Add files using upload-large-folder tool

README.md

@@ -0,0 +1,17 @@
+---
+tags:
+- robotics
+- humanoid
+- imitation-learning
+---
+# Delta Flow — Humanoid Benchmark
+
+Delta Flow (ImageWAM / HumanWAM whole-body delta-flow policy) checkpoints for Humanoid Benchmark tasks.
+
+Benchmark checkpoints use the same layout as `humanoid-benchmark/groot` and `humanoid-benchmark/pi05`:
+`<task-dir>/epoch-XXX/` with task folders `b6-pedal-bin`, `a3-fridge-open`, `a7-cabinet-close`, `a18-pour-water`,
+`a10-trolley-push`, `a20-basket-transfer`, `a17-unscrew-bottle`. The benchmark training round of Delta Flow is
+scheduled; its task folders appear here as each run finishes.
+
+`legacy/` holds earlier experiments that do NOT follow the benchmark protocol (different data, augmentation or input
+dimensions). Do not use them as benchmark baselines; see `legacy/README.md`.

legacy/README.md

@@ -0,0 +1,22 @@
+# Legacy Delta Flow checkpoints (NOT benchmark results)
+
+These are earlier Delta Flow experiments. None of them follows the Humanoid Benchmark training protocol
+(100 demonstrations per task, augmentation spec v2, 44-D G1 / 78-D H2 state without joint velocities, same epochs for
+every task), so they must not be used or reported as benchmark baselines. They are kept for reference and reproducibility.
+Each folder has `model.pt` (byte-identical to the original upload), its training config, normalization statistics,
+text cache where used, the original `original_protocol.json` and a new `protocol.json` with the reason.
+
+| Folder | Why it is not a benchmark checkpoint |
+|---|---|
+| `legacy/b6-pedal-bin/robust-v3-20261106/epoch-060/` | Early B6 experiment: older B6 data (b6-pedal-bin-expert-v1 + v2, 60 episodes) instead of the benchmark's 100-episode B6 set, older augmentation robust-v3 instead of spec v2, 60 epochs. |
+| `legacy/b6-pedal-bin/mixed70-sim40-real30-v3-20261107/epoch-040/` | Sim + real experiment: 40 simulated + 30 real-robot B6 episodes, augmentation robust-v3, 60 epochs. Not the benchmark data or recipe. |
+| `legacy/b6-pedal-bin/mixed70-sim40-real30-v3-20261107/epoch-050/` | Sim + real experiment: 40 simulated + 30 real-robot B6 episodes, augmentation robust-v3, 60 epochs. Not the benchmark data or recipe. |
+| `legacy/b6-pedal-bin/mixed70-sim40-real30-v3-20261107/epoch-060/` | Sim + real experiment: 40 simulated + 30 real-robot B6 episodes, augmentation robust-v3, 60 epochs. Not the benchmark data or recipe. |
+| `legacy/b6-pedal-bin/real30-from-sim60-20261108/epoch-020/` | Real-robot model: robust-v3 epoch 60 fine-tuned 20 epochs on 30 real-robot episodes (ZUO66/wb-trash-bin-sonic-v11-first30). Not a simulation-benchmark result; its 44-D state interface (no joint velocities) is the reference the benchmark interface follows. |
+| `legacy/a20-basket-transfer/old-data-ed77719-20261109/epoch-040/` | Trained on the retired basket data revision ed77719 (54337 frames). The benchmark uses basket-transfer-expert-v1 @b0ff522 (branch current-dynamics-100-v21). |
+| `legacy/a3-fridge-open/state73-with-velocity-20261109/epoch-040/` | State input is 73-D including 29 joint velocities; the benchmark interface is 44-D without velocities. |
+| `legacy/a7-cabinet-close/state73-with-velocity-20261109/epoch-040/` | State input is 73-D including 29 joint velocities; the benchmark interface is 44-D without velocities. |
+| `legacy/a18-pour-water/from-scratch-pre-v2-aug-20261108/epoch-040/` | Trained 2026-11-08, before augmentation spec v2; stopped at epoch 40 of a 60-epoch schedule (learning-rate schedule planned for 60). State 78-D / action 75-D match the benchmark interface. |
+
+Moved here on 2026-11-11 from `humanoid-benchmark/g1-basket-transfer-imagewam-deltaflow76` (revision `01a2456a6873d1aea5fade2a42e83ba6beb07882`) and
+`humanoid-benchmark/b6-imagewam-deltaflow76` (revision `75af1c3ebbfa850d87f5e58e239da03712a4c52d`).

legacy/a18-pour-water/from-scratch-pre-v2-aug-20261108/epoch-040/normalization.json

@@ -0,0 +1,506 @@
+{
+  "schema": "a18-h2-sharpa-body31-hand44-state78-chunk16-v1",
+  "instruction": "Grasp the pitcher's handle with the right hand, lift it, pour water into the glass tumbler, then put the pitcher back where it stood and let go.",
+  "episode_ids": [
+    0,
+    1,
+    2,
+    3,
+    4,
+    5,
+    6,
+    7,
+    8,
+    9,
+    10,
+    11,
+    12,
+    13,
+    14,
+    15,
+    16,
+    17,
+    18,
+    19,
+    20,
+    21,
+    22,
+    23,
+    24,
+    25,
+    26,
+    27,
+    28,
+    29,
+    30,
+    31,
+    32,
+    33,
+    34,
+    35,
+    36,
+    37,
+    38,
+    39,
+    40,
+    41,
+    42,
+    43,
+    44,
+    45,
+    46,
+    47,
+    48,
+    49,
+    50,
+    51,
+    52,
+    53,
+    54,
+    55,
+    56,
+    57,
+    58,
+    59,
+    60,
+    61,
+    62,
+    63,
+    64,
+    65,
+    66,
+    67,
+    68,
+    69,
+    70,
+    71,
+    72,
+    73,
+    74,
+    75,
+    76,
+    77,
+    78,
+    79,
+    80,
+    81,
+    82,
+    83,
+    84,
+    85,
+    86,
+    87,
+    88,
+    89,
+    90,
+    91,
+    92,
+    93,
+    94,
+    95,
+    96,
+    97,
+    98,
+    99
+  ],
+  "frames": 72752,
+  "joint_names": [
+    "left_hip_pitch_joint",
+    "left_hip_roll_joint",
+    "left_hip_yaw_joint",
+    "left_knee_joint",
+    "left_ankle_roll_joint",
+    "left_ankle_pitch_joint",
+    "right_hip_pitch_joint",
+    "right_hip_roll_joint",
+    "right_hip_yaw_joint",
+    "right_knee_joint",
+    "right_ankle_roll_joint",
+    "right_ankle_pitch_joint",
+    "waist_yaw_joint",
+    "waist_roll_joint",
+    "waist_pitch_joint",
+    "left_shoulder_pitch_joint",
+    "left_shoulder_roll_joint",
+    "left_shoulder_yaw_joint",
+    "left_elbow_joint",
+    "left_wrist_roll_joint",
+    "left_wrist_pitch_joint",
+    "left_wrist_yaw_joint",
+    "right_shoulder_pitch_joint",
+    "right_shoulder_roll_joint",
+    "right_shoulder_yaw_joint",
+    "right_elbow_joint",
+    "right_wrist_roll_joint",
+    "right_wrist_pitch_joint",
+    "right_wrist_yaw_joint",
+    "head_pitch_joint",
+    "head_yaw_joint",
+    "left_index_MCP_FE",
+    "left_middle_MCP_FE",
+    "left_pinky_CMC",
+    "left_ring_MCP_FE",
+    "left_thumb_CMC_FE",
+    "left_index_MCP_AA",
+    "left_middle_MCP_AA",
+    "left_pinky_MCP_FE",
+    "left_ring_MCP_AA",
+    "left_thumb_CMC_AA",
+    "left_index_PIP",
+    "left_middle_PIP",
+    "left_pinky_MCP_AA",
+    "left_ring_PIP",
+    "left_thumb_MCP_FE",
+    "left_index_DIP",
+    "left_middle_DIP",
+    "left_pinky_PIP",
+    "left_ring_DIP",
+    "left_thumb_MCP_AA",
+    "left_pinky_DIP",
+    "left_thumb_IP",
+    "right_index_MCP_FE",
+    "right_middle_MCP_FE",
+    "right_pinky_CMC",
+    "right_ring_MCP_FE",
+    "right_thumb_CMC_FE",
+    "right_index_MCP_AA",
+    "right_middle_MCP_AA",
+    "right_pinky_MCP_FE",
+    "right_ring_MCP_AA",
+    "right_thumb_CMC_AA",
+    "right_index_PIP",
+    "right_middle_PIP",
+    "right_pinky_MCP_AA",
+    "right_ring_PIP",
+    "right_thumb_MCP_FE",
+    "right_index_DIP",
+    "right_middle_DIP",
+    "right_pinky_PIP",
+    "right_ring_DIP",
+    "right_thumb_MCP_AA",
+    "right_pinky_DIP",
+    "right_thumb_IP"
+  ],
+  "cameras": [
+    "observation.images.head",
+    "observation.images.chest"
+  ],
+  "state": {
+    "q01": [
+      -0.096925612911582,
+      0.0008001029602019116,
+      -0.0517295802384615,
+      0.13034069597721099,
+      -0.017123547792434694,
+      -0.15951126664876938,
+      -0.09638823144137859,
+      -0.06363148272037505,
+      -0.09999339289963245,
+      0.14826244831085206,
+      -0.027426330111920832,
+      -0.18895266368985175,
+      -0.044171649888157846,
+      -0.050232225321233274,
+      -0.011314242212101817,
+      0.08326624378561974,
+      0.038287433199584484,
+      -0.32413672357797624,
+      0.9702158522605896,
+      -0.1387191067636013,
+      -0.09411961928009988,
+      0.020261509213596582,
+      -0.7018300712108612,
+      -0.27430216521024703,
+      -0.5346013760566711,
+      -0.425688591003418,
+      -0.08660490311682224,
+      -0.12113842345774174,
+      -0.9077299171686173,
+      0.005505835353396833,
+      -0.2458570519089699,
+      6.665871471341234e-05,
+      6.657680234638973e-05,
+      -1.0109563925198018e-06,
+      6.659696744463872e-05,
+      -0.05109653029590845,
+      -0.001388799250125885,
+      -0.001388639056822285,
+      6.66052626183955e-05,
+      -0.0013881591649260372,
+      -0.127808937728405,
+      1.2713434716715711e-05,
+      1.270168380870018e-05,
+      -0.0013875646225642412,
+      1.2703910679192631e-05,
+      -0.053507006354629995,
+      2.2838020845483695e-06,
+      2.282352634210838e-06,
+      1.2704891632893123e-05,
+      2.2824755228612048e-06,
+      -0.02164673211053014,
+      2.282539869611355e-06,
+      -4.620393989171134e-05,
+      -0.000809586524264887,
+      -0.008454753207042814,
+      1.75209124245157e-05,
+      -0.007454882338643074,
+      0.009931003302335739,
+      -0.06755433149635792,
+      -0.13467548936605453,
+      -0.005782807893119753,
+      -0.01024346257559955,
+      -0.25641718089580534,
+      1.1064804848501808e-05,
+      1.0891272813751129e-05,
+      -0.0005451549758436158,
+      1.1002504516000045e-05,
+      -0.003325810399837792,
+      1.941797233939724e-06,
+      1.942088949817844e-06,
+      1.1005186188413063e-05,
+      2.3123421919990505e-06,
+      -0.012787845358252526,
+      1.955342793280579e-06,
+      3.500472553241707e-06,
+      -0.0509818010404706,
+      -0.034448313303291796,
+      -0.9999969005584717
+    ],
+    "q99": [
+      0.022363701909780515,
+      0.08494985677301885,
+      0.12513610661029817,
+      0.2417055384814739,
+      0.06775475464761266,
+      -0.08896378591656674,
+      0.023204089961946037,
+      -0.0015192211000248784,
+      0.14605582356452945,
+      0.2637390330433847,
+      0.02540182825177909,
+      -0.11247431620955463,
+      0.045078970193862956,
+      0.01084289540536705,
+      0.06618980191648008,
+      0.2127259811758995,
+      0.1207893491536379,
+      0.17340725377202051,
+      1.1782212746143341,
+      0.15029769822955133,
+      0.284601552784443,
+      0.24518291726708424,
+      0.574103119969368,
+      0.20110817000269893,
+      0.4289393186569214,
+      1.090245271921158,
+      1.6856296074390411,
+      0.4354098090529442,
+      0.6240738946199419,
+      0.6550609117746353,
+      0.11106815099716187,
+      0.0016736791399307553,
+      0.0016737007454503332,
+      7.067617640132086e-05,
+      0.0016740043973550206,
+      0.04393611080944543,
+      -3.5209443449275565e-05,
+      -3.6228761236998254e-05,
+      0.001673671518219635,
+      -3.428465297474759e-05,
+      -0.07549927696585655,
+      0.00033055711624911053,
+      0.00033056510204914957,
+      -3.27974740503123e-05,
+      0.0003305787115823478,
+      0.0029672205448150676,
+      6.172811561555137e-05,
+      6.172639630676713e-05,
+      0.00033058923436328773,
+      6.173273846798111e-05,
+      0.02593978215008975,
+      6.173363683046773e-05,
+      0.00011906931409612325,
+      0.3788433319330216,
+      0.7210515093803406,
+      0.04076650269329549,
+      0.6620141255855561,
+      0.7518158155679703,
+      0.005808500694111003,
+      0.0029059992940165106,
+      0.570847806930542,
+      0.001445831618038942,
+      -0.06100055202841757,
+      1.7104798436164856,
+      1.6175228309631349,
+      0.13970585480332376,
+      1.5544946193695068,
+      0.5039450734853745,
+      1.2392426097393037,
+      1.1760916101932526,
+      1.711456812620163,
+      0.273824557363987,
+      0.008887753421440723,
+      0.9885768574476242,
+      0.8870391553640365,
+      0.003523021200671792,
+      0.016513032466173187,
+      -0.9981962537765503
+    ]
+  },
+  "action": {
+    "q01": [
+      -0.13134222283959388,
+      -0.024185964539647102,
+      -0.05184150915592909,
+      0.09552762366831302,
+      -0.0026068110507912936,
+      -0.23918988361954688,
+      -0.10000018030405045,
+      -0.12674111977219582,
+      -0.10163657270371913,
+      0.15014811769127845,
+      -0.04781708903610706,
+      -0.1499973088502884,
+      -0.03564867358654737,
+      -0.14329251244664193,
+      -0.015194994118064643,
+      0.06234505157917738,
+      0.07834789998829365,
+      -0.33672610580921175,
+      0.8883850193023681,
+      -0.13506919294595718,
+      -0.11324556194245815,
+      2.212044459156459e-05,
+      -0.7019998604059219,
+      -0.2775934264063835,
+      -0.539320461153984,
+      -0.4031486800312996,
+      -0.09299471445381641,
+      -0.14033480405807494,
+      -0.9108382725715637,
+      0.0,
+      -0.24792536661028863,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      -0.2870999872684479,
+      0.0,
+      -0.01590000092983246,
+      -0.17630000412464142,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      -0.006200000178068876,
+      0.0,
+      0.0
+    ],
+    "q99": [
+      0.021594969108700852,
+      0.16640782415866867,
+      0.12718746691942218,
+      0.24997688829898834,
+      0.08018159188330175,
+      0.03884378127753758,
+      0.05158773705363275,
+      0.03649170324206358,
+      0.148794401139021,
+      0.30129860222339633,
+      1.0498902120161802e-05,
+      0.10512676119804415,
+      0.04380577966570858,
+      0.0001258647243957967,
+      0.12353190943598767,
+      0.24998623132705688,
+      0.15487137973308568,
+      0.18447129845619215,
+      1.1401302945613863,
+      0.15595547869801524,
+      0.30440507233142866,
+      0.25559284031391155,
+      0.5289791256189347,
+      0.19664479181170502,
+      0.4294169899821282,
+      1.0835133707523348,
+      1.6786310493946082,
+      0.4363322854042053,
+      0.6242169576883343,
+      0.6078888165950775,
+      0.11174179427325728,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.0,
+      0.3626999855041504,
+      0.777400016784668,
+      0.04019999876618385,
+      0.6610000133514404,
+      0.7699999809265137,
+      0.07270000129938126,
+      0.0,
+      0.5733000040054321,
+      0.0,
+      0.0,
+      1.745300054550171,
+      1.745300054550171,
+      0.12300000339746475,
+      1.5556999444961548,
+      0.5410000085830688,
+      1.2592999935150146,
+      1.2130999565124512,
+      1.745300054550171,
+      0.27469998598098755,
+      0.0,
+      1.0023000240325928,
+      0.8996000289916992
+    ]
+  }
+}

legacy/a18-pour-water/from-scratch-pre-v2-aug-20261108/epoch-040/original_protocol.json

@@ -0,0 +1,45 @@
+{
+  "run": "a18-h2-pour-from-scratch-20261108",
+  "checkpoint": "h2-a18-pour-water/epoch-040/step_011400.pt",
+  "checkpoint_receipt": null,
+  "global_step": 11400,
+  "epoch_completed": 40,
+  "config_max_steps": 17100,
+  "robot": "h2",
+  "source_dataset": "humanoid-benchmark/a18-pour-water-expert-v1",
+  "source_revision": "8e956a102c84f991d2745a8cc66155c9991b742d",
+  "dataset_meta": {
+    "total_episodes": 100,
+    "total_frames": 72752,
+    "fps": 30
+  },
+  "action_dim": 75,
+  "state_dim": 78,
+  "chunk": 16,
+  "history": 16,
+  "state_layout": "H2 schema a18-h2-sharpa-body31-hand44-state78-chunk16-v1 (see normalization.json)",
+  "action_layout": "H2 schema a18-h2-sharpa-body31-hand44-state78-chunk16-v1 (see normalization.json)",
+  "normalization_file": "normalization.json",
+  "qwen_context_len": 128,
+  "qwen_text_cache": "qwen-text/cd0ca5d7666fa68fe2141dfac894ceea404ab7cf2a88b8617a489f124dfdfdf2.qwen3_flux2_len128.pt",
+  "sidecar_note": "Files copied unchanged from the paths the training config used (stats_path, qwen_text_cache_dir); training_config.yaml is the production config.yaml verbatim, so its absolute paths refer to the training NAS. Point stats_path / qwen_text_cache_dir (and velocity normalization, if present) at the files in this folder. Do not substitute the B6 config: model input dims differ per run.",
+  "sidecars": {
+    "training_config.yaml": {
+      "sha256": "21fe0408e196fe07abff69616084f7a3bef6f6852ffb61290fb1dceed4c39b98",
+      "bytes": 6077,
+      "original_nas_path": "$P/a18-h2-pour-from-scratch-20261108/run/production/config.yaml"
+    },
+    "normalization.json": {
+      "sha256": "b2c0eb7dc4128bc67e03315dcada176d0ec261c2d9458eb0555069a91a78a95f",
+      "bytes": 10548,
+      "original_nas_path": "$P/a18-h2-pour-from-scratch-20261108/normalization.json"
+    },
+    "qwen-text/cd0ca5d7666fa68fe2141dfac894ceea404ab7cf2a88b8617a489f124dfdfdf2.qwen3_flux2_len128.pt": {
+      "sha256": "e019497ddebe0f624dd8a54e15cb0ffe450865e8734bf0945fa90cece52974b1",
+      "bytes": 1969349,
+      "original_nas_path": "$P/a18-h2-pour-from-scratch-20261108/qwen-text/cd0ca5d7666fa68fe2141dfac894ceea404ab7cf2a88b8617a489f124dfdfdf2.qwen3_flux2_len128.pt"
+    }
+  },
+  "staged_utc": "2026-11-10",
+  "schedule_note": "config_max_steps reflects the original 60-epoch plan; the target was changed to 40 epochs and this checkpoint is step 11400 = epoch 40."
+}

legacy/a18-pour-water/from-scratch-pre-v2-aug-20261108/epoch-040/protocol.json

@@ -0,0 +1,24 @@
+{
+  "benchmark_result": false,
+  "not_benchmark_because": "Trained 2026-11-08, before augmentation spec v2; stopped at epoch 40 of a 60-epoch schedule (learning-rate schedule planned for 60). State 78-D / action 75-D match the benchmark interface.",
+  "model": "Delta Flow (ImageWAM, HumanWAM wholebody delta-flow policy): action = motion_token64 + same-frame measured hands12 (G1, 76-D) or H2 body31 + Sharpa hands44 (75-D); chunk 16, history 16, future image t+16.",
+  "task_dir": "a18-pour-water",
+  "run": "from-scratch-pre-v2-aug-20261108",
+  "epoch_folder": "epoch-040",
+  "weights": "model.pt",
+  "weights_sha256": "086fbec377fb2211a21581282df3a5b0e8fbdada606b499638be8b3603f8f9e0",
+  "moved_from": {
+    "repo": "humanoid-benchmark/g1-basket-transfer-imagewam-deltaflow76",
+    "path": "h2-a18-pour-water/epoch-040/step_011400.pt",
+    "revision": "01a2456a6873d1aea5fade2a42e83ba6beb07882",
+    "note": "original repository deleted after this move; file is byte-identical"
+  },
+  "original_protocol": "original_protocol.json (file names inside refer to the original repository; weights there were named step_011400.pt)",
+  "files": {
+    "model.pt": 9035699257,
+    "normalization.json": 10548,
+    "original_protocol.json": 2390,
+    "qwen-text/cd0ca5d7666fa68fe2141dfac894ceea404ab7cf2a88b8617a489f124dfdfdf2.qwen3_flux2_len128.pt": 1969349,
+    "training_config.yaml": 6077
+  }
+}

legacy/a18-pour-water/from-scratch-pre-v2-aug-20261108/epoch-040/qwen-text/cd0ca5d7666fa68fe2141dfac894ceea404ab7cf2a88b8617a489f124dfdfdf2.qwen3_flux2_len128.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e019497ddebe0f624dd8a54e15cb0ffe450865e8734bf0945fa90cece52974b1
+size 1969349

legacy/a18-pour-water/from-scratch-pre-v2-aug-20261108/epoch-040/training_config.yaml

@@ -0,0 +1,240 @@
+output_dir: /mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/a18-h2-pour-from-scratch-20261108/run/production
+batch_size: 8
+gradient_accumulation_steps: 1
+num_workers: 4
+prefetch_factor: 2
+persistent_workers: true
+num_epochs: 60
+max_steps: 17100
+lr_scheduler_total_steps: 17100
+warmup_steps: 855
+lr_scheduler_type: cosine
+learning_rate: 0.0001
+weight_decay: 0.01
+optimizer_foreach: false
+mixed_precision: bf16
+seed: 42
+max_grad_norm: 1.0
+resume: null
+log_every: 5
+rank_timer_every: 20
+rank_timer_sync_cuda: true
+save_every: 2850
+save_steps: []
+save_at_end: true
+keep_latest_weights: 4
+keep_latest_state_only: true
+eval_every: 0
+eval_num_inference_steps: 1
+eval_num_samples: 1
+precache_arrow: false
+precache_num_workers: 0
+build_lerobot_meta_cache: false
+build_norm_stats: false
+precache_fuse_norm_stats: false
+norm_stats_cache_enabled: false
+wandb:
+  enabled: false
+  workspace: null
+  project: imagewam-wholebody
+  name: deltaflow76-p25
+  group: wholebody-action76-state44
+  mode: disabled
+data:
+  train:
+    _target_: imagewam.datasets.h2_pour.H2PourDataset
+    dataset_dir: /mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/a18-h2-dataset-audit-8e956a10/dataset
+    stats_path: /mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/a18-h2-pour-from-scratch-20261108/normalization.json
+    qwen_text_cache_dir: /mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/a18-h2-pour-from-scratch-20261108/qwen-text
+    qwen_context_len: 128
+    qwen_text_dim: 7680
+    video_cache_frames: 64
+    image_augmentation:
+      version: b6-visual-aug-v2
+      seed: 20261106
+      enabled: true
+      exposure_ev:
+      - -0.22
+      - 0.22
+      contrast:
+      - 0.88
+      - 1.12
+      saturation:
+      - 0.76
+      - 1.24
+      hue:
+      - -0.015
+      - 0.015
+      gamma:
+      - 0.89
+      - 1.11
+      temperature_delta:
+      - -0.066
+      - 0.066
+      noise_probability: 0.5
+      noise_sigma:
+      - 0.01568627450980392
+      - 0.01568627450980392
+      blur_probability: 0.15
+      blur_sigma:
+      - 0.25
+      - 0.65
+      blur_kernel: 3
+      shared_colour_across_cameras_and_time: true
+      noise_on_future_target: false
+      action_label_noise: false
+      state_label_noise: false
+      geometric_transforms: true
+      policy_id: a18-h2-rgb-v1
+      rotation_degrees: 1.5
+      crop_zoom_extra: 0.02
+      jpeg_probability: 0.35
+      jpeg_quality:
+      - 70
+      - 95
+  val: null
+model:
+  _target_: imagewam.h2_pour_delta.create_imagewam_flux2_wholebody_delta
+  flux2_src_path: /mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/HumanWAM/third_party/flux2
+  flux2_model_path: /mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/hf-inputs/FLUX.2-klein-base-4B/flux-2-klein-base-4b.safetensors
+  ae_model_path: /mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/hf-inputs/FLUX.2-AE/ae.safetensors
+  qwen3_model_spec: /mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/hf-inputs/Qwen3-4B
+  variant: klein-base-4b
+  qwen_context_len: 128
+  load_text_encoder: false
+  proprio_dim: 78
+  action_state_dim: 78
+  expected_action_dim: 75
+  expected_action_horizon: 16
+  state_only_init_seed: 42
+  mot_checkpoint_mixed_attn: true
+  mot_gqa_implementation: repeat
+  mot_force_flash_attention: false
+  pack_proprio_after_text: false
+  action_dit_pretrained_path: /mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/all60-20261105/action-shared-flux2-4b.pt
+  action_initializer_sha256: 3b40f3ca92b3e249ed39791c1ce3ab55adce8161e406c62d94387ab1532ef657
+  zero_init_action_head: false
+  action_head_init_scale: 1.0
+  flux2_action_image_context:
+    mode: noise_idm
+    include_future_tokens: true
+    knowledge_insulation: true
+    reuse_image_fm_workspace: false
+  flux2_lora_config:
+    enabled: false
+  action_dit_config:
+    action_dim: 75
+    hidden_dim: 1024
+    num_heads: 24
+    attn_head_dim: 128
+    num_layers_double: 5
+    num_layers_single: 20
+    mlp_ratio: 4.0
+    max_action_horizon: 64
+    use_gradient_checkpointing: true
+  video_scheduler:
+    train_shift: 5.0
+    infer_shift: 5.0
+    num_train_timesteps: 1000
+  action_scheduler:
+    train_shift: 5.0
+    infer_shift: 5.0
+    num_train_timesteps: 1000
+  loss:
+    lambda_video: 0.5
+    lambda_action: 1.0
+    action_a2a:
+      enabled: true
+      fm_weight: 1.0
+      ic_weight: 0.5
+      ic_steps: 1
+      ic_loss: l1
+      source_noise_std: 0.5
+      source_noise_dim_mask:
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      aura:
+        enabled: false
+    image_i2i:
+      enabled: true
+      source_mode: gaussian
+      current_residual_scale: 0.5773502691896258
+      variance_normalize: true
+      ic_weight: 1.0
+      ic_steps: 1
+      ic_loss: l1
+      source_noise_std: 0.0
+  state_only_schema_id: a18-h2-sharpa-body31-hand44-state78-chunk16-v1

legacy/a20-basket-transfer/old-data-ed77719-20261109/epoch-040/dataset_stats.json

