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diff --git a/zero-latency/humanoidbench-balance-simple/dagger/starvla-qwenpi_v3-h8/balance-qwenpi-v3-h8-fullchunk2k-stride8-20260917T1740Z/round-06/lerobot/meta/episodes.jsonl b/zero-latency/humanoidbench-balance-simple/dagger/starvla-qwenpi_v3-h8/balance-qwenpi-v3-h8-fullchunk2k-stride8-20260917T1740Z/round-06/lerobot/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..70e20fa5aa6e9ad5cf1988f046e80f8742832855
--- /dev/null
+++ b/zero-latency/humanoidbench-balance-simple/dagger/starvla-qwenpi_v3-h8/balance-qwenpi-v3-h8-fullchunk2k-stride8-20260917T1740Z/round-06/lerobot/meta/episodes.jsonl
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diff --git a/zero-latency/humanoidbench-balance-simple/dagger/starvla-qwenpi_v3-h8/balance-qwenpi-v3-h8-fullchunk2k-stride8-20260917T1740Z/round-06/lerobot/meta/tasks.jsonl b/zero-latency/humanoidbench-balance-simple/dagger/starvla-qwenpi_v3-h8/balance-qwenpi-v3-h8-fullchunk2k-stride8-20260917T1740Z/round-06/lerobot/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c9e9f42c5f893071ee70fcf945839612affd2414
--- /dev/null
+++ b/zero-latency/humanoidbench-balance-simple/dagger/starvla-qwenpi_v3-h8/balance-qwenpi-v3-h8-fullchunk2k-stride8-20260917T1740Z/round-06/lerobot/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task": "Keep the G1 humanoid balanced on the support board.", "task_index": 0}
diff --git a/zero-latency/humanoidbench-balance-simple/dagger/starvla-qwenpi_v3-h8/balance-qwenpi-v3-h8-fullchunk2k-stride8-20260917T1740Z/round-06/lerobot/task_contract.json b/zero-latency/humanoidbench-balance-simple/dagger/starvla-qwenpi_v3-h8/balance-qwenpi-v3-h8-fullchunk2k-stride8-20260917T1740Z/round-06/lerobot/task_contract.json
new file mode 100644
index 0000000000000000000000000000000000000000..527399576757ab42759ae32ea8c76c91a3789865
--- /dev/null
+++ b/zero-latency/humanoidbench-balance-simple/dagger/starvla-qwenpi_v3-h8/balance-qwenpi-v3-h8-fullchunk2k-stride8-20260917T1740Z/round-06/lerobot/task_contract.json
@@ -0,0 +1,1760 @@
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diff --git a/zero-latency/humanoidbench-balance-simple/dagger/starvla-qwenpi_v3-h8/balance-qwenpi-v3-h8-fullchunk2k-stride8-20260917T1740Z/round-06/lerobot__val/manifest.json b/zero-latency/humanoidbench-balance-simple/dagger/starvla-qwenpi_v3-h8/balance-qwenpi-v3-h8-fullchunk2k-stride8-20260917T1740Z/round-06/lerobot__val/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..9503006b1402963c09d72500d2edf24afab57cca
--- /dev/null
+++ b/zero-latency/humanoidbench-balance-simple/dagger/starvla-qwenpi_v3-h8/balance-qwenpi-v3-h8-fullchunk2k-stride8-20260917T1740Z/round-06/lerobot__val/manifest.json
@@ -0,0 +1,1760 @@
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diff --git a/zero-latency/humanoidbench-balance-simple/dagger/starvla-qwenpi_v3-h8/balance-qwenpi-v3-h8-fullchunk2k-stride8-20260917T1740Z/round-06/lerobot__val/meta/tasks.jsonl b/zero-latency/humanoidbench-balance-simple/dagger/starvla-qwenpi_v3-h8/balance-qwenpi-v3-h8-fullchunk2k-stride8-20260917T1740Z/round-06/lerobot__val/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/zero-latency/humanoidbench-balance-simple/dagger/starvla-qwenpi_v3-h8/balance-qwenpi-v3-h8-fullchunk2k-stride8-20260917T1740Z/round-06/lerobot__val/task_contract.json b/zero-latency/humanoidbench-balance-simple/dagger/starvla-qwenpi_v3-h8/balance-qwenpi-v3-h8-fullchunk2k-stride8-20260917T1740Z/round-06/lerobot__val/task_contract.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc515f7d5b5d7b15f5759cf65d424136a14c7ade
--- /dev/null
+++ b/zero-latency/humanoidbench-balance-simple/dagger/starvla-qwenpi_v3-h8/balance-qwenpi-v3-h8-fullchunk2k-stride8-20260917T1740Z/round-06/lerobot__val/task_contract.json
@@ -0,0 +1,1759 @@
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+  ],
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+    "left_hip_pitch_joint",
+    "right_hip_pitch_joint",
