Publish Ropedia Xperience-10M derived artifacts

FOUNDATION_MODEL_PLAN.md

@@ -5,9 +5,11 @@ Qwen3-Omni LoRA pilot. It separates immediate trainable work from later
 world-model and robot-policy branches, so the project can choose a backbone
 without mixing different research goals.
 
-Current status: this is a planning artifact. The public repo has verified
-single-episode task heads and setup-stage Qwen3-Omni scripts. It has not yet
-run a held-out multi-episode foundation-model evaluation.
+Current status: this remains the backbone-selection plan, but the repo now has
+verified held-out multi-episode foundation-model diagnostics: Qwen3-Omni LoRA
+for structured JSON tasks, Cosmos3-Nano for future-window compatibility,
+Cosmos3-Super Reasoner as a base-weight JSON-task evaluation, and Cosmos3-Super
+Forward-Dynamics LoRA as the first fine-tuned Super adapter branch.
 
 ## Backbone Decision
 
@@ -102,8 +104,11 @@ The practical Cosmos 3 branch should start with three targets:
 3. **Synthetic data expansion:** generate or score candidate futures, then test
    whether synthetic windows improve downstream task heads.
 
-A Cosmos 3 branch is ready to publish only after committed manifests, generated
-outputs, held-out metrics, and qualitative examples are available.
+A Cosmos 3 branch is now represented by two public-safe verified packages:
+Cosmos3-Nano future-window compatibility and Cosmos3-Super forward-dynamics
+LoRA. The Super LoRA target is camera-pose-conditioned future vision velocity,
+so it should be analyzed as a world-model loss result rather than a JSON-task
+classifier.
 
 ## Policy-Model Branch
 
@@ -136,17 +141,17 @@ The foundation-model stage should add metrics beyond the current 12-task suite:
 
 ## Execution Order
 
-1. Finish selected multi-episode pilot preparation.
-2. Run the Qwen3-Omni LoRA pilot exactly once as the first held-out baseline.
-3. Run a model-selection dry run on 3-8 episodes: Qwen3-Omni prompt-only,
-   Qwen3-Omni LoRA, Cosmos 3 world-model preprocessing, and one policy baseline.
-4. Promote Cosmos 3 to the first world-model experiment if video/sensor
-   preprocessing and storage fit.
-5. Promote OpenVLA/openpi/GR00T only after action targets are explicit and
+1. Keep the selected 96/16/16 split as the comparison spine.
+2. Treat the verified Qwen3-Omni LoRA package as the structured JSON baseline.
+3. Treat Cosmos3-Nano compatibility and Cosmos3-Super Forward-Dynamics LoRA as separate world-model branches with different metrics.
+4. Run a model-selection dry run on 3-8 episodes for any next backbone before scaling beyond the selected split.
+5. Promote Cosmos 3 to larger world-model experiments if video/sensor
+   preprocessing, storage, and loss metrics justify the extra cost.
+6. Promote OpenVLA/openpi/GR00T only after action targets are explicit and
    retargeting artifacts are traceable.
-6. Update public cards only when a branch has real manifests, predictions,
+7. Update public cards only when a branch has real manifests, predictions,
    metrics, and qualitative examples.
-7. Start Xperience-native pretraining only after smaller scaling stages,
+8. Start Xperience-native pretraining only after smaller scaling stages,
    full-corpus storage, multi-node compute, and held-out evaluation protocols
    are in place.
 

PROJECT_STATUS.md

@@ -22,8 +22,9 @@ scale-up readiness; it is not presented as final full-dataset model quality.
 | Audio contribution study | Verified | `scripts/audio_ablation_and_raw_upgrade.py`, `results/audio_ablation/`, `docs/data/audio_ablation_summary.json` | Audio variants are compared across all 12 task contracts; audio improves the primary metric on 6 of 12 tasks, and a 588-d audio-window representation improves over the baseline audio variant on 6 of 12 tasks. |
 | Research takeaways | Verified | `RESEARCH_TAKEAWAYS.md`, `docs/data/research_takeaways.json`, `scripts/build_research_takeaways.py` | The main result interpretation is generated from committed metrics: chronological class shift, neural gains on dynamics/order/alignment, open retrieval/reconstruction problems, and the need for held-out episodes. |
 | Research roadmap | Current | `RESEARCH_ROADMAP.md`, `docs/data/research_roadmap.json` | The roadmap connects public-sample task development to the final verified Qwen3-Omni diagnostic result, same-split baseline alignment, action/subtask error analysis, robustness runs, world/policy branches, and the future Xperience-native pretraining goal. |
-| Foundation-model plan | Current | `FOUNDATION_MODEL_PLAN.md`, `docs/data/foundation_model_plan.json` | Qwen3-Omni remains the first trainable held-out LoRA baseline; Cosmos 3 is added as the first world-model/action-generation branch; Cosmos3-Super now has camera-pose proxy action targets that pass the contract audit and a schema-only batch-packer smoke. The current target mode is forward-dynamics, so it supports vision-velocity training under action conditioning, not supervised action-token prediction. OpenVLA/openpi/GR00T are policy candidates after robot-compatible action targets are explicit. |
-| Cosmos3-Super action-target contract | Ready for forward-dynamics trainer implementation | `scripts/omni/export_cosmos3_camera_pose_targets.py`, `scripts/omni/pack_cosmos3_super_action_batch.py`, `results/omni_finetune/xperience10m_cosmos3_camera_pose_targets_20260608/target_manifest.json`, `results/omni_finetune/xperience10m_cosmos3_super_training_contract_audit_camera_pose_20260608/training_contract_audit.json`, `results/omni_finetune/xperience10m_cosmos3_super_action_packer_schema_smoke_20260608/packer_summary.json` | The selected 128-episode JSONL is augmented with 3,808/3,808 valid `camera_pose` proxy `cosmos_action_target` records from SLAM pose deltas. The schema-only packer smoke confirms the current `forward_dynamics` target should supervise noisy vision tokens under camera-pose conditioning; it does not supervise `preds_action`. Remaining work is a pipeline-loaded packer check, one-sample forward-dynamics overfit, and a separate policy/inverse target export before claiming action-token prediction. |
+| Foundation-model plan | Current | `FOUNDATION_MODEL_PLAN.md`, `docs/data/foundation_model_plan.json` | Qwen3-Omni remains the first structured JSON LoRA baseline; Cosmos3-Nano is verified as a future-window compatibility branch; Cosmos3-Super is represented by a base-weight Reasoner evaluation and a fine-tuned Forward-Dynamics LoRA branch. The Super LoRA target is camera-pose-conditioned future vision velocity, not supervised JSON action-token prediction. OpenVLA/openpi/GR00T remain policy candidates after robot-compatible action targets are explicit. |
+| Cosmos3-Super action-target contract | Superseded by verified forward-dynamics LoRA | `scripts/omni/export_cosmos3_camera_pose_targets.py`, `scripts/omni/pack_cosmos3_super_action_batch.py`, `results/omni_finetune/xperience10m_cosmos3_camera_pose_targets_20260608/target_manifest.json`, `results/omni_finetune/xperience10m_cosmos3_super_training_contract_audit_camera_pose_20260608/training_contract_audit.json`, `results/omni_finetune/xperience10m_cosmos3_super_action_packer_schema_smoke_20260608/packer_summary.json` | The selected 128-episode JSONL is augmented with 3,808/3,808 valid `camera_pose` proxy `cosmos_action_target` records from SLAM pose deltas. The schema packer and contract audit are now supporting evidence for the trained forward-dynamics branch; they still do not supervise `preds_action`, so action-token prediction needs a separate policy or inverse-dynamics target export. |
+| Cosmos3-Super Forward-Dynamics LoRA | Verified fine-tuned adapter branch | `configs/omni_backbones/cosmos3_super_forward_dynamics.json`, `scripts/omni/train_cosmos3_super_forward_dynamics_lora.py`, `scripts/omni/eval_cosmos3_super_forward_dynamics_lora.py`, `results/omni_finetune/verified_public/xperience10m_cosmos3_super_forward_dynamics_lora_128ep_train1epoch_256_attn_full8gpu_20260608_eval_test_full_fsdp/verified_result_summary.json`, `results/omni_finetune/verified_public/xperience10m_cosmos3_super_forward_dynamics_lora_128ep_train1epoch_256_attn_full8gpu_20260608_eval_test_full_fsdp/package_audit.json` | The first fine-tuned Cosmos3-Super adapter branch is locally verified as a public-safe package: 26.2M LoRA parameters, 2,848 train rows, 512 validation rows, 448 held-out test rows, validation MSE 4.0082, and test MSE 3.6853. The package excludes adapter safetensors; weights are published separately at `cy0307/ropedia-cosmos3-super-forward-dynamics-lora-128ep`. |
 | Omni model extension contract | Current | `OMNI_MODEL_EXTENSION_CONTRACT.md`, `configs/omni_backbones/`, `scripts/omni/backbone_registry.py`, `scripts/omni/smoke_test_backbone_packaging.py` | Future model branches must keep the same episode split discipline, held-out metrics, validation gate, public-safe package contract, and explicit forbidden-artifact policy before reporting results. |
 | Xperience Embodied Foundation Model | Future goal | `XPERIENCE_EMBODIED_FOUNDATION_MODEL_PRETRAINING.md` | A future full-corpus pretraining plan describes target modules, objectives, staged scale-up, hardware ranges, and evaluation for a domain-specific embodied foundation model. |
 | Evaluation protocol | Verified | `EVALUATION_PROTOCOL.md`, `docs/data/evaluation_protocol.json`, `scripts/build_evaluation_protocol.py` | Windowing, chronological split, per-task metrics, leakage controls, and current limitations are generated from committed metric artifacts. |

README.md

@@ -47,11 +47,11 @@ Ropedia/Xperience-10M access terms.
 The implemented public-sample task suite uses one public Xperience-10M sample
 episode. The selected 128-episode Qwen3-Omni final diagnostic result uses a
 gated local dataset copy and publishes only public-safe metrics, predictions,
-manifests, reports, and audits. The public LoRA adapter weights are published
-separately at `cy0307/ropedia-qwen3-omni-lora-128ep`. Cosmos3-Nano and
-Cosmos3-Super are currently published here as artifacts-only diagnostics; create
-a separate Cosmos model repository only after real Cosmos adapter or fine-tuned
-weights exist.
+manifests, reports, and audits. The Qwen3-Omni LoRA adapter weights are
+published separately at `cy0307/ropedia-qwen3-omni-lora-128ep`.
+Cosmos3-Nano remains an artifacts-only compatibility result. Cosmos3-Super
+Forward-Dynamics LoRA has a separate weight-bearing model repo at
+`cy0307/ropedia-cosmos3-super-forward-dynamics-lora-128ep`.
 
 ## Derived Artifacts
 
@@ -66,9 +66,9 @@ This bundle includes derived artifacts such as:
   action/subtask quality documented as the next error-analysis target.
 - Historical Qwen3-Omni packages, including the earlier v2 strict-JSON
   diagnostic, for regression and prompt-contract comparison.
-- Verified Cosmos3-Nano future-window compatibility and Cosmos3-Super
-  base-weight/readiness packages for the same selected split family; these are
-  artifacts only, not new Cosmos fine-tuned weight releases.
+- Verified Cosmos3-Nano future-window compatibility, Cosmos3-Super
+  base-weight Reasoner evaluation, and Cosmos3-Super Forward-Dynamics LoRA
+  public-safe packages for the same selected split family.
 - 128-episode same-split simple/NN metadata baselines for the same 12 task ids,
   with unsupported markers where raw 128 sensor feature blocks are still needed.
 - A model-family grouped comparison that pairs 1-episode and 128-episode entries
@@ -83,6 +83,7 @@ This bundle includes derived artifacts such as:
 | Artifact dataset | https://huggingface.co/datasets/cy0307/ropedia-xperience-10m-task-suite-artifacts |
 | Baseline model repo | https://huggingface.co/cy0307/ropedia-xperience-10m-task-baselines |
 | Qwen3-Omni LoRA adapter repo | https://huggingface.co/cy0307/ropedia-qwen3-omni-lora-128ep |
+| Cosmos3-Super Forward-Dynamics LoRA adapter repo | https://huggingface.co/cy0307/ropedia-cosmos3-super-forward-dynamics-lora-128ep |
 | GitHub repo | https://github.com/ChaoYue0307/ropedia-xperience-10m-task-suite |
 
 ## Citation

RESEARCH_ROADMAP.md

@@ -145,15 +145,14 @@ objectives: audio-visible alignment, future-window prediction,
 action-conditioned world modeling, synthetic-data usefulness tests, policy-style
 next action, contact, object relevance, and affordance reasoning.
 