@@ -0,0 +1,1395 @@
+{
+  "schema": "wholebody-basket-state43to44-action76-chunk16-train100val0-v1",
+  "action": {
+    "wholebody_action76": {
+      "global_min": [
+        -0.125,
+        -0.5,
+        -0.4375,
+        -0.3125,
+        -0.5625,
+        -0.625,
+        -0.4375,
+        -0.25,
+        -0.4375,
+        -0.25,
+        -0.8125,
+        -0.25,
+        -0.3125,
+        -0.375,
+        -0.4375,
+        -0.5,
+        -0.1875,
+        -0.25,
+        -0.5625,
+        -0.4375,
+        -0.5,
+        -0.5625,
+        -0.4375,
+        -0.5,
+        -0.5,
+        -0.0625,
+        -0.4375,
+        -0.4375,
+        -0.5,
+        -0.375,
+        -0.125,
+        -0.125,
+        -0.3125,
+        -0.25,
+        0.0,
+        -0.6875,
+        -0.1875,
+        -0.5,
+        -0.375,
+        -0.25,
+        -0.4375,
+        -0.5,
+        -0.3125,
+        -0.1875,
+        -0.5625,
+        -0.4375,
+        -0.4375,
+        -0.375,
+        -0.1875,
+        -0.625,
+        -0.375,
+        -0.25,
+        -0.4375,
+        -0.5625,
+        -0.375,
+        -0.375,
+        -0.5625,
+        -0.25,
+        -0.625,
+        -0.375,
+        -0.625,
+        -0.3125,
+        -0.3125,
+        -0.125,
+        0.9946179389953613,
+        0.9950302839279175,
+        0.9995428323745728,
+        0.9996957182884216,
+        0.8442237377166748,
+        0.9931595921516418,
+        0.37476956844329834,
+        0.37471523880958557,
+        0.37470805644989014,
+        0.43732959032058716,
+        0.5062878131866455,
+        0.0
+      ],
+      "global_max": [
+        0.5625,
+        0.4375,
+        0.4375,
+        0.5,
+        0.25,
+        0.3125,
+        0.125,
+        0.25,
+        0.375,
+        0.1875,
+        0.125,
+        0.375,
+        0.5,
+        0.375,
+        0.3125,
+        0.25,
+        0.4375,
+        0.5625,
+        0.125,
+        0.3125,
+        0.1875,
+        0.25,
+        0.375,
+        0.3125,
+        0.0625,
+        0.4375,
+        0.0,
+        0.3125,
+        0.3125,
+        0.375,
+        0.6875,
+        0.5,
+        0.375,
+        0.5,
+        0.375,
+        0.125,
+        0.6875,
+        0.1875,
+        0.3125,
+        0.25,
+        0.0625,
+        0.3125,
+        0.1875,
+        0.5625,
+        0.25,
+        0.5,
+        0.5,
+        0.375,
+        0.5,
+        0.25,
+        0.4375,
+        0.375,
+        0.625,
+        0.0625,
+        0.25,
+        0.5625,
+        0.5,
+        0.3125,
+        0.25,
+        0.1875,
+        0.1875,
+        0.625,
+        0.375,
+        0.6875,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0
+      ],
+      "global_mean": [
+        0.2766117010508493,
+        -0.00029445865616430794,
+        -0.027986224855991313,
+        0.09060814914330935,
+        -0.17356267368459796,
+        -0.1263227634944881,
+        -0.1565772401862451,
+        -0.03146566796105784,
+        -0.0016080203176472754,
+        -0.09087155161308133,
+        -0.4211253381673629,
+        0.061495849973314684,
+        0.08721727368091724,
+        0.03199822404623001,
+        0.06435762003791155,
+        -0.13553149787437657,
+        0.12251205440123672,
+        0.14551893737232457,
+        -0.19272894160516774,
+        -0.06847083939120673,
+        -0.10969620148333548,
+        -0.19859971106244365,
+        -0.047946150873253955,
+        -0.091967719969818,
+        -0.21865510609713454,
+        0.2426385335958923,
+        -0.2411673905441964,
+        -0.039372342970719766,
+        -0.09866205348105343,
+        0.05014078804497856,
+        0.31318553655888254,
+        0.20587951119863077,
+        0.02367516609308574,
+        0.13163222113845077,
+        0.2374325965732374,
+        -0.30700190477943207,
+        0.2042001766751937,
+        -0.22743595524228427,
+        -0.0886159522976977,
+        0.07480630141524192,
+        -0.21931188692787604,
+        -0.13112036917754016,
+        -0.13014957579549846,
+        0.2759296151793437,
+        -0.19842027531884351,
+        -0.0036991368680641184,
+        0.012857261166424352,
+        -0.016513839556839723,
+        0.20640746636730037,
+        -0.2200181276110201,
+        0.05943233892191325,
+        0.07270253234444302,
+        0.19881710436718994,
+        -0.28297821926127686,
+        -0.0751743747354473,
+        0.16308983749562914,
+        -0.05028341645655815,
+        0.05753791155198115,
+        -0.2532585991129433,
+        -0.0689953438724994,
+        -0.2953236284667906,
+        0.33683769806945546,
+        0.06563092367999705,
+        0.3299616283563686,
+        0.9999949060378951,
+        0.9999946038550597,
+        0.9999952268808444,
+        0.9999951175626988,
+        0.9973516399447887,
+        0.9998314731053536,
+        0.7592528752995917,
+        0.7596251772900071,
+        0.7613828422955784,
+        0.7904761798691758,
+        0.8113234939894977,
+        0.18422807089187518
+      ],
+      "global_std": [
+        0.14849423694004557,
+        0.2154563423557478,
+        0.13644848517207334,
+        0.11818637246992582,
+        0.1488061572801117,
+        0.18218157046776953,
+        0.11662244716324167,
+        0.10675344424362035,
+        0.16179370903971216,
+        0.0691198114995131,
+        0.15590962037977069,
+        0.09262628714728441,
+        0.18828694721108635,
+        0.11690679833601392,
+        0.10948074912165648,
+        0.14549437767205306,
+        0.14017334261213896,
+        0.16868985206846043,
+        0.11176136069343523,
+        0.1518386746065166,
+        0.09900963977953223,
+        0.1482799109904417,
+        0.16292645906737338,
+        0.16918298158312842,
+        0.1141343128627521,
+        0.0835629512668086,
+        0.08687221647203029,
+        0.13652972411146017,
+        0.17403164993505124,
+        0.17869233427313985,
+        0.19092787685749496,
+        0.10088438989277455,
+        0.07914096718929282,
+        0.13645798497911635,
+        0.048123961423429854,
+        0.19903518729041172,
+        0.16487367193993838,
+        0.12906628325669464,
+        0.11610808630846055,
+        0.07537341158290414,
+        0.07427597212551154,
+        0.2044614826169152,
+        0.08071853511143416,
+        0.10832271570573021,
+        0.147697213189088,
+        0.267832332918496,
+        0.23001923986474582,
+        0.10939685558354965,
+        0.11927389823252625,
+        0.16271215845953185,
+        0.1088522151221203,
+        0.10476740561695166,
+        0.294723522454563,
+        0.11928580703236884,
+        0.12639846372713154,
+        0.21528488706707535,
+        0.29999358772270784,
+        0.10132433786604929,
+        0.22867433902634288,
+        0.062129177574147605,
+        0.1807509293156202,
+        0.1801295150430635,
+        0.13491608568942895,
+        0.17965076386641482,
+        4.834792729057114e-05,
+        4.53445182062979e-05,
+        1.4062652076496759e-05,
+        1.291175189783966e-05,
+        0.004846787150077591,
+        0.00012857655972863498,
+        0.29187774444321496,
+        0.2913545440272998,
+        0.28916480607801975,
+        0.25344603074481914,
+        0.2261161312307753,
+        0.3824131433136669
+      ],
+      "global_q01": [
+        0.0,
+        -0.375,
+        -0.3125,
+        -0.125,
+        -0.5,
+        -0.5,
+        -0.375,
+        -0.25,
+        -0.375,
+        -0.1875,
+        -0.625,
+        -0.125,
+        -0.25,
+        -0.25,
+        -0.25,
+        -0.4375,
+        -0.1875,
+        -0.1875,
+        -0.4375,
+        -0.375,
+        -0.375,
+        -0.4375,
+        -0.4375,
+        -0.4375,
+        -0.4375,
+        0.0625,
+        -0.375,
+        -0.375,
+        -0.4375,
+        -0.3125,
+        0.0,
+        -0.0625,
+        -0.1875,
+        -0.0625,
+        0.0625,
+        -0.625,
+        -0.125,
+        -0.4375,
+        -0.3125,
+        -0.125,
+        -0.375,
+        -0.5,
+        -0.3125,
+        0.0625,
+        -0.5,
+        -0.375,
+        -0.3125,
+        -0.25,
+        -0.0625,
+        -0.5,
+        -0.1875,
+        -0.1875,
+        -0.375,
+        -0.5,
+        -0.3125,
+        -0.25,
+        -0.5,
+        -0.125,
+        -0.5625,
+        -0.1875,
+        -0.5625,
+        -0.125,
+        -0.25,
+        0.0,
+        0.9999478459358215,
+        0.9999374747276306,
+        0.9999337196350098,
+        0.9999381303787231,
+        0.9905551719665527,
+        0.9995118594169616,
+        0.39976945519447327,
+        0.3997188317775726,
+        0.3998296022415161,
+        0.4623487079143524,
+        0.5121490502357483,
+        0.0
+      ],
+      "global_q99": [
+        0.5625,
+        0.375,
+        0.3125,
+        0.375,
+        0.125,
+        0.25,
+        0.0625,
+        0.1875,
+        0.25,
+        0.0625,
+        -0.0625,
+        0.25,
+        0.4375,
+        0.1875,
+        0.25,
+        0.1875,
+        0.3125,
+        0.4375,
+        0.0625,
+        0.1875,
+        0.125,
+        0.125,
+        0.3125,
+        0.25,
+        0.0,
+        0.375,
+        -0.0625,
+        0.1875,
+        0.1875,
+        0.375,
+        0.625,
+        0.4375,
+        0.1875,
+        0.4375,
+        0.3125,
+        0.0625,
+        0.625,
+        0.0,
+        0.125,
+        0.1875,
+        0.0,
+        0.25,
+        0.0625,
+        0.5,
+        0.1875,
+        0.4375,
+        0.4375,
+        0.3125,
+        0.4375,
+        0.125,
+        0.375,
+        0.3125,
+        0.5625,
+        -0.0625,
+        0.1875,
+        0.5,
+        0.4375,
+        0.25,
+        0.125,
+        0.0625,
+        0.0625,
+        0.625,
+        0.3125,
+        0.625,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        0.9999859714508057,
+        0.9999876403808594,
+        0.9999904417991639,
+        0.9999897265434265,
+        1.0,
+        1.0
+      ]
+    }
+  },
+  "state": {
+    "wholebody_state44": {
+      "global_min": [
+        -0.5890061259269714,
+        -0.32459360361099243,
+        -0.24504725635051727,
+        0.10599947720766068,
+        -0.41288065910339355,
+        -0.1626531183719635,
+        -0.567238986492157,
+        -0.46554476022720337,
+        -0.5684875845909119,
+        0.10544849187135696,
+        -0.465249240398407,
+        -0.24303635954856873,
+        -0.1951373815536499,
+        -0.09604593366384506,
+        0.023608015850186348,
+        -0.26694828271865845,
+        0.10704287886619568,
+        -1.0942447185516357,
+        0.7118814587593079,
+        -0.4450779855251312,
+        -0.3020189106464386,
+        -0.3190804123878479,
+        -2.14031982421875,
+        -2.091332197189331,
+        -1.0608283281326294,
+        -0.8895421028137207,
+        -1.8606306314468384,
+        -0.8146812915802002,
+        -0.5908448100090027,
+        0.9946179389953613,
+        0.9950302839279175,
+        0.9995428323745728,
+        0.9996957182884216,
+        0.8442237377166748,
+        0.9931595921516418,
+        0.37476956844329834,
+        0.37471523880958557,
+        0.37470805644989014,
+        0.43732959032058716,
+        0.5062878131866455,
+        0.0,
+        -0.11872193962335587,
+        -0.11012948304414749,
+        -1.0
+      ],
+      "global_max": [
+        0.19680814445018768,
+        0.2812463641166687,
+        0.4523846507072449,
+        1.373167872428894,
+        0.3797037601470947,
+        0.24580200016498566,
+        0.1364397257566452,
+        0.17788931727409363,
+        0.14985182881355286,
+        1.147722840309143,
+        0.17723098397254944,
+        0.21606118977069855,
+        0.14723391830921173,
+        0.19993454217910767,
+        0.24447889626026154,
+        0.30618932843208313,
+        0.5849045515060425,
+        -0.059097595512866974,
+        1.1611671447753906,
+        0.6016888618469238,
+        0.2236470878124237,
+        0.17277145385742188,
+        0.8223599791526794,
+        0.06366916000843048,
+        1.381237506866455,
+        1.487066626548767,
+        0.7967602610588074,
+        1.4913829565048218,
+        1.5154807567596436,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        0.14340350031852722,
+        0.07039660215377808,
+        -0.9895644187927246
+      ],
+      "global_mean": [
+        -0.06428257049890967,
+        0.08041273305652186,
+        0.1533756468138299,
+        0.2652201017414119,
+        -0.13629678181122615,
+        -0.03365700410689909,
+        -0.10191896833457456,
+        -0.05731171622343247,
+        -0.20996738207746857,
+        0.2558428748178147,
+        -0.1085040420862797,
+        -0.015165154131307599,
+        -0.0347366283879404,
+        0.03394799674542206,
+        0.13786905725184284,
+        0.02796045785308742,
+        0.23676368409046608,
+        -0.5202921485178322,
+        0.9639195988600664,
+        -0.08785427286679563,
+        -0.08123980395720799,
+        -0.05563374842571837,
+        -0.6896596316112211,
+        -0.4385259294506282,
+        0.30602431070710095,
+        0.29478324681812784,
+        -0.8881562289369301,
+        0.24991578881745363,
+        0.3577592552926255,
+        0.9999949060378951,
+        0.9999946038550597,
+        0.9999952268808444,
+        0.9999951175626988,
+        0.9973516399447887,
+        0.9998314731053536,
+        0.7592528752995917,
+        0.7596251772900071,
+        0.7613828422955784,
+        0.7904761798691758,
+        0.8113234939894977,
+        0.18422807089187518,
+        -0.022123011954985807,
+        0.0006725333211482884,
+        -0.9991263960175975
+      ],
+      "global_std": [
+        0.12643732539996952,
+        0.069851224342268,
+        0.08001851042458717,
+        0.1647902387814658,
+        0.10069507006699298,
+        0.06266696922719017,
+        0.12923131483270028,
+        0.07089865288905532,
+        0.07661400672429207,
+        0.1677758558722951,
+        0.0929557715243633,
+        0.0555044341112716,
+        0.04385385969007648,
+        0.02204765338572377,
+        0.016957901134645303,
+        0.056228657110949175,
+        0.04647441380892252,
+        0.13308646657741546,
+        0.06137599758017181,
+        0.13947556301534078,
+        0.07628145095362918,
+        0.08080620529054588,
+        0.7018076893018496,
+        0.27017498523932165,
+        0.27948412805198597,
+        0.6138572402983056,
+        0.4837791092727902,
+        0.17308118460645666,
+        0.5079842836538775,
+        4.834792729057114e-05,
+        4.53445182062979e-05,
+        1.4062652076496759e-05,
+        1.291175189783966e-05,
+        0.004846787150077591,
+        0.00012857655972863498,
+        0.29187774444321496,
+        0.2913545440272998,
+        0.28916480607801975,
+        0.25344603074481914,
+        0.2261161312307753,
+        0.3824131433136669,
+        0.029631064366853265,
+        0.01943588302149011,
+        0.0009005592121003977
+      ],
+      "global_q01": [
+        -0.4233877229690552,
+        -0.1509682458639145,
+        -0.03277109801769257,
+        0.13461729168891906,
+        -0.3459276843070984,
+        -0.11697889387607574,
+        -0.4486421298980713,
+        -0.3213158011436462,
+        -0.4138689160346985,
+        0.11981326818466187,
+        -0.3404811716079712,
+        -0.13602204203605653,
+        -0.14534407019615173,
+        -0.020141709521412848,
+        0.08775350779294967,
+        -0.12308108776807784,
+        0.15202343881130218,
+        -0.8899987840652466,
+        0.810786018371582,
+        -0.35627086758613585,
+        -0.23938499569892882,
+        -0.2384214997291565,
+        -1.888227572441101,
+        -1.733862681388855,
+        -0.4796680426597595,
+        -0.8458440279960633,
+        -1.6031995248794555,
+        -0.15773566007614134,
+        -0.3251169633865356,
+        0.9999478459358215,
+        0.9999374747276306,
+        0.9999337196350098,
+        0.9999381303787231,
+        0.9905551719665527,
+        0.9995118594169616,
+        0.39976945519447327,
+        0.3997188317775726,
+        0.3998296022415161,
+        0.4623487079143524,
+        0.5121490502357483,
+        0.0,
+        -0.07852788627147675,
+        -0.055761659145355226,
+        -0.9999833703041077
+      ],
+      "global_q99": [
+        0.1395332938432693,
+        0.19173237502574916,
+        0.3409246397018432,
+        0.9649107122421264,
+        0.06994051605463025,
+        0.15605100929737084,
+        0.09150559484958648,
+        0.06546163707971571,
+        0.003548391349613631,
+        0.9633817625045776,
+        0.08960982531309122,
+        0.13196893155574796,
+        0.06965033084154125,
+        0.08591360330581663,
+        0.18206360161304472,
+        0.16928729295730588,
+        0.40168908476829523,
+        -0.20011804282665263,
+        1.1036016130447388,
+        0.4225034773349762,
+        0.13518398225307462,
+        0.11182923495769499,
+        0.44728201150894153,
+        -0.057528366744518326,
+        1.0117702245712281,
+        1.1661929559707642,
+        0.17455256819725026,
+        0.7382104492187498,
+        1.3105534315109253,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        0.9999859714508057,
+        0.9999876403808594,
+        0.9999904417991639,
+        0.9999897265434265,
+        1.0,
+        1.0,
+        0.08034303277730939,
+        0.03490637451410293,
+        -0.9954893827438355
+      ]
+    }
+  },
+  "normalization": {
+    "mode": "q01/q99",
+    "clamp": [
+      -5.0,
+      5.0
+    ],
+    "state_fixed_bounds": {
+      "start": 29,
+      "end": 41,
+      "min": 0.0,
+      "max": 1.0
+    },
+    "action_fixed_bounds": {
+      "start": 64,
+      "end": 76,
+      "min": 0.0,
+      "max": 1.0
+    },
+    "constant_range_tolerance": 0.0001
+  },
+  "train_episode_ids": [
+    0,
+    1,
+    2,
+    3,
+    4,
+    5,
+    6,
+    7,
+    8,
+    9,
+    10,
+    11,
+    12,
+    13,
+    14,
+    15,
+    16,
+    17,
+    18,
+    19,
+    20,
+    21,
+    22,
+    23,
+    24,
+    25,
+    26,
+    27,
+    28,
+    29,
+    30,
+    31,
+    32,
+    33,
+    34,
+    35,
+    36,
+    37,
+    38,
+    39,
+    40,
+    41,
+    42,
+    43,
+    44,
+    45,
+    46,
+    47,
+    48,
+    49,
+    50,
+    51,
+    52,
+    53,
+    54,
+    55,
+    56,
+    57,
+    58,
+    59,
+    60,
+    61,
+    62,
+    63,
+    64,
+    65,
+    66,
+    67,
+    68,
+    69,
+    70,
+    71,
+    72,
+    73,
+    74,
+    75,
+    76,
+    77,
+    78,
+    79,
+    80,
+    81,
+    82,
+    83,
+    84,
+    85,
+    86,
+    87,
+    88,
+    89,
+    90,
+    91,
+    92,
+    93,
+    94,
+    95,
+    96,
+    97,
+    98,
+    99
+  ],
+  "train_frames": 54337,
+  "train_split_mode": "all_100",
+  "heldout_episode_ids": [],
+  "normalization_reference_episode_ids": [
+    0,
+    1,
+    2,
+    3,
+    4,
+    5,
+    6,
+    7,
+    8,
+    9,
+    10,
+    11,
+    12,
+    13,
+    14,
+    15,
+    16,
+    17,
+    18,
+    19,
+    20,
+    21,
+    22,
+    23,
+    24,
+    25,
+    26,
+    27,
+    28,
+    29,
+    30,
+    31,
+    32,
+    33,
+    34,
+    35,
+    36,
+    37,
+    38,
+    39,
+    40,
+    41,
+    42,
+    43,
+    44,
+    45,
+    46,
+    47,
+    48,
+    49,
+    50,
+    51,
+    52,
+    53,
+    54,
+    55,
+    56,
+    57,
+    58,
+    59,
+    60,
+    61,
+    62,
+    63,
+    64,
+    65,
+    66,
+    67,
+    68,
+    69,
+    70,
+    71,
+    72,
+    73,
+    74,
+    75,
+    76,
+    77,
+    78,
+    79,
+    80,
+    81,
+    82,
+    83,
+    84,
+    85,
+    86,
+    87,
+    88,
+    89,
+    90,
+    91,
+    92,
+    93,
+    94,
+    95,
+    96,
+    97,
+    98,
+    99
+  ],
+  "normalization_reference_train_frames": 54337,
+  "normalization_strategy": "fit_wholebody_motion64_body29_gravity3_fixed_inspire_hands",
+  "action_order": "motion64,left_measured_hand6_native_order,right_measured_hand6_native_order",
+  "state_order": "body29,left_measured_hand6_native_order,right_measured_hand6_native_order,projected_gravity3",
+  "hand_target_time_offset": 0,
+  "hand_target_type": "same-row measured feedback, not issued command",
+  "hand_field_order": [
+    "pinky",
+    "ring",
+    "middle",
+    "index",
+    "thumb_bend",
+    "thumb_rotation"
+  ],
+  "hand_field_order_source": "meta/info.json features.observation.inspire_{left,right}_hand_state.names",
+  "hand_dataset_units": "[0,1]; do not divide recorded feedback by 1000 again",
+  "hand_deployment_raw1000_rule": "if the runtime reports raw Inspire units [0,1000], divide by 1000 exactly once before normalization",
+  "action_dim": 76,
+  "proprio_dim": 44,
+  "body_state_indices": [
+    0,
+    1,
+    2,
+    3,
+    4,
+    5,
+    6,
+    7,
+    8,
+    9,
+    10,
+    11,
+    12,
+    13,
+    14,
+    15,
+    16,
+    17,
+    18,
+    19,
+    20,
+    21,
+    22,
+    23,
+    24,
+    25,
+    26,
+    27,
+    28
+  ],
+  "constant_action_dims": [],
+  "split_manifest_sha256": "152a95f28fa50343d8312c3ee5d9cc52bfced0eadd8d71abe8096995ca008db6",
+  "split_manifest": {
+    "train_episode_ids": [
+      0,
+      1,
+      2,
+      3,
+      4,
+      5,
+      6,
+      7,
+      8,
+      9,
+      10,
+      11,
+      12,
+      13,
+      14,
+      15,
+      16,
+      17,
+      18,
+      19,
+      20,
+      21,
+      22,
+      23,
+      24,
+      25,
+      26,
+      27,
+      28,
+      29,
+      30,
+      31,
+      32,
+      33,
+      34,
+      35,
+      36,
+      37,
+      38,
+      39,
+      40,
+      41,
+      42,
+      43,
+      44,
+      45,
+      46,
+      47,
+      48,
+      49,
+      50,
+      51,
+      52,
+      53,
+      54,
+      55,
+      56,
+      57,
+      58,
+      59,
+      60,
+      61,
+      62,
+      63,
+      64,
+      65,
+      66,
+      67,
+      68,
+      69,
+      70,
+      71,
+      72,
+      73,
+      74,
+      75,
+      76,
+      77,
+      78,
+      79,
+      80,
+      81,
+      82,
+      83,
+      84,
+      85,
+      86,
+      87,
+      88,
+      89,
+      90,
+      91,
+      92,
+      93,
+      94,
+      95,
+      96,
+      97,
+      98,
+      99
+    ],
+    "validation_episode_ids": [],
+    "seed": 42,
+    "provenance_reviewed": true,
+    "split_basis": "All 100 trajectories kept in the pinned owner review",
+    "source_group_by_episode": {
+      "0": "data/example_transfer_basket/20261105_uniform_100_01/episodes/000/attempt_03",
+      "1": "data/example_transfer_basket/20261105_uniform_100_01/episodes/001/attempt_03",
+      "2": "data/example_transfer_basket/20261105_uniform_100_01/episodes/002/attempt_01",
+      "3": "data/example_transfer_basket/20261105_uniform_100_01/episodes/003/attempt_01",
+      "4": "data/example_transfer_basket/20261105_uniform_100_01/episodes/004/attempt_01",
+      "5": "data/example_transfer_basket/20261105_uniform_100_01/episodes/005/attempt_07",
+      "6": "data/example_transfer_basket/20261105_uniform_100_01/episodes/006/attempt_01",
+      "7": "data/example_transfer_basket/20261107_owner_camera_repair_02/episodes/007/attempt_05",
+      "8": "data/example_transfer_basket/20261105_uniform_100_01/episodes/008/attempt_01",
+      "9": "data/example_transfer_basket/20261105_uniform_100_01/episodes/009/attempt_01",
+      "10": "data/example_transfer_basket/20261105_uniform_100_01/episodes/010/attempt_01",
+      "11": "data/example_transfer_basket/20261107_owner_camera_repair_02/episodes/011/attempt_04",
+      "12": "data/example_transfer_basket/20261105_uniform_100_01/episodes/012/attempt_03",
+      "13": "data/example_transfer_basket/20261105_uniform_100_01/episodes/013/attempt_04",
+      "14": "data/example_transfer_basket/20261105_uniform_100_01/episodes/014/attempt_02",
+      "15": "data/example_transfer_basket/20261105_uniform_100_01/episodes/015/attempt_02",
+      "16": "data/example_transfer_basket/20261107_owner_review_repair_01/episodes/016/attempt_01",
+      "17": "data/example_transfer_basket/20261105_uniform_100_01/episodes/017/attempt_03",
+      "18": "data/example_transfer_basket/20261105_uniform_100_01/episodes/018/attempt_02",
+      "19": "data/example_transfer_basket/20261107_owner_review_repair_01/episodes/019/attempt_03",
+      "20": "data/example_transfer_basket/20261105_uniform_100_01/episodes/020/attempt_03",
+      "21": "data/example_transfer_basket/20261105_uniform_100_01/episodes/021/attempt_03",
+      "22": "data/example_transfer_basket/20261107_owner_camera_repair_02/episodes/022/attempt_02",
+      "23": "data/example_transfer_basket/20261105_uniform_100_01/episodes/023/attempt_01",
+      "24": "data/example_transfer_basket/20261105_uniform_100_01/episodes/024/attempt_01",
+      "25": "data/example_transfer_basket/20261107_owner_review_repair_01/episodes/025/attempt_02",
+      "26": "data/example_transfer_basket/20261105_uniform_100_01/episodes/026/attempt_01",
+      "27": "data/example_transfer_basket/20261107_owner_camera_repair_02/episodes/027/attempt_01",
+      "28": "data/example_transfer_basket/20261105_uniform_100_01/episodes/028/attempt_01",
+      "29": "data/example_transfer_basket/20261107_owner_camera_repair_02/episodes/029/attempt_02",
+      "30": "data/example_transfer_basket/20261105_uniform_100_01/episodes/030/attempt_08",
+      "31": "data/example_transfer_basket/20261107_owner_review_repair_01/episodes/031/attempt_01",
+      "32": "data/example_transfer_basket/20261105_uniform_100_01/episodes/032/attempt_01",
+      "33": "data/example_transfer_basket/20261107_owner_review_repair_01/episodes/033/attempt_01",
+      "34": "data/example_transfer_basket/20261107_owner_camera_repair_02/episodes/034/attempt_03",
+      "35": "data/example_transfer_basket/20261105_uniform_100_01/episodes/035/attempt_01",
+      "36": "data/example_transfer_basket/20261105_uniform_100_01/episodes/036/attempt_01",
+      "37": "data/example_transfer_basket/20261105_uniform_100_01/episodes/037/attempt_01",
+      "38": "data/example_transfer_basket/20261107_owner_review_repair_01/episodes/038/attempt_02",
+      "39": "data/example_transfer_basket/20261105_uniform_100_01/episodes/039/attempt_02",
+      "40": "data/example_transfer_basket/20261105_uniform_100_01/episodes/040/attempt_02",
+      "41": "data/example_transfer_basket/20261105_uniform_100_01/episodes/041/attempt_04",
+      "42": "data/example_transfer_basket/20261107_owner_camera_repair_02/episodes/042/attempt_02",
+      "43": "data/example_transfer_basket/20261107_owner_camera_repair_02/episodes/043/attempt_01",
+      "44": "data/example_transfer_basket/20261105_uniform_100_01/episodes/044/attempt_02",
+      "45": "data/example_transfer_basket/20261105_uniform_100_01/episodes/045/attempt_01",
+      "46": "data/example_transfer_basket/20261105_uniform_100_01/episodes/046/attempt_01",
+      "47": "data/example_transfer_basket/20261105_uniform_100_01/episodes/047/attempt_01",
+      "48": "data/example_transfer_basket/20261105_uniform_100_01/episodes/048/attempt_01",
+      "49": "data/example_transfer_basket/20261105_uniform_100_01/episodes/049/attempt_02",
+      "50": "data/example_transfer_basket/20261107_owner_review_repair_01/episodes/050/attempt_01",
+      "51": "data/example_transfer_basket/20261108_owner_seed051_gait_repair_04/episodes/051/attempt_03",
+      "52": "data/example_transfer_basket/20261105_uniform_100_01/episodes/052/attempt_02",
+      "53": "data/example_transfer_basket/20261105_uniform_100_01/episodes/053/attempt_02",
+      "54": "data/example_transfer_basket/20261105_uniform_100_01/episodes/054/attempt_01",
+      "55": "data/example_transfer_basket/20261107_owner_review_repair_01/episodes/055/attempt_04",
+      "56": "data/example_transfer_basket/20261107_owner_review_repair_01/episodes/056/attempt_01",
+      "57": "data/example_transfer_basket/20261105_uniform_100_01/episodes/057/attempt_08",
+      "58": "data/example_transfer_basket/20261107_owner_review_repair_01/episodes/058/attempt_04",
+      "59": "data/example_transfer_basket/20261105_uniform_100_01/episodes/059/attempt_01",
+      "60": "data/example_transfer_basket/20261105_uniform_100_01/episodes/060/attempt_02",
+      "61": "data/example_transfer_basket/20261105_uniform_100_01/episodes/061/attempt_01",
+      "62": "data/example_transfer_basket/20261107_owner_camera_repair_02/episodes/062/attempt_02",
+      "63": "data/example_transfer_basket/20261107_owner_review_repair_01/episodes/063/attempt_02",
+      "64": "data/example_transfer_basket/20261107_owner_review_repair_01/episodes/064/attempt_01",
+      "65": "data/example_transfer_basket/20261107_owner_review_repair_01/episodes/065/attempt_01",
+      "66": "data/example_transfer_basket/20261107_owner_camera_repair_02/episodes/066/attempt_01",
+      "67": "data/example_transfer_basket/20261107_owner_camera_repair_02/episodes/067/attempt_02",
+      "68": "data/example_transfer_basket/20261107_owner_camera_repair_02/episodes/068/attempt_03",
+      "69": "data/example_transfer_basket/20261105_uniform_100_01/episodes/069/attempt_09",
+      "70": "data/example_transfer_basket/20261105_uniform_100_01/episodes/070/attempt_01",
+      "71": "data/example_transfer_basket/20261107_owner_camera_repair_02/episodes/071/attempt_12",
+      "72": "data/example_transfer_basket/20261107_owner_camera_repair_02/episodes/072/attempt_01",
+      "73": "data/example_transfer_basket/20261107_owner_review_repair_01/episodes/073/attempt_01",
+      "74": "data/example_transfer_basket/20261108_owner_final4_repair_03/episodes/074/attempt_05",
+      "75": "data/example_transfer_basket/20261107_owner_review_repair_01/episodes/075/attempt_01",
+      "76": "data/example_transfer_basket/20261105_uniform_100_01/episodes/076/attempt_01",
+      "77": "data/example_transfer_basket/20261107_owner_review_repair_01/episodes/077/attempt_03",
+      "78": "data/example_transfer_basket/20261107_owner_review_repair_01/episodes/078/attempt_01",
+      "79": "data/example_transfer_basket/20261107_owner_review_repair_01/episodes/079/attempt_02",
+      "80": "data/example_transfer_basket/20261105_uniform_100_01/episodes/080/attempt_02",
+      "81": "data/example_transfer_basket/20261107_owner_review_repair_01/episodes/081/attempt_02",
+      "82": "data/example_transfer_basket/20261107_owner_camera_repair_02/episodes/082/attempt_01",
+      "83": "data/example_transfer_basket/20261105_uniform_100_01/episodes/083/attempt_01",
+      "84": "data/example_transfer_basket/20261107_owner_review_repair_01/episodes/084/attempt_02",
+      "85": "data/example_transfer_basket/20261107_owner_review_repair_01/episodes/085/attempt_01",
+      "86": "data/example_transfer_basket/20261108_owner_final4_repair_03/episodes/086/attempt_02",
+      "87": "data/example_transfer_basket/20261107_owner_camera_repair_02/episodes/087/attempt_02",
+      "88": "data/example_transfer_basket/20261107_owner_camera_repair_02/episodes/088/attempt_03",
+      "89": "data/example_transfer_basket/20261105_uniform_100_01/episodes/089/attempt_05",
+      "90": "data/example_transfer_basket/20261107_owner_camera_repair_02/episodes/090/attempt_04",
+      "91": "data/example_transfer_basket/20261107_owner_camera_repair_02/episodes/091/attempt_01",
+      "92": "data/example_transfer_basket/20261107_owner_review_repair_01/episodes/092/attempt_01",
+      "93": "data/example_transfer_basket/20261105_uniform_100_01/episodes/093/attempt_02",
+      "94": "data/example_transfer_basket/20261105_uniform_100_01/episodes/094/attempt_02",
+      "95": "data/example_transfer_basket/20261108_owner_final4_repair_03/episodes/095/attempt_08",
+      "96": "data/example_transfer_basket/20261105_uniform_100_01/episodes/096/attempt_07",
+      "97": "data/example_transfer_basket/20261107_owner_camera_repair_02/episodes/097/attempt_02",
+      "98": "data/example_transfer_basket/20261105_uniform_100_01/episodes/098/attempt_01",
+      "99": "data/example_transfer_basket/20261107_owner_review_repair_01/episodes/099/attempt_01"
+    },
+    "expected_body_joint_names": [
+      "left_hip_pitch_joint",
+      "left_hip_roll_joint",
+      "left_hip_yaw_joint",
+      "left_knee_joint",
+      "left_ankle_pitch_joint",
+      "left_ankle_roll_joint",
+      "right_hip_pitch_joint",
+      "right_hip_roll_joint",
+      "right_hip_yaw_joint",
+      "right_knee_joint",
+      "right_ankle_pitch_joint",
+      "right_ankle_roll_joint",
+      "waist_yaw_joint",
+      "waist_roll_joint",
+      "waist_pitch_joint",
+      "left_shoulder_pitch_joint",
+      "left_shoulder_roll_joint",
+      "left_shoulder_yaw_joint",
+      "left_elbow_joint",
+      "left_wrist_roll_joint",
+      "left_wrist_pitch_joint",
+      "left_wrist_yaw_joint",
+      "right_shoulder_pitch_joint",
+      "right_shoulder_roll_joint",
+      "right_shoulder_yaw_joint",
+      "right_elbow_joint",
+      "right_wrist_roll_joint",
+      "right_wrist_pitch_joint",
+      "right_wrist_yaw_joint"
+    ],
+    "source_metadata_sha256": {
+      "meta/info.json": "a0a512eebf3cfe338ff8f82f1f57fbf06846f0cd57c533af25c516f9942a2403",
+      "meta/episodes.jsonl": "7918b48f218b80246982b02126f3ba2d884e69b529735f697cca26b3a10b2f17",
+      "meta/source_episodes.jsonl": "3184bdf2f38bbaab864e87fc26a571a3fe2e5333e86cee6a7d3937ce8a58de25"
+    }
+  },
+  "dataset_root": "/mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/g1-basket-transfer-ed77719-40epochs/dataset",
+  "instruction": "Grasp the basket handle with the right hand from the v10 round table, walk while raising it, place and release it on the long desk, then withdraw the open right hand diagonally backward and upward without an additional downward arm return.",
+  "metadata_sha256": {
+    "meta/curation.json": "bcc2fbb5a299d7f65947434f421984d582a24f154b39068bbeaf3d95726968ed",
+    "meta/episodes.jsonl": "7918b48f218b80246982b02126f3ba2d884e69b529735f697cca26b3a10b2f17",
+    "meta/episodes_stats.jsonl": "1cd185ec0db5c9211bc8eff45466d29e3453886dd39a5d8eb99f2bcfcae426cd",
+    "meta/info.json": "a0a512eebf3cfe338ff8f82f1f57fbf06846f0cd57c533af25c516f9942a2403",
+    "meta/modality.json": "02807661a7f55da12ddfd6a099cc6d736944a898d43574900997713aba61ccbe",
+    "meta/sim_episodes.jsonl": "c3abc7a586c7b0eff7fe9b3c905f71d9bf904dc9c53ed860a0644c6561e9f91f",
+    "meta/source_episodes.jsonl": "3184bdf2f38bbaab864e87fc26a571a3fe2e5333e86cee6a7d3937ce8a58de25",
+    "meta/stats.json": "1657e6f0ced4cc343b1a8c7b870d8bbff8f5572b48e9c8d68a1359b059731d0e",
+    "meta/tasks.jsonl": "0d66e32dd16c7a0f715e8f25ea2d9a7846742e998b0a13106eee464596a0b76f"
+  },
+  "parquet_sha256": {
+    "data/chunk-000/episode_000000.parquet": "83264faf1a6cf0b215b513e6d1062ea2ca5acc39b545f51bca5821cfe380371d",
+    "data/chunk-000/episode_000001.parquet": "7745439f5d22be0d8a5cd4d378c73d074689cc5817f625c148f093824b65282d",
+    "data/chunk-000/episode_000002.parquet": "e2d6cc8a804c559d6c361f1fb70f57ee68bbe1a1953702b287c336009aa8ec03",
+    "data/chunk-000/episode_000003.parquet": "e395a541d234397d8a531302c9fc3f51c1e3e7e52c70ecb3557b584d14b759cc",
+    "data/chunk-000/episode_000004.parquet": "068a4d1e0bdd6c8b1d58e3ffffd5a0358e9749160afc7c5db55c7ef72f3fc897",
+    "data/chunk-000/episode_000005.parquet": "76dd3a4bbaac8d20ad54731745d602cb588db2b7ba41ddaec843aa18f97b1c04",
+    "data/chunk-000/episode_000006.parquet": "8292745cbdda06dcdc926a9a3579fb619ffce004e375e5f3c063263059555e90",
+    "data/chunk-000/episode_000007.parquet": "e93cfee8efde64af36f78498f3803c047d973027816b075b8b701b99ad4661e0",
+    "data/chunk-000/episode_000008.parquet": "45ccb989e37d429449bcfe536e8c20df2f04f3e6b20d6eecd13e8672b0922893",
+    "data/chunk-000/episode_000009.parquet": "a60e7cb82cdd0a50c5a9ff52bf477df56426b12a23396d3251a63ed23c0aa139",
+    "data/chunk-000/episode_000010.parquet": "782874d63224f78f6d705ad48607d9be4a3cfe4d8041f050d275771cf3a38dfc",
+    "data/chunk-000/episode_000011.parquet": "645040df6704071ec10455ca3caafa85ecd37b39e9aaf6142489f04f846bfd57",
+    "data/chunk-000/episode_000012.parquet": "15e249fc63dd16a69ac0b0c00149fda15ca6fef91fc7d9c17a683b89b48bac97",
+    "data/chunk-000/episode_000013.parquet": "cb3ea43d5e2a7f0c53afb78f873a1ea43f400c052c647572453e96a2486ea4e2",
+    "data/chunk-000/episode_000014.parquet": "7ef5c6d2fd4ba7d128e533f7e488dc4bcb9be1a8d28ff186ad205b03bf83cd65",
+    "data/chunk-000/episode_000015.parquet": "1014f5c306eea504f3d488499f8027809229876dca9cb0cf29d891c0fde28c09",
+    "data/chunk-000/episode_000016.parquet": "a0409d857c59ccbc4050e4819867713088664bbc816afdc65450780dbf3d8a7b",
+    "data/chunk-000/episode_000017.parquet": "5e0185fd6d7515d617f4d988f2ce7411eb02c9a00029f025531326ccb8595479",
+    "data/chunk-000/episode_000018.parquet": "ca0206d4451f468ba1f7ccbb074d32486a2021e12632b5f844e18e49427d0730",
+    "data/chunk-000/episode_000019.parquet": "52eb8b235167f7eb3c1ee226a6e4547e397c00b444beaddd29ec8ec0d34c0305",
+    "data/chunk-000/episode_000020.parquet": "c03136d2a56e1e0d31d79fc5176b3d8fe9b87189a3c13d0238ae6698d0570ae5",
+    "data/chunk-000/episode_000021.parquet": "3fa5688585c2a04ae6bf3d32acbdc22f933d22a01617b60c9124533088e8d52d",
+    "data/chunk-000/episode_000022.parquet": "c8f0f179b1cd6c7338b7d6509ef78048b8ba3a4263a5d465fa59b0a05dac9a5c",
+    "data/chunk-000/episode_000023.parquet": "93e8da0cb37b4f10f65ce6fa97a192475ceb83528d7941cbc6632118d64fed02",
+    "data/chunk-000/episode_000024.parquet": "65cadf5e8dea70e6522777358b1894721b924d705549e3df83c1d1b2630551a8",
+    "data/chunk-000/episode_000025.parquet": "68cb5662430ed46e26b405e3d0c7168405c57b0b7e247dc054e61cc47c868721",
+    "data/chunk-000/episode_000026.parquet": "5279ea742a12db3afd33c73d085dd40b3cc3be39b566e3c417e3123f4f80e8e7",
+    "data/chunk-000/episode_000027.parquet": "3857f7c1af73da7e76185ebff4250dc4c017b158c88da0c576651a910783f481",
+    "data/chunk-000/episode_000028.parquet": "fb1b702564034d5550dc26846dd8ffa6066b632b3176b7006e4baab18a086f34",
+    "data/chunk-000/episode_000029.parquet": "84c26aec420fe140a16f2cfa44d6da52da63a56e75fbe69cac89b2a8f346af1b",
+    "data/chunk-000/episode_000030.parquet": "b6e6b0986c23d9d77028c6a4172a07d6d58af9a76a4a3425e2fccbb166316a76",
+    "data/chunk-000/episode_000031.parquet": "d9f026e5cc231883f8fea0f7964bb04e0e38335a9be0468d259a83f75547df5f",
+    "data/chunk-000/episode_000032.parquet": "b0102081be56dd4e71adcb4ae54a9f44215f97d25022e05a556f27c1271fa6c5",
+    "data/chunk-000/episode_000033.parquet": "401d57c73f52825c4b256f3f5965bfdc6d9a4b9bb38c75553d23f5f374ff3bbf",
+    "data/chunk-000/episode_000034.parquet": "bffd6c5cfc0e4cf6ee6b9598e6778b3353ef8329346a528ba5d5caa92a10651b",
+    "data/chunk-000/episode_000035.parquet": "5a4dd407d97f305634b784550801b0c5f541e7aadace1c5edc25972c73c9d5b7",
+    "data/chunk-000/episode_000036.parquet": "1f7281369e7908aeba0189ed2900d94444d27089fe881cf2b5fa09a3b50fd22e",
+    "data/chunk-000/episode_000037.parquet": "bd8aed0baec20329cdddef519ab66b970e1457e69ade2165daa3c160b951d0e0",
+    "data/chunk-000/episode_000038.parquet": "ff8576b3a72a79470f3f156a1337fc74f7ee88d106e50046673f4d334b852f8d",
+    "data/chunk-000/episode_000039.parquet": "a171cfd65bf3ba498fcf51230f067ddbaf3bdfc84930c35b1c221ae0308fe715",
+    "data/chunk-000/episode_000040.parquet": "12dae9f64432560ec56d945e87aff4a0b56b686761679bda7c9808675d696483",
+    "data/chunk-000/episode_000041.parquet": "0bd29c9ca607f4ada74249f61de764a9e074810f39c98c662173fdb28224607c",
+    "data/chunk-000/episode_000042.parquet": "89c949a9dbe0dfacf9807d4b28b4ed38687bf4c522acea1a2126bb61a82f2480",
+    "data/chunk-000/episode_000043.parquet": "5836649fa6770e3ca28b77d74caaea12cde49b67e1f0a65dbf89c00f2b5b64bd",
+    "data/chunk-000/episode_000044.parquet": "ad4ee6c75dc091c24ce2de8f654bb9342a79976e63573b0a12e28bd5ddab168c",
+    "data/chunk-000/episode_000045.parquet": "9e7946a1f1b0b3d85f304254d03c26178b14c39a01536e80a0d51d70b1191de9",
+    "data/chunk-000/episode_000046.parquet": "1634f68e3740773050999480bf56455b08c2c079f4008ec8773463d8f810109f",
+    "data/chunk-000/episode_000047.parquet": "447e6c223603b78701ec46ed08a439b00ed19c5ef599e85fe5d6957dee207ae4",
+    "data/chunk-000/episode_000048.parquet": "0304fff7fda9fac03335805d10b3fe6a121d84f51ccdfc42c4dbd7d01d0f0131",
+    "data/chunk-000/episode_000049.parquet": "8a81cbe5ca783c46efc25516b7eec280f16c1a9386fe3f02662ba3d7cb571cc2",
+    "data/chunk-000/episode_000050.parquet": "8f4e6043f4c440f4e30fdcf14f9a47b13778d66efbf0e080283f2a10b5c5fc00",
+    "data/chunk-000/episode_000051.parquet": "bde8e6c8ab88e6e3048091961e148f2a1f3c6ec32b39bfb1d74806ca741bd20d",
+    "data/chunk-000/episode_000052.parquet": "c94a54494d5a7b7cb7c2fb2bf6f8dd4d8dc5a40adf2fbd636a6370472c699cc0",
+    "data/chunk-000/episode_000053.parquet": "f362a555a2dadac194a594056e06a416064b7a93cec7276843dd5dd0047f1036",
+    "data/chunk-000/episode_000054.parquet": "4f2e9cb07f527cf3b359db267bf1c90637a6b88881a4a6154062bf3d511a50b6",
+    "data/chunk-000/episode_000055.parquet": "d711794400c8336a15f416d23e42864371ca93bb8c4f478781f0f89fcdf0023d",
+    "data/chunk-000/episode_000056.parquet": "8675012a68fc057e8b0d9b59123ee3d138121e20d5e8d8c3717ccaa7807af461",
+    "data/chunk-000/episode_000057.parquet": "87285bce236a3b99bef0f5e1cd19fedc21b957a93a0b4f689d2206468d3867e4",
+    "data/chunk-000/episode_000058.parquet": "66f2051b4e6c31a60d939587ca538a77bef860d2e4578e30680337502adf4bb9",
+    "data/chunk-000/episode_000059.parquet": "bca8d7f695e670db09e6120ab2abb5ec9c014907b1071721b345c58478e711d5",
+    "data/chunk-000/episode_000060.parquet": "2476141d20a5c46ccd8eca6266058c857766ffdea9ebffdb0a2535f59f17dfd2",
+    "data/chunk-000/episode_000061.parquet": "91d5970b82aacd7db2c90bfb4cb50160f80814017ead4514c40059f912329cdd",
+    "data/chunk-000/episode_000062.parquet": "fc37ff275f7b540ae1e82a26c0d78425d3c55efdddefb5ad07baaa92fcd793f2",
+    "data/chunk-000/episode_000063.parquet": "05ae6f6734bf609579280cefd0fe771edf48b475fb3fdd4fe8973312bfa85117",
+    "data/chunk-000/episode_000064.parquet": "7fb01a7cdec6b2b51e697d1497f42a5967f4fcd364bb8d279d8edaf6469b50d1",
+    "data/chunk-000/episode_000065.parquet": "a3c0b357b4a45bd6131d0d1456b85da1e6a0b7e5255329cd45d8ee1c54ef2bd9",
+    "data/chunk-000/episode_000066.parquet": "530091cfc7c1176ae8c744662318c34cbd91f41fac14d026e0d95c8db67e15bb",
+    "data/chunk-000/episode_000067.parquet": "1f6e1dd511ab7dbf019d42db95feac4d8555a79f4108fa6ca432b17765f21318",
+    "data/chunk-000/episode_000068.parquet": "1f78af3201a92e3d4a96b24c5edd36f528d5aa86ced06f165a99c506a6601508",
+    "data/chunk-000/episode_000069.parquet": "6c8e827826df96f0107b9e7289bc94fbf1f93926b055d33c2084b9cd7586fe9f",
+    "data/chunk-000/episode_000070.parquet": "0dc5340da58aa89cd54c1ef19e1bc5c101aee341d60c07440f426a38f71a6229",
+    "data/chunk-000/episode_000071.parquet": "a86dda5e6ea9d447420e0998ec519ff266d3596f0c600cf16574e1c8dd8e620b",
+    "data/chunk-000/episode_000072.parquet": "a8994a243af0bc57e27450854a5e180c760c72b38a4a616261674b0ad664ff94",
+    "data/chunk-000/episode_000073.parquet": "0ce80fd898285074021ff75b28b1dfec37bbc92f279cb894742296228f0d71e8",
+    "data/chunk-000/episode_000074.parquet": "8fb11fe1a5899ac39ae3b4b8002c390ec790bfea695203ab16b521319b72e3e1",
+    "data/chunk-000/episode_000075.parquet": "09a0d8e4c164fe5e90303ec10f829458859bc2cdcdefcbeb63ee837b2ba29629",
+    "data/chunk-000/episode_000076.parquet": "79d5db263f71fd4484a2cac0e9c1803a439f4221b29ce8f16f73b0df958c9a5a",
+    "data/chunk-000/episode_000077.parquet": "d7e8009d219fc66d6dea354b91b837b7c9538191c821a4227e89d83ef8ded1d5",
+    "data/chunk-000/episode_000078.parquet": "cf172e661e23e49fcbc8a76de53f0261907e5f9fe1b6af57f9325e8633a7d330",
+    "data/chunk-000/episode_000079.parquet": "c600ca5c849dd989c79f7726992f4696d26d0783cf59a2583382ed8c7e38ff6c",
+    "data/chunk-000/episode_000080.parquet": "4a3c69c26783652f2130f8f4bdbf68d61e39cf3ad5fde10459e6c1e7d162b966",
+    "data/chunk-000/episode_000081.parquet": "c6e5f5080f1b01ccb545ca50532dbc32403beb5041d07f1ea59297008625c124",
+    "data/chunk-000/episode_000082.parquet": "6b07c1712e5e239feb0a589ec4a17c0ec5f6e23a6e89bcbf3a74d7002183930f",
+    "data/chunk-000/episode_000083.parquet": "127dbafd98dca57680b65bd9a83b2092639ab0b1a10c2dda2deae434ed092416",
+    "data/chunk-000/episode_000084.parquet": "85221ff5ea0df5ec9a488e69bb1583591c6caa3782827938d37b3058bc7046be",
+    "data/chunk-000/episode_000085.parquet": "24b95e9bd71635f80a8f059c23eaf416d095a151a6389b4b065b850d2ab02af1",
+    "data/chunk-000/episode_000086.parquet": "486e8854d0b4ed99fac9c12d2e30524f1525945fd10e8712af158e60bec90212",
+    "data/chunk-000/episode_000087.parquet": "fe70c283a6cc3d8f734073675c44e87cfd002a8a5af6aaf62ba2a506c74e0af5",
+    "data/chunk-000/episode_000088.parquet": "f6929069dddca84a5ac2c9c0c54846d1c748daf0bdc0268a8dbc5f8bfa6be2bb",
+    "data/chunk-000/episode_000089.parquet": "b5cfbc472f3c0b4bf57672badaba79cd0ef3a406cc0639c3e78801cce2ca40c9",
+    "data/chunk-000/episode_000090.parquet": "1ba6cdfcf4658c705d8950a7c566c4719f3f251d7f1c6a8f50c5c69815176b8a",
+    "data/chunk-000/episode_000091.parquet": "dc5b457c4e00ce5c12760337492e02d7d674406d0569a0bea8132763286f3b24",
+    "data/chunk-000/episode_000092.parquet": "13a188ece002072b018cbd356a3955b8913a506a348d31631896788c02bc3f65",
+    "data/chunk-000/episode_000093.parquet": "aaf2b71193abb802abf2be0175771d07c5c7ba72054776b5e736c2c0093ad1f2",
+    "data/chunk-000/episode_000094.parquet": "61e2ab720f19b76ebc9a57b1ba233c89a266fa36bd6338482b2c7be4c0ab000c",
+    "data/chunk-000/episode_000095.parquet": "8b4eabd75f3a14f6a6685a675d9a51a0d7fc92e51a451fb962353cce4e009b52",
+    "data/chunk-000/episode_000096.parquet": "e5a1b881bb6421fb56ba20bd4b091795cada872e5a5f5e9088529116f245095d",
+    "data/chunk-000/episode_000097.parquet": "53428dd4546fe3d7a69147d6461ee7640994141e3506ea1f0793b6f2d820e8ba",
+    "data/chunk-000/episode_000098.parquet": "47d8d1fa47c0af2da1da5b8cf83743ade77aefbc25b3a71f64d55c14281fc156",
+    "data/chunk-000/episode_000099.parquet": "3edf818d0615441763b9d528fef54c8353775bfa2841b80dbc751b8d96d68f4c"
+  }
+}

