diff --git a/.gitattributes b/.gitattributes
index f019b85b0bd311688474e322d6b6357fdfa1b80d..3541e0d0f7b1216b7cbc01404f17c7664e0c2240 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -60,3 +60,8 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
 objects/phone/releases/phone20-stage12-v1/common/cell_phone.stl filter=lfs diff=lfs merge=lfs -text
 objects/phone/releases/phone20-stage12-v2/common/cell_phone.stl filter=lfs diff=lfs merge=lfs -text
+objects/phone/trajectories/phone_02/stage4/data039-dr-rollouts-v1/dr_bank.json filter=lfs diff=lfs merge=lfs -text
+objects/phone/trajectories/phone_03/stage4/data040-dr-rollouts-v1/dr_bank.json filter=lfs diff=lfs merge=lfs -text
+objects/phone/trajectories/phone_04/stage4/data041-dr-rollouts-v1/dr_bank.json filter=lfs diff=lfs merge=lfs -text
+objects/phone/trajectories/phone_09/stage4/data043-dr-rollouts-v1/dr_bank.json filter=lfs diff=lfs merge=lfs -text
+objects/phone/trajectories/phone_10/stage4/data044-dr-rollouts-v1/dr_bank.json filter=lfs diff=lfs merge=lfs -text
diff --git a/objects/phone/trajectories/phone_02/stage4/data039-dr-rollouts-v1/checksums.json b/objects/phone/trajectories/phone_02/stage4/data039-dr-rollouts-v1/checksums.json
new file mode 100644
index 0000000000000000000000000000000000000000..a26fd9bb5c8b408214efcca096afdd5f7c24a907
--- /dev/null
+++ b/objects/phone/trajectories/phone_02/stage4/data039-dr-rollouts-v1/checksums.json
@@ -0,0 +1,8 @@
+{
+  "archive_sha256": "cf4dd6e00c0bf713b7717c2a186b73cfc1ed0a5b25823b8ec13850f48b4163d2",
+  "archive_size_bytes": 860088320,
+  "data_task_id": "SHARPA-BC-DATA-039",
+  "manifest_sha256": "ee4bcc6b2ce2daccc7506781095d68330dfa1286330b1efa28d34ed98b9e198f",
+  "phone_id": "phone_02",
+  "schema": "sharpa_stage4_release_checksums_v1"
+}
diff --git a/objects/phone/trajectories/phone_02/stage4/data039-dr-rollouts-v1/data_card.md b/objects/phone/trajectories/phone_02/stage4/data039-dr-rollouts-v1/data_card.md
new file mode 100644
index 0000000000000000000000000000000000000000..32179b85d3d465565570bfe710dd5eb39b888086
--- /dev/null
+++ b/objects/phone/trajectories/phone_02/stage4/data039-dr-rollouts-v1/data_card.md
@@ -0,0 +1,96 @@
+# Data Card: SHARPA-BC-DATA-039 / 20260927_phone_02_s1_c4096_dr_rsi_v1
+
+| Field | Value |
+|---|---|
+| Data Task ID | SHARPA-BC-DATA-039 |
+| Dataset ID | 20260927_phone_02_s1_c4096_dr_rsi_v1 |
+| Status | READY / C4096 / INFRA0 |
+| Purpose | 保存 phone_02 residual Teacher 在冻结 DR+RSI 分布下的 closed-loop rollout，供 Stage4 BC/Student 独立复用。 |
+| Source mode | teacher_rollout；每个attempt独立采样DR与RSI，保存Teacher真实执行后的deployable observation和absolute applied target。 |
+| Source lineage | SHARPA-AC-P02-001 selected model_7499.pt |
+| Episodes / splits | terminal 4096；train 2902；validation 486；heldout 489；reflection 219；infra 0。 |
+| Sampling | 预先冻结的DR14 + uniform RSI bank；失败保留原split身份，禁止按结果补抽。 |
+| Observation | GRU current-frame 71D与MLP history-3 213D deployable views；不含reference、phase、Teacher ID或DR latent。 |
+| Action / label | 31D absolute final-applied target；不是Teacher raw residual。 |
+| Normalization | admitted train only；attempt等权、attempt内transition等权；validation/heldout transform-only；std floor `1e-8`。 |
+| Producer | formal039_recovery_v3 finalizer |
+| Artifact / manifest | archive 860088320 bytes / SHA `cf4dd6e00c0bf713b7717c2a186b73cfc1ed0a5b25823b8ec13850f48b4163d2`；dataset manifest SHA `ee4bcc6b2ce2daccc7506781095d68330dfa1286330b1efa28d34ed98b9e198f`。 |
+| Claim boundary | 仅支持 phone_02、同一Teacher与同一DR+RSI collection distribution的动作蒸馏；不证明跨trajectory、跨物体、P2 robustness或sim2real。 |
+
+## Source and Provenance
+
+| Artifact | Identity / value | Evidence |
+|---|---|---|
+| Teacher lineage | SHARPA-AC-P02-001 selected model_7499.pt | 冻结selected Teacher与Stage2 identity。 |
+| Dataset manifest | `ee4bcc6b2ce2daccc7506781095d68330dfa1286330b1efa28d34ed98b9e198f` | READY finalizer输出；所有成员逐SHA绑定。 |
+| Release archive | `cf4dd6e00c0bf713b7717c2a186b73cfc1ed0a5b25823b8ec13850f48b4163d2` / 860088320 bytes | create-only `dataset_v1/` tar。 |
+
+## Schema
+
+| Field | Shape / type | Semantics |
+|---|---|---|
+| observation | `(A,71)`或`(A,213)` float32 | 当前帧GRU view或attempt-local history-3 MLP view。 |
+| target | `(A,31)` float32 | wrist xyz3 + rotation6D6 + 22 absolute finger targets。 |
+| transition_index | `(A,)` int64 | attempt-local连续控制步。 |
+| state_t1_student_frame | `(A,71)` float32 | physics step后的next deployable state，仅用于审计。 |
+
+## Temporal Alignment
+
+| Item | Contract |
+|---|---|
+| Physics / control | PhysX 120Hz；policy/control 30Hz；decimation4。 |
+| Transition | `obs_t → Teacher → final_applied_target_t → 4 physics substeps → state_t+1`。 |
+| Boundaries | history和future-action window不得跨attempt、split或index gap。 |
+
+## Simulator Environment Randomization
+
+| Field | Value |
+|---|---|
+| Enabled | true |
+| Profile | reset-only DR14 + reference augmentation + uniform RSI。 |
+| Exact sampling authority | 发布的DR bank及dataset manifest。 |
+
+| Category | Parameter | Distribution / range | Sampling / effect |
+|---|---|---|---|
+| Reference augmentation | common X/Y | each `U[-0.05,0.05] m` | 同时作用hand和phone。 |
+| Reference augmentation | common yaw | `U[-30°,30°]` | 同时作用hand和phone。 |
+| Reset | phone XYZ | each `U[-0.006,0.006] m` | reference/RSI选择后应用。 |
+| Reset | phone rotation | signed angle `U[-3°,3°]` | 每次reset独立采样。 |
+| Reset | finger wrap/rub | wrap `U[0,0.06] rad`；rub `U[-0.025,0.025] rad` | grasp-shaped reset。 |
+| RSI | normalized phase | `U[0,1)` | 映射到合法reference start index。 |
+
+| Option | State | Meaning |
+|---|---|---|
+| Physics randomization | disabled | mass、COM、inertia、friction和drive固定。 |
+| Observation/noise/lag | disabled | clean observation；zero lag。 |
+| Disturbance/push | disabled | none。 |
+
+## Splits, Sampling, and Leakage
+
+| Split | Episodes / rows | Purpose |
+|---|---:|---|
+| train | 2902 | 唯一optimization和normalization来源。 |
+| validation | 486 | offline diagnostic；不参与normalization。 |
+| heldout | 489 | same-source unseen-attempt audit。 |
+| reflection | 219 | 失败attempt；不进入监督数据。 |
+| infra | 0 | 任一infra都会阻止READY。 |
+
+Approved exception：本批次使用冻结的C4096或DATA-019 PARTIAL2763拓扑，而不是默认96 train + 32 heldout。
+
+## Normalization
+
+| Field | Contract |
+|---|---|
+| Source | admitted train attempts only。 |
+| Weighting | attempt等权；attempt内transition等权。 |
+| Validation / heldout | train statistics transform-only。 |
+
+## Validation and Readiness
+
+| Gate | Result | Evidence |
+|---|---|---|
+| Completeness | PASS | terminal 4096；infra 0。 |
+| Split leakage | PASS | 原split身份保留；reflection不进入训练。 |
+| Member identity | PASS | manifest `ee4bcc6b2ce2daccc7506781095d68330dfa1286330b1efa28d34ed98b9e198f`。 |
+| Release identity | PASS | archive `cf4dd6e00c0bf713b7717c2a186b73cfc1ed0a5b25823b8ec13850f48b4163d2`。 |
+| Dataset status | READY | READY / C4096 / INFRA0。 |
diff --git a/objects/phone/trajectories/phone_02/stage4/data039-dr-rollouts-v1/dataset_manifest.json b/objects/phone/trajectories/phone_02/stage4/data039-dr-rollouts-v1/dataset_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a8d76d67749edc1ef7524d0016746c5fbf5b8e8
--- /dev/null
+++ b/objects/phone/trajectories/phone_02/stage4/data039-dr-rollouts-v1/dataset_manifest.json
@@ -0,0 +1,7787 @@
+{
+  "claim_boundary": "phone_02 same-profile Teacher imitation only",
+  "counts": {
+    "heldout_attempts": 489,
+    "heldout_transitions": 84019,
+    "infra_failure_attempts": 0,
+    "reflection_attempts": 219,
+    "terminal_receipts": 4096,
+    "train_imitation_attempts": 2902,
+    "train_transitions": 497685,
+    "validation_attempts": 486,
+    "validation_transitions": 83576
+  },
+  "data_task_id": "SHARPA-BC-DATA-039",
+  "dataset_id": "20260927_phone_02_s1_c4096_dr_rsi_v1",
+  "members": {
+    "collection_snapshot.json": "0c7a57428c14bc5aab5269661f1e40072fe00e4bea148aed76f472be459b9a85",
+    "coverage_report.json": "63dbbad14010732c2ed75c7d1bf04a107c0cd5785782005295d20327bacbf099",
+    "functional_positive_index.json": "f70e98e959b2b7f11963f79795d06850323256fc0cedffe08fcc38b624b0f776",
+    "heldout_index.json": "d96cecf1b6644911cc526aefc068b0049d8257fe65e3c99f72ab6b1f2cdc1658",
+    "infra_failure_index.json": "f70e98e959b2b7f11963f79795d06850323256fc0cedffe08fcc38b624b0f776",
+    "normalization.npz": "47c72e472271c733965526616dcbfb8ee4f18303c3a2cb09e6f46f4046035908",
+    "reflection_index.json": "46bfa9d54be9846047e39c936f865d9bc8e27a18f65b2f1cba38b2359b66dbdf",
+    "schema.json": "d6115247960aa306bab1debaaa1cf7ea2600e8a34ea299055ca9bbede9bb7b00",
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+  },
+  "normalization_source": "train_imitation only",
+  "schema": "sharpa_teacher_rollout_dataset_manifest_v1",
+  "status": "READY"
+}
diff --git a/objects/phone/trajectories/phone_02/stage4/data039-dr-rollouts-v1/distribution_calibration.json b/objects/phone/trajectories/phone_02/stage4/data039-dr-rollouts-v1/distribution_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..94bb06382b92104de421667e659c10b5f0b5e299
--- /dev/null
+++ b/objects/phone/trajectories/phone_02/stage4/data039-dr-rollouts-v1/distribution_calibration.json
@@ -0,0 +1,120 @@
+{
+  "counts": {
+    "all": 4096,
+    "heldout": 512,
+    "train": 3072,
+    "validation": 512
+  },
+  "dimensions": [
+    {
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+      "max": 0.9999203216284513,
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+      "min": 9.857304394245148e-05
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+      "min": 0.00016929488629102707
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+      "max": 0.9998204549774528,
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+      "min": 0.00017310306429862976
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+      "max": 0.9997727330774069,
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+      "min": 7.149484008550644e-05
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+    {
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+      "min": 1.8942169845104218e-05
+    },
+    {
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+      "min": 0.00019983481615781784
+    },
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+      "max": 0.9997780164703727,
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+      "min": 8.625909686088562e-05
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+    {
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+      "max": 0.9998925756663084,
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+      "min": 0.00015900935977697372
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+    {
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+      "max": 0.9997733179479837,
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+      "min": 9.434204548597336e-05
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+    {
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+      "max": 0.999972146935761,
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+      "min": 0.00019931979477405548
+    },
+    {
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+      "max": 0.9999555619433522,
+      "mean": 0.4999999995343387,
+      "min": 0.0001388806849718094
+    }
+  ],
+  "gates": {
+    "G10_dimension_means": "PASS",
+    "G11_rsi_full_discrete_support": "PASS",
+    "G12_action_state_contract": "PASS",
+    "G1_exact_cardinality": "PASS",
+    "G2_dimension_15d": "PASS",
+    "G3_finite": "PASS",
+    "G4_unit_cube": "PASS",
+    "G5_unique_case_ids": "PASS",
+    "G6_unique_case_seeds": "PASS",
+    "G7_unique_dr_seeds": "PASS",
+    "G8_split_membership_frozen": "PASS",
+    "G9_dimension_extrema": "PASS"
+  },
+  "rsi_start_phase": {
+    "max": 316,
+    "min": 0
+  },
+  "schema": "sharpa_coldclone_formal_distribution_calibration_v1",
+  "status": "PASS"
+}
diff --git a/objects/phone/trajectories/phone_02/stage4/data039-dr-rollouts-v1/dr_bank.json b/objects/phone/trajectories/phone_02/stage4/data039-dr-rollouts-v1/dr_bank.json
new file mode 100644
index 0000000000000000000000000000000000000000..d87c169a06c16e4aa84e2a2e500ebbe45b4027e3
--- /dev/null
+++ b/objects/phone/trajectories/phone_02/stage4/data039-dr-rollouts-v1/dr_bank.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d48af3f71d901a9751140f68de847707e91b1a510936aebd8168b874b4841325
+size 13927184
diff --git a/objects/phone/trajectories/phone_03/stage4/data040-dr-rollouts-v1/checksums.json b/objects/phone/trajectories/phone_03/stage4/data040-dr-rollouts-v1/checksums.json
new file mode 100644
index 0000000000000000000000000000000000000000..c144321603785709436f7d41cb9680597f320b5e
--- /dev/null
+++ b/objects/phone/trajectories/phone_03/stage4/data040-dr-rollouts-v1/checksums.json
@@ -0,0 +1,8 @@
+{
+  "archive_sha256": "8b4eb65c1e77648557e0a5edd9f5e1c49870a3d0b843b343075fa7d7275026b8",
+  "archive_size_bytes": 923729920,
+  "data_task_id": "SHARPA-BC-DATA-040",
+  "manifest_sha256": "d0410b978257983f04599c7d0803fe91f8bd93080dfbb2210607106f932d0d21",
+  "phone_id": "phone_03",
+  "schema": "sharpa_stage4_release_checksums_v1"
+}
diff --git a/objects/phone/trajectories/phone_03/stage4/data040-dr-rollouts-v1/data_card.md b/objects/phone/trajectories/phone_03/stage4/data040-dr-rollouts-v1/data_card.md
new file mode 100644
index 0000000000000000000000000000000000000000..4b1c8747d47d991e474a283c4b5b82aac2f2c1f3
--- /dev/null
+++ b/objects/phone/trajectories/phone_03/stage4/data040-dr-rollouts-v1/data_card.md
@@ -0,0 +1,96 @@
+# Data Card: SHARPA-BC-DATA-040 / 20260927_phone_03_s1_c4096_dr_rsi_v1
+
+| Field | Value |
+|---|---|
+| Data Task ID | SHARPA-BC-DATA-040 |
+| Dataset ID | 20260927_phone_03_s1_c4096_dr_rsi_v1 |
+| Status | READY / C4096 / INFRA0 |
+| Purpose | 保存 phone_03 residual Teacher 在冻结 DR+RSI 分布下的 closed-loop rollout，供 Stage4 BC/Student 独立复用。 |
+| Source mode | teacher_rollout；每个attempt独立采样DR与RSI，保存Teacher真实执行后的deployable observation和absolute applied target。 |
+| Source lineage | SHARPA-AC-P03-001 selected model_9500.pt |
+| Episodes / splits | terminal 4096；train 2843；validation 465；heldout 466；reflection 322；infra 0。 |
+| Sampling | 预先冻结的DR14 + uniform RSI bank；失败保留原split身份，禁止按结果补抽。 |
+| Observation | GRU current-frame 71D与MLP history-3 213D deployable views；不含reference、phase、Teacher ID或DR latent。 |
+| Action / label | 31D absolute final-applied target；不是Teacher raw residual。 |
+| Normalization | admitted train only；attempt等权、attempt内transition等权；validation/heldout transform-only；std floor `1e-8`。 |
+| Producer | formal040_recovery_v3 finalizer |
+| Artifact / manifest | archive 923729920 bytes / SHA `8b4eb65c1e77648557e0a5edd9f5e1c49870a3d0b843b343075fa7d7275026b8`；dataset manifest SHA `d0410b978257983f04599c7d0803fe91f8bd93080dfbb2210607106f932d0d21`。 |
+| Claim boundary | 仅支持 phone_03、同一Teacher与同一DR+RSI collection distribution的动作蒸馏；不证明跨trajectory、跨物体、P2 robustness或sim2real。 |
+
+## Source and Provenance
+
+| Artifact | Identity / value | Evidence |
+|---|---|---|
+| Teacher lineage | SHARPA-AC-P03-001 selected model_9500.pt | 冻结selected Teacher与Stage2 identity。 |
+| Dataset manifest | `d0410b978257983f04599c7d0803fe91f8bd93080dfbb2210607106f932d0d21` | READY finalizer输出；所有成员逐SHA绑定。 |
+| Release archive | `8b4eb65c1e77648557e0a5edd9f5e1c49870a3d0b843b343075fa7d7275026b8` / 923729920 bytes | create-only `dataset_v1/` tar。 |
+
+## Schema
+
+| Field | Shape / type | Semantics |
+|---|---|---|
+| observation | `(A,71)`或`(A,213)` float32 | 当前帧GRU view或attempt-local history-3 MLP view。 |
+| target | `(A,31)` float32 | wrist xyz3 + rotation6D6 + 22 absolute finger targets。 |
+| transition_index | `(A,)` int64 | attempt-local连续控制步。 |
+| state_t1_student_frame | `(A,71)` float32 | physics step后的next deployable state，仅用于审计。 |
+
+## Temporal Alignment
+
+| Item | Contract |
+|---|---|
+| Physics / control | PhysX 120Hz；policy/control 30Hz；decimation4。 |
+| Transition | `obs_t → Teacher → final_applied_target_t → 4 physics substeps → state_t+1`。 |
+| Boundaries | history和future-action window不得跨attempt、split或index gap。 |
+
+## Simulator Environment Randomization
+
+| Field | Value |
+|---|---|
+| Enabled | true |
+| Profile | reset-only DR14 + reference augmentation + uniform RSI。 |
+| Exact sampling authority | 发布的DR bank及dataset manifest。 |
+
+| Category | Parameter | Distribution / range | Sampling / effect |
+|---|---|---|---|
+| Reference augmentation | common X/Y | each `U[-0.05,0.05] m` | 同时作用hand和phone。 |
+| Reference augmentation | common yaw | `U[-30°,30°]` | 同时作用hand和phone。 |
+| Reset | phone XYZ | each `U[-0.006,0.006] m` | reference/RSI选择后应用。 |
+| Reset | phone rotation | signed angle `U[-3°,3°]` | 每次reset独立采样。 |
+| Reset | finger wrap/rub | wrap `U[0,0.06] rad`；rub `U[-0.025,0.025] rad` | grasp-shaped reset。 |
+| RSI | normalized phase | `U[0,1)` | 映射到合法reference start index。 |
+
+| Option | State | Meaning |
+|---|---|---|
