sample(dataset_index, raw)
+
+    target_sidecar_path, _ = load_episode_sidecar(
+        args.sidecar_dir,
+        episode_id=episode,
+        instruction=instruction,
+    )
+    read = selected_frame_read(
+        args.sidecar_dir,
+        episode_id=episode,
+        step=step,
+        raw_exec_start=raw_exec_start,
+        instruction=instruction,
+        frame_budget=frame_budget,
+        recent_anchor_count=4,
+        expected_task_id=frozen_row.task_id,
+        expected_sidecar_sha256=frozen_row.sidecar_sha256,
+    )
+    replacement = reader.record_for(frozen_row, current_step=step)
+
+    donor_sidecar_path, donor_sidecar = load_episode_sidecar(
+        args.sidecar_dir,
+        episode_id=donor_episode,
+        instruction=instruction,
+    )
+    donor_exec_start = scalar_int(donor_sidecar.get("exec_start_step"), "donor exec start")
+    donor_read = replay_sidecar(
+        donor_sidecar,
+        donor_exec_start,
+        budget=frame_budget,
+        recent=4,
+    )
+    require(donor_read.contract_id == read.contract_id, "donor contract mismatch")
+    require(donor_frame in donor_read.valid_indices(), "donor frame is not retained evidence")
+    require(donor_read.value != read.value, "donor and target memory values are equal")
+
+    history = OmegaConf.load(args.history_config)
+    require(
+        (
+            str(history.representation_type),
+            str(history.perceptual_memory.type),
+            str(history.perceptual_memory.frame_selection.type),
+            int(history.budget),
+            int(history.token_per_image),
+            int(history.num_views),
+            int(history.streaming_obs_horizon),
+            str(history.pool_type),
+            bool(history.use_pos_emb),
+            bool(history.use_state_emb),
+            str(history.memory_feature.img.net),
+            int(history.memory_feature.img.input_dim),
+            int(history.memory_feature.pos.input_dim),
+            int(history.memory_feature.pos.hidden_dim),
+            int(history.memory_feature.state.input_dim),
+            int(history.memory_feature.state.hidden_dim),
+            str(history.integration_type),
+            int(history.memory_token_dim),
+            int(history.perceptual_memory.frame_selection.frame_budget),
+            int(history.perceptual_memory.frame_selection.recent_anchor_count),
+            str(history.perceptual_memory.frame_selection.selection_mode),
+            str(history.perceptual_memory.frame_selection.metadata_mode),
+            str(history.perceptual_memory.frame_selection.reader_mode),
+            str(history.perceptual_memory.frame_selection.manager_mode),
+        )
+        == (
+            "perceptual",
+            "frame_sampling",
+            "picmem_phase_a",
+            token_budget,
+            token_per_image,
+            1,
+            16,
+            "mean",
+            True,
+            False,
+            "identity",
+            2048,
+            768,
+            768,
+            8,
+            512,
+            "modulation",
+            1024,
+            frame_budget,
+            4,
+            "relevant",
+            "correct",
+            "fixed16",
+            "full_evolving",
+        ),
+        "history config drift",
+    )
+    read = reader.render(
+        read,
+        replacement,
+        str(history.perceptual_memory.frame_selection.selection_mode),
+    )
+    selected_frames = tuple(read.valid_indices())
+    evidence_slots = tuple(read.evidence_slots)
+    require(
+        len(evidence_slots) == 1,
+        f"the pinned relevant checkpoint cohort requires one evidence slot, got {evidence_slots}",
+    )
+    evidence_slot = evidence_slots[0]
+    evidence_frame = int(read.frame_indices[evidence_slot])
+    require(
+        evidence_frame == cohort_evidence_frame,
+        "frozen relevant manifest changed the pinned semantic evidence frame",
+    )
+
+    target_feature, target_tokens = load_frame(
+        args.dataset,
+        episode,
+        evidence_frame,
+        token_per_image,
+    )
+    donor_feature, donor_tokens = load_frame(
+        args.dataset,
+        donor_episode,
+        donor_frame,
+        token_per_image,
+    )
+    require(target_tokens.dtype == donor_tokens.dtype, "target/donor feature dtype mismatch")
+    require(not np.array_equal(target_tokens, donor_tokens), "target/donor visual evidence is identical")
+
+    base = train_config.get_config("mme_vla_suite")
+    data_factory = dataclasses.replace(
+        base.data,
+        assets=dataclasses.replace(base.data.assets, assets_dir=str(assets_dir)),
+    )
+    config = dataclasses.replace(
+        base,
+        exp_name="picmem_phase_a_checkpoint_probe",
+        model=dataclasses.replace(base.model, history_config=history),
+        data=data_factory,
+        dataset_path=str(args.dataset),
+        batch_size=batch_size,
+        num_workers=0,
+        seed=seed,
+        sampler_seed=loader_seed,
+        wandb_enabled=False,
+    )
+    data_config = config.data.create(config.assets_dirs, config.model)
+    require(data_config.norm_stats is not None, "checkpoint norm stats were not loaded")
+    loader = create_data_loader(
+        config.dataset_path,
+        data_config,
+        history_config=history,
+        action_horizon=config.model.action_horizon,
+        batch_size=batch_size,
+        shuffle=False,
+        num_batches=1,
+        num_workers=0,
+        seed=loader_seed,
+        sampler_epoch=sampler_epoch,
+    )
+    loader.load_sampler_state_dict(sampler_state)
+    require(
+        loader.sampler_state_dict()["next_sample_ids"] == sampler_state["next_sample_ids"],
+        "host loader changed the restored next sample identities",
+    )
+    observation, targets = next(iter(loader))
+    require(observation is not None and targets is not None, "cohort batch is unavailable")
+    require(int(config.model.action_horizon) == 20, "action horizon drift")
+    require(int(config.model.action_dim) == 32, "action dimension drift")
+    require(tuple(targets.shape) == (batch_size, 20, 32), "action target shape drift")
+    require(tuple(observation.static_image_emb.shape) == (batch_size, token_budget, 2048), "memory shape drift")
+    require(tuple(observation.static_mask.shape) == (batch_size, token_budget), "memory mask shape drift")
+
+    correct_static = np.array(jax.device_get(observation.static_image_emb), copy=True)
+    correct_mask = np.array(jax.device_get(observation.static_mask), copy=True)
+    selected = correct_static[batch_row].reshape(frame_budget, token_per_image, 2048)
+    frame_mask = correct_mask[batch_row].reshape(frame_budget, token_per_image)
+    require(np.all(frame_mask == frame_mask[:, :1]), "one frame has a partial token mask")
+    require(np.array_equal(frame_mask[:, 0], np.asarray(read.valid_mask)), "loader/Read mask mismatch")
+    require(np.array_equal(selected[evidence_slot], target_tokens), "loader/Read evidence mismatch")
+    shared_hashes = observation_hashes(observation, jax)
+
+    params = openpi_model.restore_params(params_dir, dtype=jnp.bfloat16)
+    model = config.model.load(params)
+    model.eval()
+    sample_actions = nnx_utils.module_jit(model.sample_actions)
+    noise = jax.random.normal(jax.random.key(noise_seed), tuple(targets.shape))
+    full_actions: list[np.ndarray] = []
+
+    def policy(request: Mapping[str, Any], policy_seed: int) -> np.ndarray:
+        visual = np.asarray(request["memory_visual"])
+        mask = np.asarray(request["memory_mask"])
+        require(visual.shape == (frame_budget, token_per_image, 2048), "probe visual shape drift")
+        require(mask.shape == (frame_budget,) and mask.dtype == np.bool_, "probe frame mask drift")
+        require(
+            np.array_equal(np.repeat(mask, token_per_image), correct_mask[batch_row]),
+            "probe attempted to change the memory mask",
+        )
+        static = correct_static.copy()
+        static[batch_row] = visual.reshape(token_budget, 2048)
+        arm = observation.replace(static_image_emb=jnp.asarray(static))
+        require(shared_hashes == observation_hashes(arm, jax), "a non-memory observation field changed")
+        actions = sample_actions(
+            jax.random.key(policy_seed),
+            arm,
+            num_steps=num_steps,
+            noise=noise,
+        )
+        actions.block_until_ready()
+        full_actions.append(np.array(jax.device_get(actions), copy=True))
+        return np.array(full_actions[-1][batch_row], dtype=np.float64, copy=True)
+
+    effect = paired_action_effect(
+        policy,
+        observation={},
+        read=read,
+        selected_visual=selected,
+        counterfactual_evidence=donor_tokens[None],
+        ground_truth_actions=np.asarray(jax.device_get(targets[batch_row])),
+        seed=seed,
+        margin=margin,
+        action_tolerance=action_tolerance,
+    )
+    require(len(full_actions) == 2, f"paired probe made {len(full_actions)} full-batch policy calls")
+    unaffected_rows = tuple(row for row in range(batch_size) if row != batch_row)
+    unaffected_rows_byte_exact = all(
+        byte_exact(full_actions[0][row], full_actions[1][row]) for row in unaffected_rows
+    )
+    mse_delta = effect.action_mse_delta
+    passed = bool(
+        effect.applicable
+        and effect.input_changed
+        and effect.action_changed
+        and effect.policy_calls == 2
+        and effect.changed_slots == (evidence_slot,)
+        and unaffected_rows_byte_exact
+        and mse_delta is not None
+        and mse_delta > 0.0
+    )
+    report = {
+        "schema_version": "picmem_phase_a_checkpoint_probe_v2",
+        "status": "PASS" if passed else "FAIL",
+        "passed": passed,
+        "checkpoint": str(args.checkpoint),
+        "checkpoint_assets": str(assets_dir),
+        "cohort": str(args.cohort),
+        "dataset_index": dataset_index,
+        "target_sidecar": str(target_sidecar_path),
+        "donor_sidecar": str(donor_sidecar_path),
+        "target_feature": str(target_feature),
+        "donor_feature": str(donor_feature),
+        "changed_slots": list(effect.changed_slots),
+        "selected_frames": list(selected_frames),
+        "sample_identity_sha256": frozen_row.sample_identity_sha256,
+        "replacement_record_sha256": replacement.sha256,
+        "action_changed": effect.action_changed,
+        "action_l2": effect.action_l2,
+        "intervened_batch_row": batch_row,
+        "unaffected_rows": list(unaffected_rows),
+        "unaffected_rows_byte_exact": unaffected_rows_byte_exact,
+        "correct_action_mse": effect.correct_action_mse,
+        "negative_action_mse": effect.negative_action_mse,
+        "negative_minus_correct_mse": mse_delta,
+        "margin": margin,
+        "margin_loss": effect.margin_loss,
+        "target_visual_sha256": array_hash(target_tokens),
+        "donor_visual_sha256": array_hash(donor_tokens),
+        "action_sha256": list(effect.action_sha256 or ()),
+        "full_batch_action_sha256": [array_hash(value) for value in full_actions],
+        "noise_sha256": array_hash(jax.device_get(noise)),
+        "sampling": {
+            "policy_seed": seed,
+            "noise_seed": noise_seed,
+            "loader_seed": loader_seed,
+            "sampler_epoch": sampler_epoch,
+            "batch_cursor": batch_cursor,
+            "batch_row": batch_row,
+            "next_sample_ids": sampler_state["next_sample_ids"],
+            "diffusion_steps": num_steps,
+        },
+        "shared_observation_field_hashes": shared_hashes,
+    }
+    args.output.parent.mkdir(parents=True, exist_ok=True)
+    args.output.write_text(json.dumps(report, indent=2, sort_keys=True) + "\n", encoding="utf-8")
+    print(json.dumps(report, sort_keys=True))
+    return 0 if passed else 3
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())

checkpoints/r2/pick3/baseline/step9000/code/integrations/robomme/scripts/picmem_phase_a_dataset_smoke.py

@@ -0,0 +1,536 @@
+#!/usr/bin/env python3
+"""CPU smoke for the real RoboMME Phase-A dataset/config contract."""
+
+from __future__ import annotations
+
+import argparse
+import hashlib
+import json
+import os
+import re
+from pathlib import Path
+from types import SimpleNamespace
+from typing import Any
+
+TOKEN_BUDGET = 512
+TOKEN_PER_IMAGE = 16
+FRAME_BUDGET = 32
+NEUTRAL_HOST_FIELDS = (
+    "picmem_token_features",
+    "picmem_token_mask",
+    "picmem_typed_role_ids",
+    "picmem_typed_categorical_ids",
+    "picmem_typed_numeric_values",
+    "picmem_typed_numeric_mask",
+    "picmem_typed_age_confidence",
+    "picmem_typed_contract_indices",
+    "picmem_typed_token_mask",
+    "_picmem_typed_task_index",
+)
+
+
+def require(condition: bool, message: str) -> None:
+    if not condition:
+        raise RuntimeError(message)
+
+
+def scalar_int(value: Any, name: str) -> int:
+    value = value.item() if hasattr(value, "item") else value
+    require(not isinstance(value, bool) and isinstance(value, int) and value >= 0, f"bad {name}: {value!r}")
+    return int(value)
+
+
+def load_object(path: Path, label: str) -> dict[str, Any]:
+    require(path.is_file(), f"missing {label}: {path}")
+
+    def reject_duplicates(pairs: list[tuple[str, Any]]) -> dict[str, Any]:
+        value: dict[str, Any] = {}
+        for key, item in pairs:
+            require(key not in value, f"duplicate {label} key: {key}")
+            value[key] = item
+        return value
+
+    value = json.loads(path.read_text(encoding="utf-8"), object_pairs_hook=reject_duplicates)
+    require(isinstance(value, dict), f"{label} must be a JSON object: {path}")
+    return value
+
+
+def fake_data_config(np: Any) -> Any:
+    def stats(dim: int) -> Any:
+        return SimpleNamespace(
+            mean=np.zeros(dim, dtype=np.float32),
+            std=np.ones(dim, dtype=np.float32),
+            q01=-np.ones(dim, dtype=np.float32),
+            q99=np.ones(dim, dtype=np.float32),
+        )
+
+    return SimpleNamespace(
+        norm_stats={"state": stats(8), "actions": stats(32)},
+        use_quantile_norm=False,
+    )
+
+
+def parse_args() -> argparse.Namespace:
+    parser = argparse.ArgumentParser(description=__doc__)
+    parser.add_argument("--dataset", required=True, type=Path)
+    parser.add_argument("--sidecar-dir", required=True, type=Path)
+    parser.add_argument("--config", required=True, type=Path)
+    parser.add_argument("--cohort", required=True, type=Path)
+    parser.add_argument("--subset-manifest", required=True, type=Path)
+    parser.add_argument("--subset-manifest-sha256", required=True)
+    parser.add_argument("--replacement-manifest", required=True, type=Path)
+    parser.add_argument("--replacement-manifest-sha256", required=True)
+    parser.add_argument("--best-visible-manifest", required=True, type=Path)
+    parser.add_argument("--best-visible-manifest-sha256", required=True)
+    parser.add_argument("--arm-manifest", type=Path)
+    parser.add_argument("--arm-manifest-sha256")
+    parser.add_argument("--calibration-manifest", type=Path)
+    parser.add_argument("--calibration-manifest-sha256")
+    args = parser.parse_args()
+    for name in (
+        "dataset",
+        "sidecar_dir",
+        "config",
+        "cohort",
+        "subset_manifest",
+    ):
+        setattr(args, name, getattr(args, name).expanduser().resolve())
+    for name in ("replacement_manifest", "best_visible_manifest"):
+        # Preserve the final component so package-root symlinks fail closed.
+        setattr(args, name, getattr(args, name).expanduser().absolute())
+    for name in ("arm_manifest", "calibration_manifest"):
+        value = getattr(args, name)
+        if value is not None:
+            # Preserve the final component so a manifest symlink cannot be
+            # hidden by Path.resolve() before the trust-boundary check.
+            setattr(args, name, value.expanduser().absolute())
+    for name in (
+        "subset_manifest_sha256",
+        "replacement_manifest_sha256",
+        "best_visible_manifest_sha256",
+        "arm_manifest_sha256",
+        "calibration_manifest_sha256",
+    ):
+        if getattr(args, name) is None:
+            continue
+        require(
+            re.fullmatch(r"[0-9a-f]{64}", getattr(args, name)) is not None,
+            f"{name} must be a lowercase SHA-256 digest",
+        )
+    return args
+
+
+def main() -> int:
+    args = parse_args()
+    require(args.dataset.is_dir(), f"missing dataset: {args.dataset}")
+    require(args.sidecar_dir.is_dir(), f"missing sidecar directory: {args.sidecar_dir}")
+    require(
+        args.subset_manifest.is_file() and not args.subset_manifest.is_symlink(),
+        f"missing regular subset manifest: {args.subset_manifest}",
+    )
+    for path in (args.replacement_manifest, args.best_visible_manifest):
+        require(
+            path.is_dir() and not path.is_symlink(),
+            f"missing completed frozen package root: {path}",
+        )
+    cohort = load_object(args.cohort, "checkpoint cohort")
+    require(
+        cohort.get("schema_version") == "picmem_phase_a_run084_checkpoint_probe_cohort_v1",
+        "unsupported checkpoint cohort schema",
+    )
+
+    os.environ["PICMEM_PHASE_A_SIDECAR_DIR"] = str(args.sidecar_dir)
+    os.environ["PICMEM_PHASE_A_SUBSET_MANIFEST"] = str(args.subset_manifest)
+    os.environ["PICMEM_PHASE_A_SUBSET_MANIFEST_SHA256"] = args.subset_manifest_sha256
+    os.environ["PICMEM_PHASE_A_REPLACEMENT_MANIFEST"] = str(args.replacement_manifest)
+    os.environ["PICMEM_PHASE_A_REPLACEMENT_MANIFEST_SHA256"] = args.replacement_manifest_sha256
+    os.environ["PICMEM_PHASE_A_BEST_VISIBLE_MANIFEST"] = str(args.best_visible_manifest)
+    os.environ["PICMEM_PHASE_A_BEST_VISIBLE_MANIFEST_SHA256"] = args.best_visible_manifest_sha256
+
+    import numpy as np
+    from mme_vla_suite.training.dataset import RoboMMEDataset
+    from mme_vla_suite.training.picmem_phase_a import (
+        MemoryInvariantError,
+        load_episode_sidecar,
+        selected_frame_read,
+    )
+    from mme_vla_suite.training.picmem_phase_a_reader import (
+        OBSERVATION_FIELDS,
+        PhaseATokenMetadata,
+        materialize_phase_a_read,
+    )
+    from omegaconf import OmegaConf
+
+    from picmem.memory.contracts import ArmManifest
+    from picmem.ops.calibration_manifest import load_calibration_manifest
+    from picmem.provenance.manifest_builder import iter_formal_read_requirements
+
+    history = OmegaConf.load(args.config)
+    geometry = cohort.get("memory_geometry", {})
+    require(str(history.representation_type) == "perceptual", "Phase-A must use perceptual memory")
+    require(str(history.perceptual_memory.type) == "frame_sampling", "Phase-A must retain frame_sampling")
+    selection = history.perceptual_memory.frame_selection
+    require(str(selection.type) == "picmem_phase_a", "wrong Phase-A frame selector")
+    require(bool(selection.require_explicit_factors), "formal Phase-A factors must be explicit")
+    actual_factors = (
+        str(selection.selection_mode),
+        str(selection.metadata_mode),
+        str(selection.reader_mode),
+        str(selection.manager_mode),
+    )
+    launch_kind = os.environ.get("PICMEM_PHASE_A_LAUNCH_KIND", "")
+    training_manifest_kind = os.environ.get("PICMEM_TRAINING_MANIFEST_KIND", "")
+    arm_pair = (args.arm_manifest is not None, args.arm_manifest_sha256 is not None)
+    calibration_pair = (
+        args.calibration_manifest is not None,
+        args.calibration_manifest_sha256 is not None,
+    )
+    require(arm_pair[0] == arm_pair[1], "arm manifest path/hash must be supplied together")
+    require(
+        calibration_pair[0] == calibration_pair[1],
+        "calibration manifest path/hash must be supplied together",
+    )
+    if launch_kind in {"formal", "sku_smoke"}:
+        require(
+            arm_pair[0] != calibration_pair[0],
+            "formal/sku-smoke dataset validation requires exactly one training manifest path/hash",
+        )
+        expected_kind = "arm_v3" if launch_kind == "formal" else "sku_calibration_v1"
+        require(
+            training_manifest_kind == expected_kind,
+            "training manifest kind disagrees with the Phase-A launch kind",
+        )
+    else:
+        require(
+            not arm_pair[0] and not calibration_pair[0] and not training_manifest_kind,
+            "non-training dataset smoke cannot carry a training manifest",
+        )
+
+    training_manifest_id = "diagnostic-smoke"
+    training_manifest_sha256 = ""
+    expected_global_batch = None
+    if training_manifest_kind == "arm_v3":
+        require(arm_pair[0] and not calibration_pair[0], "arm_v3 requires only the arm manifest path/hash")
+        assert args.arm_manifest is not None and args.arm_manifest_sha256 is not None
+        require(
+            args.arm_manifest.is_file() and not args.arm_manifest.is_symlink(),
+            f"missing regular arm manifest: {args.arm_manifest}",
+        )
+        require(
+            hashlib.sha256(args.arm_manifest.read_bytes()).hexdigest() == args.arm_manifest_sha256,
+            "arm manifest content hash drift",
+        )
+        arm = ArmManifest.from_mapping(load_object(args.arm_manifest, "arm manifest"))
+        training_manifest_id = arm.arm_id
+        training_manifest_sha256 = args.arm_manifest_sha256
+        expected_factors = (
+            arm.selection_mode.value,
+            arm.metadata_mode.value,
+            arm.reader_mode.value,
+            arm.manager_mode.value,
+        )
+        require(arm.global_batch == 64 and arm.gpu_count == 8, "arm launch geometry drift")
+        expected_global_batch = arm.global_batch
+    elif training_manifest_kind == "sku_calibration_v1":
+        require(
+            calibration_pair[0] and not arm_pair[0],
+            "sku_calibration_v1 requires only the calibration manifest path/hash",
+        )
+        assert args.calibration_manifest is not None and args.calibration_manifest_sha256 is not None
+        require(
+            args.calibration_manifest.is_file() and not args.calibration_manifest.is_symlink(),
+            f"missing regular calibration manifest: {args.calibration_manifest}",
+        )
+        calibration = load_calibration_manifest(
+            args.calibration_manifest,
+            expected_sha256=args.calibration_manifest_sha256,
+        ).manifest
+        training_manifest_id = calibration.calibration_id
+        training_manifest_sha256 = args.calibration_manifest_sha256
+        expected_factors = (
+            calibration.factors.selection_mode.value,
+            calibration.factors.metadata_mode.value,
+            calibration.factors.reader_mode.value,
+            calibration.factors.manager_mode.value,
+        )
+        require(
+            calibration.runtime.gpu_count == 8
+            and calibration.runtime.world_size == 8
+            and calibration.sample_order.global_batch == calibration.runtime.global_batch,
+            "calibration launch geometry drift",
+        )
+        require(
+            calibration.lineage.artifact_schema_version == "picmem_run084_artifact_hashes_v2"
+            and calibration.lineage.dataset_version == "run084-phasea-identity-v2-source-digest-platform-v9-20260801"
+            and calibration.lineage.source_digest_rows == 104_046
+            and calibration.lineage.source_digest_bytes == 41_155_470_172,
+            "calibration manifest does not bind the full build_c Run084-v2 artifact",
+        )
+        calibration_environment = {
+            "source_digest_manifest_sha256": "PICMEM_SOURCE_DIGEST_SHA256",
+            "source_digest_tree_sha256": "PICMEM_SOURCE_DIGEST_TREE_SHA256",
+            "source_digest_rows": "PICMEM_SOURCE_DIGEST_ROWS",
+            "source_digest_bytes": "PICMEM_SOURCE_DIGEST_BYTES",
+        }
+        for field, environment_name in calibration_environment.items():
+            require(
+                str(getattr(calibration.lineage, field)) == os.environ.get(environment_name),
+                f"calibration {field} differs from {environment_name}",
+            )
+        require(
+            calibration.runtime.gpu_class.value == os.environ.get("PICMEM_EXPECTED_GPU_CLASS")
+            and calibration.runtime.profile_id == os.environ.get("PICMEM_RUNTIME_PROFILE_ID")
+            and calibration.runtime.candidate_id == os.environ.get("PICMEM_RUNTIME_CANDIDATE_ID")
+            and calibration.runtime.policy_sha256 == os.environ.get("PICMEM_RUNTIME_POLICY_SHA256")
+            and calibration.runtime.plan_sha256 == os.environ.get("PICMEM_RUNTIME_PLAN_SHA256"),
+            "calibration runtime identity differs from the reviewed process environment",
+        )
+        require(
+            calibration.sample_order.manifest_path == os.environ.get("PICMEM_SAMPLE_ORDER_MANIFEST")
+            and calibration.sample_order.manifest_sha256 == os.environ.get("PICMEM_SAMPLE_ORDER_MANIFEST_SHA256")
+            and calibration.sample_order.sample_order_sha256 == os.environ.get("PICMEM_SAMPLE_ORDER_SHA256"),
+            "calibration sample-order lineage differs from the process environment",
+        )
+        expected_global_batch = calibration.runtime.global_batch
+    else:
+        require(
+            not os.environ.get("PICMEM_FORMAL_LAUNCH") and launch_kind not in {"formal", "sku_smoke"},
+            "formal/sku-smoke dataset validation requires a training manifest",
+        )
+        expected_factors = actual_factors
+    if expected_global_batch is not None:
+        require(
+            os.environ.get("BATCH_SIZE") == str(expected_global_batch),
+            "training manifest global batch differs from BATCH_SIZE",
+        )
+    require(
+        actual_factors == expected_factors,
+        f"formal Phase-A factor drift: config={actual_factors}, manifest={expected_factors}",
+    )
+    require(
+        (
+            int(history.budget),
+            int(history.token_per_image),
+            int(history.num_views),
+            int(selection.frame_budget),
+            int(selection.recent_anchor_count),
+        )
+        == (TOKEN_BUDGET, TOKEN_PER_IMAGE, 1, FRAME_BUDGET, 4),
+        "Phase-A config geometry drift",
+    )
+    require(
+        (
+            int(geometry.get("token_budget", -1)),
+            int(geometry.get("token_per_image", -1)),
+            int(geometry.get("num_views", -1)),
+            int(geometry.get("frame_capacity", -1)),
+        )
+        == (TOKEN_BUDGET, TOKEN_PER_IMAGE, 1, FRAME_BUDGET),
+        "cohort/config geometry mismatch",
+    )
+
+    dataset = RoboMMEDataset(
+        str(args.dataset),
+        fake_data_config(np),
+        history,
+        action_horizon=20,
+    )
+    require(dataset.phase_a_enabled, "dataset did not enable the Phase-A selector")
+    require(dataset.phase_a_sidecar_dir == args.sidecar_dir, "dataset did not bind the requested sidecars")
+    reader = dataset.phase_a_selection_reader
+    require(reader is not None, "dataset did not bind the frozen selection manifests")
+    require(
+        reader.subset.manifest_sha256 == args.subset_manifest_sha256
+        and reader.replacements.sha256 == args.replacement_manifest_sha256
+        and reader.best_visible.sha256 == args.best_visible_manifest_sha256,
+        "dataset frozen-manifest lineage drift",
+    )
+    completeness = reader.validate_formal_completeness(
+        iter_formal_read_requirements(
+            reader=reader,
+            dataset_root=args.dataset,
+            sidecar_dir=args.sidecar_dir,
+            manager_mode=reader.replacements.manager_mode,
+        )
+    )
+
+    dataset_index = scalar_int(cohort.get("dataset", {}).get("index"), "cohort dataset index")
+    require(dataset_index < len(dataset), f"cohort index {dataset_index} is outside the dataset")
+    raw = dataset.dataset[dataset_index]
+    episode = scalar_int(raw.get("epis_idx"), "epis_idx")
+    step = scalar_int(raw.get("step_idx"), "step_idx")
+    exec_start = scalar_int(raw.get("exec_start_idx"), "exec_start_idx")
+    instruction = raw.get("prompt")
+    require(
+        (episode, step, instruction)
+        == (
+            scalar_int(cohort.get("target", {}).get("episode"), "cohort target episode"),
+            scalar_int(cohort.get("target", {}).get("step"), "cohort target step"),
+            cohort.get("instruction"),
+        ),
+        "cohort/raw sample identity drift",
+    )
+
+    sidecar_path, annotation = load_episode_sidecar(
+        args.sidecar_dir,
+        episode_id=episode,
+        instruction=instruction,
+    )
+    frozen_row = reader.subset.validate_raw_sample(dataset_index, raw)
+    base_read = selected_frame_read(
+        args.sidecar_dir,
+        episode_id=episode,
+        step=step,
+        raw_exec_start=exec_start,
+        instruction=instruction,
+        expected_task_id=frozen_row.task_id,
+        expected_sidecar_sha256=frozen_row.sidecar_sha256,
+    )
+    replacement = reader.record_for(
+        frozen_row,
+        current_step=step,
+    )
+    read = reader.render(base_read, replacement, dataset.phase_a_factors.selection_mode)
+    plan = materialize_phase_a_read(
+        read,
+        dataset.phase_a_factors,
+        metadata_seed=dataset.phase_a_metadata_seed,
+        selection_applied=dataset.phase_a_factors.selection_mode,
+    )
+    indices = tuple(read.valid_indices())
+    require(tuple(read.valid_indices()) == indices, "Read metadata/frame-plan drift")
+    require(indices == tuple(sorted(set(indices))), "adapter returned a non-canonical frame plan")
+    require(
+        indices and indices[-1] <= step and len(indices) == min(FRAME_BUDGET, step + 1),
+        "adapter returned a non-causal or short frame plan",
+    )
+
+    sample = dataset[dataset_index]
+    for name in NEUTRAL_HOST_FIELDS:
+        require(name in sample and sample[name] is None, f"non-neutral host compatibility field: {name}")
+    for name in OBSERVATION_FIELDS:
+        require(name in sample and sample[name] is not None, f"missing Phase-A observation field: {name}")
+    arrays = {
+        "static_image_emb": np.asarray(sample["static_image_emb"]),
+        "static_pos_emb": np.asarray(sample["static_pos_emb"]),
+        "static_state_emb": np.asarray(sample["static_state_emb"]),
+        "static_mask": np.asarray(sample["static_mask"]),
+    }
+    expected_shapes = {
+        "static_image_emb": (512, 2048),
+        "static_pos_emb": (512, 768),
+        "static_state_emb": (512, 8),
+        "static_mask": (512,),
+    }
+    for name, value in arrays.items():
+        require(value.shape == expected_shapes[name], f"{name} shape drift: {value.shape}")
+        require(np.isfinite(value).all(), f"{name} contains NaN/Inf")
+    require(arrays["static_mask"].dtype == np.bool_, "static_mask must be boolean")
+    expected_observation = plan.metadata.to_observation()
+    expected_mask = expected_observation["phase_a_valid_mask"]
+    require(np.array_equal(arrays["static_mask"], expected_mask), "token mask does not match Phase-A Read")
+    metadata = {name: np.asarray(sample[name]) for name in OBSERVATION_FIELDS}
+    recovered_metadata = PhaseATokenMetadata.from_observation(
+        metadata,
+        metadata_mode=str(selection.metadata_mode),
+    )
+    for name, value in recovered_metadata.to_observation().items():
+        require(np.array_equal(value, metadata[name]), f"observation roundtrip drift: {name}")
+    require(metadata["phase_a_frame_indices"].shape == (TOKEN_BUDGET,), "frame-index shape drift")
+    require(metadata["phase_a_capture_steps"].shape == (TOKEN_BUDGET,), "capture-step shape drift")
+    require(metadata["phase_a_time_values"].shape == (TOKEN_BUDGET, 3), "time shape drift")
+    require(metadata["phase_a_time_mask"].shape == (TOKEN_BUDGET, 3), "time-mask shape drift")
+    for name in OBSERVATION_FIELDS:
+        require(np.isfinite(metadata[name]).all(), f"{name} contains NaN/Inf")
+    require(
+        np.array_equal(metadata["phase_a_valid_mask"], arrays["static_mask"]),
+        "visual/metadata valid-mask drift",
+    )
+    for name in OBSERVATION_FIELDS:
+        require(
+            np.array_equal(metadata[name], expected_observation[name]),
+            f"{name} differs from the arm-aware reader plan",
+        )
+
+    spatial_keys = {4: "2x2", 16: "4x4", 64: "8x8"}
+    token_offset = 0
+    for frame, is_valid, token_count in zip(read.frame_indices, read.valid_mask, plan.token_counts, strict=True):
+        token_count = int(token_count)
+        if not is_valid:
+            token_offset += token_count
+            continue
+        feature_path = args.dataset / "features" / f"episode_{episode}" / f"token_emb_{frame}.npy"
+        require(feature_path.is_file(), f"missing selected feature: {feature_path}")
+        feature = np.load(feature_path, allow_pickle=True).item()
+        expected = np.asarray(feature[f"image_emb_{spatial_keys[token_count]}"]).reshape(token_count, 2048)
+        start = token_offset
+        require(
+            np.array_equal(arrays["static_image_emb"][start : start + token_count], expected),
+            f"loader/Read mismatch at frame {frame}",
+        )
+        token_offset += token_count
+    require(token_offset == TOKEN_BUDGET, "arm reader token budget is not exactly 512")
+
+    try:
+        selected_frame_read(
+            args.sidecar_dir,
+            episode_id=episode,
+            step=step,
+            raw_exec_start=exec_start,
+            instruction=f"{instruction} [wrong]",
+            expected_task_id=frozen_row.task_id,
+            expected_sidecar_sha256=frozen_row.sidecar_sha256,
+        )
+    except MemoryInvariantError:
+        pass
+    else:
+        raise RuntimeError("instruction mismatch did not fail closed")
+
+    sidecar_exec_start = scalar_int(annotation.get("exec_start_step"), "sidecar exec_start_step")
+    if sidecar_exec_start > 0:
+        try:
+            selected_frame_read(
+                args.sidecar_dir,
+                episode_id=episode,
+                step=step,
+                raw_exec_start=sidecar_exec_start - 1,
+                instruction=instruction,
+                expected_task_id=frozen_row.task_id,
+                expected_sidecar_sha256=frozen_row.sidecar_sha256,
+            )
+        except MemoryInvariantError:
+            pass
+        else:
+            raise RuntimeError("negative alignment offset did not fail closed")
+
+    print(
+        json.dumps(
+            {
+                "schema_version": "picmem_phase_a_dataset_smoke_v2",
+                "status": "PASS",
+                "training_manifest_kind": training_manifest_kind or "none",
+                "training_manifest_id": training_manifest_id,
+                "training_manifest_sha256": training_manifest_sha256,
+                "dataset_index": dataset_index,
+                "sample_identity_sha256": frozen_row.sample_identity_sha256,
+                "episode": episode,
+                "step": step,
+                "sidecar": str(sidecar_path),
+                "replacement_record_sha256": replacement.sha256,
+                "selection_mode": dataset.phase_a_factors.selection_mode.value,
+                "metadata_mode": dataset.phase_a_factors.metadata_mode.value,
+                "reader_mode": dataset.phase_a_factors.reader_mode.value,
+                "manager_mode": dataset.phase_a_factors.manager_mode.value,
+                "token_counts": [int(value) for value in plan.token_counts],
+                "selected_frames": list(indices),
+                "valid_tokens": int(arrays["static_mask"].sum()),
+                "frozen_completeness": completeness,
+            },
+            sort_keys=True,
+        )
+    )
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())

checkpoints/r2/pick3/baseline/step9000/code/integrations/robomme/scripts/picmem_phase_a_full_state_smoke.py