legacy/a20-basket-transfer/old-data-ed77719-20261109/epoch-040/original_protocol.json

@@ -0,0 +1,44 @@
+{
+  "run": "g1-basket-transfer-ed77719-40epochs",
+  "checkpoint": "epoch-040/step_008520.pt",
+  "checkpoint_receipt": null,
+  "global_step": 8520,
+  "epoch_completed": 40,
+  "config_max_steps": 8520,
+  "robot": "g1",
+  "source_dataset": "humanoid-benchmark/basket-transfer-expert-v1",
+  "source_revision": "ed77719266ca618e0ec2fbfb3cda7e6792fe3fb1",
+  "dataset_meta": {
+    "total_episodes": 100,
+    "total_frames": 54337,
+    "fps": 30
+  },
+  "action_dim": 76,
+  "state_dim": 44,
+  "chunk": 16,
+  "history": 16,
+  "state_layout": "body29 joint angles + measured hands12 + projected gravity3",
+  "action_layout": "motion_token64 + same-frame measured left6 + measured right6",
+  "normalization_file": "dataset_stats.json",
+  "qwen_context_len": 128,
+  "qwen_text_cache": "qwen-text/52510cc822aba2c8234a8da323bd0091b23a933cb8232d2fe82bc8085f47cd71.qwen3_flux2_len128.pt",
+  "sidecar_note": "Files copied unchanged from the paths the training config used (stats_path, qwen_text_cache_dir); training_config.yaml is the production config.yaml verbatim, so its absolute paths refer to the training NAS. Point stats_path / qwen_text_cache_dir (and velocity normalization, if present) at the files in this folder. Do not substitute the B6 config: model input dims differ per run.",
+  "sidecars": {
+    "training_config.yaml": {
+      "sha256": "db1a67de5792638658787572fe89a6617c526c366751b10947a26d60980d783d",
+      "bytes": 8232,
+      "original_nas_path": "$P/g1-basket-transfer-ed77719-40epochs/run/production/config.yaml"
+    },
+    "dataset_stats.json": {
+      "sha256": "8f0bbcdb57563e980140b43a2389721312ca9e2973627e4cf12bfd94543c2a70",
+      "bytes": 45347,
+      "original_nas_path": "$P/g1-basket-transfer-ed77719-40epochs/stats/dataset_stats.json"
+    },
+    "qwen-text/52510cc822aba2c8234a8da323bd0091b23a933cb8232d2fe82bc8085f47cd71.qwen3_flux2_len128.pt": {
+      "sha256": "9b085bb2a5d5afc63da4ca1c00daa1146b4d7105179d3d422db1da180752c5f6",
+      "bytes": 1969349,
+      "original_nas_path": "$P/g1-basket-transfer-ed77719-40epochs/qwen-text/52510cc822aba2c8234a8da323bd0091b23a933cb8232d2fe82bc8085f47cd71.qwen3_flux2_len128.pt"
+    }
+  },
+  "staged_utc": "2026-11-10"
+}

legacy/a20-basket-transfer/old-data-ed77719-20261109/epoch-040/protocol.json

@@ -0,0 +1,24 @@
+{
+  "benchmark_result": false,
+  "not_benchmark_because": "Trained on the retired basket data revision ed77719 (54337 frames). The benchmark uses basket-transfer-expert-v1 @b0ff522 (branch current-dynamics-100-v21).",
+  "model": "Delta Flow (ImageWAM, HumanWAM wholebody delta-flow policy): action = motion_token64 + same-frame measured hands12 (G1, 76-D) or H2 body31 + Sharpa hands44 (75-D); chunk 16, history 16, future image t+16.",
+  "task_dir": "a20-basket-transfer",
+  "run": "old-data-ed77719-20261109",
+  "epoch_folder": "epoch-040",
+  "weights": "model.pt",
+  "weights_sha256": "3ed20ef8a585c1e2b407bbdf845bcfdcbe72791a58f23afd4e867af28d2aaf57",
+  "moved_from": {
+    "repo": "humanoid-benchmark/g1-basket-transfer-imagewam-deltaflow76",
+    "path": "epoch-040/step_008520.pt",
+    "revision": "01a2456a6873d1aea5fade2a42e83ba6beb07882",
+    "note": "original repository deleted after this move; file is byte-identical"
+  },
+  "original_protocol": "original_protocol.json (file names inside refer to the original repository; weights there were named step_008520.pt)",
+  "files": {
+    "dataset_stats.json": 45347,
+    "model.pt": 9035633721,
+    "original_protocol.json": 2184,
+    "qwen-text/52510cc822aba2c8234a8da323bd0091b23a933cb8232d2fe82bc8085f47cd71.qwen3_flux2_len128.pt": 1969349,
+    "training_config.yaml": 8232
+  }
+}

legacy/a20-basket-transfer/old-data-ed77719-20261109/epoch-040/training_config.yaml

@@ -0,0 +1,314 @@
+output_dir: /mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/g1-basket-transfer-ed77719-40epochs/run/production
+batch_size: 8
+gradient_accumulation_steps: 1
+num_workers: 4
+prefetch_factor: 2
+persistent_workers: true
+num_epochs: 40
+max_steps: 8520
+lr_scheduler_total_steps: 8520
+warmup_steps: 426
+lr_scheduler_type: cosine
+learning_rate: 0.0001
+weight_decay: 0.01
+optimizer_foreach: false
+mixed_precision: bf16
+seed: 42
+max_grad_norm: 1.0
+resume: null
+log_every: 5
+rank_timer_every: 20
+rank_timer_sync_cuda: true
+save_every: 0
+save_steps:
+- 6390
+- 8520
+save_at_end: true
+keep_latest_weights: 2
+keep_latest_state_only: true
+eval_every: 0
+eval_num_inference_steps: 1
+eval_num_samples: 1
+precache_arrow: false
+precache_num_workers: 0
+build_lerobot_meta_cache: false
+build_norm_stats: false
+precache_fuse_norm_stats: false
+norm_stats_cache_enabled: false
+wandb:
+  enabled: false
+  workspace: null
+  project: imagewam-wholebody
+  name: deltaflow76-p25
+  group: wholebody-action76-state44
+  mode: disabled
+data:
+  train:
+    _target_: imagewam.datasets.wholebody_augmented_v3.WholeBodyRobustLeRobotDataset
+    dataset_dir: /mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/g1-basket-transfer-ed77719-40epochs/dataset
+    stats_path: /mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/g1-basket-transfer-ed77719-40epochs/stats/dataset_stats.json
+    qwen_text_cache_dir: /mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/g1-basket-transfer-ed77719-40epochs/qwen-text
+    split: train
+    train_split_mode: all_100
+    action_horizon: 16
+    past_action_size: 16
+    qwen_context_len: 128
+    qwen_text_dim: 7680
+    video_cache_frames: 64
+    split_manifest_path: /mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/g1-basket-transfer-ed77719-40epochs/split-manifest.json
+    image_augmentation:
+      version: b6-visual-aug-v2
+      seed: 20261106
+      enabled: true
+      exposure_ev:
+      - -0.22
+      - 0.22
+      contrast:
+      - 0.88
+      - 1.12
+      saturation:
+      - 0.76
+      - 1.24
+      hue:
+      - -0.015
+      - 0.015
+      gamma:
+      - 0.89
+      - 1.11
+      temperature_delta:
+      - -0.066
+      - 0.066
+      noise_probability: 0.5
+      noise_sigma:
+      - 0.01568627450980392
+      - 0.01568627450980392
+      blur_probability: 0.15
+      blur_sigma:
+      - 0.25
+      - 0.65
+      blur_kernel: 3
+      shared_colour_across_cameras_and_time: true
+      noise_on_future_target: false
+      action_label_noise: false
+      state_label_noise: false
+      geometric_transforms: true
+      approval_status: USER_AUTHORIZED_20261106
+      supersedes: b6-visual-aug-v1
+      policy_id: b6-robust-v3
+      rotation_degrees: 1.5
+      crop_zoom_extra: 0.02
+      jpeg_probability: 0.35
+      jpeg_quality:
+      - 70
+      - 95
+    proprio_augmentation:
+      enabled: true
+      seed: 20261106
+      joint_bias_degrees: 2.0
+      joint_noise_std_degrees: 0.25
+      delay_probability: 0.15
+      max_delay_control_cycles: 2
+      control_hz: 30
+      recording_hz: 50
+      history_drop_probability: 0.15
+      affected_angle_channels:
+      - 0
+      - 1
+      - 2
+      - 3
+      - 4
+      - 5
+      - 6
+      - 7
+      - 8
+      - 9
+      - 10
+      - 11
+      - 12
+      - 13
+      - 14
+      - 15
+      - 16
+      - 17
+      - 18
+      - 19
+      - 20
+      - 21
+      - 22
+      - 23
+      - 24
+      - 25
+      - 26
+      - 27
+      - 28
+      velocity_channels: []
+      action_label_noise: false
+      bias_scope: fixed_per_episode
+      start_pose_library: not_applied_offline
+      render_randomization: not_applied_offline
+  val: null
+model:
+  _target_: imagewam.wholebody_delta.create_imagewam_flux2_wholebody_delta
+  flux2_src_path: /mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/HumanWAM/third_party/flux2
+  flux2_model_path: /mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/hf-inputs/FLUX.2-klein-base-4B/flux-2-klein-base-4b.safetensors
+  ae_model_path: /mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/hf-inputs/FLUX.2-AE/ae.safetensors
+  qwen3_model_spec: /mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/hf-inputs/Qwen3-4B
+  variant: klein-base-4b
+  qwen_context_len: 128
+  load_text_encoder: false
+  proprio_dim: 44
+  action_state_dim: 44
+  expected_action_dim: 76
+  expected_action_horizon: 16
+  state_only_init_seed: 42
+  mot_checkpoint_mixed_attn: true
+  mot_gqa_implementation: repeat
+  mot_force_flash_attention: false
+  pack_proprio_after_text: false
+  action_dit_pretrained_path: /mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/all60-20261105/action-shared-flux2-4b.pt
+  action_initializer_sha256: 3b40f3ca92b3e249ed39791c1ce3ab55adce8161e406c62d94387ab1532ef657
+  zero_init_action_head: false
+  action_head_init_scale: 1.0
+  flux2_action_image_context:
+    mode: noise_idm
+    include_future_tokens: true
+    knowledge_insulation: true
+    reuse_image_fm_workspace: false
+  flux2_lora_config:
+    enabled: false
+  action_dit_config:
+    action_dim: 76
+    hidden_dim: 1024
+    num_heads: 24
+    attn_head_dim: 128
+    num_layers_double: 5
+    num_layers_single: 20
+    mlp_ratio: 4.0
+    max_action_horizon: 64
+    use_gradient_checkpointing: true
+  video_scheduler:
+    train_shift: 5.0
+    infer_shift: 5.0
+    num_train_timesteps: 1000
+  action_scheduler:
+    train_shift: 5.0
+    infer_shift: 5.0
+    num_train_timesteps: 1000
+  loss:
+    lambda_video: 0.5
+    lambda_action: 1.0
+    action_a2a:
+      enabled: true
+      fm_weight: 1.0
+      ic_weight: 0.5
+      ic_steps: 1
+      ic_loss: l1
+      source_noise_std: 0.5
+      source_noise_dim_mask:
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      aura:
+        enabled: false
+    image_i2i:
+      enabled: true
+      source_mode: gaussian
+      current_residual_scale: 0.5773502691896258
+      variance_normalize: true
+      ic_weight: 1.0
+      ic_steps: 1
+      ic_loss: l1
+      source_noise_std: 0.0
+wholebody_contract:
+  world_size: 32
+  zero_stage: 1
+  statistics_sha256: 06303225cc999a0d94ebbde47b10876bd89fc15a68f33e2a264bb7037e456010
+  stats_schema: wholebody-state41to44-action76-chunk16-train60val0-v1
+  normalization_strategy: fit_wholebody_motion64_body29_gravity3_fixed_inspire_hands
+  smoke_output_dir: /mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/augmented-from-scratch-20261106-v3/run/smoke
+  production_output_dir: /mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/augmented-from-scratch-20261106-v3/run/production
+  fresh_base: true
+  measured_loader:
+    dataset_frames: 33604
+    raw_loader_batches: 4201
+    per_rank_microbatches: 132
+    world_size: 32
+    microbatch: 8
+    gradient_accumulation: 1
+    dataloader_drop_last: false
+    source: native Wan22Trainer._build_loader + Accelerate.prepare_data_loader; no
+      iteration/model/optimizer
+  updates_per_epoch: 132

legacy/a3-fridge-open/state73-with-velocity-20261109/epoch-040/dataset_stats.json