+| Physics randomization | disabled | mass、COM、inertia、friction和drive固定。 |
+| Observation/noise/lag | disabled | clean observation；zero lag。 |
+| Disturbance/push | disabled | none。 |
+
+## Splits, Sampling, and Leakage
+
+| Split | Episodes / rows | Purpose |
+|---|---:|---|
+| train | 2843 | 唯一optimization和normalization来源。 |
+| validation | 465 | offline diagnostic；不参与normalization。 |
+| heldout | 466 | same-source unseen-attempt audit。 |
+| reflection | 322 | 失败attempt；不进入监督数据。 |
+| infra | 0 | 任一infra都会阻止READY。 |
+
+Approved exception：本批次使用冻结的C4096或DATA-019 PARTIAL2763拓扑，而不是默认96 train + 32 heldout。
+
+## Normalization
+
+| Field | Contract |
+|---|---|
+| Source | admitted train attempts only。 |
+| Weighting | attempt等权；attempt内transition等权。 |
+| Validation / heldout | train statistics transform-only。 |
+
+## Validation and Readiness
+
+| Gate | Result | Evidence |
+|---|---|---|
+| Completeness | PASS | terminal 4096；infra 0。 |
+| Split leakage | PASS | 原split身份保留；reflection不进入训练。 |
+| Member identity | PASS | manifest `d0410b978257983f04599c7d0803fe91f8bd93080dfbb2210607106f932d0d21`。 |
+| Release identity | PASS | archive `8b4eb65c1e77648557e0a5edd9f5e1c49870a3d0b843b343075fa7d7275026b8`。 |
+| Dataset status | READY | READY / C4096 / INFRA0。 |
diff --git a/objects/phone/trajectories/phone_03/stage4/data040-dr-rollouts-v1/dataset_manifest.json b/objects/phone/trajectories/phone_03/stage4/data040-dr-rollouts-v1/dataset_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b78e935ef751aaccbc21577681b4f8c8e445ea3
--- /dev/null
+++ b/objects/phone/trajectories/phone_03/stage4/data040-dr-rollouts-v1/dataset_manifest.json
@@ -0,0 +1,7581 @@
+{
+  "claim_boundary": "phone_03 same-profile Teacher imitation only",
+  "counts": {
+    "heldout_attempts": 466,
+    "heldout_transitions": 87159,
+    "infra_failure_attempts": 0,
+    "reflection_attempts": 322,
+    "terminal_receipts": 4096,
+    "train_imitation_attempts": 2843,
+    "train_transitions": 536104,
+    "validation_attempts": 465,
+    "validation_transitions": 87402
+  },
+  "data_task_id": "SHARPA-BC-DATA-040",
+  "dataset_id": "20260927_phone_03_s1_c4096_dr_rsi_v1",
+  "members": {
+    "collection_snapshot.json": "5ac2ff2557f5b3efbb70c7f29a37508da3a597c8f02a6f8b7d8931f4bc9543d9",
+    "coverage_report.json": "29b3d59a11d70d3d6a640def16571baee97a73a9ae06cf875fbe0ff4960d5fc2",
+    "functional_positive_index.json": "22dbaafe990d14bbc7ceb67c37349984f81aca4845d069756234e51ce8e36d14",
+    "heldout_index.json": "15afed294cb503caacfbc3e22b38abd7ac2fb931503328678f986f3491224270",
+    "infra_failure_index.json": "22dbaafe990d14bbc7ceb67c37349984f81aca4845d069756234e51ce8e36d14",
+    "normalization.npz": "1756a2194f1b76c40eeb376f97f1fbd100203e822eafdb77edef8b10704840f0",
+    "reflection_index.json": "ab9d8661cf00f485e239d359977f45acd7d713a35bc8e041c4f2a94fe2a86257",
+    "schema.json": "d6115247960aa306bab1debaaa1cf7ea2600e8a34ea299055ca9bbede9bb7b00",
+    "test_index.json": "22dbaafe990d14bbc7ceb67c37349984f81aca4845d069756234e51ce8e36d14",
+    "train_imitation_index.json": "5d5609d717bf0e18d00d66a2844f23ec0b52157aa77ac177cae12ed979d135cb",
+    "transition_audit.json": "ef21d2a892cb1394d3a99d3964d65e0b753de25f279aafa3cba89f8441391c41",
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+  "status": "READY"
+}
diff --git a/objects/phone/trajectories/phone_03/stage4/data040-dr-rollouts-v1/distribution_calibration.json b/objects/phone/trajectories/phone_03/stage4/data040-dr-rollouts-v1/distribution_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..95a59ae6d37fda5bcd72bbffea3b66e42f6b90e6
--- /dev/null
+++ b/objects/phone/trajectories/phone_03/stage4/data040-dr-rollouts-v1/distribution_calibration.json
@@ -0,0 +1,120 @@
+{
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+    "G10_dimension_means": "PASS",
+    "G11_rsi_full_discrete_support": "PASS",
+    "G12_action_state_contract": "PASS",
+    "G1_exact_cardinality": "PASS",
+    "G2_dimension_15d": "PASS",
+    "G3_finite": "PASS",
+    "G4_unit_cube": "PASS",
+    "G5_unique_case_ids": "PASS",
+    "G6_unique_case_seeds": "PASS",
+    "G7_unique_dr_seeds": "PASS",
+    "G8_split_membership_frozen": "PASS",
+    "G9_dimension_extrema": "PASS"
+  },
+  "rsi_start_phase": {
+    "max": 356,
+    "min": 0
+  },
+  "schema": "sharpa_coldclone_formal_distribution_calibration_v1",
+  "status": "PASS"
+}
diff --git a/objects/phone/trajectories/phone_03/stage4/data040-dr-rollouts-v1/dr_bank.json b/objects/phone/trajectories/phone_03/stage4/data040-dr-rollouts-v1/dr_bank.json
new file mode 100644
index 0000000000000000000000000000000000000000..126087ed8daeedfcfaf01bffa28a11a66b1b1c94
--- /dev/null
+++ b/objects/phone/trajectories/phone_03/stage4/data040-dr-rollouts-v1/dr_bank.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:038211533432767596781f510942feb3e000eee614e78c47b6233e85260ea24f
+size 13927518
diff --git a/objects/phone/trajectories/phone_04/stage3/selected-teacher-v1/checkpoint_receipt.json b/objects/phone/trajectories/phone_04/stage3/selected-teacher-v1/checkpoint_receipt.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff9aa9421b8a107c40b1ea62b767f637ad0d059b
--- /dev/null
+++ b/objects/phone/trajectories/phone_04/stage3/selected-teacher-v1/checkpoint_receipt.json
@@ -0,0 +1,17 @@
+{
+  "checkpoint": {
+    "path": "model_7000.pt",
+    "sha256": "1872d4527d9fffe29c5ab9c7532ecd0a07f9b205d2720d0939e23e2fc672b74c",
+    "size_bytes": 21074741
+  },
+  "claim_boundary": "source identity only; no new evaluation or promotion claim",
+  "phone_id": "phone_04",
+  "schema": "sharpa_stage3_selected_teacher_receipt_v1",
+  "selection_basis": "frozen source Teacher for SHARPA-BC-DATA-041",
+  "task_id": "SHARPA-AC-P04-001",
+  "training_card": {
+    "path": "training_card.md",
+    "sha256": "1cc34146c145e5f60340fb9694f0b0f7acfaa5c5dbb6bfc522b98d80dcc50f66",
+    "size_bytes": 7190
+  }
+}
diff --git a/objects/phone/trajectories/phone_04/stage3/selected-teacher-v1/model_7000.pt b/objects/phone/trajectories/phone_04/stage3/selected-teacher-v1/model_7000.pt
new file mode 100644
index 0000000000000000000000000000000000000000..0441d7a3234d720b8275e7bd9c22e7604d263825
--- /dev/null
+++ b/objects/phone/trajectories/phone_04/stage3/selected-teacher-v1/model_7000.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1872d4527d9fffe29c5ab9c7532ecd0a07f9b205d2720d0939e23e2fc672b74c
+size 21074741
diff --git a/objects/phone/trajectories/phone_04/stage3/selected-teacher-v1/training_card.md b/objects/phone/trajectories/phone_04/stage3/selected-teacher-v1/training_card.md
new file mode 100644
index 0000000000000000000000000000000000000000..fd5fc0e80099c7f22077a9d15122380d3b6bb542
--- /dev/null
+++ b/objects/phone/trajectories/phone_04/stage3/selected-teacher-v1/training_card.md
@@ -0,0 +1,108 @@
+# Training Card: phone_04_autocurriculum_v1
+
+| Field | Value |
+|---|---|
+| Description | [SHARPA-AC-P04-001] accepted phone_04 Stage2 reference的`No-DR plateau → RefAug/reset-only DR plateau → 8-seed 2×3 → W&B artifact/readback`正式teacher候选。 |
+| Role | T0 residual-teacher Auto-Curriculum mentor batch candidate |
+| Policy | Asymmetric MLP residual PPO；actor/critic `[1024,512,256,128]`；ELU；S0 fresh；S1 model-only warm start、fresh optimizer |
+| Policy input | 162D actor；199D asymmetric critic；history total 3 frames |
+| Hidden state | false |
+| Action | 28D normalized residual：6D floating root + 22D Sharpa fingers；no chunk `(1/1)` |
+| Data | accepted phone_04 handoff SHA256 `6bc4e6e6996a784cf1b633bd4079f2c11adda086122b56dc9c6bfe999267b23e`；moving28 H5 SHA256 `400daea4bb1baad031a302371da89f0a87afc35ba7bd1bf7090ba113b87068fd` |
+| Training | S0 `Regrind-Sharpa-Wuji2ActuatorParity-RouteA-v0`后S1 `Regrind-Sharpa-Wuji2ActuatorParity-RefAugDR-RouteA-v1`；各4096 env、24 steps/env、seed1、最多5000 iterations；checkpoint interval 500 |
+| Reward profile | exact T0-153/WUJI2 RouteA reward、termination与PPO；S1只开启冻结RefAug/reset-only DR |
+| Claim | 训练和发布完成只证明单episode remote reproduction；8-seed为diagnostic；P2仍`NOT_RUN`，不得声称robust teacher或真机成功。 |
+| Metric | matching 16-env gate；S0/S1 plateau selected checkpoint；8/8 rollout与2×3；W&B checkpoint/video artifact下载SHA回读 |
+| W&B | entity `dfnet`；project `dex-retarget`；group `sharpa-phone_04-autocurriculum-v1`；run IDs `sharpa-phone_04-autocurriculum-s0-v1`、`sharpa-phone_04-autocurriculum-s1-v1`、`sharpa-phone_04-autocurriculum-evaluation-seed0-7-v1` |
+
+## Policy Inputs
+
+| Field | Dim | Description |
+|---|---:|---|
+| object_position_world | 3 | 当前手机世界位置 |
+| object_rotation_6d_world | 6 | 当前手机世界朝向连续 6D 表示 |
+| wrist_position_history_3 | 9 | 当前及前两控制步 root 位置 |
+| wrist_rotation_6d_history_3 | 18 | 当前及前两控制步 root 朝向 |
+| joint_position_history_3 | 66 | 当前及前两控制步 22D Sharpa 关节角 |
+| previous_raw_action | 28 | 上一控制步 raw residual action |
+| demonstration_phase | 1 | 当前 reference index 的归一化 phase |
+| action_base_wrist_position_rotation_6d | 9 | 当前 reference root target |
+| action_base_joint_position | 22 | 当前 22D reference joint target |
+
+Critic 在 actor 162D 上增加五个语义 fingertip world positions（15D）和 22D joint velocity，共 199D；这些 privileged 量不进入 actor。
+
+## Simulator Environment Randomization
+
+| Field | Value |
+|---|---|
+| Enabled | true |
+| Source config | `sharpa/configs/sharpa_managerbased_pipeline/dr_contract_refaug_reset_only_v1.json` |
+| Source config SHA256 | `d99efe6b27a179211fec8f3077e5605f9d804c666f0ac9a16c3e8349795982b8` |
+| Runtime readback | 每次gate/formal另写create-only readback；必须17/17 matching |
+| Runtime readback SHA256 | 冻结reference `21fbe1950c87fd029ce03827f204f70190845286ac7dd7d0d61165c2c307a804`；本次执行另写真实SHA |
+| Activation | S0关闭randomization；S1全部4096 env开启；nominal fraction `0.0` |
+| Schedule | S0独立plateau后切S1；S1重新初始化stage-local EMA；reference fade `.135→.292` |
+| Mask | common rigid transform同时作用hand与phone；relative reset保持grasp-shaped范围 |
+| Seed | 两阶段seed1 |
+
+| Category | Parameter | Distribution / range | Sampling / effect |
+|---|---|---|---|
+| Reset | S0 reset | fixed；保留uniform RSI | No-DR nominal stage |
+| Reset | S1 phone relative XYZ | each `U[-0.006,0.006] m` | every reset |
+| Reset | S1 phone relative rotation | axis-angle `U[-3°,3°]` | every reset |
+| Reset | S1 finger wrap | `U[0,0.06] rad` | 只增加包握 |
+| Reset | S1 four-finger rub | `U[-0.025,0.025] rad` | 四指沿手机小范围扰动 |
+| Reference augmentation | common XY | each `U[-0.05,0.05] m` | hand与phone共用 |
+| Reference augmentation | common yaw | `U[-30°,30°]` | hand与phone共用 |
+| Reference augmentation | phase fade | full through `.135`；zero at `.292` | 平滑退火回原reference |
+
+### Explicitly disabled / not applicable
+
+| Option | State | Meaning |
+|---|---|---|
+| Physics randomization | disabled | mass/COM/inertia/friction/drive固定；full gravity `-9.81 m/s²` |
+| Observation/noise/lag | disabled | clean、zero-lag observation |
+| Disturbance/push | disabled | 无external push |
+
+## Rewards
+
+| Reward | Weight | Description |
+|---|---:|---|
+| object_keypoints_pos_error_exp | 3.0 | 100 个手机表面点跟随 augmented reference |
+| object_lin_vel_error_exp | 1.0 | 手机线速度跟随 augmented reference |
+| object_ang_vel_error_exp | 1.0 | 手机角速度跟随 augmented reference |
+| hand_wrist_pos_error_exp | 0.1 | root 位置软约束 |
+| hand_wrist_rot_error_exp | 0.1 | root 朝向软约束 |
+| action_l2_exp | 0.5 | residual 幅度约束 |
+| action_rate_l2_exp | 1.0 | residual 平滑约束 |
+| action_out_of_bounds_exp | 1.0 | raw action `[-1,1]` 越界惩罚 |
+| early_terminated_penalty | -10.0 | 非 timeout 提前终止惩罚 |
+| fingertip_object_graph_error_exp | 0.75 | 五指尖—手机相对几何跟随 augmented reference |
+
+## Stage2 Reference Acceptance
+
+| Field | Frozen evidence |
+|---|---|
+| Stage1 source | SHA256 `f80a65b2f8948315a343f2f1f056db8cdb795b03501cbc401995385007298837` |
+| Stage1 manifest | SHA256 `1ef4843f3e0f3c1845925d4b4f58fe4eb8c543798529d694e5ff041a90f1feff` |
+| Runtime human H5 | SHA256 `576fe847b7fb55c1436b12500aad894f101e76d46a7cc8b6f7e3d50fa2dddc26` |
+| Canonical retarget H5 | SHA256 `ba667fef06c182f528b606ce1b3fea4865e8931b88a83b11bf750a8b6a030bed` |
+| Runtime retarget H5 | SHA256 `400daea4bb1baad031a302371da89f0a87afc35ba7bd1bf7090ba113b87068fd` |
+| Reference manifest | SHA256 `2cda6d35199f01b0d3697c8c8b99ffedc8a834849f9fc8e1ba8b84d0756003f1` |
+| Handoff | SHA256 `6bc4e6e6996a784cf1b633bd4079f2c11adda086122b56dc9c6bfe999267b23e`；strict loader `STAGE2_HANDOFF_ACCEPTED` |
+| Timeline | 696 frames @ 60 Hz → 348 policy targets @ 30 Hz |
+| Stage2 QA | validation receipt SHA256 `e3f45f416ebc7593044234d2db012719767cb64a866197a4b6d48ae707de5068`；T0-147-aligned nonpenetration/joint-limit/coupling/continuity gate PASS |
+| Full review | Stage1 MANO / Stage2 Sharpa 2×3 SHA256 `8ec37e98c08f30ec74c5eef159c13df9c158b27cf14139cf2c9fbaaa0cd3a4e6` |
+
+## Auto-Curriculum and Evaluation Contract
+
+| Field | Frozen value |
+|---|---|
+| Task ID | `SHARPA-AC-P04-001` |
+| Stop rule | 每stage独立EMA `.95`；min `1500`；meaningful improvement `2%`；patience `1000`；max local `4999` |
+| Transition | S0 selected checkpoint model-only warm start S1；fresh optimizer |
+| GoalContract | SHA256 `e9d5af764551161d221ea233ad9cb8179fe5ecdadf7df0ae680a1235ae45f4d2` |
+| Evaluation | selected S1；fresh Isaac；`refaug_reset_dr`；seed `0..7`；完整trajectory + 15-step hold |
+| Videos | 每seed一条Stage1 MANO top row / policy actual bottom row的H.264 2×3 |
+| Publication | S0/S1 selected checkpoint Artifact；evaluation bundle；W&B API下载回读与SHA/ffprobe |
+| P2 / Promotion | `NOT_RUN / NON_PROMOTABLE` |
diff --git a/objects/phone/trajectories/phone_04/stage4/data041-dr-rollouts-v1/checksums.json b/objects/phone/trajectories/phone_04/stage4/data041-dr-rollouts-v1/checksums.json
new file mode 100644
index 0000000000000000000000000000000000000000..bacd708504865aa6cbed457c18218814e6907cdd
--- /dev/null
+++ b/objects/phone/trajectories/phone_04/stage4/data041-dr-rollouts-v1/checksums.json
@@ -0,0 +1,8 @@
+{
+  "archive_sha256": "1fe5895ed77efa2c255a3503e679f0295493e2cb8505398cd6970576e207a599",
+  "archive_size_bytes": 983459840,
+  "data_task_id": "SHARPA-BC-DATA-041",
+  "manifest_sha256": "9f99d35e6bede9c9c6ac58f0a40163294e83d81d3f5467f3220bad9881f7c9cd",
+  "phone_id": "phone_04",
+  "schema": "sharpa_stage4_release_checksums_v1"
+}
diff --git a/objects/phone/trajectories/phone_04/stage4/data041-dr-rollouts-v1/data_card.md b/objects/phone/trajectories/phone_04/stage4/data041-dr-rollouts-v1/data_card.md
new file mode 100644
index 0000000000000000000000000000000000000000..b07a3ffdef2378cd52d3edc4b0e3328e44df5a84
--- /dev/null
+++ b/objects/phone/trajectories/phone_04/stage4/data041-dr-rollouts-v1/data_card.md
@@ -0,0 +1,96 @@
+# Data Card: SHARPA-BC-DATA-041 / 20260927_phone_04_s1_c4096_dr_rsi_v1
+
+| Field | Value |
+|---|---|
+| Data Task ID | SHARPA-BC-DATA-041 |
+| Dataset ID | 20260927_phone_04_s1_c4096_dr_rsi_v1 |
+| Status | READY / C4096 / INFRA0 |
+| Purpose | 保存 phone_04 residual Teacher 在冻结 DR+RSI 分布下的 closed-loop rollout，供 Stage4 BC/Student 独立复用。 |
+| Source mode | teacher_rollout；每个attempt独立采样DR与RSI，保存Teacher真实执行后的deployable observation和absolute applied target。 |
+| Source lineage | SHARPA-AC-P04-001 selected model_7000.pt |
+| Episodes / splits | terminal 4096；train 3034；validation 506；heldout 506；reflection 50；infra 0。 |
+| Sampling | 预先冻结的DR14 + uniform RSI bank；失败保留原split身份，禁止按结果补抽。 |
+| Observation | GRU current-frame 71D与MLP history-3 213D deployable views；不含reference、phase、Teacher ID或DR latent。 |
+| Action / label | 31D absolute final-applied target；不是Teacher raw residual。 |
+| Normalization | admitted train only；attempt等权、attempt内transition等权；validation/heldout transform-only；std floor `1e-8`。 |
+| Producer | formal041_recovery_v3 finalizer |
+| Artifact / manifest | archive 983459840 bytes / SHA `1fe5895ed77efa2c255a3503e679f0295493e2cb8505398cd6970576e207a599`；dataset manifest SHA `9f99d35e6bede9c9c6ac58f0a40163294e83d81d3f5467f3220bad9881f7c9cd`。 |
+| Claim boundary | 仅支持 phone_04、同一Teacher与同一DR+RSI collection distribution的动作蒸馏；不证明跨trajectory、跨物体、P2 robustness或sim2real。 |
+
+## Source and Provenance
+
+| Artifact | Identity / value | Evidence |
+|---|---|---|
+| Teacher lineage | SHARPA-AC-P04-001 selected model_7000.pt | 冻结selected Teacher与Stage2 identity。 |
+| Dataset manifest | `9f99d35e6bede9c9c6ac58f0a40163294e83d81d3f5467f3220bad9881f7c9cd` | READY finalizer输出；所有成员逐SHA绑定。 |
+| Release archive | `1fe5895ed77efa2c255a3503e679f0295493e2cb8505398cd6970576e207a599` / 983459840 bytes | create-only `dataset_v1/` tar。 |
+
+## Schema
+
+| Field | Shape / type | Semantics |
+|---|---|---|
+| observation | `(A,71)`或`(A,213)` float32 | 当前帧GRU view或attempt-local history-3 MLP view。 |
+| target | `(A,31)` float32 | wrist xyz3 + rotation6D6 + 22 absolute finger targets。 |
+| transition_index | `(A,)` int64 | attempt-local连续控制步。 |
+| state_t1_student_frame | `(A,71)` float32 | physics step后的next deployable state，仅用于审计。 |
+
+## Temporal Alignment
+
+| Item | Contract |
+|---|---|