@@ -0,0 +1,919 @@
+#!/usr/bin/env python3
+"""CPU Orbax round-trip smoke for the Phase-A full-state host contract."""
+
+from __future__ import annotations
+
+import argparse
+import dataclasses
+import hashlib
+import json
+import multiprocessing
+import os
+import shutil
+import signal
+import tempfile
+from pathlib import Path
+from types import SimpleNamespace
+from typing import Any
+
+import jax
+import jax.numpy as jnp
+import numpy as np
+from mme_vla_suite.training.picmem_phase_a_full_state import (
+    SMOKE_SUBSET_SHA256,
+    ContinuityEmitter,
+    PhaseAContract,
+    PhaseASmokeRandomSampler,
+    _validate_bound_arm,
+    _validate_bound_training_manifest,
+    _validate_phase_a_factor_contract,
+    initialize_phase_a_checkpoint_dir,
+    materialize_phase_a_contract,
+    restore_phase_a_checkpoint,
+    save_phase_a_checkpoint,
+    validate_phase_a_topology,
+)
+from openpi.shared import normalize as _normalize
+
+from picmem.ops.checkpoint import CheckpointError, path_sha256, validate_checkpoint
+from picmem.ops.registry import RUN084_BUILD_C_LINEAGE
+from picmem.ops.watchdog import (
+    FailureOrigin,
+    RemoteState,
+    RemoteStatus,
+    WatchAction,
+    run_once,
+)
+
+_DIGESTS = {
+    "config_sha256": "11" * 32,
+    "dataset_sha256": SMOKE_SUBSET_SHA256,
+    "cohort_sha256": "33" * 32,
+    "sidecar_sha256": "44" * 32,
+    "feature_sha256": "55" * 32,
+    "source_metadata_sha256": "66" * 32,
+    "source_digest_sha256": RUN084_BUILD_C_LINEAGE["source_digest_manifest_sha256"],
+    "artifact_identity_sha256": "77" * 32,
+    "artifact_hashes_sha256": "88" * 32,
+    "replacement_manifest_sha256": "aa" * 32,
+    "best_visible_manifest_sha256": "bb" * 32,
+    "sample_order_manifest_sha256": "dd" * 32,
+    "sample_order_sha256": "ee" * 32,
+    "training_manifest_sha256": "cc" * 32,
+    "overlay_sha256": "99" * 32,
+    "runtime_policy_sha256": "12" * 32,
+    "runtime_plan_sha256": "13" * 32,
+    "runtime_matrix_sha256": "14" * 32,
+    "runtime_calibration_sha256": "15" * 32,
+    "optimizer_sha256": "16" * 32,
+    "learning_rate_schedule_sha256": "17" * 32,
+}
+
+
+@dataclasses.dataclass(frozen=True)
+class TinyState:
+    step: Any
+    params: Any
+    ema_params: Any
+    opt_state: Any
+
+
+class TinyLoader:
+    def __init__(self, sampler: PhaseASmokeRandomSampler):
+        self.sampler = sampler
+        stats = _normalize.NormStats(
+            mean=np.asarray([0.0], dtype=np.float32),
+            std=np.asarray([1.0], dtype=np.float32),
+            q01=np.asarray([-1.0], dtype=np.float32),
+            q99=np.asarray([1.0], dtype=np.float32),
+        )
+        self._data_config = SimpleNamespace(norm_stats={"actions": stats}, asset_id="robomme")
+
+    def data_config(self) -> Any:
+        return self._data_config
+
+    def sampler_state_dict(self) -> dict[str, Any]:
+        return self.sampler.state_dict()
+
+    def load_sampler_state_dict(self, state: dict[str, Any]) -> None:
+        self.sampler.load_state_dict(state)
+
+
+def _contract(
+    root: Path,
+    *,
+    generation: int,
+    parent: str | None,
+) -> PhaseAContract:
+    continuity_request_id = "initial-g0" if generation == 0 else "d" * 64
+    return PhaseAContract(
+        launch_kind="synthetic_smoke",
+        experiment="phase-a-smoke",
+        job="phase-a-smoke-job",
+        run_id="phase-a-smoke-r1",
+        generation=generation,
+        gpu_class="h200",
+        checkpoint_root=root,
+        interface_commit="a" * 40,
+        code_commit="b" * 40,
+        sample_order_path=Path(__file__).resolve(),
+        training_manifest_kind="synthetic_smoke_v1",
+        runtime_profile_id="synthetic-smoke-profile",
+        runtime_candidate_id="synthetic-smoke-candidate",
+        global_batch_size=64,
+        micro_batch_per_device=8,
+        gradient_accumulation_steps=1,
+        dataloader_workers=1,
+        prefetch_factor=2,
+        xla_preallocate=True,
+        xla_memory_fraction="0.9",
+        nccl_collective_channel_cap=32,
+        nccl_p2p_channel_cap=32,
+        xla_flags="--xla_gpu_nccl_p2p_max_nchannels=32",
+        runtime_checkpoint_interval=250,
+        parent_metadata_sha256=parent,
+        continuity_mode="initial" if generation == 0 else "checkpoint_resume",
+        continuity_request_id=continuity_request_id,
+        watch_state_dir=root.parent / "watch",
+        continuity_path=root.parent / "watch" / f"continuity-{continuity_request_id}.json",
+        metrics_path=root.parent / "attempts" / f"generation-{generation}" / "metrics.tsv",
+        **_DIGESTS,
+    )
+
+
+def _config(root: Path) -> Any:
+    return SimpleNamespace(
+        checkpoint_dir=root,
+        exp_name="phase-a-smoke",
+        optimizer="tiny-adam",
+        lr_schedule="tiny-positive-schedule",
+        ema_decay=0.99,
+        seed=17,
+        sampler_seed=(1 << 40) + 9,
+        save_interval=250,
+    )
+
+
+def _schedule(step: Any) -> Any:
+    return jnp.asarray(1e-3 / (jnp.asarray(step, dtype=jnp.float32) + 1.0), dtype=jnp.float32)
+
+
+def _state(step: int, offset: float) -> TinyState:
+    return TinyState(
+        step=jnp.asarray(step, dtype=jnp.int32),
+        params={"weight": jnp.asarray([offset + 1.0, offset + 2.0], dtype=jnp.float32)},
+        ema_params={"weight": jnp.asarray([offset + 3.0, offset + 4.0], dtype=jnp.float32)},
+        opt_state={
+            "count": jnp.asarray(step, dtype=jnp.int32),
+            "moment": jnp.asarray([offset + 5.0, offset + 6.0], dtype=jnp.float32),
+        },
+    )
+
+
+def _tree_equal(left: Any, right: Any) -> bool:
+    if jax.tree_util.tree_structure(left) != jax.tree_util.tree_structure(right):
+        return False
+    return all(
+        np.array_equal(np.asarray(jax.device_get(a)), np.asarray(jax.device_get(b)))
+        for a, b in zip(jax.tree_util.tree_leaves(left), jax.tree_util.tree_leaves(right), strict=True)
+    )
+
+
+def _expect_rejected(action: Any, label: str) -> None:
+    try:
+        action()
+    except (CheckpointError, ValueError):
+        return
+    raise AssertionError(f"unsafe smoke case was accepted: {label}")
+
+
+def _expect_checkpoint_reopen_rejected(root: Path, label: str) -> None:
+    try:
+        unexpected_manager, _ = initialize_phase_a_checkpoint_dir(
+            root,
+            overwrite=False,
+            resume=True,
+            launch_kind="synthetic_smoke",
+        )
+    except (CheckpointError, ValueError):
+        return
+    unexpected_manager.close()
+    raise AssertionError(f"unsafe cold checkpoint reopen was accepted: {label}")
+
+
+def _topology_checks() -> None:
+    valid = {
+        "gpu_class": "h200",
+        "world_size": 8,
+        "local_device_count": 8,
+        "process_count": 1,
+        "fsdp_devices": 8,
+        "batch_size": 64,
+        "device_kinds": ("NVIDIA H200",) * 8,
+    }
+    validate_phase_a_topology(**valid)
+    validate_phase_a_topology(**(valid | {"gpu_class": "a100_40g", "batch_size": 8, "device_kinds": ("A100",) * 8}))
+    for label, replacement in (
+        ("world", {"world_size": 4}),
+        ("fsdp", {"fsdp_devices": 4}),
+        ("batch", {"batch_size": 6}),
+        ("boolean-batch", {"batch_size": True}),
+        ("sku", {"device_kinds": ("NVIDIA A100",) * 8}),
+    ):
+        _expect_rejected(lambda replacement=replacement: validate_phase_a_topology(**(valid | replacement)), label)
+
+
+def _mutate_state(checkpoint: Path) -> None:
+    candidates = [
+        path for path in checkpoint.joinpath("resume_state").rglob("*") if path.is_file() and path.name != "_METADATA"
+    ]
+    if not candidates:
+        raise AssertionError("Orbax smoke checkpoint contains no mutable resume-state payload")
+    with candidates[0].open("ab") as stream:
+        stream.write(b"corruption")
+
+
+def _arm_binding_checks(work_dir: Path) -> None:
+    arm_path = work_dir / "arm.json"
+    contract = dataclasses.replace(
+        _contract(work_dir / "arm-checkpoints", generation=0, parent=None),
+        launch_kind="formal",
+        training_manifest_kind="arm_v3",
+    )
+    arm = {
+        "schema_version": "picmem_phase_a_arm_v3",
+        "arm_id": contract.job,
+        "parent_commit": contract.code_commit,
+        "parent_tree": "d" * 40,
+        "host_overlay_sha256": contract.overlay_sha256,
+        "dataset_sha256": contract.dataset_sha256,
+        "sidecar_sha256": contract.sidecar_sha256,
+        "feature_sha256": contract.feature_sha256,
+        "source_metadata_sha256": contract.source_metadata_sha256,
+        "artifact_identity_sha256": contract.artifact_identity_sha256,
+        "artifact_hashes_sha256": contract.artifact_hashes_sha256,
+        "replacement_manifest_sha256": contract.replacement_manifest_sha256,
+        "best_visible_manifest_sha256": contract.best_visible_manifest_sha256,
+        "sample_order_manifest_sha256": contract.sample_order_manifest_sha256,
+        "sample_order_sha256": contract.sample_order_sha256,
+        "selection_mode": "relevant",
+        "metadata_mode": "correct",
+        "reader_mode": "fixed16",
+        "manager_mode": "full_evolving",
+        "gpu_sku": "H200-141GB",
+        "gpu_count": 8,
+        "global_batch": 64,
+        "seed": 17,
+        "checkpoint_interval": 250,
+        "resume_lineage": "phase-a/arm-smoke",
+        "evaluation_cohort_sha256": contract.cohort_sha256,
+    }
+    raw = (json.dumps(arm, sort_keys=True, separators=(",", ":")) + "\n").encode()
+    arm_path.write_bytes(raw)
+    contract = dataclasses.replace(
+        contract,
+        training_manifest_sha256=hashlib.sha256(raw).hexdigest(),
+    )
+    config = SimpleNamespace(seed=17, sampler_seed=17, save_interval=250)
+    environment = {
+        "PICMEM_PHASE_A_LAUNCH_KIND": "formal",
+        "PICMEM_TRAINING_MANIFEST_KIND": "arm_v3",
+        "PICMEM_ARM_MANIFEST": str(arm_path),
+        "PICMEM_ARM_MANIFEST_SHA256": contract.training_manifest_sha256,
+        "PICMEM_SOURCE_DIGEST_SHA256": contract.source_digest_sha256,
+        "PICMEM_CODE_TREE": arm["parent_tree"],
+        "PICMEM_RESUME_LINEAGE": arm["resume_lineage"],
+        "PICMEM_PHASE_A_SELECTION_MODE": arm["selection_mode"],
+        "PICMEM_PHASE_A_METADATA_MODE": arm["metadata_mode"],
+        "PICMEM_PHASE_A_READER_MODE": arm["reader_mode"],
+        "PICMEM_PHASE_A_MANAGER_MODE": arm["manager_mode"],
+    }
+    previous = {
+        name: os.environ.get(name)
+        for name in (
+            *environment,
+            "PICMEM_CALIBRATION_MANIFEST",
+            "PICMEM_CALIBRATION_MANIFEST_SHA256",
+        )
+    }
+    try:
+        os.environ.update({name: str(value) for name, value in environment.items()})
+        os.environ.pop("PICMEM_CALIBRATION_MANIFEST", None)
+        os.environ.pop("PICMEM_CALIBRATION_MANIFEST_SHA256", None)
+        _validate_bound_arm(contract, config)
+        factors = {
+            "require_explicit_factors": True,
+            "selection_mode": arm["selection_mode"],
+            "metadata_mode": arm["metadata_mode"],
+            "reader_mode": arm["reader_mode"],
+            "manager_mode": arm["manager_mode"],
+        }
+        _validate_phase_a_factor_contract(factors)
+        alternatives = {
+            "selection_mode": "uniform",
+            "metadata_mode": "neutral",
+            "reader_mode": "variable64",
+            "manager_mode": "fifo",
+        }
+        for name, alternative in alternatives.items():
+            drifted_factors = dict(factors)
+            drifted_factors[name] = alternative
+            _expect_rejected(
+                lambda drifted_factors=drifted_factors: _validate_phase_a_factor_contract(drifted_factors),
+                f"YAML {name} masquerade",
+            )
+        missing_factors = dict(factors)
+        del missing_factors["reader_mode"]
+        _expect_rejected(
+            lambda: _validate_phase_a_factor_contract(missing_factors),
+            "YAML missing factor",
+        )
+        unknown_factors = dict(factors)
+        unknown_factors["selection_mode"] = "unknown"
+        _expect_rejected(
+            lambda: _validate_phase_a_factor_contract(unknown_factors),
+            "YAML unknown factor",
+        )
+        legacy_factors = dict(factors)
+        legacy_factors["require_explicit_factors"] = False
+        _expect_rejected(
+            lambda: _validate_phase_a_factor_contract(legacy_factors),
+            "YAML legacy factor defaults",
+        )
+
+        drifted = dict(arm)
+        drifted["seed"] = 18
+        drifted_raw = (json.dumps(drifted, sort_keys=True, separators=(",", ":")) + "\n").encode()
+        arm_path.write_bytes(drifted_raw)
+        drifted_contract = dataclasses.replace(
+            contract,
+            training_manifest_sha256=hashlib.sha256(drifted_raw).hexdigest(),
+        )
+        os.environ["PICMEM_ARM_MANIFEST_SHA256"] = drifted_contract.training_manifest_sha256
+        _expect_rejected(
+            lambda: _validate_bound_arm(drifted_contract, config),
+            "training-process arm factor drift",
+        )
+
+        duplicate_raw = b'{"arm_id":"duplicate",' + raw[1:]
+        arm_path.write_bytes(duplicate_raw)
+        duplicate_contract = dataclasses.replace(
+            contract,
+            training_manifest_sha256=hashlib.sha256(duplicate_raw).hexdigest(),
+        )
+        os.environ["PICMEM_ARM_MANIFEST_SHA256"] = duplicate_contract.training_manifest_sha256
+        _expect_rejected(
+            lambda: _validate_bound_arm(duplicate_contract, config),
+            "training-process duplicate arm key",
+        )
+    finally:
+        for name, value in previous.items():
+            if value is None:
+                os.environ.pop(name, None)
+            else:
+                os.environ[name] = value
+
+
+def _calibration_binding_checks(work_dir: Path) -> None:
+    manifest_path = work_dir / "calibration.json"
+    contract = dataclasses.replace(
+        _contract(work_dir / "calibration-checkpoints", generation=0, parent=None),
+        launch_kind="sku_smoke",
+        gpu_class="a100_40g",
+        training_manifest_kind="sku_calibration_v1",
+        runtime_profile_id="a100-40g-calibration-v1",
+        runtime_candidate_id="a100-40g-batch8-v1",
+        global_batch_size=8,
+        micro_batch_per_device=1,
+        runtime_checkpoint_interval=25,
+    )
+    parent_tree = "d" * 40
+    source_digest_tree = "18" * 32
+    resume_lineage = "phase-a/calibration-smoke"
+    manifest = {
+        "schema_version": "picmem_phase_a_sku_calibration_manifest_v1",
+        "calibration_id": contract.job,
+        "purpose": "sku_runtime_calibration",
+        "scientific_eligible": False,
+        "formal_qualifying": False,
+        "lineage": {
+            "parent_commit": contract.code_commit,
+            "parent_tree": parent_tree,
+            "host_overlay_sha256": contract.overlay_sha256,
+            "artifact_schema_version": "picmem_run084_artifact_hashes_v2",
+            "dataset_version": "run084-v2-smoke",
+            "artifact_hashes_sha256": contract.artifact_hashes_sha256,
+            "dataset_sha256": contract.dataset_sha256,
+            "sidecar_sha256": contract.sidecar_sha256,
+            "feature_sha256": contract.feature_sha256,
+            "source_metadata_sha256": contract.source_metadata_sha256,
+            "source_digest_manifest_sha256": contract.source_digest_sha256,
+            "source_digest_tree_sha256": source_digest_tree,
+            "source_digest_rows": 104_046,
+            "source_digest_bytes": 41_155_470_172,
+            "artifact_identity_sha256": contract.artifact_identity_sha256,
+            "replacement_manifest_sha256": contract.replacement_manifest_sha256,
+            "best_visible_manifest_sha256": contract.best_visible_manifest_sha256,
+            "evaluation_cohort_sha256": contract.cohort_sha256,
+        },
+        "sample_order": {
+            "binding_id": "run084-seed17-batch8",
+            "dataset_sha256": contract.dataset_sha256,
+            "seed": 17,
+            "global_batch": 8,
+            "manifest_path": str(contract.sample_order_path),
+            "manifest_sha256": contract.sample_order_manifest_sha256,
+            "sample_order_sha256": contract.sample_order_sha256,
+        },
+        "factors": {
+            "selection_mode": "relevant",
+            "metadata_mode": "correct",
+            "reader_mode": "fixed16",
+            "manager_mode": "full_evolving",
+        },
+        "runtime": {
+            "gpu_class": contract.gpu_class,
+            "gpu_sku": "A100-40GB",
+            "gpu_count": 8,
+            "profile_id": contract.runtime_profile_id,
+            "candidate_id": contract.runtime_candidate_id,
+            "policy_sha256": contract.runtime_policy_sha256,
+            "plan_sha256": contract.runtime_plan_sha256,
+            "world_size": 8,
+            "global_batch": contract.global_batch_size,
+            "micro_batch_per_device": contract.micro_batch_per_device,
+            "gradient_accumulation_steps": contract.gradient_accumulation_steps,
+            "dataloader_workers": contract.dataloader_workers,
+            "prefetch_factor": contract.prefetch_factor,
+            "xla_preallocate": contract.xla_preallocate,
+            "xla_memory_fraction": contract.xla_memory_fraction,
+            "xla_base_flags": [],
+            "nccl_collective_channel_cap": contract.nccl_collective_channel_cap,
+            "nccl_p2p_channel_cap": contract.nccl_p2p_channel_cap,
+            "checkpoint_interval": contract.runtime_checkpoint_interval,
+            "train_steps": 100,
+        },
+        "resume_lineage": resume_lineage,
+    }
+    raw = (json.dumps(manifest, allow_nan=False, sort_keys=True, separators=(",", ":")) + "\n").encode()
+    manifest_path.write_bytes(raw)
+    contract = dataclasses.replace(
+        contract,
+        training_manifest_sha256=hashlib.sha256(raw).hexdigest(),
+    )
+    config = SimpleNamespace(
+        seed=17,
+        sampler_seed=17,
+        save_interval=25,
+        num_train_steps=100,
+    )
+    environment = {
+        "PICMEM_PHASE_A_LAUNCH_KIND": "sku_smoke",
+        "PICMEM_TRAINING_MANIFEST_KIND": "sku_calibration_v1",
+        "PICMEM_CALIBRATION_MANIFEST": str(manifest_path),
+        "PICMEM_CALIBRATION_MANIFEST_SHA256": contract.training_manifest_sha256,
+        "PICMEM_CODE_TREE": parent_tree,
+        "PICMEM_RESUME_LINEAGE": resume_lineage,
+        "PICMEM_ARTIFACT_SCHEMA_VERSION": manifest["lineage"]["artifact_schema_version"],
+        "PICMEM_DATASET_VERSION": manifest["lineage"]["dataset_version"],
+        "PICMEM_SOURCE_DIGEST_TREE_SHA256": source_digest_tree,
+        "PICMEM_SOURCE_DIGEST_ROWS": str(manifest["lineage"]["source_digest_rows"]),
+        "PICMEM_SOURCE_DIGEST_BYTES": str(manifest["lineage"]["source_digest_bytes"]),
+        "PICMEM_PHASE_A_SELECTION_MODE": "relevant",
+        "PICMEM_PHASE_A_METADATA_MODE": "correct",
+        "PICMEM_PHASE_A_READER_MODE": "fixed16",
+        "PICMEM_PHASE_A_MANAGER_MODE": "full_evolving",
+    }
+    previous = {
+        name: os.environ.get(name) for name in (*environment, "PICMEM_ARM_MANIFEST", "PICMEM_ARM_MANIFEST_SHA256")
+    }
+    try:
+        os.environ.update(environment)
+        os.environ.pop("PICMEM_ARM_MANIFEST", None)
+        os.environ.pop("PICMEM_ARM_MANIFEST_SHA256", None)
+        _validate_bound_training_manifest(contract, config)
+        drifted = dict(manifest)
+        drifted["runtime"] = dict(manifest["runtime"])
+        drifted["runtime"]["global_batch"] = 64
+        drifted_raw = (json.dumps(drifted, allow_nan=False, sort_keys=True, separators=(",", ":")) + "\n").encode()
+        manifest_path.write_bytes(drifted_raw)
+        drifted_contract = dataclasses.replace(
+            contract,
+            training_manifest_sha256=hashlib.sha256(drifted_raw).hexdigest(),
+        )
+        os.environ["PICMEM_CALIBRATION_MANIFEST_SHA256"] = drifted_contract.training_manifest_sha256
+        _expect_rejected(
+            lambda: _validate_bound_training_manifest(drifted_contract, config),
+            "calibration runtime batch drift",
+        )
+    finally:
+        for name, value in previous.items():
+            if value is None:
+                os.environ.pop(name, None)
+            else:
+                os.environ[name] = value
+
+
+def _paused_resume_worker(
+    contract: PhaseAContract,
+    ready_queue: Any,
+    resume_gate: Any,
+    result_queue: Any,
+) -> None:
+    """Exercise the real host continuity producer in one long-lived process."""
+
+    ready_sent = False
+    try:
+        contract.metrics_path.parent.mkdir(parents=True, exist_ok=True)
+        contract.metrics_path.write_text("step\n37\n", encoding="utf-8")
+        sampler = PhaseASmokeRandomSampler(
+            256,
+            batch_size=64,
+            seed=(1 << 40) + 91,
+            epoch=2,
+            batch_cursor=3,
+        )
+        train_rng = jax.random.key(321)
+        emitter = ContinuityEmitter(contract, contract.metrics_path)
+        emitter.capture_pending(
+            current_step=37,
+            sampler_state=sampler.state_dict(),
+            train_rng=train_rng,
+        )
+        ready_queue.put({"pid": os.getpid(), "sampler": sampler.state_dict()})
+        ready_sent = True
+        if not resume_gate.wait(timeout=30):
+            raise TimeoutError("paused-resume smoke did not receive the in-place resume signal")
+
+        # This is the same process, RNG, sampler cursor, and live step that was
+        # suspended.  The request did not exist at process startup.
+        emitter.capture_pending(
+            current_step=37,
+            sampler_state=sampler.state_dict(),
+            train_rng=train_rng,
+        )
+        pending = emitter.pending
+        if pending is None:
+            raise AssertionError("live trainer did not capture the paused-resume request")
+        request_id = pending.request_id
+        report_path = emitter._report_path(pending)
+        with contract.metrics_path.open("a", encoding="utf-8") as stream:
+            stream.write("38\n")
+            stream.flush()
+            os.fsync(stream.fileno())
+        emitter.after_metric(first_metric_step=38, learning_rate=1e-4)
+        if emitter.pending is not None:
+            raise AssertionError("continuity producer did not re-arm after the completed request")
+        emitter.capture_pending(
+            current_step=38,
+            sampler_state=sampler.state_dict(),
+            train_rng=train_rng,
+        )
+        if emitter.pending is not None:
+            raise AssertionError("completed continuity request was captured a second time")
+        result_queue.put(
+            {
+                "pid": os.getpid(),
+                "request_id": request_id,
+                "report": str(report_path),
+            }
+        )
+    except BaseException as exc:  # propagated to the controlling smoke process
+        failure = {"error": f"{type(exc).__name__}: {exc}", "pid": os.getpid()}
+        if not ready_sent:
+            ready_queue.put(failure)
+        result_queue.put(failure)
+        raise
+
+
+def _paused_resume_continuity_checks(work_dir: Path) -> dict[str, Any]:
+    checkpoint_root = work_dir / "pause-checkpoints"
+    checkpoint_root.mkdir()
+    contract = _contract(checkpoint_root, generation=0, parent=None)
+    contract.watch_state_dir.mkdir(parents=True)
+
+    context = multiprocessing.get_context("spawn")
+    ready_queue = context.Queue()
+    result_queue = context.Queue()
+    resume_gate = context.Event()
+    process = context.Process(
+        target=_paused_resume_worker,
+        args=(contract, ready_queue, resume_gate, result_queue),
+        name="picmem-paused-resume-smoke",
+    )
+    process.start()
+    stopped = False
+    try:
+        ready = ready_queue.get(timeout=30)
+        if "error" in ready:
+            raise AssertionError(f"paused-resume worker failed before ready: {ready['error']}")
+        if ready.get("pid") != process.pid:
+            raise AssertionError("paused-resume worker PID changed before suspension")
+        os.kill(process.pid, signal.SIGSTOP)
+        waited_pid, wait_status = os.waitpid(process.pid, os.WUNTRACED)
+        if waited_pid != process.pid or not os.WIFSTOPPED(wait_status):
+            raise AssertionError("long-lived trainer did not enter a suspended state")
+        stopped = True
+
+        def resume_in_place(_decision: Any, experiment: str, job: str) -> None:
+            state = json.loads(contract.watch_state_dir.joinpath("state.json").read_text(encoding="utf-8"))
+            pending = state.get("pending_continuity")
+            if (experiment, job) != (contract.experiment, contract.job):
+                raise AssertionError("resume callback identity drifted")
+            if state.get("generation") != 0 or not isinstance(pending, dict):
+                raise AssertionError("paused handoff was not durable before resume")
+            if pending.get("mode") != "paused_resume":
+                raise AssertionError("paused handoff used the wrong continuity mode")
+            if pending.get("resume_step") is not None or pending.get("expected_sampler") is not None:
+                raise AssertionError("watchdog guessed a lagging paused checkpoint boundary")
+            os.kill(process.pid, signal.SIGCONT)
+            resume_gate.set()
+
+        paused = RemoteStatus(
+            contract.experiment,
+            contract.job,
+            RemoteState.PAUSED,
+            FailureOrigin.NONE,
+            "",
+            5,  # deliberately lags the authoritative in-process live step 37
+            "",
+        )
+        first = run_once(
+            experiment=contract.experiment,
+            job=contract.job,
+            status=paused,
+            state_dir=contract.watch_state_dir,
+            checkpoint_root=checkpoint_root,
+            execute=resume_in_place,
+            admission_check=lambda _decision: {
+                "allowed": True,
+                "observed_at": "2026-08-01T00:00:00+00:00",
+                "reasons": [],
+            },
+        )
+        stopped = False
+        if first.action is not WatchAction.RESUME or first.next_state.generation != 0:
+            raise AssertionError("paused job did not resume in place at the same generation")
+
+        result = result_queue.get(timeout=30)
+        if "error" in result:
+            raise AssertionError(result["error"])
+        process.join(timeout=30)
+        if process.exitcode != 0:
+            raise AssertionError(f"paused-resume worker exited {process.exitcode}")
+        if result.get("pid") != ready.get("pid"):
+            raise AssertionError("resume launched a replacement process")
+
+        report_path = Path(result["report"])
+        report = json.loads(report_path.read_text(encoding="utf-8"))
+        if report["request_id"] != result["request_id"]:
+            raise AssertionError("continuity report was not request-bound")
+        if (report["resume_step"], report["first_metric_step"]) != (37, 38):
+            raise AssertionError("continuity report did not use the authoritative live next step")
+        if report["sampler"] != ready["sampler"] or len(report["rng_sha256"]) != 64:
+            raise AssertionError("continuity report omitted sampler/RNG evidence")
+        if report["prior_metrics_reused"] is not False:
+            raise AssertionError("paused-resume report marked the prior trajectory as reused")
+        if contract.metrics_path.read_text(encoding="utf-8").splitlines() != ["step", "37", "38"]:
+            raise AssertionError("paused-resume smoke replayed or skipped the metric trajectory")
+
+        running = RemoteStatus(contract.experiment, contract.job, RemoteState.RUNNING)
+        second = run_once(
+            experiment=contract.experiment,
+            job=contract.job,
+            status=running,
+            state_dir=contract.watch_state_dir,
+            checkpoint_root=checkpoint_root,
+        )
+        if second.action is not WatchAction.NONE:
+            raise AssertionError("verified paused-resume continuity did not return to monitoring")
+        if second.next_state.pending_continuity is not None:
+            raise AssertionError("verified paused-resume continuity remained pending")
+        if second.next_state.last_resume_step != 37:
+            raise AssertionError("watchdog did not retain the authoritative live resume step")
+        return {
+            "pid": result["pid"],
+            "generation": second.next_state.generation,
+            "resume_step": report["resume_step"],
+            "first_metric_step": report["first_metric_step"],
+            "request_id": report["request_id"],
+        }
+    finally:
+        if process.is_alive():
+            if stopped:
+                os.kill(process.pid, signal.SIGCONT)
+            resume_gate.set()
+            process.terminate()
+            process.join(timeout=10)
+
+
+def run(work_dir: Path) -> dict[str, Any]:
+    _topology_checks()
+    _arm_binding_checks(work_dir)
+    _calibration_binding_checks(work_dir)
+    paused_resume = _paused_resume_continuity_checks(work_dir)
+    checkpoint_root = work_dir / "checkpoints"
+    save_manager, resuming = initialize_phase_a_checkpoint_dir(
+        checkpoint_root,
+        overwrite=False,
+        resume=False,
+        launch_kind="synthetic_smoke",
+    )
+    if resuming:
+        raise AssertionError("fresh smoke checkpoint manager unexpectedly resumed")
+
+    save_contract = _contract(checkpoint_root, generation=0, parent=None)
+    contract_path = materialize_phase_a_contract(save_contract, _config(checkpoint_root))
+    sampler = PhaseASmokeRandomSampler(
+        256,
+        batch_size=64,
+        seed=(1 << 40) + 9,
+        epoch=3,
+        batch_cursor=1,
+    )
+    loader = TinyLoader(sampler)
+    train_rng = jax.random.key(123)
+    state500 = _state(500, 10.0)
+    info500 = save_phase_a_checkpoint(
+        save_manager,
+        state500,
+        loader,
+        500,
+        contract=save_contract,
+        contract_path=contract_path,
+        train_rng=train_rng,
+        schedule=_schedule,
+    )
+    sampler.mark_batch_consumed()
+    state501 = _state(501, 20.0)
+    info501 = save_phase_a_checkpoint(
+        save_manager,
+        state501,
+        loader,
+        501,
+        contract=save_contract,
+        contract_path=contract_path,
+        train_rng=train_rng,
+        schedule=_schedule,
+    )
+    sampler.mark_batch_consumed()
+    state502 = _state(502, 30.0)
+    info502 = save_phase_a_checkpoint(
+        save_manager,
+        state502,
+        loader,
+        502,
+        contract=save_contract,
+        contract_path=contract_path,
+        train_rng=train_rng,
+        schedule=_schedule,
+    )
+    save_manager.close()
+    if not all((info.path / "_COMPLETE").is_file() for info in (info500, info501, info502)):
+        raise AssertionError("full-state smoke did not publish _COMPLETE")
+    if not info500.path.is_dir():
+        raise AssertionError("explicit Phase-A policy did not retain step 500")
+    if not info501.path.is_dir() or not info502.path.is_dir():
+        raise AssertionError("explicit Phase-A policy did not retain the latest two checkpoints")
+    asset_component = info502.state_manifest.components.get("assets")
+    if asset_component is None or asset_component.path != "assets":
+        raise AssertionError("full-state smoke did not bind the complete assets tree")
+    if asset_component.sha256 != path_sha256(info502.path / "assets"):
+        raise AssertionError("full-state smoke assets digest drifted")
+    for relative in (
+        Path("robomme/norm_stats.json"),
+        Path("picmem_phase_a_full_state_contract.json"),
+    ):
+        if not (info502.path / "assets" / relative).is_file():
+            raise AssertionError(f"full-state smoke is missing immutable asset {relative}")
+
+    cold_discovery_root = work_dir / "cold-discovery-negative"
+    shutil.copytree(checkpoint_root, cold_discovery_root)
+    incomplete_newest = cold_discovery_root / "502"
+    (incomplete_newest / "_COMPLETE").unlink()
+    _expect_checkpoint_reopen_rejected(cold_discovery_root, "incomplete newest numeric checkpoint")
+
+    restore_manager, cold_resuming = initialize_phase_a_checkpoint_dir(
+        checkpoint_root,
+        overwrite=False,
+        resume=True,
+        launch_kind="synthetic_smoke",
+    )
+    if not cold_resuming:
+        restore_manager.close()
+        raise AssertionError("freshly reopened checkpoint manager did not discover finalized state")
+
+    restore_sampler = PhaseASmokeRandomSampler(256, batch_size=64, seed=(1 << 40) + 9)
+    restore_loader = TinyLoader(restore_sampler)
+    restore_contract = _contract(
+        checkpoint_root,
+        generation=1,
+        parent=info502.metadata_sha256,
+    )
+    try:
+        restored, restored_rng, restored_sampler_state, restored_info = restore_phase_a_checkpoint(
+            restore_manager,
+            _state(0, -100.0),
+            restore_loader,
+            contract=restore_contract,
+            train_rng=jax.random.key(999),
+            schedule=_schedule,
+            step=502,
+        )
+    finally:
+        restore_manager.close()
+    if int(np.asarray(jax.device_get(restored.step))) != 502:
+        raise AssertionError("authoritative step did not round-trip")
+    for name in ("params", "ema_params", "opt_state"):
+        if not _tree_equal(getattr(restored, name), getattr(state502, name)):
+            raise AssertionError(f"{name} did not round-trip")
+    if not np.array_equal(jax.random.key_data(restored_rng), jax.random.key_data(train_rng)):
+        raise AssertionError("JAX train RNG did not round-trip")
+    if restored_sampler_state != loader.sampler_state_dict():
+        raise AssertionError("sampler state did not round-trip")
+    if restore_loader.sampler_state_dict() != loader.sampler_state_dict():
+        raise AssertionError("restored sampler was not installed in the loader")
+    if restored_info.metadata_sha256 != info502.metadata_sha256:
+        raise AssertionError("restored checkpoint identity drifted")
+
+    variants = work_dir / "negative"
+    missing_complete = variants / "missing-complete"
+    corrupt_metadata = variants / "corrupt-metadata"
+    mutated_state = variants / "mutated-state"
+    mutated_asset = variants / "mutated-asset"
+    added_asset = variants / "added-asset"
+    for destination in (
+        missing_complete,
+        corrupt_metadata,
+        mutated_state,
+        mutated_asset,
+        added_asset,
+    ):
+        shutil.copytree(info502.path, destination)
+    (missing_complete / "_COMPLETE").unlink()
+    (corrupt_metadata / "picmem_full_state.json").write_text("not-json\n", encoding="utf-8")
+    _mutate_state(mutated_state)
+    with (mutated_asset / "assets" / "picmem_phase_a_full_state_contract.json").open("ab") as stream:
+        stream.write(b"corruption")
+    (added_asset / "assets" / "unexpected-runtime-asset.json").write_text(
+        "{}\n",
+        encoding="utf-8",
+    )
+    _expect_rejected(lambda: validate_checkpoint(missing_complete), "missing _COMPLETE")
+    _expect_rejected(lambda: validate_checkpoint(corrupt_metadata), "corrupt metadata")
+    _expect_rejected(lambda: validate_checkpoint(mutated_state), "post-finalization state mutation")
+    _expect_rejected(lambda: validate_checkpoint(mutated_asset), "immutable asset mutation")
+    _expect_rejected(lambda: validate_checkpoint(added_asset), "unmanifested asset addition")
+    return {
+        "schema_version": "picmem_phase_a_full_state_smoke_v1",
+        "status": "PASS",
+        "saved_steps": [500, 501, 502],
+        "restored_step": 502,
+        "sampler": restored_sampler_state,
+        "milestone_retained": True,
+        "cold_reopen_restore": True,
+        "arm_binding_revalidated": True,
+        "paused_resume_continuity": paused_resume,
+        "negative_cases": [
+            "missing_complete",
+            "corrupt_metadata",
+            "mutated_state",
+            "mutated_asset",
+            "added_asset",
+            "cold_reopen_incomplete_newest",
+            "wrong_world",
+            "wrong_fsdp",
+            "wrong_batch",
+            "wrong_sku",
+            "arm_factor_drift",
+            "duplicate_arm_key",
+            "yaml_selection_mode_drift",
+            "yaml_metadata_mode_drift",
+            "yaml_reader_mode_drift",
+            "yaml_manager_mode_drift",
+            "yaml_missing_factor",
+            "yaml_unknown_factor",
+            "yaml_legacy_defaults",
+        ],
+    }
+
+
+def main() -> int:
+    parser = argparse.ArgumentParser(description=__doc__)
+    parser.add_argument("--work-dir", type=Path)
+    args = parser.parse_args()
+    if args.work_dir is None:
+        with tempfile.TemporaryDirectory(prefix="picmem-phase-a-full-state-") as temporary:
+            report = run(Path(temporary))
+    else:
+        work_dir = args.work_dir.expanduser().resolve()
+        if work_dir.exists() or work_dir.is_symlink():
+            raise FileExistsError(f"refusing to reuse smoke work directory: {work_dir}")
+        work_dir.mkdir(parents=True)
+        report = run(work_dir)
+    print(json.dumps(report, sort_keys=True))
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())

checkpoints/r2/pick3/baseline/step9000/code/integrations/robomme/scripts/picmem_phase_a_full_state_train.py

@@ -0,0 +1,347 @@
+#!/usr/bin/env python3
+"""Dedicated eight-GPU Phase-A trainer with trajectory-complete resume."""
+
+from __future__ import annotations
+
+import dataclasses
+import functools
+import importlib.util
+import json
+import logging
+import math
+import os
+import sys
+from pathlib import Path
+from typing import Any
+
+import jax
+import jax.numpy as jnp
+import mme_vla_suite.training.config as _config
+import numpy as np
+import openpi.training.sharding as sharding
+import openpi.training.utils as training_utils
+from flax.training import common_utils
+from mme_vla_suite.training.picmem_phase_a_full_state import (
+    PHASE_A_HISTORY_CONFIG,
+    ContinuityEmitter,
+    PhaseAContract,
+    PhaseAMetricWriter,
+    create_phase_a_data_loader,
+    initialize_phase_a_checkpoint_dir,
+    materialize_phase_a_contract,
+    restore_phase_a_checkpoint,
+    save_phase_a_checkpoint,
+)
+
+CANONICAL_TRAIN_STEPS = 80_000
+SKU_SMOKE_TRAIN_STEPS = 100
+SKU_SMOKE_SAVE_INTERVAL = 25
+
+
+def _load_host_train_module() -> Any:
+    path = Path(__file__).resolve().with_name("train.py")
+    spec = importlib.util.spec_from_file_location("picmem_phase_a_pinned_host_train", path)
+    if spec is None or spec.loader is None:
+        raise RuntimeError(f"cannot import pinned host trainer: {path}")
+    module = importlib.util.module_from_spec(spec)
+    spec.loader.exec_module(module)
+    return module
+
+
+_host_train = _load_host_train_module()
+_ORIGINAL_POST_INIT = _config.TrainConfig.__post_init__
+
+
+def _is_phase_a_config(config: _config.TrainConfig) -> bool:
+    history = config.model.history_config
+    return (
+        config.name == "mme_vla_suite"
+        and isinstance(history, str)
+        and Path(history).name == PHASE_A_HISTORY_CONFIG
+        and config.typed_stage is None
+    )
+
+
+def _launch_kind() -> str:
+    value = os.environ.get("PICMEM_PHASE_A_LAUNCH_KIND", "")
+    if value not in {"formal", "sku_smoke"}:
+        raise ValueError("PICMEM_PHASE_A_LAUNCH_KIND must be formal or sku_smoke")
+    return value
+
+
+def _runtime_positive_int(name: str) -> int:
+    value = os.environ.get(name, "")
+    if not value.isascii() or not value.isdigit() or value == "0" or str(int(value)) != value:
+        raise ValueError(f"{name} must be a canonical positive integer")
+    return int(value)
+
+
+def _runtime_batch_size() -> int:
+    batch_size = _runtime_positive_int("BATCH_SIZE")
+    if batch_size % 4:
+        raise ValueError("BATCH_SIZE must be divisible by the four Run084 tasks")
+    return batch_size
+
+
+def _validate_phase_a_config(
+    config: _config.TrainConfig,
+    *,
+    launch_kind: str | None = None,
+) -> None:
+    launch_kind = _launch_kind() if launch_kind is None else launch_kind
+    if launch_kind not in {"formal", "sku_smoke"}:
+        raise ValueError("Phase-A launch_kind is unsupported")
+    if not _is_phase_a_config(config):
+        raise ValueError("dedicated Phase-A entry accepts only mme_vla_suite with the reviewed history config")
+    if not config.full_state_checkpoints:
+        raise ValueError("Phase-A training requires full_state_checkpoints")
+    runtime_batch_size = _runtime_batch_size()
+    if config.batch_size != runtime_batch_size:
+        raise ValueError(f"Phase-A TrainConfig batch differs from runtime BATCH_SIZE={runtime_batch_size}")
+    if config.fsdp_devices != 8:
+        raise ValueError("Phase-A training requires exactly eight FSDP devices")
+    expected_steps = CANONICAL_TRAIN_STEPS if launch_kind == "formal" else SKU_SMOKE_TRAIN_STEPS
+    if config.num_train_steps != expected_steps:
+        raise ValueError(f"Phase-A {launch_kind} must end at step {expected_steps}")
+    if config.ema_decay is None:
+        raise ValueError("Phase-A trajectory-complete state requires EMA parameters")
+    if config.overwrite or config.warm_start_checkpoint is not None:
+        raise ValueError("Phase-A formal training forbids overwrite and params-only warm start")
+    if config.resume != (config.resum_ckpt_id is not None):
+        raise ValueError("Phase-A resume and resum_ckpt_id must be supplied together")
+    if config.resum_ckpt_id is not None and not 0 < config.resum_ckpt_id < expected_steps:
+        raise ValueError("Phase-A resume checkpoint step must be within the selected launch kind")
+    if config.save_interval <= 0:
+        raise ValueError("Phase-A save_interval must be positive")
+    if config.keep_period != 5_000:
+        raise ValueError("Phase-A requires the reviewed 5,000-step milestone period")
+    if launch_kind == "formal" and any(step % config.save_interval for step in (500, 1_000, 2_000, 5_000, 10_000)):
+        raise ValueError("Phase-A save_interval must materialize every required early milestone")
+    if launch_kind == "sku_smoke" and config.save_interval != SKU_SMOKE_SAVE_INTERVAL:
+        raise ValueError(f"Phase-A sku_smoke save_interval must equal {SKU_SMOKE_SAVE_INTERVAL}")
+    if config.log_interval <= 0:
+        raise ValueError("Phase-A log_interval must be positive")
+    if config.metrics_path is None:
+        raise ValueError("Phase-A requires one exclusive generation metrics path")
+
+
+def _phase_a_post_init(config: _config.TrainConfig) -> None:
+    bypass_typed_only_gate = _is_phase_a_config(config) and config.full_state_checkpoints
+    if not bypass_typed_only_gate:
+        _ORIGINAL_POST_INIT(config)
+        return
+    object.__setattr__(config, "full_state_checkpoints", False)
+    try:
+        _ORIGINAL_POST_INIT(config)
+    finally:
+        object.__setattr__(config, "full_state_checkpoints", True)
+    _validate_phase_a_config(config)
+
+
+def _install_phase_a_config_gate() -> None:
+    if _config.TrainConfig.__post_init__ is not _phase_a_post_init:
+        _config.TrainConfig.__post_init__ = _phase_a_post_init
+
+
+def _learning_rate(schedule: Any, step: int) -> float:
+    value = float(np.asarray(jax.device_get(schedule(step))))
+    if not math.isfinite(value) or value <= 0:
+        raise ValueError(f"Phase-A learning rate must be finite and positive, got {value}")
+    return value
+
+
+def capability_probe() -> int:
+    _install_phase_a_config_gate()
+    base = _config.get_config("mme_vla_suite")
+    model = dataclasses.replace(base.model, history_config=PHASE_A_HISTORY_CONFIG)
+    launch_kind = _launch_kind()
+    batch_size = _runtime_batch_size()
+    steps = CANONICAL_TRAIN_STEPS if launch_kind == "formal" else SKU_SMOKE_TRAIN_STEPS
+    save_interval = _runtime_positive_int("SAVE_INTERVAL")
+    candidate = dataclasses.replace(
+        base,
+        model=model,
+        exp_name=f"phase-a-{launch_kind}-capability-probe",
+        batch_size=batch_size,
+        fsdp_devices=8,
+        full_state_checkpoints=True,
+        num_train_steps=steps,
+        save_interval=save_interval,
+        keep_period=5_000,
+        metrics_path=f"probe/{launch_kind}/attempts/generation-0/metrics.tsv",
+    )
+    _validate_phase_a_config(candidate, launch_kind=launch_kind)
+    print(
+        json.dumps(
+            {
+                "schema_version": "picmem_phase_a_host_capability_v2",
+                "status": "PASS",
+                "launch_kind": launch_kind,
+                "batch_size": batch_size,
+                "fsdp_devices": 8,
+                "full_state_checkpoints": True,
+                "num_train_steps": candidate.num_train_steps,
+                "save_interval": candidate.save_interval,
+            },
+            sort_keys=True,
+        )
+    )
+    return 0
+
+
+def run(config: _config.TrainConfig) -> None:
+    launch_kind = _launch_kind()
+    if launch_kind == "formal" and os.environ.get("PICMEM_FORMAL_LAUNCH") != "1":
+        raise ValueError("formal Phase-A training requires PICMEM_FORMAL_LAUNCH=1")
+    if launch_kind == "sku_smoke" and os.environ.get("PICMEM_FORMAL_LAUNCH"):
+        raise ValueError("sku_smoke cannot carry the formal-launch authorization marker")
+    _validate_phase_a_config(config, launch_kind=launch_kind)
+    _host_train.init_logging()
+    logging.info("Phase-A TrainConfig: %s", config)
+
+    jax.config.update(
+        "jax_compilation_cache_dir",
+        str(Path(f"~/.cache/jax_{config.exp_name}").expanduser()),
+    )
+    rng = jax.random.key(config.seed)
+    train_rng, init_rng = jax.random.split(rng)
+    mesh = sharding.make_mesh(config.fsdp_devices)
+    data_sharding = jax.sharding.NamedSharding(
+        mesh,
+        jax.sharding.PartitionSpec(sharding.DATA_AXIS),
+    )
+    replicated_sharding = jax.sharding.NamedSharding(mesh, jax.sharding.PartitionSpec())
+
+    checkpoint_manager, resuming = initialize_phase_a_checkpoint_dir(
+        config.checkpoint_dir,
+        overwrite=False,
+        resume=config.resume,
+        launch_kind=launch_kind,
+    )
+    if resuming != config.resume:
+        raise ValueError("Phase-A requested resume state differs from the checkpoint manager")
+    contract = PhaseAContract.from_environment(config)
+    contract_path = materialize_phase_a_contract(contract, config)
+    _host_train.init_wandb(config, resuming=resuming, enabled=config.wandb_enabled)
+
+    data_config = config.data.create(config.assets_dirs, config.model)
+    data_loader = create_phase_a_data_loader(
+        config.dataset_path,
+        data_config,
+        config.model.history_config,
+        config.model.action_horizon,
+        config.batch_size,
+        sharding=data_sharding,
+        num_workers=config.num_workers,
+        prefetch_factor=contract.prefetch_factor,
+        seed=config.sampler_seed if config.sampler_seed is not None else config.seed,
+        subset_manifest_sha256=contract.dataset_sha256,
+        sidecar_sha256=contract.sidecar_sha256,
+        sample_order_path=contract.sample_order_path,
+        sample_order_manifest_sha256=contract.sample_order_manifest_sha256,
+        sample_order_sha256=contract.sample_order_sha256,
+    )
+    train_state, train_state_sharding = _host_train.init_train_state(
+        config,
+        init_rng,
+        mesh,
+        resume=False,
+    )
+    schedule = config.lr_schedule.create()
+    if resuming:
+        train_state, train_rng, _, _ = restore_phase_a_checkpoint(
+            checkpoint_manager,
+            train_state,
+            data_loader,
+            contract=contract,
+            train_rng=train_rng,
+            schedule=schedule,
+            step=int(config.resum_ckpt_id),
+        )
+    jax.block_until_ready(train_state)
+    start_step = int(np.asarray(jax.device_get(train_state.step)))
+    if start_step >= config.num_train_steps:
+        raise ValueError("Phase-A checkpoint is already at or beyond the canonical final step")
+
+    continuity = ContinuityEmitter(contract, contract.metrics_path)
+    continuity.capture_pending(
+        current_step=start_step,
+        sampler_state=data_loader.sampler_state_dict(),
+        train_rng=train_rng,
+    )
+    ptrain_step = jax.jit(
+        functools.partial(_host_train.train_step, config),
+        in_shardings=(replicated_sharding, train_state_sharding, data_sharding),
+        out_shardings=(train_state_sharding, replicated_sharding, replicated_sharding),
+        donate_argnums=(1,),
+    )
+
+    data_iter = iter(data_loader)
+    with PhaseAMetricWriter(contract.metrics_path) as metric_writer:
+        while int(np.asarray(jax.device_get(train_state.step))) < config.num_train_steps:
+            continuity.capture_pending(
+                current_step=int(np.asarray(jax.device_get(train_state.step))),
+                sampler_state=data_loader.sampler_state_dict(),
+                train_rng=train_rng,
+            )
+            batch = next(data_iter)
+            previous_step = int(np.asarray(jax.device_get(train_state.step)))
+            with sharding.set_mesh(mesh):
+                train_state, info, stats = ptrain_step(train_rng, train_state, batch)
+            authoritative_step = int(np.asarray(jax.device_get(train_state.step)))
+            if authoritative_step != previous_step + 1:
+                raise RuntimeError("Phase-A train step did not advance exactly once")
+            learning_rate = _learning_rate(schedule, previous_step)
+            scalar_info = jax.device_get(jax.tree.map(jnp.mean, info))
+            metric_writer.write(
+                step=authoritative_step,
+                learning_rate=learning_rate,
+                metrics=scalar_info,
+            )
+            continuity.after_metric(
+                first_metric_step=authoritative_step,
+                learning_rate=learning_rate,
+            )
+            if authoritative_step == start_step + 1 or authoritative_step % config.log_interval == 0:
+                _host_train.wandb.log(scalar_info, step=authoritative_step)
+                logging.info(
+                    "Phase-A step=%d metrics=%s",
+                    authoritative_step,
+                    common_utils.stack_forest([scalar_info]),
+                )
+            if stats:
+                jax.block_until_ready(stats)
+            if authoritative_step % config.save_interval == 0 or authoritative_step == config.num_train_steps:
+                logging.info("PICMEM_CHECKPOINT_SAVE_START step=%d", authoritative_step)
+                save_phase_a_checkpoint(
+                    checkpoint_manager,
+                    train_state,
+                    data_loader,
+                    authoritative_step,
+                    contract=contract,
+                    contract_path=contract_path,
+                    train_rng=train_rng,
+                    schedule=schedule,
+                )
+
+    checkpoint_manager.wait_until_finished()
+    final_step = int(np.asarray(jax.device_get(train_state.step)))
+    expected_final = CANONICAL_TRAIN_STEPS if launch_kind == "formal" else SKU_SMOKE_TRAIN_STEPS
+    if final_step != expected_final:
+        raise RuntimeError(f"Phase-A {launch_kind} stopped at unexpected step {final_step}")
+    logging.info("PICMEM_PHASE_A_TRAIN_COMPLETE kind=%s step=%d", launch_kind, final_step)
+    logging.info("Final state: %s", training_utils.array_tree_to_info(train_state.params))
+
+
+def main() -> int:
+    if sys.argv[1:] == ["--phase-a-capability-probe"]:
+        return capability_probe()
+    if "--phase-a-capability-probe" in sys.argv[1:]:
+        raise SystemExit("--phase-a-capability-probe cannot be combined with training arguments")
+    _install_phase_a_config_gate()
+    run(_config.cli())
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())

checkpoints/r2/pick3/baseline/step9000/code/integrations/robomme/src/mme_vla_suite/models/config/robomme/perceptual-picmem-phase-a-modul.yaml

@@ -0,0 +1,53 @@
+# Phase-A: task/status-conditioned evidence retention with the unchanged
+# FrameSamp+Modul feature encoder.  Structured memory remains control-plane
+# only; the policy sees exactly 512 visual/position/state tokens.
+budget: 512
+num_views: 1
+token_per_image: 16
+streaming_obs_horizon: 16
+pool_type: mean
+use_pos_emb: true
+use_state_emb: false
+memory_feature:
+  img:
+    net: identity
+    input_dim: 2048
+  pos:
+    input_dim: 768
+    hidden_dim: 768
+  state:
+    input_dim: 8
+    hidden_dim: 512
+integration_type: modulation
+memory_token_dim: 1024
+representation_type: perceptual
+perceptual_memory:
+  type: frame_sampling
+  frame_selection:
+    type: picmem_phase_a
+    sidecar_dir: ${oc.env:PICMEM_PHASE_A_SIDECAR_DIR}
+    subset_manifest_path: ${oc.env:PICMEM_PHASE_A_SUBSET_MANIFEST}
+    subset_manifest_sha256: ${oc.env:PICMEM_PHASE_A_SUBSET_MANIFEST_SHA256}
+    replacement_manifest_path: ${oc.env:PICMEM_PHASE_A_REPLACEMENT_MANIFEST}
+    replacement_manifest_sha256: ${oc.env:PICMEM_PHASE_A_REPLACEMENT_MANIFEST_SHA256}
+    best_visible_manifest_path: ${oc.env:PICMEM_PHASE_A_BEST_VISIBLE_MANIFEST}
+    best_visible_manifest_sha256: ${oc.env:PICMEM_PHASE_A_BEST_VISIBLE_MANIFEST_SHA256}
+    frame_budget: 32
+    recent_anchor_count: 4
+    # Formal factors are supplied by the hash-bound ArmManifest launcher. There
+    # are deliberately no defaults: missing environment bindings fail config
+    # resolution before dataset construction.
+    require_explicit_factors: true
+    selection_mode: ${oc.env:PICMEM_PHASE_A_SELECTION_MODE}
+    metadata_mode: ${oc.env:PICMEM_PHASE_A_METADATA_MODE}
+    reader_mode: ${oc.env:PICMEM_PHASE_A_READER_MODE}
+    manager_mode: ${oc.env:PICMEM_PHASE_A_MANAGER_MODE}
+    metadata_seed: 0
+  phase_a_reader:
+    event_vocab_size: 4096
+    event_ordinal_vocab_size: 128
+    contract_vocab_size: 128
+    status_vocab_size: 32
+    categorical_embed_dim: 32
+    numeric_hidden_dim: 128
+    fusion_hidden_dim: 256

checkpoints/r2/pick3/baseline/step9000/code/integrations/robomme/src/mme_vla_suite/models/config/robomme/perceptual-picmem-transition-v1-modul.yaml

@@ -0,0 +1,73 @@
+# PIC-Mem + conditional final-span semantic-transition Status Head (v2).
+#
+# Action proposal horizon remains 20 in HistoryPi0.  The Status Head sees only
+# the first 16 actions that the evaluator can actually execute.  Its learned
+# history is a single masked pooling operation over the latest 48 realized
+# action/state deltas; it never changes the Action Head input.
+budget: 64
+num_views: 1
+token_per_image: 16
+streaming_obs_horizon: 16
+pool_type: mean
+use_pos_emb: false
+use_state_emb: false
+memory_feature:
+  img:
+    net: identity
+    input_dim: 2048
+  pos:
+    input_dim: 768
+    hidden_dim: 768
+  state:
+    input_dim: 8
+    hidden_dim: 512
+integration_type: modulation
+memory_token_dim: 1024
+representation_type: perceptual
+perceptual_memory:
+  type: picmem
+  hidden_dim: 256
+  token_feature_dim: 12
+  max_contracts: 8
+  annotation_dir: ${oc.env:PICMEM_ANNOTATION_DIR,null}
+  # The launcher must validate a real sidecar root before training starts.
+  # Once that root is present, rows outside the four run084 prototypes may
+  # legitimately have no sidecar and receive an empty-memory tensor.
+  allow_missing_annotations: true
+  include_values: false
+  include_write_metadata: false
+
+static_semantic_memory:
+  enabled: true
+  annotation_dir: ${oc.env:PICMEM_STAGE4_ROOT,null}
+
+transition_status:
+  # v2 changes the checkpoint parameter tree from span_out[1] to status_out[2].
+  # It must never be loaded as a v1 Status Head checkpoint.
+  schema_version: picmem_transition_status_v2
+  enabled: true
+  # Stage-3 v1 provides reviewed coarse action intervals and their endpoints.
+  # The primary target remains chunk-level span membership; a small conditional
+  # endpoint loss lets the controller verify immediately after the final span.
+  objective: coarse_span_with_conditional_last
+  action_proposal_horizon: 20
+  execution_horizon: 16
+  context_horizon: 48
+  robot_vector_dim: 8
+  context_hidden_dim: 128
+  span_loss_weight: 1.0
+  last_span_loss_weight: 0.5
+  # Shadow-mode identity calibration. Replace this with the held-out fitted
+  # temperature before authorizing writer commits.
+  status_temperature: 1.0
+  # This is a shadow-mode default only.  Before enabling Gemini commits, fit a
+  # temperature and choose the lowest held-out threshold reaching >=90%
+  # precision.  If that precision is unreachable, remain in shadow mode.
+  span_threshold: 0.5
+  last_span_threshold: 0.5
+  confirmation_tail: 4
+  cooldown_chunks: 1
+  # Required by the training dataset only.  The policy server is stateless and
+  # receives realized context arrays with each request.
+  training_manifest_path: ${oc.env:PICMEM_TRANSITION_MANIFEST,null}
+  training_manifest_sha256: ${oc.env:PICMEM_TRANSITION_MANIFEST_SHA256,null}

checkpoints/r2/pick3/baseline/step9000/code/integrations/robomme/src/mme_vla_suite/models/config/robomme/perceptual-picmem-v2-stage4-hybrid-modul.yaml

@@ -0,0 +1,54 @@
+# PICMem v2: Stage4-guided selection over the validated Hybrid-512 memory.
+budget: 512
+num_views: 1
+token_per_image: 16
+streaming_obs_horizon: 16
+pool_type: mean
+use_pos_emb: true
+use_state_emb: true
+
+memory_feature:
+  img:
+    net: identity
+    input_dim: 2048
+  pos:
+    input_dim: 768
+    hidden_dim: 768
+  state:
+    input_dim: 8
+    hidden_dim: 512
+
+integration_type: modulation
+memory_token_dim: 1024
+representation_type: perceptual
+
+perceptual_memory:
+  type: hybrid
+
+latent_memory:
+  mode: hybrid
+  use_temporal_emb: true
+
+static_semantic_memory:
+  enabled: true
+  annotation_dir: ${oc.env:PICMEM_STAGE4_ROOT,null}
+  mode: ${oc.env:PICMEM_STAGE4_MEMORY_MODE,text_anchors}
+
+transition_status:
+  schema_version: picmem_transition_status_v2
+  enabled: true
+  objective: coarse_span_with_conditional_last
+  action_proposal_horizon: 20
+  execution_horizon: 16
+  context_horizon: 48
+  robot_vector_dim: 8
+  context_hidden_dim: 128
+  span_loss_weight: 1.0
+  last_span_loss_weight: 0.5
+  status_temperature: 1.0
+  span_threshold: 0.5
+  last_span_threshold: 0.5
+  confirmation_tail: 4
+  cooldown_chunks: 1
+  training_manifest_path: ${oc.env:PICMEM_TRANSITION_MANIFEST,null}
+  training_manifest_sha256: ${oc.env:PICMEM_TRANSITION_MANIFEST_SHA256,null}

checkpoints/r2/pick3/baseline/step9000/code/integrations/robomme/src/mme_vla_suite/models/representation/phase_a_reader.py