@@ -0,0 +1,1394 @@
+{
+  "schema": "wholebody-state41to44-action76-chunk16-train100val0-v1",
+  "action": {
+    "wholebody_action76": {
+      "global_min": [
+        -0.0625,
+        -0.125,
+        -0.375,
+        -0.375,
+        -0.4375,
+        -0.375,
+        -0.5625,
+        -0.1875,
+        -0.125,
+        -0.375,
+        -0.375,
+        -0.3125,
+        -0.375,
+        -0.125,
+        -0.25,
+        -0.375,
+        -0.125,
+        -0.125,
+        -0.375,
+        -0.5,
+        -0.4375,
+        -0.5,
+        -0.375,
+        -0.3125,
+        -0.125,
+        -0.375,
+        -0.375,
+        -0.375,
+        -0.4375,
+        -0.125,
+        -0.25,
+        -0.3125,
+        -0.3125,
+        -0.0625,
+        -0.1875,
+        -0.25,
+        -0.3125,
+        -0.375,
+        -0.1875,
+        -0.25,
+        -0.3125,
+        -0.4375,
+        -0.3125,
+        -0.375,
+        -0.25,
+        -0.375,
+        -0.375,
+        -0.5,
+        -0.4375,
+        -0.5,
+        -0.25,
+        0.0,
+        -0.5,
+        -0.5,
+        -0.25,
+        -0.3125,
+        -0.4375,
+        0.0625,
+        -0.5,
+        -0.4375,
+        -0.375,
+        -0.1875,
+        0.0,
+        -0.4375,
+        0.9700653553009033,
+        0.9976587891578674,
+        0.9997901320457458,
+        0.9997941851615906,
+        0.9992494583129883,
+        0.0,
+        0.49950680136680603,
+        0.4992116391658783,
+        0.49906712770462036,
+        0.5042206048965454,
+        0.5009554028511047,
+        0.0
+      ],
+      "global_max": [
+        0.4375,
+        0.5,
+        0.4375,
+        0.3125,
+        0.4375,
+        0.25,
+        0.3125,
+        0.5,
+        0.25,
+        0.0,
+        0.125,
+        0.125,
+        0.3125,
+        0.3125,
+        0.375,
+        0.1875,
+        0.4375,
+        0.375,
+        0.3125,
+        0.0625,
+        0.125,
+        0.375,
+        0.1875,
+        0.25,
+        0.25,
+        0.1875,
+        0.125,
+        0.3125,
+        0.3125,
+        0.4375,
+        0.5,
+        0.25,
+        0.1875,
+        0.375,
+        0.125,
+        0.25,
+        0.4375,
+        0.5,
+        0.375,
+        0.1875,
+        0.3125,
+        0.375,
+        0.25,
+        0.0625,
+        0.4375,
+        0.1875,
+        0.25,
+        0.4375,
+        0.1875,
+        0.375,
+        0.375,
+        0.3125,
+        0.5,
+        0.125,
+        0.1875,
+        0.4375,
+        0.25,
+        0.4375,
+        0.25,
+        0.125,
+        0.125,
+        0.4375,
+        0.4375,
+        0.375,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        0.30305999517440796,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        0.3030380606651306
+      ],
+      "global_mean": [
+        0.1602444109297374,
+        0.16223828956706884,
+        -0.049492104329311566,
+        -0.01781848828956707,
+        0.027743523775727467,
+        0.04112180624556423,
+        -0.06173039389638041,
+        0.1551876330731015,
+        0.09965622782114975,
+        -0.21826428317955998,
+        -0.12902767920511002,
+        -0.14618967352732434,
+        -0.01576694464158978,
+        0.09239487224982257,
+        0.17964203335699078,
+        -0.05262154009936125,
+        0.1723097054648687,
+        0.1384071149751597,
+        -0.06122028034066714,
+        -0.15476845280340668,
+        -0.12423704755145493,
+        -0.07578291341376862,
+        -0.04541563165365507,
+        0.0004724095102909865,
+        0.09260113555713272,
+        -0.09264992902767921,
+        -0.12964646912704045,
+        0.018379613200851668,
+        0.014092441447835344,
+        0.12000310503903477,
+        0.1298261178140525,
+        -0.07730438254080908,
+        -0.015032824698367636,
+        0.1947458303761533,
+        0.04296486870120653,
+        0.02990374378992193,
+        -0.010732345635202272,
+        0.057503105039034774,
+        0.08347232079488999,
+        -0.06979905961674947,
+        -0.04068931866572037,
+        -0.06526792051100071,
+        0.021972586941092973,
+        -0.16265525195173883,
+        0.06826650106458482,
+        -0.13448589425124202,
+        -0.02464513839602555,
+        -0.02050878282469837,
+        -0.15935947480482612,
+        -0.06486426543647977,
+        0.09691935770049681,
+        0.16458702980837472,
+        -0.017470280340667138,
+        -0.21025328246983677,
+        -0.01271735273243435,
+        0.06665409865152591,
+        -0.12063298438608942,
+        0.19385645848119235,
+        -0.0019561745919091556,
+        -0.1608986870120653,
+        -0.09431777856635912,
+        0.121819552874379,
+        0.20809749822569198,
+        -0.04388085521646558,
+        0.9998915463918655,
+        0.9999574132089162,
+        0.9999494965106904,
+        0.9999526783305758,
+        0.9999533905553175,
+        0.004240451050073884,
+        0.8682143367853378,
+        0.8695676382242407,
+        0.8731241576230805,
+        0.8816190043880722,
+        0.8788250571599321,
+        0.004410873779229582
+      ],
+      "global_std": [
+        0.07786253556969297,
+        0.08970399382216616,
+        0.11853065817187426,
+        0.09893721153534478,
+        0.13567992403951654,
+        0.08861856127279591,
+        0.14350801172511854,
+        0.12590762243610068,
+        0.06635275845198066,
+        0.049939106994591156,
+        0.09026830588812927,
+        0.06321984077880571,
+        0.10548232029886946,
+        0.07375932230095522,
+        0.08285771166212556,
+        0.08395829947828777,
+        0.05750823784465503,
+        0.09314274573555693,
+        0.11342890010166572,
+        0.09580067720809633,
+        0.08483845679690091,
+        0.09820499215121249,
+        0.06568510437675691,
+        0.08660877459419065,
+        0.056121311831778285,
+        0.08785530448558254,
+        0.06427273278942591,
+        0.08861546477623665,
+        0.11467837762273657,
+        0.08310270971027617,
+        0.10748469413826847,
+        0.077416179381162,
+        0.07144912927684885,
+        0.07017923501272605,
+        0.04437408630993672,
+        0.06952205093481602,
+        0.09944625426031288,
+        0.13410281262293552,
+        0.08673638628936309,
+        0.07276113757642094,
+        0.0846899843680906,
+        0.1260879784409086,
+        0.08154281436112484,
+        0.06109245668458503,
+        0.11082092234893752,
+        0.08034558091146923,
+        0.09704215697360896,
+        0.13593529334634458,
+        0.10956493840724887,
+        0.1113783658377801,
+        0.08950151121998237,
+        0.06440235780539826,
+        0.15136535642949805,
+        0.09392961354732203,
+        0.06446870440155167,
+        0.11284036785990133,
+        0.1031568328533666,
+        0.045129200761146064,
+        0.11430856078166896,
+        0.08430190268739803,
+        0.07444856048317923,
+        0.0910298751111489,
+        0.06148075104650113,
+        0.10868644569772017,
+        0.0008935502242110137,
+        4.0484877366339764e-05,
+        3.471247445703357e-05,
+        3.156579783200114e-05,
+        0.0001254478538163368,
+        0.030091701663373268,
+        0.21437178544716173,
+        0.21204583163721316,
+        0.20661924395064693,
+        0.19338475063206667,
+        0.19241271127456563,
+        0.03006610449436877
+      ],
+      "global_q01": [
+        0.0,
+        -0.0625,
+        -0.25,
+        -0.25,
+        -0.25,
+        -0.1875,
+        -0.375,
+        -0.125,
+        -0.0625,
+        -0.3125,
+        -0.3125,
+        -0.3125,
+        -0.25,
+        -0.0625,
+        -0.0625,
+        -0.25,
+        0.0,
+        -0.0625,
+        -0.25,
+        -0.375,
+        -0.3125,
+        -0.375,
+        -0.25,
+        -0.1875,
+        -0.0625,
+        -0.3125,
+        -0.25,
+        -0.25,
+        -0.25,
+        -0.0625,
+        -0.0625,
+        -0.25,
+        -0.1875,
+        0.0,
+        -0.0625,
+        -0.125,
+        -0.25,
+        -0.25,
+        -0.125,
+        -0.25,
+        -0.25,
+        -0.3125,
+        -0.1875,
+        -0.3125,
+        -0.1875,
+        -0.3125,
+        -0.25,
+        -0.3125,
+        -0.4375,
+        -0.375,
+        -0.125,
+        0.0,
+        -0.375,
+        -0.375,
+        -0.125,
+        -0.1875,
+        -0.375,
+        0.125,
+        -0.25,
+        -0.3125,
+        -0.1875,
+        -0.125,
+        0.0625,
+        -0.3125,
+        0.9979583066701889,
+        0.9998750686645508,
+        0.9998566979169845,
+        0.9998689293861389,
+        0.9992657899856567,
+        0.0,
+        0.49990026891231537,
+        0.4998529553413391,
+        0.49981766164302827,
+        0.5095081180334091,
+        0.5039303523302078,
+        0.0
+      ],
+      "global_q99": [
+        0.375,
+        0.375,
+        0.3125,
+        0.25,
+        0.3125,
+        0.25,
+        0.25,
+        0.4375,
+        0.25,
+        -0.0625,
+        0.0625,
+        0.0,
+        0.25,
+        0.25,
+        0.3125,
+        0.125,
+        0.3125,
+        0.3125,
+        0.25,
+        0.0,
+        0.0625,
+        0.125,
+        0.125,
+        0.1875,
+        0.1875,
+        0.125,
+        0.0625,
+        0.1875,
+        0.25,
+        0.3125,
+        0.375,
+        0.125,
+        0.125,
+        0.3125,
+        0.125,
+        0.1875,
+        0.3125,
+        0.4375,
+        0.3125,
+        0.125,
+        0.1875,
+        0.25,
+        0.1875,
+        -0.0625,
+        0.375,
+        0.0625,
+        0.1875,
+        0.3125,
+        0.0625,
+        0.1875,
+        0.3125,
+        0.25,
+        0.375,
+        0.0625,
+        0.125,
+        0.3125,
+        0.125,
+        0.3125,
+        0.1875,
+        0.0625,
+        0.0625,
+        0.3125,
+        0.3125,
+        0.25,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        0.21758206889033319,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        0.2175094822049141
+      ]
+    }
+  },
+  "state": {
+    "wholebody_state44": {
+      "global_min": [
+        -0.6055265665054321,
+        -0.2241874635219574,
+        -0.2520957291126251,
+        0.047188326716423035,
+        -0.5662422180175781,
+        -0.2799478769302368,
+        -0.5626910328865051,
+        -0.2833188474178314,
+        -0.9069320559501648,
+        -0.08535271137952805,
+        -0.5700382590293884,
+        -0.1760946810245514,
+        -0.34740936756134033,
+        -0.30397364497184753,
+        -0.0943424180150032,
+        0.018432974815368652,
+        0.04656565189361572,
+        -0.08616559952497482,
+        -0.28185081481933594,
+        -0.04895402118563652,
+        -0.039526842534542084,
+        -0.06853897124528885,
+        -1.39516282081604,
+        -1.1261712312698364,
+        -1.580336093902588,
+        -1.065369725227356,
+        -0.47728949785232544,
+        -0.6785895824432373,
+        -0.34238240122795105,
+        0.9700653553009033,
+        0.9976587891578674,
+        0.9997901320457458,
+        0.9997941851615906,
+        0.9992494583129883,
+        0.0,
+        0.49950680136680603,
+        0.4992116391658783,
+        0.49906712770462036,
+        0.5042206048965454,
+        0.5009554028511047,
+        0.0,
+        -0.21560639142990112,
+        -0.1480252742767334,
+        -0.9999998211860657
+      ],
+      "global_max": [
+        0.28683945536613464,
+        0.46056056022644043,
+        0.45125335454940796,
+        1.2079514265060425,
+        0.34169960021972656,
+        0.13496042788028717,
+        0.5399975180625916,
+        0.31764107942581177,
+        0.1561535894870758,
+        1.192462682723999,
+        0.3516383767127991,
+        0.17189602553844452,
+        0.12617044150829315,
+        0.1358266919851303,
+        0.13297687470912933,
+        0.3571178913116455,
+        0.2489493489265442,
+        0.1407375931739807,
+        -0.08086985349655151,
+        0.04386414214968681,
+        0.05118512362241745,
+        0.021576425060629845,
+        1.8112484216690063,
+        0.1722038984298706,
+        0.2944440543651581,
+        1.3817213773727417,
+        0.8222042918205261,
+        0.7394413948059082,
+        0.42653095722198486,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        0.30305999517440796,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        0.3030380606651306,
+        0.16141362488269806,
+        0.23866786062717438,
+        -0.9559763669967651
+      ],
+      "global_mean": [
+        -0.05641388353476972,
+        0.07833153530705485,
+        0.11269241909610203,
+        0.3092542696557807,
+        -0.1825332510589291,
+        -0.021319994441955165,
+        -0.10698536601374324,
+        -0.05834966364422514,
+        -0.20540544787815665,
+        0.30349193219106374,
+        -0.13025033919018028,
+        -0.013440927264660028,
+        -0.03061995373230651,
+        -0.03488036029384512,
+        0.02099582233019005,
+        0.19224056089078814,
+        0.1433682437715133,
+        0.006716978207548867,
+        -0.18792750525550694,
+        -0.002591616005856959,
+        0.005836194321059138,
+        -0.010614786942278912,
+        0.15154513672881245,
+        -0.17589302974795978,
+        -0.26220036169417554,
+        -0.4719241206952732,
+        0.2191317505423317,
+        0.2063777967051744,
+        -0.009809364205180715,
+        0.9998915463918655,
+        0.9999574132089162,
+        0.9999494965106904,
+        0.9999526783305758,
+        0.9999533905553175,
+        0.004240451050073884,
+        0.8682143367853378,
+        0.8695676382242407,
+        0.8731241576230805,
+        0.8816190043880722,
+        0.8788250571599321,
+        0.004410873779229582,
+        -0.03297371608803521,
+        0.009942797996765628,
+        -0.9981920950691102
+      ],
+      "global_std": [
+        0.15939597596176308,
+        0.06632949405203299,
+        0.07504727276569743,
+        0.1770448984315018,
+        0.11083786595940798,
+        0.049786972806885516,
+        0.12954466439379128,
+        0.062313565077661594,
+        0.08294737471529208,
+        0.1889787831550146,
+        0.11660407189338097,
+        0.050516076425131964,
+        0.06022708990060489,
+        0.05384527230597139,
+        0.020674031497147246,
+        0.022847271156769672,
+        0.01205103775041508,
+        0.013775818828115505,
+        0.021462380793761247,
+        0.009183705427141624,
+        0.011165845273947345,
+        0.014736230603751553,
+        0.39503342611532544,
+        0.13744416076378924,
+        0.37060016760738845,
+        0.3889680734311487,
+        0.1988989001142452,
+        0.2484709052506602,
+        0.08681652684173684,
+        0.0008935502242110137,
+        4.0484877366339764e-05,
+        3.471247445703357e-05,
+        3.156579783200114e-05,
+        0.0001254478538163368,
+        0.030091701663373268,
+        0.21437178544716173,
+        0.21204583163721316,
+        0.20661924395064693,
+        0.19338475063206667,
+        0.19241271127456563,
+        0.03006610449436877,
+        0.03751831486183739,
+        0.031833505633766336,
+        0.002328064667313223
+      ],
+      "global_q01": [
+        -0.46492223083972933,
+        -0.048852666541934014,
+        -0.03759315110743046,
+        0.12410611361265182,
+        -0.432664155960083,
+        -0.14787232056260108,
+        -0.47224312454462053,
+        -0.21316808268427848,
+        -0.42569315671920777,
+        0.14052165627479554,
+        -0.4798274677991867,
+        -0.12188669681549072,
+        -0.253811257481575,
+        -0.21559725880622863,
+        -0.039005148224532604,
+        0.13084458738565444,
+        0.11222921088337898,
+        -0.030163248553872108,
+        -0.25780018270015714,
+        -0.03318070486187935,
+        -0.01632721660658717,
+        -0.05321296777576208,
+        -0.9995057797431945,
+        -0.5884235966205597,
+        -1.3320987808704376,
+        -1.047831151485443,
+        -0.04358478903770446,
+        -0.42924492239952083,
+        -0.2121606495976448,
+        0.9979583066701889,
+        0.9998750686645508,
+        0.9998566979169845,
+        0.9998689293861389,
+        0.9992657899856567,
+        0.0,
+        0.49990026891231537,
+        0.4998529553413391,
+        0.49981766164302827,
+        0.5095081180334091,
+        0.5039303523302078,
+        0.0,
+        -0.11470409967005253,
+        -0.07646170996129513,
+        -0.9999766945838928
+      ],
+      "global_q99": [
+        0.20387017861008622,
+        0.2784831550717354,
+        0.32215407341718655,
+        1.0027092230319974,
+        0.14580979898571944,
+        0.10088849514722814,
+        0.13925898656249047,
+        0.06322147697210312,
+        -0.032220156043767934,
+        1.0400324106216425,
+        0.11459235869347933,
+        0.11640573129057877,
+        0.07088228628039359,
+        0.07783912897109975,
+        0.07579205907881252,
+        0.2533870333433151,
+        0.1773000992834568,
+        0.04261407140642399,
+        -0.14470728680491451,
+        0.019124973900616148,
+        0.03877766828984022,
+        0.005303887664340419,
+        1.2564656281471238,
+        0.13936546966433522,
+        0.15416574120521545,
+        0.8273066675662992,
+        0.6668861711025238,
+        0.6415880048274993,
+        0.20689957395195957,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        0.21758206889033319,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        0.2175094822049141,
+        0.07903313361108275,
+        0.10486365586519238,
+        -0.9906966412067414
+      ]
+    }
+  },
+  "normalization": {
+    "mode": "q01/q99",
+    "clamp": [
+      -5.0,
+      5.0
+    ],
+    "state_fixed_bounds": {
+      "start": 29,
+      "end": 41,
+      "min": 0.0,
+      "max": 1.0
+    },
+    "action_fixed_bounds": {
+      "start": 64,
+      "end": 76,
+      "min": 0.0,
+      "max": 1.0
+    },
+    "constant_range_tolerance": 0.0001
+  },
+  "train_episode_ids": [
+    0,
+    1,
+    2,
+    3,
+    4,
+    5,
+    6,
+    7,
+    8,
+    9,
+    10,
+    11,
+    12,
+    13,
+    14,
+    15,
+    16,
+    17,
+    18,
+    19,
+    20,
+    21,
+    22,
+    23,
+    24,
+    25,
+    26,
+    27,
+    28,
+    29,
+    30,
+    31,
+    32,
+    33,
+    34,
+    35,
+    36,
+    37,
+    38,
+    39,
+    40,
+    41,
+    42,
+    43,
+    44,
+    45,
+    46,
+    47,
+    48,
+    49,
+    50,
+    51,
+    52,
+    53,
+    54,
+    55,
+    56,
+    57,
+    58,
+    59,
+    60,
+    61,
+    62,
+    63,
+    64,
+    65,
+    66,
+    67,
+    68,
+    69,
+    70,
+    71,
+    72,
+    73,
+    74,
+    75,
+    76,
+    77,
+    78,
+    79,
+    80,
+    81,
+    82,
+    83,
+    84,
+    85,
+    86,
+    87,
+    88,
+    89,
+    90,
+    91,
+    92,
+    93,
+    94,
+    95,
+    96,
+    97,
+    98,
+    99
+  ],
+  "train_frames": 28180,
+  "train_split_mode": "all_100",
+  "heldout_episode_ids": [],
+  "normalization_reference_episode_ids": [
+    0,
+    1,
+    2,
+    3,
+    4,
+    5,
+    6,
+    7,
+    8,
+    9,
+    10,
+    11,
+    12,
+    13,
+    14,
+    15,
+    16,
+    17,
+    18,
+    19,
+    20,
+    21,
+    22,
+    23,
+    24,
+    25,
+    26,
+    27,
+    28,
+    29,
+    30,
+    31,
+    32,
+    33,
+    34,
+    35,
+    36,
+    37,
+    38,
+    39,
+    40,
+    41,
+    42,
+    43,
+    44,
+    45,
+    46,
+    47,
+    48,
+    49,
+    50,
+    51,
+    52,
+    53,
+    54,
+    55,
+    56,
+    57,
+    58,
+    59,
+    60,
+    61,
+    62,
+    63,
+    64,
+    65,
+    66,
+    67,
+    68,
+    69,
+    70,
+    71,
+    72,
+    73,
+    74,
+    75,
+    76,
+    77,
+    78,
+    79,
+    80,
+    81,
+    82,
+    83,
+    84,
+    85,
+    86,
+    87,
+    88,
+    89,
+    90,
+    91,
+    92,
+    93,
+    94,
+    95,
+    96,
+    97,
+    98,
+    99
+  ],
+  "normalization_reference_train_frames": 28180,
+  "normalization_strategy": "fit_wholebody_motion64_body29_gravity3_fixed_inspire_hands",
+  "action_order": "motion64,left_measured_hand6_native_order,right_measured_hand6_native_order",
+  "state_order": "body29,left_measured_hand6_native_order,right_measured_hand6_native_order,projected_gravity3",
+  "hand_target_time_offset": 0,
+  "hand_target_type": "same-row measured feedback, not issued command",
+  "hand_field_order": [
+    "pinky",
+    "ring",
+    "middle",
+    "index",
+    "thumb_bend",
+    "thumb_rotation"
+  ],
+  "hand_field_order_source": "meta/info.json features.observation.inspire_{left,right}_hand_state.names",
+  "hand_dataset_units": "[0,1]; do not divide recorded feedback by 1000 again",
+  "hand_deployment_raw1000_rule": "if the runtime reports raw Inspire units [0,1000], divide by 1000 exactly once before normalization",
+  "action_dim": 76,
+  "proprio_dim": 44,
+  "body_state_indices": [
+    0,
+    1,
+    2,
+    3,
+    4,
+    5,
+    6,
+    7,
+    8,
+    9,
+    10,
+    11,
+    12,
+    13,
+    14,
+    15,
+    16,
+    17,
+    18,
+    19,
+    20,
+    21,
+    22,
+    23,
+    24,
+    25,
+    26,
+    27,
+    28
+  ],
+  "constant_action_dims": [],
+  "split_manifest_sha256": "8abd9315dee8478553a397f533820428dcd7eb956e29323b040e1235e5e12229",
+  "split_manifest": {
+    "train_episode_ids": [
+      0,
+      1,
+      2,
+      3,
+      4,
+      5,
+      6,
+      7,
+      8,
+      9,
+      10,
+      11,
+      12,
+      13,
+      14,
+      15,
+      16,
+      17,
+      18,
+      19,
+      20,
+      21,
+      22,
+      23,
+      24,
+      25,
+      26,
+      27,
+      28,
+      29,
+      30,
+      31,
+      32,
+      33,
+      34,
+      35,
+      36,
+      37,
+      38,
+      39,
+      40,
+      41,
+      42,
+      43,
+      44,
+      45,
+      46,
+      47,
+      48,
+      49,
+      50,
+      51,
+      52,
+      53,
+      54,
+      55,
+      56,
+      57,
+      58,
+      59,
+      60,
+      61,
+      62,
+      63,
+      64,
+      65,
+      66,
+      67,
+      68,
+      69,
+      70,
+      71,
+      72,
+      73,
+      74,
+      75,
+      76,
+      77,
+      78,
+      79,
+      80,
+      81,
+      82,
+      83,
+      84,
+      85,
+      86,
+      87,
+      88,
+      89,
+      90,
+      91,
+      92,
+      93,
+      94,
+      95,
+      96,
+      97,
+      98,
+      99
+    ],
+    "validation_episode_ids": [],
+    "seed": 42,
+    "provenance_reviewed": true,
+    "split_basis": "All 100 published simulated episodes for this single task",
+    "source_group_by_episode": {
+      "0": "a3-fridge-open-expert-v1-000000",
+      "1": "a3-fridge-open-expert-v1-000001",
+      "2": "a3-fridge-open-expert-v1-000002",
+      "3": "a3-fridge-open-expert-v1-000003",
+      "4": "a3-fridge-open-expert-v1-000004",
+      "5": "a3-fridge-open-expert-v1-000005",
+      "6": "a3-fridge-open-expert-v1-000006",
+      "7": "a3-fridge-open-expert-v1-000007",
+      "8": "a3-fridge-open-expert-v1-000008",
+      "9": "a3-fridge-open-expert-v1-000009",
+      "10": "a3-fridge-open-expert-v1-000010",
+      "11": "a3-fridge-open-expert-v1-000011",
+      "12": "a3-fridge-open-expert-v1-000012",
+      "13": "a3-fridge-open-expert-v1-000013",
+      "14": "a3-fridge-open-expert-v1-000014",
+      "15": "a3-fridge-open-expert-v1-000015",
+      "16": "a3-fridge-open-expert-v1-000016",
+      "17": "a3-fridge-open-expert-v1-000017",
+      "18": "a3-fridge-open-expert-v1-000018",
+      "19": "a3-fridge-open-expert-v1-000019",
+      "20": "a3-fridge-open-expert-v1-000020",
+      "21": "a3-fridge-open-expert-v1-000021",
+      "22": "a3-fridge-open-expert-v1-000022",
+      "23": "a3-fridge-open-expert-v1-000023",
+      "24": "a3-fridge-open-expert-v1-000024",
+      "25": "a3-fridge-open-expert-v1-000025",
+      "26": "a3-fridge-open-expert-v1-000026",
+      "27": "a3-fridge-open-expert-v1-000027",
+      "28": "a3-fridge-open-expert-v1-000028",
+      "29": "a3-fridge-open-expert-v1-000029",
+      "30": "a3-fridge-open-expert-v1-000030",
+      "31": "a3-fridge-open-expert-v1-000031",
+      "32": "a3-fridge-open-expert-v1-000032",
+      "33": "a3-fridge-open-expert-v1-000033",
+      "34": "a3-fridge-open-expert-v1-000034",
+      "35": "a3-fridge-open-expert-v1-000035",
+      "36": "a3-fridge-open-expert-v1-000036",
+      "37": "a3-fridge-open-expert-v1-000037",
+      "38": "a3-fridge-open-expert-v1-000038",
+      "39": "a3-fridge-open-expert-v1-000039",
+      "40": "a3-fridge-open-expert-v1-000040",
+      "41": "a3-fridge-open-expert-v1-000041",
+      "42": "a3-fridge-open-expert-v1-000042",
+      "43": "a3-fridge-open-expert-v1-000043",
+      "44": "a3-fridge-open-expert-v1-000044",
+      "45": "a3-fridge-open-expert-v1-000045",
+      "46": "a3-fridge-open-expert-v1-000046",
+      "47": "a3-fridge-open-expert-v1-000047",
+      "48": "a3-fridge-open-expert-v1-000048",
+      "49": "a3-fridge-open-expert-v1-000049",
+      "50": "a3-fridge-open-expert-v1-000050",
+      "51": "a3-fridge-open-expert-v1-000051",
+      "52": "a3-fridge-open-expert-v1-000052",
+      "53": "a3-fridge-open-expert-v1-000053",
+      "54": "a3-fridge-open-expert-v1-000054",
+      "55": "a3-fridge-open-expert-v1-000055",
+      "56": "a3-fridge-open-expert-v1-000056",
+      "57": "a3-fridge-open-expert-v1-000057",
+      "58": "a3-fridge-open-expert-v1-000058",
+      "59": "a3-fridge-open-expert-v1-000059",
+      "60": "a3-fridge-open-expert-v1-000060",
+      "61": "a3-fridge-open-expert-v1-000061",
+      "62": "a3-fridge-open-expert-v1-000062",
+      "63": "a3-fridge-open-expert-v1-000063",
+      "64": "a3-fridge-open-expert-v1-000064",
+      "65": "a3-fridge-open-expert-v1-000065",
+      "66": "a3-fridge-open-expert-v1-000066",
+      "67": "a3-fridge-open-expert-v1-000067",
+      "68": "a3-fridge-open-expert-v1-000068",
+      "69": "a3-fridge-open-expert-v1-000069",
+      "70": "a3-fridge-open-expert-v1-000070",
+      "71": "a3-fridge-open-expert-v1-000071",
+      "72": "a3-fridge-open-expert-v1-000072",
+      "73": "a3-fridge-open-expert-v1-000073",
+      "74": "a3-fridge-open-expert-v1-000074",
+      "75": "a3-fridge-open-expert-v1-000075",
+      "76": "a3-fridge-open-expert-v1-000076",
+      "77": "a3-fridge-open-expert-v1-000077",
+      "78": "a3-fridge-open-expert-v1-000078",
+      "79": "a3-fridge-open-expert-v1-000079",
+      "80": "a3-fridge-open-expert-v1-000080",
+      "81": "a3-fridge-open-expert-v1-000081",
+      "82": "a3-fridge-open-expert-v1-000082",
+      "83": "a3-fridge-open-expert-v1-000083",
+      "84": "a3-fridge-open-expert-v1-000084",
+      "85": "a3-fridge-open-expert-v1-000085",
+      "86": "a3-fridge-open-expert-v1-000086",
+      "87": "a3-fridge-open-expert-v1-000087",
+      "88": "a3-fridge-open-expert-v1-000088",
+      "89": "a3-fridge-open-expert-v1-000089",
+      "90": "a3-fridge-open-expert-v1-000090",
+      "91": "a3-fridge-open-expert-v1-000091",
+      "92": "a3-fridge-open-expert-v1-000092",
+      "93": "a3-fridge-open-expert-v1-000093",
+      "94": "a3-fridge-open-expert-v1-000094",
+      "95": "a3-fridge-open-expert-v1-000095",
+      "96": "a3-fridge-open-expert-v1-000096",
+      "97": "a3-fridge-open-expert-v1-000097",
+      "98": "a3-fridge-open-expert-v1-000098",
+      "99": "a3-fridge-open-expert-v1-000099"
+    },
+    "expected_body_joint_names": [
+      "left_hip_pitch_joint",
+      "left_hip_roll_joint",
+      "left_hip_yaw_joint",
+      "left_knee_joint",
+      "left_ankle_pitch_joint",
+      "left_ankle_roll_joint",
+      "right_hip_pitch_joint",
+      "right_hip_roll_joint",
+      "right_hip_yaw_joint",
+      "right_knee_joint",
+      "right_ankle_pitch_joint",
+      "right_ankle_roll_joint",
+      "waist_yaw_joint",
+      "waist_roll_joint",
+      "waist_pitch_joint",
+      "left_shoulder_pitch_joint",
+      "left_shoulder_roll_joint",
+      "left_shoulder_yaw_joint",
+      "left_elbow_joint",
+      "left_wrist_roll_joint",
+      "left_wrist_pitch_joint",
+      "left_wrist_yaw_joint",
+      "right_shoulder_pitch_joint",
+      "right_shoulder_roll_joint",
+      "right_shoulder_yaw_joint",
+      "right_elbow_joint",
+      "right_wrist_roll_joint",
+      "right_wrist_pitch_joint",
+      "right_wrist_yaw_joint"
+    ],
+    "source_metadata_sha256": {
+      "meta/info.json": "b9a4b14b34beb2bb2ddb92014794a7457d0961998077bafb1fdee814ce5ad0ef",
+      "meta/episodes.jsonl": "213b7712582fc898089048ba89839f3c7bd245bfdd9994e7082fb95bdfad45a1",
+      "meta/source_episodes.jsonl": "d52429ebc2d0d36220e0f580d822782231ea3f61dcb61933ef55b1dd9a32612f"
+    }
+  },
+  "dataset_root": "/mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/a3-a7-20261109/a3-fridge-open-expert-v1/780fcf1e4bd7db947a8c2d8f7b92e61f24f71b45",
+  "instruction": "Walk to the refrigerator, pull its upper door open with your right hand, release the handle and pull your hand back.",
+  "metadata_sha256": {
+    "meta/curation.json": "f8e94fcdeed01efe3856bfc592d5f89262c0ae050854fa48f20348286f154ada",
+    "meta/episodes.jsonl": "213b7712582fc898089048ba89839f3c7bd245bfdd9994e7082fb95bdfad45a1",
+    "meta/episodes_stats.jsonl": "3baaf20bb4b052d2853fd1a80b4b09e7938a4b0e3ff02cc1035cb69be54b69f8",
+    "meta/info.json": "b9a4b14b34beb2bb2ddb92014794a7457d0961998077bafb1fdee814ce5ad0ef",
+    "meta/modality.json": "4616134ed74257209590e8b80e5e475eae9e817eab98f0ce29746956e82fa9ae",
+    "meta/sim_episodes.jsonl": "4063c68eacb528dfcba3abcad2f22d620d730151879d326822cd0ed446c2ac8b",
+    "meta/source_episodes.jsonl": "d52429ebc2d0d36220e0f580d822782231ea3f61dcb61933ef55b1dd9a32612f",
+    "meta/tasks.jsonl": "04fbd19ce432ecdfb4ebc359f995b1066b1844056b09bb93a845af2c9cad559a"
+  },
+  "parquet_sha256": {
+    "data/chunk-000/episode_000000.parquet": "841968d6363b6f312cbda5115932c583c84ba73bac429024febb935c0c3385a6",
+    "data/chunk-000/episode_000001.parquet": "1e3bba1ec77e1605fabee70310156aa71db4c627d5e2f0470816e7c0f4896019",
+    "data/chunk-000/episode_000002.parquet": "1a623593682ec43cfcbe9d34bcefd27a25171e166a6e60e9ddba670faac830c2",
+    "data/chunk-000/episode_000003.parquet": "32c86342a6ab8adc41ff89a4cd8e1ac5cc47e7e8431ef08783d9eed9096659be",
+    "data/chunk-000/episode_000004.parquet": "537d87dada9eebaf2180851571f6fd2bb94eb19d02efd6d08dfa9f0e05ca1a95",
+    "data/chunk-000/episode_000005.parquet": "39f07e6b7b8e75466feb450fd26acef128504c30913b9d0e65bee799a2b81f47",
+    "data/chunk-000/episode_000006.parquet": "04f55f1dd983d498eec680e57b15f9653c18a21300153061fcd143efc49fb59e",
+    "data/chunk-000/episode_000007.parquet": "869e2956a6e9d87264091ba08d29e48648d5d3e279812c226147e44bc5260c03",
+    "data/chunk-000/episode_000008.parquet": "8a6721b9ee52694e34ad7c73d24f5d471856fd9860ca746fbd8a19a35a21aee1",
+    "data/chunk-000/episode_000009.parquet": "e269fb53056fe7bfc4946dfee5f760ef69c61040c13dd8ffbaffa786740797b5",
+    "data/chunk-000/episode_000010.parquet": "689c87754089998413c7e5859d5883729abea6107b886a90da64106d5bb6596f",
+    "data/chunk-000/episode_000011.parquet": "c55ad822af411f0fb8c4e93a55df36c624720281f48da56f0409e63ceff93611",
+    "data/chunk-000/episode_000012.parquet": "1c1e60cd3d234cf16da5ec0b44c5f29b8c0d658c6243dd712341d8bf4857d013",
+    "data/chunk-000/episode_000013.parquet": "683d1620c54e8bc70f3cdc4b3116077d8d7e8169709b5bc775e2022e7d050e0d",
+    "data/chunk-000/episode_000014.parquet": "9f926d2e7fbdcc33af7b869f677a542fa01ed29507bd6cc7450b670038c09569",
+    "data/chunk-000/episode_000015.parquet": "6b285251c831c4ffc25eb526edcc5ffd730cdaf7b63b842ea27f9bb9a188a4ae",
+    "data/chunk-000/episode_000016.parquet": "f78c60bcfd01203921b6d68aec4fd8caf441826f892d1810b81fc22d24d6478d",
+    "data/chunk-000/episode_000017.parquet": "e70b2a3f510a052f6aadec12e879da7297dcc7dbe12e1923f1dc69b34225fa5a",
+    "data/chunk-000/episode_000018.parquet": "d3f7103139f9327c120e3e68db1e263aae158cdc2269e0a41ba4f508a904dab6",
+    "data/chunk-000/episode_000019.parquet": "b6b62bddddb6611fafed188011524b7f59ce12ac8716fc933aaf2cb9b044c245",
+    "data/chunk-000/episode_000020.parquet": "b72df9bf968c8b2174d785322493cf609f5c21d4c880840de2bef71cb8a22915",
+    "data/chunk-000/episode_000021.parquet": "cd8656dfaa074c7eb3f25dcca1020405e29ff0fe25def374b7063c70b8dee763",
+    "data/chunk-000/episode_000022.parquet": "c26091c5c2398ea4253d53de53a08e1fa9365b93b1abb33af3469a8dd4eada37",
+    "data/chunk-000/episode_000023.parquet": "45a7aaa319ee29fb889a4ae9a29a95aa5c3353cbd1d69ca955d8025c5d72151a",
+    "data/chunk-000/episode_000024.parquet": "7b9a9794c1ceaf06f05128b2f485eb016f0f2cee484adb0520121be553df5ae4",
+    "data/chunk-000/episode_000025.parquet": "a2a158d18925b6074b91152a2bf6bca226d7fea4a3cef98b1acbfa1463116348",
+    "data/chunk-000/episode_000026.parquet": "30b218efeefdf4646d6aa560fadf8ee5f39299e297707f96c8b32893874bcf7a",
+    "data/chunk-000/episode_000027.parquet": "14480fc9167a7cf7ad83dcffa194f1876c8420d34773763aafd1df98f6420944",
+    "data/chunk-000/episode_000028.parquet": "9ea459b3674dd57400a05af327ea112c9b4d67ef302cee944c62122bbadddf18",
+    "data/chunk-000/episode_000029.parquet": "4a48dc4b75f8d540352078172fed3dbe1f83f2b4e5c2ae0110a4bb6e5e474cc7",
+    "data/chunk-000/episode_000030.parquet": "eb349db26c7f452b8ee8667baec1b5c3d5a20c1a006d64fb4ab5ae5ee02f3286",
+    "data/chunk-000/episode_000031.parquet": "3ffccd6f049ed894d16958eea869cc16440753e306d03ab1450a067fae40dbf0",
+    "data/chunk-000/episode_000032.parquet": "3386dde8624077b4feeb91455674325c2997a41a06ddaf3a2a1e500373a82e27",
+    "data/chunk-000/episode_000033.parquet": "da5f0a7ad4e9b3facaaecb1a318c8f22a3dbb8a9c009b6e8702a2f35015b16b3",
+    "data/chunk-000/episode_000034.parquet": "fe56020bc8befef9debc24006e80bacd4dbf764f1d99f7f54b94934c73a722be",
+    "data/chunk-000/episode_000035.parquet": "d3446ec39bef26e24dab3411cd2f0302357084048f178027a9189287109aa249",
+    "data/chunk-000/episode_000036.parquet": "804377014a8c65a2856f69fc7b60c54bb7289857cb49676dfeb7b68beeab4b9b",
+    "data/chunk-000/episode_000037.parquet": "6987d0d7ac726b2540cb29b6bc62c6f8a99f0f298169ca7e33ae4b6379ce1ee8",
+    "data/chunk-000/episode_000038.parquet": "e4ef3d5612bad11af4973c22c30a1bea7a16ece441a57ac44a1a74e5f607b4e6",
+    "data/chunk-000/episode_000039.parquet": "f1152da6d4ddaa4addd93c4292352b181adf0e993c4088106734e033f314969a",
+    "data/chunk-000/episode_000040.parquet": "00c0c14aebcd7e4e970d214564cffba763cc291f3748a0066c6cd6ba12ddbd8e",
+    "data/chunk-000/episode_000041.parquet": "a887443beb1aaef36ac8211c8b9eac7dba8d01ff7306c89e72112339abb9a159",
+    "data/chunk-000/episode_000042.parquet": "697b2afd475aa6456e72119d136944ebac1f782c4ee864fbba377ce0e49b3215",
+    "data/chunk-000/episode_000043.parquet": "05d467dff30088ad8a3f6241164baf65e687fea33693d8f6cded8b1404d80f1d",
+    "data/chunk-000/episode_000044.parquet": "65ea8bd3f2041d8a444af3c087da0baf1595b68d530e297c9dd82301787f2e1f",
+    "data/chunk-000/episode_000045.parquet": "f9be634dd3ef0057393c0a0f8374c413c013088d97c2b9a56abdb3e36cecac39",
+    "data/chunk-000/episode_000046.parquet": "eeb9a2a4094d3294c7ab9d7878af73774301c6a55883f8a911a4547aa70d4f1d",
+    "data/chunk-000/episode_000047.parquet": "db3d19970d944ecaf42d3d8ca1b3967d45cecd8b3cac8a012d92d33cc93d217b",
+    "data/chunk-000/episode_000048.parquet": "b243d5e716ca3c1dfb4cdcbeae08e1e2251ff38d7106ae8d76709a0d9f1ffa39",
+    "data/chunk-000/episode_000049.parquet": "3e669c920baeb1529adbce3b6ff4901f94aee567e361a07514bf93e371a6eb35",
+    "data/chunk-000/episode_000050.parquet": "0b6ebb1f8409726929cf4deaae4c5b36a934bdb101c1e22d97539ad8bf011919",
+    "data/chunk-000/episode_000051.parquet": "7f9683af8dad0f8c232f5b52222b693b759801d0e16b4cf434b5ccbf589ea94f",
+    "data/chunk-000/episode_000052.parquet": "1c01bd52a15f301d850eb62e021028de23884351bad490ec01e0852608ad5be3",
+    "data/chunk-000/episode_000053.parquet": "73ea3a168a180c1971570e8e6cd22658d88e8130ba608ad6febf7be0a430dca7",
+    "data/chunk-000/episode_000054.parquet": "6414e32c16c5303de74184a4b213c71905326fcacfcd64501e5e937ebbad021c",
+    "data/chunk-000/episode_000055.parquet": "b9e2fa1aa33a0ea82277ea3e4d8f86fba42f14096d4577ae2edf32fee23dd93a",
+    "data/chunk-000/episode_000056.parquet": "c91c87ce8e8537ba6a8c8f895856f71724fdeef022c46b90b10ba1759d6c0f01",
+    "data/chunk-000/episode_000057.parquet": "a5d286d2a1f3d50a9ec8eb46967b1f5b1c974eab36ea9cad2bf571a5fcdb51e3",
+    "data/chunk-000/episode_000058.parquet": "254cf07e1b786031cfe4f70145bfa8b467c5c5476912c48e53ac0b4c7c3c25df",
+    "data/chunk-000/episode_000059.parquet": "f9b2471bcc5c8c1a355b715843fd43e182a213b17f237970d9c52ed295c6ac7f",
+    "data/chunk-000/episode_000060.parquet": "e79f0054cebc931632ac53a9bf01796448e15f49e910c72dd620be7b27ddd20c",
+    "data/chunk-000/episode_000061.parquet": "76501e95ca34659e6bd449eeac445baac44c5fb7970f458e0bd2694ff934a48b",
+    "data/chunk-000/episode_000062.parquet": "0ce6e8ab0152fdefcf9e144d410bc79b57db71a6b5dea5bb1170d5bbc9a3bc47",
+    "data/chunk-000/episode_000063.parquet": "e4b35cd6fc0a0411fc7eeba67d04dbe0d21423e42822ff6d2ed3a337607783b6",
+    "data/chunk-000/episode_000064.parquet": "ee220e43893759c24e5a5f93134d1ff6bd984096c1f43bfd10cc0dc47eb26321",
+    "data/chunk-000/episode_000065.parquet": "a9078ff066fb65c1e048730d53fcc3cc097e1b98ca209a0aa0b57ef697bfdfef",
+    "data/chunk-000/episode_000066.parquet": "be6c894f8dd5f521579c29e8b34f97ab539db6207b5c46db10deaebcd6181150",
+    "data/chunk-000/episode_000067.parquet": "ea200c7ee48af146ca81564d72afdf7e3f14dc43341fb8f146e2dab3c70b70b1",
+    "data/chunk-000/episode_000068.parquet": "2442f621576c714329b2a3e191c9961e2166dd8f11744024e125838250a2c768",
+    "data/chunk-000/episode_000069.parquet": "197f3ebc82a325b92c129a45fc8249dcf90fc3b1b823371ec8fcf2b6b4e7a37a",
+    "data/chunk-000/episode_000070.parquet": "e7ad80576d7a0cd6123f36d2c0f0ab3c978de08e77bda5a5fdf2d0f5557430b4",
+    "data/chunk-000/episode_000071.parquet": "b136e28922e4fe5ca8817dccd5ae2be920ecded3becc632746608dcfb4247028",
+    "data/chunk-000/episode_000072.parquet": "6bfb87a6b7dfcc22999531eed8c9bfe4365594721888c9e83a9bad81982e256f",
+    "data/chunk-000/episode_000073.parquet": "828c2f4d66c7a547b1af59c7939852e222de1da0330379408340606f76fbbdef",
+    "data/chunk-000/episode_000074.parquet": "7954642a083f03cfd6fb87cfe3ccaaf27f4802cb7b6f77691c80f5a421c83a08",
+    "data/chunk-000/episode_000075.parquet": "38f0fdee7908941519c3020fe88deef9f679a286644502f0976839361d49d520",
+    "data/chunk-000/episode_000076.parquet": "0e103aba5e2b28556b7f01ce400b7ed90a73499ecc2ec39cdfa9b2e09d919c59",
+    "data/chunk-000/episode_000077.parquet": "2f3e5da4083badd0903f2e7bb3c763d207bfded6b8ce715140bc5e59af7d2c0e",
+    "data/chunk-000/episode_000078.parquet": "fd46e96a496bbe1515ef4ca83a3f82bcc36cd0e0c4eda11a8ee9926661daf76f",
+    "data/chunk-000/episode_000079.parquet": "e95a3266e1946af22f216f63c9aefc9e06d1412693b7ddedf1e79c730deff4a8",
+    "data/chunk-000/episode_000080.parquet": "457e70cf31295af046d975db0dd67d19f725548c70cdf5c46de44f402b0d8f3f",
+    "data/chunk-000/episode_000081.parquet": "3e5bd4a5e5e71b663f0b445147bb1c569199de4e43cb65570eb998a1bdf1b89b",
+    "data/chunk-000/episode_000082.parquet": "da895d64b6eaba1623c3a532d6bda703bbf09f212bb4fd2c19e58aeb47af00ff",
+    "data/chunk-000/episode_000083.parquet": "ba57f744cce3aefe956c448cf876814ef1411245fdb00b7e07a435781303bea7",
+    "data/chunk-000/episode_000084.parquet": "46ff2b09750231ffe2e3325233cc2895908aa2d47abdd9fca7980f2321975ec2",
+    "data/chunk-000/episode_000085.parquet": "581b1694e7d151820f67e708a7248b0d44501837959bf8cc652f349c2cb956ce",
+    "data/chunk-000/episode_000086.parquet": "a7aebad6c6073e06b0d6e8eee575a18300f95e889042a9a3a435e36728f32492",
+    "data/chunk-000/episode_000087.parquet": "4f5167f19bff6c869db732b837996d664eb283e4fd32ad3e792e46be4d369a2f",
+    "data/chunk-000/episode_000088.parquet": "ab8fb41b4c66ce29668421d3fd431bc6b96bae410f747b0c69a1d10f187e18c8",
+    "data/chunk-000/episode_000089.parquet": "d3f20ed130af4af376ebcd26e49c85589f3e2d5f11d65f8c3a5d62de878d8296",
+    "data/chunk-000/episode_000090.parquet": "924892321317b23bbc41c3f574215900d2db063ab27c15ef31acb9f8b4952c95",
+    "data/chunk-000/episode_000091.parquet": "f21d280677699c225688b84368e4fb1085b43c2f25b98c8633092cda5349db04",
+    "data/chunk-000/episode_000092.parquet": "2efd0953335fd9f0285e94d077f887092135d9fdf5fcd307485976b496856416",
+    "data/chunk-000/episode_000093.parquet": "4d5046e7c90b6feb599824f92a740afb3ee6515d781cc20992c2355100205fab",
+    "data/chunk-000/episode_000094.parquet": "240a5acdfbdbe674d96751bcde2dbf3c05821f6cfe07c3b6f20cbb4911ae8fa4",
+    "data/chunk-000/episode_000095.parquet": "b20f517ddddbe9220b0a77a50166b177a118de4503080097ee2dc5f022de3351",
+    "data/chunk-000/episode_000096.parquet": "6f67dd44d9b3d156846ee927eca22dc1564b2f8bc3b3f3be82cf98d5bbe4f4bd",
+    "data/chunk-000/episode_000097.parquet": "29c7d9a87ccd90a530ee9c998a53e14a5527e60d6daded786fa57d098d36abe5",
+    "data/chunk-000/episode_000098.parquet": "0a1b554c3a7f7b676af76e9a3c96d0c8ae0fd1c0afd2d81190f8227e3e988d82",
+    "data/chunk-000/episode_000099.parquet": "189d97fb99911da7f2761f3aa9babe727f3748ce35395425564c4992a3fd99a1"
+  }
+}

legacy/a3-fridge-open/state73-with-velocity-20261109/epoch-040/original_protocol.json

@@ -0,0 +1,55 @@
+{
+  "run": "a3-a7-20261109/a3",
+  "checkpoint": "a3-fridge-open/epoch-040/step_004440.pt",
+  "checkpoint_receipt": {
+    "repo": "humanoid-benchmark/g1-basket-transfer-imagewam-deltaflow76",
+    "file": "a3-fridge-open/epoch-040/step_004440.pt",
+    "revision": "cba20b63d8d4a18b8efce9cf4960f79f6411bf1d",
+    "size": 9035693113,
+    "sha256": "1b7b6f9998f9764f68c12bac478b45450d0bacde90b4cd0e96c4fb1b3fad9734"
+  },
+  "global_step": 4440,
+  "epoch_completed": 40,
+  "config_max_steps": 4440,
+  "robot": "g1",
+  "source_dataset": "humanoid-benchmark/a3-fridge-open-expert-v1",
+  "source_revision": "780fcf1e4bd7db947a8c2d8f7b92e61f24f71b45",
+  "dataset_meta": {
+    "total_episodes": 100,
+    "total_frames": 28180,
+    "fps": 30
+  },
+  "action_dim": 76,
+  "state_dim": 73,
+  "chunk": 16,
+  "history": 16,
+  "state_layout": "body29 joint angles + measured hands12 + projected gravity3 + body29 joint velocity (rad/s, normalized with velocity-normalization.json)",
+  "action_layout": "motion_token64 + same-frame measured left6 + measured right6",
+  "normalization_file": "dataset_stats.json",
+  "qwen_context_len": 128,
+  "qwen_text_cache": "qwen-text/db6124d444ef41566d73455e3547ac6a113fae4c3e6c94d5f79b2a8be8298814.qwen3_flux2_len128.pt",
+  "sidecar_note": "Files copied unchanged from the paths the training config used (stats_path, qwen_text_cache_dir); training_config.yaml is the production config.yaml verbatim, so its absolute paths refer to the training NAS. Point stats_path / qwen_text_cache_dir (and velocity normalization, if present) at the files in this folder. Do not substitute the B6 config: model input dims differ per run.",
+  "sidecars": {
+    "training_config.yaml": {
+      "sha256": "93b1a289712ab304c06d841c51df51eab5500da8345ac90da55aafdd566d70d5",
+      "bytes": 8441,
+      "original_nas_path": "$P/a3-a7-20261109/a3/run/production/config.yaml"
+    },
+    "dataset_stats.json": {
+      "sha256": "55467da7682bdeb3f2e7408a4b4b4de24bc6c0fa6b42663d3105586c616c3548",
+      "bytes": 40318,
+      "original_nas_path": "$P/a3-a7-20261109/a3/stats/dataset_stats.json"
+    },
+    "velocity-normalization.json": {
+      "sha256": "0cac22be26f430c888db7a6202a1ed137ef88ad8009621a937bb6984c0fcd2b3",
+      "bytes": 2539,
+      "original_nas_path": "$P/a3-a7-20261109/a3/stats/velocity-normalization.json"
+    },
+    "qwen-text/db6124d444ef41566d73455e3547ac6a113fae4c3e6c94d5f79b2a8be8298814.qwen3_flux2_len128.pt": {
+      "sha256": "a73c9e54e85c49ea43a6502e1e3595eb2ce9fba423cfe3ccf4d17a9790578fd9",
+      "bytes": 1969349,
+      "original_nas_path": "$P/a3-a7-20261109/a3/qwen-text/db6124d444ef41566d73455e3547ac6a113fae4c3e6c94d5f79b2a8be8298814.qwen3_flux2_len128.pt"
+    }
+  },
+  "staged_utc": "2026-11-10"
+}

legacy/a3-fridge-open/state73-with-velocity-20261109/epoch-040/protocol.json

@@ -0,0 +1,25 @@
+{
+  "benchmark_result": false,
+  "not_benchmark_because": "State input is 73-D including 29 joint velocities; the benchmark interface is 44-D without velocities.",
+  "model": "Delta Flow (ImageWAM, HumanWAM wholebody delta-flow policy): action = motion_token64 + same-frame measured hands12 (G1, 76-D) or H2 body31 + Sharpa hands44 (75-D); chunk 16, history 16, future image t+16.",
+  "task_dir": "a3-fridge-open",
+  "run": "state73-with-velocity-20261109",
+  "epoch_folder": "epoch-040",
+  "weights": "model.pt",
+  "weights_sha256": "1b7b6f9998f9764f68c12bac478b45450d0bacde90b4cd0e96c4fb1b3fad9734",
+  "moved_from": {
+    "repo": "humanoid-benchmark/g1-basket-transfer-imagewam-deltaflow76",
+    "path": "a3-fridge-open/epoch-040/step_004440.pt",
+    "revision": "01a2456a6873d1aea5fade2a42e83ba6beb07882",
+    "note": "original repository deleted after this move; file is byte-identical"
+  },
+  "original_protocol": "original_protocol.json (file names inside refer to the original repository; weights there were named step_004440.pt)",
+  "files": {
+    "dataset_stats.json": 40318,
+    "model.pt": 9035693113,
+    "original_protocol.json": 2731,
+    "qwen-text/db6124d444ef41566d73455e3547ac6a113fae4c3e6c94d5f79b2a8be8298814.qwen3_flux2_len128.pt": 1969349,
+    "training_config.yaml": 8441,
+    "velocity-normalization.json": 2539
+  }
+}

legacy/a3-fridge-open/state73-with-velocity-20261109/epoch-040/training_config.yaml

