[Alpenj]

Summary

• add a dependency-free ACT-style temporal ensembler with oldest-first exponential weighting
• reject malformed, non-finite, stale, or over-disagreeing overlapping chunks transactionally
• add command delta/velocity/acceleration/jerk metrics and a deterministic synthetic A/B smoke
• document the ROBOTIS OMY video evidence and the recorded replay → MuJoCo → approved physical canary gates

Verification

• PYTHONPATH=. python3 -m unittest discover -s test -p "test_temporal_ensemble.py" -v — 10/10 PASS
• PYTHONPATH=. python3 -m unittest discover -s test -v — 114 PASS, 5 optional-ML SKIP
• python3 -m compileall -q ... — PASS
• git diff --check — PASS

Safety boundary

No ROS graph, serial port, actuator, or physical hardware was opened. The new module imports no ROS/serial/LeRobot/Torch dependency, emits control_authorized=false, and requires the existing independent safety supervisor before any future live path. Synthetic RMS reductions are regression-fixture values, not physical performance evidence.

Source evidence

• ROBOTIS AI MANIPULATOR Add SO101 parallel MuJoCo rollout evidence #13 video
• ROBOTIS OMY VLA/LeRobot technical story
• official LeRobot ACTTemporalEnsembler
• ACT/ALOHA RSS 2023 paper