-Current Cosmos3-Super status: a camera-pose proxy action target export now
-augments all 3,808 selected 128-episode windows and passes the contract audit.
-A schema-only batch-packer smoke confirms the current `forward_dynamics` target
-uses camera-pose actions as conditioning and should supervise noisy vision
-tokens, not `preds_action`. This is a trainer-readiness artifact, not a
-fine-tuned Cosmos weight release. The next Cosmos step is a pipeline-loaded
-packer check and one-sample forward-dynamics overfit before any 96/16/16 Super
-LoRA run; supervised action-token prediction needs a separate policy or
-inverse-dynamics target export.
+Current Cosmos3-Super status: a camera-pose proxy action target export augments
+all 3,808 selected 128-episode windows, passes the contract audit, and now has
+a verified 8-GPU FSDP forward-dynamics LoRA run. The full run trains 26.2M LoRA
+parameters on 2,848 train rows and evaluates 512 validation plus 448 held-out
+test rows. It supervises noisy future vision velocity under camera-pose action
+conditioning, not semantic JSON labels or `preds_action`; supervised
+action-token prediction still needs a separate policy or inverse-dynamics
+target export.
 
 ### 7. Xperience Embodied Foundation Model Pretraining
 

docs/data/artifact_index.json

@@ -1,19 +1,19 @@
 {
   "title": "Ropedia Xperience-10M Task Suite Artifact Index",
-  "generated_at_utc": "2026-06-07T15:47:31+00:00",
+  "generated_at_utc": "2026-06-08T07:14:28+00:00",
   "status": "pass",
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+  "artifact_count": 140,
   "missing": [],
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     "project_scope": 1,
     "source_alignment": 5,
     "evaluation_protocol": 3,
     "result_interpretation": 5,
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+    "metrics_source": 22,
     "website_data": 3,
     "visual_evidence": 7,
     "quality_gate": 12,
@@ -31,8 +31,8 @@
     "generated_figure_assets": 1,
     "citation": 1,
     "license": 1,
-    "verified_public_package": 6,
-    "publication_audit": 4
+    "verified_public_package": 8,
+    "publication_audit": 5
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@@ -65,8 +65,8 @@
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@@ -76,8 +76,8 @@
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@@ -87,8 +87,8 @@
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@@ -98,8 +98,8 @@
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@@ -109,8 +109,8 @@
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       "shows": "Defines the post-data-gate backbone choices: Qwen3-Omni first, Cosmos 3 for world modeling, and VLA/policy models after action-target conversion.",
       "exists": true,
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@@ -120,8 +120,8 @@
       "surface": "website_hf",
       "shows": "Machine-readable foundation-model selection matrix with source links, entry conditions, and evaluation additions.",
       "exists": true,
-      "bytes": 13193,
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@@ -142,8 +142,8 @@
       "surface": "repo_hf",
       "shows": "Stores the implemented Qwen3-Omni LoRA contract and planned Cosmos-style world-model and VLA/policy branch contracts.",
       "exists": true,
-      "file_count": 4,
-      "bytes": 12613
+      "file_count": 5,
+      "bytes": 16418
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@@ -219,8 +219,8 @@
       "surface": "repo_hf",
       "shows": "Builds the upload-ready Hugging Face adapter folder from a verified Qwen3 LoRA result summary and adapter directory.",
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@@ -274,8 +274,8 @@
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       "shows": "Gives a short project path with scope status and public surfaces.",
       "exists": true,
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@@ -351,8 +351,8 @@
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@@ -582,8 +582,8 @@
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@@ -605,7 +605,7 @@
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       "exists": true,
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       "hash_policy": "existence_and_size_only"
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@@ -697,8 +697,8 @@
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@@ -742,7 +742,7 @@
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       "shows": "Confirms public bundles exclude raw data, caches, heavy archives, and credential text.",
       "exists": true,
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@@ -754,7 +754,7 @@
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@@ -766,7 +766,7 @@
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       "exists": true,
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       "hash_policy": "existence_and_size_only"
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@@ -778,7 +778,7 @@
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@@ -811,8 +811,8 @@
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@@ -965,8 +965,8 @@
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@@ -1031,8 +1031,8 @@
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@@ -1042,8 +1042,8 @@
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+      "id": "verified_public_package_audit_xperience10m_cosmos3_super_forward_dynamics_lora_128ep_train1epoch_256_attn_full8gpu_20260608_eval_test_full_fsdp",
+      "title": "Verified package audit: Cosmos3-Super Forward-Dynamics LoRA",
+      "path": "results/omni_finetune/verified_public/xperience10m_cosmos3_super_forward_dynamics_lora_128ep_train1epoch_256_attn_full8gpu_20260608_eval_test_full_fsdp/package_audit.json",
+      "kind": "publication_audit",
+      "surface": "repo_hf",
+      "shows": "Package audit for xperience10m_cosmos3_super_forward_dynamics_lora_128ep_train1epoch_256_attn_full8gpu_20260608_eval_test_full_fsdp.",
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       "id": "verified_public_package_xperience10m_cosmos3_super_reasoner_128ep_test_full_20260607",
       "title": "Verified public package: Cosmos3-Super Reasoner",
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+      "title": "Verified public package: Qwen3-Omni LoRA",
+      "path": "results/omni_finetune/verified_public/xperience10m_qwen3_omni_128ep_structured_json_v4_4epoch_full8gpu_lora_eval_test_full",
+      "kind": "verified_public_package",
+      "surface": "repo_hf",
+      "shows": "Public-safe verified package for xperience10m_qwen3_omni_128ep_structured_json_v4_4epoch_full8gpu_lora_eval_test_full (qwen3_omni_lora, status=verified).",
+      "exists": true,
+      "file_count": 15,
+      "bytes": 4853695
+    },
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+      "id": "verified_public_summary_xperience10m_qwen3_omni_128ep_structured_json_v4_4epoch_full8gpu_lora_eval_test_full",
+      "title": "Verified summary: Qwen3-Omni LoRA",
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+      "shows": "Machine-readable verified summary for xperience10m_qwen3_omni_128ep_structured_json_v4_4epoch_full8gpu_lora_eval_test_full.",
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+      "path": "results/omni_finetune/verified_public/xperience10m_qwen3_omni_128ep_structured_json_v4_4epoch_full8gpu_lora_eval_test_full/eval/metrics.json",
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 }

docs/data/foundation_model_plan.json

@@ -1,14 +1,19 @@
 {
   "title": "Xperience-10M Foundation Model Plan",
   "status": "planning_artifact",
-  "current_boundary": "A final held-out multi-episode Qwen3-Omni diagnostic result is verified in this repo and meets the strict-JSON target, but it is not a strong action/subtask model result. The current foundation-model work should treat it as the baseline train/eval/package loop before Qwen action/subtask improvements, Cosmos-style world modeling, or policy/VLA branches.",
+  "current_boundary": "Verified held-out multi-episode foundation-model diagnostics now exist for Qwen3-Omni LoRA, Cosmos3-Nano future-window compatibility, Cosmos3-Super base-weight Reasoner evaluation, and Cosmos3-Super Forward-Dynamics LoRA. Qwen remains the structured JSON baseline; the Cosmos branches answer world-model or base-reasoner questions with separate metrics.",
   "backbone_registry": {
     "config_dir": "configs/omni_backbones",
     "validator": "scripts/omni/backbone_registry.py --validate --json",
     "extension_contract": "OMNI_MODEL_EXTENSION_CONTRACT.md",
     "implemented_backbone": "qwen3_omni_lora",
-    "planned_backbones": [
+    "implemented_backbones": [
+      "qwen3_omni_lora",
       "cosmos_world_model",
+      "cosmos3_super_reasoner",
+      "cosmos3_super_forward_dynamics"
+    ],
+    "planned_backbones": [
       "policy_vla_branch"
     ]
   },
@@ -107,8 +112,8 @@
         "Uses pose/SLAM, depth, mocap, IMU, and language as physical-world conditioning signals.",
         "Better aligned with prediction/generation objectives than simple label classification."
       ],
-      "current_decision": "add_as_first_world_model_branch_after_data_gate",
-      "entry_condition": "Multi-episode data plus enough storage/compute for generated or latent video-state outputs.",
+      "current_decision": "implemented_as_nano_future_window_and_super_forward_dynamics_branches",
+      "entry_condition": "Use separate metrics for Nano future-window retrieval and Super forward-dynamics MSE; do not compare them directly to Qwen JSON-task accuracy.",
       "public_source": "https://www.nvidia.com/en-us/ai/cosmos/"
     },
     {
@@ -211,12 +216,12 @@
     {
       "step": 3,
       "name": "Model-selection dry run",
-      "action": "Run 3-8 episode dry runs for Qwen3-Omni prompt/LoRA, Cosmos 3 preprocessing, and one policy candidate."
+      "action": "Run 3-8 episode dry runs for any next backbone before scaling beyond the selected split."
     },
     {
       "step": 4,
       "name": "World-model branch",
-      "action": "Promote Cosmos 3 if future-window/action-conditioned preprocessing fits storage and compute."
+      "action": "Promote Cosmos 3 beyond the current Nano compatibility and Super forward-dynamics runs only when loss metrics, preprocessing, and storage justify the added compute."
     },
     {
       "step": 5,

docs/data/omni_finetune_verified_result.json

@@ -80,7 +80,7 @@
   "required_next_steps": [
     "Use the v3 strict-label predictions for action/subtask error analysis and unseen-label debugging.",
     "Keep the existing Qwen LoRA adapter repository as the weight-bearing artifact; v3 is an evaluation/package refresh over the same adapter, not new weights.",
-    "Implement the Cosmos3-Super pipeline-loaded batch packer and one-sample forward-dynamics overfit before claiming Cosmos3 fine-tuning; camera-pose proxy targets are now exported, contract-audited, and schema-packed, but no Cosmos weights have been updated.",
+    "Use the verified Cosmos3-Super Forward-Dynamics LoRA package as a separate world-model branch: it updates adapter weights over camera-pose proxy future-vision-velocity targets, not Qwen-style JSON action labels.",
     "Use sharded Qwen eval for future long held-out passes to improve GPU utilization."
   ]
 }

