[AnikethCheluva]

Stack context

Robot 1/5 of the Cartesian ARC arrival-v2 review. Main stack: #311 (38 levels). Optional projection: #317, outside the main tip's ancestry. Parent: codex/arc-rebuild/20-open-loop-stream-evaluation.

What and why

Pass the same measured same-frame initial_action to first-stream timing and decoding before frame conversion/IK. Robot decode context is explicit in model configuration. No hardware process is started.

Needed / not carried forward

This level supplies the capability named above. The integrated stack has one canonical Cartesian codec, fixed independent-stream execution and model-declared decode context; it does not carry duplicate E1/legacy codecs or selectable race/joint-distance algorithms. Independent planar/simulation codecs remain outside this cleanup. No tests, fixtures or local verification scripts are committed. No training job or hardware session is launched.

Compatibility and verification

The full integration intentionally changes ARC targets: source starts at the next frame, row zero is incoming travel, and timing is measured from current proprio. Fresh compatible normalization and new experiment identities are required. Old checkpoints retain their recorded sources; same tensor width does not make them compatible. Complete experiment menus activate at the config integration level; intermediate helper PRs are not production launch candidates.

External CPU checks: 114 codec checks; 457 staged-codec checks; 93 inference/evaluator context checks; 282 open-loop oracle checks; 27 diagnostic checks; numerical post-tokenization statistics and next-frame source/preflight checks. All 325 current YAMLs resolve; 24 ARC and four baseline config-to-decoder context constructions pass. The optional projection extension passed 14 dedicated checks. These are integration receipts, not claims that every intermediate PR ran a complete training or hardware test.

[AnikethCheluva]

Warning

This pull request is not mergeable via GitHub because a downstack PR is open. Once all requirements are satisfied, merge this PR as a stack on Graphite.
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• [ARC] opt-in Tuesday E1 abstime training targets #327
• [Robot] restore station rollout knobs on the dashboard #319
• [Optional ARC 1/1] add projected-point progress on a separate branch #317
• [Docs 2/2] map the feature-sized rebuild and current configuration contracts #311
• [Docs 1/2] use the authorized GitHub account for Graphite publication #280
• [Tools 3/3] package ARC inspection assets and lock optional TracIK dependency #310
• [Tools 2/3] add source-window measurements and paired ARC representation inspection #308
• [Tools 1/3] add checkpoint sweeps and explicit validation-only logging #307
• [Config 5/5] update PI launch examples and integration matrix to canonical config paths #309
• [Config 4/5] remove remaining E1 campaign runtime and temporary withdrawal support #305
• [Config 3/5] integrate arrival-v2 source offsets and explicit experiment contracts #304
• [Config 2/5] organize simulation recipes under arc_sim and update launcher selectors #303
• [Config 1/5] factor reusable model bases and HPT PI component groups #302
• [Robot 5/5] connect bound controls recording and reset guides to the rollout dashboard #306
• [Robot 4/5] add standalone camera alignment diagnostics #296
• [Robot 3/5] record demonstration-compatible rollout episodes and tempo summaries #295
• [Robot 2/5] add bounded rollout IK recovery and selectable endpoint solvers #294
• [Robot 1/5] decode measured-proprio incoming ARC for robot execution #300 👈 (View in Graphite)
• [Eval 2/2] evaluate next-frame open-loop chunks and videos from measured anchors #299
• [Eval 1/2] score world-frame arrival-clock full-episode DTW #298
• [Pipeline 12/12] replace campaign-named image stem with shared ResNet-MLP implementation #301
• [Pipeline 11/12] preserve W&B identity across automatic Lightning resumes #293
• [Pipeline 10/12] add ABC-DiT through shared graph observation and flow stages #286
• [Pipeline 9/12] make ResNet ImageNet normalization explicit and opt-in #285
• [Pipeline 8/12] add optional clean-sample bounds during integration #283
• [Pipeline 7/12] accept existing token sequences without an extra axis #282
• [Pipeline 6/12] pass explicit native decoder context and execution prefixes #292
• [Pipeline 5/12] resolve independent distance-bounded next-frame source windows #291
• [Pipeline 4/12] bind post-tokenization normalization to exact arrival contracts #289
• [Pipeline 3/12] preserve measured ARC anchors and metric-frame observation metadata #288
• [Pipeline 2/12] align cameras proprioception and actions on one control clock #287
• [Pipeline 1/12] preserve native action windows before interpolation #281
• [ARC 7/7] Add first-moving-stream termination without synthetic hold timers #318
• [ARC 6/7] Add absolute arrival seconds and anchor-aware monotone decoding #316
• [ARC 5/7] Add distance-resampled gripper clocks #315
• [ARC 4/7] Add independent event-based gripper clocks #314
• [ARC 3/7] Add independent rotation clocks and rotation-only supports #313
• [ARC 2/7] Create translation ARC with measured-proprio incoming waypoint rates #297
• [ARC 1/7] share rotation travel and first-crossing interpolation primitives #290
• [Preparation 2/2] Withdraw inherited Cartesian ARC and preserve baseline-only integrations #312
• [Preparation 1/2] remove committed tests and retain configuration audits #284
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