Add task-level metadata sidecar

experiment.json

@@ -0,0 +1,53 @@
+{
+  "name": "new_stack",
+  "selection": [
+    {
+      "source": "pick_place",
+      "skill": "approach"
+    },
+    {
+      "source": "stack",
+      "skill": "grasp"
+    },
+    {
+      "source": "pick_place",
+      "skill": "retreat"
+    },
+    {
+      "source": "pick_place",
+      "skill": "transport"
+    },
+    {
+      "source": "stack",
+      "skill": "stack"
+    },
+    {
+      "source": "stack",
+      "skill": "return"
+    }
+  ],
+  "positions": [
+    "lower",
+    "upper"
+  ],
+  "episode_policy": "Each full atomic skill clip is an independent episode; no cropping or cross-source temporal concatenation.",
+  "condition_policy": "new_stack uses cup task conditions and target-specific task text; original source object/text retained",
+  "splits": {
+    "train": {
+      "episodes": 594,
+      "frames": 60184,
+      "original_episodes": 150
+    }
+  },
+  "all_data_as_train": true,
+  "normalization_scope": "all selected episodes; conditional mean/std identity for dimensions 30:57",
+  "source_root": "rokae/1offline_skill_segment/dataset/3encode",
+  "split_reference": "rokae/2offline_model/mlp/models/run_20261012_retrain_32frame/manifest.json",
+  "seam_scope": "No pose-based filtering or cross-source concatenation; entry adaptation and cross-object transfer remain experiments",
+  "composition_choices": [
+    "lower_top1",
+    "lower_top2",
+    "upper_top1",
+    "upper_top2"
+  ]
+}