@@ -0,0 +1,317 @@
+output_dir: /mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/a3-a7-20261109/a3/run/production
+batch_size: 8
+gradient_accumulation_steps: 1
+num_workers: 4
+prefetch_factor: 2
+persistent_workers: true
+num_epochs: 40
+max_steps: 4440
+lr_scheduler_total_steps: 8520
+warmup_steps: 222
+lr_scheduler_type: cosine
+learning_rate: 0.0001
+weight_decay: 0.01
+optimizer_foreach: false
+mixed_precision: bf16
+seed: 42
+max_grad_norm: 1.0
+resume: null
+log_every: 5
+rank_timer_every: 20
+rank_timer_sync_cuda: true
+save_every: 0
+save_steps:
+- 3330
+- 4440
+save_at_end: true
+keep_latest_weights: 2
+keep_latest_state_only: true
+eval_every: 0
+eval_num_inference_steps: 1
+eval_num_samples: 1
+precache_arrow: false
+precache_num_workers: 0
+build_lerobot_meta_cache: false
+build_norm_stats: false
+precache_fuse_norm_stats: false
+norm_stats_cache_enabled: false
+wandb:
+  enabled: false
+  workspace: null
+  project: imagewam-wholebody
+  name: deltaflow76-p25
+  group: wholebody-action76-state73
+  mode: disabled
+data:
+  train:
+    _target_: imagewam.datasets.wholebody_velocity.WholeBodyVelocityLeRobotDataset
+    dataset_dir: /mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/a3-a7-20261109/a3-fridge-open-expert-v1/780fcf1e4bd7db947a8c2d8f7b92e61f24f71b45
+    stats_path: /mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/a3-a7-20261109/a3/stats/dataset_stats.json
+    qwen_text_cache_dir: /mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/a3-a7-20261109/a3/qwen-text
+    split: train
+    train_split_mode: all_100
+    action_horizon: 16
+    past_action_size: 16
+    qwen_context_len: 128
+    qwen_text_dim: 7680
+    video_cache_frames: 64
+    split_manifest_path: /mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/a3-a7-20261109/a3/split-manifest.json
+    image_augmentation:
+      version: b6-visual-aug-v2
+      seed: 20261106
+      enabled: true
+      exposure_ev:
+      - -0.22
+      - 0.22
+      contrast:
+      - 0.88
+      - 1.12
+      saturation:
+      - 0.76
+      - 1.24
+      hue:
+      - -0.015
+      - 0.015
+      gamma:
+      - 0.89
+      - 1.11
+      temperature_delta:
+      - -0.066
+      - 0.066
+      noise_probability: 0.5
+      noise_sigma:
+      - 0.01568627450980392
+      - 0.01568627450980392
+      blur_probability: 0.15
+      blur_sigma:
+      - 0.25
+      - 0.65
+      blur_kernel: 3
+      shared_colour_across_cameras_and_time: true
+      noise_on_future_target: false
+      action_label_noise: false
+      state_label_noise: false
+      geometric_transforms: true
+      approval_status: USER_AUTHORIZED_20261106
+      supersedes: b6-visual-aug-v1
+      policy_id: b6-robust-v3
+      rotation_degrees: 1.5
+      crop_zoom_extra: 0.02
+      jpeg_probability: 0.35
+      jpeg_quality:
+      - 70
+      - 95
+    proprio_augmentation:
+      enabled: true
+      seed: 20261106
+      joint_bias_degrees: 2.0
+      joint_noise_std_degrees: 0.25
+      delay_probability: 0.15
+      max_delay_control_cycles: 2
+      control_hz: 30
+      recording_hz: 30
+      history_drop_probability: 0.15
+      affected_angle_channels:
+      - 0
+      - 1
+      - 2
+      - 3
+      - 4
+      - 5
+      - 6
+      - 7
+      - 8
+      - 9
+      - 10
+      - 11
+      - 12
+      - 13
+      - 14
+      - 15
+      - 16
+      - 17
+      - 18
+      - 19
+      - 20
+      - 21
+      - 22
+      - 23
+      - 24
+      - 25
+      - 26
+      - 27
+      - 28
+      velocity_channels: []
+      action_label_noise: false
+      bias_scope: fixed_per_episode
+      start_pose_library: not_applied_offline
+      render_randomization: not_applied_offline
+    velocity_cache: /mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/a3-a7-20261109/a3/stats/velocity.npz
+    velocity_noise_std: 0.05
+  val: null
+model:
+  _target_: imagewam.wholebody_delta.create_imagewam_flux2_wholebody_delta
+  flux2_src_path: /mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/HumanWAM/third_party/flux2
+  flux2_model_path: /mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/hf-inputs/FLUX.2-klein-base-4B/flux-2-klein-base-4b.safetensors
+  ae_model_path: /mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/hf-inputs/FLUX.2-AE/ae.safetensors
+  qwen3_model_spec: /mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/hf-inputs/Qwen3-4B
+  variant: klein-base-4b
+  qwen_context_len: 128
+  load_text_encoder: false
+  proprio_dim: 73
+  action_state_dim: 73
+  expected_action_dim: 76
+  expected_action_horizon: 16
+  state_only_init_seed: 42
+  mot_checkpoint_mixed_attn: true
+  mot_gqa_implementation: repeat
+  mot_force_flash_attention: false
+  pack_proprio_after_text: false
+  action_dit_pretrained_path: /mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/all60-20261105/action-shared-flux2-4b.pt
+  action_initializer_sha256: 3b40f3ca92b3e249ed39791c1ce3ab55adce8161e406c62d94387ab1532ef657
+  zero_init_action_head: false
+  action_head_init_scale: 1.0
+  flux2_action_image_context:
+    mode: noise_idm
+    include_future_tokens: true
+    knowledge_insulation: true
+    reuse_image_fm_workspace: false
+  flux2_lora_config:
+    enabled: false
+  action_dit_config:
+    action_dim: 76
+    hidden_dim: 1024
+    num_heads: 24
+    attn_head_dim: 128
+    num_layers_double: 5
+    num_layers_single: 20
+    mlp_ratio: 4.0
+    max_action_horizon: 64
+    use_gradient_checkpointing: true
+  video_scheduler:
+    train_shift: 5.0
+    infer_shift: 5.0
+    num_train_timesteps: 1000
+  action_scheduler:
+    train_shift: 5.0
+    infer_shift: 5.0
+    num_train_timesteps: 1000
+  loss:
+    lambda_video: 0.5
+    lambda_action: 1.0
+    action_a2a:
+      enabled: true
+      fm_weight: 1.0
+      ic_weight: 0.5
+      ic_steps: 1
+      ic_loss: l1
+      source_noise_std: 0.5
+      source_noise_dim_mask:
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      aura:
+        enabled: false
+    image_i2i:
+      enabled: true
+      source_mode: gaussian
+      current_residual_scale: 0.5773502691896258
+      variance_normalize: true
+      ic_weight: 1.0
+      ic_steps: 1
+      ic_loss: l1
+      source_noise_std: 0.0
+wholebody_contract:
+  world_size: 32
+  zero_stage: 1
+  statistics_sha256: 55467da7682bdeb3f2e7408a4b4b4de24bc6c0fa6b42663d3105586c616c3548
+  stats_schema: wholebody-state41to44-action76-chunk16-train100val0-v1
+  normalization_strategy: fit_wholebody_motion64_body29_gravity3_fixed_inspire_hands
+  smoke_output_dir: /mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/a3-a7-20261109/a3/run/smoke
+  production_output_dir: /mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/a3-a7-20261109/a3/run/production
+  fresh_base: true
+  measured_loader:
+    dataset_frames: 28180
+    raw_loader_batches: 3523
+    per_rank_microbatches: 111
+    world_size: 32
+    microbatch: 8
+    gradient_accumulation: 1
+    dataloader_drop_last: false
+    source: native Wan22Trainer._build_loader + Accelerate.prepare_data_loader; no
+      iteration/model/optimizer
+  updates_per_epoch: 111
+  velocity_statistics_sha256: 0cac22be26f430c888db7a6202a1ed137ef88ad8009621a937bb6984c0fcd2b3

legacy/a3-fridge-open/state73-with-velocity-20261109/epoch-040/velocity-normalization.json

@@ -0,0 +1,100 @@
+{
+  "order": [
+    "left_hip_pitch_joint",
+    "left_hip_roll_joint",
+    "left_hip_yaw_joint",
+    "left_knee_joint",
+    "left_ankle_pitch_joint",
+    "left_ankle_roll_joint",
+    "right_hip_pitch_joint",
+    "right_hip_roll_joint",
+    "right_hip_yaw_joint",
+    "right_knee_joint",
+    "right_ankle_pitch_joint",
+    "right_ankle_roll_joint",
+    "waist_yaw_joint",
+    "waist_roll_joint",
+    "waist_pitch_joint",
+    "left_shoulder_pitch_joint",
+    "left_shoulder_roll_joint",
+    "left_shoulder_yaw_joint",
+    "left_elbow_joint",
+    "left_wrist_roll_joint",
+    "left_wrist_pitch_joint",
+    "left_wrist_yaw_joint",
+    "right_shoulder_pitch_joint",
+    "right_shoulder_roll_joint",
+    "right_shoulder_yaw_joint",
+    "right_elbow_joint",
+    "right_wrist_roll_joint",
+    "right_wrist_pitch_joint",
+    "right_wrist_yaw_joint"
+  ],
+  "mean": [
+    0.0003671947924885899,
+    0.016110358759760857,
+    0.026408351957798004,
+    0.0009451319929212332,
+    0.005357672926038504,
+    -0.006417965050786734,
+    0.006766863167285919,
+    -0.007252720184624195,
+    -0.02192835323512554,
+    -0.00573742063716054,
+    0.005135105922818184,
+    0.005270523019134998,
+    -0.01537924725562334,
+    -0.00748662743717432,
+    -0.006531258579343557,
+    -0.0001407336676493287,
+    -0.0007654229993931949,
+    1.7359931007376872e-05,
+    0.0026040843222290277,
+    0.0003130825934931636,
+    0.00046165689127519727,
+    0.0004946057451888919,
+    0.05416306108236313,
+    0.01208571158349514,
+    -0.03733649104833603,
+    0.004482097923755646,
+    0.033669017255306244,
+    0.04818684235215187,
+    -0.007593954913318157
+  ],
+  "std": [
+    0.5325376987457275,
+    0.24429722130298615,
+    0.22400394082069397,
+    0.9845972061157227,
+    0.6177999377250671,
+    0.2230519950389862,
+    0.6165075302124023,
+    0.28296855092048645,
+    0.298270046710968,
+    1.1512359380722046,
+    0.6371761560440063,
+    0.2510404586791992,
+    0.14407984912395477,
+    0.1782742589712143,
+    0.16341260075569153,
+    0.1656147539615631,
+    0.0869959220290184,
+    0.09958069771528244,
+    0.11396405845880508,
+    0.05000000074505806,
+    0.05000000074505806,
+    0.05000000074505806,
+    0.5822586417198181,
+    0.38003212213516235,
+    0.5089921355247498,
+    0.672925591468811,
+    0.16245251893997192,
+    0.2703491151332855,
+    0.10493241995573044
+  ],
+  "std_floor_rad_s": 0.05,
+  "training_noise_std_rad_s": 0.05,
+  "normalized_clip": 5,
+  "method": "(q[t] - q[t-1]) / (timestamp[t] - timestamp[t-1])",
+  "first_frame": "normalized zero"
+}

legacy/a7-cabinet-close/state73-with-velocity-20261109/epoch-040/dataset_stats.json

