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docs: refresh §9 refactor state — R5 complete (ADR-0006 shipped) - #99
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Update ROADMAP §9 to reflect Phase R5 (task-specific rewards split) complete: R5.1 (#97), R5.2 (#98) merged. - §9.0 phase header + status table: R0–R5 complete; ADR-0006 → Accepted; R7 row regated on "R6 landing + cross-layer follow-ups". - Add R5.1 / R5.2 "Completed" entries and "Tests run" lines (incl. the whole-family move variance and the bit-equivalence test). - R5.2 risk row marked resolved. - "Next steps" / "Suggested next slice" rewritten: R6 is the last structural R-phase; R5/R6 no longer "fan out" (R5 done). - §9.2 sequencing diagram + prose: R5 ✅. - Phase R5 detail block: header → COMPLETE, scope/PR/test "as shipped", completion criteria (jaccard collapse by construction; the Unitree G1 reference-run check superseded by the bit-equivalence test — no reference-runs doc exists yet, deferred to M1.7). - New lessons: an ADR's enumerated symbol list goes stale (re-audit before a move); pin pre-refactor bodies in a test for a *merging* refactor; prefer thin def wrappers over functools.partial for back-compat shims. (CLAUDE.md and plans/ are gitignored local artifacts and were refreshed locally in the same pass; only the tracked ROADMAP.md is committed, matching docs PRs #93 and #96.) Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
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docs: refresh §9 refactor state — R5 complete (ADR-0006 shipped)
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…0009 shipped) The architecture refactor is done: importlinter is now a required CI gate with a clean 6-contract / 0-violation baseline. Update ROADMAP §9 accordingly. - §9.0 phase header + status table: R6 (#100) and R7 (#101–#106) marked complete; ADR-0007/0008/0009 → Accepted; ADR-0010 deferred. Reviewed against dev @ b9f7e0a. - Add "Completed" entries for R6, R7.1, R7.2, R7.3a–d and matching "Tests run" lines (incl. the R6 cv2/Qt subprocess-isolation incident and the R7.3d 6/0 baseline). - Dependency-graph note: 3,982 nodes / 11,433 edges post-R7 (net growth from new modules + deprecation shims; cross-layer imports 24 → 0). - R4/R5.2/R7 risk rows marked resolved; the "21 violations gating R7" notes rewritten to reflect the cleared baseline. - §9.2 diagram + prose: all phases ✅; Phase R6/R7 detail headers → COMPLETE. - New lessons: layers-contract forbids intra-band siblings (use forbidden contracts); fix-the-layer beats DI; precise contract beats blanket ban + waivers; subprocess-isolate cv2-importing tests. - "Next steps" rewritten: refactor complete; remaining items are optional follow-ups (BaseTermManager for metrics/curriculum is the recommended next slice; ADR flips; ≤400 cli target; test_cli split; shim removal; ADR-0010). (CLAUDE.md, plans/adr/0007–0009, and the ADR status flips are gitignored local artifacts, refreshed in the same pass; only ROADMAP.md is committed — matching docs PRs #93 / #96 / #99.) Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
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What
Refresh ROADMAP §9 to reflect Phase R5 (task-specific rewards split) complete — R5.1 (#97), R5.2 (#98) merged; ADR-0006 shipped. Docs-only PR, matching #93 / #96.
Changes (ROADMAP.md)
R0–R5 complete; status table R5 row → ✅ complete (PRs refactor: mdp/motion_tracking.py owns the motion-imitation rewards (ROADMAP §9 PR R5.1 / ADR-0006) #97/refactor: motion_body_error_exp factory dedups the motion-tracking trio (ROADMAP §9 PR R5.2 / ADR-0006) #98); ADR-0006 →Accepted; R7 row regated on "R6 landing + cross-layer follow-ups".motion_body_error_expfactory; jaccard-1.000 trio only; bit-equivalence test; 395 → 398 tests).torch.equalagainst pinned originals).defwrappers overfunctools.partialfor back-compat shims (__name__/repr).Note
CLAUDE.mdandplans/(incl. ADR-0006'sAcceptedflip + implementation outcome) are gitignored local artifacts; refreshed in the same pass for future local sessions, but only the trackedROADMAP.mdis committed here — same as #93 / #96.🤖 Generated with Claude Code