Sync approved changes from OpenWAM-staging (1046687)

.github/CODEOWNERS

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+* @DaivdYuan @Heng14

.github/ISSUE_TEMPLATE/bug_report.md

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+---
+name: Bug report
+about: Report a reproducible Open-WAM failure
+labels: bug
+---
+
+## Command
+
+```bash
+
+```
+
+## Config, Checkpoint, And Data
+
+- config:
+- checkpoint:
+- dataset root or artifact id:
+- local path registry:
+
+## Environment
+
+- commit:
+- Python:
+- CUDA / GPU:
+- install command:
+- optional extras:
+
+## Expected Behavior
+
+## Actual Behavior
+
+## Logs
+
+```text
+
+```

.github/ISSUE_TEMPLATE/dataset_setup.md

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+---
+name: Dataset setup
+about: Report a dataset adapter or local path setup issue
+labels: data
+---
+
+## Dataset
+
+- dataset type:
+- source:
+- local root:
+- config:
+
+## Local Path Registry
+
+```yaml
+
+```
+
+## Failure
+
+```text
+
+```
+
+## Expected Shape / Contract
+
+- camera names:
+- action dim:
+- action horizon:
+- state dim:

.github/ISSUE_TEMPLATE/experiment_reproduction.md

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+---
+name: Experiment reproduction
+about: Ask for help reproducing a train/eval/rollout result
+labels: reproduction
+---
+
+## Target Result
+
+- method family:
+- benchmark:
+- task / episode:
+- expected metric or success condition:
+
+## Command
+
+```bash
+
+```
+
+## Artifacts
+
+- config:
+- checkpoint or artifact id:
+- dataset:
+- simulator:
+
+## Hardware
+
+- CPU:
+- GPU:
+- memory:
+
+## What You Tried
+
+## Current Output
+
+```text
+
+```

.github/ISSUE_TEMPLATE/feature_request.md

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+---
+name: Feature request
+about: Propose a new model, dataset, simulator, or runtime feature
+labels: enhancement
+---
+
+## Proposal
+
+## Target Extension Point
+
+- [ ] dataset adapter
+- [ ] policy variant
+- [ ] action decoder
+- [ ] visual/runtime backend
+- [ ] benchmark adapter
+- [ ] CLI/runtime tooling
+- [ ] documentation
+
+## Compatibility Impact
+
+Existing commands/configs affected:
+
+Migration plan:
+
+## Validation Plan

.github/ISSUE_TEMPLATE/simulator_setup.md

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+---
+name: Simulator setup
+about: Report LIBERO, RoboTwin, or CALVIN simulator setup issues
+labels: sim
+---
+
+## Simulator
+
+- [ ] LIBERO
+- [ ] RoboTwin
+- [ ] CALVIN
+
+## Command
+
+```bash
+
+```
+
+## Local Paths
+
+```yaml
+
+```
+
+## Environment
+
+- commit:
+- Python:
+- CUDA / GPU:
+- simulator checkout:
+- optional extras installed:
+
+## Failure
+
+```text
+
+```

.github/pull_request_template.md

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+## Summary
+
+- What changed:
+- Why it changed:
+- User/developer impact:
+
+## Change Type
+
+- [ ] docs-only
+- [ ] test-only
+- [ ] packaging-only
+- [ ] wrapper-only
+- [ ] runtime-modernization
+- [ ] behavior-change
+- [ ] legacy-removal
+
+## Compatibility
+
+- [ ] Existing experiment YAMLs still load or have documented aliases.
+- [ ] Existing checkpoint layouts still load or have documented migration.
+- [ ] Existing root `scripts/...` commands still work or have a clear wrapper.
+- [ ] Legacy removal, if any, was already deprecated in an earlier PR.
+
+Old path/config/command:
+
+New path/config/command:
+
+## Validation
+
+Commands run:
+
+```bash
+
+```
+
+Resource requirements:
+
+- [ ] CPU only
+- [ ] CUDA
+- [ ] local dataset
+- [ ] simulator
+- [ ] private checkpoint
+
+## Notes
+
+- Copilot/actionable automated review comments resolved:
+- Remaining blockers:

.github/workflows/ci.yml

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+name: ci
+
+on:
+  pull_request:
+  push:
+    branches:
+      - main
+
+jobs:
+  basic-pathways:
+    runs-on: ubuntu-latest
+    env:
+      OPEN_WAM_CI_NO_TORCH: "1"
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+      - name: Install uv
+        uses: astral-sh/setup-uv@v5
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: "3.11"
+      - name: Lockfile is current
+        run: uv lock --check
+      - name: Whitespace check
+        env:
+          BASE_SHA: ${{ github.event.pull_request.base.sha || github.event.before }}
+          HEAD_SHA: ${{ github.event.pull_request.head.sha || github.sha }}
+        run: |
+          if [[ -n "${BASE_SHA}" && "${BASE_SHA}" != "0000000000000000000000000000000000000000" ]]; then
+            git diff --check "${BASE_SHA}" "${HEAD_SHA}"
+          else
+            git diff --check
+          fi
+      - name: Basic package, config, registry, and CLI pathway checks
+        # Static stdlib-only checks. Do not install project deps, run pytest, import open_wam, or install Torch here.
+        run: python scripts/ci_basic_sanity.py
+
+  minimal-package:
+    runs-on: ubuntu-latest
+    env:
+      OPEN_WAM_CI_NO_TORCH: "1"
+    steps:
+      - uses: actions/checkout@v4
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: "3.11"
+      - name: Install minimal package
+        run: |
+          python -m venv .ci-minimal
+          .ci-minimal/bin/python -m pip install --upgrade pip
+          .ci-minimal/bin/pip install .
+      - name: Import and CLI parser safety
+        run: |
+          .ci-minimal/bin/python - <<'PY'
+          import importlib.util
+          import open_wam
+          import open_wam.configs
+          import open_wam.runtime
+          import open_wam.pipelines
+          assert importlib.util.find_spec("torch") is None
+          assert open_wam.__version__
+          PY
+          .ci-minimal/bin/open-wam-train --help
+          .ci-minimal/bin/open-wam-eval --help
+          .ci-minimal/bin/open-wam-inspect-config --help
+          .ci-minimal/bin/open-wam-validate-config --help
+      - name: Static config validation from installed package
+        run: |
+          .ci-minimal/bin/open-wam-validate-config \
+            configs/experiments/mot_libero_latent_local_video_then_action_heng_compatible.yaml \
+            configs/experiments/mot_libero_latent_local_joint_heng_compatible.yaml \
+            configs/experiments/parallel_stream_libero_lingbot_m1_video_then_action_heng_compatible.yaml

.github/workflows/cpu-smoke.yml

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+name: cpu-smoke
+
+on:
+  workflow_dispatch:
+
+jobs:
+  public-tiny-smoke:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - name: Install uv
+        uses: astral-sh/setup-uv@v5
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: "3.11"
+      - name: Install Torch-backed train stack
+        run: uv sync --group dev --extra train
+      - name: Validate public strict-old configs
+        run: |
+          uv run open-wam-validate-config \
+            configs/experiments/mot_libero_latent_local_video_then_action_heng_compatible.yaml \
+            configs/experiments/mot_libero_latent_local_joint_heng_compatible.yaml \
+            configs/experiments/parallel_stream_libero_lingbot_m1_video_then_action_heng_compatible.yaml
+      - name: Run release pytest subset
+        run: |
+          uv run python -m pytest \
+            tests/test_config_loader.py \
+            tests/test_static_config_schema.py \
+            tests/test_mot_runtime_routing.py \
+            tests/test_mot_modules.py::test_mot_action_then_video_action_only_rollout_skips_predicted_video \
+            tests/test_mot_modules.py::test_mot_decoupled_action_only_rollout_skips_split_cache_video_denoise \
+            -q

.github/workflows/pages.yml

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+name: pages
+
+on:
+  push:
+    branches:
+      - main
+  workflow_dispatch:
+
+permissions:
+  contents: read
+  pages: write
+  id-token: write
+
+concurrency:
+  group: pages
+  cancel-in-progress: false
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    env:
+      OPEN_WAM_CI_NO_TORCH: "1"
+    steps:
+      - uses: actions/checkout@v4
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: "3.11"
+      - name: Configure GitHub Pages
+        uses: actions/configure-pages@v5
+      - name: Install docs builder
+        run: python -m pip install "mkdocs==1.6.1"
+      - name: Stage sanitized docs
+        run: python scripts/build_docs_site.py --output .docs_site
+      - name: Assert docs build stays dependency-light
+        run: |
+          python - <<'PY'
+          import importlib.util
+          assert importlib.util.find_spec("torch") is None
+          PY
+      - name: Build static site
+        run: mkdocs build --clean
+      - name: Upload GitHub Pages artifact
+        uses: actions/upload-pages-artifact@v4
+        with:
+          path: site
+
+  deploy:
+    if: github.ref == 'refs/heads/main'
+    runs-on: ubuntu-latest
+    needs: build
+    environment:
+      name: github-pages
+      url: ${{ steps.deployment.outputs.page_url }}
+    steps:
+      - name: Deploy to GitHub Pages
+        id: deployment
+        uses: actions/deploy-pages@v4