@@ -0,0 +1,1394 @@
+{
+  "schema": "wholebody-state41to44-action76-chunk16-train100val0-v1",
+  "action": {
+    "wholebody_action76": {
+      "global_min": [
+        -0.0625,
+        -0.25,
+        -0.5625,
+        -0.375,
+        -0.3125,
+        -0.0625,
+        -0.0625,
+        -0.3125,
+        -0.125,
+        -0.3125,
+        -0.375,
+        -0.3125,
+        -0.375,
+        -0.125,
+        -0.0625,
+        -0.4375,
+        -0.1875,
+        -0.3125,
+        -0.4375,
+        -0.25,
+        -0.3125,
+        -0.4375,
+        -0.1875,
+        -0.1875,
+        0.0,
+        -0.1875,
+        -0.3125,
+        -0.1875,
+        -0.1875,
+        -0.25,
+        -0.125,
+        -0.3125,
+        -0.3125,
+        -0.0625,
+        -0.1875,
+        -0.25,
+        -0.1875,
+        -0.375,
+        0.0,
+        -0.1875,
+        -0.25,
+        -0.3125,
+        -0.125,
+        -0.25,
+        -0.125,
+        -0.3125,
+        -0.4375,
+        -0.5625,
+        -0.1875,
+        -0.5,
+        -0.25,
+        -0.1875,
+        -0.1875,
+        -0.3125,
+        -0.125,
+        -0.1875,
+        -0.4375,
+        -0.125,
+        -0.125,
+        -0.3125,
+        -0.25,
+        -0.1875,
+        -0.0625,
+        -0.25,
+        0.7841184139251709,
+        0.9513298273086548,
+        0.9574251770973206,
+        0.9504732489585876,
+        0.851092517375946,
+        0.0,
+        0.9825374484062195,
+        0.9934524297714233,
+        0.9735382199287415,
+        0.9164777994155884,
+        0.9381963014602661,
+        0.0
+      ],
+      "global_max": [
+        0.25,
+        0.25,
+        0.0625,
+        0.3125,
+        0.25,
+        0.3125,
+        0.3125,
+        0.1875,
+        0.1875,
+        -0.0625,
+        0.125,
+        0.125,
+        0.125,
+        0.25,
+        0.5,
+        0.25,
+        0.1875,
+        0.25,
+        0.125,
+        0.25,
+        0.25,
+        0.125,
+        0.3125,
+        0.4375,
+        0.25,
+        0.25,
+        0.0,
+        0.3125,
+        0.375,
+        0.1875,
+        0.375,
+        0.125,
+        0.25,
+        0.375,
+        0.125,
+        0.1875,
+        0.4375,
+        0.1875,
+        0.4375,
+        0.25,
+        0.25,
+        0.125,
+        0.25,
+        0.125,
+        0.375,
+        0.0625,
+        0.1875,
+        0.0625,
+        0.3125,
+        0.0625,
+        0.375,
+        0.25,
+        0.5,
+        0.0625,
+        0.25,
+        0.5,
+        0.0625,
+        0.3125,
+        0.25,
+        0.1875,
+        0.25,
+        0.1875,
+        0.375,
+        0.1875,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        0.30305954813957214,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        0.3030369281768799
+      ],
+      "global_mean": [
+        0.10884506261414036,
+        0.005287144534307331,
+        -0.19314587138012002,
+        0.03228133968171145,
+        -0.026981965823115052,
+        0.10573269958257239,
+        0.15308871967127577,
+        -0.031235732454996088,
+        0.004007141925384816,
+        -0.19649874445603965,
+        -0.06992931450560919,
+        -0.07310078593790764,
+        -0.10089192538481608,
+        0.10953601943647273,
+        0.18176852334985652,
+        -0.08574794547351944,
+        0.05256571223584659,
+        -0.003925613096791025,
+        -0.16298020480041742,
+        0.027556744064701277,
+        0.009571484476911037,
+        -0.08721546438820767,
+        0.03227726324028176,
+        0.1465806809287764,
+        0.09666057918079833,
+        0.033968986433602924,
+        -0.140834936733629,
+        0.055881897338899034,
+        0.10194160905296112,
+        -0.02117711322723715,
+        0.1287054852595878,
+        -0.08698106900600053,
+        -0.00357300091312288,
+        0.15965179037307592,
+        -0.015207164753456822,
+        0.007881799504304721,
+        0.04144925645708322,
+        -0.08795330028698148,
+        0.14883495303939473,
+        0.010747537829376468,
+        0.022936097704148187,
+        -0.09044400600052178,
+        0.056146866031828856,
+        -0.11652507826767546,
+        0.081066152491521,
+        -0.10055765718758153,
+        -0.09149572788938169,
+        -0.21917598812940256,
+        0.0067465105661361855,
+        -0.1547294873467258,
+        0.09517267805896165,
+        0.002390832898512914,
+        0.0802875521784503,
+        -0.11982903404643883,
+        0.09656070636577094,
+        0.1366056287503261,
+        -0.13778983498565092,
+        0.07862232585442212,
+        0.08546259457344117,
+        -0.04429868901643621,
+        -0.052129533002869814,
+        0.0008152882859379076,
+        0.1579478378554657,
+        -0.03163114727367597,
+        0.9994298601773306,
+        0.9998553123256104,
+        0.9998551529865958,
+        0.9998647415222774,
+        0.9996582880546211,
+        0.00390567646706337,
+        0.9999606945310657,
+        0.999959548473156,
+        0.9999157337429565,
+        0.9998482959021826,
+        0.9993277694160124,
+        0.004138346971631424
+      ],
+      "global_std": [
+        0.0668769828169538,
+        0.12094784705790095,
+        0.1284270537586991,
+        0.14495331401168798,
+        0.12073302494723756,
+        0.06679460935071621,
+        0.08727850695796302,
+        0.12497757674666551,
+        0.07046888530301856,
+        0.043381522972412295,
+        0.07339779806640358,
+        0.08057986415927451,
+        0.10611721392683861,
+        0.05006471808391845,
+        0.10516369184838319,
+        0.14025439020733013,
+        0.08458922774651076,
+        0.0950863991758294,
+        0.10922694233112622,
+        0.11998362704706653,
+        0.11393206414157946,
+        0.08346089966163468,
+        0.09646217372129887,
+        0.11847775710884546,
+        0.04137682430722346,
+        0.11735741386146273,
+        0.03988946428429242,
+        0.10183247279572817,
+        0.08461028028807266,
+        0.09704399644267662,
+        0.08290914744242862,
+        0.07950197466739116,
+        0.12208017775088417,
+        0.07671541649429069,
+        0.06724203061178449,
+        0.06502268584838786,
+        0.10957218417542111,
+        0.12715128942315185,
+        0.07228611635692186,
+        0.11770116179795077,
+        0.09277295014678871,
+        0.06502941079344446,
+        0.06486853322290788,
+        0.04843041884432011,
+        0.10574291235303593,
+        0.05408915217906166,
+        0.15132808025307593,
+        0.13459581643880603,
+        0.09658952091555588,
+        0.11133014509353974,
+        0.09778975532604285,
+        0.12355476523718861,
+        0.17756161322839034,
+        0.048957460410564,
+        0.07157559501503545,
+        0.15773842691289416,
+        0.10338911201677403,
+        0.11795701530674065,
+        0.06038191918197518,
+        0.11109392030262055,
+        0.10490270718149983,
+        0.06797981725124119,
+        0.07635774376252266,
+        0.07761652919744118,
+        0.005472086467086836,
+        0.0013316047639030158,
+        0.0009703913958047574,
+        0.0009599686090970533,
+        0.00411300721550464,
+        0.02886966665079939,
+        0.0002636552451014498,
+        6.50358135155584e-05,
+        0.0006789291687906766,
+        0.0016200276826641266,
+        0.002876803617998953,
+        0.028847992247769662
+      ],
+      "global_q01": [
+        0.0,
+        -0.25,
+        -0.4375,
+        -0.25,
+        -0.25,
+        -0.0625,
+        -0.0625,
+        -0.25,
+        -0.125,
+        -0.25,
+        -0.25,
+        -0.25,
+        -0.3125,
+        -0.0625,
+        0.0,
+        -0.375,
+        -0.125,
+        -0.1875,
+        -0.375,
+        -0.1875,
+        -0.25,
+        -0.3125,
+        -0.125,
+        -0.125,
+        0.0,
+        -0.1875,
+        -0.25,
+        -0.125,
+        -0.125,
+        -0.1875,
+        -0.0625,
+        -0.25,
+        -0.25,
+        0.0,
+        -0.125,
+        -0.1875,
+        -0.125,
+        -0.375,
+        0.0,
+        -0.1875,
+        -0.1875,
+        -0.25,
+        -0.0625,
+        -0.1875,
+        -0.0625,
+        -0.25,
+        -0.375,
+        -0.5,
+        -0.1875,
+        -0.4375,
+        -0.1875,
+        -0.1875,
+        -0.1875,
+        -0.25,
+        -0.0625,
+        -0.125,
+        -0.375,
+        -0.125,
+        -0.0625,
+        -0.25,
+        -0.1875,
+        -0.125,
+        -0.0625,
+        -0.1875,
+        0.983048460483551,
+        0.9994798117876053,
+        0.9993437665700913,
+        0.9995159441232682,
+        0.9964931815862655,
+        0.0,
+        0.9998595207929611,
+        0.9998556685447693,
+        0.99947749376297,
+        0.9987725448608399,
+        0.9853247946500778,
+        0.0
+      ],
+      "global_q99": [
+        0.25,
+        0.25,
+        0.0,
+        0.3125,
+        0.1875,
+        0.25,
+        0.3125,
+        0.1875,
+        0.125,
+        -0.125,
+        0.0625,
+        0.0625,
+        0.0625,
+        0.1875,
+        0.4375,
+        0.1875,
+        0.1875,
+        0.1875,
+        0.0625,
+        0.25,
+        0.1875,
+        0.0625,
+        0.25,
+        0.375,
+        0.1875,
+        0.25,
+        -0.0625,
+        0.25,
+        0.25,
+        0.1875,
+        0.3125,
+        0.0625,
+        0.25,
+        0.3125,
+        0.125,
+        0.125,
+        0.375,
+        0.125,
+        0.3125,
+        0.25,
+        0.1875,
+        0.0625,
+        0.1875,
+        0.0,
+        0.3125,
+        0.0,
+        0.125,
+        0.0,
+        0.1875,
+        0.0625,
+        0.3125,
+        0.1875,
+        0.4375,
+        0.0,
+        0.1875,
+        0.4375,
+        0.0,
+        0.25,
+        0.1875,
+        0.1875,
+        0.1875,
+        0.125,
+        0.3125,
+        0.125,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        0.16704725056886674,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        0.16710025072097778
+      ]
+    }
+  },
+  "state": {
+    "wholebody_state44": {
+      "global_min": [
+        -0.9279626607894897,
+        -0.20401069521903992,
+        -0.5286000370979309,
+        -0.015552200376987457,
+        -0.4715784192085266,
+        -0.1929469108581543,
+        -1.0070744752883911,
+        -0.3764217495918274,
+        -0.7747820019721985,
+        -0.07910795509815216,
+        -0.4874956011772156,
+        -0.21903759241104126,
+        -0.07198242843151093,
+        -0.08106081932783127,
+        -0.09916144609451294,
+        0.08239381015300751,
+        0.015524790622293949,
+        -0.1121721938252449,
+        -0.4009973704814911,
+        -0.06022924929857254,
+        -0.1200670674443245,
+        -0.14843131601810455,
+        -1.307084083557129,
+        -0.42307642102241516,
+        -0.15481454133987427,
+        -0.590183675289154,
+        -0.09855499118566513,
+        -0.19881458580493927,
+        -0.2657955288887024,
+        0.7841184139251709,
+        0.9513298273086548,
+        0.9574251770973206,
+        0.9504732489585876,
+        0.851092517375946,
+        0.0,
+        0.9825374484062195,
+        0.9934524297714233,
+        0.9735382199287415,
+        0.9164777994155884,
+        0.9381963014602661,
+        0.0,
+        -0.29140183329582214,
+        -0.18303944170475006,
+        -0.9999998807907104
+      ],
+      "global_max": [
+        0.34397855401039124,
+        0.31646499037742615,
+        0.6314767599105835,
+        1.2863916158676147,
+        0.25699329376220703,
+        0.18627917766571045,
+        0.6431071162223816,
+        0.14184899628162384,
+        0.18549136817455292,
+        1.1398687362670898,
+        0.33599478006362915,
+        0.21929782629013062,
+        0.19520391523838043,
+        0.11672026664018631,
+        0.11673737317323685,
+        0.5195285677909851,
+        0.22663770616054535,
+        0.30364537239074707,
+        -0.12988236546516418,
+        0.09782146662473679,
+        0.08013442903757095,
+        0.13720038533210754,
+        0.7159279584884644,
+        0.18037880957126617,
+        0.3666689097881317,
+        1.4362146854400635,
+        0.14007999002933502,
+        0.13200220465660095,
+        0.18118087947368622,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        0.30305954813957214,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        0.3030369281768799,
+        0.4053841233253479,
+        0.10588564723730087,
+        -0.9137668013572693
+      ],
+      "global_mean": [
+        -0.35560817789297394,
+        0.03781661285532986,
+        0.09485051485815688,
+        0.519473857701006,
+        -0.19803792097108613,
+        -0.0066051134768629624,
+        -0.39082505867330963,
+        -0.11538082127112508,
+        -0.2100021629611341,
+        0.5305912624049317,
+        -0.18644121233070143,
+        -0.03693845148840105,
+        0.015539831566013995,
+        0.013902429753206373,
+        0.016449727651274955,
+        0.20337994486538652,
+        0.14329684492747427,
+        0.03276207426568362,
+        -0.21513222678601665,
+        0.004481710431517026,
+        0.0074821520936356,
+        -0.02025334353952165,
+        -0.20058366697601537,
+        -0.07724558940971699,
+        0.03665891775326917,
+        0.21988221800646363,
+        0.014881239690691859,
+        0.009545967263980203,
+        0.006290898878698799,
+        0.9994298601773306,
+        0.9998553123256104,
+        0.9998551529865958,
+        0.9998647415222774,
+        0.9996582880546211,
+        0.00390567646706337,
+        0.9999606945310657,
+        0.999959548473156,
+        0.9999157337429565,
+        0.9998482959021826,
+        0.9993277694160124,
+        0.004138346971631424,
+        0.0826453033951239,
+        -0.018045188057473835,
+        -0.9862430692632641
+      ],
+      "global_std": [
+        0.28290595947639685,
+        0.09233206788396264,
+        0.1965992671815039,
+        0.2053191326857814,
+        0.08587495635306176,
+        0.07257663049411572,
+        0.29480944184209246,
+        0.09278997282430411,
+        0.14734959921966348,
+        0.20262274255053875,
+        0.09397360593634098,
+        0.07671834868600347,
+        0.050127435277185876,
+        0.035609532728362994,
+        0.02424902884216483,
+        0.033793126992526366,
+        0.02576644078413105,
+        0.03584207992667856,
+        0.035361327066009064,
+        0.012149292261230798,
+        0.02936940589195803,
+        0.03796731767426802,
+        0.47667023977370687,
+        0.1280086038911181,
+        0.08127858463464752,
+        0.5201790584741577,
+        0.03146759188793138,
+        0.03061078701932612,
+        0.08500798237350689,
+        0.005472086467086836,
+        0.0013316047639030158,
+        0.0009703913958047574,
+        0.0009599686090970533,
+        0.00411300721550464,
+        0.02886966665079939,
+        0.0002636552451014498,
+        6.50358135155584e-05,
+        0.0006789291687906766,
+        0.0016200276826641266,
+        0.002876803617998953,
+        0.028847992247769662,
+        0.13568264621702664,
+        0.03898917682824244,
+        0.015453044426988763
+      ],
+      "global_q01": [
+        -0.84334124147892,
+        -0.15387645348906517,
+        -0.3828186219930649,
+        0.19774391919374465,
+        -0.4022857713699341,
+        -0.1577625685930252,
+        -0.8900217366218567,
+        -0.3212410768866539,
+        -0.5801075077056885,
+        0.16907327070832254,
+        -0.3691000935435295,
+        -0.17217106655240058,
+        -0.050797894336283206,
+        -0.05091617964208126,
+        -0.048496404103934763,
+        0.12020795546472073,
+        0.07591435350477696,
+        -0.032209906913340094,
+        -0.3325797915458679,
+        -0.023349081706255673,
+        -0.07990536816418171,
+        -0.1029418321698904,
+        -1.213955465555191,
+        -0.33947362542152404,
+        -0.08272466488182545,
+        -0.4007240226864815,
+        -0.06500550769269467,
+        -0.11041613429784775,
+        -0.21620410695672035,
+        0.983048460483551,
+        0.9994798117876053,
+        0.9993437665700913,
+        0.9995159441232682,
+        0.9964931815862655,
+        0.0,
+        0.9998595207929611,
+        0.9998556685447693,
+        0.99947749376297,
+        0.9987725448608399,
+        0.9853247946500778,
+        0.0,
+        -0.13602852791547776,
+        -0.12972312435507774,
+        -0.999962568283081
+      ],
+      "global_q99": [
+        0.19437677353620522,
+        0.24248618379235268,
+        0.45563414484262454,
+        1.1226949226856227,
+        0.00831889577209938,
+        0.12483298838138578,
+        0.14047862306237197,
+        0.06311478950083252,
+        0.0607764326035973,
+        0.9524855113029468,
+        0.07608542144298523,
+        0.15499507382512084,
+        0.1525713104009628,
+        0.08131846114993095,
+        0.08361814886331549,
+        0.32057825535535717,
+        0.20605838119983666,
+        0.15985203474760054,
+        -0.1695161056518555,
+        0.04425690572708841,
+        0.062308642081916304,
+        0.0753356870263814,
+        0.39352929234504636,
+        0.16627973556518555,
+        0.27784405529499046,
+        1.3493560016155244,
+        0.09599469408392904,
+        0.07411817602813242,
+        0.1364300513267517,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        0.16704725056886674,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        0.16710025072097778,
+        0.325051891207695,
+        0.0649579370766878,
+        -0.9452181661128998
+      ]
+    }
+  },
+  "normalization": {
+    "mode": "q01/q99",
+    "clamp": [
+      -5.0,
+      5.0
+    ],
+    "state_fixed_bounds": {
+      "start": 29,
+      "end": 41,
+      "min": 0.0,
+      "max": 1.0
+    },
+    "action_fixed_bounds": {
+      "start": 64,
+      "end": 76,
+      "min": 0.0,
+      "max": 1.0
+    },
+    "constant_range_tolerance": 0.0001
+  },
+  "train_episode_ids": [
+    0,
+    1,
+    2,
+    3,
+    4,
+    5,
+    6,
+    7,
+    8,
+    9,
+    10,
+    11,
+    12,
+    13,
+    14,
+    15,
+    16,
+    17,
+    18,
+    19,
+    20,
+    21,
+    22,
+    23,
+    24,
+    25,
+    26,
+    27,
+    28,
+    29,
+    30,
+    31,
+    32,
+    33,
+    34,
+    35,
+    36,
+    37,
+    38,
+    39,
+    40,
+    41,
+    42,
+    43,
+    44,
+    45,
+    46,
+    47,
+    48,
+    49,
+    50,
+    51,
+    52,
+    53,
+    54,
+    55,
+    56,
+    57,
+    58,
+    59,
+    60,
+    61,
+    62,
+    63,
+    64,
+    65,
+    66,
+    67,
+    68,
+    69,
+    70,
+    71,
+    72,
+    73,
+    74,
+    75,
+    76,
+    77,
+    78,
+    79,
+    80,
+    81,
+    82,
+    83,
+    84,
+    85,
+    86,
+    87,
+    88,
+    89,
+    90,
+    91,
+    92,
+    93,
+    94,
+    95,
+    96,
+    97,
+    98,
+    99
+  ],
+  "train_frames": 30664,
+  "train_split_mode": "all_100",
+  "heldout_episode_ids": [],
+  "normalization_reference_episode_ids": [
+    0,
+    1,
+    2,
+    3,
+    4,
+    5,
+    6,
+    7,
+    8,
+    9,
+    10,
+    11,
+    12,
+    13,
+    14,
+    15,
+    16,
+    17,
+    18,
+    19,
+    20,
+    21,
+    22,
+    23,
+    24,
+    25,
+    26,
+    27,
+    28,
+    29,
+    30,
+    31,
+    32,
+    33,
+    34,
+    35,
+    36,
+    37,
+    38,
+    39,
+    40,
+    41,
+    42,
+    43,
+    44,
+    45,
+    46,
+    47,
+    48,
+    49,
+    50,
+    51,
+    52,
+    53,
+    54,
+    55,
+    56,
+    57,
+    58,
+    59,
+    60,
+    61,
+    62,
+    63,
+    64,
+    65,
+    66,
+    67,
+    68,
+    69,
+    70,
+    71,
+    72,
+    73,
+    74,
+    75,
+    76,
+    77,
+    78,
+    79,
+    80,
+    81,
+    82,
+    83,
+    84,
+    85,
+    86,
+    87,
+    88,
+    89,
+    90,
+    91,
+    92,
+    93,
+    94,
+    95,
+    96,
+    97,
+    98,
+    99
+  ],
+  "normalization_reference_train_frames": 30664,
+  "normalization_strategy": "fit_wholebody_motion64_body29_gravity3_fixed_inspire_hands",
+  "action_order": "motion64,left_measured_hand6_native_order,right_measured_hand6_native_order",
+  "state_order": "body29,left_measured_hand6_native_order,right_measured_hand6_native_order,projected_gravity3",
+  "hand_target_time_offset": 0,
+  "hand_target_type": "same-row measured feedback, not issued command",
+  "hand_field_order": [
+    "pinky",
+    "ring",
+    "middle",
+    "index",
+    "thumb_bend",
+    "thumb_rotation"
+  ],
+  "hand_field_order_source": "meta/info.json features.observation.inspire_{left,right}_hand_state.names",
+  "hand_dataset_units": "[0,1]; do not divide recorded feedback by 1000 again",
+  "hand_deployment_raw1000_rule": "if the runtime reports raw Inspire units [0,1000], divide by 1000 exactly once before normalization",
+  "action_dim": 76,
+  "proprio_dim": 44,
+  "body_state_indices": [
+    0,
+    1,
+    2,
+    3,
+    4,
+    5,
+    6,
+    7,
+    8,
+    9,
+    10,
+    11,
+    12,
+    13,
+    14,
+    15,
+    16,
+    17,
+    18,
+    19,
+    20,
+    21,
+    22,
+    23,
+    24,
+    25,
+    26,
+    27,
+    28
+  ],
+  "constant_action_dims": [],
+  "split_manifest_sha256": "ade157e83185be76c55ce9d22b8ddff3891f71b932200db919abee9ab809e86f",
+  "split_manifest": {
+    "train_episode_ids": [
+      0,
+      1,
+      2,
+      3,
+      4,
+      5,
+      6,
+      7,
+      8,
+      9,
+      10,
+      11,
+      12,
+      13,
+      14,
+      15,
+      16,
+      17,
+      18,
+      19,
+      20,
+      21,
+      22,
+      23,
+      24,
+      25,
+      26,
+      27,
+      28,
+      29,
+      30,
+      31,
+      32,
+      33,
+      34,
+      35,
+      36,
+      37,
+      38,
+      39,
+      40,
+      41,
+      42,
+      43,
+      44,
+      45,
+      46,
+      47,
+      48,
+      49,
+      50,
+      51,
+      52,
+      53,
+      54,
+      55,
+      56,
+      57,
+      58,
+      59,
+      60,
+      61,
+      62,
+      63,
+      64,
+      65,
+      66,
+      67,
+      68,
+      69,
+      70,
+      71,
+      72,
+      73,
+      74,
+      75,
+      76,
+      77,
+      78,
+      79,
+      80,
+      81,
+      82,
+      83,
+      84,
+      85,
+      86,
+      87,
+      88,
+      89,
+      90,
+      91,
+      92,
+      93,
+      94,
+      95,
+      96,
+      97,
+      98,
+      99
+    ],
+    "validation_episode_ids": [],
+    "seed": 42,
+    "provenance_reviewed": true,
+    "split_basis": "All 100 published simulated episodes for this single task",
+    "source_group_by_episode": {
+      "0": "a7-cabinet-close-expert-v1-000000",
+      "1": "a7-cabinet-close-expert-v1-000001",
+      "2": "a7-cabinet-close-expert-v1-000002",
+      "3": "a7-cabinet-close-expert-v1-000003",
+      "4": "a7-cabinet-close-expert-v1-000004",
+      "5": "a7-cabinet-close-expert-v1-000005",
+      "6": "a7-cabinet-close-expert-v1-000006",
+      "7": "a7-cabinet-close-expert-v1-000007",
+      "8": "a7-cabinet-close-expert-v1-000008",
+      "9": "a7-cabinet-close-expert-v1-000009",
+      "10": "a7-cabinet-close-expert-v1-000010",
+      "11": "a7-cabinet-close-expert-v1-000011",
+      "12": "a7-cabinet-close-expert-v1-000012",
+      "13": "a7-cabinet-close-expert-v1-000013",
+      "14": "a7-cabinet-close-expert-v1-000014",
+      "15": "a7-cabinet-close-expert-v1-000015",
+      "16": "a7-cabinet-close-expert-v1-000016",
+      "17": "a7-cabinet-close-expert-v1-000017",
+      "18": "a7-cabinet-close-expert-v1-000018",
+      "19": "a7-cabinet-close-expert-v1-000019",
+      "20": "a7-cabinet-close-expert-v1-000020",
+      "21": "a7-cabinet-close-expert-v1-000021",
+      "22": "a7-cabinet-close-expert-v1-000022",
+      "23": "a7-cabinet-close-expert-v1-000023",
+      "24": "a7-cabinet-close-expert-v1-000024",
+      "25": "a7-cabinet-close-expert-v1-000025",
+      "26": "a7-cabinet-close-expert-v1-000026",
+      "27": "a7-cabinet-close-expert-v1-000027",
+      "28": "a7-cabinet-close-expert-v1-000028",
+      "29": "a7-cabinet-close-expert-v1-000029",
+      "30": "a7-cabinet-close-expert-v1-000030",
+      "31": "a7-cabinet-close-expert-v1-000031",
+      "32": "a7-cabinet-close-expert-v1-000032",
+      "33": "a7-cabinet-close-expert-v1-000033",
+      "34": "a7-cabinet-close-expert-v1-000034",
+      "35": "a7-cabinet-close-expert-v1-000035",
+      "36": "a7-cabinet-close-expert-v1-000036",
+      "37": "a7-cabinet-close-expert-v1-000037",
+      "38": "a7-cabinet-close-expert-v1-000038",
+      "39": "a7-cabinet-close-expert-v1-000039",
+      "40": "a7-cabinet-close-expert-v1-000040",
+      "41": "a7-cabinet-close-expert-v1-000041",
+      "42": "a7-cabinet-close-expert-v1-000042",
+      "43": "a7-cabinet-close-expert-v1-000043",
+      "44": "a7-cabinet-close-expert-v1-000044",
+      "45": "a7-cabinet-close-expert-v1-000045",
+      "46": "a7-cabinet-close-expert-v1-000046",
+      "47": "a7-cabinet-close-expert-v1-000047",
+      "48": "a7-cabinet-close-expert-v1-000048",
+      "49": "a7-cabinet-close-expert-v1-000049",
+      "50": "a7-cabinet-close-expert-v1-000050",
+      "51": "a7-cabinet-close-expert-v1-000051",
+      "52": "a7-cabinet-close-expert-v1-000052",
+      "53": "a7-cabinet-close-expert-v1-000053",
+      "54": "a7-cabinet-close-expert-v1-000054",
+      "55": "a7-cabinet-close-expert-v1-000055",
+      "56": "a7-cabinet-close-expert-v1-000056",
+      "57": "a7-cabinet-close-expert-v1-000057",
+      "58": "a7-cabinet-close-expert-v1-000058",
+      "59": "a7-cabinet-close-expert-v1-000059",
+      "60": "a7-cabinet-close-expert-v1-000060",
+      "61": "a7-cabinet-close-expert-v1-000061",
+      "62": "a7-cabinet-close-expert-v1-000062",
+      "63": "a7-cabinet-close-expert-v1-000063",
+      "64": "a7-cabinet-close-expert-v1-000064",
+      "65": "a7-cabinet-close-expert-v1-000065",
+      "66": "a7-cabinet-close-expert-v1-000066",
+      "67": "a7-cabinet-close-expert-v1-000067",
+      "68": "a7-cabinet-close-expert-v1-000068",
+      "69": "a7-cabinet-close-expert-v1-000069",
+      "70": "a7-cabinet-close-expert-v1-000070",
+      "71": "a7-cabinet-close-expert-v1-000071",
+      "72": "a7-cabinet-close-expert-v1-000072",
+      "73": "a7-cabinet-close-expert-v1-000073",
+      "74": "a7-cabinet-close-expert-v1-000074",
+      "75": "a7-cabinet-close-expert-v1-000075",
+      "76": "a7-cabinet-close-expert-v1-000076",
+      "77": "a7-cabinet-close-expert-v1-000077",
+      "78": "a7-cabinet-close-expert-v1-000078",
+      "79": "a7-cabinet-close-expert-v1-000079",
+      "80": "a7-cabinet-close-expert-v1-000080",
+      "81": "a7-cabinet-close-expert-v1-000081",
+      "82": "a7-cabinet-close-expert-v1-000082",
+      "83": "a7-cabinet-close-expert-v1-000083",
+      "84": "a7-cabinet-close-expert-v1-000084",
+      "85": "a7-cabinet-close-expert-v1-000085",
+      "86": "a7-cabinet-close-expert-v1-000086",
+      "87": "a7-cabinet-close-expert-v1-000087",
+      "88": "a7-cabinet-close-expert-v1-000088",
+      "89": "a7-cabinet-close-expert-v1-000089",
+      "90": "a7-cabinet-close-expert-v1-000090",
+      "91": "a7-cabinet-close-expert-v1-000091",
+      "92": "a7-cabinet-close-expert-v1-000092",
+      "93": "a7-cabinet-close-expert-v1-000093",
+      "94": "a7-cabinet-close-expert-v1-000094",
+      "95": "a7-cabinet-close-expert-v1-000095",
+      "96": "a7-cabinet-close-expert-v1-000096",
+      "97": "a7-cabinet-close-expert-v1-000097",
+      "98": "a7-cabinet-close-expert-v1-000098",
+      "99": "a7-cabinet-close-expert-v1-000099"
+    },
+    "expected_body_joint_names": [
+      "left_hip_pitch_joint",
+      "left_hip_roll_joint",
+      "left_hip_yaw_joint",
+      "left_knee_joint",
+      "left_ankle_pitch_joint",
+      "left_ankle_roll_joint",
+      "right_hip_pitch_joint",
+      "right_hip_roll_joint",
+      "right_hip_yaw_joint",
+      "right_knee_joint",
+      "right_ankle_pitch_joint",
+      "right_ankle_roll_joint",
+      "waist_yaw_joint",
+      "waist_roll_joint",
+      "waist_pitch_joint",
+      "left_shoulder_pitch_joint",
+      "left_shoulder_roll_joint",
+      "left_shoulder_yaw_joint",
+      "left_elbow_joint",
+      "left_wrist_roll_joint",
+      "left_wrist_pitch_joint",
+      "left_wrist_yaw_joint",
+      "right_shoulder_pitch_joint",
+      "right_shoulder_roll_joint",
+      "right_shoulder_yaw_joint",
+      "right_elbow_joint",
+      "right_wrist_roll_joint",
+      "right_wrist_pitch_joint",
+      "right_wrist_yaw_joint"
+    ],
+    "source_metadata_sha256": {
+      "meta/info.json": "304c5838ba7c7ecc2eb04f6c62ddea443cab0fec20ee58e72fa0c3e0205d3f1d",
+      "meta/episodes.jsonl": "5cee99e30599952509053cceb4958caa1a5d202ec4dc46bdfd72b74dae38d7a3",
+      "meta/source_episodes.jsonl": "fcebddc682af3d48d320b3c3c1e463c78686432e2019a51c65cb7153e858ad03"
+    }
+  },
+  "dataset_root": "/mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/a3-a7-20261109/a7-cabinet-close-expert-v1/1935a98e8f55d4d1d2d1615ddb97c2679713595c",
+  "instruction": "Walk to the open cabinet door under the sink, push it shut with your right hand and pull your hand back.",
+  "metadata_sha256": {
+    "meta/curation.json": "7553fe48f1c550e22ad298c165b98aa61ebd064227b4fba819f7aabace189637",
+    "meta/episodes.jsonl": "5cee99e30599952509053cceb4958caa1a5d202ec4dc46bdfd72b74dae38d7a3",
+    "meta/episodes_stats.jsonl": "5056b39925a9aaf161447858fb0c0cc0eb72b4567ecfc72666cf0062b3020f0c",
+    "meta/info.json": "304c5838ba7c7ecc2eb04f6c62ddea443cab0fec20ee58e72fa0c3e0205d3f1d",
+    "meta/modality.json": "4616134ed74257209590e8b80e5e475eae9e817eab98f0ce29746956e82fa9ae",
+    "meta/sim_episodes.jsonl": "ba2eca003af765949b4ad6e7b7a707751e02089e627e92a56e252eb16f5280a0",
+    "meta/source_episodes.jsonl": "fcebddc682af3d48d320b3c3c1e463c78686432e2019a51c65cb7153e858ad03",
+    "meta/tasks.jsonl": "caf7b8e95999af4c676826fd218fe3fd5bccfa670b28576715ff737e246b6e5a"
+  },
+  "parquet_sha256": {
+    "data/chunk-000/episode_000000.parquet": "03f637f8dc31880010cedf4673f2b0c3b9182a0b65bf6b22db4df31be9c5ae2f",
+    "data/chunk-000/episode_000001.parquet": "cc7cf62ec589c4d6a58f248450d7a9e4cc3bbd3e9d3288f474b6420db8cf0c2f",
+    "data/chunk-000/episode_000002.parquet": "23210584fa40541d90676bcbaba027688c920fae92993a1418d7837b3193d761",
+    "data/chunk-000/episode_000003.parquet": "9c1030e42742c50d6ef5b351cc72d9b5274523f201668d94dc1733af9c622c4b",
+    "data/chunk-000/episode_000004.parquet": "ef2c0d883194cdec230e20513c9c2ca31f7cecf2e8a5003223e0d4ba24f03d73",
+    "data/chunk-000/episode_000005.parquet": "2be18e1ab9806b0dfff299a3c7ceeff6787bf4c505add756e970bdda3955c8a5",
+    "data/chunk-000/episode_000006.parquet": "854504f4d41347f81026ff1af2027617852ce3ad0f86cfe9fa8fbba048a108d4",
+    "data/chunk-000/episode_000007.parquet": "61d5c54d6e3a65149da134ea79400140e6c74cfefde6407c7e9f7dad679e5ef1",
+    "data/chunk-000/episode_000008.parquet": "82f1ee916f1bc8a75f63eceb982148ac4cdb6040459bcb9b20c9655581d7bee0",
+    "data/chunk-000/episode_000009.parquet": "f74ffc484f9e154d260fe9ed4c94c91924285462ccdbe9631284ed2e5908a00e",
+    "data/chunk-000/episode_000010.parquet": "0550c9824276e174984ca272e1adef3dfa70bdca925902c65278a956101aefde",
+    "data/chunk-000/episode_000011.parquet": "99fe0f2d246662945e5ccb3c26085eebf98ea922fdbed5ee55ba382e50d216d4",
+    "data/chunk-000/episode_000012.parquet": "6ce0a129bef98c5dbfc26efff0931c1f55aba6101080f5b930b21754d896865e",
+    "data/chunk-000/episode_000013.parquet": "6c5b72a8004b29829df8cf4e5d6dad4984d932adc89f97c5295592add7f1aa6f",
+    "data/chunk-000/episode_000014.parquet": "c53655763abfd6db020dff86c7411391625b4b7f19966307fcff65e80d3027b2",
+    "data/chunk-000/episode_000015.parquet": "74c00297ba80d14a23b224cd8d7d41716b9924a69f8f5bd1564fddc52be04729",
+    "data/chunk-000/episode_000016.parquet": "40052f9f65596b974c137b29240634539bbf03e4cc14ac727c8bed70e0a4c9f3",
+    "data/chunk-000/episode_000017.parquet": "2d044e5b0b2817e794f292f44b436b7aa1d2c1f80fc0080203e0524831d4268e",
+    "data/chunk-000/episode_000018.parquet": "2c2d283ecb37f24b267d27f7cabf5461aa24427842c7209c6d1518be565a5a16",
+    "data/chunk-000/episode_000019.parquet": "eb78ba8cba96598ee3f06ef317c27c9fbca5ac79c9c3b01d1e3935b5f74a6972",
+    "data/chunk-000/episode_000020.parquet": "8da5fb6d20f23b6fbb5dfbdf4c8e75e7ac9c99157eb5239ca30b1684baa12ed8",
+    "data/chunk-000/episode_000021.parquet": "7dea7f58e282871af3c2652c17542f432fe20e3cd8bb7bbed36d38585b17753c",
+    "data/chunk-000/episode_000022.parquet": "d96182cc9a559f3bb5a981611a160ce7fe1ef9365c337e395efbfbc2c10abd5f",
+    "data/chunk-000/episode_000023.parquet": "1f0d2cadb240fea7507cdb389eb24fe8a71f282e186915001e8bb36b0d1c1e20",
+    "data/chunk-000/episode_000024.parquet": "3271bd9b2916898787d01b0df8a52e99cfbe1ccc58c8f4fb599f9165af985469",
+    "data/chunk-000/episode_000025.parquet": "72755da71456bed641bd10be220147ccbd904a7554a9b22b731a56ebbe740d02",
+    "data/chunk-000/episode_000026.parquet": "612f3917a0d362d192a574df8393ddfb246c0ada78777e389138680fee841f3f",
+    "data/chunk-000/episode_000027.parquet": "a42f385e463b3c968dcaac224df1b9add7bf5e4301f71b18e276de7693733e29",
+    "data/chunk-000/episode_000028.parquet": "ba0455ce824c7611ccd2bbd44d8232351c17e1914d70333b580bc60a30ad8d7b",
+    "data/chunk-000/episode_000029.parquet": "ed248847d0297a4f7651154e60600452977d64c5f90588bf8539f2a4644a4371",
+    "data/chunk-000/episode_000030.parquet": "3c9fd9283aaabbff24890c5f62a34a6bc3061f4d1e6de5dc097812eabc08496f",
+    "data/chunk-000/episode_000031.parquet": "07131888cd5266e7cd07ae2e66ddcf1fee934fc9dc8bea1a6d9a6a57e29a0c17",
+    "data/chunk-000/episode_000032.parquet": "df1a98d8fe75f04211579c4f37aee15bfc571daaee862a14b9a5f0cde946328a",
+    "data/chunk-000/episode_000033.parquet": "7cc43d8fc724991d16970201c88eeaac66f52b47bd67e17aada35d1acb382891",
+    "data/chunk-000/episode_000034.parquet": "dd69afcf9aee66081e4a2035c2ea7fdbd0206da8f47b9ef9f74fb3ee8ef17261",
+    "data/chunk-000/episode_000035.parquet": "6094798b7167943070e22bf985f5850092ef9955f50db5ea0c5a36fe54c774d3",
+    "data/chunk-000/episode_000036.parquet": "19464db3f1bb0dc24b566b99e1d46234741ce5bb22247202d785b6bc2ce92f8c",
+    "data/chunk-000/episode_000037.parquet": "427e968be66cc38f73a18a05416e24e77667f24ebe61e6a770e121fd0b284ef2",
+    "data/chunk-000/episode_000038.parquet": "cffcc153e22cf419298ad2e91ec332ebb9588634e577900abc1fcd49787c9a41",
+    "data/chunk-000/episode_000039.parquet": "092704202bf2ffe4b0b97097c496b593386d14aba215a070eaad60630ee0fd6f",
+    "data/chunk-000/episode_000040.parquet": "338a246d6cbf97d313b25113f99fd3fe51abb41d2a08708736ec6409a83fc330",
+    "data/chunk-000/episode_000041.parquet": "464f516a83bfac8a4ad8620ecf8c487bdcaaa67b63ba98fb3dcc6a061cbabc05",
+    "data/chunk-000/episode_000042.parquet": "79742c9dc484a443d17f53b750263bf405f4cedb25c2f6d23dd1118431b8846f",
+    "data/chunk-000/episode_000043.parquet": "bfd5b7665378657209b8d8acf099b59ecfcce3e25a8888b42b5ff1e35f4381e1",
+    "data/chunk-000/episode_000044.parquet": "a4edfb891f55afaf8add93b6b1ab4f90ee95f3e2ef64cdacf117fada450fcf90",
+    "data/chunk-000/episode_000045.parquet": "15121cc8beb59e9cd368b771aa0619474688ad54cca32657514787854d788763",
+    "data/chunk-000/episode_000046.parquet": "f7508b42e83a72bd6c5f147382fd2d360a4f4f9215b79bc85f9214c3a3dd81e6",
+    "data/chunk-000/episode_000047.parquet": "766c12dd3d20ba60668c00deb89895dab25c3bbc5532413780bfddc603c64b0f",
+    "data/chunk-000/episode_000048.parquet": "c43a9dd71f0ca075a6bfc0f2fa949ff5b0d23421efd0f5b1c49249b87d358e70",
+    "data/chunk-000/episode_000049.parquet": "aa1f2b150b416dfedeed2bc8ba4fc36909fbcbd3bc4b5946900221bd01539790",
+    "data/chunk-000/episode_000050.parquet": "81a997fc18c6bdc8f5f400e65849aede20392fe7d89dcc836232e77c97761d52",
+    "data/chunk-000/episode_000051.parquet": "9d02ad64ad537461e0f21b1f4d630c7f319202561c7d24626ae720e45e42a56c",
+    "data/chunk-000/episode_000052.parquet": "94c884258d3f7172501a4fd1de082f5bc19788cec92b4f1133b491bf8ccd6ae8",
+    "data/chunk-000/episode_000053.parquet": "258150c5faa3f5780130201ab50f1c4704979a0de759e42c9918ee8f0dc445a6",
+    "data/chunk-000/episode_000054.parquet": "a44bd353b37e3b93a8b520a7d4e028820ed6579af3d5e7ff8766af75312257b0",
+    "data/chunk-000/episode_000055.parquet": "013ad2396dea1acea82683286cf0b89a8ec24e3d87ce58cff88987ade9d670f4",
+    "data/chunk-000/episode_000056.parquet": "8dd42e46e0def267ef36b625183b772138227e472ec1e13401f2e99b49641969",
+    "data/chunk-000/episode_000057.parquet": "9ef0d7da1a7795eb6adfadf75481bba3fa6a4992cd04c33b24097cd21977cc60",
+    "data/chunk-000/episode_000058.parquet": "6b6cdca8a76d373abebbc3763f606051b0f0275f50d3df29824b124f821cf12b",
+    "data/chunk-000/episode_000059.parquet": "390d99ee42d926db1739657c82a6f2e363f94e305da53ca6359de43b62bfc765",
+    "data/chunk-000/episode_000060.parquet": "0cb26a718f08776824737c4e9c95a7858cb44795bf37cc201839209d3dbab732",
+    "data/chunk-000/episode_000061.parquet": "5666f9e1ce5c25adf3fe159ec76453aeb98ced1c093df548e812376ef832a99a",
+    "data/chunk-000/episode_000062.parquet": "d76769e9481199b1fe05784c2d2fb40dcaf7abc707601c7938b1cdb172d171cf",
+    "data/chunk-000/episode_000063.parquet": "e1f1b25dbaad14bb9aeba2ecbd369f462490fd40cfaa514a24a6e92f91828c89",
+    "data/chunk-000/episode_000064.parquet": "5eea4ad2515f7a2faa38fb514ee8d68d639911dd1e1d23b0b80b01bf96329214",
+    "data/chunk-000/episode_000065.parquet": "44d111449fac970a2754f5d73ebaf1eeab9862f269108d5dc11128c3612c5bb7",
+    "data/chunk-000/episode_000066.parquet": "d4c7ee53c288e3487d5f40a02f2184cca44b937feee40f037b6c1f98b768fd8d",
+    "data/chunk-000/episode_000067.parquet": "dd5c750aaed8b17dd5a62861151590dee7724f8f2d15266814147fb63c3b555a",
+    "data/chunk-000/episode_000068.parquet": "27b5ffabf82a9e08ca0bc4e1e32c85fbf45e0c5281faf7c3a939adb85cef4d16",
+    "data/chunk-000/episode_000069.parquet": "516f836ef3a5da0b0f3c8b8c2d020e9621693666ac234e9b534bf2586737e90c",
+    "data/chunk-000/episode_000070.parquet": "2d8583f26ae081c2ac335d9bcff66e06623febf10c760475d7404a67c393cace",
+    "data/chunk-000/episode_000071.parquet": "226dfdfda337172d09a2572124170aaf53e7b602a6b3e5dcc0ab82f0fe7ed76b",
+    "data/chunk-000/episode_000072.parquet": "17e40ae13bc646bc5ceeaa4b6259616961b0ec8d0f5bb397be943215a60f84e0",
+    "data/chunk-000/episode_000073.parquet": "50e28cd0a53e4d03afc0698561800d3c0afcfd5005c71f1bbff655aed698f4cd",
+    "data/chunk-000/episode_000074.parquet": "9f558e8e0b96d9b3eae5ccb7c58a56e480e7edb0ed9f51c6f899af123e7f8e67",
+    "data/chunk-000/episode_000075.parquet": "37a1c87d1868f9d98ed4416d649ca07f0890822e548b1eb7ad6dba046e3d3895",
+    "data/chunk-000/episode_000076.parquet": "c5ef14e2b015db13f50ba359c2e1a0c3afdced334854dc3d73c9c6c787d2949c",
+    "data/chunk-000/episode_000077.parquet": "f5dd00859c0a67051fb40caf42dc2a67fd2e43615175c550c223dace4f94f230",
+    "data/chunk-000/episode_000078.parquet": "afa9538f92a8108b3dad396d4384fc0eba41b82b732c9bc1b2a2e2bc1bdb4c8b",
+    "data/chunk-000/episode_000079.parquet": "feac100c49d6fa3b5d67b12a75ed3f12eb5ed8ac32e932dee901ed700e533321",
+    "data/chunk-000/episode_000080.parquet": "d7d57b51062c33f9f5f0410645c902d422082617ddc944ac48351d4281f2986b",
+    "data/chunk-000/episode_000081.parquet": "ca6607ce49d20352c0189b040a874e13dd6718946b9a9dabe4efc59d07beca7e",
+    "data/chunk-000/episode_000082.parquet": "29b9eeff36592995af03db866bbeb9dc92bf4645ba959b771450d5aeea83e2a1",
+    "data/chunk-000/episode_000083.parquet": "854ec8686bba4bac2359653da839079c031fdda81a08dba5bd13be2f7ff9f6ba",
+    "data/chunk-000/episode_000084.parquet": "79a2c4e709930816572e6a328fe7ed00c9ed5f5a273c49bce28baab0d0a77d59",
+    "data/chunk-000/episode_000085.parquet": "f664c61cdfb4496c5a189b075ca8a7b09f746d2b95d0b514dca5f3c6bcae1507",
+    "data/chunk-000/episode_000086.parquet": "e03fe4c661f0f2237f6363a148a683733eaf136b0d9fc2458127429447b39de7",
+    "data/chunk-000/episode_000087.parquet": "4cdb57b3a9afe8fecb4384abfbef32bb79c2621dba53e2f2bc63c43426cd12ea",
+    "data/chunk-000/episode_000088.parquet": "8ad60effb20aa8cdad977454f0eb2d727630d664ca14659d8801a056892c46f9",
+    "data/chunk-000/episode_000089.parquet": "275dba4e56a20182e0820f378716ad7dda2e42cf950beb5a741518fce409532e",
+    "data/chunk-000/episode_000090.parquet": "a7f76782610340d3c7c34ed8f6297a5956ae51400e41fe7b3058c7b96d2a26f4",
+    "data/chunk-000/episode_000091.parquet": "81f528285ab370816afdf1bb67b02af3ebb8c1976ded8a370413516c0d44bb4e",
+    "data/chunk-000/episode_000092.parquet": "338158d1f99de833546430813e7e8861d1b8657f0b64d6b679139a1400c5c690",
+    "data/chunk-000/episode_000093.parquet": "65a88f634013a043696f38445c93666834efa706d8384bb0fea6d27d28b37906",
+    "data/chunk-000/episode_000094.parquet": "cd58c693536bf7ce4782ed00adc76f9bdc0dfae386f8eb5114d87c45fadcf689",
+    "data/chunk-000/episode_000095.parquet": "ca6744a0bb054df430178b7d71c652fba4688ccdd3ca6d91fe5b342c6bfc963d",
+    "data/chunk-000/episode_000096.parquet": "759a25858560d480848382a3662d807cdebd07614e970208984d0e979df8041e",
+    "data/chunk-000/episode_000097.parquet": "ba92e2d29c1ba7ea9eddf6dddd922f0d441d3e79903e7473f08ba3e139b6daaa",
+    "data/chunk-000/episode_000098.parquet": "231eef3d4ca4a32db1aa7f7c78ae6c42e6c834cefad7d2755dea9ae9144dbd05",
+    "data/chunk-000/episode_000099.parquet": "eba886127c6e3990aa8d22f8060ec9cd4bec2dcb3b75f69f0bbaabb869085779"
+  }
+}

legacy/a7-cabinet-close/state73-with-velocity-20261109/epoch-040/original_protocol.json

@@ -0,0 +1,55 @@
+{
+  "run": "a3-a7-20261109/a7",
+  "checkpoint": "a7-cabinet-close/epoch-040/step_004800.pt",
+  "checkpoint_receipt": {
+    "repo": "humanoid-benchmark/g1-basket-transfer-imagewam-deltaflow76",
+    "file": "a7-cabinet-close/epoch-040/step_004800.pt",
+    "revision": "e3fd7744f5dae0a8aefcc4c36f66f200a5587aee",
+    "size": 9035693113,
+    "sha256": "7cefc7ab75082ddca0b8af6f27c2cf91dd5975cdf6b47d784609b0449e324375"
+  },
+  "global_step": 4800,
+  "epoch_completed": 40,
+  "config_max_steps": 4800,
+  "robot": "g1",
+  "source_dataset": "humanoid-benchmark/a7-cabinet-close-expert-v1",
+  "source_revision": "1935a98e8f55d4d1d2d1615ddb97c2679713595c",
+  "dataset_meta": {
+    "total_episodes": 100,
+    "total_frames": 30664,
+    "fps": 30
+  },
+  "action_dim": 76,
+  "state_dim": 73,
+  "chunk": 16,
+  "history": 16,
+  "state_layout": "body29 joint angles + measured hands12 + projected gravity3 + body29 joint velocity (rad/s, normalized with velocity-normalization.json)",
+  "action_layout": "motion_token64 + same-frame measured left6 + measured right6",
+  "normalization_file": "dataset_stats.json",
+  "qwen_context_len": 128,
+  "qwen_text_cache": "qwen-text/87d7d0a53d38efca1bcd3cb21893d99d887be4beb37c5e632c0a5b199526b8f7.qwen3_flux2_len128.pt",
+  "sidecar_note": "Files copied unchanged from the paths the training config used (stats_path, qwen_text_cache_dir); training_config.yaml is the production config.yaml verbatim, so its absolute paths refer to the training NAS. Point stats_path / qwen_text_cache_dir (and velocity normalization, if present) at the files in this folder. Do not substitute the B6 config: model input dims differ per run.",
+  "sidecars": {
+    "training_config.yaml": {
+      "sha256": "6ef831d63c55c65d6beab122c51b49ae7abddfee37440e2be09e1dde45bf1f86",
+      "bytes": 8443,
+      "original_nas_path": "$P/a3-a7-20261109/a7/run/production/config.yaml"
+    },
+    "dataset_stats.json": {
+      "sha256": "8453ab137a8848d6b39f969ba85e61042f00bdec06260214f816aaf5c4a1146e",
+      "bytes": 40501,
+      "original_nas_path": "$P/a3-a7-20261109/a7/stats/dataset_stats.json"
+    },
+    "velocity-normalization.json": {
+      "sha256": "3f43058e46c62a7f20e2a77f998f6db5ac41a612fbd9123b1aca205522b12339",
+      "bytes": 2542,
+      "original_nas_path": "$P/a3-a7-20261109/a7/stats/velocity-normalization.json"
+    },
+    "qwen-text/87d7d0a53d38efca1bcd3cb21893d99d887be4beb37c5e632c0a5b199526b8f7.qwen3_flux2_len128.pt": {
+      "sha256": "ac364aea853bbb12d30e9b3eaa963af23c3f3a4484518fc3a4916a5ec0f5d7b1",
+      "bytes": 1969349,
+      "original_nas_path": "$P/a3-a7-20261109/a7/qwen-text/87d7d0a53d38efca1bcd3cb21893d99d887be4beb37c5e632c0a5b199526b8f7.qwen3_flux2_len128.pt"
+    }
+  },
+  "staged_utc": "2026-11-10"
+}

legacy/a7-cabinet-close/state73-with-velocity-20261109/epoch-040/protocol.json

@@ -0,0 +1,25 @@
+{
+  "benchmark_result": false,
+  "not_benchmark_because": "State input is 73-D including 29 joint velocities; the benchmark interface is 44-D without velocities.",
+  "model": "Delta Flow (ImageWAM, HumanWAM wholebody delta-flow policy): action = motion_token64 + same-frame measured hands12 (G1, 76-D) or H2 body31 + Sharpa hands44 (75-D); chunk 16, history 16, future image t+16.",
+  "task_dir": "a7-cabinet-close",
+  "run": "state73-with-velocity-20261109",
+  "epoch_folder": "epoch-040",
+  "weights": "model.pt",
+  "weights_sha256": "7cefc7ab75082ddca0b8af6f27c2cf91dd5975cdf6b47d784609b0449e324375",
+  "moved_from": {
+    "repo": "humanoid-benchmark/g1-basket-transfer-imagewam-deltaflow76",
+    "path": "a7-cabinet-close/epoch-040/step_004800.pt",
+    "revision": "01a2456a6873d1aea5fade2a42e83ba6beb07882",
+    "note": "original repository deleted after this move; file is byte-identical"
+  },
+  "original_protocol": "original_protocol.json (file names inside refer to the original repository; weights there were named step_004800.pt)",
+  "files": {
+    "dataset_stats.json": 40501,
+    "model.pt": 9035693113,
+    "original_protocol.json": 2737,
+    "qwen-text/87d7d0a53d38efca1bcd3cb21893d99d887be4beb37c5e632c0a5b199526b8f7.qwen3_flux2_len128.pt": 1969349,
+    "training_config.yaml": 8443,
+    "velocity-normalization.json": 2542
+  }
+}

legacy/a7-cabinet-close/state73-with-velocity-20261109/epoch-040/training_config.yaml

@@ -0,0 +1,317 @@
+output_dir: /mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/a3-a7-20261109/a7/run/production
+batch_size: 8
+gradient_accumulation_steps: 1
+num_workers: 4
+prefetch_factor: 2
+persistent_workers: true
+num_epochs: 40
+max_steps: 4800
+lr_scheduler_total_steps: 8520
+warmup_steps: 240
+lr_scheduler_type: cosine
+learning_rate: 0.0001
+weight_decay: 0.01
+optimizer_foreach: false
+mixed_precision: bf16
+seed: 42
+max_grad_norm: 1.0
+resume: null
+log_every: 5
+rank_timer_every: 20
+rank_timer_sync_cuda: true
+save_every: 0
+save_steps:
+- 3600
+- 4800
+save_at_end: true
+keep_latest_weights: 2
+keep_latest_state_only: true
+eval_every: 0
+eval_num_inference_steps: 1
+eval_num_samples: 1
+precache_arrow: false
+precache_num_workers: 0
+build_lerobot_meta_cache: false
+build_norm_stats: false
+precache_fuse_norm_stats: false
+norm_stats_cache_enabled: false
+wandb:
+  enabled: false
+  workspace: null
+  project: imagewam-wholebody
+  name: deltaflow76-p25
+  group: wholebody-action76-state73
+  mode: disabled
+data:
+  train:
+    _target_: imagewam.datasets.wholebody_velocity.WholeBodyVelocityLeRobotDataset
+    dataset_dir: /mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/a3-a7-20261109/a7-cabinet-close-expert-v1/1935a98e8f55d4d1d2d1615ddb97c2679713595c
+    stats_path: /mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/a3-a7-20261109/a7/stats/dataset_stats.json
+    qwen_text_cache_dir: /mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/a3-a7-20261109/a7/qwen-text
+    split: train
+    train_split_mode: all_100
+    action_horizon: 16
+    past_action_size: 16
+    qwen_context_len: 128
+    qwen_text_dim: 7680
+    video_cache_frames: 64
+    split_manifest_path: /mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/a3-a7-20261109/a7/split-manifest.json
+    image_augmentation:
+      version: b6-visual-aug-v2
+      seed: 20261106
+      enabled: true
+      exposure_ev:
+      - -0.22
+      - 0.22
+      contrast:
+      - 0.88
+      - 1.12
+      saturation:
+      - 0.76
+      - 1.24
+      hue:
+      - -0.015
+      - 0.015
+      gamma:
+      - 0.89
+      - 1.11
+      temperature_delta:
+      - -0.066
+      - 0.066
+      noise_probability: 0.5
+      noise_sigma:
+      - 0.01568627450980392
+      - 0.01568627450980392
+      blur_probability: 0.15
+      blur_sigma:
+      - 0.25
+      - 0.65
+      blur_kernel: 3
+      shared_colour_across_cameras_and_time: true
+      noise_on_future_target: false
+      action_label_noise: false
+      state_label_noise: false
+      geometric_transforms: true
+      approval_status: USER_AUTHORIZED_20261106
+      supersedes: b6-visual-aug-v1
+      policy_id: b6-robust-v3
+      rotation_degrees: 1.5
+      crop_zoom_extra: 0.02
+      jpeg_probability: 0.35
+      jpeg_quality:
+      - 70
+      - 95
+    proprio_augmentation:
+      enabled: true
+      seed: 20261106
+      joint_bias_degrees: 2.0
+      joint_noise_std_degrees: 0.25
+      delay_probability: 0.15
+      max_delay_control_cycles: 2
+      control_hz: 30
+      recording_hz: 30
+      history_drop_probability: 0.15
+      affected_angle_channels:
+      - 0
+      - 1
+      - 2
+      - 3
+      - 4
+      - 5
+      - 6
+      - 7
+      - 8
+      - 9
+      - 10
+      - 11
+      - 12
+      - 13
+      - 14
+      - 15
+      - 16
+      - 17
+      - 18
+      - 19
+      - 20
+      - 21
+      - 22
+      - 23
+      - 24
+      - 25
+      - 26
+      - 27
+      - 28
+      velocity_channels: []
+      action_label_noise: false
+      bias_scope: fixed_per_episode
+      start_pose_library: not_applied_offline
+      render_randomization: not_applied_offline
+    velocity_cache: /mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/a3-a7-20261109/a7/stats/velocity.npz
+    velocity_noise_std: 0.05
+  val: null
+model:
+  _target_: imagewam.wholebody_delta.create_imagewam_flux2_wholebody_delta
+  flux2_src_path: /mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/HumanWAM/third_party/flux2
+  flux2_model_path: /mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/hf-inputs/FLUX.2-klein-base-4B/flux-2-klein-base-4b.safetensors
+  ae_model_path: /mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/hf-inputs/FLUX.2-AE/ae.safetensors
+  qwen3_model_spec: /mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/hf-inputs/Qwen3-4B
+  variant: klein-base-4b
+  qwen_context_len: 128
+  load_text_encoder: false
+  proprio_dim: 73
+  action_state_dim: 73
+  expected_action_dim: 76
+  expected_action_horizon: 16
+  state_only_init_seed: 42
+  mot_checkpoint_mixed_attn: true
+  mot_gqa_implementation: repeat
+  mot_force_flash_attention: false
+  pack_proprio_after_text: false
+  action_dit_pretrained_path: /mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/all60-20261105/action-shared-flux2-4b.pt
+  action_initializer_sha256: 3b40f3ca92b3e249ed39791c1ce3ab55adce8161e406c62d94387ab1532ef657
+  zero_init_action_head: false
+  action_head_init_scale: 1.0
+  flux2_action_image_context:
+    mode: noise_idm
+    include_future_tokens: true
+    knowledge_insulation: true
+    reuse_image_fm_workspace: false
+  flux2_lora_config:
+    enabled: false
+  action_dit_config:
+    action_dim: 76
+    hidden_dim: 1024
+    num_heads: 24
+    attn_head_dim: 128
+    num_layers_double: 5
+    num_layers_single: 20
+    mlp_ratio: 4.0
+    max_action_horizon: 64
+    use_gradient_checkpointing: true
+  video_scheduler:
+    train_shift: 5.0
+    infer_shift: 5.0
+    num_train_timesteps: 1000
+  action_scheduler:
+    train_shift: 5.0
+    infer_shift: 5.0
+    num_train_timesteps: 1000
+  loss:
+    lambda_video: 0.5
+    lambda_action: 1.0
+    action_a2a:
+      enabled: true
+      fm_weight: 1.0
+      ic_weight: 0.5
+      ic_steps: 1
+      ic_loss: l1
+      source_noise_std: 0.5
+      source_noise_dim_mask:
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      aura:
+        enabled: false
+    image_i2i:
+      enabled: true
+      source_mode: gaussian
+      current_residual_scale: 0.5773502691896258
+      variance_normalize: true
+      ic_weight: 1.0
+      ic_steps: 1
+      ic_loss: l1
+      source_noise_std: 0.0
+wholebody_contract:
+  world_size: 32
+  zero_stage: 1
+  statistics_sha256: 8453ab137a8848d6b39f969ba85e61042f00bdec06260214f816aaf5c4a1146e
+  stats_schema: wholebody-state41to44-action76-chunk16-train100val0-v1
+  normalization_strategy: fit_wholebody_motion64_body29_gravity3_fixed_inspire_hands
+  smoke_output_dir: /mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/a3-a7-20261109/a7/run/smoke
+  production_output_dir: /mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/a3-a7-20261109/a7/run/production
+  fresh_base: true
+  measured_loader:
+    dataset_frames: 30664
+    raw_loader_batches: 3833
+    per_rank_microbatches: 120
+    world_size: 32
+    microbatch: 8
+    gradient_accumulation: 1
+    dataloader_drop_last: false
+    source: native Wan22Trainer._build_loader + Accelerate.prepare_data_loader; no
+      iteration/model/optimizer
+  updates_per_epoch: 120
+  velocity_statistics_sha256: 3f43058e46c62a7f20e2a77f998f6db5ac41a612fbd9123b1aca205522b12339

legacy/a7-cabinet-close/state73-with-velocity-20261109/epoch-040/velocity-normalization.json

