docs: add Wave-2 P0-B0 / P0-Ours bottle_upright ckpts

README.md

@@ -15,7 +15,28 @@ Human→Robot DexFlow Stage-2 (Arena ACT + articulated HandFlow/ObjectFlow aux)
 
 Org: [Humantwin](https://huggingface.co/Humantwin)
 
-## bottle_upright (right, crop cam30)
+## Wave-2 P0 (2026-09-09) — recommended for bottle_upright real-robot
+
+Same 10-ep **bottle_upright right crop cam30** robot set. P0-Ours additionally inits from Manus **plastic_bottle** Stage-1 (14 ep); S2 does not mix human RGB.
+
+| ID | File | Init | S2 loss | Open-loop body / hand / J2 |
+|----|------|------|---------|----------------------------|
+| **P0-B0** | `p0s2_b0_bottle_cam30_crop/stage2.ckpt` | ImageNet | ACT only | **0.0085 / 4.69 / 1.49** |
+| **P0-Ours** | `p0s2_ours_p0b_hf_bottle_cam30_crop/stage2.ckpt` | plastic S1 | ACT + 0.25 HF | **0.0083 / 4.83 / 1.72** |
+
+Load:
+
+```python
+from dexflow.backbone.dexflow_act import DexFlowACTPolicy
+model = DexFlowACTPolicy.from_checkpoint("p0s2_b0_bottle_cam30_crop/stage2.ckpt", stage="deploy")
+model = model.strip_aux_for_deploy()
+```
+
+Deploy: publish 30/30, infer interval ≥1.05 s, strip aux, MEAN_STD `norm_stats.json` in the same folder.
+
+---
+
+## bottle_upright (right, crop cam30) — older 15k aux run
 
 | Item | Value |
 |---|---|
@@ -46,6 +67,12 @@ ckpt = torch.load("bottle_upright_right_crop/step_15000.ckpt", map_location="cpu
 ## Layout
 
 ```text
+p0s2_b0_bottle_cam30_crop/          # Wave-2 P0-B0 @30k
+  stage2.ckpt
+  norm_stats.json
+p0s2_ours_p0b_hf_bottle_cam30_crop/ # Wave-2 P0-Ours @30k
+  stage2.ckpt
+  norm_stats.json
 bottle_upright_right_crop/
   step_15000.ckpt
   norm_stats.json