@@ -0,0 +1,328 @@
+"""Task-aware temporal/role residual for Phase-A visual memory tokens."""
+
+from __future__ import annotations
+
+from typing import Any
+
+import flax.nnx as nnx
+import jax
+import jax.numpy as jnp
+import numpy as np
+import openpi.shared.array_typing as at
+from mme_vla_suite.models.representation.utils import kernel_init
+
+
+class PhaseAMetadataReader(nnx.Module):
+    """Fuse selected-frame metadata into already encoded visual tokens.
+
+    The residual is explicitly gated by the intervention masks.  A ``neutral``
+    observation therefore returns the visual tokens bit-for-bit, independent
+    of the newly initialized reader parameters.
+    """
+
+    def __init__(
+        self,
+        *,
+        memory_token_dim: int,
+        event_vocab_size: int,
+        event_ordinal_vocab_size: int,
+        contract_vocab_size: int,
+        status_vocab_size: int,
+        categorical_embed_dim: int,
+        numeric_hidden_dim: int,
+        fusion_hidden_dim: int,
+        rngs: nnx.Rngs,
+        dtype: at.DTypeLike = jnp.float32,
+    ):
+        sizes = {
+            "memory_token_dim": memory_token_dim,
+            "event_vocab_size": event_vocab_size,
+            "event_ordinal_vocab_size": event_ordinal_vocab_size,
+            "contract_vocab_size": contract_vocab_size,
+            "status_vocab_size": status_vocab_size,
+            "categorical_embed_dim": categorical_embed_dim,
+            "numeric_hidden_dim": numeric_hidden_dim,
+            "fusion_hidden_dim": fusion_hidden_dim,
+        }
+        if any(value <= 1 for name, value in sizes.items() if name.endswith("vocab_size")):
+            raise ValueError("Phase-A categorical vocabularies must reserve neutral index zero")
+        if any(value <= 0 for name, value in sizes.items() if not name.endswith("vocab_size")):
+            raise ValueError("Phase-A reader dimensions must be positive")
+
+        self.dtype = dtype
+        self.event_vocab_size = event_vocab_size
+        self.event_ordinal_vocab_size = event_ordinal_vocab_size
+        self.contract_vocab_size = contract_vocab_size
+        self.status_vocab_size = status_vocab_size
+        self.role_embed = nnx.Embed(4, categorical_embed_dim, rngs=rngs, dtype=dtype)
+        self.event_embed = nnx.Embed(
+            event_vocab_size,
+            categorical_embed_dim,
+            rngs=rngs,
+            dtype=dtype,
+        )
+        self.ordinal_embed = nnx.Embed(
+            event_ordinal_vocab_size,
+            categorical_embed_dim,
+            rngs=rngs,
+            dtype=dtype,
+        )
+        self.contract_embed = nnx.Embed(
+            contract_vocab_size,
+            categorical_embed_dim,
+            rngs=rngs,
+            dtype=dtype,
+        )
+        self.status_embed = nnx.Embed(
+            status_vocab_size,
+            categorical_embed_dim,
+            rngs=rngs,
+            dtype=dtype,
+        )
+        # [absolute_time, relative_age, delta_prev, confidence, evidence,
+        #  three time masks, role mask, categorical mask]
+        self.numeric_in = nnx.Linear(
+            10,
+            numeric_hidden_dim,
+            rngs=rngs,
+            dtype=dtype,
+            kernel_init=kernel_init,
+        )
+        self.numeric_out = nnx.Linear(
+            numeric_hidden_dim,
+            numeric_hidden_dim,
+            rngs=rngs,
+            dtype=dtype,
+            kernel_init=kernel_init,
+        )
+        fused_dim = 5 * categorical_embed_dim + numeric_hidden_dim
+        self.fuse_norm = nnx.LayerNorm(fused_dim, rngs=rngs, dtype=dtype)
+        self.fuse_in = nnx.Linear(
+            fused_dim,
+            fusion_hidden_dim,
+            rngs=rngs,
+            dtype=dtype,
+            kernel_init=kernel_init,
+        )
+        self.out_proj = nnx.Linear(
+            fusion_hidden_dim,
+            memory_token_dim,
+            rngs=rngs,
+            dtype=dtype,
+            kernel_init=kernel_init,
+        )
+
+    def __call__(
+        self,
+        visual_tokens: at.Float[at.Array, "b l d"],
+        static_mask: at.Bool[at.Array, "b l"],
+        phase_a_frame_indices: at.Int[at.Array, "b l"],
+        phase_a_capture_steps: at.Int[at.Array, "b l"],
+        phase_a_time_values: at.Float[at.Array, "b l 3"],
+        phase_a_time_mask: at.Bool[at.Array, "b l 3"],
+        phase_a_role_ids: at.Int[at.Array, "b l"],
+        phase_a_role_mask: at.Bool[at.Array, "b l"],
+        phase_a_event_ids: at.Int[at.Array, "b l"],
+        phase_a_event_ordinals: at.Int[at.Array, "b l"],
+        phase_a_contract_ids: at.Int[at.Array, "b l"],
+        phase_a_status_ids: at.Int[at.Array, "b l"],
+        phase_a_categorical_mask: at.Bool[at.Array, "b l"],
+        phase_a_confidence: at.Float[at.Array, "b l"],
+        phase_a_evidence_mask: at.Bool[at.Array, "b l"],
+        phase_a_valid_mask: at.Bool[at.Array, "b l"],
+    ) -> tuple[at.Float[at.Array, "b l d"], dict[str, Any]]:
+        batch, length, _ = visual_tokens.shape
+        bl = (batch, length)
+        vectors = {
+            "static_mask": static_mask,
+            "frame_indices": phase_a_frame_indices,
+            "capture_steps": phase_a_capture_steps,
+            "role_ids": phase_a_role_ids,
+            "role_mask": phase_a_role_mask,
+            "event_ids": phase_a_event_ids,
+            "event_ordinals": phase_a_event_ordinals,
+            "contract_ids": phase_a_contract_ids,
+            "status_ids": phase_a_status_ids,
+            "categorical_mask": phase_a_categorical_mask,
+            "confidence": phase_a_confidence,
+            "evidence_mask": phase_a_evidence_mask,
+            "valid_mask": phase_a_valid_mask,
+        }
+        for name, value in vectors.items():
+            if value.shape != bl:
+                raise ValueError(f"Phase-A {name} shape {value.shape} != {bl}")
+        if phase_a_time_values.shape != (*bl, 3):
+            raise ValueError("Phase-A time_values must have three channels")
+        if phase_a_time_mask.shape != (*bl, 3):
+            raise ValueError("Phase-A time_mask must have three channels")
+        for name in (
+            "static_mask",
+            "role_mask",
+            "categorical_mask",
+            "evidence_mask",
+            "valid_mask",
+        ):
+            if vectors[name].dtype != jnp.bool_:
+                raise ValueError(f"Phase-A {name} must be boolean")
+        if phase_a_time_mask.dtype != jnp.bool_:
+            raise ValueError("Phase-A time_mask must be boolean")
+        for name in (
+            "frame_indices",
+            "capture_steps",
+            "role_ids",
+            "event_ids",
+            "event_ordinals",
+            "contract_ids",
+            "status_ids",
+        ):
+            if not jnp.issubdtype(vectors[name].dtype, jnp.integer):
+                raise ValueError(f"Phase-A {name} must be integer")
+        if not jnp.issubdtype(phase_a_time_values.dtype, jnp.floating):
+            raise ValueError("Phase-A time_values must be floating point")
+        if not jnp.issubdtype(phase_a_confidence.dtype, jnp.floating):
+            raise ValueError("Phase-A confidence must be floating point")
+        if _is_concrete(static_mask, phase_a_valid_mask) and not np.array_equal(
+            np.asarray(static_mask),
+            np.asarray(phase_a_valid_mask),
+        ):
+            raise ValueError("Phase-A valid mask must equal the visual token mask")
+        if _is_concrete(
+            phase_a_frame_indices,
+            phase_a_capture_steps,
+            phase_a_valid_mask,
+            phase_a_time_values,
+            phase_a_time_mask,
+            phase_a_role_ids,
+            phase_a_role_mask,
+            phase_a_event_ids,
+            phase_a_event_ordinals,
+            phase_a_contract_ids,
+            phase_a_status_ids,
+            phase_a_categorical_mask,
+            phase_a_confidence,
+            phase_a_evidence_mask,
+        ):
+            frame_indices = np.asarray(phase_a_frame_indices)
+            capture_steps = np.asarray(phase_a_capture_steps)
+            valid_mask = np.asarray(phase_a_valid_mask)
+            invalid_mask = ~valid_mask
+            if np.any(frame_indices < 0) or np.any(capture_steps < 0):
+                raise ValueError("Phase-A frame indices and capture steps must be non-negative")
+            if np.any(frame_indices[invalid_mask]) or np.any(capture_steps[invalid_mask]):
+                raise ValueError("Phase-A padding provenance must be canonical zeros")
+            if np.any(np.asarray(phase_a_time_mask)[invalid_mask]):
+                raise ValueError("Phase-A padding cannot expose temporal metadata")
+            for name, mask in (
+                ("role_mask", phase_a_role_mask),
+                ("categorical_mask", phase_a_categorical_mask),
+                ("evidence_mask", phase_a_evidence_mask),
+            ):
+                if np.any(np.asarray(mask) & invalid_mask):
+                    raise ValueError(f"Phase-A {name} cannot mark padding")
+
+            time_mask = np.asarray(phase_a_time_mask)
+            categorical_mask = np.asarray(phase_a_categorical_mask)
+            role_mask = np.asarray(phase_a_role_mask)
+            evidence_mask = np.asarray(phase_a_evidence_mask)
+            if not np.array_equal(role_mask, evidence_mask):
+                raise ValueError("Phase-A role mask must equal evidence mask")
+            if not np.array_equal(categorical_mask, evidence_mask):
+                raise ValueError("Phase-A categorical mask must equal evidence mask")
+            if not np.array_equal(
+                time_mask,
+                np.repeat(time_mask[..., :1], 3, axis=-1),
+            ):
+                raise ValueError("Phase-A time channels must share one token gate")
+            if np.any(np.asarray(phase_a_time_values)[~time_mask]):
+                raise ValueError("masked Phase-A time values must be neutral zeros")
+            if np.any(capture_steps[~np.any(time_mask, axis=-1)]):
+                raise ValueError("masked Phase-A capture steps must be neutral zeros")
+            if np.any(np.asarray(phase_a_role_ids)[~role_mask]):
+                raise ValueError("masked Phase-A role IDs must be neutral zeros")
+            for name, value in (
+                ("event_ids", phase_a_event_ids),
+                ("event_ordinals", phase_a_event_ordinals),
+                ("contract_ids", phase_a_contract_ids),
+                ("status_ids", phase_a_status_ids),
+                ("confidence", phase_a_confidence),
+            ):
+                if np.any(np.asarray(value)[~categorical_mask]):
+                    raise ValueError(f"masked Phase-A {name} must contain neutral zeros")
+            if np.any(np.asarray(phase_a_role_ids)[evidence_mask] == 0):
+                raise ValueError("Phase-A evidence tokens require a non-background role")
+            for name, value in (
+                ("event_ids", phase_a_event_ids),
+                ("event_ordinals", phase_a_event_ordinals),
+                ("contract_ids", phase_a_contract_ids),
+                ("status_ids", phase_a_status_ids),
+            ):
+                if np.any(np.asarray(value)[evidence_mask] == 0):
+                    raise ValueError(f"Phase-A evidence tokens require nonzero {name}")
+
+        role = self._strict_ids(phase_a_role_ids, 4, "role_ids")
+        event = self._strict_ids(phase_a_event_ids, self.event_vocab_size, "event_ids")
+        ordinal = self._strict_ids(
+            phase_a_event_ordinals,
+            self.event_ordinal_vocab_size,
+            "event_ordinals",
+        )
+        contract = self._strict_ids(
+            phase_a_contract_ids,
+            self.contract_vocab_size,
+            "contract_ids",
+        )
+        status = self._strict_ids(phase_a_status_ids, self.status_vocab_size, "status_ids")
+
+        role_gate = phase_a_role_mask[..., None].astype(self.dtype)
+        categorical_gate = phase_a_categorical_mask[..., None].astype(self.dtype)
+        categorical = [
+            self.role_embed(role) * role_gate,
+            self.event_embed(event) * categorical_gate,
+            self.ordinal_embed(ordinal) * categorical_gate,
+            self.contract_embed(contract) * categorical_gate,
+            self.status_embed(status) * categorical_gate,
+        ]
+        time_mask_f = phase_a_time_mask.astype(self.dtype)
+        numeric = jnp.concatenate(
+            [
+                phase_a_time_values.astype(self.dtype) * time_mask_f,
+                phase_a_confidence[..., None].astype(self.dtype) * categorical_gate,
+                phase_a_evidence_mask[..., None].astype(self.dtype),
+                time_mask_f,
+                role_gate,
+                categorical_gate,
+            ],
+            axis=-1,
+        )
+        numeric = self.numeric_out(nnx.silu(self.numeric_in(numeric)))
+        fused = self.fuse_norm(jnp.concatenate([*categorical, numeric], axis=-1))
+        delta = self.out_proj(nnx.silu(self.fuse_in(fused)))
+        metadata_active = (
+            phase_a_role_mask | phase_a_categorical_mask | jnp.any(phase_a_time_mask, axis=-1)
+        ) & static_mask
+        output = visual_tokens + jnp.where(
+            metadata_active[..., None],
+            delta,
+            jnp.zeros_like(delta),
+        )
+        stats = {
+            "phase_a_metadata_active_fraction": jnp.mean(metadata_active.astype(jnp.float32)),
+            "phase_a_evidence_token_fraction": jnp.mean((phase_a_evidence_mask & static_mask).astype(jnp.float32)),
+        }
+        return output, stats
+
+    @staticmethod
+    def _strict_ids(values: jax.Array, size: int, name: str) -> jax.Array:
+        values = values.astype(jnp.int32)
+        if _is_concrete(values):
+            host = np.asarray(values)
+            if host.size and (int(host.min()) < 0 or int(host.max()) >= size):
+                raise ValueError(f"Phase-A {name} must be in [0, {size})")
+        return jnp.where((values >= 0) & (values < size), values, 0)
+
+
+def _is_concrete(*values: jax.Array) -> bool:
+    return all(not isinstance(value, jax.core.Tracer) for value in values)
+
+
+__all__ = ["PhaseAMetadataReader"]

checkpoints/r2/pick3/baseline/step9000/code/integrations/robomme/src/mme_vla_suite/models/representation/transition_status.py

@@ -0,0 +1,288 @@
+"""Low-cost coarse semantic-transition span head for HistoryPi0.
+
+The head consumes the 16 executable action-token features and emits two logits:
+whether the chunk overlaps a reviewed transition interval, and whether a
+positive chunk is the final chunk of that interval. It does not predict an
+exact onset token.
+"""
+
+from __future__ import annotations
+
+from typing import Any
+
+import flax.nnx as nnx
+import jax
+import jax.numpy as jnp
+import openpi.shared.array_typing as at
+from mme_vla_suite.models.representation.utils import kernel_init
+
+STATUS_EXECUTION_HORIZON = 16
+SEMANTIC_CONTEXT_HORIZON = 48
+ROBOT_VECTOR_DIM = 8
+
+
+def span_binary_loss(
+    span_logit: at.Float[at.Array, " b"],
+    span_target: at.Float[at.Array, " b"],
+    status_valid: at.Bool[at.Array, " b"],
+) -> at.Float[at.Array, " b"]:
+    """Per-row ``BCEWithLogits`` for the coarse span target."""
+
+    logits = span_logit.astype(jnp.float32)
+    target = span_target.astype(jnp.float32)
+    loss = jax.nn.softplus(logits) - target * logits
+    return jnp.where(status_valid, loss, 0.0)
+
+
+def last_span_valid_mask(
+    span_target: at.Float[at.Array, " b"],
+    last_span_valid: at.Bool[at.Array, " b"],
+) -> at.Bool[at.Array, " b"]:
+    """Rows the conditional endpoint loss actually scores."""
+
+    return last_span_valid & (span_target.astype(jnp.float32) > 0.5)
+
+
+def valid_row_rescale(valid: at.Bool[at.Array, " b"]) -> at.Float[at.Array, ""]:
+    """Turn a mean over all rows into a mean over participating rows."""
+
+    n_valid = jnp.sum(valid.astype(jnp.float32))
+    return jnp.asarray(valid.shape[0], jnp.float32) / jnp.maximum(n_valid, 1.0)
+
+
+def last_span_binary_loss(
+    last_span_logit: at.Float[at.Array, " b"],
+    last_span_target: at.Float[at.Array, " b"],
+    span_target: at.Float[at.Array, " b"],
+    last_span_valid: at.Bool[at.Array, " b"],
+) -> at.Float[at.Array, " b"]:
+    """Conditional endpoint BCE, evaluated only for known positive spans."""
+
+    logits = last_span_logit.astype(jnp.float32)
+    target = last_span_target.astype(jnp.float32)
+    loss = jax.nn.softplus(logits) - target * logits
+    valid = last_span_valid_mask(span_target, last_span_valid)
+    return jnp.where(valid, loss, 0.0)
+
+
+def weighted_status_loss_components(
+    *,
+    span_loss: at.Float[at.Array, " b"],
+    last_span_loss: at.Float[at.Array, " b"],
+    status_valid: at.Bool[at.Array, " b"],
+    span_target: at.Float[at.Array, " b"],
+    last_span_valid: at.Bool[at.Array, " b"],
+    span_loss_weight: float,
+    last_span_loss_weight: float,
+) -> tuple[
+    at.Float[at.Array, " b"],
+    at.Float[at.Array, " b"],
+    dict[str, at.Array],
+]:
+    """Build the two rescaled Status terms and their effective metrics."""
+
+    endpoint_valid = last_span_valid_mask(span_target, last_span_valid)
+    span_rescale = valid_row_rescale(status_valid)
+    last_span_rescale = valid_row_rescale(endpoint_valid)
+    span_component = span_loss_weight * span_rescale * span_loss
+    last_span_component = (
+        last_span_loss_weight * last_span_rescale * last_span_loss
+    )
+    span_contribution = jnp.mean(span_component)
+    last_span_contribution = jnp.mean(last_span_component)
+    batch_size = jnp.asarray(status_valid.shape[0], dtype=jnp.float32)
+    status_valid_rows = jnp.sum(status_valid.astype(jnp.float32))
+    last_span_valid_rows = jnp.sum(endpoint_valid.astype(jnp.float32))
+    metrics = {
+        "transition_span_loss_weight": jnp.asarray(
+            span_loss_weight, dtype=jnp.float32
+        ),
+        "transition_last_span_loss_weight": jnp.asarray(
+            last_span_loss_weight, dtype=jnp.float32
+        ),
+        "transition_span_rescale": span_rescale,
+        "transition_last_span_rescale": last_span_rescale,
+        "transition_status_valid_rows": status_valid_rows,
+        "transition_last_span_valid_rows": last_span_valid_rows,
+        "transition_status_valid_fraction": status_valid_rows / batch_size,
+        "transition_last_span_valid_fraction": last_span_valid_rows / batch_size,
+        "transition_span_loss_contribution": span_contribution,
+        "transition_last_span_loss_contribution": last_span_contribution,
+        "transition_status_loss": span_contribution + last_span_contribution,
+    }
+    return span_component, last_span_component, metrics
+
+
+class RealizedTransitionContextEncoder(nnx.Module):
+    """Pool up to 48 causal realized action/state deltas with one query."""
+
+    def __init__(
+        self,
+        *,
+        action_expert_width: int,
+        hidden_dim: int = 128,
+        rngs: nnx.Rngs,
+        dtype: at.DTypeLike = jnp.float32,
+    ) -> None:
+        if action_expert_width <= 0 or hidden_dim <= 0:
+            raise ValueError("transition context dimensions must be positive")
+        self.dtype = dtype
+        self.hidden_dim = hidden_dim
+        self.row_in = nnx.Linear(
+            2 * ROBOT_VECTOR_DIM + 1,
+            hidden_dim,
+            rngs=rngs,
+            dtype=dtype,
+            kernel_init=kernel_init,
+        )
+        self.row_out = nnx.Linear(
+            hidden_dim,
+            hidden_dim,
+            rngs=rngs,
+            dtype=dtype,
+            kernel_init=kernel_init,
+        )
+        self.query = nnx.Param(
+            jax.random.normal(rngs.params(), (hidden_dim,), dtype=jnp.float32)
+            / jnp.sqrt(jnp.asarray(hidden_dim, jnp.float32))
+        )
+        # No bias is important: an all-masked history must be an exact zero
+        # residual, reproducing the context-free Status Head path.
+        self.out_proj = nnx.Linear(
+            hidden_dim,
+            action_expert_width,
+            use_bias=False,
+            rngs=rngs,
+            dtype=dtype,
+            kernel_init=kernel_init,
+        )
+
+    def __call__(
+        self,
+        action_delta: at.Float[at.Array, "b 48 8"],
+        state_delta: at.Float[at.Array, "b 48 8"],
+        relative_age: at.Float[at.Array, "b 48"],
+        valid_mask: at.Bool[at.Array, "b 48"],
+    ) -> at.Float[at.Array, "b d"]:
+        expected_rows = action_delta.shape[:2]
+        if action_delta.shape != (*expected_rows, ROBOT_VECTOR_DIM):
+            raise ValueError("transition action_delta must end in dimension 8")
+        if state_delta.shape != action_delta.shape:
+            raise ValueError("transition state_delta must match action_delta")
+        if expected_rows[1] != SEMANTIC_CONTEXT_HORIZON:
+            raise ValueError("transition context must contain exactly 48 rows")
+        if relative_age.shape != expected_rows or valid_mask.shape != expected_rows:
+            raise ValueError("transition age/mask shapes must match context rows")
+
+        rows = jnp.concatenate(
+            [
+                action_delta.astype(self.dtype),
+                state_delta.astype(self.dtype),
+                relative_age[..., None].astype(self.dtype),
+            ],
+            axis=-1,
+        )
+        rows = self.row_out(nnx.silu(self.row_in(rows)))
+        scores = jnp.einsum(
+            "btd,d->bt",
+            rows.astype(jnp.float32),
+            self.query.value.astype(jnp.float32),
+        ) / jnp.sqrt(jnp.asarray(self.hidden_dim, jnp.float32))
+        mask_f = valid_mask.astype(jnp.float32)
+        masked_scores = jnp.where(valid_mask, scores, -1e30)
+        max_score = jnp.max(masked_scores, axis=-1, keepdims=True)
+        weights = jnp.exp(masked_scores - max_score) * mask_f
+        weights = weights / jnp.maximum(jnp.sum(weights, axis=-1, keepdims=True), 1e-8)
+        pooled = jnp.einsum("bt,btd->bd", weights.astype(rows.dtype), rows)
+        pooled = jnp.where(jnp.any(valid_mask, axis=-1, keepdims=True), pooled, 0.0)
+        return self.out_proj(pooled)
+
+
+class TransitionStatusHead(nnx.Module):
+    """Pool executable action features into shared span and final-span logits."""
+
+    def __init__(
+        self,
+        *,
+        action_expert_width: int,
+        context_hidden_dim: int = 128,
+        rngs: nnx.Rngs,
+        dtype: at.DTypeLike = jnp.float32,
+    ) -> None:
+        self.dtype = dtype
+        self.context = RealizedTransitionContextEncoder(
+            action_expert_width=action_expert_width,
+            hidden_dim=context_hidden_dim,
+            rngs=rngs,
+            dtype=dtype,
+        )
+        self.span_norm = nnx.LayerNorm(action_expert_width, rngs=rngs, dtype=dtype)
+        self.status_out = nnx.Linear(
+            action_expert_width,
+            2,
+            rngs=rngs,
+            dtype=dtype,
+            kernel_init=kernel_init,
+        )
+
+    def __call__(
+        self,
+        action_hidden: at.Float[at.Array, "b 16 d"],
+        *,
+        action_delta: at.Float[at.Array, "b 48 8"],
+        state_delta: at.Float[at.Array, "b 48 8"],
+        relative_age: at.Float[at.Array, "b 48"],
+        valid_mask: at.Bool[at.Array, "b 48"],
+    ) -> tuple[at.Float[at.Array, " b"], at.Float[at.Array, " b"]]:
+        if action_hidden.shape[1] != STATUS_EXECUTION_HORIZON:
+            raise ValueError("Status Head requires exactly 16 executable action slots")
+        context = self.context(action_delta, state_delta, relative_age, valid_mask)
+        status_action_hidden = jax.lax.stop_gradient(action_hidden)
+        features = status_action_hidden + context[:, None, :].astype(action_hidden.dtype)
+        status_features = self.span_norm(jnp.mean(features, axis=1))
+        logits = self.status_out(status_features)
+        return logits[..., 0], logits[..., 1]
+
+
+def transition_training_stats(
+    *,
+    span_logit: at.Float[at.Array, " b"],
+    span_target: at.Float[at.Array, " b"],
+    status_valid: at.Bool[at.Array, " b"],
+    span_loss: at.Float[at.Array, " b"],
+    last_span_logit: at.Float[at.Array, " b"],
+    last_span_target: at.Float[at.Array, " b"],
+    last_span_valid: at.Bool[at.Array, " b"],
+    last_span_loss: at.Float[at.Array, " b"],
+) -> dict[str, Any]:
+    valid_f = status_valid.astype(jnp.float32)
+    denom = jnp.maximum(jnp.sum(valid_f), 1.0)
+    endpoint_valid = last_span_valid & (span_target > 0.5)
+    endpoint_valid_f = endpoint_valid.astype(jnp.float32)
+    endpoint_denom = jnp.maximum(jnp.sum(endpoint_valid_f), 1.0)
+    return {
+        "transition_span_loss": jnp.sum(span_loss * valid_f) / denom,
+        "transition_span_probability": jnp.sum(jax.nn.sigmoid(span_logit) * valid_f) / denom,
+        "transition_span_positive_rate": jnp.sum(span_target.astype(jnp.float32) * valid_f) / denom,
+        "transition_last_span_loss": jnp.sum(last_span_loss * endpoint_valid_f) / endpoint_denom,
+        "transition_last_span_probability": (
+            jnp.sum(jax.nn.sigmoid(last_span_logit) * endpoint_valid_f) / endpoint_denom
+        ),
+        "transition_last_span_positive_rate": (
+            jnp.sum(last_span_target.astype(jnp.float32) * endpoint_valid_f) / endpoint_denom
+        ),
+    }
+
+
+__all__ = [
+    "ROBOT_VECTOR_DIM",
+    "SEMANTIC_CONTEXT_HORIZON",
+    "STATUS_EXECUTION_HORIZON",
+    "RealizedTransitionContextEncoder",
+    "TransitionStatusHead",
+    "last_span_binary_loss",
+    "span_binary_loss",
+    "transition_training_stats",
+    "valid_row_rescale",
+    "weighted_status_loss_components",
+]

checkpoints/r2/pick3/baseline/step9000/code/integrations/robomme/src/mme_vla_suite/policies/picmem_phase_a_rollout.py

@@ -0,0 +1,563 @@
+"""Fail-closed Phase-A runtime controller for RoboMME policy serving.
+
+The simulator and policy run in different processes during the standard
+RoboMME evaluation.  The simulator therefore sends one identity-bound reset
+and a stream of event envelopes through the existing ``add_buffer`` request.
+This module is the policy-side authority for that wire.  It owns no task
+semantics: it validates the transport, applies every event through
+``RuntimeReadSession.ingest_event``, and materializes the resulting evolving
+read through the exact host ``MemoryBuffer`` before ``model.sample_actions``.
+
+There is deliberately no legacy frame-sampling fallback once a Phase-A model
+is loaded.  A missing reset, a manager-mode mismatch, an event ahead of the
+buffered visual history, or an incomplete 32-frame/512-token materialization
+all fail the action request.
+"""
+
+from __future__ import annotations
+
+from collections.abc import Callable, Mapping, Sequence
+from copy import deepcopy
+from dataclasses import dataclass, field
+from typing import Any, TypedDict
+
+import numpy as np
+from mme_vla_suite.training.picmem_phase_a_reader import (
+    FACTOR_FIELDS,
+    FRAME_BUDGET,
+    OBSERVATION_FIELDS,
+    TOKEN_BUDGET,
+    PhaseAFactors,
+)
+from mme_vla_suite.training.picmem_phase_a_runtime import (
+    RuntimePhaseAObservation,
+    materialize_runtime_observation,
+)
+
+from picmem.memory.contracts import SelectionMode
+from picmem.provenance.runtime_reader import (
+    RuntimeReadError,
+    RuntimeReadSession,
+    canonical_json_sha256,
+)
+
+RUNTIME_BATCH_SCHEMA_VERSION = "picmem_phase_a_rollout_batch_v2"
+RUNTIME_BATCH_ACK_SCHEMA_VERSION = "picmem_phase_a_rollout_batch_ack_v1"
+RUNTIME_START_SCHEMA_VERSION = "picmem_phase_a_rollout_start_v1"
+RUNTIME_ENVELOPE_SCHEMA_VERSION = "picmem_phase_a_rollout_event_envelope_v1"
+GENESIS_BATCH_SHA256 = "0" * 64
+
+_BATCH_FIELDS = frozenset(
+    {
+        "schema_version",
+        "batch_sequence",
+        "previous_batch_sha256",
+        "batch_sha256",
+        "start",
+        "events",
+    }
+)
+_BATCH_HASH_FIELDS = (
+    "schema_version",
+    "batch_sequence",
+    "previous_batch_sha256",
+    "start",
+    "events",
+)
+_START_FIELDS = frozenset(
+    {
+        "schema_version",
+        "reset",
+        "expected_identity_sha256",
+        "expected_source_identity_sha256",
+        "expected_source_contract_sha256",
+        "manager_mode",
+        "metadata_seed",
+    }
+)
+_ENVELOPE_FIELDS = frozenset({"schema_version", "event", "observed_source_state"})
+
+
+@dataclass(frozen=True, slots=True)
+class PhaseARolloutMaterialization:
+    """One policy-visible runtime observation and its model input fields."""
+
+    runtime: RuntimePhaseAObservation
+    model_inputs: Mapping[str, np.ndarray]
+
+
+class PhaseARolloutBatchAck(TypedDict):
+    """Strict policy-server acknowledgement for one committed batch."""
+
+    schema_version: str
+    batch_sequence: int
+    batch_sha256: str
+    duplicate: bool
+    runtime_receipt: dict[str, Any]
+
+
+@dataclass(frozen=True, slots=True)
+class PhaseARolloutPreparedBatch:
+    """Opaque one-shot result of validating a prospective host append."""
+
+    batch_sequence: int
+    batch_sha256: str
+    duplicate: bool
+    _controller_token: object = field(repr=False, compare=False)
+    _preparation_token: object = field(repr=False, compare=False)
+
+
+@dataclass(frozen=True, slots=True)
+class _PreparedState:
+    prepared: PhaseARolloutPreparedBatch
+    base_session: RuntimeReadSession | None
+    base_receipt_sha256: str | None
+    base_batch_sequence: int | None
+    base_batch_sha256: str | None
+    candidate_session: RuntimeReadSession | None
+
+
+class PhaseARolloutController:
+    """Bind one formal Phase-A config to one live RoboMME episode at a time."""
+
+    def __init__(self, *, factors: PhaseAFactors, metadata_seed: int) -> None:
+        if type(factors) is not PhaseAFactors:
+            raise RuntimeReadError("rollout controller requires the exact PhaseAFactors class")
+        # Online mutation plans for non-relevant selectors are not frozen.  The
+        # runtime bridge must never silently turn those arms into relevant.
+        factors.validate_implemented_path(selection_applied=SelectionMode.RELEVANT)
+        self._factors = factors
+        self._metadata_seed = _nat(metadata_seed, "metadata_seed")
+        self._session: RuntimeReadSession | None = None
+        self._last_batch_sequence: int | None = None
+        self._last_batch_sha256: str | None = None
+        self._controller_token = object()
+        self._prepared_state: _PreparedState | None = None
+
+    @property
+    def factors(self) -> PhaseAFactors:
+        return self._factors
+
+    @property
+    def metadata_seed(self) -> int:
+        return self._metadata_seed
+
+    @property
+    def session(self) -> RuntimeReadSession | None:
+        return self._session
+
+    @property
+    def last_batch_sequence(self) -> int | None:
+        return self._last_batch_sequence
+
+    @property
+    def last_batch_sha256(self) -> str | None:
+        return self._last_batch_sha256
+
+    def reset(self) -> None:
+        """Drop all episode state when the outer policy receives ``reset``."""
+
+        self._session = None
+        self._last_batch_sequence = None
+        self._last_batch_sha256 = None
+        self._prepared_state = None
+
+    def accept_add_buffer_payload(
+        self,
+        raw: Any,
+        *,
+        buffered_step: int,
+    ) -> PhaseARolloutBatchAck:
+        """Validate and immediately commit one batch without a host transaction.
+
+        Production serving should use :meth:`prepare_add_buffer_payload`,
+        append the host ``MemoryBuffer`` only for a non-duplicate preparation,
+        and then call :meth:`commit_prepared_batch`.  This convenience method
+        remains useful when no separate host mutation is part of the call.
+        """
+
+        prepared = self.prepare_add_buffer_payload(
+            raw,
+            prospective_buffered_step=buffered_step,
+        )
+        return self.commit_prepared_batch(prepared)
+
+    def prepare_add_buffer_payload(
+        self,
+        raw: Any,
+        *,
+        prospective_buffered_step: int,
+    ) -> PhaseARolloutPreparedBatch:
+        """Validate one batch against a prospective buffer append.
+
+        ``prospective_buffered_step`` is the highest step that will exist only
+        after the host append succeeds.  This method never publishes a
+        session or advances the batch-chain cursor.  Instead it returns one
+        opaque, one-shot preparation that can be committed after the host
+        mutation succeeds.  Exact retries are marked ``duplicate`` so the
+        host must skip appending the same visual history a second time.
+
+        All start and event work happens on an unpublished candidate session,
+        so a bad later event cannot leave an earlier event partially accepted.
+        """
+
+        prospective_buffered_step = _nat(
+            prospective_buffered_step,
+            "prospective_buffered_step",
+        )
+        batch = _exact_mapping(raw, _BATCH_FIELDS, "Phase-A rollout batch")
+        if batch["schema_version"] != RUNTIME_BATCH_SCHEMA_VERSION:
+            raise RuntimeReadError("Phase-A rollout batch schema_version mismatch")
+
+        batch_sequence = _nat(batch["batch_sequence"], "batch_sequence")
+        previous_batch_sha256 = _sha256(
+            batch["previous_batch_sha256"],
+            "previous_batch_sha256",
+        )
+        batch_sha256 = _sha256(batch["batch_sha256"], "batch_sha256")
+        batch_payload = {name: batch[name] for name in _BATCH_HASH_FIELDS}
+        if canonical_json_sha256(batch_payload) != batch_sha256:
+            raise RuntimeReadError("Phase-A rollout batch_sha256 mismatch")
+
+        if self._last_batch_sequence is not None and batch_sequence == self._last_batch_sequence:
+            if batch_sha256 != self._last_batch_sha256:
+                raise RuntimeReadError("Phase-A rollout batch retry hash mismatch")
+            return self._issue_prepared(
+                batch_sequence=batch_sequence,
+                batch_sha256=batch_sha256,
+                duplicate=True,
+                candidate_session=None,
+            )
+
+        if self._last_batch_sequence is None:
+            if batch_sequence != 0:
+                raise RuntimeReadError("first Phase-A rollout batch_sequence must be zero")
+            if previous_batch_sha256 != GENESIS_BATCH_SHA256:
+                raise RuntimeReadError("first Phase-A rollout batch must name the genesis hash")
+            if batch["start"] is None:
+                raise RuntimeReadError("first Phase-A rollout batch requires a runtime start")
+        else:
+            if batch_sequence != self._last_batch_sequence + 1:
+                raise RuntimeReadError("Phase-A rollout batch_sequence must be contiguous")
+            if previous_batch_sha256 != self._last_batch_sha256:
+                raise RuntimeReadError("Phase-A rollout previous_batch_sha256 mismatch")
+
+        start = batch["start"]
+        if start is not None:
+            if self._session is not None:
+                raise RuntimeReadError("Phase-A rollout session was already started")
+            candidate = self._start_session(start)
+            if candidate.current_step > prospective_buffered_step:
+                raise RuntimeReadError("Phase-A runtime start is ahead of buffered visual history")
+        elif self._session is None:
+            raise RuntimeReadError("Phase-A add_buffer arrived before an identity-bound runtime start")
+        else:
+            candidate = deepcopy(self._session)
+
+        events = batch["events"]
+        if not isinstance(events, Sequence) or isinstance(events, (str, bytes)):
+            raise RuntimeReadError("Phase-A rollout events must be a sequence")
+        assert candidate is not None
+        for index, raw_envelope in enumerate(events):
+            envelope = _exact_mapping(
+                raw_envelope,
+                _ENVELOPE_FIELDS,
+                f"Phase-A rollout event envelope[{index}]",
+            )
+            if envelope["schema_version"] != RUNTIME_ENVELOPE_SCHEMA_VERSION:
+                raise RuntimeReadError("Phase-A rollout event envelope schema_version mismatch")
+            event = envelope["event"]
+            if not isinstance(event, Mapping):
+                raise RuntimeReadError("Phase-A rollout envelope event must be a mapping")
+            runtime_step = _nat(event.get("runtime_step"), "event.runtime_step")
+            if runtime_step > prospective_buffered_step:
+                raise RuntimeReadError("Phase-A runtime event is ahead of buffered visual history")
+            candidate.ingest_event(
+                event,
+                observed_source_state=deepcopy(envelope["observed_source_state"]),
+            )
+        if candidate.current_step > prospective_buffered_step:
+            raise RuntimeReadError("Phase-A runtime session advanced beyond buffered visual history")
+
+        return self._issue_prepared(
+            batch_sequence=batch_sequence,
+            batch_sha256=batch_sha256,
+            duplicate=False,
+            candidate_session=candidate,
+        )
+
+    def commit_prepared_batch(
+        self,
+        prepared: PhaseARolloutPreparedBatch,
+    ) -> PhaseARolloutBatchAck:
+        """Publish one current preparation after the host append succeeds."""
+
+        if type(prepared) is not PhaseARolloutPreparedBatch:
+            raise RuntimeReadError("prepared rollout batch has the wrong type")
+        state = self._prepared_state
+        if (
+            state is None
+            or prepared._controller_token is not self._controller_token
+            or prepared._preparation_token is not state.prepared._preparation_token
+            or prepared.batch_sequence != state.prepared.batch_sequence
+            or prepared.batch_sha256 != state.prepared.batch_sha256
+            or prepared.duplicate is not state.prepared.duplicate
+        ):
+            raise RuntimeReadError("prepared rollout batch is stale, foreign, or already consumed")
+
+        # A commit attempt consumes the preparation even when its base has
+        # drifted.  Retrying an ambiguous host transaction must re-prepare
+        # from the current controller state rather than reuse an old token.
+        self._prepared_state = None
+        if (
+            self._session is not state.base_session
+            or self._last_batch_sequence != state.base_batch_sequence
+            or self._last_batch_sha256 != state.base_batch_sha256
+            or self._session_receipt_sha256(self._session) != state.base_receipt_sha256
+        ):
+            raise RuntimeReadError("prepared rollout batch base state drifted before commit")
+
+        if prepared.duplicate:
+            if state.candidate_session is not None:
+                raise RuntimeReadError("duplicate rollout preparation unexpectedly has a candidate")
+        else:
+            if state.candidate_session is None:
+                raise RuntimeReadError("new rollout preparation has no candidate session")
+            self._session = state.candidate_session
+            self._last_batch_sequence = prepared.batch_sequence
+            self._last_batch_sha256 = prepared.batch_sha256
+
+        return self._ack(
+            batch_sequence=prepared.batch_sequence,
+            batch_sha256=prepared.batch_sha256,
+            duplicate=prepared.duplicate,
+        )
+
+    def materialize_for_action(
+        self,
+        memory_buffer: Any,
+        *,
+        step: int,
+        normalize_state: Callable[[np.ndarray], Any],
+    ) -> PhaseARolloutMaterialization:
+        """Materialize evolving memory immediately before action sampling."""
+
+        step = _nat(step, "step")
+        if self._session is None:
+            raise RuntimeReadError("Phase-A action request has no identity-bound runtime session")
+        if not callable(normalize_state):
+            raise RuntimeReadError("Phase-A rollout requires the host state normalizer")
+        runtime = materialize_runtime_observation(
+            self._session,
+            memory_buffer,
+            step=step,
+            factors=self._factors,
+            metadata_seed=self._metadata_seed,
+        )
+        if runtime.plan.frame_indices.shape != (FRAME_BUDGET,):
+            raise RuntimeReadError("Phase-A rollout frame budget drift")
+        if runtime.image.shape[0] != TOKEN_BUDGET or runtime.mask.shape != (TOKEN_BUDGET,):
+            raise RuntimeReadError("Phase-A rollout token budget drift")
+
+        normalized_state = np.asarray(normalize_state(runtime.state))
+        if normalized_state.shape != runtime.state.shape:
+            raise RuntimeReadError("Phase-A rollout normalized state geometry drift")
+        if normalized_state.dtype != np.float32:
+            raise RuntimeReadError("Phase-A rollout normalized state must be float32")
+        if not bool(np.isfinite(normalized_state).all()):
+            raise RuntimeReadError("Phase-A rollout normalized state must be finite")
+        normalized_state.setflags(write=False)
+
+        model_inputs: dict[str, np.ndarray] = {
+            "static_image_emb": runtime.image,
+            "static_pos_emb": runtime.position,
+            "static_state_emb": normalized_state,
+            "static_mask": runtime.mask,
+            **runtime.metadata.to_observation(),
+        }
+        expected = {
+            "static_image_emb",
+            "static_pos_emb",
+            "static_state_emb",
+            "static_mask",
+            *OBSERVATION_FIELDS,
+        }
+        if set(model_inputs) != expected:
+            raise RuntimeReadError("Phase-A rollout model input fields drifted")
+        return PhaseARolloutMaterialization(runtime=runtime, model_inputs=model_inputs)
+
+    def receipt(self) -> dict[str, Any]:
+        if self._session is None:
+            raise RuntimeReadError("Phase-A rollout has no session receipt")
+        receipt = self._session.receipt()
+        if receipt.get("manager_mode") != self._factors.manager_mode.value:
+            raise RuntimeReadError("Phase-A rollout receipt manager_mode drift")
+        return receipt
+
+    def _start_session(self, raw: Any) -> RuntimeReadSession:
+        start = _exact_mapping(raw, _START_FIELDS, "Phase-A rollout start")
+        if start["schema_version"] != RUNTIME_START_SCHEMA_VERSION:
+            raise RuntimeReadError("Phase-A rollout start schema_version mismatch")
+        if start["manager_mode"] != self._factors.manager_mode.value:
+            raise RuntimeReadError("Phase-A rollout start manager_mode differs from the loaded policy config")
+        if _nat(start["metadata_seed"], "start.metadata_seed") != self._metadata_seed:
+            raise RuntimeReadError("Phase-A rollout start metadata_seed differs from policy config")
+        return RuntimeReadSession.from_reset(
+            start["reset"],
+            expected_identity_sha256=_sha256(
+                start["expected_identity_sha256"],
+                "expected_identity_sha256",
+            ),
+            expected_source_identity_sha256=_sha256(
+                start["expected_source_identity_sha256"],
+                "expected_source_identity_sha256",
+            ),
+            expected_source_contract_sha256=_sha256(
+                start["expected_source_contract_sha256"],
+                "expected_source_contract_sha256",
+            ),
+            manager_mode=self._factors.manager_mode,
+        )
+
+    def _ack(
+        self,
+        *,
+        batch_sequence: int,
+        batch_sha256: str,
+        duplicate: bool,
+    ) -> PhaseARolloutBatchAck:
+        return {
+            "schema_version": RUNTIME_BATCH_ACK_SCHEMA_VERSION,
+            "batch_sequence": batch_sequence,
+            "batch_sha256": batch_sha256,
+            "duplicate": duplicate,
+            "runtime_receipt": self.receipt(),
+        }
+
+    def _issue_prepared(
+        self,
+        *,
+        batch_sequence: int,
+        batch_sha256: str,
+        duplicate: bool,
+        candidate_session: RuntimeReadSession | None,
+    ) -> PhaseARolloutPreparedBatch:
+        preparation_token = object()
+        prepared = PhaseARolloutPreparedBatch(
+            batch_sequence=batch_sequence,
+            batch_sha256=batch_sha256,
+            duplicate=duplicate,
+            _controller_token=self._controller_token,
+            _preparation_token=preparation_token,
+        )
+        self._prepared_state = _PreparedState(
+            prepared=prepared,
+            base_session=self._session,
+            base_receipt_sha256=self._session_receipt_sha256(self._session),
+            base_batch_sequence=self._last_batch_sequence,
+            base_batch_sha256=self._last_batch_sha256,
+            candidate_session=candidate_session,
+        )
+        return prepared
+
+    @staticmethod
+    def _session_receipt_sha256(session: RuntimeReadSession | None) -> str | None:
+        if session is None:
+            return None
+        value = session.receipt().get("receipt_sha256")
+        return _sha256(value, "runtime receipt_sha256")
+
+
+def controller_from_history_config(history_config: Any) -> PhaseARolloutController | None:
+    """Create the controller iff the loaded model is exactly Phase-A.
+
+    OmegaConf nodes and plain mappings both provide ``get``.  Any malformed
+    Phase-A declaration fails instead of returning ``None`` and re-enabling
+    legacy FrameSamp.
+    """
+
+    if history_config is None:
+        return None
+    perceptual = _optional_config_get(history_config, "perceptual_memory")
+    if perceptual is None:
+        return None
+    frame_selection = _optional_config_get(perceptual, "frame_selection")
+    if frame_selection is None:
+        return None
+    if _optional_config_get(frame_selection, "type") != "picmem_phase_a":
+        return None
+    if _config_get(history_config, "representation_type") != "perceptual":
+        raise RuntimeReadError("picmem_phase_a rollout requires perceptual representation")
+    if _config_get(perceptual, "type") != "frame_sampling":
+        raise RuntimeReadError("picmem_phase_a rollout requires frame_sampling host memory")
+    geometry = (
+        int(_config_get(history_config, "budget")),
+        int(_config_get(history_config, "token_per_image")),
+        int(_config_get(history_config, "num_views")),
+        int(_config_get(frame_selection, "frame_budget")),
+        int(_config_get(frame_selection, "recent_anchor_count")),
+    )
+    if geometry != (TOKEN_BUDGET, 16, 1, FRAME_BUDGET, 4):
+        raise RuntimeReadError("picmem_phase_a rollout requires 32 frames and exactly 512 visual tokens")
+    factors = PhaseAFactors.from_mapping(
+        {name: _config_get(frame_selection, name) for name in FACTOR_FIELDS},
+        require_explicit=True,
+    )
+    return PhaseARolloutController(
+        factors=factors,
+        metadata_seed=_config_get(frame_selection, "metadata_seed"),
+    )
+
+
+def _config_get(value: Any, name: str) -> Any:
+    result = _optional_config_get(value, name)
+    if result is None:
+        raise RuntimeReadError(f"Phase-A config is missing {name!r}")
+    return result
+
+
+def _optional_config_get(value: Any, name: str) -> Any:
+    getter = getattr(value, "get", None)
+    if not callable(getter):
+        raise RuntimeReadError(f"Phase-A config node {name!r} is not mapping-like")
+    return getter(name)
+
+
+def _exact_mapping(raw: Any, fields: frozenset[str], name: str) -> dict[str, Any]:
+    if not isinstance(raw, Mapping):
+        raise RuntimeReadError(f"{name} must be a mapping")
+    missing = fields - set(raw)
+    unknown = set(raw) - fields
+    if missing or unknown:
+        raise RuntimeReadError(f"{name} fields mismatch; missing={sorted(missing)}, unknown={sorted(unknown)}")
+    return dict(raw)
+
+
+def _nat(value: Any, name: str) -> int:
+    if isinstance(value, bool) or not isinstance(value, (int, np.integer)) or int(value) < 0:
+        raise RuntimeReadError(f"{name} must be a non-negative integer")
+    return int(value)
+
+
+def _sha256(value: Any, name: str) -> str:
+    if (
+        not isinstance(value, str)
+        or len(value) != 64
+        or any(character not in "0123456789abcdef" for character in value)
+    ):
+        raise RuntimeReadError(f"{name} must be lowercase SHA-256")
+    return value
+
+
+__all__ = [
+    "GENESIS_BATCH_SHA256",
+    "RUNTIME_BATCH_ACK_SCHEMA_VERSION",
+    "RUNTIME_BATCH_SCHEMA_VERSION",
+    "RUNTIME_ENVELOPE_SCHEMA_VERSION",
+    "RUNTIME_START_SCHEMA_VERSION",
+    "PhaseARolloutBatchAck",
+    "PhaseARolloutController",
+    "PhaseARolloutMaterialization",
+    "PhaseARolloutPreparedBatch",
+    "controller_from_history_config",
+]

checkpoints/r2/pick3/baseline/step9000/code/integrations/robomme/src/mme_vla_suite/policies/semantic_transition_runtime.py

