---
license: apache-2.0
tags:
- LeRobot
- robotics
---

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## Experiment provenance

**Experiment line:** pre-abstraction EE-DiT baseline. The original end-to-end line (xyz-conditioned EE-DiT), before the abstraction-emergence framing; kept for lineage.

**What changed:** Root of its line — no parent corpus.

Collected in simulation (robosuite/MuJoCo, Panda): scene + wrist video, proprio, OSC actions, and a language task string minted by the project's verbalizer (certificate → instruction; the relabeler may not invent words).
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