+| Physics / control | PhysX 120Hz；policy/control 30Hz；decimation4。 |
+| Transition | `obs_t → Teacher → final_applied_target_t → 4 physics substeps → state_t+1`。 |
+| Boundaries | history和future-action window不得跨attempt、split或index gap。 |
+
+## Simulator Environment Randomization
+
+| Field | Value |
+|---|---|
+| Enabled | true |
+| Profile | reset-only DR14 + reference augmentation + uniform RSI。 |
+| Exact sampling authority | 发布的DR bank及dataset manifest。 |
+
+| Category | Parameter | Distribution / range | Sampling / effect |
+|---|---|---|---|
+| Reference augmentation | common X/Y | each `U[-0.05,0.05] m` | 同时作用hand和phone。 |
+| Reference augmentation | common yaw | `U[-30°,30°]` | 同时作用hand和phone。 |
+| Reset | phone XYZ | each `U[-0.006,0.006] m` | reference/RSI选择后应用。 |
+| Reset | phone rotation | signed angle `U[-3°,3°]` | 每次reset独立采样。 |
+| Reset | finger wrap/rub | wrap `U[0,0.06] rad`；rub `U[-0.025,0.025] rad` | grasp-shaped reset。 |
+| RSI | normalized phase | `U[0,1)` | 映射到合法reference start index。 |
+
+| Option | State | Meaning |
+|---|---|---|
+| Physics randomization | disabled | mass、COM、inertia、friction和drive固定。 |
+| Observation/noise/lag | disabled | clean observation；zero lag。 |
+| Disturbance/push | disabled | none。 |
+
+## Splits, Sampling, and Leakage
+
+| Split | Episodes / rows | Purpose |
+|---|---:|---|
+| train | 3034 | 唯一optimization和normalization来源。 |
+| validation | 506 | offline diagnostic；不参与normalization。 |
+| heldout | 506 | same-source unseen-attempt audit。 |
+| reflection | 50 | 失败attempt；不进入监督数据。 |
+| infra | 0 | 任一infra都会阻止READY。 |
+
+Approved exception：本批次使用冻结的C4096或DATA-019 PARTIAL2763拓扑，而不是默认96 train + 32 heldout。
+
+## Normalization
+
+| Field | Contract |
+|---|---|
+| Source | admitted train attempts only。 |
+| Weighting | attempt等权；attempt内transition等权。 |
+| Validation / heldout | train statistics transform-only。 |
+
+## Validation and Readiness
+
+| Gate | Result | Evidence |
+|---|---|---|
+| Completeness | PASS | terminal 4096；infra 0。 |
+| Split leakage | PASS | 原split身份保留；reflection不进入训练。 |
+| Member identity | PASS | manifest `9f99d35e6bede9c9c6ac58f0a40163294e83d81d3f5467f3220bad9881f7c9cd`。 |
+| Release identity | PASS | archive `1fe5895ed77efa2c255a3503e679f0295493e2cb8505398cd6970576e207a599`。 |
+| Dataset status | READY | READY / C4096 / INFRA0。 |
diff --git a/objects/phone/trajectories/phone_04/stage4/data041-dr-rollouts-v1/dataset_manifest.json b/objects/phone/trajectories/phone_04/stage4/data041-dr-rollouts-v1/dataset_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa472a95ac00f9a553533eb044faca4260988072
--- /dev/null
+++ b/objects/phone/trajectories/phone_04/stage4/data041-dr-rollouts-v1/dataset_manifest.json
@@ -0,0 +1,8125 @@
+{
+  "claim_boundary": "phone_04 same-profile Teacher imitation only",
+  "counts": {
+    "heldout_attempts": 506,
+    "heldout_transitions": 95519,
+    "infra_failure_attempts": 0,
+    "reflection_attempts": 50,
+    "terminal_receipts": 4096,
+    "train_imitation_attempts": 3034,
+    "train_transitions": 573782,
+    "validation_attempts": 506,
+    "validation_transitions": 95774
+  },
+  "data_task_id": "SHARPA-BC-DATA-041",
+  "dataset_id": "20260927_phone_04_s1_c4096_dr_rsi_v1",
+  "members": {
+    "collection_snapshot.json": "fa9c74f0be30e35756021d00d4cee8ae3bd12fd8f9597b7e84183ebebfd97617",
+    "coverage_report.json": "27edbeec5b7733d7e15689b3eb4c6f020c340ec2f1a3de02d892064453b01523",
+    "functional_positive_index.json": "83d5205a4450b1648f871d5e4a844dba76c3c494c1524628d90bdd716c5492bf",
+    "heldout_index.json": "218623363f471c7a8d9b75b1aa2e823f9a9599b3d9c6de347f0cfcce443d4221",
+    "infra_failure_index.json": "83d5205a4450b1648f871d5e4a844dba76c3c494c1524628d90bdd716c5492bf",
+    "normalization.npz": "5911925b9aad7f113f71cbb3ec22f9caca674843d1d02c354a210706bcbf71ce",
+    "reflection_index.json": "29638ecb2f579f5ec1a3471e785f56e62685766ca7e58b3254e664c5b641a4e4",
+    "schema.json": "d6115247960aa306bab1debaaa1cf7ea2600e8a34ea299055ca9bbede9bb7b00",
+    "test_index.json": "83d5205a4450b1648f871d5e4a844dba76c3c494c1524628d90bdd716c5492bf",
+    "train_imitation_index.json": "30a5d6a02549588a3331de050e619db4387459e0e463a923ce227a8700982b29",
+    "transition_audit.json": "3915f06a54af3b079e6358d4d27caba7c5b8bcc86fa4c51ce5ba58b1687ac8b5",
+    "validation_index.json": "7b7b1088b9930808f23c2dd1cec9f550155a04f4820bc7e1b13fb82433c8ae9b",
+    "views/pose_current_gru_v1/phone_04/20260927_phone_04_s1_c4096_dr_rsi_v1__heldout__row0001.npz": "e5d9efa697b37ad6c1241ffdf52f37c0e3f96966f6611b437be491a27561a2e8",
+    "views/pose_current_gru_v1/phone_04/20260927_phone_04_s1_c4096_dr_rsi_v1__heldout__row0002.npz": "70fd7a2f3b427e3aeacc95611d43a2401c24272f338300a3e7865216f266c28d",
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+  "schema": "sharpa_teacher_rollout_dataset_manifest_v1",
+  "status": "READY"
+}
diff --git a/objects/phone/trajectories/phone_04/stage4/data041-dr-rollouts-v1/distribution_calibration.json b/objects/phone/trajectories/phone_04/stage4/data041-dr-rollouts-v1/distribution_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..e122dca09b55e29f3bd05f62ca101486ec145f28
--- /dev/null
+++ b/objects/phone/trajectories/phone_04/stage4/data041-dr-rollouts-v1/distribution_calibration.json
@@ -0,0 +1,120 @@
+{
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+    "heldout": 512,
+    "train": 3072,
+    "validation": 512
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+    {
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+      "max": 0.9998724861070514,
+      "mean": 0.4999999995343387,
+      "min": 3.587640821933746e-05
+    },
+    {
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+      "max": 0.9998503969982266,
+      "mean": 0.4999999995343387,
+      "min": 0.0001909751445055008
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+    {
+      "index": 13,
+      "max": 0.9999571787193418,
+      "mean": 0.4999999995343387,
+      "min": 0.0002157101407647133
+    },
+    {
+      "index": 14,
+      "max": 0.9998373240232468,
+      "mean": 0.4999999995343387,
+      "min": 0.0001782132312655449
+    }
+  ],
+  "gates": {
+    "G10_dimension_means": "PASS",
+    "G11_rsi_full_discrete_support": "PASS",
+    "G12_action_state_contract": "PASS",
+    "G1_exact_cardinality": "PASS",
+    "G2_dimension_15d": "PASS",
+    "G3_finite": "PASS",
+    "G4_unit_cube": "PASS",
+    "G5_unique_case_ids": "PASS",
+    "G6_unique_case_seeds": "PASS",
+    "G7_unique_dr_seeds": "PASS",
+    "G8_split_membership_frozen": "PASS",
+    "G9_dimension_extrema": "PASS"
+  },
+  "rsi_start_phase": {
+    "max": 346,
+    "min": 0
+  },
+  "schema": "sharpa_coldclone_formal_distribution_calibration_v1",
+  "status": "PASS"
+}
diff --git a/objects/phone/trajectories/phone_04/stage4/data041-dr-rollouts-v1/dr_bank.json b/objects/phone/trajectories/phone_04/stage4/data041-dr-rollouts-v1/dr_bank.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a28fbbe0a8f1f24ab1e29240767e5a353dbb9bc
--- /dev/null
+++ b/objects/phone/trajectories/phone_04/stage4/data041-dr-rollouts-v1/dr_bank.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4be2fdb9ce5452d54db9244f0a45b845f65c368121b136f911d7c7edb3d173fc
+size 13928378
diff --git a/objects/phone/trajectories/phone_05/stage4/data031-dr-rollouts-v1/checksums.json b/objects/phone/trajectories/phone_05/stage4/data031-dr-rollouts-v1/checksums.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5bfe646452c57763ca1c7d864e19db2cf718930
--- /dev/null
+++ b/objects/phone/trajectories/phone_05/stage4/data031-dr-rollouts-v1/checksums.json
@@ -0,0 +1,8 @@
+{
+  "archive_sha256": "1cf4aa43da4f865a3761028e8b37502c65fc84d5033f055e88d7a4ada4b6e45e",
+  "archive_size_bytes": 935895040,
+  "data_task_id": "SHARPA-BC-DATA-031",
+  "manifest_sha256": "c14e8c19878b031a3856780fc13e006b700f9078684ba9641f29e93e8b74e5c0",
+  "phone_id": "phone_05",
+  "schema": "sharpa_stage4_release_checksums_v1"
+}
diff --git a/objects/phone/trajectories/phone_05/stage4/data031-dr-rollouts-v1/data_card.md b/objects/phone/trajectories/phone_05/stage4/data031-dr-rollouts-v1/data_card.md
new file mode 100644
index 0000000000000000000000000000000000000000..6db61357b929d676f063b664c77b069d616ea463
--- /dev/null
+++ b/objects/phone/trajectories/phone_05/stage4/data031-dr-rollouts-v1/data_card.md
@@ -0,0 +1,139 @@
+# Data Card: SHARPA-BC-DATA-031 / 20260903_sharpa_ac_p05_001_phone_05_c4096_dr_rsi_v1
+
+| Field | Value |
+|---|---|
+| Data Task ID | SHARPA-BC-DATA-031 |
+| Dataset ID | 20260903_sharpa_ac_p05_001_phone_05_c4096_dr_rsi_v1 |
+| Status | READY / C4096 / INFRA0 |
+| Purpose | 从phone_05 `SHARPA-AC-P05-001` S1 selected checkpoint采集4096个与Teacher训练时RefAug/reset-only DR及uniform RSI分布一致的独立closed-loop rollouts，形成3072 train、512 validation、512 sealed heldout。 |
+| Source mode | `teacher_rollout`；fresh Isaac/PhysX；每个attempt独立采样DR与RSI，从采样phase执行到reference terminal再加15 control-step hold。 |
+| Source lineage | `SHARPA-AC-P05-001`；W&B S1 selected `model_7000.pt`；原始8-seed evaluation仅为diagnostic，P2=`NOT_RUN`。 |
+| Episodes / splits | 4096 preregistered attempts=`3072 train + 512 validation + 512 sealed heldout`；失败保留原split身份并进入reflection/infra，禁止按结果补抽或搬移。 |
+| Sampling | 15D=`DR14 + uniform RSI phase`；每row独立采样；先物化、校准并冻结4096-row bank，之后才能launch。 |
+| Observation | 71D deployable current frame及attempt-local history-3 213D view；不含velocity、phase/reference、Teacher ID、DR latent或future state。 |
+| Action / label | controller真实执行的31D absolute `final_applied_target`；Teacher 28D residual仅作diagnostic，不能作为Student label。 |
+| Normalization | admitted train only；attempt等权、attempt内transition等权；validation/heldout transform-only；std floor `1e-8`。 |
+| Producer | formal producer commit `fc39d2f03df50e8888e2fd1bc00afbfc1725f1e5`；source draft `config/data_collection/sharpa_multiteacher_c4096_v1/phone_05_c4096_dr_rsi_v1.json`；executable spec `outputs/formal031_v3/spec.json`。 |
+| Artifact / manifest | create-only `outputs/formal031_v3`；bank SHA `c06c2f0b3ba853050dc3548a222275e89a603b7621aef79428b88b0af9318808`；dataset manifest待4096 receipts后生成。 |
+| Claim boundary | 仅支持phone_05、同一Teacher、同RefAug/reset-only DR+uniform-RSI分布的动作蒸馏研究；不支持physics/noise/push、跨episode、跨物体、P2 robustness或真机泛化。 |
+
+## Source and Provenance
+
+| Artifact | Identity / value | Evidence |
+|---|---|---|
+| Teacher Task | `SHARPA-AC-P05-001` | Auto-Curriculum S1 RefAug/reset-only DR candidate。 |
+| Teacher Training Card | `teacher/checkpoints/sharpa_phone20_autocurriculum_selected_v1/phone_05/inputs/training_card.md`；SHA `394c778edd2d31fcddb93c3bf26a4e30c87ff3afc0d4ada0e6570246df0df2bc` | W&B selected-checkpoint artifact原样下载。 |
+| Selected checkpoint | `teacher/checkpoints/sharpa_phone20_autocurriculum_selected_v1/phone_05/model_7000.pt`；`model_7000.pt`；iteration `7000`；SHA `4387769c731d96cc7a26580177664b431ce8ba361d1eed7a6ba17e9c71325283` | W&B artifact `dfnet/dex-retarget/sharpa-phone_05-autocurriculum-s1-v1-s1-selected-checkpoint:v0`；local SHA gate PASS。 |
+| Teacher code | commit `4a146fe07ef7f421745c3506ca803594f39b4fc8` | checkpoint selection manifest。 |
+| Runtime manifest | `teacher/checkpoints/sharpa_phone20_autocurriculum_selected_v1/phone_05/inputs/runtime_manifest.json`；SHA `63272d0e2eff6af2e5857f92cb386ecf987c248476f15cb8c985919fc86be5ec` | 仅保存manifest；完整可执行runtime仍须在G13物化并回读。 |
+| Curriculum manifest | `teacher/checkpoints/sharpa_phone20_autocurriculum_selected_v1/phone_05/inputs/curriculum_manifest.json`；SHA `a49b2f37a0b6fad60f341712161775b5637c4f7fe057dd5d3004231f53724a65` | S0 nominal → S1 RefAug/reset-only DR。 |
+| Stage2 handoff | `teacher/checkpoints/sharpa_phone20_autocurriculum_selected_v1/phone_05/inputs/stage2_handoff.json`；SHA `1f6f486535bef9cbd0c947dc0208be42e551c0ddeb007237c8a45e501111eeb9`；status `STAGE2_HANDOFF_ACCEPTED` | W&B artifact原样下载。 |
+| Stage1 NPZ identity | SHA `871063aabcad4abf5b13e728f7c3cb3b02e6d6c439902ddef826024a5b936e1a` | bytes尚未随本checkpoint bundle下载；G13前必须解析。 |
+| Human H5 identity | SHA `d1489d0612041d1837a120f2d8babb4ae06550d23f3ac0bc6789e553e27a4336` | `663` frames at `60.0` Hz。 |
+| Runtime retarget H5 identity | SHA `9fe13a0aae246b2e727fedb0c03e54a69b3ca8ad28f1982e046beaf810a3d1fd` | `331` nominal policy targets at `30.0` Hz。 |
+| Reference manifest identity | SHA `322c7be195ad458c2bdadd0d9303fc56c46977e56e9c86089bb59c5449670f0f` | Stage2 accepted reference。 |
+| GoalContract identity | SHA `2d2b0d99b4f93e76e1e6ca3ae1552980fa3ea807b0c63857313b48ad256746c1` | runtime artifact manifest。 |
+| Historical evaluation | [W&B seed0–7 diagnostic](https://wandb.ai/dfnet/dex-retarget/runs/sharpa-phone_05-autocurriculum-evaluation-seed0-7-v1) | checkpoint identity matched；P2 `NOT_RUN / NON_PROMOTABLE`。 |
+
+## Schema
+
+| Field | Shape / type | Semantics |
+|---|---|---|
+| `time_s` | `(S,) float64` | 30 Hz control timestamps from the sampled RSI phase。 |
+| `actual_q` | `(S,22) float32`, rad | PhysX actual Sharpa finger joints。 |
+| `actual_wrist_pose_wxyz` | `(S,7) float32`, world frame | actual wrist translation and quaternion。 |
+| `actual_object_pose_wxyz` | `(S,7) float32`, world frame | actual phone translation and quaternion。 |
+| `raw_residual` / `processed_residual` | `(A,28) float32` | Teacher diagnostic action before/after adapter processing。 |
+| `final_applied_target_wxyz` | `(A,29) float32` | runtime controller target representation。 |
+| `student_frame` | `(A,71) float32` | deployable current-frame observation。 |
+| `applied_target_31` | `(A,31) float32` | unique BC supervision label: wrist position3 + rotation6D6 + joint22。 |
+| `state_t1_student_frame` | `(A,71) float32` | post-physics next state，audit-only。 |
+| `pose_history3_mlp_v1` | `(A,213) float32` | three attempt-local 71D frames，oldest→current；first-frame repeat padding。 |
+| `normalized_sampling_15d` | `(15,) float64` | DR14+RSI provenance-only；不得进入policy input。 |
+| reset/failure/action ledgers | JSON | sampled parameters、actual runtime readback、drop/invalid/infra与action-chain evidence。 |
+
+## Temporal Alignment
+
+| Item | Contract |
+|---|---|
+| Rates | PhysX 120 Hz；policy/control 30 Hz；decimation=4。 |
+| Transition | `obs_t → Teacher residual_t → controller final_applied_target_t → four PhysX substeps → state_t+1`。 |
+| RSI | `u_phase ~ U[0,1)`；`start=floor(u_phase × 331)`，clamp到`0…330`。 |
+| Horizon | `A=(331-start)+15`；`S=A+1`；即使drop/invalid也记录完整终态与ledger。 |
+| History | strictly attempt-local；不得跨attempt、split或index gap。 |
+| Future windows | 后续Consumer可构造`T_p` window，但window不得跨attempt；tail必须masked。 |
+
+## Simulator Environment Randomization
+
+| Field | Value |
+|---|---|
+| Enabled | true |
+| Profile | `SHARPA-AC-P05-001` S1 RefAug/reset-only DR + uniform RSI。 |
+| Source config SHA | `d99efe6b27a179211fec8f3077e5605f9d804c666f0ac9a16c3e8349795982b8`。 |
+| Activation | every reset；nominal fraction `0.0`。 |
+| Mask | common rigid transform同时作用hand与phone；relative reset保持grasp-shaped范围。 |
+| Seed | 4096-row bank seed/namespace在distribution calibration阶段冻结；当前`NOT_YET_MATERIALIZED`。 |
+
+| Category | Parameter | Distribution / range | Sampling / effect |
+|---|---|---|---|
+| Reference augmentation | common X/Y | each `U[-0.05,0.05] m` | 同时作用hand和phone。 |
+| Reference augmentation | common yaw | `U[-30°,30°]` | 同时作用hand和phone。 |
+| Relative reset | phone XYZ | each `U[-0.006,0.006] m` | after RSI/reference selection。 |
+| Relative reset | phone rotation | axis uniformly sampled；signed angle `U[-3°,3°]` | every reset。 |
+| Finger reset | shared wrap | `U[0,0.06] rad` | coupled flexion joints，只增加包握。 |
+| Finger reset | four-finger rub | each `U[-0.025,0.025] rad` | independent rub joints。 |
+| RSI | normalized phase | `U[0,1)` | maps to discrete start phase。 |
+
+### Explicitly disabled / not applicable
+
+| Option | State | Meaning |
+|---|---|---|
+| Physics/actuator randomization | disabled | mass、COM、inertia、friction与drive固定。 |
+| Observation/noise/lag | disabled | clean observation；zero lag。 |
+| Disturbance/push | disabled | none。 |
+| Gravity curriculum | disabled | fixed full gravity `-9.81 m/s²`。 |
+
+## Splits, Sampling, and Leakage
+
+Approved Exception: Shengtao于2026-09-03批准每个独立Teacher使用4096 attempts并划分为3072 train、512 validation、512 sealed heldout，明确偏离默认96 train + 32 heldout topology。
+
+| Split | Episodes / rows | Purpose |
+|---|---:|---|
+| train | 3072 | admitted rows的唯一optimization与normalization来源。 |
+| validation | 512 | offline checkpoint selection；不得参与normalization。 |
+| sealed heldout | 512 | 所有模型选择冻结后的同分布unseen-attempt audit。 |
+| reflection | E5/E6/E9失败 | 保留预注册split身份；不得进入监督数据或被成功补抽替换。 |
+| infra_failure | identity/runtime/schema failure | 阻止Dataset READY；不得解释成policy failure。 |
+
+Split membership必须在rollout前由case ID确定。同一seed、trajectory window、parent/derived copy不得跨split；heldout不得反向用于collector、normalization、checkpoint、模型或超参数选择。
+
+## Normalization
+
+| Field | Contract |