@@ -0,0 +1,1236 @@
+"""Thin RoboMME rollout facade for semantic-transition status and memory updates.
+
+The adapter owns episode-local state in the evaluator process.  It keeps the
+policy server stateless, records only the prefix that actually executes, and
+delegates semantic-window, evidence, writer, and task-context semantics to the
+PIC-Mem runtime contracts.
+
+No simulator-private state enters this API.  The only observation inputs are
+the normal front/wrist images and the observable eight-value robot state that
+the policy already consumes.
+"""
+
+from __future__ import annotations
+
+from collections import deque
+from dataclasses import dataclass, field
+from typing import Any
+
+import numpy as np
+
+try:
+    from picmem.runtime.grounded_writer import (
+        GroundedWriterRequest,
+        ValidatedWriterResult,
+        WriterDecision,
+        WriterRequestPurpose,
+    )
+    from picmem.runtime.online_stage4 import (
+        OnlineStage4MemoryReference,
+        OnlineStage4MemoryStore,
+        OnlineStage4ValidatedWriterResult,
+        OnlineStage4WriterRequest,
+    )
+    from picmem.runtime.semantic_evidence import (
+        RealizedObservation,
+        sample_uniform_observations,
+    )
+    from picmem.runtime.semantic_window import (
+        ChunkIngestResult,
+        ChunkTransitionStatus,
+        SemanticWindowController,
+        SemanticWindowPhase,
+        SemanticWindowState,
+        WindowResolution,
+    )
+    from picmem.runtime.task_context import (
+        OriginalTaskAnchor,
+        RenderedPolicyPrompt,
+        TaskContextCommit,
+        TaskContextStore,
+    )
+except ImportError as exc:  # pragma: no cover - exercised only in an incorrectly installed host.
+    raise ImportError(
+        "RoboMME semantic-transition rollout requires the PIC-Mem runtime package"
+    ) from exc
+
+
+STATUS_HORIZON = 16
+CONTEXT_HORIZON = 48
+ROBOT_VECTOR_DIM = 8
+
+
+class SemanticTransitionRolloutError(ValueError):
+    """The host called the rollout adapter out of order or with invalid data."""
+
+
+def _nonempty(value: object, field_name: str) -> str:
+    if not isinstance(value, str) or not value.strip():
+        raise SemanticTransitionRolloutError(f"{field_name} must be a non-empty string")
+    return value
+
+
+def _natural(value: object, field_name: str) -> int:
+    if isinstance(value, bool) or not isinstance(value, int) or value < 0:
+        raise SemanticTransitionRolloutError(f"{field_name} must be a non-negative integer")
+    return value
+
+
+def _readonly_float32(value: Any, *, shape: tuple[int, ...], field_name: str) -> np.ndarray:
+    try:
+        result = np.asarray(value, dtype=np.float32)
+    except (TypeError, ValueError) as exc:
+        raise SemanticTransitionRolloutError(f"{field_name} must be a numeric array") from exc
+    if result.shape != shape:
+        raise SemanticTransitionRolloutError(f"{field_name} must have shape {shape}")
+    if not np.isfinite(result).all():
+        raise SemanticTransitionRolloutError(f"{field_name} must contain only finite values")
+    result = np.array(result, dtype=np.float32, copy=True)
+    result.flags.writeable = False
+    return result
+
+
+def _readonly_bool(value: Any, *, shape: tuple[int, ...], field_name: str) -> np.ndarray:
+    result = np.asarray(value)
+    if result.dtype != np.bool_ or result.shape != shape:
+        raise SemanticTransitionRolloutError(f"{field_name} must be a boolean array with shape {shape}")
+    result = np.array(result, dtype=np.bool_, copy=True)
+    result.flags.writeable = False
+    return result
+
+
+@dataclass(frozen=True, slots=True)
+class SemanticPolicyRequest:
+    """Prompt plus the cheap causal context supplied to one policy call."""
+
+    step: int
+    observation_id: str
+    rendered_prompt: RenderedPolicyPrompt
+    transition_context_action_delta: np.ndarray = field(repr=False, compare=False)
+    transition_context_state_delta: np.ndarray = field(repr=False, compare=False)
+    transition_context_relative_age: np.ndarray = field(repr=False, compare=False)
+    transition_context_valid_mask: np.ndarray = field(repr=False, compare=False)
+    history_required_indices: tuple[int, ...] = ()
+
+    def __post_init__(self) -> None:
+        _natural(self.step, "step")
+        _nonempty(self.observation_id, "observation_id")
+        if not isinstance(self.rendered_prompt, RenderedPolicyPrompt):
+            raise TypeError("rendered_prompt must be RenderedPolicyPrompt")
+        object.__setattr__(
+            self,
+            "transition_context_action_delta",
+            _readonly_float32(
+                self.transition_context_action_delta,
+                shape=(CONTEXT_HORIZON, ROBOT_VECTOR_DIM),
+                field_name="transition_context_action_delta",
+            ),
+        )
+        object.__setattr__(
+            self,
+            "transition_context_state_delta",
+            _readonly_float32(
+                self.transition_context_state_delta,
+                shape=(CONTEXT_HORIZON, ROBOT_VECTOR_DIM),
+                field_name="transition_context_state_delta",
+            ),
+        )
+        object.__setattr__(
+            self,
+            "transition_context_relative_age",
+            _readonly_float32(
+                self.transition_context_relative_age,
+                shape=(CONTEXT_HORIZON,),
+                field_name="transition_context_relative_age",
+            ),
+        )
+        object.__setattr__(
+            self,
+            "transition_context_valid_mask",
+            _readonly_bool(
+                self.transition_context_valid_mask,
+                shape=(CONTEXT_HORIZON,),
+                field_name="transition_context_valid_mask",
+            ),
+        )
+        history_required_indices = tuple(self.history_required_indices)
+        if any(
+            isinstance(index, bool) or not isinstance(index, int) or index < 0
+            for index in history_required_indices
+        ):
+            raise SemanticTransitionRolloutError(
+                "history_required_indices must contain non-negative integers"
+            )
+        if (
+            len(set(history_required_indices)) != len(history_required_indices)
+            or history_required_indices != tuple(sorted(history_required_indices))
+        ):
+            raise SemanticTransitionRolloutError(
+                "history_required_indices must be unique and sorted"
+            )
+        object.__setattr__(self, "history_required_indices", history_required_indices)
+
+    @property
+    def prompt(self) -> str:
+        return self.rendered_prompt.text
+
+    def transition_model_inputs(self) -> dict[str, np.ndarray]:
+        """Return unbatched arrays using the Status Head's public input names."""
+
+        return {
+            "transition_context_action_delta": self.transition_context_action_delta,
+            "transition_context_state_delta": self.transition_context_state_delta,
+            "transition_context_relative_age": self.transition_context_relative_age,
+            "transition_context_valid_mask": self.transition_context_valid_mask,
+        }
+
+
+@dataclass(frozen=True, slots=True)
+class OnlineStage4PolicyRequest:
+    """One policy call with the same task/memory channels used during training."""
+
+    step: int
+    observation_id: str
+    prompt: str
+    static_semantic_memory: str
+    memory_revision: int
+    transition_context_action_delta: np.ndarray = field(repr=False, compare=False)
+    transition_context_state_delta: np.ndarray = field(repr=False, compare=False)
+    transition_context_relative_age: np.ndarray = field(repr=False, compare=False)
+    transition_context_valid_mask: np.ndarray = field(repr=False, compare=False)
+    history_required_indices: tuple[int, ...] = ()
+
+    def __post_init__(self) -> None:
+        _natural(self.step, "step")
+        _nonempty(self.observation_id, "observation_id")
+        _nonempty(self.prompt, "prompt")
+        _nonempty(self.static_semantic_memory, "static_semantic_memory")
+        _natural(self.memory_revision, "memory_revision")
+        object.__setattr__(
+            self,
+            "transition_context_action_delta",
+            _readonly_float32(
+                self.transition_context_action_delta,
+                shape=(CONTEXT_HORIZON, ROBOT_VECTOR_DIM),
+                field_name="transition_context_action_delta",
+            ),
+        )
+        object.__setattr__(
+            self,
+            "transition_context_state_delta",
+            _readonly_float32(
+                self.transition_context_state_delta,
+                shape=(CONTEXT_HORIZON, ROBOT_VECTOR_DIM),
+                field_name="transition_context_state_delta",
+            ),
+        )
+        object.__setattr__(
+            self,
+            "transition_context_relative_age",
+            _readonly_float32(
+                self.transition_context_relative_age,
+                shape=(CONTEXT_HORIZON,),
+                field_name="transition_context_relative_age",
+            ),
+        )
+        object.__setattr__(
+            self,
+            "transition_context_valid_mask",
+            _readonly_bool(
+                self.transition_context_valid_mask,
+                shape=(CONTEXT_HORIZON,),
+                field_name="transition_context_valid_mask",
+            ),
+        )
+        required = tuple(self.history_required_indices)
+        if any(
+            isinstance(index, bool) or not isinstance(index, int) or index < 0
+            for index in required
+        ):
+            raise SemanticTransitionRolloutError(
+                "history_required_indices must contain non-negative integers"
+            )
+        if required != tuple(sorted(set(required))):
+            raise SemanticTransitionRolloutError(
+                "history_required_indices must be unique and sorted"
+            )
+        object.__setattr__(self, "history_required_indices", required)
+
+    def transition_model_inputs(self) -> dict[str, np.ndarray]:
+        return {
+            "transition_context_action_delta": self.transition_context_action_delta,
+            "transition_context_state_delta": self.transition_context_state_delta,
+            "transition_context_relative_age": self.transition_context_relative_age,
+            "transition_context_valid_mask": self.transition_context_valid_mask,
+        }
+
+
+@dataclass(frozen=True, slots=True)
+class RealizedRobotDelta:
+    """One actually executed action and its resulting observable state delta."""
+
+    step: int
+    action_delta: np.ndarray = field(repr=False, compare=False)
+    state_delta: np.ndarray = field(repr=False, compare=False)
+
+    def __post_init__(self) -> None:
+        _natural(self.step, "step")
+        object.__setattr__(
+            self,
+            "action_delta",
+            _readonly_float32(
+                self.action_delta,
+                shape=(ROBOT_VECTOR_DIM,),
+                field_name="action_delta",
+            ),
+        )
+        object.__setattr__(
+            self,
+            "state_delta",
+            _readonly_float32(
+                self.state_delta,
+                shape=(ROBOT_VECTOR_DIM,),
+                field_name="state_delta",
+            ),
+        )
+
+
+class RealizedTransitionContext:
+    """Causal Status-Head inputs built only from actions executed in the simulator."""
+
+    def __init__(self, *, initial_step: int, initial_state: Any) -> None:
+        self._current_step = _natural(initial_step, "initial_step")
+        self._current_state = _readonly_float32(
+            initial_state,
+            shape=(ROBOT_VECTOR_DIM,),
+            field_name="initial_state",
+        )
+        self._history: deque[RealizedRobotDelta] = deque(maxlen=CONTEXT_HORIZON)
+
+    @property
+    def history(self) -> tuple[RealizedRobotDelta, ...]:
+        return tuple(self._history)
+
+    def record(
+        self,
+        *,
+        step: int,
+        action: Any,
+        resulting_state: Any,
+    ) -> RealizedRobotDelta:
+        step = _natural(step, "step")
+        if step != self._current_step + 1:
+            raise SemanticTransitionRolloutError(
+                f"realized context steps must be contiguous; expected {self._current_step + 1}, got {step}"
+            )
+        executed_action = _readonly_float32(
+            action,
+            shape=(ROBOT_VECTOR_DIM,),
+            field_name="action",
+        )
+        post_state = _readonly_float32(
+            resulting_state,
+            shape=(ROBOT_VECTOR_DIM,),
+            field_name="resulting_state",
+        )
+        action_delta = np.empty(ROBOT_VECTOR_DIM, dtype=np.float32)
+        action_delta[:7] = executed_action[:7] - self._current_state[:7]
+        action_delta[7] = executed_action[7]
+        realized = RealizedRobotDelta(
+            step=step,
+            action_delta=action_delta,
+            state_delta=post_state - self._current_state,
+        )
+        self._history.append(realized)
+        self._current_step = step
+        self._current_state = post_state
+        return realized
+
+    def model_inputs(self) -> dict[str, np.ndarray]:
+        action_delta = np.zeros((CONTEXT_HORIZON, ROBOT_VECTOR_DIM), dtype=np.float32)
+        state_delta = np.zeros((CONTEXT_HORIZON, ROBOT_VECTOR_DIM), dtype=np.float32)
+        relative_age = np.zeros(CONTEXT_HORIZON, dtype=np.float32)
+        valid_mask = np.zeros(CONTEXT_HORIZON, dtype=np.bool_)
+        history = tuple(self._history)
+        left_padding = CONTEXT_HORIZON - len(history)
+        for index, item in enumerate(history):
+            row = left_padding + index
+            action_delta[row] = item.action_delta
+            state_delta[row] = item.state_delta
+            relative_age[row] = (len(history) - index) / CONTEXT_HORIZON
+            valid_mask[row] = True
+        return {
+            "transition_context_action_delta": action_delta,
+            "transition_context_state_delta": state_delta,
+            "transition_context_relative_age": relative_age,
+            "transition_context_valid_mask": valid_mask,
+        }
+
+
+@dataclass(frozen=True, slots=True)
+class WriterApplication:
+    """One locally validated writer result applied at a chunk boundary."""
+
+    request_id: str
+    decision: WriterDecision
+    context_commit: TaskContextCommit | None
+    window_resolution_applied: bool
+    rendered_prompt: RenderedPolicyPrompt
+
+
+@dataclass(frozen=True, slots=True)
+class OnlineStage4WriterApplication:
+    """One operation resolved at a boundary, with the resulting policy memory."""
+
+    request_id: str
+    operation: str
+    memory_committed: bool
+    memory_before_revision: int
+    memory_after_revision: int
+    window_resolution_applied: bool
+    static_semantic_memory: str
+    history_required_indices: tuple[int, ...]
+
+
+@dataclass(slots=True)
+class _PendingActionChunk:
+    chunk_id: str
+    start_step: int
+    executable_actions: np.ndarray
+    executed_count: int = 0
+
+
+class SemanticTransitionRolloutAdapter:
+    """Episode-local bridge from RoboMME rollout calls to PIC-Mem runtime state."""
+
+    def __init__(
+        self,
+        *,
+        episode_nonce: str,
+        original_instruction: str,
+        initial_step: int,
+        initial_state: Any,
+        initial_front_image: Any,
+        initial_wrist_image: Any | None = None,
+        initial_observation_id: str | None = None,
+        initial_subgoal: str | None = None,
+        confirmation_tail: int = 4,
+        span_threshold: float = 0.5,
+        last_span_threshold: float = 0.5,
+        cooldown_chunks: int = 1,
+    ) -> None:
+        nonce = _nonempty(episode_nonce, "episode_nonce")
+        step = _natural(initial_step, "initial_step")
+        anchor = OriginalTaskAnchor(original_instruction)
+        self._task_context = TaskContextStore(anchor, active_subgoal=initial_subgoal)
+        self._window = SemanticWindowController(
+            nonce,
+            status_horizon=STATUS_HORIZON,
+            max_realized_steps=CONTEXT_HORIZON,
+            confirmation_tail=confirmation_tail,
+            span_threshold=span_threshold,
+            last_span_threshold=last_span_threshold,
+            cooldown_chunks=cooldown_chunks,
+        )
+        initial_robot_state = _readonly_float32(
+            initial_state,
+            shape=(ROBOT_VECTOR_DIM,),
+            field_name="initial_state",
+        )
+        self._realized_context = RealizedTransitionContext(
+            initial_step=step,
+            initial_state=initial_robot_state,
+        )
+        self._current_observation = RealizedObservation(
+            observation_id=(
+                initial_observation_id
+                if initial_observation_id is not None
+                else f"{nonce}:observation:{step}"
+            ),
+            step=step,
+            front_image=initial_front_image,
+            wrist_image=initial_wrist_image,
+            robot_state=initial_robot_state,
+        )
+        self._awaiting_policy_response: SemanticPolicyRequest | None = None
+        self._pending_chunk: _PendingActionChunk | None = None
+        self._preempted_chunk_result: ChunkIngestResult | None = None
+        self._writer_request: GroundedWriterRequest | None = None
+        self._writer_applications: dict[
+            str,
+            tuple[ValidatedWriterResult, bool, WriterApplication],
+        ] = {}
+        self._initial_writer_prepared = False
+        self._history_required_indices: tuple[int, ...] = ()
+
+    @property
+    def original_task(self) -> OriginalTaskAnchor:
+        return self._task_context.anchor
+
+    @property
+    def rendered_prompt(self) -> RenderedPolicyPrompt:
+        return self._task_context.render()
+
+    @property
+    def current_step(self) -> int:
+        return self._current_observation.step
+
+    @property
+    def phase(self) -> SemanticWindowPhase:
+        return self._window.phase
+
+    @property
+    def history(self) -> tuple[RealizedRobotDelta, ...]:
+        return self._realized_context.history
+
+    @property
+    def pending_chunk_id(self) -> str | None:
+        return self._pending_chunk.chunk_id if self._pending_chunk is not None else None
+
+    @property
+    def preempted_chunk_result(self) -> ChunkIngestResult | None:
+        """Return the latest proposal canceled before action execution, if any."""
+
+        return self._preempted_chunk_result
+
+    def prepare_policy_request(self) -> SemanticPolicyRequest:
+        """Open one policy call with the immutable anchor plus current context."""
+
+        if self._awaiting_policy_response is not None:
+            raise SemanticTransitionRolloutError("a policy response is already pending")
+        if self._pending_chunk is not None:
+            raise SemanticTransitionRolloutError("finish the current action chunk before the next policy call")
+        if self._window.ready_window is not None or self._writer_request is not None:
+            raise SemanticTransitionRolloutError("resolve the writer-ready window before the next policy call")
+        transition_context = self._realized_context.model_inputs()
+        request = SemanticPolicyRequest(
+            step=self.current_step,
+            observation_id=self._current_observation.observation_id,
+            rendered_prompt=self.rendered_prompt,
+            history_required_indices=self._history_required_indices,
+            **transition_context,
+        )
+        self._awaiting_policy_response = request
+        return request
+
+    def prepare_initial_writer_request(
+        self,
+        *,
+        front_images: tuple[Any, ...] | list[Any],
+        wrist_images: tuple[Any | None, ...] | list[Any | None],
+    ) -> GroundedWriterRequest:
+        """Build one pre-action request from demonstration history plus execution start."""
+
+        if self._initial_writer_prepared:
+            raise SemanticTransitionRolloutError("initial writer request was already prepared")
+        if (
+            self._awaiting_policy_response is not None
+            or self._pending_chunk is not None
+            or self._writer_request is not None
+            or self._window.phase is not SemanticWindowPhase.CLOSED
+            or self._realized_context.history
+        ):
+            raise SemanticTransitionRolloutError(
+                "initial writer request must precede every policy call and executed action"
+            )
+        fronts = tuple(front_images)
+        wrists = tuple(wrist_images)
+        if len(fronts) < 2 or len(fronts) != len(wrists):
+            raise SemanticTransitionRolloutError(
+                "pre-action evidence requires aligned demonstration and execution-start images"
+            )
+        source_observations = tuple(
+            RealizedObservation(
+                observation_id=f"{self._window.episode_nonce}:history:{index}",
+                step=index,
+                front_image=front,
+                wrist_image=wrists[index],
+            )
+            for index, front in enumerate(fronts)
+        )
+        selected = sample_uniform_observations(source_observations, max_timepoints=16)
+        history_indices = tuple(observation.step for observation in selected)
+        evidence = tuple(
+            RealizedObservation(
+                observation_id=observation.observation_id,
+                step=timepoint_id,
+                front_image=observation.front_image,
+                wrist_image=observation.wrist_image,
+            )
+            for timepoint_id, observation in enumerate(selected)
+        )
+        window = SemanticWindowState(
+            window_id=f"{self._window.episode_nonce}:initial-memory:1",
+            episode_nonce=self._window.episode_nonce,
+            start_step=0,
+            current_step=len(evidence) - 1,
+            max_end_step=len(evidence) - 1,
+            observations=evidence,
+            chunk_ids=(f"{self._window.episode_nonce}:pre-action-demonstration",),
+            phase=SemanticWindowPhase.READY,
+        )
+        request = GroundedWriterRequest(
+            original_task=self._task_context.anchor,
+            task_context=self._task_context.current,
+            window=window,
+            evidence=evidence,
+            purpose=WriterRequestPurpose.PRE_ACTION_DEMONSTRATION,
+            history_indices=history_indices,
+        )
+        self._initial_writer_prepared = True
+        self._writer_request = request
+        return request
+
+    def cancel_policy_request(self) -> None:
+        """Release a failed/aborted policy call without changing episode state."""
+
+        if self._awaiting_policy_response is None:
+            raise SemanticTransitionRolloutError("no policy response is pending")
+        self._awaiting_policy_response = None
+
+    def accept_policy_response(
+        self,
+        *,
+        chunk_id: str,
+        actions: Any,
+        p_transition_span: float,
+        p_transition_last_given_span: float = 0.0,
+    ) -> np.ndarray:
+        """Bind a response and return its safe read-only executable prefix.
+
+        An active window followed by a negative span proposal returns an empty
+        prefix: all 16 proposed actions are canceled before environment execution
+        while the realized positive window is sent to the writer.
+        """
+
+        request = self._awaiting_policy_response
+        if request is None:
+            raise SemanticTransitionRolloutError("accept_policy_response requires an open policy call")
+        if self._pending_chunk is not None:
+            raise SemanticTransitionRolloutError("an action chunk is already pending")
+        chunk_id = _nonempty(chunk_id, "chunk_id")
+        try:
+            proposed = np.asarray(actions, dtype=np.float32)
+        except (TypeError, ValueError) as exc:
+            raise SemanticTransitionRolloutError("actions must be a numeric matrix") from exc
+        if proposed.ndim != 2 or proposed.shape[0] < STATUS_HORIZON or proposed.shape[1] != ROBOT_VECTOR_DIM:
+            raise SemanticTransitionRolloutError(
+                f"actions must have shape [N, {ROBOT_VECTOR_DIM}] with N >= {STATUS_HORIZON}"
+            )
+        if not np.isfinite(proposed).all():
+            raise SemanticTransitionRolloutError("actions must contain only finite values")
+        executable = np.array(proposed[:STATUS_HORIZON], dtype=np.float32, copy=True)
+        executable.flags.writeable = False
+        try:
+            raw_span = np.asarray(p_transition_span)
+        except (TypeError, ValueError) as exc:
+            raise SemanticTransitionRolloutError("p_transition_span must be numeric") from exc
+        if (
+            raw_span.shape != ()
+            or not np.issubdtype(raw_span.dtype, np.number)
+            or np.issubdtype(raw_span.dtype, np.bool_)
+        ):
+            raise SemanticTransitionRolloutError("p_transition_span must be a numeric scalar")
+        try:
+            raw_last_span = np.asarray(p_transition_last_given_span)
+        except (TypeError, ValueError) as exc:
+            raise SemanticTransitionRolloutError(
+                "p_transition_last_given_span must be numeric"
+            ) from exc
+        if (
+            raw_last_span.shape != ()
+            or not np.issubdtype(raw_last_span.dtype, np.number)
+            or np.issubdtype(raw_last_span.dtype, np.bool_)
+        ):
+            raise SemanticTransitionRolloutError(
+                "p_transition_last_given_span must be a numeric scalar"
+            )
+        status = ChunkTransitionStatus(
+            p_transition_span=float(raw_span),
+            p_transition_last_given_span=float(raw_last_span),
+        )
+        preempted = self._window.start_chunk(
+            chunk_id=chunk_id,
+            start_step=request.step,
+            pre_observation=self._current_observation,
+            status=status,
+        )
+        if preempted is not None:
+            if not preempted.preempted or not preempted.ready:
+                raise AssertionError("proposal-boundary result must be a ready preemption")
+            self._preempted_chunk_result = preempted
+            self._awaiting_policy_response = None
+            self._cache_writer_request()
+            canceled = np.empty((0, ROBOT_VECTOR_DIM), dtype=np.float32)
+            canceled.flags.writeable = False
+            return canceled
+        execution_limit = self._window.pending_execution_limit
+        if execution_limit is None:
+            raise AssertionError("accepted action proposal has no controller execution limit")
+        executable = np.array(executable[:execution_limit], dtype=np.float32, copy=True)
+        executable.flags.writeable = False
+        self._pending_chunk = _PendingActionChunk(
+            chunk_id=chunk_id,
+            start_step=request.step,
+            executable_actions=executable,
+        )
+        self._awaiting_policy_response = None
+        return executable
+
+    def record_executed_offset(
+        self,
+        *,
+        chunk_id: str,
+        offset: int,
+        resulting_state: Any,
+        front_image: Any,
+        wrist_image: Any | None = None,
+        observation_id: str | None = None,
+    ) -> RealizedRobotDelta:
+        """Record one sequential action only after its real observation exists."""
+
+        pending = self._require_pending_chunk(chunk_id)
+        if isinstance(offset, bool) or not isinstance(offset, int):
+            raise SemanticTransitionRolloutError("offset must be an integer")
+        expected_offset = pending.executed_count + 1
+        if offset != expected_offset:
+            raise SemanticTransitionRolloutError(
+                f"executed offsets must be contiguous; expected {expected_offset}, got {offset}"
+            )
+        if offset > len(pending.executable_actions):
+            raise SemanticTransitionRolloutError(
+                "offset exceeds the controller-bounded executable prefix"
+            )
+        post_state = _readonly_float32(
+            resulting_state,
+            shape=(ROBOT_VECTOR_DIM,),
+            field_name="resulting_state",
+        )
+        resulting_step = pending.start_step + offset
+        observation = RealizedObservation(
+            observation_id=(
+                observation_id
+                if observation_id is not None
+                else f"{self._window.episode_nonce}:observation:{resulting_step}"
+            ),
+            step=resulting_step,
+            front_image=front_image,
+            wrist_image=wrist_image,
+            robot_state=post_state,
+        )
+        realized = self._realized_context.record(
+            step=resulting_step,
+            action=pending.executable_actions[offset - 1],
+            resulting_state=post_state,
+        )
+
+        self._window.record_executed_offset(
+            chunk_id=chunk_id,
+            offset=offset,
+            observation=observation,
+        )
+        self._current_observation = observation
+        pending.executed_count += 1
+        return realized
+
+    def finish_chunk(self, *, chunk_id: str) -> ChunkIngestResult:
+        """Close the chunk and cancel every unexecuted action."""
+
+        self._require_pending_chunk(chunk_id)
+        result = self._window.finish_chunk(chunk_id=chunk_id)
+        self._pending_chunk = None
+        if result.ready:
+            self._cache_writer_request()
+        return result
+
+    def writer_request_if_ready(self) -> GroundedWriterRequest | None:
+        """Return the cached uniform evidence request without doing image packaging."""
+
+        return self._writer_request
+
+    def require_writer_request(self) -> GroundedWriterRequest:
+        request = self._writer_request
+        if request is None:
+            raise SemanticTransitionRolloutError("no semantic window is writer-ready")
+        return request
+
+    def apply_writer_result(
+        self,
+        result: ValidatedWriterResult,
+        *,
+        commit_context: bool = True,
+    ) -> WriterApplication:
+        """Resolve one writer result at a policy boundary.
+
+        ``commit_context=False`` is the shadow-mode path: the real Gemini
+        decision remains auditable and resolves the ready window, but an
+        ``update`` proposal cannot mutate the task-context revision.
+        """
+
+        if self._awaiting_policy_response is not None or self._pending_chunk is not None:
+            raise SemanticTransitionRolloutError("writer results may be applied only between policy calls")
+        if not isinstance(result, ValidatedWriterResult):
+            raise TypeError("result must be ValidatedWriterResult")
+        if type(commit_context) is not bool:
+            raise TypeError("commit_context must be bool")
+        previous = self._writer_applications.get(result.request_id)
+        if previous is not None:
+            previous_result, previous_commit_context, application = previous
+            if previous_result != result:
+                raise SemanticTransitionRolloutError("writer request id was reused with different content")
+            if previous_commit_context is not commit_context:
+                raise SemanticTransitionRolloutError(
+                    "writer request retry cannot change commit_context mode"
+                )
+            return application
+        request = self._writer_request
+        if request is None:
+            raise SemanticTransitionRolloutError("no writer-ready request is awaiting a result")
+        if result.request_id != request.request_id or result.window_id != request.window.window_id:
+            raise SemanticTransitionRolloutError("writer result does not match the current request/window")
+        if request.purpose is WriterRequestPurpose.PRE_ACTION_DEMONSTRATION:
+            context_commit = None
+            if result.decision is WriterDecision.UPDATE and commit_context:
+                if result.context_delta is None:
+                    raise SemanticTransitionRolloutError(
+                        "update result is missing its CAS context delta"
+                    )
+                context_commit = self._task_context.commit(result.context_delta)
+                self._history_required_indices = tuple(
+                    request.history_indices[timepoint_id]
+                    for timepoint_id in result.proposal.evidence_timepoint_ids
+                )
+            elif result.decision is not WriterDecision.UPDATE and result.context_delta is not None:
+                raise SemanticTransitionRolloutError(
+                    "non-update result must not contain a context delta"
+                )
+            application = WriterApplication(
+                request_id=result.request_id,
+                decision=result.decision,
+                context_commit=context_commit,
+                window_resolution_applied=False,
+                rendered_prompt=self.rendered_prompt,
+            )
+            self._writer_applications[result.request_id] = (
+                result,
+                commit_context,
+                application,
+            )
+            self._writer_request = None
+            return application
+        ready = self._window.ready_window
+        if ready is None or ready.window_id != result.window_id:
+            raise SemanticTransitionRolloutError("writer result window is no longer ready")
+
+        context_commit = None
+        if result.decision is WriterDecision.UPDATE and commit_context:
+            if result.context_delta is None:
+                raise SemanticTransitionRolloutError("update result is missing its CAS context delta")
+            context_commit = self._task_context.commit(result.context_delta)
+        elif result.decision is not WriterDecision.UPDATE and result.context_delta is not None:
+            raise SemanticTransitionRolloutError("non-update result must not contain a context delta")
+
+        resolution = WindowResolution(result.decision.value)
+        resolution_applied = self._window.resolve_ready_window(
+            window_id=result.window_id,
+            decision=resolution,
+        )
+        application = WriterApplication(
+            request_id=result.request_id,
+            decision=result.decision,
+            context_commit=context_commit,
+            window_resolution_applied=resolution_applied,
+            rendered_prompt=self.rendered_prompt,
+        )
+        self._writer_applications[result.request_id] = (result, commit_context, application)
+        self._writer_request = None
+        self._preempted_chunk_result = None
+        return application
+
+    def _cache_writer_request(self) -> None:
+        ready = self._window.ready_window
+        if ready is None:
+            raise AssertionError("writer request requires a ready semantic window")
+        evidence = sample_uniform_observations(ready.observations, max_timepoints=16)
+        self._writer_request = GroundedWriterRequest(
+            original_task=self._task_context.anchor,
+            task_context=self._task_context.current,
+            window=ready,
+            evidence=evidence,
+        )
+
+    def _require_pending_chunk(self, chunk_id: str) -> _PendingActionChunk:
+        pending = self._pending_chunk
+        if pending is None:
+            raise SemanticTransitionRolloutError("no action chunk is pending")
+        if chunk_id != pending.chunk_id:
+            raise SemanticTransitionRolloutError(
+                f"pending chunk is {pending.chunk_id!r}, not {chunk_id!r}"
+            )
+        return pending
+
+
+class OnlineStage4SemanticTransitionRolloutAdapter(SemanticTransitionRolloutAdapter):
+    """Status-window adapter whose writer mutates Stage4 memory, not task text."""
+
+    def __init__(
+        self,
+        *,
+        episode_nonce: str,
+        memory_episode_id: str,
+        original_instruction: str,
+        initial_step: int,
+        history_frame_offset: int,
+        episode_frame_limit: int,
+        episode_fps: float,
+        initial_state: Any,
+        initial_front_image: Any,
+        initial_wrist_image: Any | None = None,
+        initial_observation_id: str | None = None,
+        confirmation_tail: int = 4,
+        span_threshold: float = 0.5,
+        last_span_threshold: float = 0.5,
+        cooldown_chunks: int = 1,
+    ) -> None:
+        super().__init__(
+            episode_nonce=episode_nonce,
+            original_instruction=original_instruction,
+            initial_step=initial_step,
+            initial_state=initial_state,
+            initial_front_image=initial_front_image,
+            initial_wrist_image=initial_wrist_image,
+            initial_observation_id=initial_observation_id,
+            initial_subgoal=None,
+            confirmation_tail=confirmation_tail,
+            span_threshold=span_threshold,
+            last_span_threshold=last_span_threshold,
+            cooldown_chunks=cooldown_chunks,
+        )
+        self._online_memory = OnlineStage4MemoryStore(episode_id=memory_episode_id)
+        self._history_frame_offset = _natural(history_frame_offset, "history_frame_offset")
+        self._episode_frame_limit = _natural(episode_frame_limit, "episode_frame_limit")
+        if initial_step > self._episode_frame_limit:
+            raise SemanticTransitionRolloutError(
+                "initial_step cannot exceed episode_frame_limit"
+            )
+        if (
+            isinstance(episode_fps, bool)
+            or not isinstance(episode_fps, int | float)
+            or not np.isfinite(episode_fps)
+            or episode_fps <= 0
+        ):
+            raise SemanticTransitionRolloutError(
+                "episode_fps must be a positive finite number"
+            )
+        self._episode_fps = float(episode_fps)
+        self._initial_writer_prefixes: list[tuple[RealizedObservation, ...]] = []
+        self._initial_writer_sequence = 0
+        self._previous_online_writer_transition_end_frame: int | None = None
+        self._online_writer_applications: dict[
+            str,
+            tuple[
+                OnlineStage4ValidatedWriterResult,
+                bool,
+                OnlineStage4WriterApplication,
+            ],
+        ] = {}
+        self._retained_writer_observations: dict[int, RealizedObservation] = {
+            self._history_frame_offset + initial_step: self._current_observation
+        }
+
+    @property
+    def memory_snapshot(self):
+        return self._online_memory.snapshot
+
+    @property
+    def static_semantic_memory(self) -> str:
+        return self._online_memory.policy_memory_text
+
+    def prepare_policy_request(self) -> OnlineStage4PolicyRequest:
+        if self._awaiting_policy_response is not None:
+            raise SemanticTransitionRolloutError("a policy response is already pending")
+        if self._pending_chunk is not None:
+            raise SemanticTransitionRolloutError(
+                "finish the current action chunk before the next policy call"
+            )
+        if self._window.ready_window is not None or self._writer_request is not None:
+            raise SemanticTransitionRolloutError(
+                "resolve the writer-ready window before the next policy call"
+            )
+        request = OnlineStage4PolicyRequest(
+            step=self.current_step,
+            observation_id=self._current_observation.observation_id,
+            prompt=self.original_task.instruction,
+            static_semantic_memory=self._online_memory.policy_memory_text,
+            memory_revision=self._online_memory.revision,
+            history_required_indices=self._online_memory.history_required_indices,
+            **self._realized_context.model_inputs(),
+        )
+        self._awaiting_policy_response = request
+        return request
+
+    def prepare_initial_writer_request(
+        self,
+        *,
+        front_images: tuple[Any, ...] | list[Any],
+        wrist_images: tuple[Any | None, ...] | list[Any | None],
+    ) -> OnlineStage4WriterRequest:
+        if self._initial_writer_prepared:
+            raise SemanticTransitionRolloutError("initial writer request was already prepared")
+        if (
+            self._awaiting_policy_response is not None
+            or self._pending_chunk is not None
+            or self._writer_request is not None
+            or self._window.phase is not SemanticWindowPhase.CLOSED
+            or self._realized_context.history
+        ):
+            raise SemanticTransitionRolloutError(
+                "initial writer request must precede every policy call and executed action"
+            )
+        fronts = tuple(front_images)
+        wrists = tuple(wrist_images)
+        if len(fronts) < 2 or len(fronts) != len(wrists):
+            raise SemanticTransitionRolloutError(
+                "pre-action evidence requires aligned demonstration and execution-start images"
+            )
+        source = tuple(
+            RealizedObservation(
+                observation_id=f"{self._window.episode_nonce}:history:{index}",
+                step=index,
+                front_image=front,
+                wrist_image=wrists[index],
+            )
+            for index, front in enumerate(fronts)
+        )
+        selected = sample_uniform_observations(source, max_timepoints=8)
+        selected_count = len(selected)
+        prefix_lengths = tuple(
+            sorted(
+                {
+                    max(2, (selected_count + 1) // 2),
+                    max(2, (3 * selected_count + 3) // 4),
+                    selected_count,
+                }
+            )
+        )
+        self._initial_writer_prefixes = [
+            selected[:prefix_length] for prefix_length in prefix_lengths
+        ]
+        self._initial_writer_prepared = True
+        return self._cache_next_initial_writer_request()
+
+    def apply_writer_result(
+        self,
+        result: OnlineStage4ValidatedWriterResult,
+        *,
+        commit_memory: bool = True,
+    ) -> OnlineStage4WriterApplication:
+        if self._awaiting_policy_response is not None or self._pending_chunk is not None:
+            raise SemanticTransitionRolloutError(
+                "writer results may be applied only between policy calls"
+            )
+        if not isinstance(result, OnlineStage4ValidatedWriterResult):
+            raise TypeError("result must be OnlineStage4ValidatedWriterResult")
+        if type(commit_memory) is not bool:
+            raise TypeError("commit_memory must be bool")
+        previous = self._online_writer_applications.get(result.request_id)
+        if previous is not None:
+            previous_result, previous_commit_memory, application = previous
+            if previous_result != result:
+                raise SemanticTransitionRolloutError(
+                    "writer request id was reused with different content"
+                )
+            if previous_commit_memory is not commit_memory:
+                raise SemanticTransitionRolloutError(
+                    "writer request retry cannot change commit_memory mode"
+                )
+            return application
+        request = self._writer_request
+        if not isinstance(request, OnlineStage4WriterRequest):
+            raise SemanticTransitionRolloutError(
+                "no online Stage4 writer-ready request is awaiting a result"
+            )
+        if result.request_id != request.request_id or result.window_id != request.window.window_id:
+            raise SemanticTransitionRolloutError(
+                "writer result does not match the current request/window"
+            )
+
+        before_revision = self._online_memory.revision
+        if commit_memory:
+            effective_from_frame = max(request.evidence_frame_indices)
+            if request.purpose is not WriterRequestPurpose.PRE_ACTION_DEMONSTRATION:
+                effective_from_frame += 1
+            effective_from_frame = max(
+                effective_from_frame,
+                self._online_memory.snapshot.effective_from_frame + 1,
+            )
+            self._online_memory.apply(
+                result.decision,
+                effective_from_frame=effective_from_frame,
+            )
+
+        window_resolution_applied = False
+        if request.purpose is WriterRequestPurpose.TRANSITION:
+            ready = self._window.ready_window
+            if ready is None or ready.window_id != result.window_id:
+                raise SemanticTransitionRolloutError(
+                    "writer result window is no longer ready"
+                )
+            if result.decision.operation != "abstain":
+                resolution = WindowResolution.UPDATE
+            elif result.decision.reason_code == "no_durable_memory_change":
+                resolution = WindowResolution.NO_CHANGE
+            else:
+                resolution = WindowResolution.ABSTAIN
+            window_resolution_applied = self._window.resolve_ready_window(
+                window_id=result.window_id,
+                decision=resolution,
+            )
+
+        application = OnlineStage4WriterApplication(
+            request_id=result.request_id,
+            operation=result.decision.operation,
+            memory_committed=(
+                commit_memory
+                and self._online_memory.revision != before_revision
+            ),
+            memory_before_revision=before_revision,
+            memory_after_revision=self._online_memory.revision,
+            window_resolution_applied=window_resolution_applied,
+            static_semantic_memory=self._online_memory.policy_memory_text,
+            history_required_indices=self._online_memory.history_required_indices,
+        )
+        self._online_writer_applications[result.request_id] = (
+            result,
+            commit_memory,
+            application,
+        )
+        self._previous_online_writer_transition_end_frame = max(
+            request.evidence_frame_indices
+        )
+        self._writer_request = None
+        self._preempted_chunk_result = None
+        if (
+            request.purpose is WriterRequestPurpose.PRE_ACTION_DEMONSTRATION
+            and self._initial_writer_prefixes
+        ):
+            self._cache_next_initial_writer_request()
+        return application
+
+    def _cache_next_initial_writer_request(self) -> OnlineStage4WriterRequest:
+        if self._writer_request is not None or not self._initial_writer_prefixes:
+            raise SemanticTransitionRolloutError(
+                "no pre-action demonstration prefix is ready"
+            )
+        source = self._initial_writer_prefixes.pop(0)
+        frame_indices = tuple(observation.step for observation in source)
+        evidence = tuple(
+            RealizedObservation(
+                observation_id=observation.observation_id,
+                step=timepoint_id,
+                front_image=observation.front_image,
+                wrist_image=observation.wrist_image,
+            )
+            for timepoint_id, observation in enumerate(source)
+        )
+        self._initial_writer_sequence += 1
+        window = SemanticWindowState(
+            window_id=(
+                f"{self._window.episode_nonce}:initial-memory:"
+                f"{self._initial_writer_sequence}"
+            ),
+            episode_nonce=self._window.episode_nonce,
+            start_step=0,
+            current_step=len(evidence) - 1,
+            max_end_step=len(evidence) - 1,
+            observations=evidence,
+            chunk_ids=(f"{self._window.episode_nonce}:pre-action-demonstration",),
+            phase=SemanticWindowPhase.READY,
+        )
+        request = OnlineStage4WriterRequest(
+            original_task=self.original_task,
+            memory_before=self._online_memory.snapshot,
+            window=window,
+            evidence=evidence,
+            evidence_frame_indices=frame_indices,
+            remaining_episode_frames_after_transition=max(
+                0,
+                self._episode_frame_limit - self.current_step,
+            ),
+            episode_fps=self._episode_fps,
+            previous_transition_end_frame=(
+                self._previous_online_writer_transition_end_frame
+            ),
+            purpose=WriterRequestPurpose.PRE_ACTION_DEMONSTRATION,
+            memory_references=self._active_memory_references(),
+        )
+        self._retain_writer_evidence(request)
+        self._writer_request = request
+        return request
+
+    def _cache_writer_request(self) -> None:
+        ready = self._window.ready_window
+        if ready is None:
+            raise AssertionError("writer request requires a ready semantic window")
+        evidence = sample_uniform_observations(ready.observations, max_timepoints=8)
+        frame_indices = tuple(
+            self._history_frame_offset + observation.step for observation in evidence
+        )
+        request = OnlineStage4WriterRequest(
+            original_task=self.original_task,
+            memory_before=self._online_memory.snapshot,
+            window=ready,
+            evidence=evidence,
+            evidence_frame_indices=frame_indices,
+            remaining_episode_frames_after_transition=max(
+                0,
+                self._episode_frame_limit - ready.current_step,
+            ),
+            episode_fps=self._episode_fps,
+            previous_transition_end_frame=(
+                self._previous_online_writer_transition_end_frame
+            ),
+            memory_references=self._active_memory_references(),
+        )
+        self._retain_writer_evidence(request)
+        self._writer_request = request
+
+    def _retain_writer_evidence(self, request: OnlineStage4WriterRequest) -> None:
+        self._retained_writer_observations.update(
+            zip(request.evidence_frame_indices, request.evidence, strict=True)
+        )
+
+    def _active_memory_references(self) -> tuple[OnlineStage4MemoryReference, ...]:
+        references: list[OnlineStage4MemoryReference] = []
+        for item in self._online_memory.snapshot.items:
+            for image_ref in item.image_refs:
+                observation = self._retained_writer_observations.get(image_ref.frame_index)
+                if observation is None:
+                    raise SemanticTransitionRolloutError(
+                        "active memory anchor has no retained observable image"
+                    )
+                references.append(
+                    OnlineStage4MemoryReference(
+                        item_id=item.item_id,
+                        image_ref=image_ref,
+                        observation=observation,
+                    )
+                )
+        return tuple(references)
+
+
+
+__all__ = [
+    "CONTEXT_HORIZON",
+    "ROBOT_VECTOR_DIM",
+    "STATUS_HORIZON",
+    "OnlineStage4PolicyRequest",
+    "OnlineStage4SemanticTransitionRolloutAdapter",
+    "OnlineStage4WriterApplication",
+    "RealizedRobotDelta",
+    "RealizedTransitionContext",
+    "SemanticPolicyRequest",
+    "SemanticTransitionRolloutAdapter",
+    "SemanticTransitionRolloutError",
+    "WriterApplication",
+]

checkpoints/r2/pick3/baseline/step9000/code/integrations/robomme/src/mme_vla_suite/shared/mem_buffer.py