docs/data/omni_model_comparison.json

@@ -1,14 +1,14 @@
 {
   "title": "Ropedia Xperience-10M Current Result Versions and Model Groups",
-  "generated_at_utc": "2026-06-07T23:37:45+00:00",
+  "generated_at_utc": "2026-06-08T07:13:32+00:00",
   "status": "pass",
   "version_count": 3,
-  "model_group_count": 4,
+  "model_group_count": 5,
   "comparison_rule": "Compare only rows with the same scope and target. Single-episode raw-feature metrics, 128-episode metadata baselines, Qwen3 structured JSON metrics, and the two Cosmos3 targets answer different questions: Nano future-window retrieval versus Super structured JSON Reasoner evaluation.",
   "version_reading_notes": [
     "Version 1 is the public-sample 12-task harness with minimal and neural heads.",
     "Version 2 is the selected 128-episode same-split simple/NN baseline alignment.",
-    "Version 3 is the verified model-branch layer: the current final Qwen3-Omni LoRA package is the JSON-task diagnostic result, Cosmos3-Nano is a future-window compatibility result, and Cosmos3-Super Reasoner is a base-weight JSON-task evaluation; Cosmos3-Super has a camera-pose forward-dynamics contract audit and schema-only packer smoke, but no new fine-tuned weight release."
+    "Version 3 is the verified model-branch layer: the current final Qwen3-Omni LoRA package is the JSON-task diagnostic result, Cosmos3-Nano is a future-window compatibility result, Cosmos3-Super Reasoner is a base-weight JSON-task evaluation, and Cosmos3-Super Forward-Dynamics LoRA is the first Super fine-tuned adapter branch."
   ],
   "versions": [
     {
@@ -313,16 +313,17 @@
       "source": "results/omni_finetune/verified_public/",
       "split": "episode/session held-out split; exact task target depends on backbone contract",
       "counts": {
-        "verified_branch_count": 7,
+        "verified_branch_count": 8,
         "qwen3_verified_package_count": 5,
-        "cosmos3_verified_package_count": 2,
+        "cosmos3_verified_package_count": 3,
         "cosmos3_nano_verified_package_count": 1,
-        "cosmos3_super_verified_package_count": 1
+        "cosmos3_super_verified_package_count": 2
       },
       "models": [
         "Qwen3-Omni LoRA",
         "Cosmos3-Nano future-window compatibility branch",
-        "Cosmos3-Super Reasoner base-weight evaluation"
+        "Cosmos3-Super Reasoner base-weight evaluation",
+        "Cosmos3-Super forward-dynamics LoRA"
       ],
       "branches": [
         {
@@ -370,6 +371,49 @@
           "is_current": true,
           "weights_repository": "planned separate Cosmos3 model repo after a real Cosmos diffusion/LoRA fine-tune exists; current result remains artifacts-only"
         },
+        {
+          "id": "xperience10m_cosmos3_super_forward_dynamics_lora_128ep_train1epoch_256_attn_full8gpu_20260608_eval_test_full_fsdp",
+          "title": "Cosmos3-Super Forward-Dynamics LoRA",
+          "status": "verified",
+          "backbone": "cosmos3_super_forward_dynamics",
+          "dataset_contract": "xperience10m_camera_pose_forward_dynamics_v1",
+          "training_objective": "camera_pose_conditioned_future_vision_velocity_lora",
+          "source": "results/omni_finetune/verified_public/xperience10m_cosmos3_super_forward_dynamics_lora_128ep_train1epoch_256_attn_full8gpu_20260608_eval_test_full_fsdp/verified_result_summary.json",
+          "dataset_run_id": "xperience10m_cosmos3_camera_pose_targets_20260608",
+          "train_run_id": "xperience10m_cosmos3_super_forward_dynamics_lora_128ep_train1epoch_256_attn_full8gpu_20260608",
+          "eval_run_id": "xperience10m_cosmos3_super_forward_dynamics_lora_128ep_train1epoch_256_attn_full8gpu_20260608_eval_test_full_fsdp",
+          "counts": {
+            "dataset_samples": 3808,
+            "dataset_episodes": 119,
+            "split_counts": {
+              "test": 448,
+              "train": 2848,
+              "val": 512
+            },
+            "train_samples": 2848,
+            "val_samples": 512,
+            "eval_samples": 448,
+            "held_out_episode_count": 14,
+            "num_processes": 8
+          },
+          "primary_metrics": {
+            "adapter_parameter_numel": 26214400,
+            "held_out_episode_count": 14,
+            "test_forward_dynamics_mse": 3.6853174321087345,
+            "train_final_loss": 1.0785235166549683,
+            "val_forward_dynamics_mse": 4.008244896889664
+          },
+          "history": [
+            {
+              "epoch": 1,
+              "note": "FSDP 8-GPU LoRA over camera-pose-conditioned future vision velocity loss; adapter weights are excluded from this public package.",
+              "train_loss": 1.0785235166549683,
+              "val_loss": 4.008244896889664
+            }
+          ],
+          "is_current": true,
+          "weights_repository": "https://huggingface.co/cy0307/ropedia-cosmos3-super-forward-dynamics-lora-128ep"
+        },
         {
           "id": "xperience10m_cosmos3_super_reasoner_128ep_test_full_20260607",
           "title": "Cosmos3-Super Reasoner",
@@ -670,7 +714,7 @@
           "weights_repository": "https://huggingface.co/cy0307/ropedia-qwen3-omni-lora-128ep"
         }
       ],
-      "interpretation": "This layer contains the held-out foundation-model packages. Qwen3-Omni packages evaluate structured JSON task prediction; Cosmos3-Nano evaluates a future-window world-model compatibility adapter; Cosmos3-Super Reasoner evaluates staged base weights through vLLM on the JSON task. Neither Cosmos branch is a new fine-tuned weight release yet."
+      "interpretation": "This layer contains the held-out foundation-model packages. Qwen3-Omni packages evaluate structured JSON task prediction; Cosmos3-Nano evaluates a future-window world-model compatibility adapter; Cosmos3-Super Reasoner evaluates staged base weights through vLLM on the JSON task; Cosmos3-Super Forward-Dynamics LoRA is the first Super adapter branch and evaluates camera-pose-conditioned future vision velocity loss."
     }
   ],
   "model_groups": [
@@ -1239,7 +1283,70 @@
           "weights_repository": "none for this run: staged base nv-community/Cosmos3-Super weights were evaluated through vLLM; create a separate repo only after new adapter or fine-tuned weights exist"
         }
       ],
-      "comparison_note": "Cosmos3-Super is now represented by a verified 448-window held-out Reasoner evaluation on the same JSON task as Qwen3. It uses staged base weights through vLLM, so it is a model-branch diagnostic, not a weight release. A camera-pose proxy forward-dynamics target export now passes the contract audit and schema-only packer smoke; true Cosmos3-Super fine-tuning is still blocked until a trainable multi-GPU/offload path produces adapter or fine-tuned weights."
+      "comparison_note": "Cosmos3-Super is now represented by a verified 448-window held-out Reasoner evaluation on the same JSON task as Qwen3. It uses staged base weights through vLLM, so it is a model-branch diagnostic, not a weight release. A camera-pose proxy forward-dynamics target export now passes the contract audit and schema-only packer smoke; the separate Forward-Dynamics LoRA group records the trainable adapter run and loss-based held-out evaluation."
+    },
+    {
+      "id": "cosmos3_super_forward_dynamics",
+      "model_family": "Cosmos3-Super Forward-Dynamics LoRA",
+      "model_type": "PEFT LoRA over nv-community/Cosmos3-Super for camera-pose-conditioned future vision velocity",
+      "weight_repository": "https://huggingface.co/cy0307/ropedia-cosmos3-super-forward-dynamics-lora-128ep",
+      "one_episode_runs": [
+        {
+          "id": "cosmos3_super_forward_dynamics_overfit_smoke",
+          "title": "Cosmos3-Super Forward-Dynamics Overfit Smoke",
+          "scope": "small overfit smoke before 128-episode scale-up",
+          "status": "verified_smoke",
+          "source": "results/omni_finetune/xperience10m_cosmos3_super_forward_dynamics_lora_overfit_after_qwen_v4_20260608_fsdp8_attn256_gradfix_savefix2/",
+          "weights": "local repaired LoRA smoke adapter, not public packaged as final",
+          "interpretation": "Validated the trainable adapter path, FSDP save repair, and Diffusers load before the full 128-episode run."
+        }
+      ],
+      "multi_episode_128_runs": [
+        {
+          "id": "xperience10m_cosmos3_super_forward_dynamics_lora_128ep_train1epoch_256_attn_full8gpu_20260608_eval_test_full_fsdp",
+          "title": "Cosmos3-Super Forward-Dynamics LoRA",
+          "status": "verified",
+          "backbone": "cosmos3_super_forward_dynamics",
+          "dataset_contract": "xperience10m_camera_pose_forward_dynamics_v1",
+          "training_objective": "camera_pose_conditioned_future_vision_velocity_lora",
+          "source": "results/omni_finetune/verified_public/xperience10m_cosmos3_super_forward_dynamics_lora_128ep_train1epoch_256_attn_full8gpu_20260608_eval_test_full_fsdp/verified_result_summary.json",
+          "dataset_run_id": "xperience10m_cosmos3_camera_pose_targets_20260608",
+          "train_run_id": "xperience10m_cosmos3_super_forward_dynamics_lora_128ep_train1epoch_256_attn_full8gpu_20260608",
+          "eval_run_id": "xperience10m_cosmos3_super_forward_dynamics_lora_128ep_train1epoch_256_attn_full8gpu_20260608_eval_test_full_fsdp",
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+            "val_samples": 512,
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+            "num_processes": 8
+          },
+          "primary_metrics": {
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+            "held_out_episode_count": 14,
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+            "val_forward_dynamics_mse": 4.008244896889664
+          },
+          "history": [
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+              "val_loss": 4.008244896889664
+            }
+          ],
+          "is_current": true,
+          "weights_repository": "https://huggingface.co/cy0307/ropedia-cosmos3-super-forward-dynamics-lora-128ep"
+        }
+      ],
+      "comparison_note": "This is the first verified Cosmos3-Super fine-tuned adapter branch. Its metric is forward-dynamics MSE, so compare it to world-model loss or future-prediction targets, not to Qwen JSON classification accuracy."
     }
   ],
   "model_group_reading_notes": [
@@ -1247,10 +1354,10 @@
     "Task-head baselines have both a one-episode public-sample run and a 128-episode same-split metadata/text run.",
     "Qwen3-Omni has a one-episode sensor-adapter smoke test and separate 128-episode LoRA diagnostic packages; the newest verified full-eval 128-episode adapter belongs in the Qwen LoRA model repo.",
     "Cosmos3-Nano has a 128-episode future-window compatibility package.",
-    "Cosmos3-Super has a 128-episode base-weight Reasoner evaluation on the JSON task plus a camera-pose forward-dynamics contract audit; create a separate Cosmos model repo only after a trainable multi-GPU/offload run produces real Cosmos adapter or fine-tuned weights."
+    "Cosmos3-Super now has both a 128-episode base-weight Reasoner evaluation on the JSON task and a fine-tuned forward-dynamics LoRA branch over camera-pose proxy targets."
   ],
   "pending": [
     "Use the verified Qwen3 v4 4-epoch full-eval package as the current Qwen row; older Qwen package rows remain historical diagnostics for comparison.",
-    "Promote Cosmos3 from Nano compatibility, Super base-weight evaluation, and the camera-pose forward-dynamics contract to true fine-tuning only after a trainable Cosmos3-Super run produces new weights."
+    "Verify the live Cosmos3-Super forward-dynamics adapter model repo after upload; the public-safe verified_public package still excludes safetensors by design."
   ]
 }

docs/data/project_packet.json

@@ -12,7 +12,8 @@
     "raw_xperience10m_data_in_repo": false,
     "audio_feature_status": "Audio is one of the synchronized source modalities in the current task representation.",
     "qwen3_omni_32_episode_claim": false,
-    "qwen3_omni_status": "The selected 96/16/16 Qwen3-Omni final diagnostic result is verified, meets the strict-JSON target, and still has weak action/subtask metrics that guide the next error-analysis pass."
+    "qwen3_omni_status": "The selected 96/16/16 Qwen3-Omni final diagnostic result is verified, meets the strict-JSON target, and still has weak action/subtask metrics that guide the next error-analysis pass.",
+    "cosmos3_super_forward_dynamics_lora_status": "The first Cosmos3-Super fine-tuned adapter branch is verified as a forward-dynamics LoRA over camera-pose proxy targets; it reports loss metrics, not JSON action-label accuracy."
   },
   "reading_path": [
     {
@@ -41,7 +42,7 @@
         "docs/data/scope_claims_audit.json",
         "docs/data/website_integrity.json"
       ],
-      "readout": "The project status table and roadmap give the compact current-state summary. Single-episode task engineering, metrics, visualizations, public website integrity, mirror parity, same-split 128-episode baselines, the final selected-episode Qwen3-Omni diagnostic result, the Cosmos3-Nano compatibility package, the Cosmos3-Super base-weight Reasoner evaluation, and the Cosmos3-Super camera-pose forward-dynamics contract audit plus schema-only packer smoke are implemented; stronger action/subtask and real Cosmos fine-tuned model quality remain follow-ups."
+      "readout": "The project status table and roadmap give the compact current-state summary. Single-episode task engineering, metrics, visualizations, public website integrity, mirror parity, same-split 128-episode baselines, the final selected-episode Qwen3-Omni diagnostic result, the Cosmos3-Nano compatibility package, the Cosmos3-Super base-weight Reasoner evaluation, and the Cosmos3-Super Forward-Dynamics LoRA package are implemented; stronger action/subtask quality and policy-compatible action targets remain follow-ups."
     },
     {
       "step": 2,
@@ -116,7 +117,7 @@
         "scripts/omni/discover_xperience10m_sources.py",
         "docs/data/omni_finetune_verified_result.json"
       ],
-      "readout": "The selected-episode held-out Qwen3-Omni final diagnostic result is verified and JSON-format reliability meets the 98% target. The next milestone is action/subtask error analysis and a stronger model-quality run on the same split."
+      "readout": "The selected-episode held-out Qwen3-Omni final diagnostic result is verified and JSON-format reliability meets the 98% target. The same public comparison also includes the verified 128-episode baselines, Cosmos3-Nano compatibility result, Cosmos3-Super Reasoner evaluation, and Cosmos3-Super Forward-Dynamics LoRA package. The next milestone is action/subtask error analysis and stronger model-quality runs on the same split."
     }
   ],
     "project_status": "PROJECT_STATUS.md",
@@ -142,7 +143,8 @@
     "hf_model_baselines": "https://huggingface.co/cy0307/ropedia-xperience-10m-task-baselines"
   },
   "current_reading_notes": [
-    "The first cross-episode Qwen3-Omni diagnostic pilot is verified, but strong model quality is not yet shown.",
+    "The first cross-episode Qwen3-Omni diagnostic pilot is verified, but strong model quality is not yet shown; action/subtask metrics remain weak.",
+    "Cosmos3-Super Forward-Dynamics LoRA is verified as a loss-based world-model adapter branch, not as JSON action-token prediction.",
     "Older Qwen3-Omni setup artifacts are separate from the verified selected-episode diagnostic package.",
     "Feature-vector reconstruction is separate from pixel-depth, mesh, NeRF, or Gaussian reconstruction.",
     "Raw Xperience-10M data is not redistributed in this repo."