+|---|---|
+| Source | admitted train attempts only。 |
+| Weighting | each rollout equal；within each rollout，each transition equal。 |
+| Stored arrays | MLP213、GRU71与target31 mean/second moment/std，以及exact train attempt IDs和weights。 |
+| Floor | `std=max(std,1e-8)`。 |
+| Validation / heldout | train statistics transform-only；禁止重算。 |
+
+## Validation and Readiness
+
+| Gate | Result | Evidence |
+|---|---|---|
+| Data Card format | PASS | unified validator对本批次7张Card报告`validated=7 failures=0`。 |
+| Selected checkpoint identity | PASS | W&B selected artifact与local SHA一致：`4387769c731d96cc7a26580177664b431ce8ba361d1eed7a6ba17e9c71325283`。 |
+| Stage2/H5/runtime resolvability | PASS | `outputs/prepared_v1`中clone-local H5/assets/runtime逐SHA解析通过。 |
+| G1–G12 distribution calibration | PASS | `outputs/formal031_v3/distribution_calibration.json`；SHA `f19f6603944019023191e1f4770da52e1884bcdeb5dd3ab3f12d6389efe1707d`。 |
+| G13 identity/runtime | PASS | producer `fc39d2f`；checkpoint、runtime、artifact、goal与spec/bank SHA preflight通过。 |
+| G14 one-attempt RSI smoke | PASS | v3正式bank真实non-PLAY policy path运行通过。 |
+| G15 multi-row distribution readback | PASS | 8 train + 1 validation + 1 sealed-heldout正式rows运行通过；runtime readback与DR/RSI ledger通过。 |
+| G16 completeness | PASS | 4096 terminal receipts；infra0；reflection226。 |
+| G17 schema/timing | PASS | MLP213/GRU71/target31/state-t+1 71；所有admitted attempts满足`S=A+1`。 |
+| G18 split/normalization | PASS | train2899/538300 transitions；validation485/90164；heldout486/89967；normalization仅来自admitted train。 |
+| G19 final manifest | PASS | manifest SHA `c14e8c19878b031a3856780fc13e006b700f9078684ba9641f29e93e8b74e5c0`；archive SHA `1cf4aa43da4f865a3761028e8b37502c65fc84d5033f055e88d7a4ada4b6e45e`。 |
+| DATASET_READY | READY | 只支持phone_05 same-profile Teacher imitation。 |
+
+## Approved Exception
+
+Shengtao于2026-09-03批准本批次每个独立Teacher请求4096个DR+RSI rollout，固定3072/512/512三split，偏离默认128-attempt topology。该批准只授权Draft Card与checkpoint准备；正式并行collection须在Cards审核和G1–G15通过后另行启动。
diff --git a/objects/phone/trajectories/phone_05/stage4/data031-dr-rollouts-v1/dataset_manifest.json b/objects/phone/trajectories/phone_05/stage4/data031-dr-rollouts-v1/dataset_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..e74785432b1094cf04b9e44d5c65769c1af880f3
--- /dev/null
+++ b/objects/phone/trajectories/phone_05/stage4/data031-dr-rollouts-v1/dataset_manifest.json
@@ -0,0 +1,7773 @@
+{
+  "claim_boundary": "phone_05 same-profile Teacher imitation only",
+  "counts": {
+    "heldout_attempts": 486,
+    "heldout_transitions": 89967,
+    "infra_failure_attempts": 0,
+    "reflection_attempts": 226,
+    "terminal_receipts": 4096,
+    "train_imitation_attempts": 2899,
+    "train_transitions": 538300,
+    "validation_attempts": 485,
+    "validation_transitions": 90164
+  },
+  "data_task_id": "SHARPA-BC-DATA-031",
+  "dataset_id": "20260903_sharpa_ac_p05_001_phone_05_c4096_dr_rsi_v1",
+  "members": {
+    "collection_snapshot.json": "2f71a7587aa9c8c48555305beac1e33d40c7d93779b59bf0e88aa1d3739a408c",
+    "coverage_report.json": "fac90d553e9ef10f037c2647999d5e3eb9ebf9973c9a73361c46d14e334924b9",
+    "functional_positive_index.json": "12806b77bab2f8c3d50ba749a08ebfa51bf710e2a32eb062e0e965a2ef9041a0",
+    "heldout_index.json": "83baf180e68146bd550b79afa6fbd791da22d720431e7138dffac52077f3cbe3",
+    "infra_failure_index.json": "12806b77bab2f8c3d50ba749a08ebfa51bf710e2a32eb062e0e965a2ef9041a0",
+    "normalization.npz": "0a1622ba0f4840fbccaa1bb13155a0649a7f6447b9fdf4cd400634200b87a778",
+    "reflection_index.json": "f1b685c01bdbd72f23be9c179d9bd2a85566f2cbce29d1f07e2da608463905a3",
+    "schema.json": "d6115247960aa306bab1debaaa1cf7ea2600e8a34ea299055ca9bbede9bb7b00",
+    "test_index.json": "12806b77bab2f8c3d50ba749a08ebfa51bf710e2a32eb062e0e965a2ef9041a0",
+    "train_imitation_index.json": "620e8fea68082bf5204e1e6ccde9f054530ea1b780cebe0164b7e815ce71daa6",
+    "transition_audit.json": "e307f42376def2761eb32844b0b1b565f4b174cc8b09d41ba3d4565e8f991555",
+    "validation_index.json": "3bde8165640ee6a59bf78f0848f912d6472cda25151c63f32a74add075bcbde0",
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+  },
+  "normalization_source": "train_imitation only",
+  "schema": "sharpa_teacher_rollout_dataset_manifest_v1",
+  "status": "READY"
+}
diff --git a/objects/phone/trajectories/phone_05/stage4/data031-dr-rollouts-v1/rollout_dataset.tar b/objects/phone/trajectories/phone_05/stage4/data031-dr-rollouts-v1/rollout_dataset.tar
new file mode 100644
index 0000000000000000000000000000000000000000..5a4d6bc1ff734369f20d8212394c94c7f4addd37
--- /dev/null
+++ b/objects/phone/trajectories/phone_05/stage4/data031-dr-rollouts-v1/rollout_dataset.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1cf4aa43da4f865a3761028e8b37502c65fc84d5033f055e88d7a4ada4b6e45e
+size 935895040
diff --git a/objects/phone/trajectories/phone_07/stage4/data019-dr-rollouts-v1/checksums.json b/objects/phone/trajectories/phone_07/stage4/data019-dr-rollouts-v1/checksums.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d6b2d77e03d6005da60db2c950e9d19567f2d15
--- /dev/null
+++ b/objects/phone/trajectories/phone_07/stage4/data019-dr-rollouts-v1/checksums.json
@@ -0,0 +1,8 @@
+{
+  "archive_sha256": "61feae2f23dae2f16e096aa53d5d6cb24ce9062fdff8ec6c3421dfc4e9bee31d",
+  "archive_size_bytes": 691230720,
+  "data_task_id": "SHARPA-BC-DATA-019",
+  "manifest_sha256": "740ff1d0f02eab5429c97d7c6ee9054696133684d9999e57a8d1d12f57faf405",
+  "phone_id": "phone_07",
+  "schema": "sharpa_stage4_release_checksums_v1"
+}
diff --git a/objects/phone/trajectories/phone_07/stage4/data019-dr-rollouts-v1/data_card.md b/objects/phone/trajectories/phone_07/stage4/data019-dr-rollouts-v1/data_card.md
new file mode 100644
index 0000000000000000000000000000000000000000..3a7451454fb0caa37113a963f5d1c85afb444f07
--- /dev/null
+++ b/objects/phone/trajectories/phone_07/stage4/data019-dr-rollouts-v1/data_card.md
@@ -0,0 +1,96 @@
+# Data Card: SHARPA-BC-DATA-019 / 20260831_t0149_model7800_phone07_partial2763_pow_v1
+
+| Field | Value |
+|---|---|
+| Data Task ID | SHARPA-BC-DATA-019 |
+| Dataset ID | 20260831_t0149_model7800_phone07_partial2763_pow_v1 |
+| Status | READY / PROOF-OF-WORK SNAPSHOT / PARENT COVERAGE GAP |
+| Purpose | 将用户停止DATA-017采集时已经具备完整terminal receipt的2763个phone07 Teacher rollouts冻结为可训练的proof-of-work BC Dataset。 |
+| Source mode | derived_view；从DATA-017原始Teacher rollout attempts选择完整terminal cases，label和rollout bytes不变。 |
+| Source lineage | SHARPA-BC-DATA-017；SHARPA-T0-149 model7800；同一PPO-matched DR14+uniform-RSI bank。 |
+| Episodes / splits | 2763 terminal attempts=`2073 train +359 validation +331 heldout`；admitted=`1936/340/311`；reflection=176。 |
+| Sampling | 选择规则是2026-08-31用户停止采集边界时已存在完整terminal receipt；这是post-hoc availability snapshot，不宣称近似完整4096-row分布。 |
+| Observation | MLP history-3 213D与GRU current-frame 71D deployable views；不含velocity、phase、reference、Teacher ID或DR latent。 |
+| Action / label | Teacher/controller真实执行的31D absolute target；28D residual仅保留在parent action-chain diagnostic。 |
+| Normalization | 仅1936个admitted train attempts；rollout等权、rollout内transition等权；validation/heldout transform-only；std floor`1e-8`。 |
+| Producer | commit`73698f2`；`student.sharpa.teacher_rollout_finalize` snapshot selector模式。 |
+| Artifact / manifest | `outputs/sharpa_bc_data019/20260831_t0149_model7800_phone07_partial2763_pow_v1/dataset_v1`；manifest SHA`740ff1d0f02eab5429c97d7c6ee9054696133684d9999e57a8d1d12f57faf405`。 |
+| Claim boundary | 只证明phone07同Teacher partial snapshot可用于BC训练；禁止宣称C4096 coverage、无偏PPO分布近似、跨demo、跨物体、闭环成功或真机泛化。 |
+
+## Source and Provenance
+
+| Artifact | Identity / value | Evidence |
+|---|---|---|
+| Parent Data Card | SHARPA-BC-DATA-017 | 原C4096采集合同保持NOT_READY/STOPPED，不被DATA-019倒改。 |
+| Teacher Task | SHARPA-T0-149 | phone07 RefAug/reset-only DR Auto-Curriculum Teacher。 |
+| Teacher checkpoint | model7800 SHA`6a364bd96390372787f2a2518fc85be44f399263fd90f1c615daf33671713ff2` | 与parent receipts一致。 |
+| Parent CollectionSpec | SHA`1275eddd65a5ea17c5424ff17abf51ca8c375637975585dbcaac5e3939557adf` | 冻结runtime、controller、DR/RSI和codec。 |
+| Parent source bank | SHA`7861b4b1af651b30cddde1d2455eaa15a0b7da8f61c4c1dc6e4639ef7027d833` | 原4096-row phone07 source bank。 |
+| Snapshot selector | SHA`430b10f833a48321fa8f8f5d7dd4c7cfab1603de73c389c25ed8351c1003dcc6` | 2763个唯一case IDs及原split membership。 |
+| Dataset manifest | SHA`740ff1d0f02eab5429c97d7c6ee9054696133684d9999e57a8d1d12f57faf405` | 5186个create-only members。 |
+| Normalization | SHA`597501b789d6075cb2580c5c8b620c36ce05412b190e137f29d804a59ad07e58` | attempt IDs严格等于admitted train index。 |
+
+## Schema
+
+| Field | Shape / type | Semantics |
+|---|---|---|
+| MLP observation | `(A,213)` float32 | 三个71D deployable frames，旧帧到当前帧；attempt起点使用首帧重复padding。 |
+| GRU observation | `(A,71)` float32 | 当前deployable state frame。 |
+| target | `(A,31)` float32 | 9D wrist absolute pose target +22D hand joint absolute target。 |
+| transition_index | `(A,)` int64 | attempt-local action/control index。 |
+| state_t1_student_frame | `(A,71)` float32 | 执行target并完成physics substeps后的下一状态，仅用于时间审计。 |
+| indexes | JSON rows | case ID、source、原split、RSI/start phase、view path/SHA、transition count。 |
+| normalization | NPZ | MLP/GRU/target mean、second moment、std、train attempt IDs和weights。 |
+
+所有view都按attempt独立存储；窗口不得跨attempt边界。坐标、单位、field ordering和action codec继承parent CollectionSpec，不做重排或label变换。
+
+## Temporal Alignment
+
+| Item | Contract |
+|---|---|
+| Physics / control | PhysX 120Hz；policy/control 30Hz；decimation=4。 |
+| Transition | `obs_t -> Teacher 28D residual -> controller 31D final_applied_target_t -> 4 physics substeps -> state_t+1`。 |
+| Stored label | 31D `final_applied_target_t`，不是raw/processed 28D residual。 |
+| State/action count | 每个admitted attempt满足`S=A+1`。 |
+| History | attempt-local history-3；起始padding不读取其他attempt。 |
+| Terminal | 从冻结RSI phase执行到reference end+15 hold；reflection保留但不进入监督view。 |
+
+## Splits, Sampling, and Leakage
+
+| Split | Episodes / rows | Purpose |
+|---|---:|---|
+| train | 2073 attempts；1936 admitted | 唯一训练和normalization来源。 |
+| validation | 359 attempts；340 admitted | checkpoint选择与离线误差；不得参与normalization。 |
+| heldout | 331 attempts；311 admitted | 所有训练决策冻结后的同snapshot审计；不得参与checkpoint选择或normalization。 |
+| reflection | 176 attempts；0 admitted | E5/E6/E9未全部通过；保留原split身份，不训练。 |
+| infra | 0 | 任一infra会阻止READY。 |
+
+Train、validation和heldout case IDs两两不相交。DATA-019 selection是按停止时receipt availability形成，而非重新随机抽样；因此只能称为partial snapshot，不能把split比例或统计量外推为完整C4096分布。
+
+## Normalization
+
+| Field | Contract |
+|---|---|
+| Source | admitted train 1936 attempts only。 |
+| Weighting | 每个rollout等权；每个rollout内部transition等权。 |
+| Stored arrays | `mlp_observation_*`、`gru_frame_*`、`target_*`、attempt IDs/counts/weights。 |
+| Numerical floor | std最低`1e-8`。 |
+| Validation / heldout | 使用train statistics transform-only。 |
+
+## Validation and Readiness
+
+| Gate | Result | Evidence |
+|---|---|---|
+| Selector identity | PASS | 2763 unique case IDs；parent bank SHA匹配。 |
+| Terminal completeness | PASS | selector中的2763 cases全部具有terminal receipt。 |
+| Infra | PASS | 0 infra。 |
+| Admission | PASS | 2587 admitted；176 reflection独立索引。 |
+| Schema/timing | PASS | 71/213/31/71；admitted attempts均`S=A+1`。 |
+| Split leakage | PASS | 三split indexes不相交。 |
+| Normalization leakage | PASS | normalization attempt IDs严格等于1936 train IDs。 |
+| Member identity | PASS | 5186 members写入manifest。 |
+| Dataset status | READY | manifest status=`READY`，claim仅限proof-of-work snapshot。 |
+
+## Approved Exception
+
+Shengtao于2026-08-31明确批准停止DATA-017 C4096采集，并将当时完成的2763条另立为SHARPA-BC-DATA-019，用于验证BC能否work。该批准允许偏离默认128/96/32 topology和原DATA-017 C4096目标，但不允许把DATA-017本身标记READY，也不允许扩大DATA-019的coverage或泛化宣称。
diff --git a/objects/phone/trajectories/phone_07/stage4/data019-dr-rollouts-v1/dataset_manifest.json b/objects/phone/trajectories/phone_07/stage4/data019-dr-rollouts-v1/dataset_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..d60d7fe6755faedb4dd2633bb76418512a615b0a
--- /dev/null
+++ b/objects/phone/trajectories/phone_07/stage4/data019-dr-rollouts-v1/dataset_manifest.json
@@ -0,0 +1,5208 @@
+{
+  "claim_boundary": "phone07 selected proof-of-work snapshot only",
+  "counts": {
+    "heldout_attempts": 311,
+    "heldout_transitions": 62374,
+    "infra_failure_attempts": 0,
+    "reflection_attempts": 176,
+    "terminal_receipts": 2763,
+    "train_imitation_attempts": 1936,
+    "train_transitions": 390694,
+    "validation_attempts": 340,
+    "validation_transitions": 67889
+  },
+  "data_task_id": "SHARPA-BC-DATA-019",
+  "dataset_id": "20260831_t0149_model7800_phone07_partial2763_pow_v1",
+  "members": {
+    "collection_snapshot.json": "320ca6acfddf45d8ad6b91b8f075998e398487af8b3755fe5e709c7f7dfbdc33",
+    "coverage_report.json": "4bf13317d4f084c2b5e82783ecb350663c2e1bf16a91c6135be6036d4320a15a",
+    "functional_positive_index.json": "cedaa8df309d9a2939f5ebe0745b7f8459710578088035a15e0a104f19ff843a",
+    "heldout_index.json": "92f2f23a28f45760348d703638e39565dc90a08627ac858fbb6837302284f437",
+    "infra_failure_index.json": "cedaa8df309d9a2939f5ebe0745b7f8459710578088035a15e0a104f19ff843a",
+    "normalization.npz": "597501b789d6075cb2580c5c8b620c36ce05412b190e137f29d804a59ad07e58",
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+    "views/pose_history3_mlp_v1/phone07/phone07__validation__row0358.npz": "736d978b438b62f8dadc3ba130a6703e026df0005c24f7634808609f0c615b76"
+  },
+  "normalization_source": "train_imitation only",
+  "schema": "sharpa_teacher_rollout_dataset_manifest_v1",
+  "snapshot_selector_sha256": "430b10f833a48321fa8f8f5d7dd4c7cfab1603de73c389c25ed8351c1003dcc6",
+  "status": "READY"
+}
diff --git a/objects/phone/trajectories/phone_07/stage4/data019-dr-rollouts-v1/rollout_dataset.tar b/objects/phone/trajectories/phone_07/stage4/data019-dr-rollouts-v1/rollout_dataset.tar
new file mode 100644
index 0000000000000000000000000000000000000000..6df879a3baf394c8bfd494f21af27de9f07b71d8
--- /dev/null
+++ b/objects/phone/trajectories/phone_07/stage4/data019-dr-rollouts-v1/rollout_dataset.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61feae2f23dae2f16e096aa53d5d6cb24ce9062fdff8ec6c3421dfc4e9bee31d
+size 691230720
diff --git a/objects/phone/trajectories/phone_09/stage3/selected-teacher-v1/checkpoint_receipt.json b/objects/phone/trajectories/phone_09/stage3/selected-teacher-v1/checkpoint_receipt.json
new file mode 100644
index 0000000000000000000000000000000000000000..b32b2a52a4a314b069a735b04dfdb944edfd4a31
--- /dev/null
+++ b/objects/phone/trajectories/phone_09/stage3/selected-teacher-v1/checkpoint_receipt.json
@@ -0,0 +1,17 @@
+{
+  "checkpoint": {
+    "path": "model_8500.pt",
+    "sha256": "597263648cd50b1410afca20e48e7d2f44a472f6ef4c35974d923a742b6b4159",
+    "size_bytes": 21074741
+  },
+  "claim_boundary": "source identity only; no new evaluation or promotion claim",
+  "phone_id": "phone_09",
+  "schema": "sharpa_stage3_selected_teacher_receipt_v1",
+  "selection_basis": "frozen source Teacher for SHARPA-BC-DATA-043",
+  "task_id": "SHARPA-AC-P09-003",
+  "training_card": {
+    "path": "training_card.md",
+    "sha256": "7cd6a9af698e31e4ef186cfdc2dcaa6541f07a572cc8b63ac7f9387ba490235f",
+    "size_bytes": 8250
+  }
+}
diff --git a/objects/phone/trajectories/phone_09/stage3/selected-teacher-v1/model_8500.pt b/objects/phone/trajectories/phone_09/stage3/selected-teacher-v1/model_8500.pt
new file mode 100644
index 0000000000000000000000000000000000000000..6c5dd3d38d2abdd77f3a3a0ea3724545bf6ae83c
--- /dev/null
+++ b/objects/phone/trajectories/phone_09/stage3/selected-teacher-v1/model_8500.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:597263648cd50b1410afca20e48e7d2f44a472f6ef4c35974d923a742b6b4159
+size 21074741
diff --git a/objects/phone/trajectories/phone_09/stage3/selected-teacher-v1/training_card.md b/objects/phone/trajectories/phone_09/stage3/selected-teacher-v1/training_card.md
new file mode 100644
index 0000000000000000000000000000000000000000..0be51579918db75c42938f999d3733a3e3beb030
--- /dev/null
+++ b/objects/phone/trajectories/phone_09/stage3/selected-teacher-v1/training_card.md
@@ -0,0 +1,118 @@
+# Training Card: phone_09_autocurriculum_retry_20260924_v3
+
+| Field | Value |
+|---|---|
+| Description | [SHARPA-AC-P09-003] accepted phone_09 Stage2 reference的create-only基础设施修复重试：`No-DR plateau → RefAug/reset-only DR plateau → 8-seed 2×3 → W&B artifact/readback`正式teacher候选。原P09-001/P09-002失败证据保持不可变。 |
+| Role | T0 residual-teacher Auto-Curriculum mentor batch candidate |
+| Policy | Asymmetric MLP residual PPO；actor/critic `[1024,512,256,128]`；ELU；S0 fresh；S1 model-only warm start、fresh optimizer |
+| Policy input | 162D actor；199D asymmetric critic；history total 3 frames |
+| Hidden state | false |
