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| license: cc-by-4.0 |
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| # ALTER simulation data card |
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| Authors: Dayi Dong, Maulik Bhatt, Aayushi Shrivastava, Lasse Peters, Negar Mehr. |
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| The pretraining selection contains 400 demonstrations: 200 place-return and 200 |
| wipe. Adaptation includes 60 selected multi-arm demonstrations and 60 distilled |
| single-arm rollouts at the largest budget. Nested manifests retain 20+20, |
| 40+40, and 60+60 membership, mode grouping and ordering. FT-multi omits the |
| single-arm adaptation domain. Counts exclude base-policy pretraining. |
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| Data and provenance retain distinct namespaces. Portable manifests use logical |
| artifact references; materialization checks checksums and preserves list order. |
| Do not rerank examples from relocated absolute paths. Original private records |
| remain retained separately, and exports record original and export hashes. |
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| Use only with the matching model/preprocessing, camera and action conventions |
| in the release source. Data are trusted Python pickle artifacts, not a safe |
| format for arbitrary untrusted downloads. Hardware recordings are released separately under `hardware/v1/`; scored physical-trial |
| evidence is not included. Original ALTER demonstrations, replay and accompanying |
| original records are released under CC BY 4.0; see LICENSE and NOTICE. Third-party |
| software, assets and the paper retain their separate terms. |
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| The provenance bundle contains selected evaluation/selection evidence, not new |
| experimental results. The original base-training contract is absent, and the |
| FT-mixed selection-panel wording requires author review. No complete paper |
| retraining or full evaluation rerun is claimed by preparation tests. |
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| See USAGE.md for downloads and the accompanying code release status. |
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| Paper: [Residual Denoising Enables Sample-Efficient Multi-Agent Coordination on Demand](https://arxiv.org/abs/2609.32129). |
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| ## Hardware v1 |
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| Selected hardware models, source data and exact prepared caches are now available |
| under [hardware/v1](hardware/v1/README.md). See the [hardware download guide](hardware/v1/USAGE.md) |
| for the separate pinned manifest, selective downloads and offline validation. |
| Simulation payloads and their pinned revisions remain unchanged. |
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