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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-07/lerobot/meta/modality.json b/zero-latency/humanoidbench-balance-simple/dagger/starvla-qwenpi_v3-h8/balance-qwenpi-v3-h8-fullchunk2k-stride8-20260917T1740Z/round-07/lerobot/meta/modality.json
new file mode 100644
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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-07/lerobot/meta/stats_gr00t.json b/zero-latency/humanoidbench-balance-simple/dagger/starvla-qwenpi_v3-h8/balance-qwenpi-v3-h8-fullchunk2k-stride8-20260917T1740Z/round-07/lerobot/meta/stats_gr00t.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5593043140c9107bd1ffa1e00182ffa48f6f42d
--- /dev/null
+++ b/zero-latency/humanoidbench-balance-simple/dagger/starvla-qwenpi_v3-h8/balance-qwenpi-v3-h8-fullchunk2k-stride8-20260917T1740Z/round-07/lerobot/meta/stats_gr00t.json
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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-07/lerobot/meta/tasks.jsonl b/zero-latency/humanoidbench-balance-simple/dagger/starvla-qwenpi_v3-h8/balance-qwenpi-v3-h8-fullchunk2k-stride8-20260917T1740Z/round-07/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-07/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-07/lerobot/task_contract.json b/zero-latency/humanoidbench-balance-simple/dagger/starvla-qwenpi_v3-h8/balance-qwenpi-v3-h8-fullchunk2k-stride8-20260917T1740Z/round-07/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-07/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-07/lerobot__val/manifest.json b/zero-latency/humanoidbench-balance-simple/dagger/starvla-qwenpi_v3-h8/balance-qwenpi-v3-h8-fullchunk2k-stride8-20260917T1740Z/round-07/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-07/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-07/lerobot__val/meta/stats_gr00t.json b/zero-latency/humanoidbench-balance-simple/dagger/starvla-qwenpi_v3-h8/balance-qwenpi-v3-h8-fullchunk2k-stride8-20260917T1740Z/round-07/lerobot__val/meta/stats_gr00t.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5593043140c9107bd1ffa1e00182ffa48f6f42d
--- /dev/null
+++ b/zero-latency/humanoidbench-balance-simple/dagger/starvla-qwenpi_v3-h8/balance-qwenpi-v3-h8-fullchunk2k-stride8-20260917T1740Z/round-07/lerobot__val/meta/stats_gr00t.json
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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-07/lerobot__val/meta/tasks.jsonl b/zero-latency/humanoidbench-balance-simple/dagger/starvla-qwenpi_v3-h8/balance-qwenpi-v3-h8-fullchunk2k-stride8-20260917T1740Z/round-07/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-07/lerobot__val/task_contract.json b/zero-latency/humanoidbench-balance-simple/dagger/starvla-qwenpi_v3-h8/balance-qwenpi-v3-h8-fullchunk2k-stride8-20260917T1740Z/round-07/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-07/lerobot__val/task_contract.json
@@ -0,0 +1,1759 @@
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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-07/provenance.json b/zero-latency/humanoidbench-balance-simple/dagger/starvla-qwenpi_v3-h8/balance-qwenpi-v3-h8-fullchunk2k-stride8-20260917T1740Z/round-07/provenance.json
new file mode 100644
index 0000000000000000000000000000000000000000..62dd513c82966e96c6427fa923deae174d6758b1
--- /dev/null
+++ b/zero-latency/humanoidbench-balance-simple/dagger/starvla-qwenpi_v3-h8/balance-qwenpi-v3-h8-fullchunk2k-stride8-20260917T1740Z/round-07/provenance.json
@@ -0,0 +1,69 @@
+{
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