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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-08/lerobot/meta/episodes.jsonl b/zero-latency/humanoidbench-balance-simple/dagger/starvla-qwenoft-h8/balance-qwenoft-h8-direct-dagger16k-20260916T051615Z-zero-dual64nogc-w16/round-08/lerobot/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..aaa11483d6e1bd67469ac83f68171b4ac9b7cb28
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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-08/lerobot/meta/info.json b/zero-latency/humanoidbench-balance-simple/dagger/starvla-qwenoft-h8/balance-qwenoft-h8-direct-dagger16k-20260916T051615Z-zero-dual64nogc-w16/round-08/lerobot/meta/info.json
new file mode 100644
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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-08/lerobot/meta/modality.json b/zero-latency/humanoidbench-balance-simple/dagger/starvla-qwenoft-h8/balance-qwenoft-h8-direct-dagger16k-20260916T051615Z-zero-dual64nogc-w16/round-08/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-08/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-08/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-08/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-08/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-08/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-08/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-08/lerobot/meta/tasks.jsonl b/zero-latency/humanoidbench-balance-simple/dagger/starvla-qwenoft-h8/balance-qwenoft-h8-direct-dagger16k-20260916T051615Z-zero-dual64nogc-w16/round-08/lerobot/meta/tasks.jsonl
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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-08/lerobot/task_contract.json
@@ -0,0 +1,1760 @@
+{
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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-08/lerobot__val/manifest.json b/zero-latency/humanoidbench-balance-simple/dagger/starvla-qwenoft-h8/balance-qwenoft-h8-direct-dagger16k-20260916T051615Z-zero-dual64nogc-w16/round-08/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-08/lerobot__val/manifest.json
@@ -0,0 +1,1760 @@
+{
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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-08/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-08/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-08/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-08/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-08/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-08/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-08/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-08/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-08/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-08/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-08/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-08/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-08/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-08/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-08/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-08/lerobot__val/task_contract.json
@@ -0,0 +1,1759 @@
+{
+  "format": "latency_bench_starvla_h8_v2",
+  "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-08/provenance.json b/zero-latency/humanoidbench-balance-simple/dagger/starvla-qwenoft-h8/balance-qwenoft-h8-direct-dagger16k-20260916T051615Z-zero-dual64nogc-w16/round-08/provenance.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2ae1f13aefcff61797931117e71a218fc2338e8
--- /dev/null
+++ b/zero-latency/humanoidbench-balance-simple/dagger/starvla-qwenoft-h8/balance-qwenoft-h8-direct-dagger16k-20260916T051615Z-zero-dual64nogc-w16/round-08/provenance.json
@@ -0,0 +1,52 @@
+{
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