@@ -0,0 +1,100 @@
+{
+  "order": [
+    "left_hip_pitch_joint",
+    "left_hip_roll_joint",
+    "left_hip_yaw_joint",
+    "left_knee_joint",
+    "left_ankle_pitch_joint",
+    "left_ankle_roll_joint",
+    "right_hip_pitch_joint",
+    "right_hip_roll_joint",
+    "right_hip_yaw_joint",
+    "right_knee_joint",
+    "right_ankle_pitch_joint",
+    "right_ankle_roll_joint",
+    "waist_yaw_joint",
+    "waist_roll_joint",
+    "waist_pitch_joint",
+    "left_shoulder_pitch_joint",
+    "left_shoulder_roll_joint",
+    "left_shoulder_yaw_joint",
+    "left_elbow_joint",
+    "left_wrist_roll_joint",
+    "left_wrist_pitch_joint",
+    "left_wrist_yaw_joint",
+    "right_shoulder_pitch_joint",
+    "right_shoulder_roll_joint",
+    "right_shoulder_yaw_joint",
+    "right_elbow_joint",
+    "right_wrist_roll_joint",
+    "right_wrist_pitch_joint",
+    "right_wrist_yaw_joint"
+  ],
+  "mean": [
+    -0.06781689822673798,
+    -0.010531225241720676,
+    -0.019742881879210472,
+    0.03767719864845276,
+    0.004646560177206993,
+    -0.007876552641391754,
+    -0.06298162788152695,
+    -0.019813546910881996,
+    -0.037689268589019775,
+    0.052774880081415176,
+    -0.014439999125897884,
+    -0.008006087504327297,
+    0.008028144016861916,
+    0.006276842672377825,
+    -0.0038982252590358257,
+    0.0010409752139821649,
+    0.0003618986811488867,
+    0.00032153204665519297,
+    0.002578567946329713,
+    0.0001935321924975142,
+    0.00043884036131203175,
+    0.0006108947563916445,
+    -0.03895153850317001,
+    0.014004150405526161,
+    0.007739685475826263,
+    0.0561148039996624,
+    -0.003578354837372899,
+    -0.00032070904853753746,
+    6.492526881629601e-05
+  ],
+  "std": [
+    0.5422987341880798,
+    0.30828291177749634,
+    0.4993947148323059,
+    1.199898600578308,
+    0.6349875926971436,
+    0.29790690541267395,
+    0.523418128490448,
+    0.3722485601902008,
+    0.5300863981246948,
+    0.9195283055305481,
+    0.6161532998085022,
+    0.3277392089366913,
+    0.11749986559152603,
+    0.17040427029132843,
+    0.1717173159122467,
+    0.15654446184635162,
+    0.08490699529647827,
+    0.11867981404066086,
+    0.13288578391075134,
+    0.06906897574663162,
+    0.06978072971105576,
+    0.07565215975046158,
+    0.6221411228179932,
+    0.19492107629776,
+    0.13927091658115387,
+    0.6804741024971008,
+    0.1097404733300209,
+    0.1170179471373558,
+    0.19090446829795837
+  ],
+  "std_floor_rad_s": 0.05,
+  "training_noise_std_rad_s": 0.05,
+  "normalized_clip": 5,
+  "method": "(q[t] - q[t-1]) / (timestamp[t] - timestamp[t-1])",
+  "first_frame": "normalized zero"
+}

legacy/b6-pedal-bin/mixed70-sim40-real30-v3-20261107/epoch-040/dataset_stats.json

@@ -0,0 +1,1248 @@
+{
+  "schema": "wholebody-state41to44-action76-chunk16-train60val0-v1",
+  "action": {
+    "wholebody_action76": {
+      "global_min": [
+        -0.5,
+        -0.5,
+        -0.625,
+        -0.5625,
+        -0.4375,
+        -0.25,
+        -0.5625,
+        -0.3125,
+        -0.4375,
+        -0.4375,
+        -0.625,
+        -0.5625,
+        -0.375,
+        -0.3125,
+        -0.25,
+        -0.5625,
+        -0.375,
+        -0.5,
+        -0.375,
+        -0.4375,
+        -0.375,
+        -0.5625,
+        -0.5,
+        -0.5,
+        -0.4375,
+        -0.375,
+        -0.375,
+        -0.5,
+        -0.375,
+        -0.4375,
+        -0.5,
+        -0.5,
+        -0.4375,
+        -0.25,
+        -0.25,
+        -0.25,
+        -0.4375,
+        -0.5,
+        -0.125,
+        -0.375,
+        -0.4375,
+        -0.4375,
+        -0.4375,
+        -0.5625,
+        -0.3125,
+        -0.3125,
+        -0.3125,
+        -0.5,
+        -0.6875,
+        -0.5625,
+        -0.6875,
+        -0.3125,
+        -0.5625,
+        -0.5625,
+        -0.1875,
+        -0.5,
+        -0.375,
+        -0.3125,
+        -0.25,
+        -0.5,
+        -0.375,
+        -0.4375,
+        -0.1875,
+        -0.5625,
+        0.9950000047683716,
+        0.9950000047683716,
+        0.9990000128746033,
+        0.9980000257492065,
+        0.9751649498939514,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.49900001287460327,
+        0.0,
+        0.0
+      ],
+      "global_max": [
+        0.3125,
+        0.4375,
+        0.5,
+        0.25,
+        0.625,
+        0.4375,
+        0.5,
+        0.375,
+        0.3125,
+        0.0625,
+        0.375,
+        0.125,
+        0.4375,
+        0.4375,
+        0.5625,
+        0.4375,
+        0.3125,
+        0.25,
+        0.4375,
+        0.1875,
+        0.25,
+        0.375,
+        0.4375,
+        0.375,
+        0.25,
+        0.375,
+        0.0625,
+        0.3125,
+        0.3125,
+        0.3125,
+        0.4375,
+        0.3125,
+        0.4375,
+        0.4375,
+        0.3125,
+        0.375,
+        0.375,
+        0.375,
+        0.5,
+        0.3125,
+        0.5,
+        0.375,
+        0.5,
+        0.3125,
+        0.375,
+        0.4375,
+        0.375,
+        0.5625,
+        0.3125,
+        0.4375,
+        0.4375,
+        0.3125,
+        0.5,
+        0.375,
+        0.3125,
+        0.5625,
+        0.4375,
+        0.4375,
+        0.4375,
+        0.125,
+        0.4375,
+        0.3125,
+        0.5,
+        0.375,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0
+      ],
+      "global_mean": [
+        0.0009709229228375988,
+        -0.03700295139258849,
+        -0.04302427174121508,
+        -0.07160856223496069,
+        0.0797861572229207,
+        0.1255580476058559,
+        0.07599036801841158,
+        0.022594934685788565,
+        0.03590150659535023,
+        -0.21546764122999554,
+        -0.0932645385385812,
+        -0.21916886866835725,
+        -0.02151479958233,
+        0.07804808532401389,
+        0.19880479255013106,
+        -0.06234417286423594,
+        0.01536695292688644,
+        -0.09441659385854625,
+        -0.025154761651075074,
+        -0.06876371811537069,
+        -0.07843965094721589,
+        -0.12015071280925693,
+        -0.11446502013766062,
+        -0.09716021693268267,
+        -0.0037678202314232745,
+        -0.009033978306731732,
+        -0.15592302938606772,
+        -0.026242887889701024,
+        0.01278315255609777,
+        -0.060623415091525135,
+        -0.039649348988855034,
+        -0.16460007032198948,
+        0.009542747245722079,
+        0.11123127410659109,
+        0.050193651842223026,
+        0.11900531676859803,
+        -0.08842990176231168,
+        -0.04916146354976879,
+        0.1489760692138854,
+        -0.09856266115455921,
+        -0.05570620325185927,
+        -0.08420525497048607,
+        0.11591807488226394,
+        -0.1825095360879664,
+        0.03804046710848765,
+        -0.01195873377799561,
+        0.022565633856841478,
+        -0.07642721674089543,
+        -0.28592015257740744,
+        -0.05741896988940269,
+        0.03980384426875786,
+        0.07018747203102692,
+        -0.0025345217039231148,
+        -0.02731236814626974,
+        0.023651096383744966,
+        0.0864933833400814,
+        -0.020188271144543652,
+        0.0818851620602212,
+        0.1635279263536983,
+        -0.20437727747352272,
+        -0.01080934216975302,
+        0.06739590214588616,
+        0.19083496707652312,
+        -0.09600150233341147,
+        0.9986273044516313,
+        0.9996320826043956,
+        0.9999978193047482,
+        0.9997453249173753,
+        0.998077474260634,
+        0.22454176384973445,
+        0.8520168424128799,
+        0.8654884860236849,
+        0.8669163332332201,
+        0.8684258048718363,
+        0.9590763067377113,
+        0.013511228970263278
+      ],
+      "global_std": [
+        0.12129640628073984,
+        0.16290714848482693,
+        0.14119575995428055,
+        0.12238699205273317,
+        0.18475634485380377,
+        0.11924343991320092,
+        0.14721757872147778,
+        0.10614920157189245,
+        0.11055734267046696,
+        0.07562197262497117,
+        0.12967557835162644,
+        0.10562241410039284,
+        0.126846038520241,
+        0.11980706348970489,
+        0.1244275624086533,
+        0.1543749390666615,
+        0.10905992379362804,
+        0.13462081367341122,
+        0.13609276172371698,
+        0.10514295943350814,
+        0.08796909134980842,
+        0.12047105434139538,
+        0.11711607604686633,
+        0.10677245223926297,
+        0.10035702149252256,
+        0.131041967442741,
+        0.06330423813942945,
+        0.12280397874725142,
+        0.10648785659500701,
+        0.13942438816187075,
+        0.1462667157964319,
+        0.11959088238638285,
+        0.09821007344239321,
+        0.1132937468008103,
+        0.07470070611330393,
+        0.09199213435114721,
+        0.11231273759126696,
+        0.12941621360850866,
+        0.08577110657238865,
+        0.10163086955138534,
+        0.1286468692645244,
+        0.1414999338672202,
+        0.14424953220909592,
+        0.11217185963223024,
+        0.13354848953509413,
+        0.14004876040486,
+        0.13009881261204917,
+        0.14051274545569814,
+        0.12290194583722612,
+        0.1197657118828989,
+        0.10897196827203363,
+        0.09907042527907815,
+        0.1802884578929388,
+        0.14375916468950573,
+        0.06940577259606583,
+        0.15615498239974634,
+        0.1482546201561341,
+        0.0996077748269753,
+        0.11295411436892494,
+        0.10241519677542534,
+        0.13250176949165346,
+        0.09418508115096413,
+        0.11257873983532012,
+        0.12310872495219656,
+        0.0015839815572631255,
+        0.0010462597452355258,
+        3.6430648396754394e-05,
+        0.0006652707131572087,
+        0.0014816303824504579,
+        0.4129760525112301,
+        0.17817807121397053,
+        0.1609881767919482,
+        0.16117214352262058,
+        0.16015227398997972,
+        0.08351586214049127,
+        0.07965983064627999
+      ],
+      "global_q01": [
+        -0.3125,
+        -0.375,
+        -0.3125,
+        -0.4375,
+        -0.3125,
+        -0.1875,
+        -0.25,
+        -0.1875,
+        -0.25,
+        -0.375,
+        -0.375,
+        -0.5,
+        -0.25,
+        -0.1875,
+        -0.125,
+        -0.4375,
+        -0.25,
+        -0.375,
+        -0.25,
+        -0.3125,
+        -0.3125,
+        -0.4375,
+        -0.3125,
+        -0.3125,
+        -0.375,
+        -0.25,
+        -0.3125,
+        -0.375,
+        -0.25,
+        -0.375,
+        -0.375,
+        -0.375,
+        -0.3125,
+        -0.125,
+        -0.125,
+        -0.125,
+        -0.3125,
+        -0.375,
+        -0.0625,
+        -0.3125,
+        -0.25,
+        -0.375,
+        -0.1875,
+        -0.4375,
+        -0.25,
+        -0.25,
+        -0.25,
+        -0.375,
+        -0.5,
+        -0.375,
+        -0.3125,
+        -0.1875,
+        -0.5,
+        -0.3125,
+        -0.125,
+        -0.3125,
+        -0.3125,
+        -0.1875,
+        -0.125,
+        -0.4375,
+        -0.3125,
+        -0.1875,
+        -0.125,
+        -0.4375,
+        0.9959999918937683,
+        0.9959999918937683,
+        0.9999718976020813,
+        0.9980000257492065,
+        0.9950000047683716,
+        0.0,
+        0.503000020980835,
+        0.5720000267028809,
+        0.5600000023841858,
+        0.5559999942779541,
+        0.8080000281333923,
+        0.0
+      ],
+      "global_q99": [
+        0.25,
+        0.3125,
+        0.3125,
+        0.1875,
+        0.5,
+        0.375,
+        0.4375,
+        0.25,
+        0.25,
+        0.0,
+        0.1875,
+        0.0,
+        0.375,
+        0.375,
+        0.4375,
+        0.25,
+        0.25,
+        0.1875,
+        0.375,
+        0.1875,
+        0.125,
+        0.125,
+        0.25,
+        0.1875,
+        0.1875,
+        0.3125,
+        0.0,
+        0.1875,
+        0.1875,
+        0.25,
+        0.3125,
+        0.125,
+        0.1875,
+        0.375,
+        0.25,
+        0.3125,
+        0.25,
+        0.25,
+        0.375,
+        0.1875,
+        0.3125,
+        0.25,
+        0.4375,
+        0.125,
+        0.3125,
+        0.4375,
+        0.375,
+        0.3125,
+        0.1875,
+        0.1875,
+        0.3125,
+        0.25,
+        0.4375,
+        0.25,
+        0.1875,
+        0.4375,
+        0.4375,
+        0.3125,
+        0.375,
+        0.0,
+        0.3125,
+        0.25,
+        0.375,
+        0.25,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        0.03752971433102965
+      ]
+    }
+  },
+  "state": {
+    "wholebody_state44": {
+      "global_min": [
+        -1.0186576843261719,
+        -0.2642878293991089,
+        -0.41315776109695435,
+        0.1148306280374527,
+        -0.5680165886878967,
+        -0.2173588126897812,
+        -0.5265184044837952,
+        -0.43026724457740784,
+        -1.0713918209075928,
+        0.07363646477460861,
+        -0.7344805598258972,
+        -0.3464173376560211,
+        -0.1249196007847786,
+        -0.22137953341007233,
+        -0.04456578940153122,
+        -0.03353186324238777,
+        0.025909895077347755,
+        -0.6583074927330017,
+        -0.8172283172607422,
+        -0.8367026448249817,
+        -0.47862598299980164,
+        -0.1592104285955429,
+        -0.9136219024658203,
+        -1.2159825563430786,
+        -0.738158106803894,
+        -0.8532509803771973,
+        -0.5497403740882874,
+        -1.0118358135223389,
+        -1.1398422718048096,
+        0.9950000047683716,
+        0.9950000047683716,
+        0.9990000128746033,
+        0.9980000257492065,
+        0.9751649498939514,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.49900001287460327,
+        0.0,
+        0.0,
+        -0.35471171140670776,
+        -0.14480756223201752,
+        -0.9999998211860657
+      ],
+      "global_max": [
+        0.42866581678390503,
+        0.32244277000427246,
+        0.7529057860374451,
+        1.7379481792449951,
+        0.5265358090400696,
+        0.23990066349506378,
+        0.50412917137146,
+        0.20605282485485077,
+        0.32808804512023926,
+        1.2351953983306885,
+        0.2589474320411682,
+        0.14931561052799225,
+        0.28392156958580017,
+        0.1907903254032135,
+        0.4537332057952881,
+        0.573672890663147,
+        0.41873985528945923,
+        0.4268301725387573,
+        1.0464204549789429,
+        0.2633533477783203,
+        0.14983877539634705,
+        0.6381120681762695,
+        0.6288100481033325,
+        0.07798135280609131,
+        0.8755158185958862,
+        1.1569690704345703,
+        1.2920176982879639,
+        1.2550203800201416,
+        1.1416784524917603,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        0.22302038967609406,
+        0.22687481343746185,
+        -0.9349737763404846
+      ],
+      "global_mean": [
+        -0.11287630025368925,
+        0.02958933295514988,
+        0.08528332908039443,
+        0.3456830844287232,
+        -0.12611947739974377,
+        -0.014012637758658523,
+        -0.014458278458177496,
+        -0.06207428545974281,
+        -0.29061882939724326,
+        0.3276777168088518,
+        -0.21100153366829852,
+        -0.02695292207006873,
+        0.01060929447180074,
+        -0.0035943550841636513,
+        0.14681248637826175,
+        0.24803700998422862,
+        0.1830763244674727,
+        -0.05884056365018785,
+        -0.32727492453889717,
+        -0.3423039114015717,
+        -0.04627038410219749,
+        0.17059731870171319,
+        0.13733112986807386,
+        -0.2227693191416043,
+        0.014981445627347965,
+        -0.02061309153641612,
+        0.3821913884606627,
+        -0.038379784063828006,
+        -0.010694967072512543,
+        0.9986273044516313,
+        0.9996320826043956,
+        0.9999978193047482,
+        0.9997453249173753,
+        0.998077474260634,
+        0.22454176384973445,
+        0.8520168424128799,
+        0.8654884860236849,
+        0.8669163332332201,
+        0.8684258048718363,
+        0.9590763067377113,
+        0.013511228970263278,
+        -0.08685924005119033,
+        0.008924761975244812,
+        -0.9931692356756119
+      ],
+      "global_std": [
+        0.2610757415439352,
+        0.0862652057558356,
+        0.1688172629252225,
+        0.2532346324557956,
+        0.12921205535893424,
+        0.059627876697732625,
+        0.15454376643955028,
+        0.06476141404532917,
+        0.1767055284857123,
+        0.17916579586713471,
+        0.15882102301266335,
+        0.06197038044334734,
+        0.049621328987693426,
+        0.039525157023754316,
+        0.06539850038050614,
+        0.08715264084562852,
+        0.06210522101420166,
+        0.13740436257772812,
+        0.2508976587187566,
+        0.10901983596727029,
+        0.07729202087349109,
+        0.07831103179083147,
+        0.2587245586609446,
+        0.16594601669122883,
+        0.2051549736076041,
+        0.49855192655936786,
+        0.24695085604525066,
+        0.24004857719686462,
+        0.2266750911412326,
+        0.0015839815572631255,
+        0.0010462597452355258,
+        3.6430648396754394e-05,
+        0.0006652707131572087,
+        0.0014816303824504579,
+        0.4129760525112301,
+        0.17817807121397053,
+        0.1609881767919482,
+        0.16117214352262058,
+        0.16015227398997972,
+        0.08351586214049127,
+        0.07965983064627999,
+        0.07059052901133255,
+        0.03083494835477186,
+        0.007541470280990758
+      ],
+      "global_q01": [
+        -0.8651604795455933,
+        -0.17326016306877137,
+        -0.2665925514698029,
+        0.13382464349269868,
+        -0.3836742544174194,
+        -0.13062788158655167,
+        -0.3753642517328262,
+        -0.24056172639131546,
+        -0.7603436136245727,
+        0.12981706142425536,
+        -0.604680061340332,
+        -0.1876727670431137,
+        -0.07945375099778175,
+        -0.11852622449398041,
+        -0.01299794353544712,
+        -0.008645786587148905,
+        0.06332464516162872,
+        -0.5943269073963166,
+        -0.7038191723823547,
+        -0.6126903736591339,
+        -0.30195022344589234,
+        -0.027156254276633263,
+        -0.6329350042343139,
+        -0.8180834293365479,
+        -0.4564849919080734,
+        -0.8368398749828339,
+        -0.17830499410629272,
+        -0.6272651219367981,
+        -0.5667724227905273,
+        0.9959999918937683,
+        0.9959999918937683,
+        0.9999718976020813,
+        0.9980000257492065,
+        0.9950000047683716,
+        0.0,
+        0.503000020980835,
+        0.5720000267028809,
+        0.5600000023841858,
+        0.5559999942779541,
+        0.8080000281333923,
+        0.0,
+        -0.2560904949903488,
+        -0.06169948138296604,
+        -0.999934448003769
+      ],
+      "global_q99": [
+        0.28678110241889954,
+        0.1968254891037935,
+        0.5003011572360986,
+        1.3212290334701502,
+        0.19136007040739056,
+        0.1516441014409063,
+        0.2893162751197815,
+        0.08972866922616927,
+        0.08673582613468167,
+        0.9298176717758178,
+        0.07361656188964841,
+        0.09680641129612919,
+        0.16514939218759508,
+        0.09134209156036335,
+        0.37140693902969346,
+        0.4538140887022015,
+        0.3367831820249557,
+        0.20205978929996485,
+        1.0033817028999326,
+        0.014401203487067634,
+        0.1025068281590938,
+        0.3834920966625213,
+        0.5019814312458035,
+        0.017458580099046227,
+        0.6020136940479277,
+        1.1223995780944824,
+        0.9843490004539485,
+        0.5519184732437132,
+        0.6048922944068897,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        0.03752971433102965,
+        0.12560979843139602,
+        0.10438466638326621,
+        -0.9657135927677155
+      ]
+    }
+  },
+  "normalization": {
+    "mode": "q01/q99",
+    "clamp": [
+      -5.0,
+      5.0
+    ],
+    "state_fixed_bounds": {
+      "start": 29,
+      "end": 41,
+      "min": 0.0,
+      "max": 1.0
+    },
+    "action_fixed_bounds": {
+      "start": 64,
+      "end": 76,
+      "min": 0.0,
+      "max": 1.0
+    },
+    "constant_range_tolerance": 0.0001
+  },
+  "train_episode_ids": [
+    0,
+    1,
+    2,
+    3,
+    4,
+    5,
+    6,
+    7,
+    8,
+    9,
+    10,
+    11,
+    12,
+    13,
+    14,
+    15,
+    16,
+    17,
+    18,
+    19,
+    20,
+    21,
+    22,
+    23,
+    24,
+    25,
+    26,
+    27,
+    28,
+    29,
+    30,
+    31,
+    32,
+    33,
+    34,
+    35,
+    36,
+    37,
+    38,
+    39,
+    40,
+    41,
+    42,
+    43,
+    44,
+    45,
+    46,
+    47,
+    48,
+    49,
+    50,
+    51,
+    52,
+    53,
+    54,
+    55,
+    56,
+    57,
+    58,
+    59,
+    60,
+    61,
+    62,
+    63,
+    64,
+    65,
+    66,
+    67,
+    68,
+    69
+  ],
+  "train_frames": 46927,
+  "train_split_mode": "all_70",
+  "heldout_episode_ids": [],
+  "normalization_reference_episode_ids": [
+    0,
+    1,
+    2,
+    3,
+    4,
+    5,
+    6,
+    7,
+    8,
+    9,
+    10,
+    11,
+    12,
+    13,
+    14,
+    15,
+    16,
+    17,
+    18,
+    19,
+    20,
+    21,
+    22,
+    23,
+    24,
+    25,
+    26,
+    27,
+    28,
+    29,
+    30,
+    31,
+    32,
+    33,
+    34,
+    35,
+    36,
+    37,
+    38,
+    39,
+    40,
+    41,
+    42,
+    43,
+    44,
+    45,
+    46,
+    47,
+    48,
+    49,
+    50,
+    51,
+    52,
+    53,
+    54,
+    55,
+    56,
+    57,
+    58,
+    59,
+    60,
+    61,
+    62,
+    63,
+    64,
+    65,
+    66,
+    67,
+    68,
+    69
+  ],
+  "normalization_reference_train_frames": 46927,
+  "normalization_strategy": "fit_wholebody_motion64_body29_gravity3_fixed_inspire_hands",
+  "action_order": "motion64,left_measured_hand6_native_order,right_measured_hand6_native_order",
+  "state_order": "body29,left_measured_hand6_native_order,right_measured_hand6_native_order,projected_gravity3",
+  "hand_target_time_offset": 0,
+  "hand_target_type": "same-row measured feedback, not issued command",
+  "hand_field_order": [
+    "pinky",
+    "ring",
+    "middle",
+    "index",
+    "thumb_bend",
+    "thumb_rotation"
+  ],
+  "hand_field_order_source": "meta/info.json features.observation.inspire_{left,right}_hand_state.names",
+  "hand_dataset_units": "[0,1]; do not divide recorded feedback by 1000 again",
+  "hand_deployment_raw1000_rule": "if the runtime reports raw Inspire units [0,1000], divide by 1000 exactly once before normalization",
+  "action_dim": 76,
+  "proprio_dim": 44,
+  "body_state_indices": [
+    0,
+    1,
+    2,
+    3,
+    4,
+    5,
+    6,
+    7,
+    8,
+    9,
+    10,
+    11,
+    12,
+    13,
+    14,
+    15,
+    16,
+    17,
+    18,
+    19,
+    20,
+    21,
+    22,
+    23,
+    24,
+    25,
+    26,
+    27,
+    28
+  ],
+  "constant_action_dims": [],
+  "split_manifest_sha256": "28ad4dd71544a7daf28ac6a8605c603fd69ec36ed24ae993ff5bc45d3a0a9f40",
+  "split_manifest": {
+    "train_episode_ids": [
+      0,
+      1,
+      2,
+      3,
+      4,
+      5,
+      6,
+      7,
+      8,
+      9,
+      10,
+      11,
+      12,
+      13,
+      14,
+      15,
+      16,
+      17,
+      18,
+      19,
+      20,
+      21,
+      22,
+      23,
+      24,
+      25,
+      26,
+      27,
+      28,
+      29,
+      30,
+      31,
+      32,
+      33,
+      34,
+      35,
+      36,
+      37,
+      38,
+      39,
+      40,
+      41,
+      42,
+      43,
+      44,
+      45,
+      46,
+      47,
+      48,
+      49,
+      50,
+      51,
+      52,
+      53,
+      54,
+      55,
+      56,
+      57,
+      58,
+      59,
+      60,
+      61,
+      62,
+      63,
+      64,
+      65,
+      66,
+      67,
+      68,
+      69
+    ],
+    "validation_episode_ids": [],
+    "source_group_by_episode": {
+      "0": "sim-0",
+      "1": "sim-1",
+      "2": "sim-2",
+      "3": "sim-3",
+      "4": "sim-4",
+      "5": "sim-5",
+      "6": "sim-6",
+      "7": "sim-7",
+      "8": "sim-8",
+      "9": "sim-9",
+      "10": "sim-10",
+      "11": "sim-11",
+      "12": "sim-12",
+      "13": "sim-13",
+      "14": "sim-14",
+      "15": "sim-15",
+      "16": "sim-16",
+      "17": "sim-17",
+      "18": "sim-18",
+      "19": "sim-19",
+      "20": "sim-20",
+      "21": "sim-21",
+      "22": "sim-22",
+      "23": "sim-23",
+      "24": "sim-24",
+      "25": "sim-25",
+      "26": "sim-26",
+      "27": "sim-27",
+      "28": "sim-28",
+      "29": "sim-29",
+      "30": "sim-30",
+      "31": "sim-31",
+      "32": "sim-32",
+      "33": "sim-33",
+      "34": "sim-34",
+      "35": "sim-35",
+      "36": "sim-36",
+      "37": "sim-37",
+      "38": "sim-38",
+      "39": "sim-39",
+      "40": "real-0",
+      "41": "real-1",
+      "42": "real-2",
+      "43": "real-3",
+      "44": "real-4",
+      "45": "real-5",
+      "46": "real-6",
+      "47": "real-7",
+      "48": "real-8",
+      "49": "real-9",
+      "50": "real-10",
+      "51": "real-11",
+      "52": "real-12",
+      "53": "real-13",
+      "54": "real-14",
+      "55": "real-15",
+      "56": "real-16",
+      "57": "real-17",
+      "58": "real-18",
+      "59": "real-19",
+      "60": "real-20",
+      "61": "real-21",
+      "62": "real-22",
+      "63": "real-23",
+      "64": "real-24",
+      "65": "real-25",
+      "66": "real-26",
+      "67": "real-27",
+      "68": "real-28",
+      "69": "real-29"
+    },
+    "provenance_reviewed": true,
+    "split_basis": "user authorized sim episodes 0-39 and all real episodes 0-29; full recordings",
+    "seed": 42,
+    "expected_body_joint_names": [
+      "left_hip_pitch_joint",
+      "left_hip_roll_joint",
+      "left_hip_yaw_joint",
+      "left_knee_joint",
+      "left_ankle_pitch_joint",
+      "left_ankle_roll_joint",
+      "right_hip_pitch_joint",
+      "right_hip_roll_joint",
+      "right_hip_yaw_joint",
+      "right_knee_joint",
+      "right_ankle_pitch_joint",
+      "right_ankle_roll_joint",
+      "waist_yaw_joint",
+      "waist_roll_joint",
+      "waist_pitch_joint",
+      "left_shoulder_pitch_joint",
+      "left_shoulder_roll_joint",
+      "left_shoulder_yaw_joint",
+      "left_elbow_joint",
+      "left_wrist_roll_joint",
+      "left_wrist_pitch_joint",
+      "left_wrist_yaw_joint",
+      "right_shoulder_pitch_joint",
+      "right_shoulder_roll_joint",
+      "right_shoulder_yaw_joint",
+      "right_elbow_joint",
+      "right_wrist_roll_joint",
+      "right_wrist_pitch_joint",
+      "right_wrist_yaw_joint"
+    ],
+    "source_metadata_sha256": {
+      "meta/episodes.jsonl": "dd8c0da4a7efe9d29dc9dda981fa70ad2c3c68eac609b645ae654f53f2c91beb",
+      "meta/episodes_stats.jsonl": "a94901604e80e93b6cf4aceef7491a8e76f1b877ff7d3263e257ac24476cacae",
+      "meta/info.json": "5d8efc9c318775f487be729a3792257c588c3a838a0ab0771635ebb1041ec768",
+      "meta/tasks.jsonl": "f1cd21614b2e587f62cb33f4efe1320db4e0e84d3bf578a38573178ebdf50ca2",
+      "meta/union_sources.jsonl": "672ca392fbb722a44b2e6b81138c2a26db16751ce2d2ad29a9634f29e838d8cd"
+    },
+    "source_hf_commits": {
+      "sim": "5b85dcf32f8eb1c2b463c86f4336548495dc6bab",
+      "real": "6996a43cede82c47f01b037eb5a5f4b842569393"
+    },
+    "sonic_compatibility": "both dataset cards/config reference SONIC v1.1; token64 shape and quantization checked"
+  },
+  "dataset_root": "/mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/mixed70-from-scratch-20261107-v3/merged70",
+  "instruction": "Pick up the chip barrel from the cart, walk to the pedal bin, step on its pedal and drop it in.",
+  "metadata_sha256": {
+    "meta/episodes.jsonl": "dd8c0da4a7efe9d29dc9dda981fa70ad2c3c68eac609b645ae654f53f2c91beb",
+    "meta/episodes_stats.jsonl": "a94901604e80e93b6cf4aceef7491a8e76f1b877ff7d3263e257ac24476cacae",
+    "meta/info.json": "5d8efc9c318775f487be729a3792257c588c3a838a0ab0771635ebb1041ec768",
+    "meta/tasks.jsonl": "f1cd21614b2e587f62cb33f4efe1320db4e0e84d3bf578a38573178ebdf50ca2",
+    "meta/union_sources.jsonl": "672ca392fbb722a44b2e6b81138c2a26db16751ce2d2ad29a9634f29e838d8cd"
+  },
+  "parquet_sha256": {
+    "data/chunk-000/episode_000000.parquet": "69484820542f156210a093f716efd120ecbc1f3620b4d37b791ee74b589f4e37",
+    "data/chunk-000/episode_000001.parquet": "7fc99a98f6adccf5986392f40449ca85554bc784ec1fe40aa9187b5449000913",
+    "data/chunk-000/episode_000002.parquet": "1962080c68bf449e3b7dd5e08ba4d78f111cea2b4b7f0ea3bf5d80bb843aee1b",
+    "data/chunk-000/episode_000003.parquet": "18af59b0d6de02b253bfe4bd8d24cc94dfebfd8d751af1424b9dd5049a64ff2a",
+    "data/chunk-000/episode_000004.parquet": "23278469c369f6af586d661af2c19656696d1872194a5fa5fb4b585d3f5c57ef",
+    "data/chunk-000/episode_000005.parquet": "85a262bbe7a114fdbc08c7690b1dc861464e3b6f5fe7cf215d78d8671aedb34e",
+    "data/chunk-000/episode_000006.parquet": "5d26fa0844029be9a28d820e3681034580c0843f7f164118d0027a4ea607fcb3",
+    "data/chunk-000/episode_000007.parquet": "de54be8c64ee584a4bd1f1c38c0e183b7668a453250d87e2ec83e36ae40bcc36",
+    "data/chunk-000/episode_000008.parquet": "da59945a9b8cb1bfb8bb70ab04d80cadf983a9a54ca542794eaf75e4c97c7e8b",
+    "data/chunk-000/episode_000009.parquet": "e84a9409712463d081dede979d19f11df0826675ee4553d62d0f9dd723649c65",
+    "data/chunk-000/episode_000010.parquet": "77861ef6bb85f03affad77b9ff205a06dc9339dab282ec19d527bddc9c0635ae",
+    "data/chunk-000/episode_000011.parquet": "84cbef20002a8957c7c333da747e02e881b9d1dd0ed2c3ae6c08e0cfaef34e9c",
+    "data/chunk-000/episode_000012.parquet": "6709f1f68f277948da9054f718e4f0f8bf7be978ce0654a0c49690fc97f4460a",
+    "data/chunk-000/episode_000013.parquet": "192b563af19abd3ef6e04309f268fdfba0e7065bd1d43819a10b909093cf6f4c",
+    "data/chunk-000/episode_000014.parquet": "69f5319077c6d280f59906fd9294d741f1cb638009bb09adb738f0e42c9b8e60",
+    "data/chunk-000/episode_000015.parquet": "cf85430760511ed53880aa43749a66d054c4ce09b005751814bd108c0d9919c0",
+    "data/chunk-000/episode_000016.parquet": "dde74139f8f6cf421aff6c42805670596b9f40481bbe83e1dd28716c9dd9da87",
+    "data/chunk-000/episode_000017.parquet": "69fe3412c19c224020a3ba9d48088da38c1a98140898ca5b7e26fd86be0ba5e9",
+    "data/chunk-000/episode_000018.parquet": "652c55378fdb3c0ba5c973eeed4089f47feb52dd27fc960286609217277f5b1f",
+    "data/chunk-000/episode_000019.parquet": "9136fa7b1ad8ba662bb84973c7bff5ce8632f62a8365a6359118489050e6708e",
+    "data/chunk-000/episode_000020.parquet": "b251b84e146dd0f287dc6cfa8d60089812f98cd3db828944c915539dfa544411",
+    "data/chunk-000/episode_000021.parquet": "c1d531350745101989c136f5309c3d36efcc0c6b51f4ab9651698eab2e5e0ffc",
+    "data/chunk-000/episode_000022.parquet": "053071089bdfd6d39cdfb13e873a14ca197995c2a1fd5cb141c6fecdb5eec24b",
+    "data/chunk-000/episode_000023.parquet": "4a7086093b20ff4d08f3211bf5c2d9c35e7feb961de4e50c6bb90dfef06f056e",
+    "data/chunk-000/episode_000024.parquet": "a625d4a61cec5f437455d86f382f15b5f5f602214cf6ca29e154a1372c66ddf2",
+    "data/chunk-000/episode_000025.parquet": "977ad17e13644fcb9cba472f7d001fc367a7ae4f0d66b8aea9b95e135c069b3b",
+    "data/chunk-000/episode_000026.parquet": "2ddc97cacfd1f15dbea5e9bb17699a407c8e43272b604c4c13b73a474d140429",
+    "data/chunk-000/episode_000027.parquet": "53297ba7ce1e8bd6b44fc43c99cef189f7e59db8b36654bc57f51ab1ebf9d9a6",
+    "data/chunk-000/episode_000028.parquet": "b12170831abafd50d95c276380bf2b15236e90a8724e38cf8503055872afcd98",
+    "data/chunk-000/episode_000029.parquet": "2129641b9df244932507cc85440e3c62acbcfe72be65f5128ad380348c8e4848",
+    "data/chunk-000/episode_000030.parquet": "ff5f9399b14bd74a2bfd093fc1b5350a0a5c86b8ace0148ab2af650d38ce3876",
+    "data/chunk-000/episode_000031.parquet": "5ec78afd31eda281522f3635b9c8f7c6e2507f1935fa20aafc01f788161aebdc",
+    "data/chunk-000/episode_000032.parquet": "4072a1fa3d2ae6342522100deeea0af7425547afe6896b7bd429fca9f683e71a",
+    "data/chunk-000/episode_000033.parquet": "d52735121d5666e807d3dc14b025b783adefaec06677715ac33c8db80b6b274e",
+    "data/chunk-000/episode_000034.parquet": "3a8e30d874eefb8f17491e684b5512f8bade25ecd18a5719a7a0029bca7049f0",
+    "data/chunk-000/episode_000035.parquet": "5b406bbd99b79aeba0ccbdba7135bfdd497554edf604245a22a16c21ce550602",
+    "data/chunk-000/episode_000036.parquet": "6d02567a72a130b1b98fa38f507aa723c9a82fc48df2e4aa56fd454cdf47d257",
+    "data/chunk-000/episode_000037.parquet": "caa52f69f5080ef3ca6ca63aa330eb2359fc64b018bcd08f8fbc96ddc606a586",
+    "data/chunk-000/episode_000038.parquet": "7dff8e9e69c86df4195d88ced05aacb4d3eac9f6a04d179be992a18114e2f771",
+    "data/chunk-000/episode_000039.parquet": "94c1ed4122a1e1bd52d15cf10ff3b8d62c99885da4fd6c4141514032bc74a126",
+    "data/chunk-000/episode_000040.parquet": "395bb3e1133c9a4c969e2a006b625a54f6816e740792c645208b74b636b8aa3a",
+    "data/chunk-000/episode_000041.parquet": "f41b0b4b29745d193786358d5b5840448cbee9985ca7fbbd9b29db57fc0d4e58",
+    "data/chunk-000/episode_000042.parquet": "d1469e758f44cabf6a65abbddff12d66287bea6ff94f601042fbc1f034b51f27",
+    "data/chunk-000/episode_000043.parquet": "6f20af04d40427781e0f35fb188d1cc434dfb6a7f6f22336f5691968cc1e1901",
+    "data/chunk-000/episode_000044.parquet": "9364e6f1a75df6d4cd3c67fd1e488d0fc88b0e7ee7575e6aba44ccd08c08f12b",
+    "data/chunk-000/episode_000045.parquet": "1d0c021eaadfc4d09dace9b1fffb27dbafdaaa758417fd22f48a440b3d6a9cd2",
+    "data/chunk-000/episode_000046.parquet": "11ec78c2b6bc9e68d4628c3634448200b26546b2b06b86643f13dbfbeaef6471",
+    "data/chunk-000/episode_000047.parquet": "26de2c481ed27567149cb3399cb25294b829bb0b54bb033250ddb29803c74c13",
+    "data/chunk-000/episode_000048.parquet": "6a3d6d3768f85b89354024d4a9abc2bbc6a4196777e6d01bc953221502acf613",
+    "data/chunk-000/episode_000049.parquet": "22f58ca5508f9c14bd3a903c5020d7ef58f97d5c8024ce86d851a8f7e783a4bd",
+    "data/chunk-000/episode_000050.parquet": "b1a6eed181ba27431280e5d19e3a209bff51d070faf83c3b70a1b4824cde1622",
+    "data/chunk-000/episode_000051.parquet": "e71ea5f57cccd4479a3ae1fdd9af8fb57a03e608fc849b7f08392c4f2ac9fb4e",
+    "data/chunk-000/episode_000052.parquet": "3c7177974464544659c618de8db70cfee331bf297a630a33d500b8a6cf0e1561",
+    "data/chunk-000/episode_000053.parquet": "b84005ac96bf2e939459cde60a95d912fdd9cd9000e4e8f5f361886308efe66f",
+    "data/chunk-000/episode_000054.parquet": "a9941f4ab70b6a0153336c1e7812494bdecebde82841a82f48579ed5387ca394",
+    "data/chunk-000/episode_000055.parquet": "add6c521218dc46fadfaa9f59976ada2d9c9b8d0add0498640e4e58468cd8f2b",
+    "data/chunk-000/episode_000056.parquet": "4d3ab3a85dfe716bb2316981602b99c2c7ce2e4a716849838a86432c83336171",
+    "data/chunk-000/episode_000057.parquet": "4c92baf38c4ec026455414ea63254e4d2b803a6605549f079b48d9fa3da20897",
+    "data/chunk-000/episode_000058.parquet": "7602705703495f04b7da327e557cc1be00b8a576910b88941c0b5df630907049",
+    "data/chunk-000/episode_000059.parquet": "237b3b6d0c022b7df8d4214be8a9cc53d863d8aadb655c86957c41a6670c3650",
+    "data/chunk-000/episode_000060.parquet": "640b5ab5ac0f853e49ed2f6c6d7017f993c83e90e3e63f4ab7783a87f1e65639",
+    "data/chunk-000/episode_000061.parquet": "05c64e25ea595df1658f990c3b360d6ba74e1a4af70cb2bed051d70e74b9c971",
+    "data/chunk-000/episode_000062.parquet": "22bb8baabce7d7d03cbd6bda85f0bc5415048e0246f536930bd96bf5ac98b2d6",
+    "data/chunk-000/episode_000063.parquet": "19834a7cbbac20921d3a784df8e23e6cfbba3bc5d603e27ccc6d5da06d4d5a50",
+    "data/chunk-000/episode_000064.parquet": "61512f36c52a3015662d3e2c7d69994b1ba06e08e522b82365f6cd8bff611917",
+    "data/chunk-000/episode_000065.parquet": "64d7969aa5f381cbc53a2e80708f33b2cfa940633e72a2fb707f791509cfab03",
+    "data/chunk-000/episode_000066.parquet": "176c1ec8daca8573ec5ba57eeadcf3768321ae0a34ac343afcac0435afc87071",
+    "data/chunk-000/episode_000067.parquet": "5cbb34b8b147fc3d777421bfc3b7eef66564e2da9b1c03d435bac12a5d1e70d2",
+    "data/chunk-000/episode_000068.parquet": "e384cddd794b2b5427287322759aad8e867bb48661fc3c965aa038c40d85cdf8",
+    "data/chunk-000/episode_000069.parquet": "eb5932400bd847b896e468456e6373ab72d24df464a3838131ee48876b53682d"
+  }
+}

