Key Achievements
18/18 VLM unit tests passing
8/8 Action handlers implemented
7 State machine transitions
less than 2s VLM inference time
5 FPS FR loop on the move
100% Dashboard WHEP streaming
VLM Decision
- Evaluated 3 Qwen models (35B, 122B, 397B)
- Selected Qwen3.5-122B-A10B (H200 x1)
- Balanced speed vs accuracy trade-off
Pending Work
P0VERIFY_OBJECT — Implement object detection plus bbox (currently stub)
P0Dynamic Replan DAG — Full dashboard reflection of refined plans
P1STT State Machine — Wire Kognigate into orchestrator runtime
P1Waypoint Handler — Fix edge proxy Nav2 integration
P2VLM Resolution Testing — Benchmark different camera resolutions
P2Production Manifests — Consolidate fragmented service configs