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diff --git a/zero-latency/humanoidbench-balance-simple/dagger/starvla-qwenoft-h8/balance-qwenoft-h8-direct-dagger16k-20260916T051615Z-zero-dual64nogc-w16/round-09/lerobot/meta/modality.json b/zero-latency/humanoidbench-balance-simple/dagger/starvla-qwenoft-h8/balance-qwenoft-h8-direct-dagger16k-20260916T051615Z-zero-dual64nogc-w16/round-09/lerobot/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..37939fd4b4b6144caa0e2c3864211af8049d5ca5
--- /dev/null
+++ b/zero-latency/humanoidbench-balance-simple/dagger/starvla-qwenoft-h8/balance-qwenoft-h8-direct-dagger16k-20260916T051615Z-zero-dual64nogc-w16/round-09/lerobot/meta/modality.json
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+}
diff --git a/zero-latency/humanoidbench-balance-simple/dagger/starvla-qwenoft-h8/balance-qwenoft-h8-direct-dagger16k-20260916T051615Z-zero-dual64nogc-w16/round-09/lerobot/meta/stats_gr00t.json b/zero-latency/humanoidbench-balance-simple/dagger/starvla-qwenoft-h8/balance-qwenoft-h8-direct-dagger16k-20260916T051615Z-zero-dual64nogc-w16/round-09/lerobot/meta/stats_gr00t.json
new file mode 100644
index 0000000000000000000000000000000000000000..3eb0088b3570057a8a9ca31c199e2413d0275cc9
--- /dev/null
+++ b/zero-latency/humanoidbench-balance-simple/dagger/starvla-qwenoft-h8/balance-qwenoft-h8-direct-dagger16k-20260916T051615Z-zero-dual64nogc-w16/round-09/lerobot/meta/stats_gr00t.json
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diff --git a/zero-latency/humanoidbench-balance-simple/dagger/starvla-qwenoft-h8/balance-qwenoft-h8-direct-dagger16k-20260916T051615Z-zero-dual64nogc-w16/round-09/lerobot/meta/steps_data_index.pkl b/zero-latency/humanoidbench-balance-simple/dagger/starvla-qwenoft-h8/balance-qwenoft-h8-direct-dagger16k-20260916T051615Z-zero-dual64nogc-w16/round-09/lerobot/meta/steps_data_index.pkl
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diff --git a/zero-latency/humanoidbench-balance-simple/dagger/starvla-qwenoft-h8/balance-qwenoft-h8-direct-dagger16k-20260916T051615Z-zero-dual64nogc-w16/round-09/lerobot/meta/tasks.jsonl b/zero-latency/humanoidbench-balance-simple/dagger/starvla-qwenoft-h8/balance-qwenoft-h8-direct-dagger16k-20260916T051615Z-zero-dual64nogc-w16/round-09/lerobot/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c9e9f42c5f893071ee70fcf945839612affd2414
--- /dev/null
+++ b/zero-latency/humanoidbench-balance-simple/dagger/starvla-qwenoft-h8/balance-qwenoft-h8-direct-dagger16k-20260916T051615Z-zero-dual64nogc-w16/round-09/lerobot/meta/tasks.jsonl
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+{"task": "Keep the G1 humanoid balanced on the support board.", "task_index": 0}
diff --git a/zero-latency/humanoidbench-balance-simple/dagger/starvla-qwenoft-h8/balance-qwenoft-h8-direct-dagger16k-20260916T051615Z-zero-dual64nogc-w16/round-09/lerobot/task_contract.json b/zero-latency/humanoidbench-balance-simple/dagger/starvla-qwenoft-h8/balance-qwenoft-h8-direct-dagger16k-20260916T051615Z-zero-dual64nogc-w16/round-09/lerobot/task_contract.json
new file mode 100644
index 0000000000000000000000000000000000000000..346204f2c3a51019cd1bf21032df70e428ca3f93
--- /dev/null
+++ b/zero-latency/humanoidbench-balance-simple/dagger/starvla-qwenoft-h8/balance-qwenoft-h8-direct-dagger16k-20260916T051615Z-zero-dual64nogc-w16/round-09/lerobot/task_contract.json
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+}
diff --git a/zero-latency/humanoidbench-balance-simple/dagger/starvla-qwenoft-h8/balance-qwenoft-h8-direct-dagger16k-20260916T051615Z-zero-dual64nogc-w16/round-09/lerobot__val/manifest.json b/zero-latency/humanoidbench-balance-simple/dagger/starvla-qwenoft-h8/balance-qwenoft-h8-direct-dagger16k-20260916T051615Z-zero-dual64nogc-w16/round-09/lerobot__val/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..faccd65f3e63da4303f2748554ac45186b07011b
--- /dev/null
+++ b/zero-latency/humanoidbench-balance-simple/dagger/starvla-qwenoft-h8/balance-qwenoft-h8-direct-dagger16k-20260916T051615Z-zero-dual64nogc-w16/round-09/lerobot__val/manifest.json
@@ -0,0 +1,1760 @@
+{
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+  "task": "humanoidbench_balance_simple",
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diff --git a/zero-latency/humanoidbench-balance-simple/dagger/starvla-qwenoft-h8/balance-qwenoft-h8-direct-dagger16k-20260916T051615Z-zero-dual64nogc-w16/round-09/lerobot__val/meta/episodes.jsonl b/zero-latency/humanoidbench-balance-simple/dagger/starvla-qwenoft-h8/balance-qwenoft-h8-direct-dagger16k-20260916T051615Z-zero-dual64nogc-w16/round-09/lerobot__val/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/zero-latency/humanoidbench-balance-simple/dagger/starvla-qwenoft-h8/balance-qwenoft-h8-direct-dagger16k-20260916T051615Z-zero-dual64nogc-w16/round-09/lerobot__val/meta/info.json b/zero-latency/humanoidbench-balance-simple/dagger/starvla-qwenoft-h8/balance-qwenoft-h8-direct-dagger16k-20260916T051615Z-zero-dual64nogc-w16/round-09/lerobot__val/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f1a6b8406d36798e305b07d9407a50d865ae764