@@ -0,0 +1,635 @@
+import jax
+import jax.numpy as jnp
+import einops
+import math
+import heapq
+from copy import deepcopy
+import numpy as np
+from typing import Callable
+import cv2
+from collections import defaultdict
+
+
+from openpi.shared import image_tools
+from mme_vla_suite.shared.data_utils import *
+
+
+def create_dict(indices):
+    result = defaultdict(lambda: defaultdict(list)) # {step_idx: {view_idx: [patch_idx]}}
+    for step_idx, view_idx, patch_idx in indices:
+        result[step_idx][view_idx].append(patch_idx)
+    return result
+
+
+class MemoryBuffer:
+    # We use 8x8 tokens each image for token dropping and 4x4 tokens for frame sampling.
+    def __init__(
+        self,
+        num_views: int = 1,  # number of camera views to be used as memory, better use fixed-views
+        img_emb_dim: int = 2048,  # the initila image token embedding dimension, siglip is 2048
+        pos_emb_dim: int = 768,
+        state_emb_dim: int = 8,
+        max_steps: int = 4096,
+        compute_token_drop_score: bool = False, # set true when using token dropping
+        token_drop_keptsize: int = 2048,   # max number of tokens to be kept in the heap for similarity score calculation
+        token_drop_stride: int = 8,        # timestep stride for similarity score calculation, if too close, the difference will be too small
+        prepare_buffer: bool = False,      # set true during online evaluation, set false during offline training
+        pool_type: str = "mean",           # pooling type for the image tokens, mean or max
+        vision_enc_fn: Callable | None = None,   # vision encoding function
+    ):
+        self.num_views = num_views
+        self.img_emb_dim = img_emb_dim
+        self.pos_emb_dim = pos_emb_dim
+        self.state_emb_dim = state_emb_dim
+
+        self.pool_type = pool_type
+        self.token_drop_keptsize = token_drop_keptsize
+        self.token_drop_stride = token_drop_stride
+        self.token_drop_last_frame = -1
+        self.scored_token_heap = []
+        self.compute_token_drop_score = compute_token_drop_score
+
+        self._history_feats = {}
+
+
+        if prepare_buffer:
+            # load models in GPUs to provide embeedings
+            # used for dataset buliding and evaluation
+            from mme_vla_suite.shared.posemb_3d import PosEmb3D
+            if vision_enc_fn is None:
+                from mme_vla_suite.shared.siglip_tokenizer import SigLipTokenizer
+                siglip_tokenizer = SigLipTokenizer()
+                self.vision_enc = jax.jit(siglip_tokenizer.__call__)
+            else:
+                self.vision_enc = vision_enc_fn
+            pos_embedder = PosEmb3D(dim=pos_emb_dim)
+            ranges = jnp.arange(max_steps)
+            self.pos_emb_dict = {
+                "8x8": np.array(pos_embedder(ranges, 8)),
+                "4x4": np.array(pos_embedder(ranges, 4)),
+                "2x2": np.array(pos_embedder(ranges, 2)),
+            }
+        else:
+            # used in dataset loading mode
+            self.vision_enc = None
+            self.pos_emb_dict = None
+
+    def add_buffer(
+        self,
+        images, #: (t v h w 3), np.int8
+        states, #: (t d), np.float32
+        step_idx_list: list[int],
+    ):
+        assert self.vision_enc is not None, "encode is not initialized"
+
+        t, v, _, _, _ = images.shape
+        assert v == self.num_views
+
+        image_jnp = jnp.array(
+            images.astype(np.float32) / 255.0 * 2.0 - 1.0
+        )
+        image_jnp = einops.rearrange(image_jnp, "t v h w c -> (t v) h w c")
+        image_jnp = image_tools.resize_with_pad(image_jnp, 224, 224)
+        image_jnp = einops.rearrange(image_jnp, "(t v) h w c -> t v h w c", t=t, v=v)
+        output_emb = self.vision_enc(image_jnp)  # (t, v, 64, 2048)
+
+        pooled_emb_8x8 = pool_tokens_to_size(output_emb, 64)  # (t, v, 64, 2048)
+        pooled_emb_4x4 = pool_tokens_to_size(output_emb, 16)  # (t, v, 16, 2048)
+        pooled_emb_2x2 = pool_tokens_to_size(output_emb, 4)  # (t, v, 4, 2048)
+
+        for i, step_idx in enumerate(step_idx_list):
+            image_emb_8x8 = jax.device_get(pooled_emb_8x8)[i]  # (v, 64, 2048)
+            image_emb_4x4 = jax.device_get(pooled_emb_4x4)[i]  # (v, 16, 2048)
+            image_emb_2x2 = jax.device_get(pooled_emb_2x2)[i]  # (v, 4, 2048)
+
+            pos_emb_8x8 = self.pos_emb_dict["8x8"][
+                step_idx*self.num_views : (step_idx+1)*self.num_views]  # (v, 64, 768)
+            pos_emb_4x4 = self.pos_emb_dict["4x4"][
+                step_idx*self.num_views : (step_idx+1)*self.num_views]  # (v, 16, 768)
+            pos_emb_2x2 = self.pos_emb_dict["2x2"][
+                step_idx*self.num_views : (step_idx+1)*self.num_views]  # (v, 4, 768)
+
+            token_emb_to_save = {
+                "image_pixels": images[i].copy(), # fp32, this is for visualization
+                "image_emb_8x8": image_emb_8x8, # bf16
+                "image_emb_4x4": image_emb_4x4, # bf16
+                "image_emb_2x2": image_emb_2x2, # bf16
+                "pos_emb_8x8": pos_emb_8x8, # fp32
+                "pos_emb_4x4": pos_emb_4x4, # fp32
+                "pos_emb_2x2": pos_emb_2x2, # fp32
+                "state_emb": states[i], # fp32
+            }
+            assert step_idx not in self._history_feats, f"step_idx {step_idx} already in buffer"
+            self._history_feats[step_idx] = token_emb_to_save
+
+            if self.compute_token_drop_score:
+                self._process_token_drop_score(step_idx)
+
+
+    def get_history_feats(self, step_idx: int, remove_image_pixels: bool = True):
+        if remove_image_pixels:
+            return {k: v for k, v in self._history_feats[step_idx].items() if k != "image_pixels"}
+        return self._history_feats[step_idx]
+
+
+    def _process_token_drop_score(self, step_idx):
+        if step_idx == 0: # all tokens in the first frame should be kept, only later frames are considered for token dropping
+            for patch_idx in range(64): # 64 patches in 8x8 grid, which is fixed here for now
+                for view_idx in range(self.num_views):
+                    heapq.heappush(
+                        self.scored_token_heap, (1000.0, step_idx, view_idx, patch_idx)
+                    )
+
+        if step_idx == self.token_drop_last_frame + self.token_drop_stride:
+            prev_img = self._history_feats[max(0, self.token_drop_last_frame)]["image_pixels"]
+            curr_img = self._history_feats[step_idx]["image_pixels"]
+
+            prev_img = prev_img.astype(np.float32) / 255.0 * 2.0 - 1.0
+            curr_img = curr_img.astype(np.float32) / 255.0 * 2.0 - 1.0
+
+            prev_img_tokens = einops.rearrange(prev_img, "v (ph h) (pw w) c -> v (ph pw) (h w c)", ph=8, pw=8)
+            curr_img_tokens = einops.rearrange(curr_img, "v (ph h) (pw w) c -> v (ph pw) (h w c)", ph=8, pw=8)
+
+            for view_idx in range(self.num_views):
+                # pixel works better than siglip embedding
+                difference = np.abs(prev_img_tokens[view_idx] - curr_img_tokens[view_idx]).mean(axis=-1)
+                for patch_idx in range(64):
+                    if difference[patch_idx] < 1e-4:
+                        # too similar, skip this patch
+                        continue
+                    heapq.heappush(
+                        self.scored_token_heap,
+                        (
+                            difference[patch_idx],
+                            step_idx,     # timestep index
+                            view_idx,     # view index
+                            patch_idx,    # patch index
+                        ),
+                    )
+                    if len(self.scored_token_heap) > self.token_drop_keptsize:
+                        heapq.heappop(self.scored_token_heap)
+
+            self.token_drop_last_frame += self.token_drop_stride
+
+
+    def clear(self):
+        self.scored_token_heap.clear()
+        self.token_drop_last_frame = -1
+        self._history_feats.clear()
+
+
+    def get_token_dropping_indices(self):
+        selected_tokens_heap = deepcopy(self.scored_token_heap)
+        kept_indices = []
+        while selected_tokens_heap:
+            _, buffer_idx, view_idx, patch_idx = heapq.heappop(selected_tokens_heap)
+            kept_indices.append((buffer_idx, view_idx, patch_idx))
+
+        return kept_indices
+
+    @staticmethod
+    def filter_token_dropping_indices(kept_indices, step_idx, token_budget, is_sorted=True):
+        kept_indices_filtered = [item for item in kept_indices if item[0] <= step_idx]
+        kept_indices = kept_indices_filtered[-token_budget:]
+        if is_sorted:
+            kept_indices = sorted(kept_indices)
+        return kept_indices
+
+
+    def _prepare_token_dropping(self, history_feats, sorted_kept_indices, token_budget):
+        img_emb = np.zeros((token_budget, self.img_emb_dim), dtype=np.float32)
+        pos_emb = np.zeros((token_budget, self.pos_emb_dim), dtype=np.float32)
+        state_emb = np.zeros((token_budget, self.state_emb_dim), dtype=np.float32)
+        mask = np.zeros((token_budget), dtype=np.bool_)
+
+        for idx, (buffer_idx, view_idx, patch_idx) in enumerate(sorted_kept_indices[:token_budget]):
+            img_emb[idx] = history_feats[buffer_idx][f"image_emb_8x8"][view_idx][patch_idx]
+            pos_emb[idx] = history_feats[buffer_idx][f"pos_emb_8x8"][view_idx][patch_idx]
+            state_emb[idx] = history_feats[buffer_idx]["state_emb"]
+            mask[idx] = True
+
+        # print("effective token length: ", np.sum(mask))
+
+        return img_emb, pos_emb, state_emb, mask
+
+
+    def prepare_token_dropping(self, step_idx, token_budget, history_feats_gather_fn, kept_indices=None, *args, **kwargs):
+        if kept_indices is None:
+            indices_to_load = self.get_token_dropping_indices()
+        else:
+            indices_to_load = kept_indices
+
+        sorted_kept_indices = self.filter_token_dropping_indices(
+            indices_to_load, step_idx, token_budget, is_sorted=True)
+
+        indices_to_load = sorted(set([item[0] for item in sorted_kept_indices]))
+        # print("step_idx: ", step_idx)
+        # print(f"indices_to_load (length: {len(indices_to_load)}/{len(sorted_kept_indices)}): {indices_to_load}")
+        # self._visualize_token_dropping(sorted_kept_indices, step_idx)
+        # import pdb; pdb.set_trace()
+
+        history_feats = history_feats_gather_fn(indices_to_load, *args, **kwargs)
+
+        return self._prepare_token_dropping(history_feats, sorted_kept_indices, token_budget)
+
+
+    def _visualize_token_dropping(self, kept_indices, step_idx):
+        dic = create_dict(sorted(kept_indices))
+        images = [self._history_feats[idx]["image_pixels"][0] for idx in range(len(self._history_feats))]
+
+        images_anno = []
+        for step_idx in dic:
+            img_anno = images[step_idx].copy()
+
+            img_anno = cv2.putText(
+                img_anno,
+                f"{step_idx}",
+                (img_anno.shape[1] // 2, img_anno.shape[0] // 2),
+                cv2.FONT_HERSHEY_SIMPLEX,
+                1,
+                (0, 0, 255),
+                1,
+            )
+            mask = np.zeros(img_anno.shape[:2], dtype=np.uint8)
+
+            for patch_idx in range(64):
+                if patch_idx in dic[step_idx][0]:
+                    continue
+                h_center = patch_idx // 8 * 32 + 16
+                w_center = patch_idx % 8 * 32 + 16
+                mask = cv2.rectangle(
+                    mask,
+                    (w_center - 16, h_center - 16),
+                    (w_center + 16, h_center + 16),
+                    255,
+                    -1,
+                )
+            img_anno[mask == 255] = (
+                img_anno[mask == 255] * 0.3 + np.array([255, 255, 255]) * 0.7
+            )
+
+            images_anno.append(img_anno)
+
+        import imageio, os
+        imageio.mimsave(
+            os.path.join(
+                "debug",
+                f"token_drop_anno_step_{step_idx}.mp4",
+            ),
+            images_anno,
+            fps=10,
+        )
+
+
+    def get_frame_sampling_indices(self, step_idx, token_budget, token_per_image):
+        max_size = token_budget // (token_per_image * self.num_views)
+        return even_sampling_indices(step_idx, max_size)
+
+
+    def _prepare_frame_sampling(self, history_feats, indices_to_load, token_budget, token_per_image):
+        spatial_size = str(int(math.sqrt(token_per_image)))
+        spatial_key = f"{spatial_size}x{spatial_size}"
+        max_size = token_budget // (token_per_image * self.num_views)
+
+
+        sampled_img_emb = self._load_emb(history_feats, indices_to_load, f"image_emb_{spatial_key}")
+        sampled_pos_emb = self._load_emb(history_feats, indices_to_load, f"pos_emb_{spatial_key}")
+        sampled_state_emb = self._load_emb(history_feats, indices_to_load, "state_emb")
+        mask = np.ones((sampled_img_emb.shape[0]), dtype=np.bool_)
+
+        # we use right padding to the perceptual memory
+        sampled_img_emb, sampled_pos_emb, sampled_state_emb, mask = right_padding_token_emb(
+            sampled_img_emb, sampled_pos_emb, sampled_state_emb, mask, max_size
+        )
+
+        img_emb =  np.reshape(sampled_img_emb, (-1, self.img_emb_dim))
+        pos_emb = np.reshape(sampled_pos_emb, (-1, self.pos_emb_dim))
+        mask = np.repeat(mask, self.num_views * token_per_image)
+        state_emb = np.repeat(sampled_state_emb, self.num_views * token_per_image, axis=0)
+
+        # print("effective token length: ", np.sum(mask))
+
+        return img_emb, pos_emb, state_emb, mask
+
+
+    def prepare_frame_sampling(
+        self,
+        step_idx,
+        token_budget,
+        token_per_image,
+        history_feats_gather_fn,
+        selected_indices=None,
+        *args,
+        **kwargs,
+    ):
+        if selected_indices is None:
+            indices_to_load = self.get_frame_sampling_indices(step_idx, token_budget, token_per_image)
+        else:
+            tokens_per_frame = token_per_image * self.num_views
+            if token_budget <= 0 or token_per_image <= 0 or token_budget % tokens_per_frame:
+                raise ValueError("selected-frame geometry must evenly divide the token budget")
+            frame_capacity = token_budget // tokens_per_frame
+            if not isinstance(selected_indices, (list, tuple)) or not selected_indices:
+                raise ValueError("selected_indices must be a non-empty list or tuple")
+            if any(
+                isinstance(value, bool) or not isinstance(value, (int, np.integer))
+                for value in selected_indices
+            ):
+                raise ValueError("selected_indices must contain integers")
+            indices_to_load = [int(value) for value in selected_indices]
+            expected_count = min(frame_capacity, step_idx + 1)
+            if len(indices_to_load) != expected_count:
+                raise ValueError(
+                    f"selected frame count must be exactly {expected_count}, got {len(indices_to_load)}"
+                )
+            if indices_to_load != sorted(set(indices_to_load)):
+                raise ValueError("selected_indices must be sorted and unique")
+            if indices_to_load[0] < 0 or indices_to_load[-1] > step_idx:
+                raise ValueError("selected_indices must be causal and non-negative")
+
+        history_feats = history_feats_gather_fn(indices_to_load, *args, **kwargs)
+        return self._prepare_frame_sampling(history_feats, indices_to_load, token_budget, token_per_image)
+
+
+    def prepare_phase_a_frame_sampling(
+        self,
+        step_idx,
+        token_budget,
+        frame_indices,
+        valid_mask,
+        token_counts,
+        history_feats_gather_fn,
+        *args,
+        **kwargs,
+    ):
+        """Materialize a mixed 64/16/4-token Phase-A frame plan.
+
+        ``frame_indices`` and ``valid_mask`` are the immutable visual plan;
+        metadata interventions never enter this method.  Consequently every
+        metadata arm gathers exactly the same feature blobs and preserves the
+        original PosEmb3D values and token mask byte-for-byte.
+        """
+
+        frame_indices = np.asarray(frame_indices)
+        valid_mask = np.asarray(valid_mask)
+        token_counts = np.asarray(token_counts)
+        if frame_indices.ndim != 1 or frame_indices.shape != valid_mask.shape:
+            raise ValueError("Phase-A frame indices and valid mask must be aligned vectors")
+        if token_counts.shape != frame_indices.shape:
+            raise ValueError("Phase-A token counts must align with frame slots")
+        if frame_indices.shape != (32,):
+            raise ValueError("Phase-A frame plan must contain exactly 32 slots")
+        if valid_mask.dtype != np.bool_:
+            raise ValueError("Phase-A valid mask must be boolean")
+        if not np.issubdtype(frame_indices.dtype, np.integer):
+            raise ValueError("Phase-A frame indices must be integers")
+        if not np.issubdtype(token_counts.dtype, np.integer):
+            raise ValueError("Phase-A token counts must be integers")
+        if self.num_views != 1:
+            raise ValueError("Phase-A reader requires exactly one memory view")
+        if token_budget != 512 or int(token_counts.sum()) != token_budget:
+            raise ValueError("Phase-A reader must materialize exactly 512 tokens")
+        if not set(int(value) for value in token_counts).issubset({4, 16, 64}):
+            raise ValueError("Phase-A frame token counts must be one of 4, 16 or 64")
+
+        valid_indices = [int(value) for value in frame_indices[valid_mask]]
+        if not valid_indices or valid_indices != sorted(set(valid_indices)):
+            raise ValueError("Phase-A valid frame indices must be non-empty, sorted and unique")
+        if valid_indices[0] < 0 or valid_indices[-1] > step_idx:
+            raise ValueError("Phase-A frame indices must be causal and non-negative")
+        if np.any(frame_indices[~valid_mask] != 0):
+            raise ValueError("Phase-A padding frame indices must be canonical zeros")
+
+        history_feats = history_feats_gather_fn(valid_indices, *args, **kwargs)
+        if set(history_feats) != set(valid_indices):
+            raise ValueError("Phase-A feature gather did not return the exact valid frame set")
+        first = history_feats[valid_indices[0]]
+        img_dtype = np.asarray(first["image_emb_4x4"]).dtype
+        pos_dtype = np.asarray(first["pos_emb_4x4"]).dtype
+        state_dtype = np.asarray(first["state_emb"]).dtype
+        image_blocks = []
+        position_blocks = []
+        state_blocks = []
+        mask_blocks = []
+        spatial_keys = {4: "2x2", 16: "4x4", 64: "8x8"}
+        for frame_idx, is_valid, token_count in zip(
+            frame_indices.tolist(),
+            valid_mask.tolist(),
+            token_counts.tolist(),
+            strict=True,
+        ):
+            token_count = int(token_count)
+            if is_valid:
+                feature = history_feats[int(frame_idx)]
+                spatial_key = spatial_keys[token_count]
+                image = np.asarray(feature[f"image_emb_{spatial_key}"])
+                position = np.asarray(feature[f"pos_emb_{spatial_key}"])
+                state = np.asarray(feature["state_emb"])
+                expected_image = (self.num_views, token_count, self.img_emb_dim)
+                expected_position = (self.num_views, token_count, self.pos_emb_dim)
+                if image.shape != expected_image:
+                    raise ValueError(
+                        f"Phase-A image feature shape {image.shape} != {expected_image}"
+                    )
+                if position.shape != expected_position:
+                    raise ValueError(
+                        f"Phase-A position feature shape {position.shape} != {expected_position}"
+                    )
+                if state.shape != (self.state_emb_dim,):
+                    raise ValueError(
+                        f"Phase-A state feature shape {state.shape} != {(self.state_emb_dim,)}"
+                    )
+                image_blocks.append(image.reshape(token_count, self.img_emb_dim))
+                position_blocks.append(position.reshape(token_count, self.pos_emb_dim))
+                state_blocks.append(np.repeat(state[None, :], token_count, axis=0))
+                mask_blocks.append(np.ones(token_count, dtype=np.bool_))
+            else:
+                image_blocks.append(
+                    np.zeros((token_count, self.img_emb_dim), dtype=img_dtype)
+                )
+                position_blocks.append(
+                    np.zeros((token_count, self.pos_emb_dim), dtype=pos_dtype)
+                )
+                state_blocks.append(
+                    np.zeros((token_count, self.state_emb_dim), dtype=state_dtype)
+                )
+                mask_blocks.append(np.zeros(token_count, dtype=np.bool_))
+
+        img_emb = np.concatenate(image_blocks, axis=0)
+        pos_emb = np.concatenate(position_blocks, axis=0)
+        state_emb = np.concatenate(state_blocks, axis=0)
+        mask = np.concatenate(mask_blocks, axis=0)
+        expected_shapes = (
+            (token_budget, self.img_emb_dim),
+            (token_budget, self.pos_emb_dim),
+            (token_budget, self.state_emb_dim),
+            (token_budget,),
+        )
+        if tuple(value.shape for value in (img_emb, pos_emb, state_emb, mask)) != expected_shapes:
+            raise ValueError("Phase-A token materializer shape drift")
+        return img_emb, pos_emb, state_emb, mask
+
+
+    def _visualize_frame_sampling(self, indices_to_load, step_idx):
+        images = [self._history_feats[idx]["image_pixels"][0] for idx in indices_to_load]
+
+        import imageio, os
+        imageio.mimsave(
+            os.path.join(
+                "debug",
+                f"frame_sampling_step_{step_idx}.mp4",
+            ),
+            images,
+            fps=2,
+        )
+
+    @staticmethod
+    def _load_emb(history_feats: dict, indices_to_load: list[int], key: str):
+        return np.stack(
+            [history_feats[idx][key] for idx in indices_to_load],
+            axis=0,
+        )
+
+    def default_history_feats_gather_fn(self, indices_to_load, *args, **kwargs):
+        return {idx: self._history_feats[idx] for idx in indices_to_load}
+
+
+class MemoryBufferRecurrent(MemoryBuffer):
+    # By default, we use 8x8 tokens each image for recurrent memory.
+    def __init__(
+        self,
+        input_obs_horizon: int = 8,
+        max_recur_steps: int = 64, # max number of recurrent steps for all history
+        max_video_steps: int = 40, # max number of recurrent steps to load for the video-based observations for certain video-conditioned tasks
+        *args, **kwargs
+    ):
+
+        super().__init__(*args, **kwargs)
+
+        self.input_obs_horizon = input_obs_horizon
+        self.max_recur_steps = max_recur_steps
+        self.max_video_steps = max_video_steps
+
+
+    def add_buffer(
+        self,
+        images, #: (t v h w 3), np.int8
+        state, #: (t d), np.float32
+        step_idx_list: list[int],
+    ):
+        assert self.vision_enc is not None, "encode is not initialized"
+
+        t, v, _, _, _ = images.shape
+        assert v == self.num_views
+
+        image_jnp = jnp.array(
+            images.astype(np.float32) / 255.0 * 2.0 - 1.0
+        )
+        image_jnp = einops.rearrange(image_jnp, "t v h w c -> (t v) h w c")
+        image_jnp = image_tools.resize_with_pad(image_jnp, 224, 224)
+        image_jnp = einops.rearrange(image_jnp, "(t v) h w c -> t v h w c", t=t, v=v)
+        output_emb = self.vision_enc(image_jnp)  # (t, v, 64, 2048)
+
+        # use 8x8 tokens, since recurrent memory can take more tokens than perceptual memory
+        pooled_emb_8x8 = pool_tokens_to_size(output_emb, 64)  # (t, v, 64, 2048)
+
+        for i, step_idx in enumerate(step_idx_list):
+            image_emb_8x8 = jax.device_get(pooled_emb_8x8)[i]  # (v, 64, 2048)
+
+            pos_emb_8x8 = self.pos_emb_dict["8x8"][
+                step_idx*self.num_views : (step_idx+1)*self.num_views]  # (v, 64, 768)
+
+            token_emb_to_save = { # recurrent memory only uses 8x8
+                # "image_pixels": images[i].copy(), # fp32
+                "image_emb_8x8": image_emb_8x8,
+                "pos_emb_8x8": pos_emb_8x8,
+                "state_emb": state[i],
+            }
+            assert step_idx not in self._history_feats, f"step_idx {step_idx} already in buffer"
+            self._history_feats[step_idx] = token_emb_to_save
+
+
+    def get_token_recurrent_indices(self, step_idx, exec_start_idx):
+        input_obs_horizon = self.input_obs_horizon
+        max_recur_steps = self.max_recur_steps
+        max_video_steps = self.max_video_steps
+
+        assert step_idx >=0 and step_idx >= exec_start_idx
+
+        if exec_start_idx == 0:
+            # no videos
+            if step_idx < input_obs_horizon:
+                indices_to_load = [step_idx]
+            else:
+                start_idx = step_idx % input_obs_horizon
+                indices_to_load = list(range(start_idx, step_idx+1, input_obs_horizon))
+                indices_to_load = indices_to_load[-max_recur_steps:]
+        else:
+            if exec_start_idx <= input_obs_horizon * 2:
+                # if too short, use more granular sampling
+                video_indices = list(range(0, exec_start_idx, input_obs_horizon//2))
+            elif exec_start_idx <= max_video_steps * input_obs_horizon:
+                # if not too short, use regular sampling
+                video_indices = list(range(0, exec_start_idx, input_obs_horizon))
+            else:
+                # if too long, use fixed-size sampling
+                video_indices = np.linspace(0, exec_start_idx - 1, max_video_steps, dtype=int).tolist()
+
+            if step_idx-exec_start_idx < input_obs_horizon:
+                rest_indices = [step_idx]
+            else:
+                start_idx = (step_idx-exec_start_idx) % input_obs_horizon + exec_start_idx
+                rest_indices = list(range(start_idx, step_idx+1, input_obs_horizon))
+
+            combined_indices = video_indices + rest_indices
+            indices_to_load = combined_indices[-max_recur_steps:]
+
+        assert len(indices_to_load) > 0 and len(indices_to_load) <= max_recur_steps
+
+        return indices_to_load
+
+
+    def _prepare_token_recurrent(self, history_feats, indices_to_load, padding=True):
+        recur_image_embs = []
+        recur_pos_embs = []
+        recur_state_embs = []
+        recur_masks = []
+
+        for i in indices_to_load:
+            recur_image_embs.append(history_feats[i]["image_emb_8x8"])  # (v, p, d)
+            recur_pos_embs.append(history_feats[i]["pos_emb_8x8"])  # (v, p, d)
+            recur_state_embs.append(history_feats[i]["state_emb"])  # (d)
+            recur_masks.append(True)  # (1)
+
+        recur_image_emb = np.stack(recur_image_embs, axis=0)
+        recur_pos_emb = np.stack(recur_pos_embs, axis=0)
+        recur_state_emb = np.stack(recur_state_embs, axis=0)
+        recur_mask = np.stack(recur_masks, axis=0)
+
+        if padding:
+            recur_image_emb, recur_pos_emb, recur_state_emb, recur_mask = left_padding_token_emb(
+                recur_image_emb, recur_pos_emb, recur_state_emb, recur_mask, self.max_recur_steps
+            )
+        return recur_image_emb, recur_pos_emb, recur_state_emb, recur_mask
+
+
+    def prepare_token_recurrent(self, step_idx, exec_start_idx,  history_feats_gather_fn,  *args, **kwargs):
+        indices_to_load = self.get_token_recurrent_indices(step_idx, exec_start_idx)
+        # print("step_idx: ", step_idx, "exec_start_idx: ", exec_start_idx)
+        # print(f"indices_to_load ({len(indices_to_load)}): {indices_to_load}")
+        assert len(indices_to_load) > 0 and len(indices_to_load) <= self.max_recur_steps
+        history_feats = history_feats_gather_fn(indices_to_load, *args, **kwargs)
+        # self._visualize_token_recurrent(indices_to_load, step_idx)
+        return self._prepare_token_recurrent(history_feats, indices_to_load)
+
+    def _visualize_token_recurrent(self, indices_to_load, step_idx):
+        images = [self._history_feats[idx]["image_pixels"][0] for idx in indices_to_load]
+        import imageio, os
+        imageio.mimsave(
+            os.path.join(
+                "debug",
+                f"token_recurrent_step_{step_idx}.mp4",
+            ),
+            images,
+            fps=2,
+        )

checkpoints/r2/pick3/baseline/step9000/code/integrations/robomme/src/mme_vla_suite/training/dataset.py

@@ -0,0 +1,501 @@
+import json
+import logging
+import os
+import pickle
+import random
+import re
+from concurrent.futures import ThreadPoolExecutor, as_completed
+from pathlib import Path
+
+import numpy as np
+from mme_vla_suite.shared.mem_buffer import MemoryBuffer, MemoryBufferRecurrent
+from mme_vla_suite.training.picmem_phase_a import FRAME_BUDGET, RECENT_ANCHOR_COUNT, selected_frame_read
+from mme_vla_suite.training.picmem_phase_a_reader import (
+    FACTOR_FIELDS,
+    OBSERVATION_FIELDS,
+    PhaseAFactors,
+    materialize_phase_a_read,
+)
+from omegaconf import DictConfig
+from openpi.training import config as _config
+from openpi.training.data_loader import Dataset
+
+from picmem.data.run084_source_consumer import Run084SourceDigestIndex
+from picmem.provenance.frozen_reader import FrozenSelectionReader
+
+random.seed(0)
+logger = logging.getLogger(__name__)
+
+
+def load_vector_file(vector_path: str, step_idx: int) -> tuple[dict, int]:
+    with open(vector_path, "rb") as f:
+        return np.load(f, allow_pickle=True).item(), step_idx
+
+
+
+class SampleDataset(Dataset):
+    def __init__(self, dataset_path: str):
+        self.dataset_path = dataset_path
+        self.stats = json.load(open(os.path.join(self.dataset_path, "meta", "stats.json")))
+        launch_kind = os.environ.get("PICMEM_PHASE_A_LAUNCH_KIND", "")
+        source_digest_sha256 = os.environ.get("PICMEM_SOURCE_DIGEST_SHA256", "")
+        dataset_sha256 = os.environ.get("PICMEM_DATASET_SHA256", "")
+        if launch_kind == "formal" and not source_digest_sha256:
+            raise ValueError("formal Phase-A training requires PICMEM_SOURCE_DIGEST_SHA256")
+        self.source_digest_index = None
+        if source_digest_sha256:
+            if not dataset_sha256:
+                raise ValueError("source-digest-bound training requires PICMEM_DATASET_SHA256")
+            self.source_digest_index = Run084SourceDigestIndex.from_dataset(
+                Path(self.dataset_path),
+                expected_dataset_manifest_sha256=dataset_sha256,
+                expected_manifest_sha256=source_digest_sha256,
+            )
+            declared_length = self.stats.get("execution_samples", self.stats.get("total_samples"))
+            if declared_length != len(self.source_digest_index.records):
+                raise ValueError("dataset stats differ from the source-digest row coverage")
+
+    def __len__(self):
+        if "execution_samples" in self.stats:
+            return self.stats["execution_samples"]
+        else:
+            return self.stats["total_samples"]
+
+    def __getitem__(self, idx):
+        if self.source_digest_index is not None:
+            return self.source_digest_index.load_pickle(idx)
+        with open(os.path.join(self.dataset_path,  "data", f"{idx}.pkl"), "rb") as f:
+            return pickle.load(f)
+
+
+class RoboMMEDataset(Dataset):
+    def __init__(
+        self,
+        dataset_path: str,
+        data_config: _config.DataConfig,
+        history_config: DictConfig | None,
+        action_horizon: int,
+        compute_norm_stats: bool = False,
+    ):
+        self.history_config = history_config
+
+
+        self.action_horizon = action_horizon
+        self.dataset = SampleDataset(dataset_path)
+        self.feature_dir = Path(self.dataset.dataset_path) / "features"
+        self.phase_a_enabled = False
+        self.phase_a_sidecar_dir = None
+        self.phase_a_frame_budget = FRAME_BUDGET
+        self.phase_a_recent_anchor_count = RECENT_ANCHOR_COUNT
+        self.phase_a_factors = PhaseAFactors()
+        self.phase_a_metadata_seed = 0
+        self.phase_a_selection_reader = None
+
+        if self.history_config is not None:
+            self.img_emb_dim = self.history_config.memory_feature.img.input_dim
+            self.pos_emb_dim = self.history_config.memory_feature.pos.input_dim
+            self.state_emb_dim = self.history_config.memory_feature.state.input_dim
+            self.num_views = self.history_config.num_views
+            self.streaming_obs_horizon = self.history_config.streaming_obs_horizon
+
+            if "perceptual_memory" in self.history_config:
+                perceptual = self.history_config.perceptual_memory
+                frame_selection = perceptual.get("frame_selection")
+            else:
+                perceptual = None
+                frame_selection = None
+            if frame_selection is not None and frame_selection.get("type") == "picmem_phase_a":
+                if self.history_config.representation_type != "perceptual":
+                    raise ValueError("picmem_phase_a requires perceptual representation")
+                if perceptual.get("type") != "frame_sampling":
+                    raise ValueError("picmem_phase_a is only a frame_sampling selector")
+                unknown = set(frame_selection) - {
+                    "type",
+                    "sidecar_dir",
+                    "frame_budget",
+                    "recent_anchor_count",
+                    "selection_mode",
+                    "metadata_mode",
+                    "reader_mode",
+                    "manager_mode",
+                    "metadata_seed",
+                    "require_explicit_factors",
+                    "subset_manifest_path",
+                    "subset_manifest_sha256",
+                    "replacement_manifest_path",
+                    "replacement_manifest_sha256",
+                    "best_visible_manifest_path",
+                    "best_visible_manifest_sha256",
+                }
+                if unknown:
+                    raise ValueError(f"unknown picmem_phase_a config fields: {sorted(unknown)}")
+                sidecar_dir = frame_selection.get("sidecar_dir")
+                if not isinstance(sidecar_dir, str) or not sidecar_dir.strip():
+                    raise ValueError(
+                        "picmem_phase_a requires perceptual_memory.frame_selection.sidecar_dir"
+                    )
+                self.phase_a_enabled = True
+                self.phase_a_sidecar_dir = Path(sidecar_dir).expanduser().resolve(strict=True)
+                if not self.phase_a_sidecar_dir.is_dir():
+                    raise ValueError(
+                        f"picmem_phase_a sidecar_dir is not a directory: {self.phase_a_sidecar_dir}"
+                    )
+                self.phase_a_frame_budget = int(
+                    frame_selection.get("frame_budget", FRAME_BUDGET)
+                )
+                self.phase_a_recent_anchor_count = int(
+                    frame_selection.get("recent_anchor_count", RECENT_ANCHOR_COUNT)
+                )
+                require_explicit = bool(
+                    frame_selection.get("require_explicit_factors", False)
+                )
+                factor_values = {
+                    name: frame_selection.get(name)
+                    for name in FACTOR_FIELDS
+                    if name in frame_selection
+                }
+                self.phase_a_factors = PhaseAFactors.from_mapping(
+                    factor_values,
+                    require_explicit=require_explicit,
+                )
+                self.phase_a_factors.validate_implemented_path()
+                frozen_fields = {
+                    name: frame_selection.get(name)
+                    for name in (
+                        "subset_manifest_path",
+                        "subset_manifest_sha256",
+                        "replacement_manifest_path",
+                        "replacement_manifest_sha256",
+                        "best_visible_manifest_path",
+                        "best_visible_manifest_sha256",
+                    )
+                }
+                missing_frozen = [
+                    name
+                    for name, value in frozen_fields.items()
+                    if not isinstance(value, str) or not value
+                ]
+                if missing_frozen:
+                    raise ValueError(
+                        "picmem_phase_a requires frozen selection fields: "
+                        f"{sorted(missing_frozen)}"
+                    )
+                self.phase_a_selection_reader = FrozenSelectionReader.load_formal(
+                    subset_manifest_path=frozen_fields["subset_manifest_path"],
+                    subset_manifest_sha256=frozen_fields["subset_manifest_sha256"],
+                    replacement_manifest_path=frozen_fields["replacement_manifest_path"],
+                    replacement_manifest_sha256=frozen_fields["replacement_manifest_sha256"],
+                    best_visible_manifest_path=frozen_fields["best_visible_manifest_path"],
+                    best_visible_manifest_sha256=frozen_fields["best_visible_manifest_sha256"],
+                    manager_mode=self.phase_a_factors.manager_mode,
+                )
+                self.phase_a_metadata_seed = frame_selection.get("metadata_seed", 0)
+                if (
+                    isinstance(self.phase_a_metadata_seed, bool)
+                    or not isinstance(self.phase_a_metadata_seed, int)
+                    or self.phase_a_metadata_seed < 0
+                ):
+                    raise ValueError("picmem_phase_a metadata_seed must be a non-negative integer")
+                tokens_per_frame = int(self.history_config.token_per_image) * int(self.num_views)
+                if (
+                    int(self.history_config.budget) != 512
+                    or int(self.history_config.token_per_image) != 16
+                    or int(self.num_views) != 1
+                    or int(self.history_config.budget) % tokens_per_frame
+                    or int(self.history_config.budget) // tokens_per_frame != FRAME_BUDGET
+                    or self.phase_a_frame_budget != FRAME_BUDGET
+                    or self.phase_a_recent_anchor_count != RECENT_ANCHOR_COUNT
+                ):
+                    raise ValueError(
+                        "picmem_phase_a requires token_budget=512, token_per_image=16, "
+                        "num_views=1, frame_budget=32, and recent_anchor_count=4"
+                    )
+
+            if self.history_config.representation_type == "perceptual":
+                self.mem_buffer = MemoryBuffer(
+                    num_views=self.num_views,
+                    img_emb_dim=self.img_emb_dim,
+                    pos_emb_dim=self.pos_emb_dim,
+                    state_emb_dim=self.state_emb_dim,
+                    token_drop_stride=self.streaming_obs_horizon // 2,
+                )
+            elif self.history_config.representation_type == "recurrent":
+                self.mem_buffer = MemoryBufferRecurrent(
+                    num_views=self.num_views,
+                    img_emb_dim=self.img_emb_dim,
+                    pos_emb_dim=self.pos_emb_dim,
+                    state_emb_dim=self.state_emb_dim,
+                    input_obs_horizon=self.streaming_obs_horizon,
+                    max_recur_steps=self.history_config.recurrent_memory.max_recur_steps,
+                    max_video_steps=self.history_config.recurrent_memory.max_pretraj_steps,
+                )
+            else:
+                # symbolic memory does not need mem_buffer
+                self.mem_buffer = None
+        else:
+            logger.info("=== Do not use history ===")
+
+        self.compute_norm_stats = compute_norm_stats
+
+        if not compute_norm_stats:
+            self.state_norm_stats = data_config.norm_stats['state']
+            self.use_quantiles = data_config.use_quantile_norm
+
+    def _gather_history_feat(self, indices_to_load: list[int], epis_idx: int):
+        history_feats = {}
+        history_paths = []
+        for idx in indices_to_load:
+            history_feats[idx] = {}
+            history_paths.append(
+                os.path.join(self.feature_dir, f"episode_{epis_idx}", f"token_emb_{idx}.npy")
+            )
+
+        if self.history_config.representation_type == "recurrent":
+            # load_vector_fn = load_vector_file_lru4096 if self.use_lru else load_vector_file
+            load_vector_fn = load_vector_file
+            max_workers = min(48, max(4, len(history_paths)))
+        else:
+            # load_vector_fn = load_vector_file_lru1024 if self.use_lru else load_vector_file
+            load_vector_fn = load_vector_file
+            max_workers = min(36, max(4, len(history_paths)))
+        with ThreadPoolExecutor(max_workers=max_workers) as executor:
+            future_to_path = {
+                executor.submit(load_vector_fn, path, idx): path
+                for path, idx in zip(history_paths, indices_to_load)
+            }
+            for future in as_completed(future_to_path):
+                np_dict, idx = future.result()
+                history_feats[idx] = np_dict
+        return history_feats
+
+
+    def prepare_token_drop(self, epis_idx, step_idx):
+        token_budget = self.history_config.budget
+        kept_indices = json.load(open(os.path.join(self.feature_dir, f"episode_{epis_idx}", "kept_indices.json")))
+
+        return self.mem_buffer.prepare_token_dropping(
+            step_idx, token_budget, self._gather_history_feat,
+            kept_indices=kept_indices, epis_idx=epis_idx)
+
+
+    def prepare_frame_sampling(self, epis_idx, step_idx, *, selected_indices=None):
+        token_per_image = self.history_config.token_per_image
+        token_budget = self.history_config.budget
+
+        return self.mem_buffer.prepare_frame_sampling(
+            step_idx, token_budget, token_per_image, self._gather_history_feat,
+            selected_indices=selected_indices, epis_idx=epis_idx)
+
+
+    def prepare_phase_a_frame_sampling(self, epis_idx, step_idx, plan):
+        return self.mem_buffer.prepare_phase_a_frame_sampling(
+            step_idx,
+            int(self.history_config.budget),
+            plan.frame_indices,
+            plan.valid_mask,
+            plan.token_counts,
+            self._gather_history_feat,
+            epis_idx=epis_idx,
+        )
+
+
+
+    def prepare_token_recurrent(self, epis_idx, step_idx, exec_start_idx):
+        self.mem_buffer.exec_start_idx = exec_start_idx
+
+        return self.mem_buffer.prepare_token_recurrent(
+            step_idx, exec_start_idx, self._gather_history_feat,
+            epis_idx=epis_idx)
+
+
+    def __len__(self):
+        return len(self.dataset)
+
+
+    def _normalize_state(self, state):
+        if self.compute_norm_stats:
+            return state
+        else:
+            if self.use_quantiles:
+                return (state - self.state_norm_stats.q01) / (self.state_norm_stats.q99 - self.state_norm_stats.q01 + 1e-6) * 2.0 - 1.0
+            else:
+                return (state - self.state_norm_stats.mean) / (self.state_norm_stats.std + 1e-6)
+
+    def _truncated_gaussian_noise(self, max_val: int, std: float = None) -> int:
+        """Generate truncated Gaussian noise centered at 0, clamped to [-max_val, max_val]."""
+        if std is None:
+            std = max_val / 2.5  # ~95% of samples within range before clamping
+        noise = random.gauss(0, std)
+        noise = max(-max_val, min(max_val, noise))  # clamp to [-max_val, max_val]
+        return int(round(noise))
+
+    def add_grounding_augmentation(self, subgoal: str, noise_range: int = 8) -> str:
+        if not subgoal:
+            return subgoal
+
+        matches = re.findall(r'at <(\d+), (\d+)>', subgoal)
+
+        if len(matches) == 0 or len(matches) > 1:
+            return subgoal
+
+        x, y = matches[0]
+        x = int(x)
+        y = int(y)
+        noise_x = self._truncated_gaussian_noise(noise_range)
+        noise_y = self._truncated_gaussian_noise(noise_range)
+
+        new_subgoal = subgoal.replace(f'at <{x}, {y}>', f'at <{x + noise_x}, {y + noise_y}>')
+        return new_subgoal
+
+
+    def __getitem__(self, idx):
+        data = self.dataset[idx]
+
+        data["actions"] = data["actions"][:self.action_horizon]
+
+        # During online evaluation, the ground-truth subgoal may change earlier than when it was recorded.
+        # To make the model robust to this temporal shift and avoid train/test distribution mismatch,
+        # we randomly sample from either subgoal or subgoal_online (early change).
+        if self.history_config is not None \
+            and self.history_config.representation_type == "symbolic" \
+            and self.history_config.symbolic_memory.type in ["simple_subgoal", "grounded_subgoal"] \
+            and random.random() < 0.5:
+            data["simple_subgoal"] = data["simple_subgoal_online"]
+            data["grounded_subgoal"] = data["grounded_subgoal_online"]
+        data.pop("simple_subgoal_online")
+        data.pop("grounded_subgoal_online")
+
+        if self.history_config is not None and self.history_config.representation_type == "symbolic":
+            data["grounded_subgoal"] = self.add_grounding_augmentation(data["grounded_subgoal"], noise_range=8)
+            data["simple_subgoal"] = self.add_grounding_augmentation(data["simple_subgoal"], noise_range=8)
+
+
+        if self.history_config is not None:
+            # use history
+            epis_idx = data["epis_idx"].item()
+            step_idx = data["step_idx"].item()
+            exec_start_idx = data["exec_start_idx"].item()
+
+            if self.history_config.representation_type == "perceptual":
+                if self.history_config.perceptual_memory.type == "token_dropping":
+                    (
+                        static_img_emb,
+                        static_pos_emb,
+                        static_state_emb,
+                        static_mask, # >=64
+                    ) = self.prepare_token_drop(epis_idx, step_idx)
+                elif self.phase_a_enabled:
+                    if self.phase_a_sidecar_dir is None:
+                        raise ValueError("picmem_phase_a sidecar directory was not initialized")
+                    if self.phase_a_selection_reader is None:
+                        raise ValueError("picmem_phase_a frozen selection reader was not initialized")
+                    frozen_row = self.phase_a_selection_reader.subset.validate_raw_sample(
+                        int(idx),
+                        data,
+                    )
+                    read = selected_frame_read(
+                        self.phase_a_sidecar_dir,
+                        episode_id=int(epis_idx),
+                        step=int(step_idx),
+                        raw_exec_start=int(exec_start_idx),
+                        instruction=data.get("prompt"),
+                        frame_budget=self.phase_a_frame_budget,
+                        recent_anchor_count=self.phase_a_recent_anchor_count,
+                        expected_task_id=frozen_row.task_id,
+                        expected_sidecar_sha256=frozen_row.sidecar_sha256,
+                        manager_mode=self.phase_a_factors.manager_mode,
+                    )
+                    replacement = self.phase_a_selection_reader.record_for(
+                        frozen_row,
+                        current_step=int(step_idx),
+                    )
+                    read = self.phase_a_selection_reader.render(
+                        read,
+                        replacement,
+                        self.phase_a_factors.selection_mode,
+                    )
+                    plan = materialize_phase_a_read(
+                        read,
+                        self.phase_a_factors,
+                        metadata_seed=self.phase_a_metadata_seed,
+                        selection_applied=self.phase_a_factors.selection_mode,
+                    )
+                    (
+                        static_img_emb,
+                        static_pos_emb,
+                        static_state_emb,
+                        static_mask,
+                    ) = self.prepare_phase_a_frame_sampling(
+                        epis_idx,
+                        step_idx,
+                        plan,
+                    )
+                    metadata = plan.metadata.to_observation()
+                    if not np.array_equal(static_mask, metadata["phase_a_valid_mask"]):
+                        raise ValueError("Phase-A visual and metadata token masks disagree")
+                    data.update(metadata)
+                else:
+                    (
+                        static_img_emb,
+                        static_pos_emb,
+                        static_state_emb,
+                        static_mask, # slow >=64, mid >=16,fast >=4
+                    ) = self.prepare_frame_sampling(epis_idx, step_idx)
+
+                data["static_image_emb"] = static_img_emb
+                data["static_pos_emb"] = static_pos_emb
+                data["static_state_emb"] = self._normalize_state(static_state_emb)
+                data["static_mask"] = static_mask
+
+            elif self.history_config.representation_type == "recurrent":
+                recur_img_emb, recur_pos_emb, recur_state_emb, recur_mask = (
+                    self.prepare_token_recurrent(
+                        epis_idx, step_idx, exec_start_idx)
+                )
+
+                data["recur_image_emb"] = recur_img_emb
+                data["recur_pos_emb"] = recur_pos_emb
+                data["recur_state_emb"] = self._normalize_state(recur_state_emb)
+                data["recur_mask"] = recur_mask  # 1 ~ max_exec_steps
+
+            elif self.history_config.representation_type == "symbolic":
+                pass
+            else:
+                raise ValueError(
+                    f"Not supported representation type: {self.history_config.representation_type}"
+                )
+
+
+        for key in [
+            "static_image_emb",
+            "static_pos_emb",
+            "static_state_emb",
+            "static_mask",
+
+            "recur_image_emb",
+            "recur_pos_emb",
+            "recur_state_emb",
+            "recur_mask",
+
+            "simple_subgoal",
+            "grounded_subgoal",
+            "prompt",
+            # The pinned host RepackTransform names these optional fields even
+            # when the active history type is plain frame sampling. Keep them
+            # neutral; Phase-A never imports or materializes either old stack.
+            "picmem_token_features",
+            "picmem_token_mask",
+            "picmem_typed_role_ids",
+            "picmem_typed_categorical_ids",
+            "picmem_typed_numeric_values",
+            "picmem_typed_numeric_mask",
+            "picmem_typed_age_confidence",
+            "picmem_typed_contract_indices",
+            "picmem_typed_token_mask",
+            "_picmem_typed_task_index",
+            *OBSERVATION_FIELDS,
+        ]:
+            if key not in data:
+                data[key] = None
+
+        return data

checkpoints/r2/pick3/baseline/step9000/code/integrations/robomme/src/mme_vla_suite/training/picmem_phase_a.py

@@ -0,0 +1,201 @@
+"""Fail-closed RoboMME adapter for the standalone Phase-A memory.
+
+This is the only host module allowed to translate a raw RoboMME sample into a
+Phase-A visual-frame plan. It deliberately imports no legacy host-side memory
+package and no general PIC-Mem runtime, tensor, or model surface.
+"""
+
+from __future__ import annotations
+
+import json
+from pathlib import Path
+from typing import Any
+
+from picmem.memory.contracts import ManagerMode
+from picmem.memory.memory import MemoryInvariantError, Read
+from picmem.provenance.frozen_artifact import sha256_file
+from picmem.provenance.run084 import replay_sidecar
+
+FRAME_BUDGET = 32
+RECENT_ANCHOR_COUNT = 4
+SUPPORTED_TASKS = frozenset({"MoveCube", "PickXtimes", "VideoPlaceButton", "VideoUnmask"})
+
+
+def load_episode_sidecar(
+    sidecar_dir: str | Path,
+    *,
+    episode_id: int,
+    instruction: str,
+) -> tuple[Path, dict[str, Any]]:
+    """Resolve exactly one task-scoped sidecar for a raw host sample."""
+
+    episode_id = _nonnegative_int(episode_id, "episode_id")
+    instruction = _instruction(instruction)
+    root = Path(sidecar_dir).expanduser()
+    try:
+        root = root.resolve(strict=True)
+    except OSError as exc:
+        raise MemoryInvariantError(f"sidecar directory is unavailable: {root}") from exc
+    if not root.is_dir():
+        raise MemoryInvariantError(f"sidecar path is not a directory: {root}")
+
+    names = {f"episode_{episode_id}.json", f"episode_{episode_id:04d}.json"}
+    candidates = sorted(
+        {
+            path.resolve(strict=True)
+            for name in names
+            for path in root.glob(f"*/{name}")
+        }
+    )
+    if not candidates:
+        raise MemoryInvariantError(
+            f"no sidecar exists for episode {episode_id}"
+        )
+
+    matches: list[tuple[Path, dict[str, Any]]] = []
+    for path in candidates:
+        if root not in path.parents:
+            raise MemoryInvariantError(f"sidecar escapes configured root: {path}")
+        try:
+            annotation = json.loads(path.read_text(encoding="utf-8"))
+        except (OSError, json.JSONDecodeError) as exc:
+            raise MemoryInvariantError(f"cannot read sidecar JSON: {path}") from exc
+        if not isinstance(annotation, dict):
+            raise MemoryInvariantError(f"sidecar must contain a JSON object: {path}")
+        if _nonnegative_int(annotation.get("episode_id"), "sidecar episode_id") != episode_id:
+            raise MemoryInvariantError(f"sidecar episode identity mismatch: {path}")
+        task_id = annotation.get("task_id")
+        if task_id not in SUPPORTED_TASKS or path.parent.name != task_id:
+            raise MemoryInvariantError(f"sidecar task identity mismatch: {path}")
+        if _instruction(annotation.get("task_instruction")) == instruction:
+            matches.append((path, annotation))
+
+    if len(matches) != 1:
+        raise MemoryInvariantError(
+            f"expected exactly one episode/instruction sidecar for episode {episode_id}, "
+            f"found {len(matches)}"
+        )
+    return matches[0]
+
+
+def selected_frame_indices(
+    sidecar_dir: str | Path,
+    *,
+    episode_id: int,
+    step: int,
+    raw_exec_start: int,
+    instruction: str,
+    frame_budget: int = FRAME_BUDGET,
+    recent_anchor_count: int = RECENT_ANCHOR_COUNT,
+    manager_mode: ManagerMode | str = ManagerMode.FULL_EVOLVING,
+) -> tuple[int, ...]:
+    """Return the sole frame plan consumed by the host perceptual loader."""
+
+    read = selected_frame_read(
+        sidecar_dir,
+        episode_id=episode_id,
+        step=step,
+        raw_exec_start=raw_exec_start,
+        instruction=instruction,
+        frame_budget=frame_budget,
+        recent_anchor_count=recent_anchor_count,
+        manager_mode=manager_mode,
+    )
+    return tuple(read.valid_indices())
+
+
+def selected_frame_read(
+    sidecar_dir: str | Path,
+    *,
+    episode_id: int,
+    step: int,
+    raw_exec_start: int,
+    instruction: str,
+    frame_budget: int = FRAME_BUDGET,
+    recent_anchor_count: int = RECENT_ANCHOR_COUNT,
+    expected_task_id: str | None = None,
+    expected_sidecar_sha256: str | None = None,
+    manager_mode: ManagerMode | str = ManagerMode.FULL_EVOLVING,
+) -> Read:
+    """Return the complete frame plan and provenance for one host sample."""
+
+    step = _nonnegative_int(step, "step")
+    raw_exec_start = _nonnegative_int(raw_exec_start, "raw_exec_start")
+    if frame_budget != FRAME_BUDGET:
+        raise MemoryInvariantError(f"Phase-A frame_budget must be {FRAME_BUDGET}")
+    if recent_anchor_count != RECENT_ANCHOR_COUNT:
+        raise MemoryInvariantError(
+            f"Phase-A recent_anchor_count must be {RECENT_ANCHOR_COUNT}"
+        )
+
+    path, annotation = load_episode_sidecar(
+        sidecar_dir,
+        episode_id=episode_id,
+        instruction=instruction,
+    )
+    if expected_task_id is not None and annotation.get("task_id") != expected_task_id:
+        raise MemoryInvariantError(
+            f"sidecar task differs from frozen sample identity at {path}"
+        )
+    if expected_sidecar_sha256 is not None:
+        actual_sidecar_sha256 = sha256_file(path)
+        if actual_sidecar_sha256 != expected_sidecar_sha256:
+            raise MemoryInvariantError(
+                f"sidecar hash differs from frozen sample identity at {path}"
+            )
+    sidecar_exec_start = _nonnegative_int(
+        annotation.get("exec_start_step"),
+        "sidecar exec_start_step",
+    )
+    step_offset = raw_exec_start - sidecar_exec_start
+    if step_offset < 0:
+        raise MemoryInvariantError(
+            f"raw execution starts before sidecar execution at {path}: "
+            f"{raw_exec_start} < {sidecar_exec_start}"
+        )
+
+    read = replay_sidecar(
+        annotation,
+        step,
+        step_offset=step_offset,
+        budget=frame_budget,
+        recent=recent_anchor_count,
+        manager_mode=manager_mode,
+    )
+    indices = read.valid_indices()
+    if not isinstance(indices, list) or any(
+        isinstance(value, bool) or not isinstance(value, int) for value in indices
+    ):
+        raise MemoryInvariantError("Phase-A Read.valid_indices() returned non-integers")
+    if not indices:
+        raise MemoryInvariantError("Phase-A Read selected no visual frames")
+    if indices != sorted(set(indices)):
+        raise MemoryInvariantError("Phase-A Read selected duplicate or unsorted frames")
+    if len(indices) != min(frame_budget, step + 1) or indices[0] < 0 or indices[-1] > step:
+        raise MemoryInvariantError("Phase-A Read violated its causal frame budget")
+    if tuple(indices) != tuple(
+        frame.frame_index for frame in read.selected_frames if frame.valid_mask
+    ):
+        raise MemoryInvariantError("Phase-A Read metadata does not align with valid_indices()")
+    return read
+
+
+def _instruction(value: Any) -> str:
+    if not isinstance(value, str) or not value or "\0" in value:
+        raise MemoryInvariantError("instruction must be a non-empty string")
+    return value
+
+
+def _nonnegative_int(value: Any, name: str) -> int:
+    if isinstance(value, bool) or not isinstance(value, int) or value < 0:
+        raise MemoryInvariantError(f"{name} must be a non-negative integer")
+    return int(value)
+
+
+__all__ = [
+    "FRAME_BUDGET",
+    "RECENT_ANCHOR_COUNT",
+    "load_episode_sidecar",
+    "selected_frame_indices",
+    "selected_frame_read",
+]

checkpoints/r2/pick3/baseline/step9000/code/integrations/robomme/src/mme_vla_suite/training/picmem_phase_a_full_state.py