docs/data/project_status.json

@@ -34,6 +34,12 @@
     "cosmos3_super_reasoner_verified": true,
     "cosmos3_super_reasoner_test_predictions": 448,
     "cosmos3_super_reasoner_json_validity_rate": 0.5111607142857143,
+    "cosmos3_super_forward_dynamics_lora_verified": true,
+    "cosmos3_super_forward_dynamics_train_rows": 2848,
+    "cosmos3_super_forward_dynamics_val_rows": 512,
+    "cosmos3_super_forward_dynamics_test_rows": 448,
+    "cosmos3_super_forward_dynamics_test_mse": 3.6853174321087345,
+    "cosmos3_super_forward_dynamics_adapter_params": 26214400,
     "omni_model_comparison_available": true,
     "multi_episode_128_aligned_baselines": true,
     "multi_episode_128_baseline_window_counts": {
@@ -119,7 +125,7 @@
         "FOUNDATION_MODEL_PLAN.md",
         "docs/data/foundation_model_plan.json"
       ],
-      "readout": "Qwen3-Omni remains the first trainable held-out LoRA baseline; Cosmos 3 is now represented by a verified Cosmos3-Nano future-window compatibility package, a verified Cosmos3-Super base-weight Reasoner evaluation, and a Cosmos3-Super camera-pose proxy forward-dynamics contract audit plus schema-only packer smoke. The current target supports vision-velocity training under action conditioning, not supervised action-token prediction; OpenVLA/openpi/GR00T are policy candidates after robot-compatible action targets are explicit."
+      "readout": "Qwen3-Omni remains the first structured JSON LoRA baseline; Cosmos 3 is now represented by a verified Cosmos3-Nano future-window compatibility package, a verified Cosmos3-Super base-weight Reasoner evaluation, and a verified Cosmos3-Super Forward-Dynamics LoRA over camera-pose proxy targets. The Super LoRA target supports vision-velocity training under action conditioning, not supervised action-token prediction; OpenVLA/openpi/GR00T remain policy candidates after robot-compatible action targets are explicit."
     },
     {
       "area": "Omni model extension contract",
@@ -207,7 +213,7 @@
         "results/omni_finetune/OMNI_MODEL_COMPARISON.md",
         "scripts/omni/build_omni_model_comparison.py"
       ],
-      "readout": "The public comparison now has two views: the three result layers and a model-family grouping. The model grouping pairs 1-episode and 128-episode entries for task-head baselines, separates Qwen3-Omni sensor-adapter smoke from 128-episode LoRA diagnostics, and separates Cosmos3-Nano future-window compatibility from Cosmos3-Super base-weight Reasoner evaluation."
+      "readout": "The public comparison now has two views: the three result layers and a model-family grouping. The model grouping pairs 1-episode and 128-episode entries for task-head baselines, separates Qwen3-Omni sensor-adapter smoke from 128-episode LoRA diagnostics, separates Cosmos3-Nano future-window compatibility from Cosmos3-Super base-weight Reasoner evaluation, and adds Cosmos3-Super Forward-Dynamics LoRA as a loss-based fine-tuned adapter branch."
     },
     {
       "area": "Qwen3-Omni fine-tuning",
@@ -246,7 +252,7 @@
     },
     {
       "area": "Cosmos3-Super action-target contract",
-      "status": "ready_for_forward_dynamics_trainer_implementation",
+      "status": "superseded_by_verified_forward_dynamics_lora",
       "evidence": [
         "scripts/omni/export_cosmos3_camera_pose_targets.py",
         "scripts/omni/pack_cosmos3_super_action_batch.py",
@@ -254,7 +260,19 @@
         "results/omni_finetune/xperience10m_cosmos3_super_training_contract_audit_camera_pose_20260608/training_contract_audit.json",
         "results/omni_finetune/xperience10m_cosmos3_super_action_packer_schema_smoke_20260608/packer_summary.json"
       ],
-      "readout": "The selected 128-episode JSONL is augmented with 3,808/3,808 valid camera_pose proxy cosmos_action_target records from SLAM pose deltas. The schema-only packer smoke confirms the current forward_dynamics target should supervise noisy vision tokens under camera-pose conditioning; it does not supervise preds_action. Remaining work is a pipeline-loaded packer check, one-sample forward-dynamics overfit, and a separate policy/inverse target export before claiming action-token prediction."
+      "readout": "The selected 128-episode JSONL is augmented with 3,808/3,808 valid camera_pose proxy cosmos_action_target records from SLAM pose deltas. The contract and packer smoke enabled the verified forward-dynamics LoRA run; it supervises noisy vision tokens under camera-pose conditioning and does not supervise preds_action."
+    },
+    {
+      "area": "Cosmos3-Super Forward-Dynamics LoRA",
+      "status": "verified_fine_tuned_adapter_result",
+      "evidence": [
+        "configs/omni_backbones/cosmos3_super_forward_dynamics.json",
+        "scripts/omni/train_cosmos3_super_forward_dynamics_lora.py",
+        "scripts/omni/eval_cosmos3_super_forward_dynamics_lora.py",
+        "results/omni_finetune/verified_public/xperience10m_cosmos3_super_forward_dynamics_lora_128ep_train1epoch_256_attn_full8gpu_20260608_eval_test_full_fsdp/verified_result_summary.json",
+        "results/omni_finetune/verified_public/xperience10m_cosmos3_super_forward_dynamics_lora_128ep_train1epoch_256_attn_full8gpu_20260608_eval_test_full_fsdp/package_audit.json"
+      ],
+      "readout": "The first fine-tuned Cosmos3-Super adapter branch is verified as a public-safe package: 8-GPU FSDP LoRA, 26.2M adapter parameters, 2,848 train rows, 512 validation rows, 448 held-out test rows, validation MSE 4.0082, and test MSE 3.6853. The package excludes adapter safetensors; weights are published separately at cy0307/ropedia-cosmos3-super-forward-dynamics-lora-128ep."
     },
     {
       "area": "Raw Xperience-10M redistribution",
@@ -288,11 +306,11 @@
     "Use docs/data/omni_model_comparison.json to compare both views: the single-episode/128-baseline/model-branch result layers and the model-family grouping for task heads, Qwen3-Omni LoRA, Cosmos3-Nano, and Cosmos3-Super.",
     "Use docs/data/omni_finetune_verified_result.json and the latest verified_public final Qwen package for current held-out results.",
     "The 128-episode aligned simple/NN baselines use metadata/text features from the derived Qwen JSONL export; they align the split and task ids but do not replace raw-modality baselines for trajectory, retrieval, reconstruction, or misalignment tasks.",
-    "The Cosmos3-Nano future-window branch is verified as a compatibility adapter result, Cosmos3-Super Reasoner is verified as a base-weight evaluation, and Cosmos3-Super camera-pose forward-dynamics targets now pass the contract audit plus a schema-only packer smoke; one-episode Cosmos fine-tuning and full Cosmos adapter/diffusion-weight fine-tuning remain pending, so no Cosmos weight repo should be published yet.",
+    "The Cosmos3-Nano future-window branch is verified as a compatibility adapter result, Cosmos3-Super Reasoner is verified as a base-weight evaluation, and Cosmos3-Super Forward-Dynamics LoRA is verified as the first fine-tuned Super adapter branch. Cosmos3-Super adapter weights belong in cy0307/ropedia-cosmos3-super-forward-dynamics-lora-128ep; verified_public packages exclude safetensors.",
     "The current reconstruction task reconstructs feature vectors, not pixel-depth, mesh, NeRF, or Gaussian reconstruction.",
     "Audio is one of the synchronized source modalities in the current task representation.",
     "The audio ablation report compares audio/no-audio variants across all 12 task contracts in results/audio_ablation/.",
-    "Foundation-model selection is explicit: Qwen3-Omni is the immediate trainable pilot, Cosmos 3 is the first world-model branch, Cosmos3-Super has a camera-pose proxy forward-dynamics contract ready for trainer implementation, and policy models such as OpenVLA/openpi/GR00T wait for robot-compatible action-target conversion.",
+    "Foundation-model selection is explicit: Qwen3-Omni is the structured JSON baseline, Cosmos 3 is the world-model branch with Nano compatibility and Super forward-dynamics LoRA results, and policy models such as OpenVLA/openpi/GR00T wait for robot-compatible action-target conversion.",
     "Future model branches should be added through the backbone registry and verified package contract, not as one-off result folders with incompatible metrics or publication rules.",
     "The Xperience Embodied Foundation Model is a future native-pretraining goal, not a completed model or current benchmark."
   ]