+| Action | 28D normalized residual：6D floating root + 22D Sharpa fingers；no chunk `(1/1)` |
+| Data | accepted phone_09 handoff SHA256 `0f26cfe1ceff5b625bf8cd74e0592e97ac186f4f2a9d58a2243c3c86986599f7`；moving28 H5 SHA256 `0118bc159c33cd69247a01628e4280eb83d90ee63b088be863483de4a53da635` |
+| Training | S0 `Regrind-Sharpa-Wuji2ActuatorParity-RouteA-v0`后S1 `Regrind-Sharpa-Wuji2ActuatorParity-RefAugDR-RouteA-v1`；各4096 env、24 steps/env、seed1、最多5000 iterations；checkpoint interval 500 |
+| Reward profile | exact T0-153/WUJI2 RouteA reward、termination与PPO；S1只开启冻结RefAug/reset-only DR |
+| Claim | 训练和发布完成只证明单episode remote reproduction；8-seed为diagnostic；P2仍`NOT_RUN`，不得声称robust teacher或真机成功。 |
+| Metric | matching 16-env gate；S0/S1 plateau selected checkpoint；8/8 rollout与2×3；W&B checkpoint/video artifact下载SHA回读 |
+| W&B | entity `dfnet`；project `dex-retarget`；group `sharpa-phone_09-autocurriculum-retry-20260924-v3`；run IDs `sharpa-phone_09-autocurriculum-s0-retry-20260924-v3`、`sharpa-phone_09-autocurriculum-s1-retry-20260924-v3`、`sharpa-phone_09-autocurriculum-evaluation-seed0-7-retry-20260924-v3` |
+
+## Policy Inputs
+
+| Field | Dim | Description |
+|---|---:|---|
+| object_position_world | 3 | 当前手机世界位置 |
+| object_rotation_6d_world | 6 | 当前手机世界朝向连续 6D 表示 |
+| wrist_position_history_3 | 9 | 当前及前两控制步 root 位置 |
+| wrist_rotation_6d_history_3 | 18 | 当前及前两控制步 root 朝向 |
+| joint_position_history_3 | 66 | 当前及前两控制步 22D Sharpa 关节角 |
+| previous_raw_action | 28 | 上一控制步 raw residual action |
+| demonstration_phase | 1 | 当前 reference index 的归一化 phase |
+| action_base_wrist_position_rotation_6d | 9 | 当前 reference root target |
+| action_base_joint_position | 22 | 当前 22D reference joint target |
+
+Critic 在 actor 162D 上增加五个语义 fingertip world positions（15D）和 22D joint velocity，共 199D；这些 privileged 量不进入 actor。
+
+## Simulator Environment Randomization
+
+| Field | Value |
+|---|---|
+| Enabled | true |
+| Source config | `sharpa/configs/sharpa_managerbased_pipeline/dr_contract_refaug_reset_only_v1.json` |
+| Source config SHA256 | `d99efe6b27a179211fec8f3077e5605f9d804c666f0ac9a16c3e8349795982b8` |
+| Runtime readback | 每次gate/formal另写create-only readback；必须17/17 matching |
+| Runtime readback SHA256 | 冻结reference `21fbe1950c87fd029ce03827f204f70190845286ac7dd7d0d61165c2c307a804`；本次执行另写真实SHA |
+| Activation | S0关闭randomization；S1全部4096 env开启；nominal fraction `0.0` |
+| Schedule | S0独立plateau后切S1；S1重新初始化stage-local EMA；reference fade `.135→.292` |
+| Mask | common rigid transform同时作用hand与phone；relative reset保持grasp-shaped范围 |
+| Seed | 两阶段seed1 |
+
+| Category | Parameter | Distribution / range | Sampling / effect |
+|---|---|---|---|
+| Reset | S0 reset | fixed；保留uniform RSI | No-DR nominal stage |
+| Reset | S1 phone relative XYZ | each `U[-0.006,0.006] m` | every reset |
+| Reset | S1 phone relative rotation | axis-angle `U[-3°,3°]` | every reset |
+| Reset | S1 finger wrap | `U[0,0.06] rad` | 只增加包握 |
+| Reset | S1 four-finger rub | `U[-0.025,0.025] rad` | 四指沿手机小范围扰动 |
+| Reference augmentation | common XY | each `U[-0.05,0.05] m` | hand与phone共用 |
+| Reference augmentation | common yaw | `U[-30°,30°]` | hand与phone共用 |
+| Reference augmentation | phase fade | full through `.135`；zero at `.292` | 平滑退火回原reference |
+
+### Explicitly disabled / not applicable
+
+| Option | State | Meaning |
+|---|---|---|
+| Physics randomization | disabled | mass/COM/inertia/friction/drive固定；full gravity `-9.81 m/s²` |
+| Observation/noise/lag | disabled | clean、zero-lag observation |
+| Disturbance/push | disabled | 无external push |
+
+## Rewards
+
+| Reward | Weight | Description |
+|---|---:|---|
+| object_keypoints_pos_error_exp | 3.0 | 100 个手机表面点跟随 augmented reference |
+| object_lin_vel_error_exp | 1.0 | 手机线速度跟随 augmented reference |
+| object_ang_vel_error_exp | 1.0 | 手机角速度跟随 augmented reference |
+| hand_wrist_pos_error_exp | 0.1 | root 位置软约束 |
+| hand_wrist_rot_error_exp | 0.1 | root 朝向软约束 |
+| action_l2_exp | 0.5 | residual 幅度约束 |
+| action_rate_l2_exp | 1.0 | residual 平滑约束 |
+| action_out_of_bounds_exp | 1.0 | raw action `[-1,1]` 越界惩罚 |
+| early_terminated_penalty | -10.0 | 非 timeout 提前终止惩罚 |
+| fingertip_object_graph_error_exp | 0.75 | 五指尖—手机相对几何跟随 augmented reference |
+
+## Stage2 Reference Acceptance
+
+| Field | Frozen evidence |
+|---|---|
+| Stage1 source | SHA256 `536a87d5853b4e7b090906f5d51df65b3fcb5cc9cb6c3a85d071a9b44beb5d76` |
+| Stage1 manifest | SHA256 `17a6e91994a90c33f8e8c6b09f53a63f0424c2bd7533f202538d1239b30e2954` |
+| Runtime human H5 | SHA256 `83bbdc431fc6fa7149ba403ab5de99c9c0b207f74bce94880643bf0aad46f078` |
+| Canonical retarget H5 | SHA256 `2f46b49b427f1e938b19cda6cb58f3382033006dfc0072eb7c4c72656e8aa1dc` |
+| Runtime retarget H5 | SHA256 `0118bc159c33cd69247a01628e4280eb83d90ee63b088be863483de4a53da635` |
+| Reference manifest | SHA256 `5066ec4a4df8287e6b5f1998c57c2fe2b5e56401c97dcff28e549fcd669928ae` |
+| Handoff | SHA256 `0f26cfe1ceff5b625bf8cd74e0592e97ac186f4f2a9d58a2243c3c86986599f7`；strict loader `STAGE2_HANDOFF_ACCEPTED` |
+| Timeline | 1025 frames @ 60 Hz → 513 policy targets @ 30 Hz |
+| Stage2 QA | validation receipt SHA256 `3f4cf26fcad534a749c887d04fc606bb54044e7f04e91b8f33f9be3e09f43b40`；T0-147-aligned nonpenetration/joint-limit/coupling/continuity gate PASS |
+| Full review | Stage1 MANO / Stage2 Sharpa 2×3 SHA256 `77b6a046db26109eda44e70e5fd3ac54e1f0460803cd14a2abeaff10487b5170` |
+
+## Auto-Curriculum and Evaluation Contract
+
+| Field | Frozen value |
+|---|---|
+| Task ID | `SHARPA-AC-P09-003` |
+| Stop rule | 每stage独立EMA `.95`；min `1500`；meaningful improvement `2%`；patience `1000`；max local `4999` |
+| Transition | S0 selected checkpoint model-only warm start S1；fresh optimizer |
+| GoalContract | SHA256 `5617b10a4c8b9140aeb5ab2ae350b603b5624465c63e460ac71bccbab2e0f2e7` |
+| Evaluation | selected S1；fresh Isaac；`refaug_reset_dr`；seed `0..7`；完整trajectory + 15-step hold |
+| Videos | 每seed一条Stage1 MANO top row / policy actual bottom row的H.264 2×3 |
+| Publication | S0/S1 selected checkpoint Artifact；evaluation bundle；W&B API下载回读与SHA/ffprobe |
+| P2 / Promotion | `NOT_RUN / NON_PROMOTABLE` |
+
+## Execution Update
+
+| Field | Value |
+|---|---|
+| Status | `RETRY_PLANNED / CREATE_ONLY` |
+| Reason | P09-001未产出checkpoint；P09-002在首个formal step因W&B 0.28拒绝`demo_len=513 > 512`个histogram bins而`INFRA_FAILURE`，未产生scalar/checkpoint。两条历史均不得覆盖或复用。 |
+| Scientific contract | Policy、observation/action、PPO、reward、randomization、Stage2 handoff、H5、seed、budget与stop rule均与P09-001相同。 |
+| Code identity | 科学代码基线 `sharpa-main@ff687dd925b5b5b4e5944c5c470ef8e86728615b`；仅日志修复 commit `b2eef7c90fa8ff46619f5f8391e7d64f3fe07580` 将W&B sampled-timestep histogram bins限制为`min(demo_len,512)`，不改变样本、训练或评测合同。 |
+| Claim boundary | 本Card只授权create-only gate与训练重试；checkpoint仍是候选，evaluation与人工审片未完成前不得称为可用expert。 |
diff --git a/objects/phone/trajectories/phone_09/stage4/data043-dr-rollouts-v1/checksums.json b/objects/phone/trajectories/phone_09/stage4/data043-dr-rollouts-v1/checksums.json
new file mode 100644
index 0000000000000000000000000000000000000000..cfa666e144b34dd713e03ad93d2318120244cbf4
--- /dev/null
+++ b/objects/phone/trajectories/phone_09/stage4/data043-dr-rollouts-v1/checksums.json
@@ -0,0 +1,8 @@
+{
+  "archive_sha256": "c472015a1dc6705ccf7ab132daa6af0753340fb3ee8c244fe99998858c5d087b",
+  "archive_size_bytes": 1307750400,
+  "data_task_id": "SHARPA-BC-DATA-043",
+  "manifest_sha256": "08e5f98f85fec52935c70fad2ab1a8d8910f19f2973a4cf8f5b33010f65bd859",
+  "phone_id": "phone_09",
+  "schema": "sharpa_stage4_release_checksums_v1"
+}
diff --git a/objects/phone/trajectories/phone_09/stage4/data043-dr-rollouts-v1/data_card.md b/objects/phone/trajectories/phone_09/stage4/data043-dr-rollouts-v1/data_card.md
new file mode 100644
index 0000000000000000000000000000000000000000..a41af54b2584c31080a8a981459dd6c151e40317
--- /dev/null
+++ b/objects/phone/trajectories/phone_09/stage4/data043-dr-rollouts-v1/data_card.md
@@ -0,0 +1,96 @@
+# Data Card: SHARPA-BC-DATA-043 / 20260927_phone_09_s1_c4096_dr_rsi_v1
+
+| Field | Value |
+|---|---|
+| Data Task ID | SHARPA-BC-DATA-043 |
+| Dataset ID | 20260927_phone_09_s1_c4096_dr_rsi_v1 |
+| Status | READY / C4096 / INFRA0 |
+| Purpose | 保存 phone_09 residual Teacher 在冻结 DR+RSI 分布下的 closed-loop rollout，供 Stage4 BC/Student 独立复用。 |
+| Source mode | teacher_rollout；每个attempt独立采样DR与RSI，保存Teacher真实执行后的deployable observation和absolute applied target。 |
+| Source lineage | SHARPA-AC-P09-003 selected model_8500.pt |
+| Episodes / splits | terminal 4096；train 2884；validation 479；heldout 480；reflection 253；infra 0。 |
+| Sampling | 预先冻结的DR14 + uniform RSI bank；失败保留原split身份，禁止按结果补抽。 |
+| Observation | GRU current-frame 71D与MLP history-3 213D deployable views；不含reference、phase、Teacher ID或DR latent。 |
+| Action / label | 31D absolute final-applied target；不是Teacher raw residual。 |
+| Normalization | admitted train only；attempt等权、attempt内transition等权；validation/heldout transform-only；std floor `1e-8`。 |
+| Producer | formal043_recovery_v3 finalizer |
+| Artifact / manifest | archive 1307750400 bytes / SHA `c472015a1dc6705ccf7ab132daa6af0753340fb3ee8c244fe99998858c5d087b`；dataset manifest SHA `08e5f98f85fec52935c70fad2ab1a8d8910f19f2973a4cf8f5b33010f65bd859`。 |
+| Claim boundary | 仅支持 phone_09、同一Teacher与同一DR+RSI collection distribution的动作蒸馏；不证明跨trajectory、跨物体、P2 robustness或sim2real。 |
+
+## Source and Provenance
+
+| Artifact | Identity / value | Evidence |
+|---|---|---|
+| Teacher lineage | SHARPA-AC-P09-003 selected model_8500.pt | 冻结selected Teacher与Stage2 identity。 |
+| Dataset manifest | `08e5f98f85fec52935c70fad2ab1a8d8910f19f2973a4cf8f5b33010f65bd859` | READY finalizer输出；所有成员逐SHA绑定。 |
+| Release archive | `c472015a1dc6705ccf7ab132daa6af0753340fb3ee8c244fe99998858c5d087b` / 1307750400 bytes | create-only `dataset_v1/` tar。 |
+
+## Schema
+
+| Field | Shape / type | Semantics |
+|---|---|---|
+| observation | `(A,71)`或`(A,213)` float32 | 当前帧GRU view或attempt-local history-3 MLP view。 |
+| target | `(A,31)` float32 | wrist xyz3 + rotation6D6 + 22 absolute finger targets。 |
+| transition_index | `(A,)` int64 | attempt-local连续控制步。 |
+| state_t1_student_frame | `(A,71)` float32 | physics step后的next deployable state，仅用于审计。 |
+
+## Temporal Alignment
+
+| Item | Contract |
+|---|---|
+| Physics / control | PhysX 120Hz；policy/control 30Hz；decimation4。 |
+| Transition | `obs_t → Teacher → final_applied_target_t → 4 physics substeps → state_t+1`。 |
+| Boundaries | history和future-action window不得跨attempt、split或index gap。 |
+
+## Simulator Environment Randomization
+
+| Field | Value |
+|---|---|
+| Enabled | true |
+| Profile | reset-only DR14 + reference augmentation + uniform RSI。 |
+| Exact sampling authority | 发布的DR bank及dataset manifest。 |
+
+| Category | Parameter | Distribution / range | Sampling / effect |
+|---|---|---|---|
+| Reference augmentation | common X/Y | each `U[-0.05,0.05] m` | 同时作用hand和phone。 |
+| Reference augmentation | common yaw | `U[-30°,30°]` | 同时作用hand和phone。 |
+| Reset | phone XYZ | each `U[-0.006,0.006] m` | reference/RSI选择后应用。 |
+| Reset | phone rotation | signed angle `U[-3°,3°]` | 每次reset独立采样。 |
+| Reset | finger wrap/rub | wrap `U[0,0.06] rad`；rub `U[-0.025,0.025] rad` | grasp-shaped reset。 |
+| RSI | normalized phase | `U[0,1)` | 映射到合法reference start index。 |
+
+| Option | State | Meaning |
+|---|---|---|
+| Physics randomization | disabled | mass、COM、inertia、friction和drive固定。 |
+| Observation/noise/lag | disabled | clean observation；zero lag。 |
+| Disturbance/push | disabled | none。 |
+
+## Splits, Sampling, and Leakage
+
+| Split | Episodes / rows | Purpose |
+|---|---:|---|
+| train | 2884 | 唯一optimization和normalization来源。 |
+| validation | 479 | offline diagnostic；不参与normalization。 |
+| heldout | 480 | same-source unseen-attempt audit。 |
+| reflection | 253 | 失败attempt；不进入监督数据。 |
+| infra | 0 | 任一infra都会阻止READY。 |
+
+Approved exception：本批次使用冻结的C4096或DATA-019 PARTIAL2763拓扑，而不是默认96 train + 32 heldout。
+
+## Normalization
+
+| Field | Contract |
+|---|---|
+| Source | admitted train attempts only。 |
+| Weighting | attempt等权；attempt内transition等权。 |
+| Validation / heldout | train statistics transform-only。 |
+
+## Validation and Readiness
+
+| Gate | Result | Evidence |
+|---|---|---|
+| Completeness | PASS | terminal 4096；infra 0。 |
+| Split leakage | PASS | 原split身份保留；reflection不进入训练。 |
+| Member identity | PASS | manifest `08e5f98f85fec52935c70fad2ab1a8d8910f19f2973a4cf8f5b33010f65bd859`。 |
+| Release identity | PASS | archive `c472015a1dc6705ccf7ab132daa6af0753340fb3ee8c244fe99998858c5d087b`。 |
+| Dataset status | READY | READY / C4096 / INFRA0。 |
diff --git a/objects/phone/trajectories/phone_09/stage4/data043-dr-rollouts-v1/dataset_manifest.json b/objects/phone/trajectories/phone_09/stage4/data043-dr-rollouts-v1/dataset_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..0aee0495bb2cca727b9a7dc9fc855ab3a3894110
--- /dev/null
+++ b/objects/phone/trajectories/phone_09/stage4/data043-dr-rollouts-v1/dataset_manifest.json
@@ -0,0 +1,7719 @@
+{
+  "claim_boundary": "phone_09 same-profile Teacher imitation only",
+  "counts": {
+    "heldout_attempts": 480,
+    "heldout_transitions": 126923,
+    "infra_failure_attempts": 0,
+    "reflection_attempts": 253,
+    "terminal_receipts": 4096,
+    "train_imitation_attempts": 2884,
+    "train_transitions": 764830,
+    "validation_attempts": 479,
+    "validation_transitions": 127478
+  },
+  "data_task_id": "SHARPA-BC-DATA-043",
+  "dataset_id": "20260927_phone_09_s1_c4096_dr_rsi_v1",
+  "members": {
+    "collection_snapshot.json": "a3425ae67938b34da48e8f4e76baccdbecc021fa3c6a57eed1efa3af7693f642",
+    "coverage_report.json": "7b58660d40cc0774364c0c2d8fcbd67153c3396c9968ef93e24b76215eb077b7",
+    "functional_positive_index.json": "e60633982558d1d0ec84d29f43f88fbccf8538d0a29e02b50194c724533bdc20",
+    "heldout_index.json": "73f509b05ce59add0153789f5f4965dd95df6d17b737fd19b245674f915153f7",
+    "infra_failure_index.json": "d4186c44cd9486ee499e1a90bf6f268b66978e8a5c91c3028c6a1f31066bc8b3",
+    "normalization.npz": "56504291ad855ab1adba6f211c9f34439fa985b3f97fc8fd3879e6b80e1e70cb",
+    "reflection_index.json": "b0326ad676811f6d6d27ca16a09c8d6b4f9073c41eeb754f95cd2b0c95b60b8a",
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+  },
+  "normalization_source": "train_imitation only",
+  "schema": "sharpa_teacher_rollout_dataset_manifest_v1",
+  "status": "READY"
+}
diff --git a/objects/phone/trajectories/phone_09/stage4/data043-dr-rollouts-v1/distribution_calibration.json b/objects/phone/trajectories/phone_09/stage4/data043-dr-rollouts-v1/distribution_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2b907e1b84d53eca8e37224c9eab553f2a09b34
--- /dev/null
+++ b/objects/phone/trajectories/phone_09/stage4/data043-dr-rollouts-v1/distribution_calibration.json
@@ -0,0 +1,120 @@
+{
+  "counts": {
+    "all": 4096,
+    "heldout": 512,
+    "train": 3072,
+    "validation": 512
+  },
+  "dimensions": [
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+      "max": 0.9997870242223144,
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+      "min": 7.827673107385635e-05
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+      "min": 4.5709311962127686e-05
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+      "min": 0.00018940307199954987
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+  ],
+  "gates": {
+    "G10_dimension_means": "PASS",
+    "G11_rsi_full_discrete_support": "PASS",
+    "G12_action_state_contract": "PASS",
+    "G1_exact_cardinality": "PASS",
+    "G2_dimension_15d": "PASS",
+    "G3_finite": "PASS",
+    "G4_unit_cube": "PASS",
+    "G5_unique_case_ids": "PASS",
+    "G6_unique_case_seeds": "PASS",
+    "G7_unique_dr_seeds": "PASS",
+    "G8_split_membership_frozen": "PASS",
+    "G9_dimension_extrema": "PASS"
+  },
+  "rsi_start_phase": {
+    "max": 511,
+    "min": 0
+  },
+  "schema": "sharpa_coldclone_formal_distribution_calibration_v1",
+  "status": "PASS"
+}
diff --git a/objects/phone/trajectories/phone_09/stage4/data043-dr-rollouts-v1/dr_bank.json b/objects/phone/trajectories/phone_09/stage4/data043-dr-rollouts-v1/dr_bank.json
new file mode 100644
index 0000000000000000000000000000000000000000..0adc29bf460fe43dfc5f824a3ecd8495e5cff333
--- /dev/null
+++ b/objects/phone/trajectories/phone_09/stage4/data043-dr-rollouts-v1/dr_bank.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5236bb4ef60101dac15b523a0780411398b8b64046e9d161979a8dcf158a256e
+size 13929154
diff --git a/objects/phone/trajectories/phone_10/stage4/data044-dr-rollouts-v1/checksums.json b/objects/phone/trajectories/phone_10/stage4/data044-dr-rollouts-v1/checksums.json
new file mode 100644
index 0000000000000000000000000000000000000000..a34e6f7efb2c430551b2056139f603a88ab96349
--- /dev/null
+++ b/objects/phone/trajectories/phone_10/stage4/data044-dr-rollouts-v1/checksums.json
@@ -0,0 +1,8 @@
+{