@@ -0,0 +1,1936 @@
+"""Trajectory-complete Phase-A checkpoint, sampler, and continuity runtime."""
+
+from __future__ import annotations
+
+import csv
+import dataclasses
+import functools
+import hashlib
+import json
+import logging
+import math
+import os
+import shutil
+import tempfile
+from collections.abc import Iterator, Mapping
+from datetime import datetime
+from pathlib import Path, PurePosixPath
+from typing import Any, Protocol
+
+import jax
+import numpy as np
+import openpi.training.checkpoints as _checkpoints
+import orbax.checkpoint as ocp
+import torch
+from etils import epath
+from mme_vla_suite.models.config.utils import get_history_config
+from mme_vla_suite.models.integration.history_observation import HistAugObservation
+from mme_vla_suite.training.dataset import RoboMMEDataset
+from openpi.shared import normalize as _normalize
+from openpi.training.data_loader import TorchDataLoader, transform_dataset
+
+from picmem.memory.contracts import ArmManifest
+from picmem.ops.calibration_manifest import (
+    CalibrationManifestError,
+    SkuCalibrationManifest,
+    load_calibration_manifest,
+)
+from picmem.ops.checkpoint import (
+    CheckpointInfo,
+    CheckpointMetadata,
+    SamplerState,
+    StateComponent,
+    StateManifest,
+    discover_checkpoints,
+    finalize_checkpoint,
+    is_phase_a_retained_checkpoint,
+    path_sha256,
+    validate_checkpoint,
+)
+from picmem.ops.continuity import CONTINUITY_SCHEMA, ContinuityMode, SamplerContinuity, WatchState, verify_continuity
+from picmem.ops.registry import RUN084_BUILD_C_LINEAGE
+
+PHASE_A_CONTRACT_SCHEMA = "picmem_phase_a_host_full_state_v5"
+PHASE_A_METRICS_SCHEMA = "picmem_phase_a_generation_metrics_v1"
+PHASE_A_HISTORY_CONFIG = "perceptual-picmem-phase-a-modul.yaml"
+SUPPORTED_GPU_CLASSES = frozenset({"h200", "h100_80g", "a100_80g", "a100_40g"})
+FORMAL_SAMPLER_SCHEMA = "picmem_run084_task_balanced_sampler_state_v1"
+SMOKE_SAMPLER_SCHEMA = "picmem_phase_a_smoke_random_sampler_state_v1"
+SMOKE_SUBSET_SHA256 = hashlib.sha256(b"picmem-phase-a-smoke-subset-v1").hexdigest()
+
+
+def _identifier(value: Any, name: str) -> str:
+    portable = "abcdefghijklmnopqrstuvwxyzABCDEFGHIJKLMNOPQRSTUVWXYZ0123456789._-"
+    if not isinstance(value, str) or not value or any(char not in portable for char in value):
+        raise ValueError(f"{name} must be a non-empty portable identifier")
+    return value
+
+
+def _sha256(value: Any, name: str, *, nullable: bool = False) -> str | None:
+    if nullable and (value is None or value == ""):
+        return None
+    if not isinstance(value, str) or len(value) != 64 or any(char not in "0123456789abcdef" for char in value):
+        raise ValueError(f"{name} must be a lowercase SHA-256 digest")
+    return value
+
+
+def _commit(value: Any, name: str) -> str:
+    if not isinstance(value, str) or len(value) != 40 or any(char not in "0123456789abcdef" for char in value):
+        raise ValueError(f"{name} must be a full lowercase git commit")
+    return value
+
+
+def _runtime_fraction(value: Any, name: str) -> str:
+    if not isinstance(value, str) or value not in {"0.8", "0.9", "0.92"}:
+        raise ValueError(f"{name} must be a reviewed canonical runtime fraction")
+    return value
+
+
+def _runtime_true(value: Any, name: str) -> bool:
+    if value != "true":
+        raise ValueError(f"{name} must be the reviewed canonical value 'true'")
+    return True
+
+
+def _repr_sha256(value: Any) -> str:
+    return hashlib.sha256(repr(value).encode("utf-8")).hexdigest()
+
+
+def _natural(value: str | int, name: str) -> int:
+    try:
+        parsed = int(value)
+    except (TypeError, ValueError) as exc:
+        raise ValueError(f"{name} must be a non-negative integer") from exc
+    if isinstance(value, bool) or parsed < 0 or str(parsed) != str(value):
+        raise ValueError(f"{name} must be a canonical non-negative integer")
+    return parsed
+
+
+def _sampler_natural(value: Any, name: str) -> int:
+    if isinstance(value, bool) or not isinstance(value, (int, np.integer)) or int(value) < 0:
+        raise ValueError(f"{name} must be a non-negative integer")
+    return int(value)
+
+
+def _u64_words(value: int, name: str) -> jax.Array:
+    parsed = _natural(value, name)
+    if parsed > np.iinfo(np.uint64).max:
+        raise ValueError(f"{name} is larger than an unsigned 64-bit integer")
+    return jax.numpy.asarray(
+        [parsed & 0xFFFFFFFF, (parsed >> 32) & 0xFFFFFFFF],
+        dtype=jax.numpy.uint32,
+    )
+
+
+def _decode_u64_words(value: Any, name: str) -> int:
+    words = np.asarray(jax.device_get(value), dtype=np.uint32).reshape(-1)
+    if words.shape != (2,):
+        raise ValueError(f"{name} must contain exactly two uint32 words")
+    return int(words[0]) | (int(words[1]) << 32)
+
+
+def _digest_bytes(value: str, name: str) -> jax.Array:
+    parsed = _sha256(value, name)
+    return jax.numpy.asarray(np.frombuffer(bytes.fromhex(str(parsed)), dtype=np.uint8))
+
+
+def _decode_digest(value: Any, name: str) -> str:
+    raw = np.asarray(jax.device_get(value), dtype=np.uint8).reshape(-1)
+    if raw.shape != (32,):
+        raise ValueError(f"{name} must contain exactly 32 digest bytes")
+    return str(_sha256(raw.tobytes().hex(), name))
+
+
+def _ascii_bytes(value: str, name: str) -> jax.Array:
+    parsed = _identifier(value, name)
+    return jax.numpy.asarray(np.frombuffer(parsed.encode("ascii"), dtype=np.uint8))
+
+
+def _decode_ascii(value: Any, name: str) -> str:
+    raw = np.asarray(jax.device_get(value), dtype=np.uint8).reshape(-1)
+    try:
+        decoded = raw.tobytes().decode("ascii")
+    except UnicodeDecodeError as exc:
+        raise ValueError(f"{name} is not ASCII") from exc
+    return _identifier(decoded, name)
+
+
+def _path_bytes(value: Path, name: str) -> jax.Array:
+    parsed = _bound_regular_file(str(value), name)
+    return jax.numpy.asarray(np.frombuffer(str(parsed).encode("utf-8"), dtype=np.uint8))
+
+
+def _decode_path(value: Any, name: str) -> str:
+    raw = np.asarray(jax.device_get(value), dtype=np.uint8).reshape(-1)
+    try:
+        decoded = raw.tobytes().decode("utf-8")
+    except UnicodeDecodeError as exc:
+        raise ValueError(f"{name} is not UTF-8") from exc
+    return str(_bound_regular_file(decoded, name))
+
+
+def _sample_identity(value: Any, name: str) -> str:
+    return str(_sha256(value, name))
+
+
+def _bound_regular_file(value: Any, name: str) -> Path:
+    if not isinstance(value, str) or not value or any(character in value for character in "\r\n\0\\"):
+        raise ValueError(f"{name} must be a normalized absolute file path")
+    pure = PurePosixPath(value)
+    if not pure.is_absolute() or any(part in {"", ".", ".."} for part in pure.parts) or pure.as_posix() != value:
+        raise ValueError(f"{name} must be a normalized absolute file path")
+    path = Path(value)
+    if path.is_symlink() or not path.is_file() or path.resolve() != path:
+        raise ValueError(f"{name} must name a real canonical regular file")
+    return path
+
+
+def _canonical_json(value: Mapping[str, Any]) -> bytes:
+    return (json.dumps(value, sort_keys=True, separators=(",", ":")) + "\n").encode()
+
+
+def _pairs_no_duplicates(pairs: list[tuple[str, Any]]) -> dict[str, Any]:
+    result: dict[str, Any] = {}
+    for key, value in pairs:
+        if key in result:
+            raise ValueError(f"duplicate JSON key in arm manifest: {key}")
+        result[key] = value
+    return result
+
+
+def _gpu_class_from_sku(value: str) -> str:
+    if not isinstance(value, str) or not value.strip():
+        raise ValueError("arm.gpu_sku must be a non-empty string")
+    sku = value.lower().replace("-", "_")
+    if "h200" in sku:
+        return "h200"
+    if "h100" in sku and "80" in sku:
+        return "h100_80g"
+    if "a100" in sku and "80" in sku:
+        return "a100_80g"
+    if "a100" in sku and "40" in sku:
+        return "a100_40g"
+    raise ValueError(f"unsupported arm gpu_sku: {value!r}")
+
+
+def _write_atomic_json(path: Path, value: Mapping[str, Any], *, refuse_existing: bool = True) -> None:
+    payload = _canonical_json(value)
+    path.parent.mkdir(parents=True, exist_ok=True)
+    if path.exists() or path.is_symlink():
+        if refuse_existing or path.is_symlink() or not path.is_file() or path.read_bytes() != payload:
+            raise ValueError(f"refusing to replace existing JSON contract: {path}")
+        return
+    descriptor, temporary = tempfile.mkstemp(prefix=f".{path.name}.", suffix=".tmp", dir=path.parent)
+    try:
+        with os.fdopen(descriptor, "wb") as handle:
+            handle.write(payload)
+            handle.flush()
+            os.fsync(handle.fileno())
+        os.replace(temporary, path)
+        directory = os.open(path.parent, os.O_RDONLY | getattr(os, "O_DIRECTORY", 0))
+        try:
+            os.fsync(directory)
+        finally:
+            os.close(directory)
+    finally:
+        if os.path.exists(temporary):
+            os.unlink(temporary)
+
+
+def validate_phase_a_topology(
+    *,
+    gpu_class: str,
+    world_size: int,
+    local_device_count: int,
+    process_count: int,
+    fsdp_devices: int,
+    batch_size: int,
+    device_kinds: tuple[str, ...],
+) -> None:
+    if gpu_class not in SUPPORTED_GPU_CLASSES:
+        raise ValueError(f"unsupported Phase-A GPU class: {gpu_class!r}")
+    if (world_size, local_device_count, process_count, fsdp_devices) != (8, 8, 1, 8):
+        raise ValueError(
+            "Phase-A full state requires exactly one process and eight local/global FSDP devices; "
+            f"got world={world_size} local={local_device_count} process={process_count} fsdp={fsdp_devices}"
+        )
+    if isinstance(batch_size, bool) or not isinstance(batch_size, int) or batch_size <= 0 or batch_size % 4:
+        raise ValueError("Phase-A global batch must be a positive integer divisible by four tasks")
+    if len(device_kinds) != 8:
+        raise ValueError("Phase-A topology must describe exactly eight device kinds")
+    family = "H200" if gpu_class == "h200" else "H100" if gpu_class == "h100_80g" else "A100"
+    if any(family not in kind.upper() for kind in device_kinds):
+        raise ValueError(f"Phase-A runtime device family differs from requested {gpu_class}")
+
+
+def initialize_phase_a_checkpoint_dir(
+    checkpoint_dir: epath.Path | str,
+    *,
+    overwrite: bool,
+    resume: bool,
+    launch_kind: str,
+) -> tuple[ocp.CheckpointManager, bool]:
+    """Create a manager retaining the latest two plus launch-kind milestones."""
+
+    retention_policy = functools.partial(is_phase_a_retained_checkpoint, launch_kind=launch_kind)
+    # Reject an invalid launch kind before overwrite can mutate the checkpoint root.
+    retention_policy(0)
+    checkpoint_dir = epath.Path(checkpoint_dir).resolve()
+    resuming = False
+    if checkpoint_dir.exists():
+        if overwrite:
+            checkpoint_dir.rmtree()
+            checkpoint_dir.mkdir(parents=True, exist_ok=True)
+            logging.info("Wiped Phase-A checkpoint directory %s", checkpoint_dir)
+        elif resume:
+            discovery = discover_checkpoints(Path(checkpoint_dir))
+            if discovery.rejected:
+                details = ", ".join(f"{name}: {reason}" for name, reason in sorted(discovery.rejected.items()))
+                raise ValueError(
+                    "Phase-A resume is blocked by unresolved checkpoint-like paths; "
+                    "move them to an explicit recovery/abandoned root before retrying: "
+                    f"{details}"
+                )
+            resuming = discovery.selected is not None
+            if not resuming:
+                logging.info("Phase-A checkpoint root contains no finalized checkpoint")
+        else:
+            raise FileExistsError(f"Checkpoint directory {checkpoint_dir} already exists. Use resume to continue it.")
+    checkpoint_dir.mkdir(parents=True, exist_ok=True)
+    manager = ocp.CheckpointManager(
+        checkpoint_dir,
+        item_handlers={
+            "assets": _checkpoints.CallbackHandler(),
+            "params": ocp.PyTreeCheckpointHandler(),
+            "resume_state": ocp.PyTreeCheckpointHandler(),
+        },
+        options=ocp.CheckpointManagerOptions(
+            max_to_keep=2,
+            should_keep_fn=retention_policy,
+            create=False,
+            async_options=ocp.AsyncOptions(timeout_secs=7_200),
+        ),
+    )
+    return manager, resuming
+
+
+@dataclasses.dataclass(frozen=True)
+class PhaseAContract:
+    launch_kind: str
+    experiment: str
+    job: str
+    run_id: str
+    generation: int
+    gpu_class: str
+    checkpoint_root: Path
+    interface_commit: str
+    code_commit: str
+    config_sha256: str
+    dataset_sha256: str
+    cohort_sha256: str
+    sidecar_sha256: str
+    feature_sha256: str
+    source_metadata_sha256: str
+    source_digest_sha256: str
+    artifact_identity_sha256: str
+    artifact_hashes_sha256: str
+    replacement_manifest_sha256: str
+    best_visible_manifest_sha256: str
+    sample_order_path: Path
+    sample_order_manifest_sha256: str
+    sample_order_sha256: str
+    training_manifest_kind: str
+    training_manifest_sha256: str
+    overlay_sha256: str
+    runtime_profile_id: str
+    runtime_candidate_id: str
+    runtime_policy_sha256: str
+    runtime_plan_sha256: str
+    runtime_matrix_sha256: str
+    runtime_calibration_sha256: str
+    optimizer_sha256: str
+    learning_rate_schedule_sha256: str
+    global_batch_size: int
+    micro_batch_per_device: int
+    gradient_accumulation_steps: int
+    dataloader_workers: int
+    prefetch_factor: int
+    xla_preallocate: bool
+    xla_memory_fraction: str
+    nccl_collective_channel_cap: int
+    nccl_p2p_channel_cap: int
+    xla_flags: str
+    runtime_checkpoint_interval: int
+    parent_metadata_sha256: str | None
+    continuity_mode: str
+    continuity_request_id: str
+    watch_state_dir: Path
+    continuity_path: Path
+    metrics_path: Path
+
+    @classmethod
+    def from_environment(cls, config: Any) -> PhaseAContract:
+        launch_kind = os.environ.get("PICMEM_PHASE_A_LAUNCH_KIND", "")
+        if launch_kind not in {"formal", "sku_smoke"}:
+            raise ValueError("PICMEM_PHASE_A_LAUNCH_KIND must be formal or sku_smoke")
+        gpu_class = os.environ.get("PICMEM_CHECKPOINT_GPU_CLASS", "")
+        global_batch_size = _natural(os.environ.get("BATCH_SIZE", ""), "BATCH_SIZE")
+        if global_batch_size <= 0:
+            raise ValueError("BATCH_SIZE must be positive")
+        devices = tuple(jax.devices())
+        validate_phase_a_topology(
+            gpu_class=gpu_class,
+            world_size=jax.device_count(),
+            local_device_count=jax.local_device_count(),
+            process_count=jax.process_count(),
+            fsdp_devices=int(config.fsdp_devices),
+            batch_size=global_batch_size,
+            device_kinds=tuple(str(device.device_kind) for device in devices),
+        )
+        checkpoint_root = Path(os.environ.get("PICMEM_CHECKPOINT_ROOT", "")).expanduser().resolve()
+        if checkpoint_root != Path(config.checkpoint_dir).resolve():
+            raise ValueError("PICMEM_CHECKPOINT_ROOT differs from TrainConfig.checkpoint_dir")
+        experiment = _identifier(os.environ.get("PICMEM_CHECKPOINT_EXPERIMENT"), "experiment")
+        if experiment != config.exp_name:
+            raise ValueError("checkpoint experiment differs from TrainConfig.exp_name")
+        generation = _natural(os.environ.get("PICMEM_CHECKPOINT_GENERATION", ""), "generation")
+        mode = os.environ.get("PICMEM_CONTINUITY_MODE", "")
+        parent = _sha256(
+            os.environ.get("PICMEM_PARENT_METADATA_SHA256"),
+            "PICMEM_PARENT_METADATA_SHA256",
+            nullable=True,
+        )
+        if generation == 0:
+            if mode != "initial" or parent is not None:
+                raise ValueError("generation zero must be an initial launch without a checkpoint parent")
+        elif mode == ContinuityMode.CHECKPOINT_RESUME.value:
+            if parent is None:
+                raise ValueError("checkpoint_resume requires its exact parent metadata SHA-256")
+        elif mode == ContinuityMode.RESTART_ZERO.value:
+            if parent is not None:
+                raise ValueError("restart_zero must not name a checkpoint parent")
+        else:
+            raise ValueError("nonzero launcher generation has an unsupported continuity mode")
+        watch_state_dir = Path(os.environ.get("PICMEM_WATCH_STATE_DIR", "")).expanduser().resolve()
+        continuity_request_id = _identifier(
+            os.environ.get("PICMEM_CONTINUITY_REQUEST_ID"),
+            "PICMEM_CONTINUITY_REQUEST_ID",
+        )
+        if mode != "initial":
+            _sha256(continuity_request_id, "PICMEM_CONTINUITY_REQUEST_ID")
+        continuity_path = Path(os.environ.get("PICMEM_CONTINUITY_PATH", "")).expanduser().resolve()
+        if continuity_path != watch_state_dir / f"continuity-{continuity_request_id}.json":
+            raise ValueError("PICMEM_CONTINUITY_PATH is not request-bound to the watchdog state directory")
+        metrics_path = Path(os.environ.get("PICMEM_METRICS_PATH", "")).expanduser().resolve()
+        expected_suffix = ("attempts", f"generation-{generation}", "metrics.tsv")
+        if tuple(metrics_path.parts[-3:]) != expected_suffix:
+            raise ValueError("PICMEM_METRICS_PATH is not generation-specific")
+        if config.metrics_path is None or metrics_path != Path(config.metrics_path).expanduser().resolve():
+            raise ValueError("PICMEM_METRICS_PATH differs from TrainConfig.metrics_path")
+        contract = cls(
+            launch_kind=launch_kind,
+            experiment=experiment,
+            job=_identifier(os.environ.get("PICMEM_CHECKPOINT_JOB"), "job"),
+            run_id=_identifier(os.environ.get("PICMEM_CHECKPOINT_RUN_ID"), "run_id"),
+            generation=generation,
+            gpu_class=gpu_class,
+            checkpoint_root=checkpoint_root,
+            interface_commit=_commit(os.environ.get("PICMEM_INTERFACE_COMMIT"), "PICMEM_INTERFACE_COMMIT"),
+            code_commit=_commit(os.environ.get("PICMEM_CODE_COMMIT"), "PICMEM_CODE_COMMIT"),
+            config_sha256=str(_sha256(os.environ.get("PICMEM_CONFIG_SHA256"), "PICMEM_CONFIG_SHA256")),
+            dataset_sha256=str(_sha256(os.environ.get("PICMEM_DATASET_SHA256"), "PICMEM_DATASET_SHA256")),
+            cohort_sha256=str(_sha256(os.environ.get("PICMEM_COHORT_SHA256"), "PICMEM_COHORT_SHA256")),
+            sidecar_sha256=str(_sha256(os.environ.get("PICMEM_SIDECAR_SHA256"), "PICMEM_SIDECAR_SHA256")),
+            feature_sha256=str(_sha256(os.environ.get("PICMEM_FEATURE_SHA256"), "PICMEM_FEATURE_SHA256")),
+            source_metadata_sha256=str(
+                _sha256(os.environ.get("PICMEM_SOURCE_METADATA_SHA256"), "PICMEM_SOURCE_METADATA_SHA256")
+            ),
+            source_digest_sha256=str(
+                _sha256(os.environ.get("PICMEM_SOURCE_DIGEST_SHA256"), "PICMEM_SOURCE_DIGEST_SHA256")
+            ),
+            artifact_identity_sha256=str(
+                _sha256(os.environ.get("PICMEM_ARTIFACT_IDENTITY_SHA256"), "PICMEM_ARTIFACT_IDENTITY_SHA256")
+            ),
+            artifact_hashes_sha256=str(
+                _sha256(os.environ.get("PICMEM_ARTIFACT_HASHES_SHA256"), "PICMEM_ARTIFACT_HASHES_SHA256")
+            ),
+            replacement_manifest_sha256=str(
+                _sha256(
+                    os.environ.get("PICMEM_REPLACEMENT_MANIFEST_SHA256"),
+                    "PICMEM_REPLACEMENT_MANIFEST_SHA256",
+                )
+            ),
+            best_visible_manifest_sha256=str(
+                _sha256(
+                    os.environ.get("PICMEM_BEST_VISIBLE_MANIFEST_SHA256"),
+                    "PICMEM_BEST_VISIBLE_MANIFEST_SHA256",
+                )
+            ),
+            sample_order_path=_bound_regular_file(
+                os.environ.get("PICMEM_SAMPLE_ORDER_MANIFEST"),
+                "PICMEM_SAMPLE_ORDER_MANIFEST",
+            ),
+            sample_order_manifest_sha256=str(
+                _sha256(
+                    os.environ.get("PICMEM_SAMPLE_ORDER_MANIFEST_SHA256"),
+                    "PICMEM_SAMPLE_ORDER_MANIFEST_SHA256",
+                )
+            ),
+            sample_order_sha256=str(
+                _sha256(os.environ.get("PICMEM_SAMPLE_ORDER_SHA256"), "PICMEM_SAMPLE_ORDER_SHA256")
+            ),
+            training_manifest_kind=_identifier(
+                os.environ.get("PICMEM_TRAINING_MANIFEST_KIND"),
+                "PICMEM_TRAINING_MANIFEST_KIND",
+            ),
+            training_manifest_sha256=str(
+                _sha256(_training_manifest_sha256_from_environment(), "training manifest SHA-256")
+            ),
+            overlay_sha256=str(_sha256(os.environ.get("PICMEM_OVERLAY_SHA256"), "PICMEM_OVERLAY_SHA256")),
+            runtime_profile_id=_identifier(
+                os.environ.get("PICMEM_RUNTIME_PROFILE_ID"),
+                "PICMEM_RUNTIME_PROFILE_ID",
+            ),
+            runtime_candidate_id=_identifier(
+                os.environ.get("PICMEM_RUNTIME_CANDIDATE_ID"),
+                "PICMEM_RUNTIME_CANDIDATE_ID",
+            ),
+            runtime_policy_sha256=str(
+                _sha256(os.environ.get("PICMEM_RUNTIME_POLICY_SHA256"), "PICMEM_RUNTIME_POLICY_SHA256")
+            ),
+            runtime_plan_sha256=str(
+                _sha256(os.environ.get("PICMEM_RUNTIME_PLAN_SHA256"), "PICMEM_RUNTIME_PLAN_SHA256")
+            ),
+            runtime_matrix_sha256=str(
+                _sha256(os.environ.get("PICMEM_RUNTIME_MATRIX_SHA256"), "PICMEM_RUNTIME_MATRIX_SHA256")
+            ),
+            runtime_calibration_sha256=str(
+                _sha256(
+                    os.environ.get("PICMEM_RUNTIME_CALIBRATION_SHA256"),
+                    "PICMEM_RUNTIME_CALIBRATION_SHA256",
+                )
+            ),
+            optimizer_sha256=str(_sha256(os.environ.get("PICMEM_OPTIMIZER_SHA256"), "PICMEM_OPTIMIZER_SHA256")),
+            learning_rate_schedule_sha256=str(
+                _sha256(os.environ.get("PICMEM_LR_SCHEDULE_SHA256"), "PICMEM_LR_SCHEDULE_SHA256")
+            ),
+            global_batch_size=global_batch_size,
+            micro_batch_per_device=_natural(
+                os.environ.get("MICRO_BATCH_PER_DEVICE", ""),
+                "MICRO_BATCH_PER_DEVICE",
+            ),
+            gradient_accumulation_steps=_natural(
+                os.environ.get("GRADIENT_ACCUMULATION_STEPS", ""),
+                "GRADIENT_ACCUMULATION_STEPS",
+            ),
+            dataloader_workers=_natural(os.environ.get("NUM_WORKERS", ""), "NUM_WORKERS"),
+            prefetch_factor=_natural(os.environ.get("PREFETCH_FACTOR", ""), "PREFETCH_FACTOR"),
+            xla_preallocate=_runtime_true(
+                os.environ.get("XLA_PYTHON_CLIENT_PREALLOCATE"),
+                "XLA_PYTHON_CLIENT_PREALLOCATE",
+            ),
+            xla_memory_fraction=_runtime_fraction(
+                os.environ.get("XLA_PYTHON_CLIENT_MEM_FRACTION"),
+                "XLA_PYTHON_CLIENT_MEM_FRACTION",
+            ),
+            nccl_collective_channel_cap=_natural(
+                os.environ.get("NCCL_MAX_NCHANNELS", ""),
+                "NCCL_MAX_NCHANNELS",
+            ),
+            nccl_p2p_channel_cap=_natural(
+                os.environ.get("PICMEM_XLA_P2P_MAX_NCHANNELS", ""),
+                "PICMEM_XLA_P2P_MAX_NCHANNELS",
+            ),
+            xla_flags=os.environ.get("XLA_FLAGS", ""),
+            runtime_checkpoint_interval=_natural(os.environ.get("SAVE_INTERVAL", ""), "SAVE_INTERVAL"),
+            parent_metadata_sha256=parent,
+            continuity_mode=mode,
+            continuity_request_id=continuity_request_id,
+            watch_state_dir=watch_state_dir,
+            continuity_path=continuity_path,
+            metrics_path=metrics_path,
+        )
+        if contract.micro_batch_per_device <= 0 or contract.gradient_accumulation_steps != 1:
+            raise ValueError("Phase-A runtime requires positive micro batch and accumulation exactly 1")
+        if contract.global_batch_size != int(config.batch_size):
+            raise ValueError("runtime global batch differs from TrainConfig.batch_size")
+        if 8 * contract.micro_batch_per_device * contract.gradient_accumulation_steps != contract.global_batch_size:
+            raise ValueError("runtime batch geometry differs from TrainConfig.batch_size")
+        if contract.dataloader_workers != int(config.num_workers):
+            raise ValueError("runtime dataloader workers differ from TrainConfig.num_workers")
+        if contract.runtime_checkpoint_interval != int(config.save_interval):
+            raise ValueError("runtime checkpoint interval differs from TrainConfig.save_interval")
+        if (
+            contract.dataloader_workers <= 0
+            or contract.prefetch_factor <= 0
+            or contract.nccl_collective_channel_cap <= 0
+            or contract.nccl_p2p_channel_cap <= 0
+        ):
+            raise ValueError("Phase-A runtime requires positive workers and prefetch")
+        expected_p2p_flag = f"--xla_gpu_nccl_p2p_max_nchannels={contract.nccl_p2p_channel_cap}"
+        if not contract.xla_flags or any(character in contract.xla_flags for character in "\t\r\n"):
+            raise ValueError("runtime XLA_FLAGS must be non-empty single-line text")
+        if contract.xla_flags.split().count(expected_p2p_flag) != 1:
+            raise ValueError("runtime XLA_FLAGS does not contain the exact reviewed P2P channel cap")
+        zero = "0" * 64
+        if launch_kind == "formal":
+            if zero in {
+                contract.runtime_matrix_sha256,
+                contract.runtime_calibration_sha256,
+                contract.optimizer_sha256,
+                contract.learning_rate_schedule_sha256,
+            }:
+                raise ValueError("formal runtime lineage cannot use calibration/smoke sentinels")
+            if contract.optimizer_sha256 != _repr_sha256(config.optimizer):
+                raise ValueError("formal optimizer config differs from PICMEM_OPTIMIZER_SHA256")
+            if contract.learning_rate_schedule_sha256 != _repr_sha256(config.lr_schedule):
+                raise ValueError("formal LR schedule differs from PICMEM_LR_SCHEDULE_SHA256")
+        elif any(
+            value != zero
+            for value in (
+                contract.runtime_matrix_sha256,
+                contract.runtime_calibration_sha256,
+                contract.optimizer_sha256,
+                contract.learning_rate_schedule_sha256,
+            )
+        ):
+            raise ValueError("SKU smoke runtime lineage must use explicit zero-hash sentinels")
+        _validate_bound_training_manifest(contract, config)
+        return contract
+
+    def stable_json(self, config: Any) -> dict[str, Any]:
+        return {
+            "schema_version": PHASE_A_CONTRACT_SCHEMA,
+            "launch_kind": self.launch_kind,
+            "run": {"experiment": self.experiment, "job": self.job, "run_id": self.run_id},
+            "topology": {
+                "gpu_class": self.gpu_class,
+                "world_size": 8,
+                "fsdp_devices": 8,
+                "global_batch_size": self.global_batch_size,
+                "micro_batch_per_device": self.micro_batch_per_device,
+                "gradient_accumulation_steps": self.gradient_accumulation_steps,
+            },
+            "runtime": {
+                "profile_id": self.runtime_profile_id,
+                "candidate_id": self.runtime_candidate_id,
+                "policy_sha256": self.runtime_policy_sha256,
+                "plan_sha256": self.runtime_plan_sha256,
+                "matrix_sha256": self.runtime_matrix_sha256,
+                "calibration_sha256": self.runtime_calibration_sha256,
+                "optimizer_sha256": self.optimizer_sha256,
+                "learning_rate_schedule_sha256": self.learning_rate_schedule_sha256,
+                "dataloader_workers": self.dataloader_workers,
+                "prefetch_factor": self.prefetch_factor,
+                "xla_preallocate": self.xla_preallocate,
+                "xla_memory_fraction": self.xla_memory_fraction,
+                "nccl_collective_channel_cap": self.nccl_collective_channel_cap,
+                "nccl_p2p_channel_cap": self.nccl_p2p_channel_cap,
+                "xla_flags": self.xla_flags,
+                "checkpoint_interval": self.runtime_checkpoint_interval,
+            },
+            "lineage": {
+                "interface_commit": self.interface_commit,
+                "code_commit": self.code_commit,
+                "config_sha256": self.config_sha256,
+                "dataset_sha256": self.dataset_sha256,
+                "cohort_sha256": self.cohort_sha256,
+                "sidecar_sha256": self.sidecar_sha256,
+                "feature_sha256": self.feature_sha256,
+                "source_metadata_sha256": self.source_metadata_sha256,
+                "source_digest_sha256": self.source_digest_sha256,
+                "artifact_identity_sha256": self.artifact_identity_sha256,
+                "artifact_hashes_sha256": self.artifact_hashes_sha256,
+                "replacement_manifest_sha256": self.replacement_manifest_sha256,
+                "best_visible_manifest_sha256": self.best_visible_manifest_sha256,
+                "sample_order_path": str(self.sample_order_path),
+                "sample_order_manifest_sha256": self.sample_order_manifest_sha256,
+                "sample_order_sha256": self.sample_order_sha256,
+                "training_manifest_kind": self.training_manifest_kind,
+                "training_manifest_sha256": self.training_manifest_sha256,
+                "overlay_sha256": self.overlay_sha256,
+            },
+            "optimizer": repr(config.optimizer),
+            "lr_schedule": repr(config.lr_schedule),
+            "ema_decay": config.ema_decay,
+            "seed": int(config.seed),
+            "sampler_seed": int(config.sampler_seed if config.sampler_seed is not None else config.seed),
+        }
+
+    def checkpoint_metadata(self, step: int) -> CheckpointMetadata:
+        from picmem.ops.cadence import GpuClass
+
+        return CheckpointMetadata(
+            experiment=self.experiment,
+            job=self.job,
+            run_id=self.run_id,
+            step=step,
+            generation=self.generation,
+            gpu_class=GpuClass(self.gpu_class),
+            world_size=8,
+            fsdp_devices=8,
+            launch_kind=self.launch_kind,
+            training_manifest_kind=self.training_manifest_kind,
+            training_manifest_sha256=self.training_manifest_sha256,
+            runtime_profile_id=self.runtime_profile_id,
+            runtime_candidate_id=self.runtime_candidate_id,
+            runtime_policy_sha256=self.runtime_policy_sha256,
+            runtime_plan_sha256=self.runtime_plan_sha256,
+            runtime_matrix_sha256=self.runtime_matrix_sha256,
+            runtime_calibration_sha256=self.runtime_calibration_sha256,
+            optimizer_sha256=self.optimizer_sha256,
+            learning_rate_schedule_sha256=self.learning_rate_schedule_sha256,
+            global_batch_size=self.global_batch_size,
+            micro_batch_per_device=self.micro_batch_per_device,
+            gradient_accumulation_steps=self.gradient_accumulation_steps,
+            dataloader_workers=self.dataloader_workers,
+            prefetch_factor=self.prefetch_factor,
+            xla_preallocate=self.xla_preallocate,
+            xla_memory_fraction=self.xla_memory_fraction,
+            nccl_collective_channel_cap=self.nccl_collective_channel_cap,
+            nccl_p2p_channel_cap=self.nccl_p2p_channel_cap,
+            xla_flags=self.xla_flags,
+            checkpoint_interval=self.runtime_checkpoint_interval,
+            interface_commit=self.interface_commit,
+            code_commit=self.code_commit,
+            config_sha256=self.config_sha256,
+            dataset_sha256=self.dataset_sha256,
+            cohort_sha256=self.cohort_sha256,
+            sidecar_sha256=self.sidecar_sha256,
+            feature_sha256=self.feature_sha256,
+            source_metadata_sha256=self.source_metadata_sha256,
+            source_digest_sha256=self.source_digest_sha256,
+            artifact_identity_sha256=self.artifact_identity_sha256,
+            artifact_hashes_sha256=self.artifact_hashes_sha256,
+            replacement_manifest_sha256=self.replacement_manifest_sha256,
+            best_visible_manifest_sha256=self.best_visible_manifest_sha256,
+            sample_order_path=str(self.sample_order_path),
+            sample_order_manifest_sha256=self.sample_order_manifest_sha256,
+            sample_order_sha256=self.sample_order_sha256,
+            overlay_sha256=self.overlay_sha256,
+            parent_metadata_sha256=self.parent_metadata_sha256,
+        )
+
+
+def _training_manifest_environment() -> tuple[str, str, str]:
+    kind = os.environ.get("PICMEM_TRAINING_MANIFEST_KIND", "")
+    expected = {
+        "arm_v3": ("PICMEM_ARM_MANIFEST", "PICMEM_ARM_MANIFEST_SHA256", "formal"),
+        "sku_calibration_v1": (
+            "PICMEM_CALIBRATION_MANIFEST",
+            "PICMEM_CALIBRATION_MANIFEST_SHA256",
+            "sku_smoke",
+        ),
+    }
+    if kind not in expected:
+        raise ValueError("PICMEM_TRAINING_MANIFEST_KIND must be arm_v3 or sku_calibration_v1")
+    path_name, sha_name, launch_kind = expected[kind]
+    if os.environ.get("PICMEM_PHASE_A_LAUNCH_KIND") != launch_kind:
+        raise ValueError("training manifest kind disagrees with PICMEM_PHASE_A_LAUNCH_KIND")
+    forbidden = (
+        ("PICMEM_CALIBRATION_MANIFEST", "PICMEM_CALIBRATION_MANIFEST_SHA256")
+        if kind == "arm_v3"
+        else ("PICMEM_ARM_MANIFEST", "PICMEM_ARM_MANIFEST_SHA256")
+    )
+    if any(os.environ.get(name) for name in forbidden):
+        raise ValueError("process environment ambiguously carries both training manifest kinds")
+    return kind, path_name, sha_name
+
+
+def _training_manifest_sha256_from_environment() -> str:
+    _, _, sha_name = _training_manifest_environment()
+    return os.environ.get(sha_name, "")
+
+
+def _load_bound_training_manifest() -> ArmManifest | SkuCalibrationManifest:
+    kind, path_name, sha_name = _training_manifest_environment()
+    raw_path = os.environ.get(path_name, "")
+    unresolved = Path(raw_path).expanduser()
+    if not raw_path or unresolved.is_symlink() or not unresolved.is_file():
+        raise ValueError(f"{path_name} must name a real regular file")
+    manifest_path = unresolved.resolve()
+    expected_sha256 = str(_sha256(os.environ.get(sha_name), sha_name))
+    if kind == "sku_calibration_v1":
+        try:
+            return load_calibration_manifest(
+                manifest_path,
+                expected_sha256=expected_sha256,
+            ).manifest
+        except CalibrationManifestError as exc:
+            raise ValueError(f"{path_name} is not a trusted SKU calibration manifest") from exc
+    raw = manifest_path.read_bytes()
+    if hashlib.sha256(raw).hexdigest() != expected_sha256:
+        raise ValueError(f"{path_name} content differs from {sha_name}")
+    try:
+        value = json.loads(raw, object_pairs_hook=_pairs_no_duplicates)
+    except (UnicodeDecodeError, json.JSONDecodeError) as exc:
+        raise ValueError(f"{path_name} is not valid duplicate-free JSON") from exc
+    return ArmManifest.from_mapping(value)
+
+
+def _resume_lineage() -> str:
+    resume_lineage = os.environ.get("PICMEM_RESUME_LINEAGE", "")
+    if not resume_lineage:
+        raise ValueError("PICMEM_RESUME_LINEAGE must be non-empty")
+    normalized = PurePosixPath(resume_lineage)
+    if (
+        normalized.is_absolute()
+        or not normalized.parts
+        or any(part in {"", ".", ".."} for part in normalized.parts)
+        or normalized.as_posix() != resume_lineage
+    ):
+        raise ValueError("PICMEM_RESUME_LINEAGE must be a normalized safe relative path")
+    return resume_lineage
+
+
+def _factor_environment() -> dict[str, str | None]:
+    return {
+        "selection_mode": os.environ.get("PICMEM_PHASE_A_SELECTION_MODE"),
+        "metadata_mode": os.environ.get("PICMEM_PHASE_A_METADATA_MODE"),
+        "reader_mode": os.environ.get("PICMEM_PHASE_A_READER_MODE"),
+        "manager_mode": os.environ.get("PICMEM_PHASE_A_MANAGER_MODE"),
+    }
+
+
+def _validate_bound_arm(contract: PhaseAContract, config: Any, arm: ArmManifest | None = None) -> None:
+    """Re-validate the exact formal arm inside the training process trust boundary."""
+
+    loaded = _load_bound_training_manifest() if arm is None else arm
+    if not isinstance(loaded, ArmManifest):
+        raise ValueError("formal arm validation received a non-arm training manifest")
+    arm = loaded
+    if contract.training_manifest_kind != "arm_v3":
+        raise ValueError("formal checkpoint contract does not bind arm_v3")
+    if contract.training_manifest_sha256 != os.environ.get("PICMEM_ARM_MANIFEST_SHA256"):
+        raise ValueError("checkpoint contract and process arm-manifest hashes differ")
+    process_source_digest_sha256 = str(
+        _sha256(
+            os.environ.get("PICMEM_SOURCE_DIGEST_SHA256"),
+            "PICMEM_SOURCE_DIGEST_SHA256",
+        )
+    )
+    expected_source_digest_sha256 = str(
+        _sha256(
+            RUN084_BUILD_C_LINEAGE["source_digest_manifest_sha256"],
+            "RUN084_BUILD_C_LINEAGE.source_digest_manifest_sha256",
+        )
+    )
+    if contract.source_digest_sha256 != process_source_digest_sha256:
+        raise ValueError("checkpoint contract and process source-digest hashes differ")
+    if process_source_digest_sha256 != expected_source_digest_sha256:
+        raise ValueError("formal training requires the exact verified Run084-v2 build_c source digest")
+    resume_lineage = _resume_lineage()
+
+    factors = _factor_environment()
+    expected = {
+        "arm_id": contract.job,
+        "parent_commit": contract.code_commit,
+        "parent_tree": _commit(os.environ.get("PICMEM_CODE_TREE"), "PICMEM_CODE_TREE"),
+        "host_overlay_sha256": contract.overlay_sha256,
+        "dataset_sha256": contract.dataset_sha256,
+        "sidecar_sha256": contract.sidecar_sha256,
+        "feature_sha256": contract.feature_sha256,
+        "source_metadata_sha256": contract.source_metadata_sha256,
+        "artifact_identity_sha256": contract.artifact_identity_sha256,
+        "artifact_hashes_sha256": contract.artifact_hashes_sha256,
+        "replacement_manifest_sha256": contract.replacement_manifest_sha256,
+        "best_visible_manifest_sha256": contract.best_visible_manifest_sha256,
+        "sample_order_manifest_sha256": contract.sample_order_manifest_sha256,
+        "sample_order_sha256": contract.sample_order_sha256,
+        "evaluation_cohort_sha256": contract.cohort_sha256,
+        "resume_lineage": resume_lineage,
+        "global_batch": contract.global_batch_size,
+        "seed": _sampler_natural(config.seed, "config.seed"),
+        "checkpoint_interval": _sampler_natural(config.save_interval, "config.save_interval"),
+    }
+    drift = [name for name, expected_value in expected.items() if getattr(arm, name) != expected_value]
+    drift.extend(name for name, expected_value in factors.items() if getattr(arm, name).value != expected_value)
+    if _gpu_class_from_sku(arm.gpu_sku) != contract.gpu_class:
+        drift.append("gpu_sku")
+    sampler_seed = config.sampler_seed if config.sampler_seed is not None else config.seed
+    if _sampler_natural(sampler_seed, "config.sampler_seed") != arm.seed:
+        drift.append("sampler_seed")
+    if drift:
+        raise ValueError(f"training-process ArmManifest immutable lineage drift: {sorted(set(drift))}")
+
+
+def _validate_bound_calibration(
+    contract: PhaseAContract,
+    config: Any,
+    calibration: SkuCalibrationManifest | None = None,
+) -> None:
+    loaded = _load_bound_training_manifest() if calibration is None else calibration
+    if not isinstance(loaded, SkuCalibrationManifest):
+        raise ValueError("SKU calibration validation received a formal ArmManifest")
+    calibration = loaded
+    if contract.training_manifest_kind != "sku_calibration_v1":
+        raise ValueError("SKU calibration checkpoint contract does not bind sku_calibration_v1")
+    if contract.training_manifest_sha256 != os.environ.get("PICMEM_CALIBRATION_MANIFEST_SHA256"):
+        raise ValueError("checkpoint contract and process calibration-manifest hashes differ")
+
+    lineage = calibration.lineage
+    sample_order = calibration.sample_order
+    runtime = calibration.runtime
+    factors = _factor_environment()
+    expected_lineage = {
+        "parent_commit": contract.code_commit,
+        "parent_tree": _commit(os.environ.get("PICMEM_CODE_TREE"), "PICMEM_CODE_TREE"),
+        "host_overlay_sha256": contract.overlay_sha256,
+        "artifact_schema_version": os.environ.get("PICMEM_ARTIFACT_SCHEMA_VERSION"),
+        "dataset_version": os.environ.get("PICMEM_DATASET_VERSION"),
+        "artifact_hashes_sha256": contract.artifact_hashes_sha256,
+        "dataset_sha256": contract.dataset_sha256,
+        "sidecar_sha256": contract.sidecar_sha256,
+        "feature_sha256": contract.feature_sha256,
+        "source_metadata_sha256": contract.source_metadata_sha256,
+        "source_digest_manifest_sha256": contract.source_digest_sha256,
+        "source_digest_tree_sha256": os.environ.get("PICMEM_SOURCE_DIGEST_TREE_SHA256"),
+        "source_digest_rows": _natural(
+            os.environ.get("PICMEM_SOURCE_DIGEST_ROWS", ""),
+            "PICMEM_SOURCE_DIGEST_ROWS",
+        ),
+        "source_digest_bytes": _natural(
+            os.environ.get("PICMEM_SOURCE_DIGEST_BYTES", ""),
+            "PICMEM_SOURCE_DIGEST_BYTES",
+        ),
+        "artifact_identity_sha256": contract.artifact_identity_sha256,
+        "replacement_manifest_sha256": contract.replacement_manifest_sha256,
+        "best_visible_manifest_sha256": contract.best_visible_manifest_sha256,
+        "evaluation_cohort_sha256": contract.cohort_sha256,
+    }
+    expected_order = {
+        "dataset_sha256": contract.dataset_sha256,
+        "seed": _sampler_natural(
+            config.sampler_seed if config.sampler_seed is not None else config.seed,
+            "config.sampler_seed",
+        ),
+        "global_batch": contract.global_batch_size,
+        "manifest_path": str(contract.sample_order_path),
+        "manifest_sha256": contract.sample_order_manifest_sha256,
+        "sample_order_sha256": contract.sample_order_sha256,
+    }
+    expected_runtime = {
+        "gpu_count": 8,
+        "profile_id": contract.runtime_profile_id,
+        "candidate_id": contract.runtime_candidate_id,
+        "policy_sha256": contract.runtime_policy_sha256,
+        "plan_sha256": contract.runtime_plan_sha256,
+        "world_size": 8,
+        "global_batch": contract.global_batch_size,
+        "micro_batch_per_device": contract.micro_batch_per_device,
+        "gradient_accumulation_steps": contract.gradient_accumulation_steps,
+        "dataloader_workers": contract.dataloader_workers,
+        "prefetch_factor": contract.prefetch_factor,
+        "xla_preallocate": contract.xla_preallocate,
+        "xla_memory_fraction": contract.xla_memory_fraction,
+        "nccl_collective_channel_cap": contract.nccl_collective_channel_cap,
+        "nccl_p2p_channel_cap": contract.nccl_p2p_channel_cap,
+        "checkpoint_interval": contract.runtime_checkpoint_interval,
+        "train_steps": _sampler_natural(config.num_train_steps, "config.num_train_steps"),
+    }
+    expected_p2p = f"--xla_gpu_nccl_p2p_max_nchannels={contract.nccl_p2p_channel_cap}"
+    base_flags = tuple(flag for flag in contract.xla_flags.split() if flag != expected_p2p)
+    drift = []
+    if calibration.calibration_id != contract.job:
+        drift.append("calibration_id")
+    if calibration.resume_lineage != _resume_lineage():
+        drift.append("resume_lineage")
+    drift.extend(
+        f"lineage.{name}"
+        for name, expected_value in expected_lineage.items()
+        if getattr(lineage, name) != expected_value
+    )
+    drift.extend(
+        f"sample_order.{name}"
+        for name, expected_value in expected_order.items()
+        if getattr(sample_order, name) != expected_value
+    )
+    drift.extend(
+        f"runtime.{name}"
+        for name, expected_value in expected_runtime.items()
+        if str(getattr(runtime, name)) != str(expected_value)
+    )
+    if runtime.xla_base_flags != base_flags:
+        drift.append("runtime.xla_base_flags")
+    if runtime.gpu_class.value != contract.gpu_class:
+        drift.append("runtime.gpu_class")
+    if _gpu_class_from_sku(runtime.gpu_sku) != contract.gpu_class:
+        drift.append("runtime.gpu_sku")
+    drift.extend(
+        f"factors.{name}"
+        for name, expected_value in factors.items()
+        if getattr(calibration.factors, name).value != expected_value
+    )
+    if drift:
+        raise ValueError(f"training-process SKU calibration immutable lineage drift: {sorted(set(drift))}")
+
+
+def _validate_bound_training_manifest(contract: PhaseAContract, config: Any) -> None:
+    manifest = _load_bound_training_manifest()
+    if contract.launch_kind == "formal":
+        if not isinstance(manifest, ArmManifest):
+            raise ValueError("formal launch requires an ArmManifest")
+        _validate_bound_arm(contract, config, manifest)
+    elif contract.launch_kind == "sku_smoke":
+        if not isinstance(manifest, SkuCalibrationManifest):
+            raise ValueError("SKU smoke requires a SkuCalibrationManifest")
+        _validate_bound_calibration(contract, config, manifest)
+    else:
+        raise ValueError("unsupported Phase-A training manifest launch kind")
+
+
+def _validate_phase_a_factor_contract(frame_selection: Mapping[str, Any]) -> None:
+    """Require the resolved YAML, process environment, and arm to name one treatment."""
+
+    if frame_selection.get("require_explicit_factors") is not True:
+        raise ValueError("formal Phase-A YAML must require explicit factors")
+    manifest = _load_bound_training_manifest()
+    factor_source = manifest if isinstance(manifest, ArmManifest) else manifest.factors
+    names = {
+        "selection_mode": "PICMEM_PHASE_A_SELECTION_MODE",
+        "metadata_mode": "PICMEM_PHASE_A_METADATA_MODE",
+        "reader_mode": "PICMEM_PHASE_A_READER_MODE",
+        "manager_mode": "PICMEM_PHASE_A_MANAGER_MODE",
+    }
+    drift = []
+    for name, environment_name in names.items():
+        yaml_value = frame_selection.get(name)
+        environment_value = os.environ.get(environment_name)
+        manifest_value = getattr(factor_source, name).value
+        if not isinstance(yaml_value, str) or not yaml_value:
+            drift.append(f"yaml.{name}")
+        if not isinstance(environment_value, str) or not environment_value:
+            drift.append(f"environment.{name}")
+        if yaml_value != environment_value or yaml_value != manifest_value:
+            drift.append(name)
+    if drift:
+        raise ValueError(f"Phase-A manifest/environment/YAML factor drift: {sorted(set(drift))}")
+
+
+class PhaseASampler(Protocol):
+    """Minimal checkpointable sampler interface consumed by the host runtime."""
+
+    seed: int
+    batch_size: int
+    num_batches: int
+    epoch: int
+    batch_cursor: int
+
+    def state_dict(self) -> dict[str, Any]: ...
+
+    def load_state_dict(self, state: Mapping[str, Any]) -> None: ...
+
+    def mark_batch_consumed(self) -> None: ...
+
+    def next_batch_sample_ids(self) -> tuple[str, ...]: ...
+
+    def __iter__(self) -> Iterator[int]: ...
+
+    def __len__(self) -> int: ...
+
+
+class PhaseASmokeRandomSampler(torch.utils.data.Sampler[int]):
+    """Synthetic smoke-only sampler; formal loading never constructs this class."""
+
+    def __init__(
+        self,
+        dataset_size: int,
+        *,
+        batch_size: int,
+        seed: int,
+        epoch: int = 0,
+        batch_cursor: int = 0,
+    ) -> None:
+        if dataset_size < batch_size or batch_size <= 0:
+            raise ValueError("checkpointable sampler requires at least one positive full batch")
+        if seed < 0 or epoch < 0 or batch_cursor < 0:
+            raise ValueError("checkpointable sampler seed/position must be non-negative")
+        if seed > np.iinfo(np.uint64).max:
+            raise ValueError("checkpointable sampler seed must fit in uint64")
+        self.dataset_size = int(dataset_size)
+        self.batch_size = int(batch_size)
+        self.seed = int(seed)
+        self.num_batches = self.dataset_size // self.batch_size
+        self.epoch = int(epoch)
+        self.batch_cursor = 0
+        self.set_position(epoch=epoch, batch_cursor=batch_cursor)
+
+    def _order(self, epoch: int) -> np.ndarray:
+        sequence = np.random.SeedSequence([self.seed, int(epoch)])
+        rng = np.random.default_rng(sequence)
+        return rng.permutation(self.dataset_size)[: self.num_batches * self.batch_size]
+
+    def next_batch_sample_ids(self) -> tuple[str, ...]:
+        start = self.batch_cursor * self.batch_size
+        end = start + self.batch_size
+        return tuple(
+            hashlib.sha256(f"picmem-smoke-row:{int(value)}".encode("ascii")).hexdigest()
+            for value in self._order(self.epoch)[start:end]
+        )
+
+    def state_dict(self) -> dict[str, Any]:
+        return {
+            "schema_version": SMOKE_SAMPLER_SCHEMA,
+            "subset_manifest_sha256": SMOKE_SUBSET_SHA256,
+            "seed": self.seed,
+            "batch_size": self.batch_size,
+            "num_batches": self.num_batches,
+            "epoch": self.epoch,
+            "batch_cursor": self.batch_cursor,
+            "next_sample_ids": list(self.next_batch_sample_ids()),
+        }
+
+    def load_state_dict(self, state: Mapping[str, Any]) -> None:
+        expected = {
+            "schema_version",
+            "subset_manifest_sha256",
+            "seed",
+            "batch_size",
+            "num_batches",
+            "epoch",
+            "batch_cursor",
+            "next_sample_ids",
+        }
+        if set(state) != expected:
+            raise ValueError("Phase-A smoke sampler state fields mismatch")
+        immutable = (
+            state["schema_version"],
+            state["subset_manifest_sha256"],
+            state["seed"],
+            state["batch_size"],
+            state["num_batches"],
+        )
+        expected_immutable = (
+            SMOKE_SAMPLER_SCHEMA,
+            SMOKE_SUBSET_SHA256,
+            self.seed,
+            self.batch_size,
+            self.num_batches,
+        )
+        if immutable != expected_immutable:
+            raise ValueError("Phase-A smoke sampler lineage mismatch")
+        self.set_position(epoch=int(state["epoch"]), batch_cursor=int(state["batch_cursor"]))
+        supplied = tuple(
+            _sample_identity(value, "smoke sampler next_sample_ids item") for value in state["next_sample_ids"]
+        )
+        if supplied != self.next_batch_sample_ids():
+            raise ValueError("Phase-A smoke sampler next sample IDs mismatch")
+
+    def set_position(self, *, epoch: int, batch_cursor: int) -> None:
+        if epoch < 0 or not 0 <= batch_cursor < self.num_batches:
+            raise ValueError("Phase-A sampler position is outside the complete-batch epoch")
+        self.epoch = int(epoch)
+        self.batch_cursor = int(batch_cursor)
+
+    def mark_batch_consumed(self) -> None:
+        cursor = self.batch_cursor + 1
+        if cursor == self.num_batches:
+            self.epoch += 1
+            cursor = 0
+        self.batch_cursor = cursor
+
+    def __iter__(self):
+        start = self.batch_cursor * self.batch_size
+        yield from (int(value) for value in self._order(self.epoch)[start:])
+
+    def __len__(self) -> int:
+        return (self.num_batches - self.batch_cursor) * self.batch_size
+
+
+class PhaseADataLoader:
+    def __init__(
+        self,
+        data_config: Any,
+        data_loader: TorchDataLoader,
+        sampler: PhaseASampler,
+        sample_order: Mapping[str, Any],
+    ):
+        self._data_config = data_config
+        self._data_loader = data_loader
+        self.sampler = sampler
+        self._sample_order = dict(sample_order)
+        self.last_batch_task_counts: dict[str, int] = {}
+
+    def data_config(self) -> Any:
+        return self._data_config
+
+    def __iter__(self):
+        for batch in self._data_loader:
+            self._validate_sample_order_state(self.sampler.state_dict())
+            result = HistAugObservation.from_dict(batch), batch["actions"]
+            self.sampler.mark_batch_consumed()
+            yield result
+
+    def sampler_state_dict(self) -> dict[str, Any]:
+        state = self.sampler.state_dict()
+        self._validate_sample_order_state(state)
+        return state
+
+    def load_sampler_state_dict(self, state: Mapping[str, Any]) -> None:
+        self.sampler.load_state_dict(state)
+        self._validate_sample_order_state(self.sampler.state_dict())
+
+    def _validate_sample_order_state(
+        self,
+        state: Mapping[str, Any],
+        *,
+        authoritative_step: int | None = None,
+    ) -> None:
+        parsed = _sampler_state(state)
+        step = parsed["epoch"] * parsed["num_batches"] + parsed["batch_cursor"]
+        if authoritative_step is not None and step != authoritative_step:
+            raise ValueError("Run084 sampler cursor differs from the authoritative global step")
+        train_steps = _sampler_natural(self._sample_order.get("train_steps"), "sample_order.train_steps")
+        if step > train_steps:
+            raise ValueError("Run084 sampler advanced beyond the frozen 80k sample order")
+        sample_ids = parsed["next_sample_ids"]
+        if step < train_steps:
+            batch_digests = self._sample_order.get("batch_sha256")
+            if not isinstance(batch_digests, list) or len(batch_digests) != train_steps:
+                raise ValueError("Run084 sample-order batch digest geometry drift")
+            raw = b"".join(bytes.fromhex(identity) for identity in sample_ids)
+            if hashlib.sha256(raw).hexdigest() != batch_digests[step]:
+                raise ValueError("live Run084 sampler batch differs from the frozen sample order")
+        else:
+            probes = self._sample_order.get("probe_batches")
+            expected = probes.get(str(step)) if isinstance(probes, Mapping) else None
+            if expected != sample_ids:
+                raise ValueError("final Run084 sampler cursor differs from the frozen next-batch probe")
+
+
+def create_phase_a_data_loader(
+    dataset_path: str,
+    data_config: Any,
+    history_config: str,
+    action_horizon: int,
+    batch_size: int,
+    *,
+    sharding: jax.sharding.Sharding,
+    num_workers: int,
+    prefetch_factor: int,
+    seed: int,
+    subset_manifest_sha256: str,
+    sidecar_sha256: str,
+    sample_order_path: str | Path,
+    sample_order_manifest_sha256: str,
+    sample_order_sha256: str,
+) -> PhaseADataLoader:
+    history = get_history_config(history_config)
+    frame_selection = history.perceptual_memory.get("frame_selection", {})
+    if (
+        history.representation_type != "perceptual"
+        or history.perceptual_memory.type != "frame_sampling"
+        or frame_selection.get("type") != "picmem_phase_a"
+    ):
+        raise ValueError("Phase-A full-state loader requires the reviewed picmem_phase_a frame selector")
+    _validate_phase_a_factor_contract(frame_selection)
+    if jax.process_count() != 1:
+        raise ValueError("Phase-A checkpointable data loading supports exactly one JAX process")
+    if isinstance(batch_size, bool) or not isinstance(batch_size, int) or batch_size <= 0 or batch_size % 4:
+        raise ValueError("formal Phase-A loader requires a positive four-task-balanced global batch")
+    from picmem.provenance.frozen_artifact import Run084SubsetIndex
+    from picmem.sampling.run084_sample_order import RUN084_FORMAL_TRAIN_STEPS, load_run084_sample_order
+    from picmem.sampling.run084_sampler import Run084TaskBalancedSampler
+
+    subset = Run084SubsetIndex.load(
+        Path(dataset_path) / "meta" / "picmem_subset_manifest.json",
+        expected_sha256=str(_sha256(subset_manifest_sha256, "subset_manifest_sha256")),
+    )
+    if subset.sidecar_tree_sha256 != _sha256(sidecar_sha256, "sidecar_sha256"):
+        raise ValueError("Run084 subset sidecar tree differs from formal lineage")
+    raw_dataset = RoboMMEDataset(
+        dataset_path=dataset_path,
+        data_config=data_config,
+        history_config=history,
+        action_horizon=action_horizon,
+    )
+    dataset = transform_dataset(raw_dataset, data_config)
+    if len(dataset) != len(subset.records):
+        raise ValueError("host dataset length differs from the frozen Run084 subset")
+    sampler = Run084TaskBalancedSampler(
+        subset,
+        batch_size=batch_size,
+        seed=seed,
+        auto_advance=False,
+    )
+    sample_order = load_run084_sample_order(
+        sample_order_path,
+        expected_manifest_sha256=str(_sha256(sample_order_manifest_sha256, "sample_order_manifest_sha256")),
+        expected_sample_order_sha256=str(_sha256(sample_order_sha256, "sample_order_sha256")),
+        subset=subset,
+        seed=seed,
+        batch_size=batch_size,
+        train_steps=RUN084_FORMAL_TRAIN_STEPS,
+        runtime_sampler=sampler,
+    )
+    loader = TorchDataLoader(
+        dataset,
+        local_batch_size=batch_size,
+        sharding=sharding,
+        shuffle=False,
+        sampler=sampler,
+        num_workers=num_workers,
+        seed=seed,
+        framework="jax",
+    )
+    if num_workers <= 0 or prefetch_factor <= 0:
+        raise ValueError("Phase-A formal loader requires positive workers and prefetch_factor")
+    loader.torch_loader.prefetch_factor = prefetch_factor
+    if loader.torch_loader.prefetch_factor != prefetch_factor:
+        raise ValueError("PyTorch DataLoader did not accept the reviewed prefetch_factor")
+    return PhaseADataLoader(data_config, loader, sampler, sample_order)
+
+
+def _sampler_state(value: Mapping[str, Any]) -> dict[str, Any]:
+    expected = {
+        "schema_version",
+        "subset_manifest_sha256",
+        "seed",
+        "batch_size",
+        "num_batches",
+        "epoch",
+        "batch_cursor",
+        "next_sample_ids",
+    }
+    if set(value) != expected:
+        raise ValueError("Phase-A full-state sampler fields mismatch")
+    schema_version = _identifier(value["schema_version"], "sampler.schema_version")
+    if schema_version not in {FORMAL_SAMPLER_SCHEMA, SMOKE_SAMPLER_SCHEMA}:
+        raise ValueError("Phase-A sampler schema is unsupported")
+    batch_size = _sampler_natural(value["batch_size"], "sampler.batch_size")
+    next_ids = tuple(_sample_identity(item, "sampler.next_sample_ids item") for item in value["next_sample_ids"])
+    if batch_size <= 0 or len(next_ids) != batch_size:
+        raise ValueError("Phase-A sampler must name exactly one positive ordered next batch")
+    parsed = {
+        "schema_version": schema_version,
+        "subset_manifest_sha256": str(_sha256(value["subset_manifest_sha256"], "sampler.subset_manifest_sha256")),
+        "seed": _sampler_natural(value["seed"], "sampler.seed"),
+        "batch_size": batch_size,
+        "num_batches": _sampler_natural(value["num_batches"], "sampler.num_batches"),
+        "epoch": _sampler_natural(value["epoch"], "sampler.epoch"),
+        "batch_cursor": _sampler_natural(value["batch_cursor"], "sampler.batch_cursor"),
+        "next_sample_ids": list(next_ids),
+    }
+    if parsed["batch_size"] % 4 or parsed["num_batches"] <= 0:
+        raise ValueError("Phase-A sampler must describe a non-empty four-task-balanced run")
+    if parsed["batch_cursor"] >= parsed["num_batches"]:
+        raise ValueError("Phase-A sampler batch_cursor must be smaller than num_batches")
+    if any(parsed[name] > np.iinfo(np.uint64).max for name in ("seed", "num_batches", "epoch", "batch_cursor")):
+        raise ValueError("Phase-A sampler state values must fit in uint64")
+    return parsed
+
+
+def _scheduler_value(schedule: Any, step: int) -> float:
+    value = float(np.asarray(jax.device_get(schedule(step))))
+    if not math.isfinite(value) or value <= 0:
+        raise ValueError(f"Phase-A learning rate must be finite and positive, got {value}")
+    return value
+
+
+def _resume_payload(
+    state: Any,
+    *,
+    train_rng: Any,
+    sampler_state: Mapping[str, Any],
+    schedule: Any,
+    contract: PhaseAContract,
+) -> dict[str, Any]:
+    if state.ema_params is None:
+        raise ValueError("Phase-A full state requires EMA parameters")
+    step = int(np.asarray(jax.device_get(state.step)))
+    sampler = _sampler_state(sampler_state)
+    if sampler["batch_size"] != contract.global_batch_size:
+        raise ValueError("checkpoint sampler batch differs from the runtime-bound Phase-A contract")
+    if contract.launch_kind in {"formal", "sku_smoke"}:
+        sampler_step = sampler["epoch"] * sampler["num_batches"] + sampler["batch_cursor"]
+        if sampler_step != step:
+            raise ValueError("Run084 sampler cursor differs from authoritative TrainState.step")
+    return {
+        "authoritative_step": state.step,
+        "current_params": state.params,
+        "ema_params": state.ema_params,
+        "optimizer": state.opt_state,
+        "scheduler": {
+            "step": state.step,
+            "learning_rate": jax.numpy.asarray(_scheduler_value(schedule, step), dtype=jax.numpy.float32),
+        },
+        "rng": {"train_key_data": jax.random.key_data(train_rng)},
+        "sampler": {
+            "schema_version_ascii": _ascii_bytes(sampler["schema_version"], "sampler.schema_version"),
+            "subset_manifest_sha256": _digest_bytes(
+                sampler["subset_manifest_sha256"], "sampler.subset_manifest_sha256"
+            ),
+            "seed_u64": _u64_words(sampler["seed"], "sampler.seed"),
+            "batch_size_u64": _u64_words(sampler["batch_size"], "sampler.batch_size"),
+            "num_batches_u64": _u64_words(sampler["num_batches"], "sampler.num_batches"),
+            "epoch_u64": _u64_words(sampler["epoch"], "sampler.epoch"),
+            "batch_cursor_u64": _u64_words(sampler["batch_cursor"], "sampler.batch_cursor"),
+            "next_sample_identity_sha256": jax.numpy.asarray(
+                np.stack(
+                    [np.frombuffer(bytes.fromhex(identity), dtype=np.uint8) for identity in sampler["next_sample_ids"]]
+                )
+            ),
+        },
+        "immutable_lineage": {
+            "config_sha256": _digest_bytes(contract.config_sha256, "config_sha256"),
+            "dataset_sha256": _digest_bytes(contract.dataset_sha256, "dataset_sha256"),
+            "cohort_sha256": _digest_bytes(contract.cohort_sha256, "cohort_sha256"),
+            "sidecar_sha256": _digest_bytes(contract.sidecar_sha256, "sidecar_sha256"),
+            "feature_sha256": _digest_bytes(contract.feature_sha256, "feature_sha256"),
+            "source_metadata_sha256": _digest_bytes(
+                contract.source_metadata_sha256,
+                "source_metadata_sha256",
+            ),
+            "source_digest_sha256": _digest_bytes(
+                contract.source_digest_sha256,
+                "source_digest_sha256",
+            ),
+            "artifact_identity_sha256": _digest_bytes(
+                contract.artifact_identity_sha256,
+                "artifact_identity_sha256",
+            ),
+            "artifact_hashes_sha256": _digest_bytes(
+                contract.artifact_hashes_sha256,
+                "artifact_hashes_sha256",
+            ),
+            "replacement_manifest_sha256": _digest_bytes(
+                contract.replacement_manifest_sha256,
+                "replacement_manifest_sha256",
+            ),
+            "best_visible_manifest_sha256": _digest_bytes(
+                contract.best_visible_manifest_sha256,
+                "best_visible_manifest_sha256",
+            ),
+            "sample_order_path_utf8": _path_bytes(contract.sample_order_path, "sample_order_path"),
+            "sample_order_manifest_sha256": _digest_bytes(
+                contract.sample_order_manifest_sha256,
+                "sample_order_manifest_sha256",
+            ),
+            "sample_order_sha256": _digest_bytes(
+                contract.sample_order_sha256,
+                "sample_order_sha256",
+            ),
+            "training_manifest_sha256": _digest_bytes(
+                contract.training_manifest_sha256,
+                "training_manifest_sha256",
+            ),
+            "overlay_sha256": _digest_bytes(contract.overlay_sha256, "overlay_sha256"),
+            "runtime_policy_sha256": _digest_bytes(
+                contract.runtime_policy_sha256,
+                "runtime_policy_sha256",
+            ),
+            "runtime_plan_sha256": _digest_bytes(contract.runtime_plan_sha256, "runtime_plan_sha256"),
+            "runtime_matrix_sha256": _digest_bytes(
+                contract.runtime_matrix_sha256,
+                "runtime_matrix_sha256",
+            ),
+            "runtime_calibration_sha256": _digest_bytes(
+                contract.runtime_calibration_sha256,
+                "runtime_calibration_sha256",
+            ),
+            "optimizer_sha256": _digest_bytes(contract.optimizer_sha256, "optimizer_sha256"),
+            "learning_rate_schedule_sha256": _digest_bytes(
+                contract.learning_rate_schedule_sha256,
+                "learning_rate_schedule_sha256",
+            ),
+        },
+    }
+
+
+def _decode_sampler(payload: Mapping[str, Any]) -> dict[str, Any]:
+    batch_size = _decode_u64_words(payload["batch_size_u64"], "sampler.batch_size_u64")
+    identity_bytes = np.asarray(
+        jax.device_get(payload["next_sample_identity_sha256"]),
+        dtype=np.uint8,
+    )
+    if identity_bytes.shape != (batch_size, 32):
+        raise ValueError("restored sampler next-sample identity matrix has the wrong shape")
+    return _sampler_state(
+        {
+            "schema_version": _decode_ascii(payload["schema_version_ascii"], "sampler.schema_version_ascii"),
+            "subset_manifest_sha256": _decode_digest(
+                payload["subset_manifest_sha256"], "sampler.subset_manifest_sha256"
+            ),
+            "seed": _decode_u64_words(payload["seed_u64"], "sampler.seed_u64"),
+            "batch_size": batch_size,
+            "num_batches": _decode_u64_words(payload["num_batches_u64"], "sampler.num_batches_u64"),
+            "epoch": _decode_u64_words(payload["epoch_u64"], "sampler.epoch_u64"),
+            "batch_cursor": _decode_u64_words(payload["batch_cursor_u64"], "sampler.batch_cursor_u64"),
+            "next_sample_ids": [row.tobytes().hex() for row in identity_bytes],
+        }
+    )
+
+
+def _validate_resume_lineage(payload: Mapping[str, Any], contract: PhaseAContract) -> None:
+    expected = {
+        "config_sha256": contract.config_sha256,
+        "dataset_sha256": contract.dataset_sha256,
+        "cohort_sha256": contract.cohort_sha256,
+        "sidecar_sha256": contract.sidecar_sha256,
+        "feature_sha256": contract.feature_sha256,
+        "source_metadata_sha256": contract.source_metadata_sha256,
+        "source_digest_sha256": contract.source_digest_sha256,
+        "artifact_identity_sha256": contract.artifact_identity_sha256,
+        "artifact_hashes_sha256": contract.artifact_hashes_sha256,
+        "replacement_manifest_sha256": contract.replacement_manifest_sha256,
+        "best_visible_manifest_sha256": contract.best_visible_manifest_sha256,
+        "sample_order_path_utf8": str(contract.sample_order_path),
+        "sample_order_manifest_sha256": contract.sample_order_manifest_sha256,
+        "sample_order_sha256": contract.sample_order_sha256,
+        "training_manifest_sha256": contract.training_manifest_sha256,
+        "overlay_sha256": contract.overlay_sha256,
+        "runtime_policy_sha256": contract.runtime_policy_sha256,
+        "runtime_plan_sha256": contract.runtime_plan_sha256,
+        "runtime_matrix_sha256": contract.runtime_matrix_sha256,
+        "runtime_calibration_sha256": contract.runtime_calibration_sha256,
+        "optimizer_sha256": contract.optimizer_sha256,
+        "learning_rate_schedule_sha256": contract.learning_rate_schedule_sha256,
+    }
+    if set(payload) != set(expected):
+        raise ValueError("Phase-A restored immutable lineage fields mismatch")
+    drift = []
+    for name, value in expected.items():
+        actual = (
+            _decode_path(payload[name], "sample_order_path")
+            if name == "sample_order_path_utf8"
+            else _decode_digest(payload[name], name)
+        )
+        if actual != value:
+            drift.append(name)
+    if drift:
+        raise ValueError(f"Phase-A restored immutable lineage drift: {drift}")
+
+
+def materialize_phase_a_contract(contract: PhaseAContract, config: Any) -> Path:
+    path = contract.checkpoint_root / "picmem_phase_a_full_state_contract.json"
+    payload = contract.stable_json(config)
+    if path.exists():
+        if path.is_symlink() or not path.is_file() or path.read_bytes() != _canonical_json(payload):
+            raise ValueError("Phase-A immutable checkpoint-root contract drift")
+    else:
+        _write_atomic_json(path, payload)
+    return path
+
+
+def _save_assets(directory: epath.Path, data_loader: PhaseADataLoader, contract_path: Path) -> None:
+    data_config = data_loader.data_config()
+    if data_config.norm_stats is not None and data_config.asset_id is not None:
+        _normalize.save(directory / data_config.asset_id, data_config.norm_stats)
+    shutil.copyfile(contract_path, Path(directory) / contract_path.name)
+
+
+def _write_state_manifest(checkpoint_dir: Path, step: int, sampler: Mapping[str, Any]) -> None:
+    assets_digest = path_sha256(checkpoint_dir / "assets")
+    resume_digest = path_sha256(checkpoint_dir / "resume_state")
+    params_digest = path_sha256(checkpoint_dir / "params")
+    components = {
+        "assets": StateComponent("assets", "assets", assets_digest),
+        "trainable_params": StateComponent("resume_state", "resume_state/current_params", resume_digest),
+        "ema_params": StateComponent("resume_state", "resume_state/ema_params", resume_digest),
+        "inference_params": StateComponent("params", "params/inference_params", params_digest),
+        "optimizer": StateComponent("resume_state", "resume_state/optimizer", resume_digest),
+        "scheduler": StateComponent("resume_state", "resume_state/scheduler", resume_digest),
+        "rng": StateComponent("resume_state", "resume_state/rng", resume_digest),
+    }
+    parsed_sampler = _sampler_state(sampler)
+    manifest = StateManifest(
+        authoritative_global_step=step,
+        components=components,
+        sampler=SamplerState(
+            path="resume_state",
+            orbax_item="resume_state/sampler",
+            sha256=resume_digest,
+            schema_version=parsed_sampler["schema_version"],
+            subset_manifest_sha256=parsed_sampler["subset_manifest_sha256"],
+            seed=parsed_sampler["seed"],
+            batch_size=parsed_sampler["batch_size"],
+            num_batches=parsed_sampler["num_batches"],
+            epoch=parsed_sampler["epoch"],
+            batch_cursor=parsed_sampler["batch_cursor"],
+            next_sample_ids=tuple(parsed_sampler["next_sample_ids"]),
+        ),
+    )
+    _write_atomic_json(checkpoint_dir / "picmem_state_manifest.json", manifest.to_json())
+
+
+def save_phase_a_checkpoint(
+    checkpoint_manager: Any,
+    state: Any,
+    data_loader: PhaseADataLoader,
+    step: int,
+    *,
+    contract: PhaseAContract,
+    contract_path: Path,
+    train_rng: Any,
+    schedule: Any,
+) -> CheckpointInfo:
+    authoritative_step = int(np.asarray(jax.device_get(state.step)))
+    if int(step) != authoritative_step:
+        raise ValueError("checkpoint step differs from authoritative TrainState.step")
+    sampler = data_loader.sampler_state_dict()
+    payload = _resume_payload(
+        state,
+        train_rng=train_rng,
+        sampler_state=sampler,
+        schedule=schedule,
+        contract=contract,
+    )
+    accepted = checkpoint_manager.save(
+        authoritative_step,
+        {
+            "assets": lambda directory: _save_assets(directory, data_loader, contract_path),
+            "params": {"params": state.ema_params},
+            "resume_state": payload,
+        },
+    )
+    if not accepted:
+        raise RuntimeError(f"checkpoint manager rejected Phase-A full-state step {authoritative_step}")
+    checkpoint_manager.wait_until_finished()
+    checkpoint_dir = Path(checkpoint_manager.directory) / str(authoritative_step)
+    _write_state_manifest(checkpoint_dir, authoritative_step, sampler)
+    info = finalize_checkpoint(checkpoint_dir, contract.checkpoint_metadata(authoritative_step))
+    print(f"PICMEM_CHECKPOINT_FINALIZE_COMPLETE step={authoritative_step}", flush=True)
+    return info
+
+
+def _tree_equal(left: Any, right: Any) -> bool:
+    if jax.tree_util.tree_structure(left) != jax.tree_util.tree_structure(right):
+        return False
+    return all(
+        np.array_equal(np.asarray(jax.device_get(a)), np.asarray(jax.device_get(b)))
+        for a, b in zip(jax.tree_util.tree_leaves(left), jax.tree_util.tree_leaves(right), strict=True)
+    )
+
+
+def _validate_checkpoint_contract(info: CheckpointInfo, contract: PhaseAContract) -> None:
+    metadata = info.metadata
+    expected = {
+        "experiment": contract.experiment,
+        "job": contract.job,
+        "run_id": contract.run_id,
+        "gpu_class": contract.gpu_class,
+        "world_size": 8,
+        "fsdp_devices": 8,
+        "launch_kind": contract.launch_kind,
+        "training_manifest_kind": contract.training_manifest_kind,
+        "training_manifest_sha256": contract.training_manifest_sha256,
+        "runtime_profile_id": contract.runtime_profile_id,
+        "runtime_candidate_id": contract.runtime_candidate_id,
+        "runtime_policy_sha256": contract.runtime_policy_sha256,
+        "runtime_plan_sha256": contract.runtime_plan_sha256,
+        "runtime_matrix_sha256": contract.runtime_matrix_sha256,
+        "runtime_calibration_sha256": contract.runtime_calibration_sha256,
+        "optimizer_sha256": contract.optimizer_sha256,
+        "learning_rate_schedule_sha256": contract.learning_rate_schedule_sha256,
+        "global_batch_size": contract.global_batch_size,
+        "micro_batch_per_device": contract.micro_batch_per_device,
+        "gradient_accumulation_steps": contract.gradient_accumulation_steps,
+        "dataloader_workers": contract.dataloader_workers,
+        "prefetch_factor": contract.prefetch_factor,
+        "xla_preallocate": contract.xla_preallocate,
+        "xla_memory_fraction": contract.xla_memory_fraction,
+        "nccl_collective_channel_cap": contract.nccl_collective_channel_cap,
+        "nccl_p2p_channel_cap": contract.nccl_p2p_channel_cap,
+        "xla_flags": contract.xla_flags,
+        "checkpoint_interval": contract.runtime_checkpoint_interval,
+        "interface_commit": contract.interface_commit,
+        "code_commit": contract.code_commit,
+        "config_sha256": contract.config_sha256,
+        "dataset_sha256": contract.dataset_sha256,
+        "cohort_sha256": contract.cohort_sha256,
+        "sidecar_sha256": contract.sidecar_sha256,
+        "feature_sha256": contract.feature_sha256,
+        "source_metadata_sha256": contract.source_metadata_sha256,
+        "source_digest_sha256": contract.source_digest_sha256,
+        "artifact_identity_sha256": contract.artifact_identity_sha256,
+        "artifact_hashes_sha256": contract.artifact_hashes_sha256,
+        "replacement_manifest_sha256": contract.replacement_manifest_sha256,
+        "best_visible_manifest_sha256": contract.best_visible_manifest_sha256,
+        "sample_order_path": str(contract.sample_order_path),
+        "sample_order_manifest_sha256": contract.sample_order_manifest_sha256,
+        "sample_order_sha256": contract.sample_order_sha256,
+        "overlay_sha256": contract.overlay_sha256,
+    }
+    actual = {name: getattr(metadata, name) for name in expected}
+    actual["gpu_class"] = metadata.gpu_class.value
+    drift = [name for name, value in expected.items() if actual[name] != value]
+    if drift:
+        raise ValueError(f"Phase-A resume checkpoint lineage drift: {drift}")
+    if metadata.generation >= contract.generation:
+        raise ValueError("Phase-A resume checkpoint is not from an earlier generation")
+    if contract.parent_metadata_sha256 != info.metadata_sha256:
+        raise ValueError("Phase-A resume parent edge differs from the selected checkpoint metadata hash")
+
+
+def restore_phase_a_checkpoint(
+    checkpoint_manager: Any,
+    state: Any,
+    data_loader: PhaseADataLoader,
+    *,
+    contract: PhaseAContract,
+    train_rng: Any,
+    schedule: Any,
+    step: int,
+) -> tuple[Any, Any, dict[str, Any], CheckpointInfo]:
+    checkpoint_dir = Path(checkpoint_manager.directory) / str(int(step))
+    info = validate_checkpoint(
+        checkpoint_dir,
+        expected_experiment=contract.experiment,
+        expected_job=contract.job,
+        expected_gpu_class=contract.gpu_class,
+    )
+    _validate_checkpoint_contract(info, contract)
+    target = _resume_payload(
+        state,
+        train_rng=train_rng,
+        sampler_state=data_loader.sampler_state_dict(),
+        schedule=schedule,
+        contract=contract,
+    )
+    try:
+        restored = checkpoint_manager.restore(
+            int(step),
+            items={"resume_state": target, "params": {"params": state.ema_params}},
+        )
+    except Exception as exc:
+        raise ValueError("Phase-A Orbax resume state is missing or corrupt") from exc
+    payload = restored["resume_state"]
+    restored_step = int(np.asarray(jax.device_get(payload["authoritative_step"])))
+    scheduler_step = int(np.asarray(jax.device_get(payload["scheduler"]["step"])))
+    if restored_step != int(step) or scheduler_step != restored_step:
+        raise ValueError("Phase-A authoritative/scheduler/checkpoint steps disagree")
+    saved_lr = float(np.asarray(jax.device_get(payload["scheduler"]["learning_rate"])))
+    expected_lr = _scheduler_value(schedule, restored_step)
+    if not np.isclose(saved_lr, expected_lr, rtol=1e-6, atol=0.0):
+        raise ValueError("Phase-A restored scheduler value differs from the immutable schedule")
+    if not _tree_equal(payload["ema_params"], restored["params"]["params"]):
+        raise ValueError("Phase-A inference params differ from restored EMA params")
+    _validate_resume_lineage(payload["immutable_lineage"], contract)
+    sampler = _decode_sampler(payload["sampler"])
+    if contract.launch_kind in {"formal", "sku_smoke"}:
+        sampler_step = sampler["epoch"] * sampler["num_batches"] + sampler["batch_cursor"]
+        if sampler_step != restored_step:
+            raise ValueError("restored Run084 sampler cursor differs from authoritative checkpoint step")
+    data_loader.load_sampler_state_dict(sampler)
+    restored_rng = jax.random.wrap_key_data(payload["rng"]["train_key_data"])
+    restored_state = dataclasses.replace(
+        state,
+        step=payload["authoritative_step"],
+        params=payload["current_params"],
+        opt_state=payload["optimizer"],
+        ema_params=payload["ema_params"],
+    )
+    return restored_state, restored_rng, sampler, info
+
+
+class PhaseAMetricWriter:
+    FIELDS = ("schema_version", "wall_time", "step", "learning_rate", "loss", "metrics_json")
+
+    def __init__(self, path: Path):
+        self.path = path
+        path.parent.mkdir(parents=True, exist_ok=True)
+        self._stream = path.open("x", newline="")
+        self._writer = csv.DictWriter(self._stream, fieldnames=self.FIELDS, delimiter="\t", lineterminator="\n")
+        self._writer.writeheader()
+        self._flush()
+
+    def _flush(self) -> None:
+        self._stream.flush()
+        os.fsync(self._stream.fileno())
+
+    def write(self, *, step: int, learning_rate: float, metrics: Mapping[str, Any]) -> None:
+        parsed: dict[str, float] = {}
+        for name, value in metrics.items():
+            array = np.asarray(jax.device_get(value))
+            if array.size == 1:
+                scalar = float(array.reshape(()))
+                if not math.isfinite(scalar):
+                    raise ValueError(f"Phase-A metric {name} is not finite")
+                parsed[name] = scalar
+        if "loss" not in parsed:
+            raise ValueError("Phase-A metrics are missing scalar loss")
+        if not math.isfinite(learning_rate) or learning_rate <= 0:
+            raise ValueError("Phase-A metric learning rate must be finite and positive")
+        self._writer.writerow(
+            {
+                "schema_version": PHASE_A_METRICS_SCHEMA,
+                "wall_time": datetime.now().astimezone().isoformat(timespec="seconds"),
+                "step": int(step),
+                "learning_rate": repr(float(learning_rate)),
+                "loss": repr(parsed["loss"]),
+                "metrics_json": json.dumps(parsed, sort_keys=True, separators=(",", ":")),
+            }
+        )
+        self._flush()
+
+    def close(self) -> None:
+        if not self._stream.closed:
+            self._stream.close()
+
+    def __enter__(self) -> PhaseAMetricWriter:
+        return self
+
+    def __exit__(self, *_: Any) -> None:
+        self.close()
+
+
+class ContinuityEmitter:
+    def __init__(self, contract: PhaseAContract, metrics_path: Path):
+        self.contract = contract
+        self.metrics_path = metrics_path.resolve()
+        if self.metrics_path != contract.metrics_path:
+            raise ValueError("continuity emitter metrics path differs from the Phase-A contract")
+        self.pending: Any | None = None
+        self.sampler: SamplerContinuity | None = None
+        self.resume_step: int | None = None
+        self.rng_sha256: str | None = None
+        self._boundary_step: int | None = None
+        self._boundary_sampler: SamplerContinuity | None = None
+        self._boundary_rng_sha256: str | None = None
+
+    @staticmethod
+    def _sampler(value: Mapping[str, Any]) -> SamplerContinuity:
+        parsed = _sampler_state(value)
+        return SamplerContinuity(
+            schema_version=parsed["schema_version"],
+            subset_manifest_sha256=parsed["subset_manifest_sha256"],
+            seed=parsed["seed"],
+            batch_size=parsed["batch_size"],
+            num_batches=parsed["num_batches"],
+            epoch=parsed["epoch"],
+            batch_cursor=parsed["batch_cursor"],
+            next_sample_ids=tuple(parsed["next_sample_ids"]),
+        )
+
+    @staticmethod
+    def _rng_sha256(train_rng: Any) -> str:
+        key_data = np.asarray(jax.device_get(jax.random.key_data(train_rng)), dtype=np.uint32)
+        return hashlib.sha256(key_data.tobytes(order="C")).hexdigest()
+
+    def _report_path(self, pending: Any) -> Path:
+        return self.contract.watch_state_dir / f"continuity-{pending.request_id}.json"
+
+    def _clear_completed_request(self) -> None:
+        """Re-arm the live process for a later pause in the same generation."""
+
+        self.pending = None
+        self.sampler = None
+        self.resume_step = None
+        self.rng_sha256 = None
+
+    def _capture_pending_from_boundary(self) -> None:
+        if self.pending is not None:
+            return
+        state_path = self.contract.watch_state_dir / "state.json"
+        if not state_path.is_file() or state_path.is_symlink():
+            return
+        state = WatchState.from_json(json.loads(state_path.read_text(encoding="utf-8")))
+        if (state.experiment, state.job, state.generation) != (
+            self.contract.experiment,
+            self.contract.job,
+            self.contract.generation,
+        ):
+            raise ValueError("watch state identity/generation differs from the running Phase-A process")
+        pending = state.pending_continuity
+        if pending is None:
+            return
+        report_path = self._report_path(pending)
+        if report_path.exists():
+            return
+        if self._boundary_step is None or self._boundary_sampler is None or self._boundary_rng_sha256 is None:
+            raise ValueError("continuity request arrived before a live trainer boundary was recorded")
+        if pending.mode is ContinuityMode.RESTART_ZERO:
+            if self._boundary_step != 0 or pending.resume_step != 0:
+                raise ValueError("restart_zero did not begin from authoritative step zero")
+        elif pending.mode is ContinuityMode.CHECKPOINT_RESUME:
+            if self._boundary_step != pending.resume_step:
+                raise ValueError("running state step differs from watchdog checkpoint handoff")
+        elif pending.resume_step is not None or pending.expected_sampler is not None:
+            raise ValueError("paused resume request guessed a lagging checkpoint handoff")
+        if pending.expected_sampler is not None and self._boundary_sampler != pending.expected_sampler:
+            raise ValueError("restored sampler differs from watchdog checkpoint handoff")
+        self.pending = pending
+        self.resume_step = self._boundary_step
+        self.sampler = self._boundary_sampler
+        self.rng_sha256 = self._boundary_rng_sha256
+
+    def capture_pending(
+        self,
+        *,
+        current_step: int,
+        sampler_state: Mapping[str, Any],
+        train_rng: Any,
+    ) -> None:
+        """Record a live loop boundary and acknowledge any pending request.
+
+        The method is intentionally called before every batch. ``after_metric``
+        checks again so a process paused during a device step still uses the
+        exact pre-step sampler/RNG boundary and the first post-resume metric.
+        """
+
+        self._boundary_step = _sampler_natural(current_step, "continuity current_step")
+        self._boundary_sampler = self._sampler(sampler_state)
+        if self._boundary_sampler.batch_size != self.contract.global_batch_size:
+            raise ValueError("continuity sampler batch differs from the runtime-bound Phase-A contract")
+        self._boundary_rng_sha256 = self._rng_sha256(train_rng)
+        self._capture_pending_from_boundary()
+
+    def after_metric(self, *, first_metric_step: int, learning_rate: float) -> None:
+        self._capture_pending_from_boundary()
+        if self.pending is None or self.sampler is None or self.resume_step is None or self.rng_sha256 is None:
+            return
+        pending = self.pending
+        report_path = self._report_path(pending)
+        if report_path.exists():
+            verify_continuity(
+                report_path,
+                pending,
+                self.contract.experiment,
+                self.contract.job,
+            )
+            self._clear_completed_request()
+            return
+        if first_metric_step != self.resume_step + 1:
+            raise ValueError("first continuity metric is not the exact live next step")
+        marker = "PICMEM_CLEAN_START_OK" if pending.mode is ContinuityMode.RESTART_ZERO else "PICMEM_RESUME_OK"
+        payload = {
+            "schema_version": CONTINUITY_SCHEMA,
+            "experiment": self.contract.experiment,
+            "job": self.contract.job,
+            "generation": self.contract.generation,
+            "mode": pending.mode.value,
+            "request_id": pending.request_id,
+            "resume_marker": marker,
+            "resume_step": self.resume_step,
+            "first_metric_step": int(first_metric_step),
+            "learning_rate": float(learning_rate),
+            "rng_sha256": self.rng_sha256,
+            "sampler": self.sampler.to_json(),
+            "metrics_path": str(self.metrics_path),
+            "prior_metrics_reused": False,
+        }
+        _write_atomic_json(report_path, payload)
+        verify_continuity(
+            report_path,
+            pending,
+            self.contract.experiment,
+            self.contract.job,
+        )
+        self._clear_completed_request()
+
+
+__all__ = [
+    "PHASE_A_HISTORY_CONFIG",
+    "ContinuityEmitter",
+    "PhaseAContract",
+    "PhaseADataLoader",
+    "PhaseAMetricWriter",
+    "PhaseASampler",
+    "PhaseASmokeRandomSampler",
+    "create_phase_a_data_loader",
+    "initialize_phase_a_checkpoint_dir",
+    "materialize_phase_a_contract",
+    "restore_phase_a_checkpoint",
+    "save_phase_a_checkpoint",
+    "validate_phase_a_topology",
+]