--- /dev/null
+++ b/zero-latency/humanoidbench-balance-simple/dagger/starvla-qwenoft-h8/balance-qwenoft-h8-direct-dagger16k-20260916T051615Z-zero-dual64nogc-w16/round-09/lerobot__val/meta/info.json
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diff --git a/zero-latency/humanoidbench-balance-simple/dagger/starvla-qwenoft-h8/balance-qwenoft-h8-direct-dagger16k-20260916T051615Z-zero-dual64nogc-w16/round-09/lerobot__val/meta/modality.json b/zero-latency/humanoidbench-balance-simple/dagger/starvla-qwenoft-h8/balance-qwenoft-h8-direct-dagger16k-20260916T051615Z-zero-dual64nogc-w16/round-09/lerobot__val/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..37939fd4b4b6144caa0e2c3864211af8049d5ca5
--- /dev/null
+++ b/zero-latency/humanoidbench-balance-simple/dagger/starvla-qwenoft-h8/balance-qwenoft-h8-direct-dagger16k-20260916T051615Z-zero-dual64nogc-w16/round-09/lerobot__val/meta/modality.json
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+}
diff --git a/zero-latency/humanoidbench-balance-simple/dagger/starvla-qwenoft-h8/balance-qwenoft-h8-direct-dagger16k-20260916T051615Z-zero-dual64nogc-w16/round-09/lerobot__val/meta/stats_gr00t.json b/zero-latency/humanoidbench-balance-simple/dagger/starvla-qwenoft-h8/balance-qwenoft-h8-direct-dagger16k-20260916T051615Z-zero-dual64nogc-w16/round-09/lerobot__val/meta/stats_gr00t.json
new file mode 100644
index 0000000000000000000000000000000000000000..3eb0088b3570057a8a9ca31c199e2413d0275cc9
--- /dev/null
+++ b/zero-latency/humanoidbench-balance-simple/dagger/starvla-qwenoft-h8/balance-qwenoft-h8-direct-dagger16k-20260916T051615Z-zero-dual64nogc-w16/round-09/lerobot__val/meta/stats_gr00t.json
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diff --git a/zero-latency/humanoidbench-balance-simple/dagger/starvla-qwenoft-h8/balance-qwenoft-h8-direct-dagger16k-20260916T051615Z-zero-dual64nogc-w16/round-09/lerobot__val/meta/tasks.jsonl b/zero-latency/humanoidbench-balance-simple/dagger/starvla-qwenoft-h8/balance-qwenoft-h8-direct-dagger16k-20260916T051615Z-zero-dual64nogc-w16/round-09/lerobot__val/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/zero-latency/humanoidbench-balance-simple/dagger/starvla-qwenoft-h8/balance-qwenoft-h8-direct-dagger16k-20260916T051615Z-zero-dual64nogc-w16/round-09/lerobot__val/task_contract.json b/zero-latency/humanoidbench-balance-simple/dagger/starvla-qwenoft-h8/balance-qwenoft-h8-direct-dagger16k-20260916T051615Z-zero-dual64nogc-w16/round-09/lerobot__val/task_contract.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3ee942f1751aac33222093b9a6db260f930c318
--- /dev/null
+++ b/zero-latency/humanoidbench-balance-simple/dagger/starvla-qwenoft-h8/balance-qwenoft-h8-direct-dagger16k-20260916T051615Z-zero-dual64nogc-w16/round-09/lerobot__val/task_contract.json
@@ -0,0 +1,1759 @@
+{
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diff --git a/zero-latency/humanoidbench-balance-simple/dagger/starvla-qwenoft-h8/balance-qwenoft-h8-direct-dagger16k-20260916T051615Z-zero-dual64nogc-w16/round-09/provenance.json b/zero-latency/humanoidbench-balance-simple/dagger/starvla-qwenoft-h8/balance-qwenoft-h8-direct-dagger16k-20260916T051615Z-zero-dual64nogc-w16/round-09/provenance.json
new file mode 100644
index 0000000000000000000000000000000000000000..747ef810c8732731271d11b04fbf1b14ed0b57c8
--- /dev/null
+++ b/zero-latency/humanoidbench-balance-simple/dagger/starvla-qwenoft-h8/balance-qwenoft-h8-direct-dagger16k-20260916T051615Z-zero-dual64nogc-w16/round-09/provenance.json
@@ -0,0 +1,52 @@
+{
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+    "phase": "dagger",
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+    "num_envs": 32,
+    "inference_batch_size": 32,
+    "vla_cadence": 1,
+    "action_horizon": 8,
+    "label": "expert direct absolute action chunk at observation",
+    "label_provenance": {
+      "semantics": "expert_direct_absolute_action_chunk_at_observation_v1",
+      "condition": "zero-latency",
+      "teacher_checkpoint": "/mnt/local/balance-direct-inputs/zero/checkpoint.pth",
+      "teacher_config": "/mnt/local/balance-direct-inputs/zero/zero_rl.yaml",
+      "latency": {
+        "method": "zero",
+        "add_latency_info": false,
+        "seed": 1
+      },
+      "scheduler": {
+        "hold_policy": "hold",
+        "ordering_policy": "latest_ready",
+        "hold_last_chunk_action": true
+      }
+    },
+    "student_raw_frames": 16000
+  }
+}