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arc: one clock per arm, absolute-duration clocks with speed-bounded isotonic decode - #272
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…sotonic decode Adds `streams: translation` (M x 16, one clock per arm; rotation and gripper ride the translation supports) beside full_separation and translation_rotation, and makes `clock_mode: duration` absolute seconds from the chunk anchor instead of log intervals. Decoding projects the predicted times onto the nearest non-decreasing clock by isotonic regression on the slack above the 5 m/s translation clock (Elmo's PR #266 decode); there is no minimum speed, since a floor replayed rotation and gripper up to 10x fast on 34 % of real slow-pace chunks under one clock per arm. Mode-0 replanning follows the first moving stream; W&B ids are seeded (`<name>_s<seed>`). Provenance `timing_layout` is `first_delay_absolute_v1` (duration) / `first_delay_incoming_v1` (velocity). Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
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On Aniketh's #270. Adds
streams: translation(M x 16, one clock per arm; rotation and gripper ride the translation supports) and makesclock_mode: durationabsolute seconds from the chunk anchor, decoded by isotonic regression on the slack above the 5 m/s translation clock (Elmo's #266). No minimum speed: a floor replayed rotation and gripper up to 10x fast on 34 % of real slow-pace chunks under one clock per arm. Mode-0 replanning follows the first moving stream; W&B ids are<name>_s<seed>.Checks:
test_arc_clock_contract,test_arc_first_delay,test_arc_length_tokenizer; config audit 343/343.