docs/data/public_surface_qa.json

@@ -1,7 +1,7 @@
 {
   "title": "Ropedia Xperience-10M Public Project Surface",
   "status": "pass",
-  "generated_at_utc": "2026-06-04T16:48:58+00:00",
+  "generated_at_utc": "2026-06-08T07:13:54+00:00",
   "scope": "Repo README, GitHub Pages HTML, Hugging Face Space card, artifact dataset card, and model card.",
   "checks": [
     {
@@ -18,7 +18,7 @@
         "website_integrity": {
           "exists": true,
           "status": "pass",
-          "generated_at_utc": "2026-06-04T16:42:53+00:00"
+          "generated_at_utc": "2026-06-08T06:57:50+00:00"
         },
         "rendered_site_check": {
           "exists": true,
@@ -28,27 +28,27 @@
         "task_surface_integrity": {
           "exists": true,
           "status": "pass",
-          "generated_at_utc": "2026-06-03T20:36:23+00:00"
+          "generated_at_utc": "2026-06-07T15:47:30+00:00"
         },
         "source_alignment": {
           "exists": true,
           "status": "pass",
-          "generated_at_utc": "2026-06-04T16:42:48+00:00"
+          "generated_at_utc": "2026-06-04T16:48:58+00:00"
         },
         "scale_up_status": {
           "exists": true,
           "status": "pass",
-          "generated_at_utc": "2026-06-04T16:42:49+00:00"
+          "generated_at_utc": "2026-06-08T06:57:51+00:00"
         },
         "publication_package": {
           "exists": true,
           "status": "pass",
-          "generated_at_utc": "2026-06-04T16:42:56+00:00"
+          "generated_at_utc": "2026-06-08T06:59:58+00:00"
         },
         "mirror_parity": {
           "exists": true,
           "status": "pass",
-          "generated_at_utc": "2026-06-04T16:34:37+00:00"
+          "generated_at_utc": "2026-06-08T07:00:45+00:00"
         },
         "live_publication": {
           "exists": true,
@@ -81,7 +81,7 @@
       "marker_counts": {
         "role=\"tablist\"": 3,
         "role=\"tab\"": 10,
-        "role=\"tabpanel\"": 25,
+        "role=\"tabpanel\"": 26,
         "aria-selected": 13,
         "aria-controls": 11,
         "moveProjectTabFocus": 2,
@@ -101,10 +101,10 @@
       "reason": "Public copy should consistently present the project as Ropedia Xperience-10M, with the Qwen3-Omni scale-up status.",
       "marker_counts": {
         "Ropedia Xperience-10M Task Suite": 15,
-        "Xperience-10M": 142,
-        "12-task": 33,
-        "Qwen3-Omni": 108,
-        "128-episode pilot": 11
+        "Xperience-10M": 149,
+        "12-task": 32,
+        "Qwen3-Omni": 142,
+        "128-episode pilot": 1
       }
     },
     {
@@ -112,12 +112,12 @@
       "status": "pass",
       "reason": "Public cards should link the repo, Space, artifacts, model baselines, upstream dataset, and Ropedia dataset page.",
       "marker_counts": {
-        "https://github.com/ChaoYue0307/ropedia-xperience-10m-task-suite": 66,
-        "https://huggingface.co/spaces/cy0307/ropedia-xperience-10m-task-suite": 8,
-        "https://huggingface.co/datasets/cy0307/ropedia-xperience-10m-task-suite-artifacts": 4,
-        "https://huggingface.co/cy0307/ropedia-xperience-10m-task-baselines": 4,
-        "https://huggingface.co/datasets/ropedia-ai/xperience-10m": 26,
-        "https://ropedia.com/dataset": 4
+        "https://github.com/ChaoYue0307/ropedia-xperience-10m-task-suite": 78,
+        "https://huggingface.co/spaces/cy0307/ropedia-xperience-10m-task-suite": 10,
+        "https://huggingface.co/datasets/cy0307/ropedia-xperience-10m-task-suite-artifacts": 7,
+        "https://huggingface.co/cy0307/ropedia-xperience-10m-task-baselines": 10,
+        "https://huggingface.co/datasets/ropedia-ai/xperience-10m": 28,
+        "https://ropedia.com/dataset": 5
       }
     },
     {
@@ -125,14 +125,14 @@
       "status": "pass",
       "reason": "Readers should be able to find website reference, release package, mirror, and public presentation files from public copy.",
       "marker_counts": {
-        "data/project_brief.json": 9,
-        "data/website_integrity.json": 13,
-        "data/rendered_site_check.json": 8,
-        "data/task_surface_integrity.json": 23,
-        "data/publication_audit.json": 18,
-        "data/mirror_parity.json": 12,
-        "data/public_surface_qa.json": 12,
-        "data/research_roadmap.json": 23
+        "data/project_brief.json": 8,
+        "data/website_integrity.json": 2,
+        "data/rendered_site_check.json": 2,
+        "data/task_surface_integrity.json": 11,
+        "data/publication_audit.json": 2,
+        "data/mirror_parity.json": 2,
+        "data/public_surface_qa.json": 2,
+        "data/research_roadmap.json": 11
       }
     },
     {

docs/data/publication_audit.json

@@ -1,6 +1,6 @@
 {
   "status": "pass",
-  "generated_at_utc": "2026-06-07T23:40:56+00:00",
+  "generated_at_utc": "2026-06-08T07:14:01+00:00",
   "checks": [
     {
       "name": "required_publication_assets_present",
@@ -182,8 +182,8 @@
     "github_repo": {
       "root": "repo",
       "exists": true,
-      "file_count": 745,
-      "text_file_count": 624,
+      "file_count": 831,
+      "text_file_count": 680,
       "largest_file": {
         "path": "tmp/omni_128_dataset_fetch/dataset.jsonl",
         "bytes": 582271586
@@ -193,8 +193,8 @@
     "hf_space_bundle": {
       "root": "hf_publish/space",
       "exists": true,
-      "file_count": 603,
-      "text_file_count": 499,
+      "file_count": 634,
+      "text_file_count": 520,
       "largest_file": {
         "path": "results/episode_task_suite/modality_reconstruction/predictions.npz",
         "bytes": 55702978
@@ -204,8 +204,8 @@
     "hf_artifact_bundle": {
       "root": "hf_publish/artifacts",
       "exists": true,
-      "file_count": 787,
-      "text_file_count": 659,
+      "file_count": 818,
+      "text_file_count": 680,
       "largest_file": {
         "path": "results/episode_task_suite/modality_reconstruction/predictions.npz",
         "bytes": 55702978
@@ -215,8 +215,8 @@
     "hf_model_bundle": {
       "root": "hf_publish/model",
       "exists": true,
-      "file_count": 975,
-      "text_file_count": 812,
+      "file_count": 1006,
+      "text_file_count": 833,
       "largest_file": {
         "path": "pytorch_model.bin",
         "bytes": 93495480

docs/data/quality_gates.json

@@ -1,7 +1,7 @@
 {
   "title": "Ropedia Xperience-10M Release Checks",
   "status": "pass",
-  "generated_at_utc": "2026-06-04T07:39:12+00:00",
+  "generated_at_utc": "2026-06-08T07:14:19+00:00",
   "rule": "A release is current when the automated reports pass and the live GitHub/Hugging Face mirrors are verified after publishing.",
   "automated_gates": [
     {
@@ -154,7 +154,7 @@
       "command": "python scripts/validate_mirror_parity.py",
       "report": "docs/data/mirror_parity.json",
       "blocks_if": "Prepared HF Space, artifact dataset, or model bundle diverges from the repo for critical files.",
-      "shows": "The files prepared for GitHub and Hugging Face are synchronized before upload.",
+      "shows": "The files staged for GitHub and Hugging Face are synchronized before upload.",
       "current_report": {
         "exists": true,
         "status": "pass"

docs/data/research_roadmap.json

@@ -1,7 +1,7 @@
 {
   "title": "Ropedia Xperience-10M Research Roadmap",
-  "summary": "Staged path from the public-sample task lab to a final verified Qwen3-Omni diagnostic result, same-split 128-episode baseline alignment, action/subtask error analysis, foundation-model selection, world/policy branches, and a future Xperience-native embodied foundation model.",
-  "current_decision_point": "Keep the public-sample task suite as the development harness, use the final verified selected-episode Qwen3-Omni diagnostic result and the same-split 128-episode simple/NN metadata baselines as the first cross-episode references, improve action/subtask quality through error analysis, then branch into Cosmos 3 world modeling and policy-model experiments after their targets are implemented. The Xperience Embodied Foundation Model is a later full-corpus pretraining goal, not a current result.",
+  "summary": "Staged path from the public-sample task lab to verified Qwen3-Omni, Cosmos3-Nano, and Cosmos3-Super diagnostics, same-split 128-episode baseline alignment, action/subtask error analysis, world/policy branches, and a future Xperience-native embodied foundation model.",
+  "current_decision_point": "Keep the public-sample task suite as the development harness, use the final verified selected-episode Qwen3-Omni diagnostic result and same-split 128-episode simple/NN metadata baselines as structured-task references, read Cosmos3-Nano and Cosmos3-Super Forward-Dynamics LoRA as separate world-model results, improve action/subtask quality through error analysis, and defer policy-model experiments until robot-compatible targets are implemented. The Xperience Embodied Foundation Model is a later full-corpus pretraining goal, not a current result.",
   "additional_development_directions": {
     "source_document": "ADDITIONAL_DEVELOPMENT_DIRECTIONS.md",
     "source_json": "docs/data/additional_development_directions.json",
@@ -119,11 +119,12 @@
     {
       "id": "foundation_model_selection_matrix",
       "name": "Foundation-Model Selection Matrix",
-      "status": "next",
+      "status": "current",
       "entry_condition": "The selected episodes are prepared or a 3-8 episode dry run is available for preprocessing checks.",
       "deliverables": [
         "backbone registry",
         "Cosmos 3 world-model branch plan",
+        "Cosmos3-Super Forward-Dynamics LoRA verified package",
         "Qwen3-Omni LoRA baseline plan",
         "OpenVLA/openpi/GR00T policy-branch candidates",
         "model-specific evaluation additions"
@@ -133,12 +134,12 @@
         "docs/data/foundation_model_plan.json",
         "research_roadmap_interactive.json"
       ],
-      "reader_takeaway": "Qwen3-Omni remains the first trainable held-out pilot; Cosmos 3 is the first world-model branch. Cosmos3-Super now has camera-pose proxy forward-dynamics targets ready for trainer implementation, while VLA/policy models wait for robot-compatible action targets."
+      "reader_takeaway": "Qwen3-Omni remains the structured JSON held-out pilot; Cosmos 3 is the first world-model branch. Cosmos3-Super now has a verified forward-dynamics LoRA over camera-pose proxy targets, while VLA/policy models wait for robot-compatible action targets."
     },
     {
       "id": "robustness_run_64_128_episode",
       "name": "64-128 Episode Robustness Run",
-      "status": "planned",
+      "status": "partially_implemented",
       "entry_condition": "The selected-episode pilot trains and evaluates cleanly.",
       "deliverables": [
         "split-by-session metrics",
@@ -161,7 +162,7 @@
       "status": "planned",
       "entry_condition": "Enough multi-episode data, compute budget, and model-specific action/world-state targets.",
       "deliverables": [
-        "Cosmos 3 future-window or action-conditioned world-model probe",
+        "Cosmos 3 future-window and action-conditioned world-model probes",
         "OpenVLA/openpi/GR00T action-policy baseline",
         "audio/video/depth/pose/mocap conditioning checks",
         "affordance and object-interaction tasks",
@@ -169,10 +170,11 @@
       ],
       "completion_evidence": [
         "task-specific held-out evaluations",
+        "verified Cosmos3-Super forward-dynamics LoRA package",
         "qualitative inspection",
         "updated model cards"
       ],
-      "reader_takeaway": "The long-term direction is richer multimodal representation learning for embodied-AI reasoning, with model branches chosen by task fit rather than by a single default backbone."
+      "reader_takeaway": "The Cosmos branch now includes Nano future-window compatibility and Super forward-dynamics LoRA; the long-term direction remains richer multimodal representation learning with model branches chosen by task fit rather than by a single default backbone."
     },
     {
       "id": "xperience_embodied_foundation_pretraining",

docs/data/research_roadmap_interactive.json

@@ -2040,12 +2040,12 @@
         "step": 2
       },
       {
-        "action": "Run 3-8 episode dry runs for Qwen3-Omni prompt/LoRA, Cosmos 3 preprocessing, and one policy candidate.",
+        "action": "Run 3-8 episode dry runs for any next backbone before scaling beyond the selected split.",
         "name": "Model-selection dry run",
         "step": 3
       },
       {
-        "action": "Promote Cosmos 3 if future-window/action-conditioned preprocessing fits storage and compute.",
+        "action": "Promote Cosmos 3 beyond the current Nano compatibility and Super forward-dynamics runs only when loss metrics, preprocessing, and storage justify the added compute.",
         "name": "World-model branch",
         "step": 4
       },
@@ -2084,8 +2084,8 @@
       {
         "best_role": "Embodied world modeling, action generation, future-window prediction, and synthetic-data expansion.",
         "category": "world_foundation_model",
-        "current_decision": "add_as_first_world_model_branch_after_data_gate",
-        "entry_condition": "Multi-episode data plus enough storage/compute for generated or latent video-state outputs.",
+        "current_decision": "implemented_as_nano_future_window_and_super_forward_dynamics_branches",
+        "entry_condition": "Use separate metrics for Nano future-window retrieval and Super forward-dynamics MSE; do not compare them directly to Qwen JSON-task accuracy.",
         "family": "Cosmos 3",
         "openness": "track_official_nvidia_release_and_available_weights",
         "priority": 2,
@@ -2222,7 +2222,7 @@
     ],
     "status": "planning_artifact"
   },
-  "generated_at_utc": "2026-06-06T23:26:13+00:00",
+  "generated_at_utc": "2026-06-08T06:50:10+00:00",
   "omni_plan": {
     "adapter": "LoRA rank 16, alpha 32, dropout 0.05",
     "backbone": "Qwen/Qwen3-Omni-30B-A3B-Instruct",
@@ -2362,6 +2362,7 @@
       "deliverables": [
         "backbone registry",
         "Cosmos 3 world-model branch plan",
+        "Cosmos3-Super Forward-Dynamics LoRA verified package",
         "Qwen3-Omni LoRA baseline plan",
         "OpenVLA/openpi/GR00T policy-branch candidates",
         "model-specific evaluation additions"
@@ -2369,9 +2370,9 @@
       "entry_condition": "The selected episodes are prepared or a 3-8 episode dry run is available for preprocessing checks.",
       "id": "foundation_model_selection_matrix",
       "name": "Foundation-Model Selection Matrix",
-      "reader_takeaway": "Qwen3-Omni remains the first trainable held-out pilot; Cosmos 3 is the first world-model branch. Cosmos3-Super now has camera-pose proxy forward-dynamics targets ready for trainer implementation, while VLA/policy models wait for robot-compatible action targets.",
-      "stage": "omni",
-      "status": "next"
+      "reader_takeaway": "Qwen3-Omni remains the structured JSON held-out pilot; Cosmos 3 is the first world-model branch. Cosmos3-Super now has a verified forward-dynamics LoRA over camera-pose proxy targets, while VLA/policy models wait for robot-compatible action targets.",
+      "stage": "future",
+      "status": "current"
     },
     {
       "completion_evidence": [
@@ -2392,16 +2393,17 @@
       "name": "64-128 Episode Robustness Run",
       "reader_takeaway": "The robustness run tests whether the pilot conclusions survive broader sessions and missing modalities.",
       "stage": "future",
-      "status": "planned"
+      "status": "partially_implemented"
     },
     {
       "completion_evidence": [
         "task-specific held-out evaluations",
+        "verified Cosmos3-Super forward-dynamics LoRA package",
         "qualitative inspection",
         "updated model cards"
       ],
       "deliverables": [
-        "Cosmos 3 future-window or action-conditioned world-model probe",
+        "Cosmos 3 future-window and action-conditioned world-model probes",
         "OpenVLA/openpi/GR00T action-policy baseline",
         "audio/video/depth/pose/mocap conditioning checks",
         "affordance and object-interaction tasks",
@@ -2410,7 +2412,7 @@
       "entry_condition": "Enough multi-episode data, compute budget, and model-specific action/world-state targets.",
       "id": "foundation_world_model_extensions",
       "name": "Cosmos 3 and Policy-Model Extensions",
-      "reader_takeaway": "The long-term direction is richer multimodal representation learning for embodied-AI reasoning, with model branches chosen by task fit rather than by a single default backbone.",
+      "reader_takeaway": "The Cosmos branch now includes Nano future-window compatibility and Super forward-dynamics LoRA; the long-term direction remains richer multimodal representation learning with model branches chosen by task fit rather than by a single default backbone.",
       "stage": "future",
       "status": "planned"
     },