checkpoints/r2/pick3/baseline/step9000/code/integrations/robomme/src/mme_vla_suite/training/picmem_phase_a_reader.py

@@ -0,0 +1,717 @@
+"""Token-layout and metadata materialization for the Phase-A visual reader.
+
+The standalone :mod:`picmem.memory` package owns the frozen ``Read`` and
+``SelectedFrame`` contracts.  This host adapter is deliberately the only place
+that turns those frame-level records into RoboMME's fixed 512-token
+observation.  Visual selection is kept separate from metadata interventions so
+all metadata arms retain byte-identical image features, PosEmb3D tensors and
+valid-token masks.
+"""
+
+from __future__ import annotations
+
+import hashlib
+from collections.abc import Mapping, Sequence
+from dataclasses import dataclass
+from typing import Any
+
+import numpy as np
+
+from picmem.memory.contracts import (
+    ManagerMode,
+    MetadataMode,
+    ReaderMode,
+    SelectedFrame,
+    SelectionMode,
+)
+from picmem.memory.memory import MemoryInvariantError, Read
+
+FRAME_BUDGET = 32
+TOKEN_BUDGET = 512
+FIXED_TOKENS_PER_FRAME = 16
+MAX_VARIABLE_EVIDENCE = 6
+FLOAT32_NEGATIVE_ZERO_BITS = np.uint32(0x80000000)
+
+TIME_CHANNELS = 3
+EVENT_VOCAB_SIZE = 4096
+CONTRACT_VOCAB_SIZE = 128
+STATUS_VOCAB_SIZE = 32
+EVENT_ORDINAL_VOCAB_SIZE = 128
+
+FACTOR_FIELDS = frozenset({"selection_mode", "metadata_mode", "reader_mode", "manager_mode"})
+
+OBSERVATION_FIELDS = (
+    "phase_a_frame_indices",
+    "phase_a_capture_steps",
+    "phase_a_time_values",
+    "phase_a_time_mask",
+    "phase_a_role_ids",
+    "phase_a_role_mask",
+    "phase_a_event_ids",
+    "phase_a_event_ordinals",
+    "phase_a_contract_ids",
+    "phase_a_status_ids",
+    "phase_a_categorical_mask",
+    "phase_a_confidence",
+    "phase_a_evidence_mask",
+    "phase_a_valid_mask",
+)
+
+
+@dataclass(frozen=True)
+class PhaseAFactors:
+    """The four declared experiment factors consumed by this host path."""
+
+    selection_mode: SelectionMode = SelectionMode.RELEVANT
+    metadata_mode: MetadataMode = MetadataMode.NEUTRAL
+    reader_mode: ReaderMode = ReaderMode.FIXED16
+    manager_mode: ManagerMode = ManagerMode.FULL_EVOLVING
+
+    @classmethod
+    def from_mapping(
+        cls,
+        raw: Mapping[str, Any] | None,
+        *,
+        require_explicit: bool = False,
+    ) -> PhaseAFactors:
+        if raw is None:
+            raw = {}
+        if not isinstance(raw, Mapping):
+            raise ValueError("Phase-A factors must be a mapping")
+        unknown = set(raw) - FACTOR_FIELDS
+        if unknown:
+            raise ValueError(f"unknown Phase-A factor fields: {sorted(unknown)}")
+        missing = FACTOR_FIELDS - set(raw)
+        if require_explicit and missing:
+            raise ValueError(f"explicit Phase-A factors are missing: {sorted(missing)}")
+        values = {
+            "selection_mode": raw.get("selection_mode", SelectionMode.RELEVANT),
+            "metadata_mode": raw.get("metadata_mode", MetadataMode.NEUTRAL),
+            "reader_mode": raw.get("reader_mode", ReaderMode.FIXED16),
+            "manager_mode": raw.get("manager_mode", ManagerMode.FULL_EVOLVING),
+        }
+        try:
+            return cls(
+                selection_mode=SelectionMode(values["selection_mode"]),
+                metadata_mode=MetadataMode(values["metadata_mode"]),
+                reader_mode=ReaderMode(values["reader_mode"]),
+                manager_mode=ManagerMode(values["manager_mode"]),
+            )
+        except ValueError as exc:
+            raise ValueError(f"unsupported Phase-A factor value: {exc}") from exc
+
+    def validate_implemented_path(
+        self,
+        *,
+        selection_applied: SelectionMode | str | None = None,
+    ) -> None:
+        """Fail rather than silently run a factor this branch does not own."""
+
+        if selection_applied is not None:
+            try:
+                applied = SelectionMode(selection_applied)
+            except ValueError as exc:
+                raise ValueError(f"unsupported applied selection mode: {selection_applied!r}") from exc
+            if applied is not self.selection_mode:
+                raise NotImplementedError(
+                    "Phase-A materializer selection_mode does not match the verified frozen selection plan"
+                )
+        if self.reader_mode is ReaderMode.RAW_VLM:
+            raise NotImplementedError("reader_mode='raw_vlm' requires the separately gated raw-image reader")
+
+
+@dataclass(frozen=True)
+class PhaseATokenMetadata:
+    """Model-facing metadata aligned one-to-one with 512 visual tokens."""
+
+    frame_indices: np.ndarray
+    capture_steps: np.ndarray
+    time_values: np.ndarray
+    time_mask: np.ndarray
+    role_ids: np.ndarray
+    role_mask: np.ndarray
+    event_ids: np.ndarray
+    event_ordinals: np.ndarray
+    contract_ids: np.ndarray
+    status_ids: np.ndarray
+    categorical_mask: np.ndarray
+    confidence: np.ndarray
+    evidence_mask: np.ndarray
+    valid_mask: np.ndarray
+
+    def __post_init__(self) -> None:
+        vector_specs = {
+            "frame_indices": np.int32,
+            "capture_steps": np.int32,
+            "role_ids": np.int32,
+            "role_mask": np.bool_,
+            "event_ids": np.int32,
+            "event_ordinals": np.int32,
+            "contract_ids": np.int32,
+            "status_ids": np.int32,
+            "categorical_mask": np.bool_,
+            "confidence": np.float32,
+            "evidence_mask": np.bool_,
+            "valid_mask": np.bool_,
+        }
+        for name, dtype in vector_specs.items():
+            value = getattr(self, name)
+            if not isinstance(value, np.ndarray) or value.shape != (TOKEN_BUDGET,):
+                raise MemoryInvariantError(f"Phase-A token metadata {name} must have shape {(TOKEN_BUDGET,)}")
+            if value.dtype != dtype:
+                raise MemoryInvariantError(f"Phase-A token metadata {name} must have dtype {np.dtype(dtype)}")
+        for name in ("time_values", "time_mask"):
+            value = getattr(self, name)
+            expected_dtype = np.float32 if name == "time_values" else np.bool_
+            if not isinstance(value, np.ndarray) or value.shape != (
+                TOKEN_BUDGET,
+                TIME_CHANNELS,
+            ):
+                raise MemoryInvariantError(
+                    f"Phase-A token metadata {name} must have shape {(TOKEN_BUDGET, TIME_CHANNELS)}"
+                )
+            if value.dtype != expected_dtype:
+                raise MemoryInvariantError(f"Phase-A token metadata {name} must have dtype {np.dtype(expected_dtype)}")
+        if np.any(self.time_values.view(np.uint32) == FLOAT32_NEGATIVE_ZERO_BITS):
+            raise MemoryInvariantError("Phase-A time values must encode zero as canonical +0.0")
+
+        invalid = ~self.valid_mask
+        if np.any(self.frame_indices < 0) or np.any(self.capture_steps < 0):
+            raise MemoryInvariantError("Phase-A token provenance must be non-negative")
+        if np.any(self.frame_indices[invalid]) or np.any(self.capture_steps[invalid]):
+            raise MemoryInvariantError("Phase-A token padding provenance must be canonical zeros")
+        if np.any(self.time_mask[invalid]):
+            raise MemoryInvariantError("Phase-A token padding cannot expose temporal metadata")
+        for name in ("role_mask", "categorical_mask", "evidence_mask"):
+            if np.any(getattr(self, name) & invalid):
+                raise MemoryInvariantError(f"Phase-A token {name} cannot mark padding")
+
+        if not np.array_equal(self.role_mask, self.evidence_mask):
+            raise MemoryInvariantError("Phase-A role mask must equal evidence mask")
+        if not np.array_equal(self.categorical_mask, self.evidence_mask):
+            raise MemoryInvariantError("Phase-A categorical mask must equal evidence mask")
+        if not np.array_equal(
+            self.time_mask,
+            np.repeat(self.time_mask[:, :1], TIME_CHANNELS, axis=1),
+        ):
+            raise MemoryInvariantError("Phase-A time channels must share one token gate")
+
+        if np.any(self.time_values[~self.time_mask]):
+            raise MemoryInvariantError("masked Phase-A time values must be neutral zeros")
+        if np.any(self.capture_steps[~np.any(self.time_mask, axis=-1)]):
+            raise MemoryInvariantError("masked Phase-A capture steps must be neutral zeros")
+        if np.any(self.role_ids[~self.role_mask]):
+            raise MemoryInvariantError("masked Phase-A role IDs must be neutral zeros")
+        for name in (
+            "event_ids",
+            "event_ordinals",
+            "contract_ids",
+            "status_ids",
+            "confidence",
+        ):
+            if np.any(getattr(self, name)[~self.categorical_mask]):
+                raise MemoryInvariantError(f"masked Phase-A {name} must contain neutral zeros")
+
+        if not np.all(np.isfinite(self.time_values)):
+            raise MemoryInvariantError("Phase-A time values must be finite")
+        if np.any((self.time_values < 0) | (self.time_values > 1)):
+            raise MemoryInvariantError("Phase-A normalized time values must be in [0, 1]")
+        if not np.all(np.isfinite(self.confidence)) or np.any((self.confidence < 0) | (self.confidence > 1)):
+            raise MemoryInvariantError("Phase-A confidence must be finite and in [0, 1]")
+        if np.any(self.role_ids[self.evidence_mask] == 0):
+            raise MemoryInvariantError("Phase-A evidence tokens require a non-background role")
+        for name in ("event_ids", "event_ordinals", "contract_ids", "status_ids"):
+            if np.any(getattr(self, name)[self.evidence_mask] == 0):
+                raise MemoryInvariantError(f"Phase-A evidence tokens require nonzero {name}")
+
+    def to_observation(self) -> dict[str, np.ndarray]:
+        values = {
+            "phase_a_frame_indices": self.frame_indices,
+            "phase_a_capture_steps": self.capture_steps,
+            "phase_a_time_values": self.time_values,
+            "phase_a_time_mask": self.time_mask,
+            "phase_a_role_ids": self.role_ids,
+            "phase_a_role_mask": self.role_mask,
+            "phase_a_event_ids": self.event_ids,
+            "phase_a_event_ordinals": self.event_ordinals,
+            "phase_a_contract_ids": self.contract_ids,
+            "phase_a_status_ids": self.status_ids,
+            "phase_a_categorical_mask": self.categorical_mask,
+            "phase_a_confidence": self.confidence,
+            "phase_a_evidence_mask": self.evidence_mask,
+            "phase_a_valid_mask": self.valid_mask,
+        }
+        if tuple(values) != OBSERVATION_FIELDS:
+            raise AssertionError("Phase-A observation field registry drift")
+        return values
+
+    @classmethod
+    def from_observation(
+        cls,
+        raw: Mapping[str, Any],
+        *,
+        metadata_mode: MetadataMode | str,
+    ) -> PhaseATokenMetadata:
+        """Recover the exact token contract after host observation transforms.
+
+        Missing or extra Phase-A fields are schema drift. Recovered arrays are
+        detached from the host container and made immutable before validation.
+        """
+
+        if not isinstance(raw, Mapping):
+            raise MemoryInvariantError("Phase-A observation must be a mapping")
+        if set(raw) != set(OBSERVATION_FIELDS):
+            missing = sorted(set(OBSERVATION_FIELDS) - set(raw))
+            extra = sorted(set(raw) - set(OBSERVATION_FIELDS))
+            raise MemoryInvariantError(f"Phase-A observation field drift (missing={missing}, extra={extra})")
+        names = {
+            "frame_indices": "phase_a_frame_indices",
+            "capture_steps": "phase_a_capture_steps",
+            "time_values": "phase_a_time_values",
+            "time_mask": "phase_a_time_mask",
+            "role_ids": "phase_a_role_ids",
+            "role_mask": "phase_a_role_mask",
+            "event_ids": "phase_a_event_ids",
+            "event_ordinals": "phase_a_event_ordinals",
+            "contract_ids": "phase_a_contract_ids",
+            "status_ids": "phase_a_status_ids",
+            "categorical_mask": "phase_a_categorical_mask",
+            "confidence": "phase_a_confidence",
+            "evidence_mask": "phase_a_evidence_mask",
+            "valid_mask": "phase_a_valid_mask",
+        }
+        values: dict[str, np.ndarray] = {}
+        for name, field in names.items():
+            value = np.array(raw[field], copy=True)
+            value.setflags(write=False)
+            values[name] = value
+        metadata = cls(**values)
+        metadata.validate_mode(metadata_mode)
+        return metadata
+
+    def validate_mode(self, metadata_mode: MetadataMode | str) -> None:
+        """Enforce the exact mask geometry of one declared metadata arm."""
+
+        try:
+            mode = MetadataMode(metadata_mode)
+        except (TypeError, ValueError) as exc:
+            raise MemoryInvariantError(f"unsupported Phase-A metadata mode: {metadata_mode!r}") from exc
+        full_time = np.repeat(self.valid_mask[:, None], TIME_CHANNELS, axis=1)
+        no_time = np.zeros_like(full_time)
+        task_aware_modes = {
+            MetadataMode.CORRECT,
+            MetadataMode.TIME_SHUFFLED,
+            MetadataMode.ORDER_REVERSED,
+            MetadataMode.ROLE_ONLY,
+        }
+        if mode in task_aware_modes:
+            if not np.array_equal(self.role_mask, self.evidence_mask) or not np.array_equal(
+                self.categorical_mask,
+                self.evidence_mask,
+            ):
+                raise MemoryInvariantError(f"metadata_mode={mode.value} requires task-aware gates on evidence only")
+        elif np.any(self.role_mask) or np.any(self.categorical_mask) or np.any(self.evidence_mask):
+            raise MemoryInvariantError(f"metadata_mode={mode.value} requires neutral task-aware gates")
+
+        expected_time = no_time if mode in {MetadataMode.ROLE_ONLY, MetadataMode.NEUTRAL} else full_time
+        if not np.array_equal(self.time_mask, expected_time):
+            raise MemoryInvariantError(f"metadata_mode={mode.value} has an invalid temporal gate")
+
+
+@dataclass(frozen=True)
+class PhaseAFramePlan:
+    """A validated frame plan, per-frame token geometry and token metadata."""
+
+    frame_indices: np.ndarray
+    valid_mask: np.ndarray
+    evidence_mask: np.ndarray
+    token_counts: np.ndarray
+    metadata: PhaseATokenMetadata
+
+    @property
+    def valid_indices(self) -> tuple[int, ...]:
+        return tuple(int(value) for value in self.frame_indices[self.valid_mask])
+
+
+def materialize_phase_a_read(
+    read: Read,
+    factors: PhaseAFactors,
+    *,
+    metadata_seed: int = 0,
+    selection_applied: SelectionMode | str = SelectionMode.RELEVANT,
+) -> PhaseAFramePlan:
+    """Validate one ``Read`` and produce a strict 512-token host plan."""
+
+    if not isinstance(read, Read):
+        raise MemoryInvariantError("Phase-A materializer requires a Read")
+    if not isinstance(factors, PhaseAFactors):
+        raise ValueError("factors must be PhaseAFactors")
+    factors.validate_implemented_path(selection_applied=selection_applied)
+    metadata_seed = _nonnegative_int(metadata_seed, "metadata_seed")
+    frames = _validated_selected_frames(read)
+    token_counts = _token_layout(frames, factors.reader_mode)
+    frame_metadata = _intervene_metadata(
+        frames,
+        factors.metadata_mode,
+        seed=metadata_seed,
+        read_step=read.step,
+    )
+    token_metadata = _repeat_metadata(frame_metadata, token_counts)
+    token_metadata.validate_mode(factors.metadata_mode)
+
+    frame_indices = np.asarray([frame.frame_index for frame in frames], dtype=np.int32)
+    valid_mask = np.asarray([frame.valid_mask for frame in frames], dtype=np.bool_)
+    evidence_mask = np.asarray([frame.evidence_mask for frame in frames], dtype=np.bool_)
+    for value in (frame_indices, valid_mask, evidence_mask, token_counts):
+        value.setflags(write=False)
+    return PhaseAFramePlan(
+        frame_indices=frame_indices,
+        valid_mask=valid_mask,
+        evidence_mask=evidence_mask,
+        token_counts=token_counts,
+        metadata=token_metadata,
+    )
+
+
+def _validated_selected_frames(read: Read) -> tuple[SelectedFrame, ...]:
+    try:
+        read_step = _nonnegative_int(read.step, "Read.step")
+    except ValueError as exc:
+        raise MemoryInvariantError(str(exc)) from exc
+    frames = read.selected_frames
+    if not isinstance(frames, tuple) or len(frames) != FRAME_BUDGET:
+        raise MemoryInvariantError(f"Phase-A Read.selected_frames must contain exactly {FRAME_BUDGET} slots")
+    if any(not isinstance(frame, SelectedFrame) for frame in frames):
+        raise MemoryInvariantError("Phase-A selected frame has the wrong contract type")
+    if read.frame_indices.shape != (FRAME_BUDGET,):
+        raise MemoryInvariantError("Phase-A frame_indices shape drift")
+    if read.evidence_mask.shape != (FRAME_BUDGET,) or read.valid_mask.shape != (FRAME_BUDGET,):
+        raise MemoryInvariantError("Phase-A frame masks shape drift")
+
+    valid_indices: list[int] = []
+    previous_capture: int | None = None
+    denominator = max(read_step, 1)
+    for slot, frame in enumerate(frames):
+        if frame.valid_mask != bool(read.valid_mask[slot]):
+            raise MemoryInvariantError("SelectedFrame.valid_mask disagrees with Read.valid_mask")
+        if frame.evidence_mask != bool(read.evidence_mask[slot]):
+            raise MemoryInvariantError("SelectedFrame.evidence_mask disagrees with Read.evidence_mask")
+        if frame.evidence_mask and not frame.valid_mask:
+            raise MemoryInvariantError("padding cannot be evidence")
+        if frame.valid_mask:
+            if frame.frame_index != int(read.frame_indices[slot]):
+                raise MemoryInvariantError("SelectedFrame.frame_index disagrees with Read.frame_indices")
+            try:
+                capture_step = _nonnegative_int(
+                    frame.capture_step,
+                    f"SelectedFrame[{slot}].capture_step",
+                )
+            except ValueError as exc:
+                raise MemoryInvariantError(str(exc)) from exc
+            if capture_step > read_step:
+                raise MemoryInvariantError("SelectedFrame.capture_step is not causal")
+            if previous_capture is not None and capture_step < previous_capture:
+                raise MemoryInvariantError("SelectedFrame.capture_step must be nondecreasing across valid slots")
+            expected_time = np.asarray(
+                (
+                    capture_step / denominator,
+                    (read_step - capture_step) / denominator,
+                    0.0 if previous_capture is None else (capture_step - previous_capture) / denominator,
+                ),
+                dtype=np.float32,
+            )
+            _validate_temporal_values(frame, expected_time, slot=slot)
+            valid_indices.append(frame.frame_index)
+            previous_capture = capture_step
+        elif frame != SelectedFrame.padding():
+            raise MemoryInvariantError("invalid Phase-A slots must use canonical padding metadata")
+    if valid_indices != sorted(set(valid_indices)):
+        raise MemoryInvariantError("Phase-A valid frames must be sorted and unique")
+    return frames
+
+
+def _validate_temporal_values(
+    frame: SelectedFrame,
+    expected: np.ndarray,
+    *,
+    slot: int,
+) -> None:
+    raw = (frame.absolute_time, frame.relative_age, frame.delta_prev)
+    names = ("absolute_time", "relative_age", "delta_prev")
+    for name, value in zip(names, raw, strict=True):
+        if isinstance(value, (bool, np.bool_)) or not isinstance(
+            value,
+            (int, float, np.integer, np.floating),
+        ):
+            raise MemoryInvariantError(f"SelectedFrame[{slot}].{name} must be numeric")
+    actual = np.asarray(raw, dtype=np.float64)
+    if not np.all(np.isfinite(actual)):
+        raise MemoryInvariantError(f"SelectedFrame[{slot}] temporal coordinates must be finite")
+    if np.any((actual < 0.0) | (actual > 1.0)):
+        raise MemoryInvariantError(f"SelectedFrame[{slot}] normalized temporal coordinates must be in [0, 1]")
+
+    # SelectedFrame values originate as Python numerics while the host wire and
+    # model consume float32. The only accepted source-to-wire rounding is the
+    # local float32 cell that maps to the explicitly derived canonical value.
+    # A derived positive zero is stricter: the source must be numeric zero and
+    # its float32 wire form must have no sign bit. This prevents underflow drift
+    # and IEEE negative zero from changing observation bytes or hashes.
+    canonical_wire = np.asarray(raw, dtype=np.float32)
+    expected_bits = expected.view(np.uint32)
+    canonical_bits = canonical_wire.view(np.uint32)
+    for index, (name, value) in enumerate(zip(names, raw, strict=True)):
+        if expected_bits[index] == 0 and (value != 0.0 or canonical_bits[index] != 0):
+            raise MemoryInvariantError(f"SelectedFrame[{slot}].{name} must encode zero as canonical +0.0")
+    if not np.array_equal(canonical_wire, expected):
+        raise MemoryInvariantError(f"SelectedFrame[{slot}] temporal coordinates disagree with capture/read steps")
+
+
+def _token_layout(frames: Sequence[SelectedFrame], reader_mode: ReaderMode) -> np.ndarray:
+    counts = np.full(FRAME_BUDGET, FIXED_TOKENS_PER_FRAME, dtype=np.int32)
+    if reader_mode is ReaderMode.FIXED16:
+        counts.setflags(write=False)
+        return counts
+    if reader_mode is not ReaderMode.VARIABLE64:
+        raise NotImplementedError(f"reader mode is not materialized: {reader_mode}")
+
+    evidence = [index for index, frame in enumerate(frames) if frame.valid_mask and frame.evidence_mask]
+    if len(evidence) > MAX_VARIABLE_EVIDENCE:
+        raise MemoryInvariantError(
+            f"variable64 supports at most {MAX_VARIABLE_EVIDENCE} evidence frames, got {len(evidence)}"
+        )
+    background = [index for index, frame in enumerate(frames) if not frame.evidence_mask]
+    low_resolution_count = 4 * len(evidence)
+    if low_resolution_count > len(background):
+        raise MemoryInvariantError("variable64 does not have enough background slots")
+
+    # Spend the reduced-resolution quota on padding first.  For a full read,
+    # preserve the initial/current/recent anchors when possible and downsample
+    # the oldest remaining background slots.  This ordering is deterministic
+    # and depends only on the already-frozen visual plan.
+    valid_slots = [index for index, frame in enumerate(frames) if frame.valid_mask]
+    protected = set(valid_slots[:1] + valid_slots[-5:])
+    low_resolution_order = sorted(
+        background,
+        key=lambda index: (
+            frames[index].valid_mask,
+            index in protected,
+            frames[index].frame_index,
+            index,
+        ),
+    )
+    low_resolution = set(low_resolution_order[:low_resolution_count])
+    for index in evidence:
+        counts[index] = 64
+    for index in low_resolution:
+        counts[index] = 4
+
+    expected_high_background = FRAME_BUDGET - 5 * len(evidence)
+    high_background = sum(1 for index in background if counts[index] == FIXED_TOKENS_PER_FRAME)
+    if high_background != expected_high_background:
+        raise MemoryInvariantError("variable64 high-resolution background geometry drift")
+    if int(counts.sum()) != TOKEN_BUDGET:
+        raise MemoryInvariantError("variable64 must materialize exactly 512 tokens")
+    counts.setflags(write=False)
+    return counts
+
+
+def _intervene_metadata(
+    frames: Sequence[SelectedFrame],
+    mode: MetadataMode,
+    *,
+    seed: int,
+    read_step: int,
+) -> dict[str, np.ndarray]:
+    valid = np.asarray([frame.valid_mask for frame in frames], dtype=np.bool_)
+    evidence = np.asarray([frame.evidence_mask for frame in frames], dtype=np.bool_)
+    frame_indices = np.asarray([frame.frame_index for frame in frames], dtype=np.int32)
+    capture = np.asarray([frame.capture_step for frame in frames], dtype=np.int32)
+    time = np.asarray(
+        [[frame.absolute_time, frame.relative_age, frame.delta_prev] for frame in frames],
+        dtype=np.float32,
+    )
+    role = np.asarray([int(frame.role_id) for frame in frames], dtype=np.int32)
+    event = _bucket_ids(
+        [frame.event_id for frame in frames],
+        vocab_size=EVENT_VOCAB_SIZE,
+        label="event_id",
+    )
+    ordinal = np.asarray(
+        [frame.event_ordinal + 1 if frame.event_ordinal >= 0 else 0 for frame in frames],
+        dtype=np.int32,
+    )
+    contract = _bucket_ids(
+        [frame.contract_id for frame in frames],
+        vocab_size=CONTRACT_VOCAB_SIZE,
+        label="contract_id",
+    )
+    status = _bucket_ids(
+        [frame.status_id for frame in frames],
+        vocab_size=STATUS_VOCAB_SIZE,
+        label="status_id",
+    )
+    confidence = np.asarray([frame.confidence for frame in frames], dtype=np.float32)
+    time_mask = np.repeat(valid[:, None], TIME_CHANNELS, axis=1)
+    # Background and padding carry only normalized temporal coordinates.  All
+    # task-aware categorical IDs and masks remain neutral by contract.
+    role_mask = evidence.copy()
+    categorical_mask = evidence.copy()
+
+    background = valid & ~evidence
+    if (
+        np.any(role[background] != 0)
+        or np.any(event[background] != 0)
+        or np.any(ordinal[background] != 0)
+        or np.any(contract[background] != 0)
+        or np.any(status[background] != 0)
+        or np.any(confidence[background] != 0)
+    ):
+        raise MemoryInvariantError("background slots must have neutral task-aware metadata")
+
+    if np.any(ordinal >= EVENT_ORDINAL_VOCAB_SIZE):
+        raise MemoryInvariantError(f"event ordinal exceeds reader vocabulary {EVENT_ORDINAL_VOCAB_SIZE - 1}")
+
+    if mode is MetadataMode.TIME_SHUFFLED:
+        slots = np.flatnonzero(valid)
+        if slots.size > 1:
+            permutation = _nonidentity_permutation(
+                slots.size,
+                seed=seed,
+                identity=(read_step, *frame_indices[valid].tolist()),
+            )
+            source = slots[permutation]
+            capture[slots] = capture[source]
+            time[slots] = time[source]
+    elif mode is MetadataMode.ORDER_REVERSED:
+        slots = np.flatnonzero(evidence)
+        if slots.size > 1:
+            ordinal[slots] = ordinal[slots[::-1]]
+    elif mode is MetadataMode.ROLE_ONLY:
+        capture.fill(0)
+        time.fill(0)
+        time_mask.fill(False)
+    elif mode is MetadataMode.TIME_ONLY:
+        role.fill(0)
+        event.fill(0)
+        ordinal.fill(0)
+        contract.fill(0)
+        status.fill(0)
+        confidence.fill(0)
+        evidence.fill(False)
+        role_mask.fill(False)
+        categorical_mask.fill(False)
+    elif mode is MetadataMode.NEUTRAL:
+        capture.fill(0)
+        time.fill(0)
+        role.fill(0)
+        event.fill(0)
+        ordinal.fill(0)
+        contract.fill(0)
+        status.fill(0)
+        confidence.fill(0)
+        evidence.fill(False)
+        time_mask.fill(False)
+        role_mask.fill(False)
+        categorical_mask.fill(False)
+    elif mode is not MetadataMode.CORRECT:
+        raise ValueError(f"unsupported metadata mode: {mode}")
+
+    # Padding is neutral for every mode.  The invariant frame index/valid mask
+    # remain available for parity audits but are never made task-aware.
+    for value in (capture, role, event, ordinal, contract, status):
+        value[~valid] = 0
+    time[~valid] = 0
+    confidence[~valid] = 0
+    evidence[~valid] = False
+    time_mask[~valid] = False
+    role_mask[~valid] = False
+    categorical_mask[~valid] = False
+    return {
+        "frame_indices": frame_indices,
+        "capture_steps": capture,
+        "time_values": time,
+        "time_mask": time_mask,
+        "role_ids": role,
+        "role_mask": role_mask,
+        "event_ids": event,
+        "event_ordinals": ordinal,
+        "contract_ids": contract,
+        "status_ids": status,
+        "categorical_mask": categorical_mask,
+        "confidence": confidence,
+        "evidence_mask": evidence,
+        "valid_mask": valid,
+    }
+
+
+def _repeat_metadata(
+    values: Mapping[str, np.ndarray],
+    token_counts: np.ndarray,
+) -> PhaseATokenMetadata:
+    repeated: dict[str, np.ndarray] = {}
+    for name, value in values.items():
+        repeated_value = np.repeat(value, token_counts, axis=0)
+        if repeated_value.shape[0] != TOKEN_BUDGET:
+            raise MemoryInvariantError(f"{name} did not materialize exactly 512 tokens")
+        repeated_value.setflags(write=False)
+        repeated[name] = repeated_value
+    return PhaseATokenMetadata(**repeated)
+
+
+def _bucket_ids(values: Sequence[str], *, vocab_size: int, label: str) -> np.ndarray:
+    if vocab_size <= 1:
+        raise ValueError("categorical vocabularies must reserve a neutral bucket")
+    buckets: dict[int, str] = {}
+    output = np.zeros(len(values), dtype=np.int32)
+    for index, value in enumerate(values):
+        if value == "":
+            continue
+        if not isinstance(value, str):
+            raise MemoryInvariantError(f"{label} must be a string")
+        digest = hashlib.sha256(f"picmem-phase-a:{label}:{value}".encode()).digest()
+        bucket = int.from_bytes(digest[:8], "big") % (vocab_size - 1) + 1
+        collision = buckets.get(bucket)
+        if collision is not None and collision != value:
+            raise MemoryInvariantError(f"{label} hash collision within one Read: {collision!r} and {value!r}")
+        buckets[bucket] = value
+        output[index] = bucket
+    return output
+
+
+def _nonidentity_permutation(
+    size: int,
+    *,
+    seed: int,
+    identity: tuple[int, ...],
+) -> np.ndarray:
+    payload = ":".join(str(value) for value in (seed, *identity)).encode()
+    mixed_seed = int.from_bytes(hashlib.sha256(payload).digest()[:8], "big")
+    permutation = np.random.default_rng(mixed_seed).permutation(size)
+    if np.array_equal(permutation, np.arange(size)):
+        permutation = np.roll(permutation, 1)
+    return permutation
+
+
+def _nonnegative_int(value: Any, name: str) -> int:
+    if isinstance(value, bool) or not isinstance(value, (int, np.integer)) or int(value) < 0:
+        raise ValueError(f"{name} must be a non-negative integer")
+    return int(value)
+
+
+__all__ = [
+    "CONTRACT_VOCAB_SIZE",
+    "EVENT_ORDINAL_VOCAB_SIZE",
+    "EVENT_VOCAB_SIZE",
+    "FACTOR_FIELDS",
+    "FIXED_TOKENS_PER_FRAME",
+    "FRAME_BUDGET",
+    "MAX_VARIABLE_EVIDENCE",
+    "OBSERVATION_FIELDS",
+    "STATUS_VOCAB_SIZE",
+    "TIME_CHANNELS",
+    "TOKEN_BUDGET",
+    "PhaseAFactors",
+    "PhaseAFramePlan",
+    "PhaseATokenMetadata",
+    "materialize_phase_a_read",
+]

