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Bind checkpoints to inference and preprocessing contracts - #154
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Add required lock, pinned lint/format, recursive YAML and constructor, CPU, and installed-wheel checks to CI. All 253 shipped YAMLs are composed and their graph/data/evaluator components are constructed offline; ready declarations must produce their native output from the declared observations. Meta tensors and explicit tokenizer/architecture fixtures keep these checks separate from real-weight training. The constructor gate caught eager Scale API access and a stale EVA wrist keymap. Defer annotation queries until resolution, preserving scoped memoization, and use the canonical Cartesian keymap with the frame choice in transforms. Finish the shared prediction-metric entrypoint used by latent diagnostics and canonical Yam camera naming. Broad formatting enforces the existing rules while preserving byte-pinned Yam mapper/IK sources. Validation: lock and Ruff checks pass; **1,408 tests passed** in an isolated checkout, including 253 compose contexts and 253 constructor contexts. Exact tree and log hash: `docs/integration/evidence/ci-cpu-receipt.json`. Constructor substitutions and outstanding gates are documented in `docs/integration/VALIDATION.md`. Stack: #150 → #151 → #152 → #153 → #154 → this PR. Real-weight/data OSMO and assembled EgoVerse validation remain pending. No legacy-runtime removal.
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Checkpoint restoration could previously pair matching tensor shapes with a different preprocessing or normalization state. Bind new checkpoints and inference artifacts to the resolved graph, model-owned declaration and complete data context; reject mismatches before model construction. The Zarr adapter records frame/keymap/transform semantics while allowing relocated validation data and held-out episode selection.
Robot rollout and the new no-hardware
InferenceSessionshare strict bound loading, decoding and typed runtime controls. Restoration constructs the architecture without reloading external initialization weights. Fresh initialization remains explicit and rejects overlapping targets. Historical unbound checkpoints are preserved with their original runtime; no automatic converter is claimed.Validation: 1,404 tests passed in an isolated checkout, including eight HPT/stub-PI source recipes with real optimizer steps, checkpoint export/reload, canonical sequence decoding, and corrupt-context rejection. See
docs/integration/evidence/bound-inference-cpu-receipt.jsonfor the exact tested tree and log hash.Stack: #150 → #151 → #152 → #153 → this PR. Real-weight/data OSMO GPU gates and assembled EgoVerse integration remain pending. No legacy runtime cutover or deletion.