code: configurable ensembling coefficients

code: trajectory logging, te_weights grid, chunk profile

code: noise-floor job with PID-specific waits

code: approved design (window 50-75, replan50, deterministic default)

code: deterministic option; checkpoint-eval job

code: memory-safe validation job with progress and memory logging

code: ChunkExecutor subclasses PreTrainedPolicy; per-mode contact timing

code: chunk_eval harness and validation job