+  "archive_sha256": "05322cf52ee41a14b558660da4c3baa0d1f78e8fdd2525bae6914a31d34fc5e0",
+  "archive_size_bytes": 1308344320,
+  "data_task_id": "SHARPA-BC-DATA-044",
+  "manifest_sha256": "c7cac9e30db290c0751bb43948958191007cb34eba015cf4f6ef96fd7bf8cae2",
+  "phone_id": "phone_10",
+  "schema": "sharpa_stage4_release_checksums_v1"
+}
diff --git a/objects/phone/trajectories/phone_10/stage4/data044-dr-rollouts-v1/data_card.md b/objects/phone/trajectories/phone_10/stage4/data044-dr-rollouts-v1/data_card.md
new file mode 100644
index 0000000000000000000000000000000000000000..140c4c757ea1feec02eda8e1e74175407ea470e6
--- /dev/null
+++ b/objects/phone/trajectories/phone_10/stage4/data044-dr-rollouts-v1/data_card.md
@@ -0,0 +1,96 @@
+# Data Card: SHARPA-BC-DATA-044 / 20260927_phone_10_s1_c4096_dr_rsi_v1
+
+| Field | Value |
+|---|---|
+| Data Task ID | SHARPA-BC-DATA-044 |
+| Dataset ID | 20260927_phone_10_s1_c4096_dr_rsi_v1 |
+| Status | READY / C4096 / INFRA0 |
+| Purpose | 保存 phone_10 residual Teacher 在冻结 DR+RSI 分布下的 closed-loop rollout，供 Stage4 BC/Student 独立复用。 |
+| Source mode | teacher_rollout；每个attempt独立采样DR与RSI，保存Teacher真实执行后的deployable observation和absolute applied target。 |
+| Source lineage | SHARPA-AC-P10-001 selected model_9000.pt |
+| Episodes / splits | terminal 4096；train 2693；validation 447；heldout 445；reflection 511；infra 0。 |
+| Sampling | 预先冻结的DR14 + uniform RSI bank；失败保留原split身份，禁止按结果补抽。 |
+| Observation | GRU current-frame 71D与MLP history-3 213D deployable views；不含reference、phase、Teacher ID或DR latent。 |
+| Action / label | 31D absolute final-applied target；不是Teacher raw residual。 |
+| Normalization | admitted train only；attempt等权、attempt内transition等权；validation/heldout transform-only；std floor `1e-8`。 |
+| Producer | formal044_recovery_v3 finalizer |
+| Artifact / manifest | archive 1308344320 bytes / SHA `05322cf52ee41a14b558660da4c3baa0d1f78e8fdd2525bae6914a31d34fc5e0`；dataset manifest SHA `c7cac9e30db290c0751bb43948958191007cb34eba015cf4f6ef96fd7bf8cae2`。 |
+| Claim boundary | 仅支持 phone_10、同一Teacher与同一DR+RSI collection distribution的动作蒸馏；不证明跨trajectory、跨物体、P2 robustness或sim2real。 |
+
+## Source and Provenance
+
+| Artifact | Identity / value | Evidence |
+|---|---|---|
+| Teacher lineage | SHARPA-AC-P10-001 selected model_9000.pt | 冻结selected Teacher与Stage2 identity。 |
+| Dataset manifest | `c7cac9e30db290c0751bb43948958191007cb34eba015cf4f6ef96fd7bf8cae2` | READY finalizer输出；所有成员逐SHA绑定。 |
+| Release archive | `05322cf52ee41a14b558660da4c3baa0d1f78e8fdd2525bae6914a31d34fc5e0` / 1308344320 bytes | create-only `dataset_v1/` tar。 |
+
+## Schema
+
+| Field | Shape / type | Semantics |
+|---|---|---|
+| observation | `(A,71)`或`(A,213)` float32 | 当前帧GRU view或attempt-local history-3 MLP view。 |
+| target | `(A,31)` float32 | wrist xyz3 + rotation6D6 + 22 absolute finger targets。 |
+| transition_index | `(A,)` int64 | attempt-local连续控制步。 |
+| state_t1_student_frame | `(A,71)` float32 | physics step后的next deployable state，仅用于审计。 |
+
+## Temporal Alignment
+
+| Item | Contract |
+|---|---|
+| Physics / control | PhysX 120Hz；policy/control 30Hz；decimation4。 |
+| Transition | `obs_t → Teacher → final_applied_target_t → 4 physics substeps → state_t+1`。 |
+| Boundaries | history和future-action window不得跨attempt、split或index gap。 |
+
+## Simulator Environment Randomization
+
+| Field | Value |
+|---|---|
+| Enabled | true |
+| Profile | reset-only DR14 + reference augmentation + uniform RSI。 |
+| Exact sampling authority | 发布的DR bank及dataset manifest。 |
+
+| Category | Parameter | Distribution / range | Sampling / effect |
+|---|---|---|---|
+| Reference augmentation | common X/Y | each `U[-0.05,0.05] m` | 同时作用hand和phone。 |
+| Reference augmentation | common yaw | `U[-30°,30°]` | 同时作用hand和phone。 |
+| Reset | phone XYZ | each `U[-0.006,0.006] m` | reference/RSI选择后应用。 |
+| Reset | phone rotation | signed angle `U[-3°,3°]` | 每次reset独立采样。 |
+| Reset | finger wrap/rub | wrap `U[0,0.06] rad`；rub `U[-0.025,0.025] rad` | grasp-shaped reset。 |
+| RSI | normalized phase | `U[0,1)` | 映射到合法reference start index。 |
+
+| Option | State | Meaning |
+|---|---|---|
+| Physics randomization | disabled | mass、COM、inertia、friction和drive固定。 |
+| Observation/noise/lag | disabled | clean observation；zero lag。 |
+| Disturbance/push | disabled | none。 |
+
+## Splits, Sampling, and Leakage
+
+| Split | Episodes / rows | Purpose |
+|---|---:|---|
+| train | 2693 | 唯一optimization和normalization来源。 |
+| validation | 447 | offline diagnostic；不参与normalization。 |
+| heldout | 445 | same-source unseen-attempt audit。 |
+| reflection | 511 | 失败attempt；不进入监督数据。 |
+| infra | 0 | 任一infra都会阻止READY。 |
+
+Approved exception：本批次使用冻结的C4096或DATA-019 PARTIAL2763拓扑，而不是默认96 train + 32 heldout。
+
+## Normalization
+
+| Field | Contract |
+|---|---|
+| Source | admitted train attempts only。 |
+| Weighting | attempt等权；attempt内transition等权。 |
+| Validation / heldout | train statistics transform-only。 |
+
+## Validation and Readiness
+
+| Gate | Result | Evidence |
+|---|---|---|
+| Completeness | PASS | terminal 4096；infra 0。 |
+| Split leakage | PASS | 原split身份保留；reflection不进入训练。 |
+| Member identity | PASS | manifest `c7cac9e30db290c0751bb43948958191007cb34eba015cf4f6ef96fd7bf8cae2`。 |
+| Release identity | PASS | archive `05322cf52ee41a14b558660da4c3baa0d1f78e8fdd2525bae6914a31d34fc5e0`。 |
+| Dataset status | READY | READY / C4096 / INFRA0。 |
diff --git a/objects/phone/trajectories/phone_10/stage4/data044-dr-rollouts-v1/dataset_manifest.json b/objects/phone/trajectories/phone_10/stage4/data044-dr-rollouts-v1/dataset_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2009364c10c026fb24c6e30ef053b7d5f03ae67
--- /dev/null
+++ b/objects/phone/trajectories/phone_10/stage4/data044-dr-rollouts-v1/dataset_manifest.json
@@ -0,0 +1,7203 @@
+{
+  "claim_boundary": "phone_10 same-profile Teacher imitation only",
+  "counts": {
+    "heldout_attempts": 445,
+    "heldout_transitions": 127901,
+    "infra_failure_attempts": 0,
+    "reflection_attempts": 511,
+    "terminal_receipts": 4096,
+    "train_imitation_attempts": 2693,
+    "train_transitions": 772088,
+    "validation_attempts": 447,
+    "validation_transitions": 127724
+  },
+  "data_task_id": "SHARPA-BC-DATA-044",
+  "dataset_id": "20260927_phone_10_s1_c4096_dr_rsi_v1",
+  "members": {
+    "collection_snapshot.json": "ea18fdc7d976abf301acc549248b77c9d8ba2f45f173c7df3ce5dc7fdacbf776",
+    "coverage_report.json": "09123fd583e707645f032fab6cc903393282b90556c2d7453b1efc89c2a142b9",
+    "functional_positive_index.json": "06d353711994a99e74e9e3aed5189ced9633b49ac821ce69eb407b1defab43dc",
+    "heldout_index.json": "c5d8ac0bb6a5e69155dac59b87e9b212be7de80da0f38b7842d712e9e353a10b",
+    "infra_failure_index.json": "06d353711994a99e74e9e3aed5189ced9633b49ac821ce69eb407b1defab43dc",
+    "normalization.npz": "742620e750008bdd328f8c670a6171fcc4ee0a22d4ee183a7840b145a46b1fe5",
+    "reflection_index.json": "247c90b314276a6fec2ac964218c0f83ed1d4d82ec4f8358754fdc231e93a244",
+    "schema.json": "d6115247960aa306bab1debaaa1cf7ea2600e8a34ea299055ca9bbede9bb7b00",
+    "test_index.json": "06d353711994a99e74e9e3aed5189ced9633b49ac821ce69eb407b1defab43dc",
+    "train_imitation_index.json": "bc057d260a6d986b44b986bfda43d4fbfaf66fc35c2e76f5ea9f33c40417145b",
+    "transition_audit.json": "b92de35151cbe042c98c38cdda8b0b5b46832807cb09e42bdb32d622366eb787",
+    "validation_index.json": "9e1b30576b2a0358d319a997c3af597001cf5ee8c801c6be6d47308937859809",
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+    "views/pose_history3_mlp_v1/phone_10/20260927_phone_10_s1_c4096_dr_rsi_v1__validation__row0511.npz": "db670dcfd7291298e1d62ff6dbf82893cb2560681d1e52e7f5f3851894ddd07e"
+  },
+  "normalization_source": "train_imitation only",
+  "schema": "sharpa_teacher_rollout_dataset_manifest_v1",
+  "status": "READY"
+}
diff --git a/objects/phone/trajectories/phone_10/stage4/data044-dr-rollouts-v1/distribution_calibration.json b/objects/phone/trajectories/phone_10/stage4/data044-dr-rollouts-v1/distribution_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..77de62c1bbef99f964e438be1cdbb5f0309d66c7
--- /dev/null
+++ b/objects/phone/trajectories/phone_10/stage4/data044-dr-rollouts-v1/distribution_calibration.json
@@ -0,0 +1,120 @@
+{
+  "counts": {
+    "all": 4096,
+    "heldout": 512,
+    "train": 3072,
+    "validation": 512
+  },
+  "dimensions": [
+    {
+      "index": 0,
+      "max": 0.9999933401122689,
+      "mean": 0.4999999995343387,
+      "min": 0.0001247953623533249
+    },
+    {
+      "index": 1,
+      "max": 0.9999042144045234,
+      "mean": 0.4999999995343387,
+      "min": 0.00020977947860956192
+    },
+    {
+      "index": 2,
+      "max": 0.9997602133080363,
+      "mean": 0.4999999995343387,
+      "min": 5.2724964916706085e-05
+    },
+    {
+      "index": 3,
+      "max": 0.9998234314844012,
+      "mean": 0.4999999995343387,
+      "min": 0.00018991343677043915
+    },
+    {
+      "index": 4,
+      "max": 0.9999875612556934,
+      "mean": 0.4999999995343387,
+      "min": 0.0002152658998966217
+    },
+    {
+      "index": 5,
+      "max": 0.9998151753097773,
+      "mean": 0.4999999995343387,
+      "min": 0.00019729789346456528
+    },
+    {
+      "index": 6,
+      "max": 0.9999903086572886,
+      "mean": 0.4999999995343387,
+      "min": 9.817536920309067e-05
+    },
+    {
+      "index": 7,
+      "max": 0.9997988818213344,
+      "mean": 0.4999999995343387,
+      "min": 0.00014535430818796158
+    },
+    {
+      "index": 8,
+      "max": 0.9997803028672934,
+      "mean": 0.4999999995343387,
+      "min": 6.829667836427689e-05
+    },
+    {
+      "index": 9,
+      "max": 0.9998542927205563,
+      "mean": 0.4999999995343387,
+      "min": 0.00012292712926864624
+    },
+    {
+      "index": 10,
+      "max": 0.9998900685459375,
+      "mean": 0.4999999995343387,
+      "min": 0.00016637425869703293
+    },
+    {
+      "index": 11,
+      "max": 0.9999030902981758,
+      "mean": 0.4999999995343387,
+      "min": 4.359148442745209e-05
+    },
+    {
+      "index": 12,
+      "max": 0.9999511381611228,
+      "mean": 0.4999999995343387,
+      "min": 3.752671182155609e-05
+    },
+    {
+      "index": 13,
+      "max": 0.9998934250324965,
+      "mean": 0.4999999995343387,
+      "min": 0.00015564821660518646
+    },
+    {
+      "index": 14,
+      "max": 0.9999322220683098,
+      "mean": 0.4999999995343387,
+      "min": 1.5500932931900024e-05
+    }
+  ],
+  "gates": {
+    "G10_dimension_means": "PASS",
+    "G11_rsi_full_discrete_support": "PASS",
+    "G12_action_state_contract": "PASS",
+    "G1_exact_cardinality": "PASS",
+    "G2_dimension_15d": "PASS",
+    "G3_finite": "PASS",
+    "G4_unit_cube": "PASS",
+    "G5_unique_case_ids": "PASS",
+    "G6_unique_case_seeds": "PASS",
+    "G7_unique_dr_seeds": "PASS",
+    "G8_split_membership_frozen": "PASS",
+    "G9_dimension_extrema": "PASS"
+  },
+  "rsi_start_phase": {
+    "max": 510,
+    "min": 0
+  },
+  "schema": "sharpa_coldclone_formal_distribution_calibration_v1",
+  "status": "PASS"
+}
diff --git a/objects/phone/trajectories/phone_10/stage4/data044-dr-rollouts-v1/dr_bank.json b/objects/phone/trajectories/phone_10/stage4/data044-dr-rollouts-v1/dr_bank.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c2c001f20dad392444596edc3e97b03e8a10abe
--- /dev/null
+++ b/objects/phone/trajectories/phone_10/stage4/data044-dr-rollouts-v1/dr_bank.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e853bb4fb4c08f2676c8d1e6a0383a6d24c239235a566d8aa27f7a9a5b00956
+size 13929328
diff --git a/objects/phone/trajectories/phone_14/stage4/data033-dr-rollouts-v1/checksums.json b/objects/phone/trajectories/phone_14/stage4/data033-dr-rollouts-v1/checksums.json
new file mode 100644
index 0000000000000000000000000000000000000000..08a6f1e08c5c2e0fd907066e8f45424ca8a32135
--- /dev/null
+++ b/objects/phone/trajectories/phone_14/stage4/data033-dr-rollouts-v1/checksums.json
@@ -0,0 +1,8 @@
+{
+  "archive_sha256": "f27c1c269f33b85127d0ae3a6b173c1188f1b5e44d2fb136ab09d9c864aa4f1c",
+  "archive_size_bytes": 1039912960,
+  "data_task_id": "SHARPA-BC-DATA-033",
+  "manifest_sha256": "1237116a7ed7f004fe0ed6d74edacf178089371f438a6147161d7d564af760d5",
+  "phone_id": "phone_14",
+  "schema": "sharpa_stage4_release_checksums_v1"
+}
diff --git a/objects/phone/trajectories/phone_14/stage4/data033-dr-rollouts-v1/data_card.md b/objects/phone/trajectories/phone_14/stage4/data033-dr-rollouts-v1/data_card.md
new file mode 100644
index 0000000000000000000000000000000000000000..e4d34c10db63df3d2b243548a2e982be8e1d5546
--- /dev/null
+++ b/objects/phone/trajectories/phone_14/stage4/data033-dr-rollouts-v1/data_card.md
@@ -0,0 +1,139 @@
+# Data Card: SHARPA-BC-DATA-033 / 20260903_sharpa_ac_p14_001_phone_14_c4096_dr_rsi_v1
+
+| Field | Value |
+|---|---|
+| Data Task ID | SHARPA-BC-DATA-033 |
+| Dataset ID | 20260903_sharpa_ac_p14_001_phone_14_c4096_dr_rsi_v1 |
+| Status | READY / C4096 / INFRA0 |
+| Purpose | 从phone_14 `SHARPA-AC-P14-001` S1 selected checkpoint采集4096个与Teacher训练时RefAug/reset-only DR及uniform RSI分布一致的独立closed-loop rollouts，形成3072 train、512 validation、512 sealed heldout。 |
+| Source mode | `teacher_rollout`；fresh Isaac/PhysX；每个attempt独立采样DR与RSI，从采样phase执行到reference terminal再加15 control-step hold。 |
+| Source lineage | `SHARPA-AC-P14-001`；W&B S1 selected `model_8500.pt`；原始8-seed evaluation仅为diagnostic，P2=`NOT_RUN`。 |
+| Episodes / splits | 4096 preregistered attempts=`3072 train + 512 validation + 512 sealed heldout`；失败保留原split身份并进入reflection/infra，禁止按结果补抽或搬移。 |
+| Sampling | 15D=`DR14 + uniform RSI phase`；每row独立采样；先物化、校准并冻结4096-row bank，之后才能launch。 |
+| Observation | 71D deployable current frame及attempt-local history-3 213D view；不含velocity、phase/reference、Teacher ID、DR latent或future state。 |
+| Action / label | controller真实执行的31D absolute `final_applied_target`；Teacher 28D residual仅作diagnostic，不能作为Student label。 |
+| Normalization | admitted train only；attempt等权、attempt内transition等权；validation/heldout transform-only；std floor `1e-8`。 |
+| Producer | formal producer commit `fc39d2f03df50e8888e2fd1bc00afbfc1725f1e5`；executable spec `outputs/formal033_v3/spec.json`。 |
+| Artifact / manifest | create-only `outputs/formal033_v3`；bank SHA `23504867795883852ac5acddd4e690ac4c602821933e895772e77fbd070029e5`；dataset manifest待4096 receipts后生成。 |
+| Claim boundary | 仅支持phone_14、同一Teacher、同RefAug/reset-only DR+uniform-RSI分布的动作蒸馏研究；不支持physics/noise/push、跨episode、跨物体、P2 robustness或真机泛化。 |
+
+## Source and Provenance
+
+| Artifact | Identity / value | Evidence |
+|---|---|---|
+| Teacher Task | `SHARPA-AC-P14-001` | Auto-Curriculum S1 RefAug/reset-only DR candidate。 |
+| Teacher Training Card | `teacher/checkpoints/sharpa_phone20_autocurriculum_selected_v1/phone_14/inputs/training_card.md`；SHA `74c2259856114f7453b8efc1cabf8c923ff4e0bf04e19868493235fc762160d6` | W&B selected-checkpoint artifact原样下载。 |
+| Selected checkpoint | `teacher/checkpoints/sharpa_phone20_autocurriculum_selected_v1/phone_14/model_8500.pt`；`model_8500.pt`；iteration `8500`；SHA `644117cb1a26eb145e5598a8b3148fd0a2261c02a9e2bf728f414a5ee57684fa` | W&B artifact `dfnet/dex-retarget/sharpa-phone_14-autocurriculum-s1-v1-s1-selected-checkpoint:v0`；local SHA gate PASS。 |
+| Teacher code | commit `4a146fe07ef7f421745c3506ca803594f39b4fc8` | checkpoint selection manifest。 |
+| Runtime manifest | `teacher/checkpoints/sharpa_phone20_autocurriculum_selected_v1/phone_14/inputs/runtime_manifest.json`；SHA `edb7361a4e2788aff9966a36e09132755f64c3318ebde086c93026d6c9f1af9e` | 仅保存manifest；完整可执行runtime仍须在G13物化并回读。 |
+| Curriculum manifest | `teacher/checkpoints/sharpa_phone20_autocurriculum_selected_v1/phone_14/inputs/curriculum_manifest.json`；SHA `41ee49343ecd9c957b79823297e5f13280c66d22ee4361a598213cb8f7d04a52` | S0 nominal → S1 RefAug/reset-only DR。 |
+| Stage2 handoff | `teacher/checkpoints/sharpa_phone20_autocurriculum_selected_v1/phone_14/inputs/stage2_handoff.json`；SHA `1ac48397b8a998847567fbbe2b63c7e4ca47a898c796c27680a0ba1e01726fc0`；status `STAGE2_HANDOFF_ACCEPTED` | W&B artifact原样下载。 |
+| Stage1 NPZ identity | SHA `23e3c361420a5bc791ba9985d0b4a9123d6035d1c4684aaf1e6cf1003b8e6137` | bytes尚未随本checkpoint bundle下载；G13前必须解析。 |
+| Human H5 identity | SHA `70c630916707dc64be6cd16fa8118f27047c2564e225c44affe49d62d258f67c` | `761` frames at `60.0` Hz。 |
+| Runtime retarget H5 identity | SHA `60930f5f686c41ab295ae15ea43f566d9fe6e3da47e02435349eb6e6756177d3` | `380` nominal policy targets at `30.0` Hz。 |
+| Reference manifest identity | SHA `844ebeb308da5f95ba9d4c349f3fd3ddc57cae538463deea119d977ed58cf770` | Stage2 accepted reference。 |
+| GoalContract identity | SHA `e56d52dfeec1eefa341981543ce0f4b3a6dc25e1b01179f00bf12383aaf6e14d` | runtime artifact manifest。 |
+| Historical evaluation | [W&B seed0–7 diagnostic](https://wandb.ai/dfnet/dex-retarget/runs/sharpa-phone_14-autocurriculum-evaluation-seed0-7-v1) | checkpoint identity matched；P2 `NOT_RUN / NON_PROMOTABLE`。 |
