Replaces facet0-post-training/params/ and assets/norm_stats.json with the fr3_r1 step-49999 EMA weights (VL backbone frozen and stored as bf16). config.json: remove action.gripper_convention, add observation.wrench_history ([10, 6]), spell out state_layout (pose 6 + gripper 1 + wrench 6), drop 'ensembling' from model_name. README.md: model card with inputs, outputs, usage and citation. Supersedes #1.
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Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