docs/data/scope_claims_audit.json

@@ -1,6 +1,6 @@
 {
   "status": "pass",
-  "generated_at_utc": "2026-06-07T15:47:31+00:00",
+  "generated_at_utc": "2026-06-08T07:13:56+00:00",
   "summary": {
     "qwen3_omni_verified_diagnostic_pilot": true,
     "dataset_manifest_num_episodes": 119,
@@ -9,7 +9,7 @@
     "eval_num_samples": 448,
     "eval_json_validity_rate": 1.0,
     "quality_target_met": true,
-    "historical_identifier_count": 1545,
+    "historical_identifier_count": 1619,
     "public_32_episode_status_file_count": 1,
     "failure_count": 0
   },
@@ -25,7 +25,7 @@
     {
       "name": "summary_metrics_preserves_verified_diagnostic_status",
       "status": "pass",
-      "detail": "The selected-episode Qwen3-Omni diagnostic pilot is verified on the 96/16/16 split and now meets the 98% target for JSON validity; action/subtask quality remains weak, so current results are diagnostic baselines, not strong model-quality claims.",
+      "detail": "The selected-episode Qwen3-Omni diagnostic pilot is verified on the 96/16/16 split and meets the 98% target for JSON validity; action/subtask quality remains weak, so it is a structured-task baseline. Cosmos3-Nano future-window compatibility and Cosmos3-Super Forward-Dynamics LoRA are also verified as separate world-model diagnostics with different metrics.",
       "evidence": [
         "docs/data/summary_metrics.json"
       ]
@@ -84,7 +84,7 @@
     {
       "name": "historical_32ep_identifiers_are_confined_to_readiness_artifacts",
       "status": "pass",
-      "detail": "historical identifiers found in result provenance files=1545",
+      "detail": "historical identifiers found in result provenance files=1619",
       "evidence": [
         "results/omni_finetune/"
       ]
@@ -424,6 +424,6 @@
       "example": "{\"id\": \"xperience-10m-sample:qa:53\", \"episode_id\": \"xperience-10m-sample\", \"split\": \"train\", \"target\": \"episode_qa\", \"prompt_type\": \"json_episode_understanding\", \"center_window\": {\"start_frame\": 1060, \"end_frame\": 1079, \"num_frames\": 20}, \"media\": {\"video_path"
     }
   ],
-  "historical_identifier_total_count": 1545,
+  "historical_identifier_total_count": 1619,
   "failures": []
 }

docs/data/summary_metrics.json

@@ -14,7 +14,7 @@
       "visualization.rrd"
     ],
     "access_status": "The gated Xperience-10M dataset is available for selected multi-episode pilot preparation.",
-    "current_scope": "The selected-episode Qwen3-Omni diagnostic pilot is verified on the 96/16/16 split and now meets the 98% target for JSON validity; action/subtask quality remains weak, so current results are diagnostic baselines, not strong model-quality claims."
+    "current_scope": "The selected-episode Qwen3-Omni diagnostic pilot is verified on the 96/16/16 split and meets the 98% target for JSON validity; action/subtask quality remains weak, so it is a structured-task baseline. Cosmos3-Nano future-window compatibility and Cosmos3-Super Forward-Dynamics LoRA are also verified as separate world-model diagnostics with different metrics."
   },
   "models": {
     "motion_action": {

docs/data/website_integrity.json

@@ -1,12 +1,12 @@
 {
   "status": "pass",
-  "generated_at_utc": "2026-06-07T23:40:56+00:00",
+  "generated_at_utc": "2026-06-08T07:13:56+00:00",
   "docs_root": "docs",
   "site_base": "/ropedia-xperience-10m-task-suite/",
   "summary": {
     "html_pages": 4,
-    "local_references": 137,
-    "external_reference_count": 106,
+    "local_references": 136,
+    "external_reference_count": 107,
     "json_files": 35,
     "image_assets_referenced": 22,
     "failure_count": 0
@@ -75,7 +75,7 @@
       "status": "pass",
       "reason": "The project overview should appear before the deeper progress ledger.",
       "overview_index": 67412,
-      "evidence_index": 90659
+      "evidence_index": 90718
     },
     {
       "name": "project_status_links_json",
@@ -140,8 +140,8 @@
         "verified_baseline",
         "verified_companion_result",
         "active_next_step",
-        "next",
-        "planned",
+        "current",
+        "partially_implemented",
         "planned",
         "future"
       ],
@@ -153,8 +153,8 @@
       "status": "pass",
       "reason": "The evaluation protocol should appear before the deeper evidence ledger.",
       "overview_index": 67412,
-      "protocol_index": 87218,
-      "evidence_index": 90659
+      "protocol_index": 87277,
+      "evidence_index": 90718
     },
     {
       "name": "evaluation_protocol_links_json",
@@ -228,7 +228,7 @@
     {
       "path": "index.html",
       "id_count": 77,
-      "reference_count": 114,
+      "reference_count": 113,
       "image_count": 24
     },
     {
@@ -252,7 +252,7 @@
     },
     {
       "path": "data/artifact_index.json",
-      "bytes": 67401,
+      "bytes": 75435,
       "top_level_type": "dict"
     },
     {
@@ -282,7 +282,7 @@
     },
     {
       "path": "data/foundation_model_plan.json",
-      "bytes": 13193,
+      "bytes": 13457,
       "top_level_type": "dict"
     },
     {
@@ -292,7 +292,7 @@
     },
     {
       "path": "data/mirror_parity.json",
-      "bytes": 352006,
+      "bytes": 408299,
       "top_level_type": "dict"
     },
     {
@@ -302,12 +302,12 @@
     },
     {
       "path": "data/omni_finetune_verified_result.json",
-      "bytes": 3768,
+      "bytes": 3724,
       "top_level_type": "dict"
     },
     {
       "path": "data/omni_model_comparison.json",
-      "bytes": 56941,
+      "bytes": 62577,
       "top_level_type": "dict"
     },
     {
@@ -322,27 +322,27 @@
     },
     {
       "path": "data/project_packet.json",
-      "bytes": 8098,
+      "bytes": 8656,
       "top_level_type": "dict"
     },
     {
       "path": "data/project_status.json",
-      "bytes": 18062,
+      "bytes": 19360,
       "top_level_type": "dict"
     },
     {
       "path": "data/public_surface_qa.json",
-      "bytes": 5591,
+      "bytes": 5588,
       "top_level_type": "dict"
     },
     {
       "path": "data/publication_audit.json",
-      "bytes": 7212,
+      "bytes": 7213,
       "top_level_type": "dict"
     },
     {
       "path": "data/quality_gates.json",
-      "bytes": 8099,
+      "bytes": 8097,
       "top_level_type": "dict"
     },
     {
@@ -367,12 +367,12 @@
     },
     {
       "path": "data/research_roadmap.json",
-      "bytes": 10246,
+      "bytes": 10502,
       "top_level_type": "dict"
     },
     {
       "path": "data/research_roadmap_interactive.json",
-      "bytes": 143673,
+      "bytes": 144016,
       "top_level_type": "dict"
     },
     {
@@ -382,7 +382,7 @@
     },
     {
       "path": "data/scope_claims_audit.json",
-      "bytes": 21251,
+      "bytes": 21365,
       "top_level_type": "dict"
     },
     {
@@ -397,7 +397,7 @@
     },
     {
       "path": "data/summary_metrics.json",
-      "bytes": 27490,
+      "bytes": 27604,
       "top_level_type": "dict"
     },
     {
@@ -412,7 +412,7 @@
     },
     {
       "path": "data/website_integrity.json",
-      "bytes": 15375,
+      "bytes": 15393,
       "top_level_type": "dict"
     },
     {

