AIRO-Doffy-WRM-Grasp-consensus-two-contact-mlp-lambda01

Two jointly trained diffusion experts: BEAVER (both rings) and vision. The unified BEAVER encoder uses 144 strict-<10 mm contact bits plus 9 sensor-enable features. A contact is valid only for status 5 or 9, a finite distance >= 0, and the presence gate. The two native observations are independent inputs to a shared MLP. No GRU and no raw distances are used.

Ordinary joint routing uses router + vis + q, with lambda_expert=0.1 as the expert auxiliary loss weight. Single task: cluster12, 1 GPU, 10 CPUs, batch size 32, online W&B tracking. Training ends at 100000 steps. Artifacts and source are in checkpoints/. last.pt SHA-256: 260595fa9a2faaa1e57b492d973bba24a6ca0713f5ae5afd487a179ced92f5e5