+    "waist_yaw_joint",
+    "left_hip_roll_joint",
+    "right_hip_roll_joint",
+    "waist_roll_joint",
+    "left_hip_yaw_joint",
+    "right_hip_yaw_joint",
+    "waist_pitch_joint",
+    "left_knee_joint",
+    "right_knee_joint",
+    "left_shoulder_pitch_joint",
+    "right_shoulder_pitch_joint",
+    "left_ankle_pitch_joint",
+    "right_ankle_pitch_joint",
+    "left_shoulder_roll_joint",
+    "right_shoulder_roll_joint",
+    "left_ankle_roll_joint",
+    "right_ankle_roll_joint",
+    "left_shoulder_yaw_joint",
+    "right_shoulder_yaw_joint",
+    "left_elbow_joint",
+    "right_elbow_joint",
+    "left_wrist_roll_joint",
+    "right_wrist_roll_joint",
+    "left_wrist_pitch_joint",
+    "right_wrist_pitch_joint",
+    "left_wrist_yaw_joint",
+    "right_wrist_yaw_joint",
+    "left_hand_thumb_0_joint",
+    "left_hand_thumb_1_joint",
+    "left_hand_thumb_2_joint",
+    "left_hand_middle_0_joint",
+    "left_hand_middle_1_joint",
+    "left_hand_index_0_joint",
+    "left_hand_index_1_joint",
+    "right_hand_thumb_0_joint",
+    "right_hand_thumb_1_joint",
+    "right_hand_thumb_2_joint",
+    "right_hand_index_0_joint",
+    "right_hand_index_1_joint",
+    "right_hand_middle_0_joint",
+    "right_hand_middle_1_joint"
+  ]
+}
diff --git a/zero-latency/humanoidbench-balance-simple/dagger/starvla-qwenpi_v3-h8/balance-qwenpi-v3-h8-fullchunk2k-stride8-20260917T1740Z/round-06/provenance.json b/zero-latency/humanoidbench-balance-simple/dagger/starvla-qwenpi_v3-h8/balance-qwenpi-v3-h8-fullchunk2k-stride8-20260917T1740Z/round-06/provenance.json
new file mode 100644
index 0000000000000000000000000000000000000000..46e0c8f94787c8d369533b0fa573979d7b40a003
--- /dev/null
+++ b/zero-latency/humanoidbench-balance-simple/dagger/starvla-qwenpi_v3-h8/balance-qwenpi-v3-h8-fullchunk2k-stride8-20260917T1740Z/round-06/provenance.json
@@ -0,0 +1,69 @@
+{
+  "task": "humanoidbench_balance_simple",
+  "model": "qwenpi_v3",
+  "run_id": "balance-qwenpi-v3-h8-fullchunk2k-stride8-20260917T1740Z",
+  "round": 6,
+  "kind": "dagger",
+  "teacher": {
+    "source": "local_override",
+    "filename": "checkpoint.pth"
+  },
+  "bootstrap": {
+    "repo_id": "latency-sensitive-bench/benchmark-datasets",
+    "path": "zero-latency/humanoidbench-balance-simple/teacher-rollouts-h8-state-v5",
+    "revision": "1b369d9dcd552ff940f4f0858c55ff87bb82e8d2",
+    "condition": "zero-latency",
+    "action_horizon": 8
+  },
+  "policy_source": {
+    "checkpoint_path": "/pfs/users/lxy/latency-sensitive-bench/outputs/tasks/humanoidbench_balance_simple/full_chunk_baselines_20260917/qwenpi/zero/inference/checkpoints/model.pt",
+    "phase": "dagger",
+    "optimizer_step": 3000
+  },
+  "collection": {
+    "collector": "scripts.starvla.balance_dagger",
+    "seeds": [
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+    ],
+    "row_budget": 2000,
+    "num_envs": 32,
+    "inference_batch_size": 32,
+    "vla_cadence": 1,
+    "label_stride": 8,
+    "action_horizon": 8,
+    "label": "compacted applied actions from copied teacher branch",
+    "label_provenance": {
+      "semantics": "expert_closed_loop_compacted_applied_actions_v3",
+      "condition": "zero-latency",
+      "teacher_checkpoint": "/pfs/users/lxy/latency-sensitive-bench/outputs/tasks/humanoidbench_balance_simple/local_h8/closed_loop_h8_replay6553600/formal/zero/teacher/checkpoint.pth",
+      "teacher_config": "/pfs/users/lxy/latency-sensitive-bench/outputs/tasks/humanoidbench_balance_simple/local_h8/closed_loop_h8_replay6553600/formal/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": 15776,
+    "attempted_rows": 2000,
+    "teacher_branch_raw_frames": 15590,
+    "collection_wall_sec": 234.24481428600848,
+    "rows_per_sec": 8.5380758848221,
+    "valid_rows": 2000,
+    "filtered_rows": 0,
+    "valid_head_counts": [
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+      1983,
+      1965,
+      1949,
+      1940,
+      1930,
+      1917,
+      1906
+    ]
+  }
+}