docs/index.html

@@ -2236,7 +2236,7 @@
             </article>
             <article class="brief-card">
               <strong>What comes next</strong>
-              <p>The next model-quality stage is a held-out episode pilot over selected multi-episode data, with no train/test episode leakage and a completed omni-model evaluation report.</p>
+              <p>The next model-quality stage is stronger action/subtask modeling on the same held-out split, plus policy-compatible action targets beyond the verified Qwen3-Omni and Cosmos3 diagnostics.</p>
             </article>
           </div>
           <div class="brief-grid" aria-label="Research capability map">
@@ -2254,7 +2254,7 @@
             </article>
             <article class="brief-card">
               <strong>Scale-up readiness</strong>
-              <p>Connects the same data contract to 32/128-episode held-out pilots, Qwen3-Omni LoRA, Cosmos-style world modeling, policy-model branches, and the later Xperience-native pretraining goal.</p>
+              <p>Connects the same data contract to 128-episode baselines, Qwen3-Omni LoRA, Cosmos-style world modeling, policy-model branches, and the later Xperience-native pretraining goal.</p>
             </article>
           </div>
           <div class="brief-actions">
@@ -2314,7 +2314,7 @@
           <article class="snapshot-card">
             <span class="status-pill">verified</span>
             <h3>Public research artifacts</h3>
-            <p>Metrics, figures, walkthroughs, baseline weights, and the Qwen3-Omni pilot status are packaged across GitHub, GitHub Pages, and Hugging Face.</p>
+            <p>Metrics, figures, walkthroughs, baseline weights, Qwen3-Omni results, and Cosmos3 public-safe packages are staged across GitHub, GitHub Pages, and Hugging Face.</p>
             <div class="snapshot-meta">
               <span>tasks <strong>12</strong></span>
               <span>baselines <strong>minimal + neural</strong></span>
@@ -2406,8 +2406,8 @@
               <strong>Evidence</strong><p>Updated quality-target report, error-analysis tables, held-out metrics, and public-safe package.</p>
             </div>
           </article>
-          <article class="roadmap-card" data-status="next">
-            <span class="roadmap-status">next</span>
+          <article class="roadmap-card" data-status="current">
+            <span class="roadmap-status">current</span>
             <h3>Foundation-Model Selection Matrix</h3>
             <p>Keep Qwen3-Omni as the first trainable held-out pilot, use Cosmos 3 for world modeling and forward-dynamics trainer development, and stage policy candidates after robot-compatible action targets are explicit.</p>
             <div class="roadmap-meta">
@@ -2415,8 +2415,8 @@
               <strong>Evidence</strong><p>Foundation model plan, source links, model-specific entry conditions, and evaluation additions.</p>
             </div>
           </article>
-          <article class="roadmap-card" data-status="planned">
-            <span class="roadmap-status">planned</span>
+          <article class="roadmap-card" data-status="partially_implemented">
+            <span class="roadmap-status">partially implemented</span>
             <h3>64-128 Episode Robustness Run</h3>
             <p>Test whether pilot conclusions survive broader sessions, missing modalities, and stronger ablations.</p>
             <div class="roadmap-meta">
@@ -2489,7 +2489,7 @@
           <article class="artifact"><h3>Leakage controls</h3><p>Scalers fit on train windows only; future labels, target-side signals, caption/object labels, and contact labels stay on the target side unless explicitly queried.</p><a href="https://github.com/ChaoYue0307/ropedia-xperience-10m-task-suite/blob/main/scripts/build_evaluation_protocol.py">builder script</a></article>
           <article class="artifact"><h3>Audio ablation</h3><p>Audio and no-audio variants are evaluated across all 12 task contracts under the same chronological split.</p><a href="data/audio_ablation_summary.json">audio summary</a></article>
           <article class="artifact"><h3>Foundation branch selection</h3><p>Qwen3-Omni is the first trainable baseline, Cosmos 3 becomes the world-model branch with a camera-pose proxy forward-dynamics contract ready for trainer work, policy models wait for robot-compatible action targets, and Xperience-native pretraining remains a later full-corpus goal.</p><a href="data/foundation_model_plan.json">backbone plan</a></article>
-          <article class="artifact"><h3>Next evaluation stage</h3><p>This public-sample run covers single-episode task development. The selected multi-episode Qwen3-Omni final diagnostic result is verified and meets the JSON-validity target; Cosmos3-Nano has a verified future-window compatibility package; and Cosmos3-Super has a verified base-weight JSON-task evaluation plus a camera-pose forward-dynamics contract audit. The next stage is action/subtask error analysis, true Cosmos fine-tuning, and policy-target conversion.</p><a href="data/omni_model_comparison.json">result comparison</a></article>
+          <article class="artifact"><h3>Next evaluation stage</h3><p>This public-sample run covers single-episode task development. The selected multi-episode Qwen3-Omni final diagnostic result is verified and meets the JSON-validity target; Cosmos3-Nano has a verified future-window compatibility package; and Cosmos3-Super has a verified base-weight JSON-task evaluation plus a fine-tuned forward-dynamics LoRA branch. The next stage is action/subtask error analysis, stronger model-quality runs, and policy-target conversion.</p><a href="data/omni_model_comparison.json">result comparison</a></article>
           <article class="artifact"><h3>Scale-up requirement</h3><p>Future Omni, Cosmos, and policy branches use the same episode split discipline, training metadata, held-out predictions, metrics, run report, and public-safe package gate.</p><a href="data/foundation_model_plan.json">scale-up status</a></article>
         </div>
       </div>
@@ -2552,7 +2552,7 @@
           <article class="evidence-card">
             <span class="status-pill">verified diagnostic</span>
             <h3>Qwen3-Omni and Cosmos3 branches</h3>
-            <p>The selected 96/16/16 episode split produced verified Qwen3-Omni packages with 448 held-out test predictions. Cosmos3-Nano has 378 held-out future-window predictions, and Cosmos3-Super Reasoner has 448 held-out base-weight JSON-task predictions plus a camera-pose forward-dynamics contract audit.</p>
+            <p>The selected 96/16/16 episode split produced verified Qwen3-Omni packages with 448 held-out test predictions. Cosmos3-Nano has 378 held-out future-window predictions, Cosmos3-Super Reasoner has 448 held-out base-weight JSON-task predictions, and Cosmos3-Super Forward-Dynamics LoRA has 448 held-out loss records.</p>
             <div class="evidence-links">
               <a href="data/omni_model_comparison.json">result comparison</a>
               <a href="data/omni_finetune_verified_result.json">pilot result</a>
@@ -3160,7 +3160,7 @@
               <article class="artifact"><h3>Foundation-model plan</h3><p>Backbone selection matrix covering Qwen3-Omni, Cosmos 3, GR00T, OpenVLA/openpi, Gemini Robotics, Octo, SmolVLA-style policy candidates, and the future Xperience-native pretraining goal.</p><a href="data/foundation_model_plan.json">foundation model plan</a></article>
               <article class="artifact"><h3>Multi-episode data access</h3><p>Public data-access path, selected 128-episode pilot plan, and preparation requirements.</p><a href="https://github.com/ChaoYue0307/ropedia-xperience-10m-task-suite/blob/main/results/omni_finetune/MULTI_EPISODE_ACCESS_STATUS.md">data access</a></article>
               <article class="artifact"><h3>Qwen3-Omni LoRA group</h3><p>Separates the 1-episode sensor-adapter smoke test from the current 128-episode LoRA adapter package and older diagnostics.</p><a href="data/omni_model_comparison.json">Qwen group</a></article>
-              <article class="artifact"><h3>Cosmos3 groups</h3><p>Shows the verified Nano future-window compatibility package, the Super base-weight Reasoner JSON-task evaluation, and the Super camera-pose forward-dynamics contract audit; none is a new fine-tuned Cosmos weight release.</p><a href="data/omni_model_comparison.json">Cosmos groups</a></article>
+              <article class="artifact"><h3>Cosmos3 groups</h3><p>Shows the verified Nano future-window compatibility package, the Super base-weight Reasoner JSON-task evaluation, and the Super fine-tuned forward-dynamics LoRA branch with separate loss metrics.</p><a href="data/omni_model_comparison.json">Cosmos groups</a></article>
               <article class="artifact"><h3>Scale-up requirement</h3><p>Future runs need validation tracking, held-out predictions, quality-target reporting, and the same public-safe package gate.</p><a href="data/foundation_model_plan.json">training requirements</a></article>
               <article class="artifact"><h3>Xperience-native pretraining</h3><p>Future plan for a domain-specific embodied foundation model trained from scratch over full-corpus video, audio, geometry, motion, inertial, and language streams.</p><a href="https://github.com/ChaoYue0307/ropedia-xperience-10m-task-suite/blob/main/XPERIENCE_EMBODIED_FOUNDATION_MODEL_PRETRAINING.md">pretraining plan</a></article>
             </div>
@@ -3198,7 +3198,7 @@
           <article class="artifact"><h3>Selection</h3><p>128 complete episodes selected from 128 unique top-level sessions, balanced across episode-size bands and split 96/16/16 for train/val/test.</p></article>
           <article class="artifact"><h3>Transfer</h3><p>Download raw episodes only from official gated sources, exclude visualization.rrd, validate files, then stage them for training.</p></article>
           <article class="artifact"><h3>Current LoRA artifact</h3><p>The current Qwen3-Omni LoRA artifact is the selected 128-episode diagnostic adapter. The 1-episode Qwen entry is only a sensor-adapter smoke test.</p><a href="data/omni_model_comparison.json">model groups</a></article>
-          <article class="artifact"><h3>Backbone branches</h3><p>Qwen3-Omni uses a separate LoRA model repo; Cosmos3-Nano and Cosmos3-Super remain artifacts-only diagnostics until real Cosmos adapter or fine-tuned weights exist.</p><a href="data/foundation_model_plan.json">backbone plan</a></article>
+          <article class="artifact"><h3>Backbone branches</h3><p>Qwen3-Omni uses a separate LoRA model repo; Cosmos3-Nano remains a compatibility package; Cosmos3-Super now has a verified forward-dynamics LoRA branch with weights in a dedicated model repo.</p><a href="https://huggingface.co/cy0307/ropedia-cosmos3-super-forward-dynamics-lora-128ep">Cosmos3-Super weights</a></article>
           <article class="artifact"><h3>Native foundation model</h3><p>The long-term goal is a full-corpus Xperience Embodied Foundation Model trained on synchronized perception, geometry, motion, inertial, audio, and language streams after smaller scaling stages validate the approach.</p><a href="https://github.com/ChaoYue0307/ropedia-xperience-10m-task-suite/blob/main/XPERIENCE_EMBODIED_FOUNDATION_MODEL_PRETRAINING.md">pretraining plan</a></article>
         </div>
       </div>
@@ -3250,7 +3250,7 @@ python scripts/validate_publication_package.py</code></pre>
 
   <footer>
     <div class="wrap">
-      Built as a single-episode embodied-AI learning lab, with the next stage focused on multi-episode training and held-out episode evaluation.
+      Built as an embodied-AI learning lab with verified held-out diagnostic branches and a next stage focused on stronger action/subtask quality.
     </div>
   </footer>
 

results/omni_finetune/OMNI_MODEL_COMPARISON.md

@@ -1,6 +1,6 @@
 # Omni Model Comparison
 
-Generated: `2026-06-07T23:37:45+00:00`
+Generated: `2026-06-08T07:13:32+00:00`
 
 Compare only rows with the same scope and target. Single-episode raw-feature metrics, 128-episode metadata baselines, Qwen3 structured JSON metrics, and the two Cosmos3 targets answer different questions: Nano future-window retrieval versus Super structured JSON Reasoner evaluation.
 
@@ -16,7 +16,7 @@ Read the three rows this way:
 
 - Version 1 is the public-sample 12-task harness with minimal and neural heads.
 - Version 2 is the selected 128-episode same-split simple/NN baseline alignment.
-- Version 3 is the verified model-branch layer: the current final Qwen3-Omni LoRA package is the JSON-task diagnostic result, Cosmos3-Nano is a future-window compatibility result, and Cosmos3-Super Reasoner is a base-weight JSON-task evaluation; Cosmos3-Super has a camera-pose forward-dynamics contract audit and schema-only packer smoke, but no new fine-tuned weight release.
+- Version 3 is the verified model-branch layer: the current final Qwen3-Omni LoRA package is the JSON-task diagnostic result, Cosmos3-Nano is a future-window compatibility result, Cosmos3-Super Reasoner is a base-weight JSON-task evaluation, and Cosmos3-Super Forward-Dynamics LoRA is the first Super fine-tuned adapter branch.
 
 ## Model-Family Grouped View
 
@@ -24,7 +24,7 @@ Read the three rows this way:
 - Task-head baselines have both a one-episode public-sample run and a 128-episode same-split metadata/text run.
 - Qwen3-Omni has a one-episode sensor-adapter smoke test and separate 128-episode LoRA diagnostic packages; the newest verified full-eval 128-episode adapter belongs in the Qwen LoRA model repo.
 - Cosmos3-Nano has a 128-episode future-window compatibility package.
-- Cosmos3-Super has a 128-episode base-weight Reasoner evaluation on the JSON task plus a camera-pose forward-dynamics contract audit; create a separate Cosmos model repo only after a trainable multi-GPU/offload run produces real Cosmos adapter or fine-tuned weights.
+- Cosmos3-Super now has both a 128-episode base-weight Reasoner evaluation on the JSON task and a fine-tuned forward-dynamics LoRA branch over camera-pose proxy targets.
 