checkpoints/r2/pick3/baseline/step9000/code/integrations/robomme/src/mme_vla_suite/training/picmem_phase_a_runtime.py

@@ -0,0 +1,176 @@
+"""Online Phase-A ``RuntimeReadSession`` to RoboMME ``MemoryBuffer`` bridge.
+
+This adapter owns no event semantics and performs no online frame selection.
+It accepts only the strict standalone runtime session, materializes its
+policy-visible ``Read`` with the already-reviewed reader geometry, and gathers
+the corresponding features from the live ``MemoryBuffer``.  Formal rollout
+workers can therefore use the same 512-token path as offline training without
+reimplementing it in the simulator loop.
+"""
+
+from __future__ import annotations
+
+import hashlib
+from dataclasses import dataclass
+from typing import Any
+
+import numpy as np
+from mme_vla_suite.shared.mem_buffer import MemoryBuffer
+from mme_vla_suite.training.picmem_phase_a_reader import (
+    PhaseAFactors,
+    PhaseAFramePlan,
+    PhaseATokenMetadata,
+    materialize_phase_a_read,
+)
+
+from picmem.memory.contracts import SelectionMode
+from picmem.memory.memory import Read
+from picmem.provenance.runtime_reader import RuntimeReadError, RuntimeReadSession, read_sha256
+
+
+@dataclass(frozen=True)
+class RuntimePhaseAObservation:
+    """One exact runtime read and its raw, pre-normalization host tensors."""
+
+    read: Read
+    plan: PhaseAFramePlan
+    image: np.ndarray
+    position: np.ndarray
+    state: np.ndarray
+    mask: np.ndarray
+    metadata: PhaseATokenMetadata
+    read_sha256: str
+    image_sha256: str
+    position_sha256: str
+    state_sha256: str
+    mask_sha256: str
+
+    def feature_hashes(self) -> dict[str, str]:
+        return {
+            "read_sha256": self.read_sha256,
+            "image_sha256": self.image_sha256,
+            "position_sha256": self.position_sha256,
+            "state_sha256": self.state_sha256,
+            "mask_sha256": self.mask_sha256,
+        }
+
+
+def materialize_runtime_observation(
+    session: RuntimeReadSession,
+    memory_buffer: Any,
+    *,
+    step: int,
+    factors: PhaseAFactors,
+    metadata_seed: int,
+) -> RuntimePhaseAObservation:
+    """Gather one relevant online read through the real host buffer method.
+
+    Selection counterfactuals for an evaluation cohort require a separately
+    frozen mutation plan.  Until that plan is installed, this online boundary
+    accepts only the relevant selector and fails closed for the other four
+    selection modes.
+    """
+
+    if type(session) is not RuntimeReadSession:
+        raise RuntimeReadError("runtime host adapter requires the exact identity-bound RuntimeReadSession class")
+    preview_method = session.preview_read
+    commit_method = session.commit_read
+    if (
+        getattr(preview_method, "__func__", None) is not RuntimeReadSession.preview_read
+        or getattr(preview_method, "__self__", None) is not session
+        or getattr(commit_method, "__func__", None) is not RuntimeReadSession.commit_read
+        or getattr(commit_method, "__self__", None) is not session
+    ):
+        raise RuntimeReadError("runtime host RuntimeReadSession methods were replaced")
+    if type(factors) is not PhaseAFactors:
+        raise RuntimeReadError("runtime host adapter requires the exact PhaseAFactors class")
+    if factors.manager_mode is not session.manager_mode:
+        raise RuntimeReadError(
+            "runtime Phase-A manager_mode differs from the identity-bound session"
+        )
+    if factors.selection_mode is not SelectionMode.RELEVANT:
+        raise NotImplementedError("online selection counterfactuals require a frozen rollout mutation plan")
+    if isinstance(step, bool) or not isinstance(step, (int, np.integer)) or int(step) < 0:
+        raise RuntimeReadError("runtime host step must be a non-negative integer")
+    if type(memory_buffer) is not MemoryBuffer:
+        raise RuntimeReadError("runtime host requires the exact pinned MemoryBuffer class")
+    if memory_buffer.num_views != 1:
+        raise RuntimeReadError("runtime host requires a one-view Phase-A MemoryBuffer")
+    prepare_method = memory_buffer.prepare_phase_a_frame_sampling
+    gather_method = memory_buffer.default_history_feats_gather_fn
+    if (
+        getattr(prepare_method, "__func__", None) is not MemoryBuffer.prepare_phase_a_frame_sampling
+        or getattr(prepare_method, "__self__", None) is not memory_buffer
+        or getattr(gather_method, "__func__", None) is not MemoryBuffer.default_history_feats_gather_fn
+        or getattr(gather_method, "__self__", None) is not memory_buffer
+    ):
+        raise RuntimeReadError("runtime host MemoryBuffer methods were replaced")
+
+    # Session advancement is a two-phase operation.  A malformed/missing host
+    # feature, dtype drift, or non-finite tensor must not consume the read step
+    # and thereby make a legitimate earlier event permanently late.
+    read = RuntimeReadSession.preview_read(session, int(step))
+    plan = materialize_phase_a_read(
+        read,
+        factors,
+        metadata_seed=metadata_seed,
+        selection_applied=SelectionMode.RELEVANT,
+    )
+    image, position, state, mask = MemoryBuffer.prepare_phase_a_frame_sampling(
+        memory_buffer,
+        int(step),
+        512,
+        plan.frame_indices,
+        plan.valid_mask,
+        plan.token_counts,
+        MemoryBuffer.default_history_feats_gather_fn.__get__(memory_buffer, MemoryBuffer),
+    )
+    tensors = tuple(np.asarray(value) for value in (image, position, state, mask))
+    expected_shapes = ((512, 2048), (512, 768), (512, 8), (512,))
+    if tuple(value.shape for value in tensors) != expected_shapes:
+        raise RuntimeReadError("runtime MemoryBuffer tensor geometry drift")
+    expected_dtypes = ("bfloat16", "float32", "float32", "bool")
+    actual_dtypes = tuple(value.dtype.name for value in tensors)
+    if actual_dtypes != expected_dtypes:
+        raise RuntimeReadError(
+            f"runtime MemoryBuffer tensor dtype drift: expected {expected_dtypes}, got {actual_dtypes}"
+        )
+    if any(not bool(np.isfinite(value).all()) for value in tensors[:3]):
+        raise RuntimeReadError("runtime MemoryBuffer tensors must be finite")
+    metadata = plan.metadata
+    if not np.array_equal(tensors[3], metadata.valid_mask):
+        raise RuntimeReadError("runtime visual and metadata token masks disagree")
+    prepared_read_sha256 = read_sha256(read)
+    feature_hashes = tuple(_array_sha256(value) for value in tensors)
+    for value in tensors:
+        value.setflags(write=False)
+    committed_read = RuntimeReadSession.commit_read(session, read)
+    committed_read_sha256 = read_sha256(committed_read)
+    if committed_read_sha256 != prepared_read_sha256:
+        raise RuntimeReadError("runtime read changed during host materialization")
+    return RuntimePhaseAObservation(
+        read=committed_read,
+        plan=plan,
+        image=tensors[0],
+        position=tensors[1],
+        state=tensors[2],
+        mask=tensors[3],
+        metadata=metadata,
+        read_sha256=committed_read_sha256,
+        image_sha256=feature_hashes[0],
+        position_sha256=feature_hashes[1],
+        state_sha256=feature_hashes[2],
+        mask_sha256=feature_hashes[3],
+    )
+
+
+def _array_sha256(value: np.ndarray) -> str:
+    array = np.ascontiguousarray(value)
+    digest = hashlib.sha256()
+    digest.update(str(array.dtype).encode("ascii"))
+    digest.update(str(array.shape).encode("ascii"))
+    digest.update(array.tobytes())
+    return digest.hexdigest()
+
+
+__all__ = ["RuntimePhaseAObservation", "materialize_runtime_observation"]

checkpoints/r2/pick3/baseline/step9000/code/integrations/robomme/src/mme_vla_suite/training/semantic_transition_reader.py

@@ -0,0 +1,260 @@
+"""Strict RoboMME adapter for semantic-transition training targets.
+
+The canonical manifest and target construction live in :mod:`picmem`.  This
+small host adapter verifies one independently pinned manifest at dataset
+startup and performs constant-time exact-key lookups for scalar training rows.
+Manifest rows stay strict; an opt-in mixed-dataset mode emits masked neutral
+metadata only for episode-step identities absent from the manifest.
+"""
+
+from __future__ import annotations
+
+from numbers import Integral
+from pathlib import Path
+
+import numpy as np
+from picmem.data.semantic_transition import TRANSITION_CONTEXT_LENGTH
+from picmem.data.semantic_transition import TRANSITION_CONTEXT_WIDTH
+from picmem.data.semantic_transition import TransitionRowKey
+from picmem.data.semantic_transition import TransitionSequenceManifest
+from picmem.data.semantic_transition import load_transition_sequence_manifest
+
+TRANSITION_TRAINING_METADATA_FIELDS = frozenset(
+    {
+        "transition_span_target",
+        "transition_last_span_target",
+        "transition_status_valid",
+        "transition_last_span_valid",
+        "transition_context_action_delta",
+        "transition_context_state_delta",
+        "transition_context_relative_age",
+        "transition_context_valid_mask",
+    }
+)
+
+
+class SemanticTransitionReaderError(RuntimeError):
+    """Transition training configuration or row resolution failed closed."""
+
+
+class SemanticTransitionTrainingReader:
+    """Load one hash-pinned manifest and resolve exact RoboMME training rows."""
+
+    __slots__ = (
+        "_allow_unlabeled_rows",
+        "_expected_sha256",
+        "_manifest",
+        "_manifest_path",
+        "_manifest_task_id_by_episode",
+        "_task_id_by_position",
+    )
+
+    def __init__(
+        self,
+        *,
+        manifest_path: str | Path | None,
+        expected_sha256: str | None,
+        allow_unlabeled_rows: bool = False,
+    ) -> None:
+        if type(allow_unlabeled_rows) is not bool:
+            raise TypeError("allow_unlabeled_rows must be bool")
+        if manifest_path is None or (isinstance(manifest_path, str) and not manifest_path.strip()):
+            raise SemanticTransitionReaderError("enabled transition training requires a manifest path")
+        if expected_sha256 is None or not isinstance(expected_sha256, str) or not expected_sha256.strip():
+            raise SemanticTransitionReaderError(
+                "enabled transition training requires an independently supplied manifest SHA-256"
+            )
+
+        path = Path(manifest_path).expanduser()
+        try:
+            manifest = load_transition_sequence_manifest(path, expected_sha256=expected_sha256)
+        except (TypeError, ValueError) as exc:
+            raise SemanticTransitionReaderError(f"transition training manifest verification failed: {exc}") from exc
+
+        self._manifest_path = path
+        self._expected_sha256 = expected_sha256
+        self._manifest = manifest
+        self._allow_unlabeled_rows = allow_unlabeled_rows
+        manifest_task_id_by_episode: dict[int, str] = {}
+        for sequence in manifest.sequences:
+            episode_id = sequence.start_key.global_episode_id
+            task_id = sequence.start_key.task_id
+            existing_task_id = manifest_task_id_by_episode.setdefault(
+                episode_id,
+                task_id,
+            )
+            if existing_task_id != task_id:
+                raise SemanticTransitionReaderError(
+                    "transition manifest maps one global episode to multiple task ids: "
+                    f"{episode_id}"
+                )
+        self._manifest_task_id_by_episode = manifest_task_id_by_episode
+        task_id_by_position: dict[tuple[int, int], str] = {}
+        for row in manifest.training_rows():
+            position = (row.key.global_episode_id, row.key.step_idx)
+            existing_task_id = task_id_by_position.setdefault(position, row.key.task_id)
+            if existing_task_id != row.key.task_id:
+                raise SemanticTransitionReaderError(
+                    "transition manifest maps one episode-step to multiple task ids: "
+                    f"{position}"
+                )
+        self._task_id_by_position = task_id_by_position
+
+    def __getstate__(self) -> tuple[Path, str, bool]:
+        return self._manifest_path, self._expected_sha256, self._allow_unlabeled_rows
+
+    def __setstate__(self, state: tuple[Path, str, bool]) -> None:
+        manifest_path, expected_sha256, allow_unlabeled_rows = state
+        self.__init__(
+            manifest_path=manifest_path,
+            expected_sha256=expected_sha256,
+            allow_unlabeled_rows=allow_unlabeled_rows,
+        )
+
+    @property
+    def manifest_path(self) -> Path:
+        return self._manifest_path
+
+    @property
+    def expected_sha256(self) -> str:
+        return self._expected_sha256
+
+    @property
+    def manifest(self) -> TransitionSequenceManifest:
+        return self._manifest
+
+    @property
+    def allow_unlabeled_rows(self) -> bool:
+        return self._allow_unlabeled_rows
+
+    def metadata_for(
+        self,
+        *,
+        task_id: str | None,
+        global_episode_id: int,
+        step_idx: int,
+        owner_sequence_id: str | None = None,
+    ) -> dict[str, np.ndarray]:
+        """Return the complete numeric contract for one exact logical row.
+
+        Dataset adjacency is never consulted.  An overlapping row must name
+        its owner sequence, and a target without its causal 48-step context is
+        rejected instead of being trained as an all-zero history.
+        """
+
+        position = _row_position(global_episode_id, step_idx)
+        position_is_labeled = position in self._task_id_by_position
+        if task_id is None:
+            if (
+                self._allow_unlabeled_rows
+                and position[0] not in self._manifest_task_id_by_episode
+            ):
+                return runtime_only_zero_transition_metadata()
+            raise SemanticTransitionReaderError(
+                f"transition training requires a manifest task id for episode {global_episode_id}"
+            )
+        key = _row_key(task_id, global_episode_id, step_idx)
+        if self._allow_unlabeled_rows and not position_is_labeled:
+            expected_task_id = self._manifest_task_id_by_episode.get(position[0])
+            if expected_task_id is not None and task_id != expected_task_id:
+                raise SemanticTransitionReaderError(
+                    "transition training task id does not match manifest episode "
+                    f"{global_episode_id}: expected {expected_task_id!r}, got {task_id!r}"
+                )
+            return runtime_only_zero_transition_metadata()
+        try:
+            training_row = self._manifest.row_target(key, owner_sequence_id=owner_sequence_id)
+        except KeyError as exc:
+            raise SemanticTransitionReaderError(f"transition training target is missing for exact row {key}") from exc
+        except (TypeError, ValueError) as exc:
+            raise SemanticTransitionReaderError(f"cannot resolve transition training row {key}: {exc}") from exc
+
+        if training_row.target.realized_transition_context is None:
+            raise SemanticTransitionReaderError(f"transition training context is missing for exact row {key}")
+
+        metadata = training_row.as_loader_metadata()
+        actual_fields = frozenset(metadata)
+        if actual_fields != TRANSITION_TRAINING_METADATA_FIELDS:
+            missing = sorted(TRANSITION_TRAINING_METADATA_FIELDS - actual_fields)
+            extra = sorted(actual_fields - TRANSITION_TRAINING_METADATA_FIELDS)
+            raise SemanticTransitionReaderError(
+                f"transition training metadata schema drift for exact row {key}: missing={missing}, extra={extra}"
+            )
+        return metadata
+
+
+def create_semantic_transition_training_reader(
+    *,
+    enabled: bool,
+    manifest_path: str | Path | None = None,
+    expected_sha256: str | None = None,
+    allow_unlabeled_rows: bool = False,
+) -> SemanticTransitionTrainingReader | None:
+    """Create the one dataset-level reader, or ``None`` when training is off."""
+
+    if type(enabled) is not bool:
+        raise TypeError("enabled must be bool")
+    if not enabled:
+        return None
+    return SemanticTransitionTrainingReader(
+        manifest_path=manifest_path,
+        expected_sha256=expected_sha256,
+        allow_unlabeled_rows=allow_unlabeled_rows,
+    )
+
+
+def runtime_only_zero_transition_metadata() -> dict[str, np.ndarray]:
+    """Return neutral fields for inference or explicitly masked training rows.
+
+    The legacy name is retained for existing callers. Strict training never
+    falls back to these values; the mixed reader uses them only for positions
+    absent from the manifest, with both supervision-valid flags false.
+    """
+
+    return {
+        "transition_span_target": np.asarray(0.0, dtype=np.float32),
+        "transition_last_span_target": np.asarray(0.0, dtype=np.float32),
+        "transition_status_valid": np.zeros((), dtype=np.bool_),
+        "transition_last_span_valid": np.zeros((), dtype=np.bool_),
+        "transition_context_action_delta": np.zeros(
+            (TRANSITION_CONTEXT_LENGTH, TRANSITION_CONTEXT_WIDTH),
+            dtype=np.float32,
+        ),
+        "transition_context_state_delta": np.zeros(
+            (TRANSITION_CONTEXT_LENGTH, TRANSITION_CONTEXT_WIDTH),
+            dtype=np.float32,
+        ),
+        "transition_context_relative_age": np.zeros(TRANSITION_CONTEXT_LENGTH, dtype=np.float32),
+        "transition_context_valid_mask": np.zeros(TRANSITION_CONTEXT_LENGTH, dtype=np.bool_),
+    }
+
+
+def _row_key(task_id: str, global_episode_id: int, step_idx: int) -> TransitionRowKey:
+    episode, step = _row_position(global_episode_id, step_idx)
+    try:
+        return TransitionRowKey(task_id, episode, step)
+    except (TypeError, ValueError) as exc:
+        raise SemanticTransitionReaderError(f"invalid exact transition row key: {exc}") from exc
+
+
+def _row_position(global_episode_id: int, step_idx: int) -> tuple[int, int]:
+    if isinstance(global_episode_id, bool) or not isinstance(global_episode_id, Integral):
+        raise SemanticTransitionReaderError("global_episode_id must be a non-negative integer")
+    if isinstance(step_idx, bool) or not isinstance(step_idx, Integral):
+        raise SemanticTransitionReaderError("step_idx must be a non-negative integer")
+    episode = int(global_episode_id)
+    step = int(step_idx)
+    if episode < 0 or step < 0:
+        raise SemanticTransitionReaderError(
+            "global_episode_id and step_idx must be non-negative"
+        )
+    return episode, step
+
+
+__all__ = [
+    "TRANSITION_TRAINING_METADATA_FIELDS",
+    "SemanticTransitionReaderError",
+    "SemanticTransitionTrainingReader",
+    "create_semantic_transition_training_reader",
+    "runtime_only_zero_transition_metadata",
+]

checkpoints/r2/pick3/baseline/step9000/code/integrations/robomme/transition_status_manifest.json

@@ -0,0 +1,67 @@
+{
+  "schema_version": "picmem_robomme_transition_status_overlay_v1",
+  "overlay_id": "transition_status_v1",
+  "copied_files": [
+    {
+      "path": "src/mme_vla_suite/models/config/robomme/perceptual-picmem-transition-v1-modul.yaml",
+      "preimage_sha256": null,
+      "postimage_sha256": "0691f21107e9746131d7ecefd380a1238b8beeeeee758da0ec440a5d97296827"
+    },
+    {
+      "path": "src/mme_vla_suite/models/representation/transition_status.py",
+      "preimage_sha256": null,
+      "postimage_sha256": "f2820eb900e8b8badee27b0dabb8d09625b1a35ad96997d56de76ea26662f7e4"
+    },
+    {
+      "path": "src/mme_vla_suite/policies/semantic_transition_runtime.py",
+      "preimage_sha256": null,
+      "postimage_sha256": "6945725b52b4a4a11b6cea748378fcac0ef502fece1632800794d35025126df6"
+    },
+    {
+      "path": "src/mme_vla_suite/training/semantic_transition_reader.py",
+      "preimage_sha256": null,
+      "postimage_sha256": "232977ebfc6ebe948f22f62f917bf73a47c0e811fc26c44c9d403a13f37b198e"
+    }
+  ],
+  "host_patch": {
+    "path": "patches/transition_status_v1_host.patch",
+    "sha256": "a1f9042f777aabe1d720a6e7e5fa9774d77de2231cc770ce939eefc308479a70",
+    "files": [
+      {
+        "path": "examples/robomme/eval.py",
+        "preimage_sha256": "2b51b942af18f7a3412814b66eca67a0fc4ff374794bceac5f44d87e1e367c41",
+        "postimage_sha256": "3c47df922604feb58e90200249762bd74f3bdba04131f1b81aa6d0b6349d354e"
+      },
+      {
+        "path": "src/mme_vla_suite/models/integration/history_observation.py",
+        "preimage_sha256": "e510f75496770d418d770f3e2a56f6ddc9d972a5ff68b6cd14b7a15665ec39a8",
+        "postimage_sha256": "dedfd82ff19a83395f721c4bb8ed1c3b4600c9e3d234d6deaced8895f452d4e3"
+      },
+      {
+        "path": "src/mme_vla_suite/models/integration/history_pi0.py",
+        "preimage_sha256": "9192bfc229ac1386a3d36835c6d1e220617431d44b462016b062bc3df07a337f",
+        "postimage_sha256": "b5c5d055bd923e02b3381b1da6007b75393fdf13fbd5dfdc9c85e82bb9852638"
+      },
+      {
+        "path": "src/mme_vla_suite/policies/policy.py",
+        "preimage_sha256": "dc31fce752172e1861de4840445b6c300dfa2a675a797dedbee1b108f7f4e20d",
+        "postimage_sha256": "85552f440e644ab31c63fa8ddcb856522085a7e414fbacd87eff0ef89e9ba2a5"
+      },
+      {
+        "path": "src/mme_vla_suite/policies/robomme_policy.py",
+        "preimage_sha256": "78dbf3393bac91a16096d02b17239ca0e14c38be7ce32042d88f96b1e89e35e2",
+        "postimage_sha256": "9cfe10577679189f2b3af345d41c7b40625cb0aef1b2b7077107b532565826cf"
+      },
+      {
+        "path": "src/mme_vla_suite/training/config.py",
+        "preimage_sha256": "47041573dae2c48b99b56035763f4fd611f6cc5395e7875849dd6017227ce247",
+        "postimage_sha256": "152334f30e20ea529dffe7932fe5575a5c4a11f4f1514fb56718272d9d5ef6c2"
+      },
+      {
+        "path": "src/mme_vla_suite/training/dataset.py",
+        "preimage_sha256": "62f867c89b0073f484ba15ff1e3a5f5554ec520bcae00b06cdcff3f19fbf0d3b",
+        "postimage_sha256": "db08b26dd964aed7da69f0fc02ed064b688c453777277a274614dd1f0dcbb34a"
+      }
+    ]
+  }
+}

checkpoints/r2/pick3/baseline/step9000/code/pyproject.toml

@@ -0,0 +1,128 @@
+[build-system]
+requires = ["hatchling"]
+build-backend = "hatchling.build"
+
+[project]
+name = "picmem-dev"
+version = "0.2.0"
+description = "Bounded contract memory for long-horizon robot policies"
+readme = "README.md"
+requires-python = ">=3.10,<3.14"
+license = { file = "LICENSE" }
+dependencies = [
+    "cryptography==45.0.7",
+    "numpy>=1.26",
+]
+
+[project.optional-dependencies]
+hdf5 = ["h5py>=3.13"]
+lerobot = ["polars>=1.30"]
+semantic-annotation = [
+    "h5py>=3.13",
+    "openai>=2,<3",
+    "Pillow>=10.4",
+    "polars>=1.30",
+]
+model = [
+    "flax==0.10.2",
+    "jax==0.5.3",
+    "jaxtyping==0.2.36",
+]
+counterfactual = ["jax==0.5.3"]
+samplers = ["torch>=2.8,<2.9"]
+training = [
+    "jax==0.5.3",
+    "torch>=2.8,<2.9",
+]
+dev = [
+    "flax==0.10.2",
+    "h5py>=3.13",
+    "jax==0.5.3",
+    "jaxtyping==0.2.36",
+    "omegaconf>=2.3",
+    "polars>=1.30",
+    "pytest>=8.3",
+    "ruff>=0.8",
+    "torch>=2.8,<2.9",
+]
+
+[project.scripts]
+picmem-audit = "picmem.cli.audit:main"
+picmem-crosswalk-receipt = "picmem.cli.crosswalk_receipt:main"
+picmem-dense-caption = "picmem.cli.dense_caption_v7:main"
+picmem-dense-caption-all = "picmem.cli.dense_caption_v7_all:main"
+picmem-semantic-annotate = "picmem.cli.semantic_annotate:main"
+picmem-semantic-calibration = "picmem.cli.semantic_calibration:main"
+picmem-stage1-archive = "picmem.cli.stage1_archive:main"
+picmem-stage1-refine = "picmem.cli.stage1_refine:main"
+picmem-stage2-task-semantics = "picmem.cli.stage2_task_semantics_v7:main"
+picmem-stage3-temporal-mapping = "picmem.cli.stage3_temporal_mapping:main"
+picmem-stage4-semantic-memory = "picmem.cli.stage4_semantic_memory:main"
+picmem-vllm-server = "picmem.cli.vllm_server:main"
+picmem-admit = "picmem.ops.admission:main"
+picmem-amlt = "picmem.ops.amlt:main"
+picmem-cadence = "picmem.ops.cadence:main"
+picmem-checkpoint = "picmem.ops.checkpoint:main"
+picmem-formal-runtime = "picmem.ops.formal_runtime:main"
+picmem-ledger = "picmem.ops.scheduler:main"
+picmem-registry = "picmem.ops.registry:main"
+picmem-runtime-profile = "picmem.ops.runtime_profiles:main"
+picmem-run084-order = "picmem.sampling.run084_sample_order:main"
+picmem-sku-smoke-evidence = "picmem.ops.sku_smoke_evidence:main"
+picmem-submit = "picmem.ops.submit:main"
+picmem-supervisor = "picmem.ops.supervisor:main"
+picmem-uv-cache = "picmem.ops.uv_cache:main"
+picmem-watchdog = "picmem.ops.watchdog:main"
+
+[tool.hatch.build.targets.wheel]
+packages = ["src/picmem"]
+
+[tool.pytest.ini_options]
+testpaths = ["tests"]
+pythonpath = ["src", "."]
+
+[tool.ruff]
+line-length = 120
+target-version = "py310"
+# robomme/ is the vendored upstream RoboMME workspace, carried here so an
+# experiment needs no second checkout.  It ships its own ruff configuration and
+# its own style history; linting it under PIC-Mem's rules would report ~1.5k
+# pre-existing upstream findings that nobody here is entitled to "fix".
+extend-exclude = ["robomme"]
+
+[tool.ruff.lint]
+select = ["B", "E", "F", "I", "RUF", "SIM", "UP"]
+ignore = ["F722"]
+
+# These two files are hash-pinned mirrors of the upstream RoboMME host.  Keep
+# its existing style debt isolated here instead of reformatting the reviewed
+# overlay preimages; all PIC-Mem additions and the rest of the repository stay
+# under the normal rule set.
+[tool.ruff.lint.per-file-ignores]
+"integrations/robomme/src/mme_vla_suite/shared/mem_buffer.py" = [
+    "E401",
+    "E501",
+    "F403",
+    "F405",
+    "F541",
+    "I001",
+    "SIM108",
+    "UP035",
+]
+"integrations/robomme/src/mme_vla_suite/training/dataset.py" = [
+    "B905",
+    "E501",
+    "RUF013",
+    "RUF046",
+    "SIM115",
+]
+
+# The reviewed AzureML image is CUDA 12.6, so torch must come from the matching
+# PyTorch index instead of the PyPI default, which publishes a cu128 build.
+[[tool.uv.index]]
+name = "pytorch-cu126"
+url = "https://download.pytorch.org/whl/cu126"
+explicit = true
+
+[tool.uv.sources]
+torch = { index = "pytorch-cu126" }

checkpoints/r2/pick3/baseline/step9000/code/robomme/LICENSE

@@ -0,0 +1,201 @@
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checkpoints/r2/pick3/baseline/step9000/code/robomme/packages/openpi-client/src/openpi_client/__init__.py

@@ -0,0 +1 @@
+__version__ = "0.1.0"

checkpoints/r2/pick3/baseline/step9000/code/robomme/packages/openpi-client/src/openpi_client/action_chunk_broker.py

@@ -0,0 +1,50 @@
+from typing import Dict
+
+import numpy as np
+import tree
+from typing_extensions import override
+
+from openpi_client import base_policy as _base_policy
+
+
+class ActionChunkBroker(_base_policy.BasePolicy):
+    """Wraps a policy to return action chunks one-at-a-time.
+
+    Assumes that the first dimension of all action fields is the chunk size.
+
+    A new inference call to the inner policy is only made when the current
+    list of chunks is exhausted.
+    """
+
+    def __init__(self, policy: _base_policy.BasePolicy, action_horizon: int):
+        self._policy = policy
+        self._action_horizon = action_horizon
+        self._cur_step: int = 0
+
+        self._last_results: Dict[str, np.ndarray] | None = None
+
+    @override
+    def infer(self, obs: Dict) -> Dict:  # noqa: UP006
+        if self._last_results is None:
+            self._last_results = self._policy.infer(obs)
+            self._cur_step = 0
+
+        def slicer(x):
+            if isinstance(x, np.ndarray):
+                return x[self._cur_step, ...]
+            else:
+                return x
+
+        results = tree.map_structure(slicer, self._last_results)
+        self._cur_step += 1
+
+        if self._cur_step >= self._action_horizon:
+            self._last_results = None
+
+        return results
+
+    @override
+    def reset(self) -> None:
+        self._policy.reset()
+        self._last_results = None
+        self._cur_step = 0

checkpoints/r2/pick3/baseline/step9000/code/robomme/packages/openpi-client/src/openpi_client/base_policy.py

@@ -0,0 +1,12 @@
+import abc
+from typing import Dict
+
+
+class BasePolicy(abc.ABC):
+    @abc.abstractmethod
+    def infer(self, obs: Dict) -> Dict:
+        """Infer actions from observations."""
+
+    def reset(self) -> None:
+        """Reset the policy to its initial state."""
+        pass

checkpoints/r2/pick3/baseline/step9000/code/robomme/packages/openpi-client/src/openpi_client/image_tools.py

@@ -0,0 +1,58 @@
+import numpy as np
+from PIL import Image
+
+
+def convert_to_uint8(img: np.ndarray) -> np.ndarray:
+    """Converts an image to uint8 if it is a float image.
+
+    This is important for reducing the size of the image when sending it over the network.
+    """
+    if np.issubdtype(img.dtype, np.floating):
+        img = (255 * img).astype(np.uint8)
+    return img
+
+
+def resize_with_pad(images: np.ndarray, height: int, width: int, method=Image.BILINEAR) -> np.ndarray:
+    """Replicates tf.image.resize_with_pad for multiple images using PIL. Resizes a batch of images to a target height.
+
+    Args:
+        images: A batch of images in [..., height, width, channel] format.
+        height: The target height of the image.
+        width: The target width of the image.
+        method: The interpolation method to use. Default is bilinear.
+
+    Returns:
+        The resized images in [..., height, width, channel].
+    """
+    # If the images are already the correct size, return them as is.
+    if images.shape[-3:-1] == (height, width):
+        return images
+
+    original_shape = images.shape
+
+    images = images.reshape(-1, *original_shape[-3:])
+    resized = np.stack([_resize_with_pad_pil(Image.fromarray(im), height, width, method=method) for im in images])
+    return resized.reshape(*original_shape[:-3], *resized.shape[-3:])
+
+
+def _resize_with_pad_pil(image: Image.Image, height: int, width: int, method: int) -> Image.Image:
+    """Replicates tf.image.resize_with_pad for one image using PIL. Resizes an image to a target height and
+    width without distortion by padding with zeros.
+
+    Unlike the jax version, note that PIL uses [width, height, channel] ordering instead of [batch, h, w, c].
+    """
+    cur_width, cur_height = image.size
+    if cur_width == width and cur_height == height:
+        return image  # No need to resize if the image is already the correct size.
+
+    ratio = max(cur_width / width, cur_height / height)
+    resized_height = int(cur_height / ratio)
+    resized_width = int(cur_width / ratio)
+    resized_image = image.resize((resized_width, resized_height), resample=method)
+
+    zero_image = Image.new(resized_image.mode, (width, height), 0)
+    pad_height = max(0, int((height - resized_height) / 2))
+    pad_width = max(0, int((width - resized_width) / 2))
+    zero_image.paste(resized_image, (pad_width, pad_height))
+    assert zero_image.size == (width, height)
+    return zero_image

checkpoints/r2/pick3/baseline/step9000/code/robomme/packages/openpi-client/src/openpi_client/image_tools_test.py

@@ -0,0 +1,37 @@
+import numpy as np
+
+import openpi_client.image_tools as image_tools
+
+
+def test_resize_with_pad_shapes():
+    # Test case 1: Resize image with larger dimensions
+    images = np.zeros((2, 10, 10, 3), dtype=np.uint8)  # Input images of shape (batch_size, height, width, channels)
+    height = 20
+    width = 20
+    resized_images = image_tools.resize_with_pad(images, height, width)
+    assert resized_images.shape == (2, height, width, 3)
+    assert np.all(resized_images == 0)
+
+    # Test case 2: Resize image with smaller dimensions
+    images = np.zeros((3, 30, 30, 3), dtype=np.uint8)
+    height = 15
+    width = 15
+    resized_images = image_tools.resize_with_pad(images, height, width)
+    assert resized_images.shape == (3, height, width, 3)
+    assert np.all(resized_images == 0)
+
+    # Test case 3: Resize image with the same dimensions
+    images = np.zeros((1, 50, 50, 3), dtype=np.uint8)
+    height = 50
+    width = 50
+    resized_images = image_tools.resize_with_pad(images, height, width)
+    assert resized_images.shape == (1, height, width, 3)
+    assert np.all(resized_images == 0)
+
+    # Test case 3: Resize image with odd-numbered padding
+    images = np.zeros((1, 256, 320, 3), dtype=np.uint8)
+    height = 60
+    width = 80
+    resized_images = image_tools.resize_with_pad(images, height, width)
+    assert resized_images.shape == (1, height, width, 3)
+    assert np.all(resized_images == 0)

checkpoints/r2/pick3/baseline/step9000/code/robomme/packages/openpi-client/src/openpi_client/msgpack_numpy.py

@@ -0,0 +1,57 @@
+"""Adds NumPy array support to msgpack.
+
+msgpack is good for (de)serializing data over a network for multiple reasons:
+- msgpack is secure (as opposed to pickle/dill/etc which allow for arbitrary code execution)
+- msgpack is widely used and has good cross-language support
+- msgpack does not require a schema (as opposed to protobuf/flatbuffers/etc) which is convenient in dynamically typed
+    languages like Python and JavaScript
+- msgpack is fast and efficient (as opposed to readable formats like JSON/YAML/etc); I found that msgpack was ~4x faster
+    than pickle for serializing large arrays using the below strategy
+
+The code below is adapted from https://github.com/lebedov/msgpack-numpy. The reason not to use that library directly is
+that it falls back to pickle for object arrays.
+"""
+
+import functools
+
+import msgpack
+import numpy as np
+
+
+def pack_array(obj):
+    if (isinstance(obj, (np.ndarray, np.generic))) and obj.dtype.kind in ("V", "O", "c"):
+        raise ValueError(f"Unsupported dtype: {obj.dtype}")
+
+    if isinstance(obj, np.ndarray):
+        return {
+            b"__ndarray__": True,
+            b"data": obj.tobytes(),
+            b"dtype": obj.dtype.str,
+            b"shape": obj.shape,
+        }
+
+    if isinstance(obj, np.generic):
+        return {
+            b"__npgeneric__": True,
+            b"data": obj.item(),
+            b"dtype": obj.dtype.str,
+        }
+
+    return obj
+
+
+def unpack_array(obj):
+    if b"__ndarray__" in obj:
+        return np.ndarray(buffer=obj[b"data"], dtype=np.dtype(obj[b"dtype"]), shape=obj[b"shape"])
+
+    if b"__npgeneric__" in obj:
+        return np.dtype(obj[b"dtype"]).type(obj[b"data"])
+
+    return obj
+
+
+Packer = functools.partial(msgpack.Packer, default=pack_array)
+packb = functools.partial(msgpack.packb, default=pack_array)
+
+Unpacker = functools.partial(msgpack.Unpacker, object_hook=unpack_array)
+unpackb = functools.partial(msgpack.unpackb, object_hook=unpack_array)

checkpoints/r2/pick3/baseline/step9000/code/robomme/packages/openpi-client/src/openpi_client/msgpack_numpy_test.py

@@ -0,0 +1,45 @@
+import numpy as np
+import pytest
+import tree
+
+from openpi_client import msgpack_numpy
+
+
+def _check(expected, actual):
+    if isinstance(expected, np.ndarray):
+        assert expected.shape == actual.shape
+        assert expected.dtype == actual.dtype
+        assert np.array_equal(expected, actual, equal_nan=expected.dtype.kind == "f")
+    else:
+        assert expected == actual
+
+
+@pytest.mark.parametrize(
+    "data",
+    [
+        1,  # int
+        1.0,  # float
+        "hello",  # string
+        np.bool_(True),  # boolean scalar
+        np.array([1, 2, 3])[0],  # int scalar
+        np.str_("asdf"),  # string scalar
+        [1, 2, 3],  # list
+        {"key": "value"},  # dict
+        {"key": [1, 2, 3]},  # nested dict
+        np.array(1.0),  # 0D array
+        np.array([1, 2, 3], dtype=np.int32),  # 1D integer array
+        np.array(["asdf", "qwer"]),  # string array
+        np.array([True, False]),  # boolean array
+        np.array([[1.0, 2.0], [3.0, 4.0]], dtype=np.float32),  # 2D float array
+        np.array([[[1, 2], [3, 4]], [[5, 6], [7, 8]]], dtype=np.int16),  # 3D integer array
+        np.array([np.nan, np.inf, -np.inf]),  # special float values
+        {"arr": np.array([1, 2, 3]), "nested": {"arr": np.array([4, 5, 6])}},  # nested dict with arrays
+        [np.array([1, 2]), np.array([3, 4])],  # list of arrays
+        np.zeros((3, 4, 5), dtype=np.float32),  # 3D zeros
+        np.ones((2, 3), dtype=np.float64),  # 2D ones with double precision
+    ],
+)
+def test_pack_unpack(data):
+    packed = msgpack_numpy.packb(data)
+    unpacked = msgpack_numpy.unpackb(packed)
+    tree.map_structure(_check, data, unpacked)