+
+## Schema
+
+| Field | Shape / type | Semantics |
+|---|---|---|
+| `time_s` | `(S,) float64` | 30 Hz control timestamps from the sampled RSI phase。 |
+| `actual_q` | `(S,22) float32`, rad | PhysX actual Sharpa finger joints。 |
+| `actual_wrist_pose_wxyz` | `(S,7) float32`, world frame | actual wrist translation and quaternion。 |
+| `actual_object_pose_wxyz` | `(S,7) float32`, world frame | actual phone translation and quaternion。 |
+| `raw_residual` / `processed_residual` | `(A,28) float32` | Teacher diagnostic action before/after adapter processing。 |
+| `final_applied_target_wxyz` | `(A,29) float32` | runtime controller target representation。 |
+| `student_frame` | `(A,71) float32` | deployable current-frame observation。 |
+| `applied_target_31` | `(A,31) float32` | unique BC supervision label: wrist position3 + rotation6D6 + joint22。 |
+| `state_t1_student_frame` | `(A,71) float32` | post-physics next state，audit-only。 |
+| `pose_history3_mlp_v1` | `(A,213) float32` | three attempt-local 71D frames，oldest→current；first-frame repeat padding。 |
+| `normalized_sampling_15d` | `(15,) float64` | DR14+RSI provenance-only；不得进入policy input。 |
+| reset/failure/action ledgers | JSON | sampled parameters、actual runtime readback、drop/invalid/infra与action-chain evidence。 |
+
+## Temporal Alignment
+
+| Item | Contract |
+|---|---|
+| Rates | PhysX 120 Hz；policy/control 30 Hz；decimation=4。 |
+| Transition | `obs_t → Teacher residual_t → controller final_applied_target_t → four PhysX substeps → state_t+1`。 |
+| RSI | `u_phase ~ U[0,1)`；`start=floor(u_phase × 380)`，clamp到`0…379`。 |
+| Horizon | `A=(380-start)+15`；`S=A+1`；即使drop/invalid也记录完整终态与ledger。 |
+| History | strictly attempt-local；不得跨attempt、split或index gap。 |
+| Future windows | 后续Consumer可构造`T_p` window，但window不得跨attempt；tail必须masked。 |
+
+## Simulator Environment Randomization
+
+| Field | Value |
+|---|---|
+| Enabled | true |
+| Profile | `SHARPA-AC-P14-001` S1 RefAug/reset-only DR + uniform RSI。 |
+| Source config SHA | `d99efe6b27a179211fec8f3077e5605f9d804c666f0ac9a16c3e8349795982b8`。 |
+| Activation | every reset；nominal fraction `0.0`。 |
+| Mask | common rigid transform同时作用hand与phone；relative reset保持grasp-shaped范围。 |
+| Seed | 4096-row bank seed/namespace在distribution calibration阶段冻结；当前`NOT_YET_MATERIALIZED`。 |
+
+| Category | Parameter | Distribution / range | Sampling / effect |
+|---|---|---|---|
+| Reference augmentation | common X/Y | each `U[-0.05,0.05] m` | 同时作用hand和phone。 |
+| Reference augmentation | common yaw | `U[-30°,30°]` | 同时作用hand和phone。 |
+| Relative reset | phone XYZ | each `U[-0.006,0.006] m` | after RSI/reference selection。 |
+| Relative reset | phone rotation | axis uniformly sampled；signed angle `U[-3°,3°]` | every reset。 |
+| Finger reset | shared wrap | `U[0,0.06] rad` | coupled flexion joints，只增加包握。 |
+| Finger reset | four-finger rub | each `U[-0.025,0.025] rad` | independent rub joints。 |
+| RSI | normalized phase | `U[0,1)` | maps to discrete start phase。 |
+
+### Explicitly disabled / not applicable
+
+| Option | State | Meaning |
+|---|---|---|
+| Physics/actuator randomization | disabled | mass、COM、inertia、friction与drive固定。 |
+| Observation/noise/lag | disabled | clean observation；zero lag。 |
+| Disturbance/push | disabled | none。 |
+| Gravity curriculum | disabled | fixed full gravity `-9.81 m/s²`。 |
+
+## Splits, Sampling, and Leakage
+
+Approved Exception: Shengtao于2026-09-03批准每个独立Teacher使用4096 attempts并划分为3072 train、512 validation、512 sealed heldout，明确偏离默认96 train + 32 heldout topology。
+
+| Split | Episodes / rows | Purpose |
+|---|---:|---|
+| train | 3072 | admitted rows的唯一optimization与normalization来源。 |
+| validation | 512 | offline checkpoint selection；不得参与normalization。 |
+| sealed heldout | 512 | 所有模型选择冻结后的同分布unseen-attempt audit。 |
+| reflection | E5/E6/E9失败 | 保留预注册split身份；不得进入监督数据或被成功补抽替换。 |
+| infra_failure | identity/runtime/schema failure | 阻止Dataset READY；不得解释成policy failure。 |
+
+Split membership必须在rollout前由case ID确定。同一seed、trajectory window、parent/derived copy不得跨split；heldout不得反向用于collector、normalization、checkpoint、模型或超参数选择。
+
+## Normalization
+
+| Field | Contract |
+|---|---|
+| Source | admitted train attempts only。 |
+| Weighting | each rollout equal；within each rollout，each transition equal。 |
+| Stored arrays | MLP213、GRU71与target31 mean/second moment/std，以及exact train attempt IDs和weights。 |
+| Floor | `std=max(std,1e-8)`。 |
+| Validation / heldout | train statistics transform-only；禁止重算。 |
+
+## Validation and Readiness
+
+| Gate | Result | Evidence |
+|---|---|---|
+| Data Card format | PASS | unified validator对本批次7张Card报告`validated=7 failures=0`。 |
+| Selected checkpoint identity | PASS | W&B selected artifact与local SHA一致：`644117cb1a26eb145e5598a8b3148fd0a2261c02a9e2bf728f414a5ee57684fa`。 |
+| Stage2/H5/runtime resolvability | PASS | `outputs/prepared_v1`中clone-local H5/assets/runtime逐SHA解析通过。 |
+| G1–G12 distribution calibration | PASS | `outputs/formal033_v3/distribution_calibration.json`；SHA `a1bc11f156d3007d7c7b8a9dfa8ff70ed10e2e8a798799baa5113149b18b11d7`。 |
+| G13 identity/runtime | PASS | producer `fc39d2f`；checkpoint、runtime、artifact、goal与spec/bank SHA preflight通过。 |
+| G14 one-attempt RSI smoke | PASS | v3正式bank真实non-PLAY policy path运行通过。 |
+| G15 multi-row distribution readback | PASS | 8 train + 1 validation + 1 sealed-heldout正式rows运行通过。 |
+| G16 completeness | PASS | 4096 terminal receipts；infra0；reflection120。 |
+| G17 schema/timing | PASS | MLP213/GRU71/target31/state-t+1 71；所有admitted attempts满足`S=A+1`。 |
+| G18 split/normalization | PASS | train2982/604314 transitions；validation498/100834；heldout496/100383；normalization仅来自admitted train。 |
+| G19 final manifest | PASS | manifest SHA `1237116a7ed7f004fe0ed6d74edacf178089371f438a6147161d7d564af760d5`；archive SHA `f27c1c269f33b85127d0ae3a6b173c1188f1b5e44d2fb136ab09d9c864aa4f1c`。 |
+| DATASET_READY | READY | 只支持phone_14 same-profile Teacher imitation。 |
+
+## Approved Exception
+
+Shengtao于2026-09-03批准本批次每个独立Teacher请求4096个DR+RSI rollout，固定3072/512/512三split，偏离默认128-attempt topology。该批准只授权Draft Card与checkpoint准备；正式并行collection须在Cards审核和G1–G15通过后另行启动。
diff --git a/objects/phone/trajectories/phone_14/stage4/data033-dr-rollouts-v1/dataset_manifest.json b/objects/phone/trajectories/phone_14/stage4/data033-dr-rollouts-v1/dataset_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3ac1cd4241ca24798590e00586678ceb40adbee
--- /dev/null
+++ b/objects/phone/trajectories/phone_14/stage4/data033-dr-rollouts-v1/dataset_manifest.json
@@ -0,0 +1,7985 @@
+{
+  "claim_boundary": "phone_14 same-profile Teacher imitation only",
+  "counts": {
+    "heldout_attempts": 496,
+    "heldout_transitions": 100383,
+    "infra_failure_attempts": 0,
+    "reflection_attempts": 120,
+    "terminal_receipts": 4096,
+    "train_imitation_attempts": 2982,
+    "train_transitions": 604314,
+    "validation_attempts": 498,
+    "validation_transitions": 100834
+  },
+  "data_task_id": "SHARPA-BC-DATA-033",
+  "dataset_id": "20260903_sharpa_ac_p14_001_phone_14_c4096_dr_rsi_v1",
+  "members": {
+    "collection_snapshot.json": "b54b8ae1188b993941bc7025400ca8eb55fa97209b83d23ef94cf671f47a6a95",
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+    "heldout_index.json": "66e33b76238fde840ac9a49d317e3159649d909b5a433a9ad820afb4423f0dbe",
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+  },
+  "normalization_source": "train_imitation only",
+  "schema": "sharpa_teacher_rollout_dataset_manifest_v1",
+  "status": "READY"
+}
diff --git a/objects/phone/trajectories/phone_14/stage4/data033-dr-rollouts-v1/rollout_dataset.tar b/objects/phone/trajectories/phone_14/stage4/data033-dr-rollouts-v1/rollout_dataset.tar
new file mode 100644
index 0000000000000000000000000000000000000000..e7a0fa12e4c141755122cc0bc5647653335854f3
--- /dev/null
+++ b/objects/phone/trajectories/phone_14/stage4/data033-dr-rollouts-v1/rollout_dataset.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f27c1c269f33b85127d0ae3a6b173c1188f1b5e44d2fb136ab09d9c864aa4f1c
+size 1039912960
diff --git a/objects/phone/trajectories/phone_17/stage4/data034-dr-rollouts-v1/checksums.json b/objects/phone/trajectories/phone_17/stage4/data034-dr-rollouts-v1/checksums.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe3b2e7eb63fbc5f4545490dd01fe9ffb0683298
--- /dev/null
+++ b/objects/phone/trajectories/phone_17/stage4/data034-dr-rollouts-v1/checksums.json
@@ -0,0 +1,8 @@
+{
+  "archive_sha256": "fef1362e9b106d41a8256cd4acf2be04066dff3c8ce2e0d9b7ad6f3e9565b5e0",
+  "archive_size_bytes": 1056522240,
+  "data_task_id": "SHARPA-BC-DATA-034",
+  "manifest_sha256": "7ca167eaf9c6396785dfaabed6dcf0f90816026af576c2d06dfc7581c23b0caa",
+  "phone_id": "phone_17",
+  "schema": "sharpa_stage4_release_checksums_v1"
+}
diff --git a/objects/phone/trajectories/phone_17/stage4/data034-dr-rollouts-v1/data_card.md b/objects/phone/trajectories/phone_17/stage4/data034-dr-rollouts-v1/data_card.md
new file mode 100644
index 0000000000000000000000000000000000000000..ebc9d46574569b6fe7c835b419ca5adbc6c145de
--- /dev/null
+++ b/objects/phone/trajectories/phone_17/stage4/data034-dr-rollouts-v1/data_card.md
@@ -0,0 +1,139 @@
+# Data Card: SHARPA-BC-DATA-034 / 20260903_sharpa_ac_p17_001_phone_17_c4096_dr_rsi_v1
+
+| Field | Value |
+|---|---|
+| Data Task ID | SHARPA-BC-DATA-034 |
+| Dataset ID | 20260903_sharpa_ac_p17_001_phone_17_c4096_dr_rsi_v1 |
+| Status | READY / C4096 / INFRA0 |
+| Purpose | 从phone_17 `SHARPA-AC-P17-001` S1 selected checkpoint采集4096个与Teacher训练时RefAug/reset-only DR及uniform RSI分布一致的独立closed-loop rollouts，形成3072 train、512 validation、512 sealed heldout。 |
+| Source mode | `teacher_rollout`；fresh Isaac/PhysX；每个attempt独立采样DR与RSI，从采样phase执行到reference terminal再加15 control-step hold。 |
+| Source lineage | `SHARPA-AC-P17-001`；W&B S1 selected `model_7999.pt`；原始8-seed evaluation仅为diagnostic，P2=`NOT_RUN`。 |
+| Episodes / splits | 4096 preregistered attempts=`3072 train + 512 validation + 512 sealed heldout`；失败保留原split身份并进入reflection/infra，禁止按结果补抽或搬移。 |
+| Sampling | 15D=`DR14 + uniform RSI phase`；每row独立采样；先物化、校准并冻结4096-row bank，之后才能launch。 |
+| Observation | 71D deployable current frame及attempt-local history-3 213D view；不含velocity、phase/reference、Teacher ID、DR latent或future state。 |
+| Action / label | controller真实执行的31D absolute `final_applied_target`；Teacher 28D residual仅作diagnostic，不能作为Student label。 |
+| Normalization | admitted train only；attempt等权、attempt内transition等权；validation/heldout transform-only；std floor `1e-8`。 |
+| Producer | formal producer commit `fc39d2f03df50e8888e2fd1bc00afbfc1725f1e5`；executable spec `outputs/formal034_v3/spec.json`。 |
+| Artifact / manifest | create-only `outputs/formal034_v3`；bank SHA `bb8b3f18c0e56e540639530eb5d80aced6e960d32b193abd52e5e2c92cb5c8cf`；dataset manifest待4096 receipts后生成。 |
+| Claim boundary | 仅支持phone_17、同一Teacher、同RefAug/reset-only DR+uniform-RSI分布的动作蒸馏研究；不支持physics/noise/push、跨episode、跨物体、P2 robustness或真机泛化。 |
+
+## Source and Provenance
+
+| Artifact | Identity / value | Evidence |
+|---|---|---|
+| Teacher Task | `SHARPA-AC-P17-001` | Auto-Curriculum S1 RefAug/reset-only DR candidate。 |
+| Teacher Training Card | `teacher/checkpoints/sharpa_phone20_autocurriculum_selected_v1/phone_17/inputs/training_card.md`；SHA `04fdca8ab41229a84ad3f73887486b9dd63f9aad30b1b8c1e1509fdb0d445fae` | W&B selected-checkpoint artifact原样下载。 |
+| Selected checkpoint | `teacher/checkpoints/sharpa_phone20_autocurriculum_selected_v1/phone_17/model_7999.pt`；`model_7999.pt`；iteration `7999`；SHA `675b27da543631c11da1c8b1b7736ee6cb12dcd89893b4d7ac9867fa2dfcf5d5` | W&B artifact `dfnet/dex-retarget/sharpa-phone_17-autocurriculum-s1-v1-s1-selected-checkpoint:v0`；local SHA gate PASS。 |
+| Teacher code | commit `4a146fe07ef7f421745c3506ca803594f39b4fc8` | checkpoint selection manifest。 |
+| Runtime manifest | `teacher/checkpoints/sharpa_phone20_autocurriculum_selected_v1/phone_17/inputs/runtime_manifest.json`；SHA `4be61b57c42fb3d69ff80ffa294ebb291ec9722575790545caad615462754d5a` | 仅保存manifest；完整可执行runtime仍须在G13物化并回读。 |
+| Curriculum manifest | `teacher/checkpoints/sharpa_phone20_autocurriculum_selected_v1/phone_17/inputs/curriculum_manifest.json`；SHA `318a9b690e6e423a3ae48efcd621a2355b48f9724788cc3f35d9ec2ae388d77a` | S0 nominal → S1 RefAug/reset-only DR。 |
+| Stage2 handoff | `teacher/checkpoints/sharpa_phone20_autocurriculum_selected_v1/phone_17/inputs/stage2_handoff.json`；SHA `d2ff7390e22f8701b38f739bcb1333d398123a872349e6fbb17a09baee69e4eb`；status `STAGE2_HANDOFF_ACCEPTED` | W&B artifact原样下载。 |
+| Stage1 NPZ identity | SHA `06b1358a53b9d8ec1e17e7c48ce60e8782344e65e8443be4721c721bbff68176` | bytes尚未随本checkpoint bundle下载；G13前必须解析。 |
+| Human H5 identity | SHA `48cb345eaaa2e3a2ab0fe6c3b6addf6010aba5b8953ac0f5028964dbd4937632` | `781` frames at `60.0` Hz。 |
+| Runtime retarget H5 identity | SHA `75db34aeacfb38d934a5a83d2ee4d7742fc67ddfef27ac66e394154641e5f643` | `390` nominal policy targets at `30.0` Hz。 |
+| Reference manifest identity | SHA `985f6aae457e8ee60f27ac08b6c60c88cde20d5bd191857489648bba57eb5084` | Stage2 accepted reference。 |
+| GoalContract identity | SHA `f5f7ac14999b655413e910a151a1fc159cc2b851506f2e6250e82e68f188a342` | runtime artifact manifest。 |
+| Historical evaluation | [W&B seed0–7 diagnostic](https://wandb.ai/dfnet/dex-retarget/runs/sharpa-phone_17-autocurriculum-evaluation-seed0-7-v1) | checkpoint identity matched；P2 `NOT_RUN / NON_PROMOTABLE`。 |
+
+## Schema
+
+| Field | Shape / type | Semantics |
+|---|---|---|
+| `time_s` | `(S,) float64` | 30 Hz control timestamps from the sampled RSI phase。 |
+| `actual_q` | `(S,22) float32`, rad | PhysX actual Sharpa finger joints。 |
+| `actual_wrist_pose_wxyz` | `(S,7) float32`, world frame | actual wrist translation and quaternion。 |
+| `actual_object_pose_wxyz` | `(S,7) float32`, world frame | actual phone translation and quaternion。 |
+| `raw_residual` / `processed_residual` | `(A,28) float32` | Teacher diagnostic action before/after adapter processing。 |
+| `final_applied_target_wxyz` | `(A,29) float32` | runtime controller target representation。 |
+| `student_frame` | `(A,71) float32` | deployable current-frame observation。 |
+| `applied_target_31` | `(A,31) float32` | unique BC supervision label: wrist position3 + rotation6D6 + joint22。 |
+| `state_t1_student_frame` | `(A,71) float32` | post-physics next state，audit-only。 |
+| `pose_history3_mlp_v1` | `(A,213) float32` | three attempt-local 71D frames，oldest→current；first-frame repeat padding。 |
+| `normalized_sampling_15d` | `(15,) float64` | DR14+RSI provenance-only；不得进入policy input。 |
+| reset/failure/action ledgers | JSON | sampled parameters、actual runtime readback、drop/invalid/infra与action-chain evidence。 |
+
+## Temporal Alignment
+
+| Item | Contract |
+|---|---|
+| Rates | PhysX 120 Hz；policy/control 30 Hz；decimation=4。 |
+| Transition | `obs_t → Teacher residual_t → controller final_applied_target_t → four PhysX substeps → state_t+1`。 |
+| RSI | `u_phase ~ U[0,1)`；`start=floor(u_phase × 390)`，clamp到`0…389`。 |
+| Horizon | `A=(390-start)+15`；`S=A+1`；即使drop/invalid也记录完整终态与ledger。 |
+| History | strictly attempt-local；不得跨attempt、split或index gap。 |
+| Future windows | 后续Consumer可构造`T_p` window，但window不得跨attempt；tail必须masked。 |
+
+## Simulator Environment Randomization
+
+| Field | Value |
+|---|---|
+| Enabled | true |
+| Profile | `SHARPA-AC-P17-001` S1 RefAug/reset-only DR + uniform RSI。 |
+| Source config SHA | `d99efe6b27a179211fec8f3077e5605f9d804c666f0ac9a16c3e8349795982b8`。 |
+| Activation | every reset；nominal fraction `0.0`。 |
+| Mask | common rigid transform同时作用hand与phone；relative reset保持grasp-shaped范围。 |
+| Seed | 4096-row bank seed/namespace在distribution calibration阶段冻结；当前`NOT_YET_MATERIALIZED`。 |
+
+| Category | Parameter | Distribution / range | Sampling / effect |
+|---|---|---|---|
+| Reference augmentation | common X/Y | each `U[-0.05,0.05] m` | 同时作用hand和phone。 |
+| Reference augmentation | common yaw | `U[-30°,30°]` | 同时作用hand和phone。 |
+| Relative reset | phone XYZ | each `U[-0.006,0.006] m` | after RSI/reference selection。 |
+| Relative reset | phone rotation | axis uniformly sampled；signed angle `U[-3°,3°]` | every reset。 |
+| Finger reset | shared wrap | `U[0,0.06] rad` | coupled flexion joints，只增加包握。 |
+| Finger reset | four-finger rub | each `U[-0.025,0.025] rad` | independent rub joints。 |
+| RSI | normalized phase | `U[0,1)` | maps to discrete start phase。 |
+
+### Explicitly disabled / not applicable
+
+| Option | State | Meaning |
+|---|---|---|
+| Physics/actuator randomization | disabled | mass、COM、inertia、friction与drive固定。 |
+| Observation/noise/lag | disabled | clean observation；zero lag。 |
+| Disturbance/push | disabled | none。 |
+| Gravity curriculum | disabled | fixed full gravity `-9.81 m/s²`。 |
+
+## Splits, Sampling, and Leakage
