Add NewModel/v2/README.md

NewModel/v2/README.md

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+# NewModel v2: active full-vision policies
+
+This release contains the 16 audited active checkpoints:
+
+`DiT-S/B × raw/B-spline × FM/joint-DD × base/ttRTC`.
+
+Every observation uses two complete 16×16 vision-token grids: 256 tokens per
+camera and 512 total. Base checkpoints were trained for 50,000 updates and
+ttRTC children for 5,000 updates at effective batch size 32. DiT-L and
+layerwise DD are retired and intentionally absent from v2; they remain in v1
+for historical reproduction.
+
+## Layout
+
+- `dit_{s,b}/{raw,bspline}/checkpoints/`: final checkpoints, W&B identity
+  sidecars, and checkpoint manifests.
+- `sidecars/{raw,bspline}/`: action codec, calibration, normalization, and
+  split metadata required by the loader.
+- `configs/`: the four active full-vision configurations.
+- `evaluation/`: completion audit, 16-row metrics, plots, deployment
+  validation, decoder validation, and bilingual summaries.
+- `deployment/`: server/client contract and RTC validation report.
+
+## RTC deployment contract
+
+All checkpoints support ordinary `infer`. Only RTC/ttRTC checkpoints support
+`infer_realtime`.
+
+| Representation | Previous value required by `infer_realtime` | Shape | Coordinates |
+| --- | --- | --- | --- |
+| raw | `prev_action_chunk` | `[B,30,7]` | physical actions returned by the previous request |
+| B-spline | `prev_control_rows` | `[B,18,7]` | normalized spline controls returned as `normalized_control_rows` |
+
+`inference_delay` is an integer from 1 through 10 in raw 30 Hz action steps.
+The B-spline endpoint intentionally rejects decoded action chunks: RTC must
+preserve and shift the parameter-space controls. The server is stateless;
+clients explicitly return the previous chunk or control rows with each RTC
+request.
+
+The repository loader automatically discovers `sidecars/{raw,bspline}` when
+the versioned directory structure is retained. See `deployment/README.md` for
+server and client examples.
+
+## Verification
+
+- 16/16 local and remote-W&B completion audit.
+- DiT-S and DiT-B deployment matrices: 8/8 runtime cases each.
+- Raw and B-spline RTC verified through the real msgpack/WebSocket interface
+  with finite `[1,30,7]` actions and correct hard-prefix metadata.
+- Joint cached/fused decoding is token-identical for all eight joint-DD
+  checkpoints.