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playful / chess-sim /code /sim /eval_policy.py

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chess-sim: RL pilot summary and code (rl_env, rl_policy, rl_train, rl_check; eval_policy --fast/--expert-fp32)
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chess-sim: near-board replanning test (partial, stopped) and eval_policy.py with --replan-near
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code: grasp_trace, drive substep hook, SIM_OFFSAMPLES switch
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