+
+Approved Exception: Shengtao于2026-09-03批准每个独立Teacher使用4096 attempts并划分为3072 train、512 validation、512 sealed heldout，明确偏离默认96 train + 32 heldout topology。
+
+| Split | Episodes / rows | Purpose |
+|---|---:|---|
+| train | 3072 | admitted rows的唯一optimization与normalization来源。 |
+| validation | 512 | offline checkpoint selection；不得参与normalization。 |
+| sealed heldout | 512 | 所有模型选择冻结后的同分布unseen-attempt audit。 |
+| reflection | E5/E6/E9失败 | 保留预注册split身份；不得进入监督数据或被成功补抽替换。 |
+| infra_failure | identity/runtime/schema failure | 阻止Dataset READY；不得解释成policy failure。 |
+
+Split membership必须在rollout前由case ID确定。同一seed、trajectory window、parent/derived copy不得跨split；heldout不得反向用于collector、normalization、checkpoint、模型或超参数选择。
+
+## Normalization
+
+| Field | Contract |
+|---|---|
+| Source | admitted train attempts only。 |
+| Weighting | each rollout equal；within each rollout，each transition equal。 |
+| Stored arrays | MLP213、GRU71与target31 mean/second moment/std，以及exact train attempt IDs和weights。 |
+| Floor | `std=max(std,1e-8)`。 |
+| Validation / heldout | train statistics transform-only；禁止重算。 |
+
+## Validation and Readiness
+
+| Gate | Result | Evidence |
+|---|---|---|
+| Data Card format | PASS | unified validator对本批次7张Card报告`validated=7 failures=0`。 |
+| Selected checkpoint identity | PASS | W&B selected artifact与local SHA一致：`675b27da543631c11da1c8b1b7736ee6cb12dcd89893b4d7ac9867fa2dfcf5d5`。 |
+| Stage2/H5/runtime resolvability | PASS | `outputs/prepared_v1`中clone-local H5/assets/runtime逐SHA解析通过。 |
+| G1–G12 distribution calibration | PASS | `outputs/formal034_v3/distribution_calibration.json`；SHA `c8e51a6ff2f0a308336a21489818ac382b1c5aed54b40da3248eb0b38afed429`。 |
+| G13 identity/runtime | PASS | producer `fc39d2f`；checkpoint、runtime、artifact、goal与spec/bank SHA preflight通过。 |
+| G14 one-attempt RSI smoke | PASS | v3正式bank真实non-PLAY policy path运行通过。 |
+| G15 multi-row distribution readback | PASS | 8 train + 1 validation + 1 sealed-heldout正式rows运行通过。 |
+| G16 completeness | PASS | 4096 terminal receipts；infra0；reflection139。 |
+| G17 schema/timing | PASS | MLP213/GRU71/target31/state-t+1 71；所有admitted attempts满足`S=A+1`。 |
+| G18 split/normalization | PASS | train2966/614057 transitions；validation498/103259；heldout493/101718；normalization仅来自admitted train。 |
+| G19 final manifest | PASS | manifest SHA `7ca167eaf9c6396785dfaabed6dcf0f90816026af576c2d06dfc7581c23b0caa`；archive SHA `fef1362e9b106d41a8256cd4acf2be04066dff3c8ce2e0d9b7ad6f3e9565b5e0`。 |
+| DATASET_READY | READY | 只支持phone_17 same-profile Teacher imitation。 |
+
+## Approved Exception
+
+Shengtao于2026-09-03批准本批次每个独立Teacher请求4096个DR+RSI rollout，固定3072/512/512三split，偏离默认128-attempt topology。该批准只授权Draft Card与checkpoint准备；正式并行collection须在Cards审核和G1–G15通过后另行启动。
diff --git a/objects/phone/trajectories/phone_17/stage4/data034-dr-rollouts-v1/dataset_manifest.json b/objects/phone/trajectories/phone_17/stage4/data034-dr-rollouts-v1/dataset_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..311d110e6e4ce0831919226ba7601c1121d52ab5
--- /dev/null
+++ b/objects/phone/trajectories/phone_17/stage4/data034-dr-rollouts-v1/dataset_manifest.json
@@ -0,0 +1,7947 @@
+{
+  "claim_boundary": "phone_17 same-profile Teacher imitation only",
+  "counts": {
+    "heldout_attempts": 493,
+    "heldout_transitions": 101718,
+    "infra_failure_attempts": 0,
+    "reflection_attempts": 139,
+    "terminal_receipts": 4096,
+    "train_imitation_attempts": 2966,
+    "train_transitions": 614057,
+    "validation_attempts": 498,
+    "validation_transitions": 103259
+  },
+  "data_task_id": "SHARPA-BC-DATA-034",
+  "dataset_id": "20260903_sharpa_ac_p17_001_phone_17_c4096_dr_rsi_v1",
+  "members": {
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+    "functional_positive_index.json": "a973fd75356645f889893fb2ffeb8c394e5eaedd1e6e469405558eae5f4a29a2",
+    "heldout_index.json": "219a3a2f834d313c78e8419ca47cbe57193de626387912d2c605fccca54f8e86",
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+  },
+  "normalization_source": "train_imitation only",
+  "schema": "sharpa_teacher_rollout_dataset_manifest_v1",
+  "status": "READY"
+}
diff --git a/objects/phone/trajectories/phone_17/stage4/data034-dr-rollouts-v1/rollout_dataset.tar b/objects/phone/trajectories/phone_17/stage4/data034-dr-rollouts-v1/rollout_dataset.tar
new file mode 100644
index 0000000000000000000000000000000000000000..15b4b37cddd59ac54dd9dac694b62b4f04b7c5d7
--- /dev/null
+++ b/objects/phone/trajectories/phone_17/stage4/data034-dr-rollouts-v1/rollout_dataset.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fef1362e9b106d41a8256cd4acf2be04066dff3c8ce2e0d9b7ad6f3e9565b5e0
+size 1056522240
diff --git a/objects/phone/trajectories/phone_18/stage4/data018-dr-rollouts-v1/checksums.json b/objects/phone/trajectories/phone_18/stage4/data018-dr-rollouts-v1/checksums.json
new file mode 100644
index 0000000000000000000000000000000000000000..174b589a702a1408f3264542ebaa3c6c706bd689
--- /dev/null
+++ b/objects/phone/trajectories/phone_18/stage4/data018-dr-rollouts-v1/checksums.json
@@ -0,0 +1,8 @@
+{
+  "archive_sha256": "87b68630a80467e3fa40642171478f4bade5a4f6d2b7143809a006899c3a57e1",
+  "archive_size_bytes": 1199267840,
+  "data_task_id": "SHARPA-BC-DATA-018",
+  "manifest_sha256": "449ed73295963a97d25b7f5cbd7b230038493ad38ed2fb3b2b92383742266076",
+  "phone_id": "phone_18",
+  "schema": "sharpa_stage4_release_checksums_v1"
+}
diff --git a/objects/phone/trajectories/phone_18/stage4/data018-dr-rollouts-v1/data_card.md b/objects/phone/trajectories/phone_18/stage4/data018-dr-rollouts-v1/data_card.md
new file mode 100644
index 0000000000000000000000000000000000000000..f2abd2576d8b7c1af29512b3251f112ccf74da76
--- /dev/null
+++ b/objects/phone/trajectories/phone_18/stage4/data018-dr-rollouts-v1/data_card.md
@@ -0,0 +1,154 @@
+# Data Card: SHARPA-BC-DATA-018 / 20260829_t0148_model7050_phone18_ppo_rsi_c3072_v1
+
+| Field | Value |
+|---|---|
+| Data Task ID | SHARPA-BC-DATA-018 |
+| Dataset ID | 20260829_t0148_model7050_phone18_ppo_rsi_c3072_v1 |
+| Status | DRAFT / G1-G12 DISTRIBUTION_GATES_PASS / G13-G19 NOT_RUN / COLLECTION NOT_LAUNCHED / NOT_READY |
+| Purpose | 从phone18 T0-148 model7050采集4096个与PPO训练DR14+uniform-RSI分布一致的独立Teacher rollouts，形成3072 train、512 validation、512 sealed heldout。 |
+| Source mode | teacher_rollout；fresh Isaac/PhysX；从预注册RSI phase运行到terminal+15 hold。 |
+| Source lineage | SHARPA-T0-148 S1 RefAug/reset-only DR model7050；历史DATA-012为小样本基线，不复用其rows或normalization。 |
+| Episodes / splits | 4096 preregistered attempts=`3072 train +512 validation +512 heldout`；Shengtao批准偏离默认96/32规则；失败保留原split进入reflection/infra。 |
+| Sampling | 与DATA-017共享同一4096-row normalized15D bank；15D=`DR14 + uniform RSI phase`；phone18按480 motion actions映射离散start phase。 |
+| Observation | 71D deployable current frame +213D attempt-local history3；不含velocity、phase/reference、Teacher ID、DR latent或future state。 |
+| Action / label | controller实际`final_applied_target`转为31D absolute target；28D Teacher residual仅diagnostic。 |
+| Normalization | admitted train only；rollout等权、rollout内transition等权；validation/heldout transform-only；std floor`1e-8`。 |
+| Producer | PPO-matched RSI bank/calibration commit`d475d272d683eb8a2859761cfde4966e5ed67c53`；collector/finalizer revision尚未通过G13。 |
+| Artifact / manifest | create-only `outputs/sharpa_bc_data018/20260829_t0148_model7050_phone18_ppo_rsi_c3072_v1`；manifest`NOT_YET_MATERIALIZED`。 |
+| Claim boundary | 只支持phone18、T0-148 model7050、同DR14+uniform-RSI分布中的Teacher imitation；不支持physics/noise/push、phase0完整任务、跨物体或真机泛化。 |
+
+## Source and Provenance
+
+| Artifact | Identity / value | Evidence |
+|---|---|---|
+| Teacher Task/Card | SHARPA-T0-148；Card SHA`4e47cedfc99f46cd6d694bc2dc8cf1fdcc0a31d0027e31559529041794d0fd96` | phone18 Auto-Curriculum DR Teacher。 |
+| Teacher checkpoint | model7050 SHA`8bdef80bb104e64c40f3a0bbdd33c7d7cedec759ec0a7bb9091db4c2fbb27989` | Same Teacher as DATA-012。 |
+| Runtime manifest | SHA`1c68935470489e073254ff3cef5091598aff2bafa092670a221e2b8885faa4df` | matching T0-148 runtime。 |
+| Runtime readback | SHA`2ae174c762c8548286d23610e106db193457a1166d2d960d91d2a675d5b314b4` | uniform RSI、RefAug enabled、fixed physics、zero lag。 |
+| Artifact manifest | SHA`7670bba805e0448d13d137931cf186fbc749e379c795c9de89b0620f261c6eea` | create-only portable phone18 assets/reference；避免绑定可变父工程outputs。 |
+| Stage1 NPZ | SHA`3d2be9aa9701c654f1ed85cba3af593858e2df02eb4d40bb710b67266b4c2682` | phone18 object-centric source。 |
+| Runtime human H5 | SHA`e8dc5e5b03a3b3c49bae9c7c130760e823163438cfa08b87e3650a04915d5801` | 961 frames@60Hz。 |
+| Runtime retarget H5 | SHA`346012a9b5a55ec3570a1f8cc8ad6985ae9805de12a860d3695e4c9ce3a00c66` | 481 control states/480 motion actions。 |
+| Reference manifest | SHA`0ebcb16b68baf202a44227ac228dcf9e5e43d96547cb34aec6638be3b2419af5` | portable、路径重绑定后的phone18 reference receipt；Stage1/H5 bytes不变。 |
+| Shared15D bank | paired with DATA-017 | `NOT_YET_MATERIALIZED`。 |
+
+## Schema
+
+| Field | Shape / type | Semantics |
+|---|---|---|
+| time_s | `(S,)` float64 | 30Hz timestamps from sampled RSI phase。 |
+| actual_q | `(S,22)` float32 rad | actual joints。 |
+| actual_wrist_pose_wxyz | `(S,7)` float32 | actual world wrist pose。 |
+| actual_object_pose_wxyz | `(S,7)` float32 | actual world phone pose。 |
+| raw/processed_residual | `(A,28)` float32 | Teacher diagnostic。 |
+| final_applied_target_wxyz | `(A,29)` float32 | executed runtime target。 |
+| student_frame | `(A,71)` float32 | deployable pose/previous-target frame。 |
+| applied_target_31 | `(A,31)` float32 | unique BC label。 |
+| state_t1_student_frame | `(A,71)` float32 | audit-only。 |
+| pose_history3_mlp_v1 | `(A,213)` float32 | attempt-local3×71。 |
+| normalized_sampling_15d | `(15,)` float64 | DR14+RSI provenance-only。 |
+| reset/failure ledgers | JSON | physical/runtime reset及失败证据。 |
+
+71D slices和codec与DATA-017一致；member bytes与manifest identity独立。
+
+## Temporal Alignment
+
+| Item | Contract |
+|---|---|
+| Rates | PhysX120Hz；control30Hz；decimation4。 |
+| Transition | `obs_t → Teacher residual_t → final_applied_target_t → four substeps → state_t+1`。 |
+| RSI | `u_phase~U[0,1)`；481 control states下`start=floor(u_phase×480)`，范围0…479；真实PPO RSI路径。 |
+| Horizon | `A=(480-start)+15`；`S=A+1`。 |
+| History | no cross-attempt/split/source/index gap。 |
+| Termination | no auto-reset；失败保存完整ledger。 |
+
+## Simulator Environment Randomization
+
+| Field | Value |
+|---|---|
+| Enabled | true |
+| Profile | T0-148/T0-149 RefAug/reset-only DR + uniform RSI。 |
+| Source config SHA | `14f894ff771ebdeed6c6778aa1e18a286d6a4980a1141b400e6df02c58c1ef37`。 |
+| Runtime readback SHA | `2ae174c762c8548286d23610e106db193457a1166d2d960d91d2a675d5b314b4`。 |
+| Activation | every reset；nominal fraction0。 |
+| Seed | paired DATA-017/018 namespace；`NOT_YET_MATERIALIZED`。 |
+
+| Category | Parameter | Distribution / range | Sampling / effect |
+|---|---|---|---|
+| Reference augmentation | common X/Y | each`U[-0.05,0.05] m` | shared hand/object。 |
+| Reference augmentation | common yaw | `U[-30°,30°]` | shared hand/object。 |
+| Relative reset | phone xyz | each`U[-0.006,0.006] m` | after RSI/reference selection。 |
+| Relative reset | phone rotation | uniform sphere axis；signed`U[-3°,3°]` | exact Teacher distribution。 |
+| Finger reset | shared wrap | `U[0,0.06] rad` | coupled16 flexion joints。 |
+| Finger reset | four rub joints | each`U[-0.025,0.025] rad` | independent。 |
+| RSI | normalized phase | `U[0,1)` | uniform timestep。 |
+
+### Explicitly disabled / not applicable
+
+| Option | State | Meaning |
+|---|---|---|
+| Physics/actuator randomization | disabled | fixed。 |
+| Observation/noise/lag | disabled | clean、zero lag。 |
+| Disturbance/push | disabled | none。 |
+| Gravity curriculum | disabled | fixed full gravity。 |
+
+## Splits, Sampling, and Leakage
+
+| Split | Episodes / rows | Purpose |
+|---|---:|---|
+| train | 3072 | optimization/normalization only。 |
+| validation | 512 | checkpoint selection；no normalization。 |
+| sealed heldout | 512 | final audit。 |
+| reflection | Teacher E5/E6/E9 failure | original split retained。 |
+| infra_failure | identity/runtime/schema failure | blocks READY。 |
+
+DATA-017/018逐row paired；evaluation bank与all splits完全无交集。
+
+## Normalization
+
+| Field | Contract |
+|---|---|
+| Source | admitted train only。 |
+| Weighting | rollout equal；within-rollout transitions equal。 |
+| Stored | MLP213/GRU71/target31 moments与IDs。 |
+| Floor | `max(std,1e-8)`。 |
+| Validation/heldout | transform-only。 |
+
+## Statistical Distribution Calibration Gates
+
+train3072、validation512、heldout512与full4096分别运行G1～G12：唯一性、mean/variance、KS、bin occupancy、correlation、15D discrepancy、corner occupancy、RSI uniformity、split parity、source pairing、physical coupling与no-leakage。
+
+每项与同样本量目标15D uniform Monte Carlo reference的99%包络比较；calibration只证明参数分布，不证明Teacher execution或Student可学。
+
+## Validation and Readiness
+
+| Gate | Result | Evidence |
+|---|---|---|
+| Data Card format | PENDING | validator待运行。 |
+| G1–G12 distribution calibration | NOT_RUN | 15D bank尚未物化。 |
+| G13 identity | NOT_RUN | immutable identities待冻结。 |
+| G14 one-attempt RSI | NOT_RUN | non-PLAY真实路径。 |
+| G15 multi-row distribution | NOT_RUN | center/tail/corner/三split。 |
+| G16 completeness | NOT_LAUNCHED | 4096 receipts。 |
+| G17 schema/timing | NOT_RUN | codec/cardinality/action parity。 |
+| G18 split/normalization | NOT_RUN | train-only rollout weighting。 |
+| G19 final manifest | NOT_RUN | member SHA/indexes。 |
+| DATASET_READY | NOT_READY | no downstream formal training。 |
+
+## Approved Coverage Exception
+
+Shengtao批准DATA-018采集4096个PPO-matched DR+RSI Teacher rollouts，split3072/512/512；不创建smaller coverage views，不覆盖历史DATA-012或未采集phase0 DATA-016。
+
+## Execution Update — 2026-08-29 G1–G12
+
+| Artifact / gate | Result |
+|---|---|
+| Coverage spec | SHA`f06fab4e2bbe7288c3a8009b796af91728b3bce94902d79af3a726d4a713b69b`。 |
+| Shared4096-row15D bank | SHA`4cc240c37251d68c217384d7a1961fcc353037a3cfee70a838d55c547cd88a19`；3072/512/512。 |
+| G1–G9 statistical report | PASS；512 Monte Carlo reference ensembles；SHA`6719519ce43cd5c450dcff8f4889bdd38e7f9481e41dcff32288b1b762f5342b`。 |
+| phone18 source bank | 4096 rows；RSI range0…479；SHA`ea6f9ab28fbf627eb90ae80162d641adf0d0ee357bf90afcb2e5a4abf315eb08`。 |
+| G10/G11 pairing/physical | 4096/4096 PASS；SHA`32a787f4b47c0595ce265a37fd869277395ecfc5b06bc130407da15b95661e47`。 |
+| G12 evaluation leakage | PASS；独立256-row bank SHA`b52468c53de80ca7c148738e41c33f3e65eadc6ea0e37604c1d5e78ddfae0394`。 |
+| Code tests | 240 PASS；旧128-row与phase0历史回归均保留。 |
+
+G1–G12只放行G13 identity/collector实现；尚未运行Isaac或产生Teacher rollout，DATA-018保持NOT_READY。
diff --git a/objects/phone/trajectories/phone_18/stage4/data018-dr-rollouts-v1/dataset_manifest.json b/objects/phone/trajectories/phone_18/stage4/data018-dr-rollouts-v1/dataset_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d340402e7be41d45ce5c1f22573793b03036ba6
--- /dev/null
+++ b/objects/phone/trajectories/phone_18/stage4/data018-dr-rollouts-v1/dataset_manifest.json
@@ -0,0 +1,7577 @@
+{
+  "claim_boundary": "phone18 same-profile Teacher imitation only",
+  "counts": {
+    "heldout_attempts": 479,
+    "heldout_transitions": 118849,
+    "infra_failure_attempts": 0,
+    "reflection_attempts": 324,
+    "terminal_receipts": 4096,
+    "train_imitation_attempts": 2827,
+    "train_transitions": 699769,
+    "validation_attempts": 466,
+    "validation_transitions": 115151
+  },
+  "data_task_id": "SHARPA-BC-DATA-018",
+  "dataset_id": "20260829_t0148_model7050_phone18_ppo_rsi_c3072_v1",
+  "members": {
+    "collection_snapshot.json": "27dc9fc92e34ce590a3e5bc6269f156566ff6087d236484a9dce64ca6a3996fb",
+    "coverage_report.json": "c9de170e4da312ba87c9887932b8c18039f29af88d295c7436c13ef3e286a096",
+    "functional_positive_index.json": "b2a921796e25779bc2d0877350f215c105d1c0ae1f934c1c961956c8a02c7bda",
+    "heldout_index.json": "bf3f995e82a07f17bb7387f28ce4685237511c145b33c9aa6ffe9d205c5c5387",
+    "infra_failure_index.json": "b2a921796e25779bc2d0877350f215c105d1c0ae1f934c1c961956c8a02c7bda",
+    "normalization.npz": "7367b8f0117a8c30fdbafce9af9905f0cf58038b586347b9e9b8c05b8bb2b183",
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+    "schema.json": "d6115247960aa306bab1debaaa1cf7ea2600e8a34ea299055ca9bbede9bb7b00",
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+  "status": "READY"
+}
diff --git a/objects/phone/trajectories/phone_18/stage4/data018-dr-rollouts-v1/rollout_dataset.tar b/objects/phone/trajectories/phone_18/stage4/data018-dr-rollouts-v1/rollout_dataset.tar
new file mode 100644
index 0000000000000000000000000000000000000000..394a36708321d5ae0a277239b684d79ab8560b40
--- /dev/null
+++ b/objects/phone/trajectories/phone_18/stage4/data018-dr-rollouts-v1/rollout_dataset.tar
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