 ### Minimal and Neural Task Heads
 
@@ -45,7 +45,7 @@ The one-episode Qwen entry is only a sensor-adapter smoke test with Qwen3 weight
 
 | scope | status | run | counts | metrics | source |
 | --- | --- | --- | --- | --- | --- |
-| 1 episode | verified_smoke | Qwen3-Omni Sensor-Adapter Smoke | 1 episodes, 59 windows/samples | accuracy=0.0000, macro_f1=0.0000 | `results/omni_exploration/qwen3_adapter_smoke/metrics.json` |
+| 1 episode | verified_smoke | Qwen3-Omni Sensor-Adapter Smoke | 1 episodes, 59 windows/samples | train_final_loss=1.4479, accuracy=0.0000, macro_f1=0.0000 | `results/omni_exploration/qwen3_adapter_smoke/metrics.json` |
 | 128 episode | verified | Qwen3-Omni LoRA | 119 episodes, 3808 windows/samples, 448 eval | json_validity_rate=0.8750, action_macro_f1=0.0027, transition_accuracy=0.8504, contact_accuracy=0.6451 | `results/omni_finetune/verified_public/xperience10m_qwen3_omni_128ep_96train_16val_16test_valmon_20260605_eval/verified_result_summary.json` |
 | 128 episode | verified | Qwen3-Omni LoRA | 119 episodes, 3808 windows/samples, 448 eval | json_validity_rate=0.8527, action_macro_f1=0.0021, transition_accuracy=0.8281, contact_accuracy=0.6518 | `results/omni_finetune/verified_public/xperience10m_qwen3_omni_128ep_fullsplit_fast8gpu_lora_fsdp_full_train_noval_tail_logits_fullstatesave_v6_eval_test_full/verified_result_summary.json` |
 | 128 episode | verified | Qwen3-Omni LoRA | 119 episodes, 3808 windows/samples, 448 eval | json_validity_rate=0.9978, action_macro_f1=0.0024, transition_accuracy=0.9710, contact_accuracy=0.7188 | `results/omni_finetune/verified_public/xperience10m_qwen3_omni_128ep_structured_json_v2_reuse_full8gpu_lora_eval_test_full/verified_result_summary.json` |
@@ -65,7 +65,7 @@ The current 128-episode Cosmos result is a public-safe future-window compatibili
 
 ### Cosmos3-Super Reasoner
 
-Cosmos3-Super is now represented by a verified 448-window held-out Reasoner evaluation on the same JSON task as Qwen3. It uses staged base weights through vLLM, so it is a model-branch diagnostic, not a weight release. A camera-pose proxy forward-dynamics target export now passes the contract audit and schema-only packer smoke; true Cosmos3-Super fine-tuning is still blocked until a trainable multi-GPU/offload path produces adapter or fine-tuned weights.
+Cosmos3-Super is now represented by a verified 448-window held-out Reasoner evaluation on the same JSON task as Qwen3. It uses staged base weights through vLLM, so it is a model-branch diagnostic, not a weight release. A camera-pose proxy forward-dynamics target export now passes the contract audit and schema-only packer smoke; the separate Forward-Dynamics LoRA group records the trainable adapter run and loss-based held-out evaluation.
 
 - Weight repo policy: none for this run; staged base weights only, no new fine-tuned weights
 
@@ -77,6 +77,17 @@ Cosmos3-Super is now represented by a verified 448-window held-out Reasoner eval
 | batch packer | pass | Cosmos3-Super Action Batch Packer Smoke | 1 windows/samples | mode=forward_dynamics, loss_surface=vision_velocity_conditioned_on_camera_pose, pipeline_loaded=False, weights_updated=False | `results/omni_finetune/xperience10m_cosmos3_super_action_packer_schema_smoke_20260608/packer_summary.json` |
 | 128 episode | verified current | Cosmos3-Super Reasoner | 119 episodes, 3808 windows/samples, 448 eval | json_validity_rate=0.5112, action_macro_f1=0.0008, transition_accuracy=0.3683, contact_accuracy=0.3214 | `results/omni_finetune/verified_public/xperience10m_cosmos3_super_reasoner_128ep_test_full_20260607/verified_result_summary.json` |
 
+### Cosmos3-Super Forward-Dynamics LoRA
+
+This is the first verified Cosmos3-Super fine-tuned adapter branch. Its metric is forward-dynamics MSE, so compare it to world-model loss or future-prediction targets, not to Qwen JSON classification accuracy.
+
+- Weight repo policy: https://huggingface.co/cy0307/ropedia-cosmos3-super-forward-dynamics-lora-128ep
+
+| scope | status | run | counts | metrics | source |
+| --- | --- | --- | --- | --- | --- |
+| 1 episode | verified_smoke | Cosmos3-Super Forward-Dynamics Overfit Smoke |  |  | `results/omni_finetune/xperience10m_cosmos3_super_forward_dynamics_lora_overfit_after_qwen_v4_20260608_fsdp8_attn256_gradfix_savefix2/` |
+| 128 episode | verified current | Cosmos3-Super Forward-Dynamics LoRA | 119 episodes, 3808 windows/samples, 448 eval | test_forward_dynamics_mse=3.6853, val_forward_dynamics_mse=4.0082, train_final_loss=1.0785, adapter_parameter_numel=26214400 | `results/omni_finetune/verified_public/xperience10m_cosmos3_super_forward_dynamics_lora_128ep_train1epoch_256_attn_full8gpu_20260608_eval_test_full_fsdp/verified_result_summary.json` |
+
 ## 128-Episode Task Baselines
 
 | task | simple | neural |
@@ -99,6 +110,7 @@ Cosmos3-Super is now represented by a verified 448-window held-out Reasoner eval
 | branch | backbone | eval samples | held-out episodes | key metrics |
 | --- | --- | ---: | ---: | --- |
 | Cosmos3-Nano Future-Window World Model | `cosmos_world_model` | 378 | 14 | future_retrieval_mrr=0.0221, temporal_consistency=0.0952, transition_accuracy=0.9683, contact_accuracy=0.7434 |
+| Cosmos3-Super Forward-Dynamics LoRA | `cosmos3_super_forward_dynamics` | 448 | 14 | adapter_parameter_numel=26214400, test_forward_dynamics_mse=3.6853, train_final_loss=1.0785, val_forward_dynamics_mse=4.0082 |
 | Cosmos3-Super Reasoner | `cosmos3_super_reasoner` | 448 | 14 | json_validity_rate=0.5112, action_macro_f1=0.0008, transition_accuracy=0.3683, contact_accuracy=0.3214 |
 | Qwen3-Omni LoRA | `qwen3_omni_lora` | 448 | 14 | json_validity_rate=0.8750, action_macro_f1=0.0027, transition_accuracy=0.8504, contact_accuracy=0.6451 |
 | Qwen3-Omni LoRA | `qwen3_omni_lora` | 448 | 14 | json_validity_rate=0.8527, action_macro_f1=0.0021, transition_accuracy=0.8281, contact_accuracy=0.6518 |
@@ -109,4 +121,4 @@ Cosmos3-Super is now represented by a verified 448-window held-out Reasoner eval
 ## Pending
 
 - Use the verified Qwen3 v4 4-epoch full-eval package as the current Qwen row; older Qwen package rows remain historical diagnostics for comparison.
-- Promote Cosmos3 from Nano compatibility, Super base-weight evaluation, and the camera-pose forward-dynamics contract to true fine-tuning only after a trainable Cosmos3-Super run produces new weights.
+- Verify the live Cosmos3-Super forward-dynamics adapter model repo after upload; the public-safe verified_public package still excludes safetensors by design.

results/omni_finetune/verified_public/xperience10m_cosmos3_super_forward_dynamics_lora_128ep_train1epoch_256_attn_full8gpu_20260608_eval_test_full_fsdp/PUBLIC_RESULT_SUMMARY.md

@@ -0,0 +1,17 @@
+# Cosmos3-Super Forward-Dynamics LoRA Result
+
+- Backbone: `cosmos3_super_forward_dynamics`
+- Training run: `xperience10m_cosmos3_super_forward_dynamics_lora_128ep_train1epoch_256_attn_full8gpu_20260608`
+- Evaluation run: `xperience10m_cosmos3_super_forward_dynamics_lora_128ep_train1epoch_256_attn_full8gpu_20260608_eval_test_full_fsdp`
+- Status: `verified`
+- Train rows: `2848`
+- Val rows: `512`
+- Test rows: `448`
+- Train final loss: `1.0785235166549683`
+- Val forward-dynamics MSE: `4.008244896889664`
+- Test forward-dynamics MSE: `3.6853174321087345`
+- Adapter parameters: `26214400`
+
+This is a camera-pose proxy forward-dynamics LoRA over Cosmos3-Super. It supervises future vision velocity tokens, not semantic JSON labels.
+
+Raw Xperience-10M media/annotations, base-model weights, LoRA adapter weights, checkpoints, and large archives are not included.

results/omni_finetune/verified_public/xperience10m_cosmos3_super_forward_dynamics_lora_128ep_train1epoch_256_attn_full8gpu_20260608_eval_test_full_fsdp/dataset/target_manifest.json

@@ -0,0 +1,22 @@
+{
+  "status": "pass",
+  "input_dataset_jsonl": "results/omni_finetune/xperience10m_qwen3_omni_128ep_96train_16val_16test_valmon_20260605_dataset/dataset.jsonl",
+  "output_jsonl": "results/omni_finetune/xperience10m_cosmos3_camera_pose_targets_20260608/dataset_with_cosmos_actions.jsonl",
+  "domain_name": "camera_pose",
+  "raw_action_dim": 9,
+  "chunk_size": 8,
+  "resolution_tier": 480,
+  "view_point": "ego_view",
+  "target_kind": "slam_camera_pose_delta_proxy_v1",
+  "counts": {
+    "rows_seen": 3808,
+    "rows_augmented": 3808
+  },
+  "episode_annotation_files_read": 119,
+  "issues": [],
+  "limitations": [
+    "This is an egocentric camera-motion proxy, not a robot gripper or human hand-control action.",
+    "Use it for Cosmos3 action-packer and one-episode overfit smoke tests before claiming model-quality improvement.",
+    "Fit any normalization on train episodes only before a full publishable Cosmos adapter run."
+  ]
+}

results/omni_finetune/verified_public/xperience10m_cosmos3_super_forward_dynamics_lora_128ep_train1epoch_256_attn_full8gpu_20260608_eval_test_full_fsdp/eval/RUN_REPORT.md

@@ -0,0 +1,10 @@
+# Cosmos3-Super Forward-Dynamics LoRA Evaluation
+
+- Run id: `xperience10m_cosmos3_super_forward_dynamics_lora_128ep_train1epoch_256_attn_full8gpu_20260608_eval_test_full_fsdp`
+- Status: `complete`
+- Split: `test`
+- Eval samples: `448`
+- Mean loss: `3.6853174321087345`
+- Adapter dir: `/home/cy/Ropedia/ropedia-episode-task-suite/results/omni_finetune/xperience10m_cosmos3_super_forward_dynamics_lora_128ep_train1epoch_256_attn_full8gpu_20260608/adapter_lora`
+
+The metric is rectified-flow vision velocity MSE under camera-pose action conditioning. It does not evaluate semantic JSON action labels.

results/omni_finetune/verified_public/xperience10m_cosmos3_super_forward_dynamics_lora_128ep_train1epoch_256_attn_full8gpu_20260608_eval_test_full_fsdp/eval/progress/progress_rank0.jsonl

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results/omni_finetune/verified_public/xperience10m_cosmos3_super_forward_dynamics_lora_128ep_train1epoch_256_attn_full8gpu_20260608_eval_test_full_fsdp/eval/progress/progress_rank1.jsonl

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+{"event": "complete", "status": "complete", "timestamp": 1780900044.9123003}

results/omni_finetune/verified_public/xperience10m_cosmos3_super_forward_dynamics_lora_128ep_train1epoch_256_attn_full8gpu_20260608_eval_test_full_fsdp/eval/progress/progress_rank2.jsonl

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results/omni_finetune/verified_public/xperience10m_cosmos3_super_forward_dynamics_lora_128ep_train1epoch_256_attn_full8gpu_20260608_eval_test_full_fsdp/eval/rank_metrics/rank_5_metrics.json

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results/omni_finetune/verified_public/xperience10m_cosmos3_super_forward_dynamics_lora_128ep_train1epoch_256_attn_full8gpu_20260608_eval_test_full_fsdp/eval/rank_metrics/rank_6_metrics.json

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results/omni_finetune/verified_public/xperience10m_cosmos3_super_forward_dynamics_lora_128ep_train1epoch_256_attn_full8gpu_20260608_eval_test_full_fsdp/package_audit.json

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results/omni_finetune/verified_public/xperience10m_cosmos3_super_forward_dynamics_lora_128ep_train1epoch_256_attn_full8gpu_20260608_eval_test_full_fsdp/training/adapter_shape_check_raw_fsdp.json

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results/omni_finetune/verified_public/xperience10m_cosmos3_super_forward_dynamics_lora_128ep_train1epoch_256_attn_full8gpu_20260608_eval_test_full_fsdp/training/training_metadata.json

@@ -0,0 +1,392 @@
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results/omni_finetune/verified_public/xperience10m_cosmos3_super_forward_dynamics_lora_128ep_train1epoch_256_attn_full8gpu_20260608_eval_test_full_fsdp/validation/eval.json

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