legacy/b6-pedal-bin/mixed70-sim40-real30-v3-20261107/epoch-040/original_protocol.json

@@ -0,0 +1,20 @@
+{
+  "run": "mixed70-sim40-real30-v3-20261107",
+  "epoch_completed": 40,
+  "global_step": 7360,
+  "total_epochs": 60,
+  "episodes": 70,
+  "sim_episodes": 40,
+  "real_episodes": 30,
+  "sim_revision": "5b85dcf32f8eb1c2b463c86f4336548495dc6bab",
+  "real_revision": "6996a43cede82c47f01b037eb5a5f4b842569393",
+  "action_dim": 76,
+  "state_dim": 44,
+  "chunk": 16,
+  "history": 16,
+  "action_layout": "motion_token64 + same-frame measured left6 + measured right6",
+  "state_layout": "body29 + measured hands12 + gravity3",
+  "fresh_task_initialization": true,
+  "augmentation_from_epoch_1": true,
+  "rollout_verified": false
+}

legacy/b6-pedal-bin/mixed70-sim40-real30-v3-20261107/epoch-040/protocol.json

@@ -0,0 +1,23 @@
+{
+  "benchmark_result": false,
+  "not_benchmark_because": "Sim + real experiment: 40 simulated + 30 real-robot B6 episodes, augmentation robust-v3, 60 epochs. Not the benchmark data or recipe.",
+  "model": "Delta Flow (ImageWAM, HumanWAM wholebody delta-flow policy): action = motion_token64 + same-frame measured hands12 (G1, 76-D) or H2 body31 + Sharpa hands44 (75-D); chunk 16, history 16, future image t+16.",
+  "task_dir": "b6-pedal-bin",
+  "run": "mixed70-sim40-real30-v3-20261107",
+  "epoch_folder": "epoch-040",
+  "weights": "model.pt",
+  "weights_sha256": "766e1b7afb7eee2ca5b78c1cbb91183ea7736001f5b1cb211691b5e4cbf06ffe",
+  "moved_from": {
+    "repo": "humanoid-benchmark/b6-imagewam-deltaflow76",
+    "path": "mixed70-sim40-real30-v3-20261107/epoch-040/model.pt",
+    "revision": "75af1c3ebbfa850d87f5e58e239da03712a4c52d",
+    "note": "original repository deleted after this move; file is byte-identical"
+  },
+  "original_protocol": "original_protocol.json (file names inside refer to the original repository; weights there were named model.pt)",
+  "files": {
+    "dataset_stats.json": 32862,
+    "model.pt": 9035633721,
+    "original_protocol.json": 621,
+    "training_config.yaml": 7649
+  }
+}

legacy/b6-pedal-bin/mixed70-sim40-real30-v3-20261107/epoch-040/training_config.yaml

@@ -0,0 +1,313 @@
+output_dir: REPLACE_WITH_WORK_ROOT/preflight-20261104T1648Z/mixed70-from-scratch-20261107-v3/run/production
+batch_size: 8
+gradient_accumulation_steps: 1
+num_workers: 4
+prefetch_factor: 2
+persistent_workers: true
+num_epochs: 60
+max_steps: 11040
+lr_scheduler_total_steps: 11040
+warmup_steps: 552
+lr_scheduler_type: cosine
+learning_rate: 0.0001
+weight_decay: 0.01
+optimizer_foreach: false
+mixed_precision: bf16
+seed: 42
+max_grad_norm: 1.0
+resume: null
+log_every: 5
+rank_timer_every: 20
+rank_timer_sync_cuda: true
+save_every: 1840
+save_steps: []
+save_at_end: true
+keep_latest_weights: 4
+keep_latest_state_only: true
+eval_every: 0
+eval_num_inference_steps: 1
+eval_num_samples: 1
+precache_arrow: false
+precache_num_workers: 0
+build_lerobot_meta_cache: false
+build_norm_stats: false
+precache_fuse_norm_stats: false
+norm_stats_cache_enabled: false
+wandb:
+  enabled: false
+  workspace: null
+  project: imagewam-wholebody
+  name: deltaflow76-p25
+  group: wholebody-action76-state44
+  mode: disabled
+data:
+  train:
+    _target_: imagewam.datasets.wholebody_augmented_v3.WholeBodyRobustLeRobotDataset
+    dataset_dir: REPLACE_WITH_WORK_ROOT/preflight-20261104T1648Z/mixed70-from-scratch-20261107-v3/merged70
+    stats_path: REPLACE_WITH_WORK_ROOT/preflight-20261104T1648Z/mixed70-from-scratch-20261107-v3/normalization/dataset_stats.json
+    qwen_text_cache_dir: REPLACE_WITH_WORK_ROOT/preflight-20261104T1648Z/all60-20261105/qwen3-text
+    split: train
+    train_split_mode: all_70
+    action_horizon: 16
+    past_action_size: 16
+    qwen_context_len: 128
+    qwen_text_dim: 7680
+    video_cache_frames: 64
+    split_manifest_path: REPLACE_WITH_WORK_ROOT/preflight-20261104T1648Z/mixed70-from-scratch-20261107-v3/mixed70-manifest.json
+    image_augmentation:
+      version: b6-visual-aug-v2
+      seed: 20261106
+      enabled: true
+      exposure_ev:
+      - -0.22
+      - 0.22
+      contrast:
+      - 0.88
+      - 1.12
+      saturation:
+      - 0.76
+      - 1.24
+      hue:
+      - -0.015
+      - 0.015
+      gamma:
+      - 0.89
+      - 1.11
+      temperature_delta:
+      - -0.066
+      - 0.066
+      noise_probability: 0.5
+      noise_sigma:
+      - 0.01568627450980392
+      - 0.01568627450980392
+      blur_probability: 0.15
+      blur_sigma:
+      - 0.25
+      - 0.65
+      blur_kernel: 3
+      shared_colour_across_cameras_and_time: true
+      noise_on_future_target: false
+      action_label_noise: false
+      state_label_noise: false
+      geometric_transforms: true
+      approval_status: USER_AUTHORIZED_20261106
+      supersedes: b6-visual-aug-v1
+      policy_id: b6-robust-v3
+      rotation_degrees: 1.5
+      crop_zoom_extra: 0.02
+      jpeg_probability: 0.35
+      jpeg_quality:
+      - 70
+      - 95
+    proprio_augmentation:
+      enabled: true
+      seed: 20261106
+      joint_bias_degrees: 2.0
+      joint_noise_std_degrees: 0.25
+      delay_probability: 0.15
+      max_delay_control_cycles: 2
+      control_hz: 50
+      recording_hz: 30
+      history_drop_probability: 0.15
+      affected_angle_channels:
+      - 0
+      - 1
+      - 2
+      - 3
+      - 4
+      - 5
+      - 6
+      - 7
+      - 8
+      - 9
+      - 10
+      - 11
+      - 12
+      - 13
+      - 14
+      - 15
+      - 16
+      - 17
+      - 18
+      - 19
+      - 20
+      - 21
+      - 22
+      - 23
+      - 24
+      - 25
+      - 26
+      - 27
+      - 28
+      velocity_channels: []
+      action_label_noise: false
+      bias_scope: fixed_per_episode
+      start_pose_library: not_applied_offline
+      render_randomization: not_applied_offline
+  val: null
+model:
+  _target_: imagewam.wholebody_delta.create_imagewam_flux2_wholebody_delta
+  flux2_src_path: REPLACE_WITH_WORK_ROOT/preflight-20261104T1648Z/HumanWAM/third_party/flux2
+  flux2_model_path: REPLACE_WITH_WORK_ROOT/preflight-20261104T1648Z/hf-inputs/FLUX.2-klein-base-4B/flux-2-klein-base-4b.safetensors
+  ae_model_path: REPLACE_WITH_WORK_ROOT/preflight-20261104T1648Z/hf-inputs/FLUX.2-AE/ae.safetensors
+  qwen3_model_spec: REPLACE_WITH_WORK_ROOT/preflight-20261104T1648Z/hf-inputs/Qwen3-4B
+  variant: klein-base-4b
+  qwen_context_len: 128
+  load_text_encoder: false
+  proprio_dim: 44
+  action_state_dim: 44
+  expected_action_dim: 76
+  expected_action_horizon: 16
+  state_only_init_seed: 42
+  mot_checkpoint_mixed_attn: true
+  mot_gqa_implementation: repeat
+  mot_force_flash_attention: false
+  pack_proprio_after_text: false
+  action_dit_pretrained_path: REPLACE_WITH_WORK_ROOT/preflight-20261104T1648Z/all60-20261105/action-shared-flux2-4b.pt
+  action_initializer_sha256: 3b40f3ca92b3e249ed39791c1ce3ab55adce8161e406c62d94387ab1532ef657
+  zero_init_action_head: false
+  action_head_init_scale: 1.0
+  flux2_action_image_context:
+    mode: noise_idm
+    include_future_tokens: true
+    knowledge_insulation: true
+    reuse_image_fm_workspace: false
+  flux2_lora_config:
+    enabled: false
+  action_dit_config:
+    action_dim: 76
+    hidden_dim: 1024
+    num_heads: 24
+    attn_head_dim: 128
+    num_layers_double: 5
+    num_layers_single: 20
+    mlp_ratio: 4.0
+    max_action_horizon: 64
+    use_gradient_checkpointing: true
+  video_scheduler:
+    train_shift: 5.0
+    infer_shift: 5.0
+    num_train_timesteps: 1000
+  action_scheduler:
+    train_shift: 5.0
+    infer_shift: 5.0
+    num_train_timesteps: 1000
+  loss:
+    lambda_video: 0.5
+    lambda_action: 1.0
+    action_a2a:
+      enabled: true
+      fm_weight: 1.0
+      ic_weight: 0.5
+      ic_steps: 1
+      ic_loss: l1
+      source_noise_std: 0.5
+      source_noise_dim_mask:
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      aura:
+        enabled: false
+    image_i2i:
+      enabled: true
+      source_mode: gaussian
+      current_residual_scale: 0.5773502691896258
+      variance_normalize: true
+      ic_weight: 1.0
+      ic_steps: 1
+      ic_loss: l1
+      source_noise_std: 0.0
+wholebody_contract:
+  world_size: 32
+  zero_stage: 1
+  statistics_sha256: 1cf050c279a16ba904c6584ea0f423296e19d00b7f1d447ca926dcb2f076d60b
+  stats_schema: wholebody-state41to44-action76-chunk16-train60val0-v1
+  normalization_strategy: fit_wholebody_motion64_body29_gravity3_fixed_inspire_hands
+  smoke_output_dir: REPLACE_WITH_WORK_ROOT/preflight-20261104T1648Z/mixed70-from-scratch-20261107-v3/run/smoke
+  production_output_dir: REPLACE_WITH_WORK_ROOT/preflight-20261104T1648Z/mixed70-from-scratch-20261107-v3/run/production
+  fresh_base: true
+  measured_loader:
+    dataset_frames: 46927
+    raw_loader_batches: 5866
+    per_rank_microbatches: 184
+    world_size: 32
+    microbatch: 8
+    gradient_accumulation: 1
+    dataloader_drop_last: false
+    source: CPU DataLoader and Accelerate.prepare_data_loader measurement; no model
+      or optimizer constructed
+  updates_per_epoch: 184
+  skip_five_step_preflight_user_authorized: true

legacy/b6-pedal-bin/mixed70-sim40-real30-v3-20261107/epoch-050/dataset_stats.json

@@ -0,0 +1,1248 @@
+{
+  "schema": "wholebody-state41to44-action76-chunk16-train60val0-v1",
+  "action": {
+    "wholebody_action76": {
+      "global_min": [
+        -0.5,
+        -0.5,
+        -0.625,
+        -0.5625,
+        -0.4375,
+        -0.25,
+        -0.5625,
+        -0.3125,
+        -0.4375,
+        -0.4375,
+        -0.625,
+        -0.5625,
+        -0.375,
+        -0.3125,
+        -0.25,
+        -0.5625,
+        -0.375,
+        -0.5,
+        -0.375,
+        -0.4375,
+        -0.375,
+        -0.5625,
+        -0.5,
+        -0.5,
+        -0.4375,
+        -0.375,
+        -0.375,
+        -0.5,
+        -0.375,
+        -0.4375,
+        -0.5,
+        -0.5,
+        -0.4375,
+        -0.25,
+        -0.25,
+        -0.25,
+        -0.4375,
+        -0.5,
+        -0.125,
+        -0.375,
+        -0.4375,
+        -0.4375,
+        -0.4375,
+        -0.5625,
+        -0.3125,
+        -0.3125,
+        -0.3125,
+        -0.5,
+        -0.6875,
+        -0.5625,
+        -0.6875,
+        -0.3125,
+        -0.5625,
+        -0.5625,
+        -0.1875,
+        -0.5,
+        -0.375,
+        -0.3125,
+        -0.25,
+        -0.5,
+        -0.375,
+        -0.4375,
+        -0.1875,
+        -0.5625,
+        0.9950000047683716,
+        0.9950000047683716,
+        0.9990000128746033,
+        0.9980000257492065,
+        0.9751649498939514,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.49900001287460327,
+        0.0,
+        0.0
+      ],
+      "global_max": [
+        0.3125,
+        0.4375,
+        0.5,
+        0.25,
+        0.625,
+        0.4375,
+        0.5,
+        0.375,
+        0.3125,
+        0.0625,
+        0.375,
+        0.125,
+        0.4375,
+        0.4375,
+        0.5625,
+        0.4375,
+        0.3125,
+        0.25,
+        0.4375,
+        0.1875,
+        0.25,
+        0.375,
+        0.4375,
+        0.375,
+        0.25,
+        0.375,
+        0.0625,
+        0.3125,
+        0.3125,
+        0.3125,
+        0.4375,
+        0.3125,
+        0.4375,
+        0.4375,
+        0.3125,
+        0.375,
+        0.375,
+        0.375,
+        0.5,
+        0.3125,
+        0.5,
+        0.375,
+        0.5,
+        0.3125,
+        0.375,
+        0.4375,
+        0.375,
+        0.5625,
+        0.3125,
+        0.4375,
+        0.4375,
+        0.3125,
+        0.5,
+        0.375,
+        0.3125,
+        0.5625,
+        0.4375,
+        0.4375,
+        0.4375,
+        0.125,
+        0.4375,
+        0.3125,
+        0.5,
+        0.375,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0
+      ],
+      "global_mean": [
+        0.0009709229228375988,
+        -0.03700295139258849,
+        -0.04302427174121508,
+        -0.07160856223496069,
+        0.0797861572229207,
+        0.1255580476058559,
+        0.07599036801841158,
+        0.022594934685788565,
+        0.03590150659535023,
+        -0.21546764122999554,
+        -0.0932645385385812,
+        -0.21916886866835725,
+        -0.02151479958233,
+        0.07804808532401389,
+        0.19880479255013106,
+        -0.06234417286423594,
+        0.01536695292688644,
+        -0.09441659385854625,
+        -0.025154761651075074,
+        -0.06876371811537069,
+        -0.07843965094721589,
+        -0.12015071280925693,
+        -0.11446502013766062,
+        -0.09716021693268267,
+        -0.0037678202314232745,
+        -0.009033978306731732,
+        -0.15592302938606772,
+        -0.026242887889701024,
+        0.01278315255609777,
+        -0.060623415091525135,
+        -0.039649348988855034,
+        -0.16460007032198948,
+        0.009542747245722079,
+        0.11123127410659109,
+        0.050193651842223026,
+        0.11900531676859803,
+        -0.08842990176231168,
+        -0.04916146354976879,
+        0.1489760692138854,
+        -0.09856266115455921,
+        -0.05570620325185927,
+        -0.08420525497048607,
+        0.11591807488226394,
+        -0.1825095360879664,
+        0.03804046710848765,
+        -0.01195873377799561,
+        0.022565633856841478,
+        -0.07642721674089543,
+        -0.28592015257740744,
+        -0.05741896988940269,
+        0.03980384426875786,
+        0.07018747203102692,
+        -0.0025345217039231148,
+        -0.02731236814626974,
+        0.023651096383744966,
+        0.0864933833400814,
+        -0.020188271144543652,
+        0.0818851620602212,
+        0.1635279263536983,
+        -0.20437727747352272,
+        -0.01080934216975302,
+        0.06739590214588616,
+        0.19083496707652312,
+        -0.09600150233341147,
+        0.9986273044516313,
+        0.9996320826043956,
+        0.9999978193047482,
+        0.9997453249173753,
+        0.998077474260634,
+        0.22454176384973445,
+        0.8520168424128799,
+        0.8654884860236849,
+        0.8669163332332201,
+        0.8684258048718363,
+        0.9590763067377113,
+        0.013511228970263278
+      ],
+      "global_std": [
+        0.12129640628073984,
+        0.16290714848482693,
+        0.14119575995428055,
+        0.12238699205273317,
+        0.18475634485380377,
+        0.11924343991320092,
+        0.14721757872147778,
+        0.10614920157189245,
+        0.11055734267046696,
+        0.07562197262497117,
+        0.12967557835162644,
+        0.10562241410039284,
+        0.126846038520241,
+        0.11980706348970489,
+        0.1244275624086533,
+        0.1543749390666615,
+        0.10905992379362804,
+        0.13462081367341122,
+        0.13609276172371698,
+        0.10514295943350814,
+        0.08796909134980842,
+        0.12047105434139538,
+        0.11711607604686633,
+        0.10677245223926297,
+        0.10035702149252256,
+        0.131041967442741,
+        0.06330423813942945,
+        0.12280397874725142,
+        0.10648785659500701,
+        0.13942438816187075,
+        0.1462667157964319,
+        0.11959088238638285,
+        0.09821007344239321,
+        0.1132937468008103,
+        0.07470070611330393,
+        0.09199213435114721,
+        0.11231273759126696,
+        0.12941621360850866,
+        0.08577110657238865,
+        0.10163086955138534,
+        0.1286468692645244,
+        0.1414999338672202,
+        0.14424953220909592,
+        0.11217185963223024,
+        0.13354848953509413,
+        0.14004876040486,
+        0.13009881261204917,
+        0.14051274545569814,
+        0.12290194583722612,
+        0.1197657118828989,
+        0.10897196827203363,
+        0.09907042527907815,
+        0.1802884578929388,
+        0.14375916468950573,
+        0.06940577259606583,
+        0.15615498239974634,
+        0.1482546201561341,
+        0.0996077748269753,
+        0.11295411436892494,
+        0.10241519677542534,
+        0.13250176949165346,
+        0.09418508115096413,
+        0.11257873983532012,
+        0.12310872495219656,
+        0.0015839815572631255,
+        0.0010462597452355258,
+        3.6430648396754394e-05,
+        0.0006652707131572087,
+        0.0014816303824504579,
+        0.4129760525112301,
+        0.17817807121397053,
+        0.1609881767919482,
+        0.16117214352262058,
+        0.16015227398997972,
+        0.08351586214049127,
+        0.07965983064627999
+      ],
+      "global_q01": [
+        -0.3125,
+        -0.375,
+        -0.3125,
+        -0.4375,
+        -0.3125,
+        -0.1875,
+        -0.25,
+        -0.1875,
+        -0.25,
+        -0.375,
+        -0.375,
+        -0.5,
+        -0.25,
+        -0.1875,
+        -0.125,
+        -0.4375,
+        -0.25,
+        -0.375,
+        -0.25,
+        -0.3125,
+        -0.3125,
+        -0.4375,
+        -0.3125,
+        -0.3125,
+        -0.375,
+        -0.25,
+        -0.3125,
+        -0.375,
+        -0.25,
+        -0.375,
+        -0.375,
+        -0.375,
+        -0.3125,
+        -0.125,
+        -0.125,
+        -0.125,
+        -0.3125,
+        -0.375,
+        -0.0625,
+        -0.3125,
+        -0.25,
+        -0.375,
+        -0.1875,
+        -0.4375,
+        -0.25,
+        -0.25,
+        -0.25,
+        -0.375,
+        -0.5,
+        -0.375,
+        -0.3125,
+        -0.1875,
+        -0.5,
+        -0.3125,
+        -0.125,
+        -0.3125,
+        -0.3125,
+        -0.1875,
+        -0.125,
+        -0.4375,
+        -0.3125,
+        -0.1875,
+        -0.125,
+        -0.4375,
+        0.9959999918937683,
+        0.9959999918937683,
+        0.9999718976020813,
+        0.9980000257492065,
+        0.9950000047683716,
+        0.0,
+        0.503000020980835,
+        0.5720000267028809,
+        0.5600000023841858,
+        0.5559999942779541,
+        0.8080000281333923,
+        0.0
+      ],
+      "global_q99": [
+        0.25,
+        0.3125,
+        0.3125,
+        0.1875,
+        0.5,
+        0.375,
+        0.4375,
+        0.25,
+        0.25,
+        0.0,
+        0.1875,
+        0.0,
+        0.375,
+        0.375,
+        0.4375,
+        0.25,
+        0.25,
+        0.1875,
+        0.375,
+        0.1875,
+        0.125,
+        0.125,
+        0.25,
+        0.1875,
+        0.1875,
+        0.3125,
+        0.0,
+        0.1875,
+        0.1875,
+        0.25,
+        0.3125,
+        0.125,
+        0.1875,
+        0.375,
+        0.25,
+        0.3125,
+        0.25,
+        0.25,
+        0.375,
+        0.1875,
+        0.3125,
+        0.25,
+        0.4375,
+        0.125,
+        0.3125,
+        0.4375,
+        0.375,
+        0.3125,
+        0.1875,
+        0.1875,
+        0.3125,
+        0.25,
+        0.4375,
+        0.25,
+        0.1875,
+        0.4375,
+        0.4375,
+        0.3125,
+        0.375,
+        0.0,
+        0.3125,
+        0.25,
+        0.375,
+        0.25,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        0.03752971433102965
+      ]
+    }
+  },
+  "state": {
+    "wholebody_state44": {
+      "global_min": [
+        -1.0186576843261719,
+        -0.2642878293991089,
+        -0.41315776109695435,
+        0.1148306280374527,
+        -0.5680165886878967,
+        -0.2173588126897812,
+        -0.5265184044837952,
+        -0.43026724457740784,
+        -1.0713918209075928,
+        0.07363646477460861,
+        -0.7344805598258972,
+        -0.3464173376560211,
+        -0.1249196007847786,
+        -0.22137953341007233,
+        -0.04456578940153122,
+        -0.03353186324238777,
+        0.025909895077347755,
+        -0.6583074927330017,
+        -0.8172283172607422,
+        -0.8367026448249817,
+        -0.47862598299980164,
+        -0.1592104285955429,
+        -0.9136219024658203,
+        -1.2159825563430786,
+        -0.738158106803894,
+        -0.8532509803771973,
+        -0.5497403740882874,
+        -1.0118358135223389,
+        -1.1398422718048096,
+        0.9950000047683716,
+        0.9950000047683716,
+        0.9990000128746033,
+        0.9980000257492065,
+        0.9751649498939514,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.49900001287460327,
+        0.0,
+        0.0,
+        -0.35471171140670776,
+        -0.14480756223201752,
+        -0.9999998211860657
+      ],
+      "global_max": [
+        0.42866581678390503,
+        0.32244277000427246,
+        0.7529057860374451,
+        1.7379481792449951,
+        0.5265358090400696,
+        0.23990066349506378,
+        0.50412917137146,
+        0.20605282485485077,
+        0.32808804512023926,
+        1.2351953983306885,
+        0.2589474320411682,
+        0.14931561052799225,
+        0.28392156958580017,
+        0.1907903254032135,
+        0.4537332057952881,
+        0.573672890663147,
+        0.41873985528945923,
+        0.4268301725387573,
+        1.0464204549789429,
+        0.2633533477783203,
+        0.14983877539634705,
+        0.6381120681762695,
+        0.6288100481033325,
+        0.07798135280609131,
+        0.8755158185958862,
+        1.1569690704345703,
+        1.2920176982879639,
+        1.2550203800201416,
+        1.1416784524917603,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        0.22302038967609406,
+        0.22687481343746185,
+        -0.9349737763404846
+      ],
+      "global_mean": [
+        -0.11287630025368925,
+        0.02958933295514988,
+        0.08528332908039443,
+        0.3456830844287232,
+        -0.12611947739974377,
+        -0.014012637758658523,
+        -0.014458278458177496,
+        -0.06207428545974281,
+        -0.29061882939724326,
+        0.3276777168088518,
+        -0.21100153366829852,
+        -0.02695292207006873,
+        0.01060929447180074,
+        -0.0035943550841636513,
+        0.14681248637826175,
+        0.24803700998422862,
+        0.1830763244674727,
+        -0.05884056365018785,
+        -0.32727492453889717,
+        -0.3423039114015717,
+        -0.04627038410219749,
+        0.17059731870171319,
+        0.13733112986807386,
+        -0.2227693191416043,
+        0.014981445627347965,
+        -0.02061309153641612,
+        0.3821913884606627,
+        -0.038379784063828006,
+        -0.010694967072512543,
+        0.9986273044516313,
+        0.9996320826043956,
+        0.9999978193047482,
+        0.9997453249173753,
+        0.998077474260634,
+        0.22454176384973445,
+        0.8520168424128799,
+        0.8654884860236849,
+        0.8669163332332201,
+        0.8684258048718363,
+        0.9590763067377113,
+        0.013511228970263278,
+        -0.08685924005119033,
+        0.008924761975244812,
+        -0.9931692356756119
+      ],
+      "global_std": [
+        0.2610757415439352,
+        0.0862652057558356,
+        0.1688172629252225,
+        0.2532346324557956,
+        0.12921205535893424,
+        0.059627876697732625,
+        0.15454376643955028,
+        0.06476141404532917,
+        0.1767055284857123,
+        0.17916579586713471,
+        0.15882102301266335,
+        0.06197038044334734,
+        0.049621328987693426,
+        0.039525157023754316,
+        0.06539850038050614,
+        0.08715264084562852,
+        0.06210522101420166,
+        0.13740436257772812,
+        0.2508976587187566,
+        0.10901983596727029,
+        0.07729202087349109,
+        0.07831103179083147,
+        0.2587245586609446,
+        0.16594601669122883,
+        0.2051549736076041,
+        0.49855192655936786,
+        0.24695085604525066,
+        0.24004857719686462,
+        0.2266750911412326,
+        0.0015839815572631255,
+        0.0010462597452355258,
+        3.6430648396754394e-05,
+        0.0006652707131572087,
+        0.0014816303824504579,
+        0.4129760525112301,
+        0.17817807121397053,
+        0.1609881767919482,
+        0.16117214352262058,
+        0.16015227398997972,
+        0.08351586214049127,
+        0.07965983064627999,
+        0.07059052901133255,
+        0.03083494835477186,
+        0.007541470280990758
+      ],
+      "global_q01": [
+        -0.8651604795455933,
+        -0.17326016306877137,
+        -0.2665925514698029,
+        0.13382464349269868,
+        -0.3836742544174194,
+        -0.13062788158655167,
+        -0.3753642517328262,
+        -0.24056172639131546,
+        -0.7603436136245727,
+        0.12981706142425536,
+        -0.604680061340332,
+        -0.1876727670431137,
+        -0.07945375099778175,
+        -0.11852622449398041,
+        -0.01299794353544712,
+        -0.008645786587148905,
+        0.06332464516162872,
+        -0.5943269073963166,
+        -0.7038191723823547,
+        -0.6126903736591339,
+        -0.30195022344589234,
+        -0.027156254276633263,
+        -0.6329350042343139,
+        -0.8180834293365479,
+        -0.4564849919080734,
+        -0.8368398749828339,
+        -0.17830499410629272,
+        -0.6272651219367981,
+        -0.5667724227905273,
+        0.9959999918937683,
+        0.9959999918937683,
+        0.9999718976020813,
+        0.9980000257492065,
+        0.9950000047683716,
+        0.0,
+        0.503000020980835,
+        0.5720000267028809,
+        0.5600000023841858,
+        0.5559999942779541,
+        0.8080000281333923,
+        0.0,
+        -0.2560904949903488,
+        -0.06169948138296604,
+        -0.999934448003769
+      ],
+      "global_q99": [
+        0.28678110241889954,
+        0.1968254891037935,
+        0.5003011572360986,
+        1.3212290334701502,
+        0.19136007040739056,
+        0.1516441014409063,
+        0.2893162751197815,
+        0.08972866922616927,
+        0.08673582613468167,
+        0.9298176717758178,
+        0.07361656188964841,
+        0.09680641129612919,
+        0.16514939218759508,
+        0.09134209156036335,
+        0.37140693902969346,
+        0.4538140887022015,
+        0.3367831820249557,
+        0.20205978929996485,
+        1.0033817028999326,
+        0.014401203487067634,
+        0.1025068281590938,
+        0.3834920966625213,
+        0.5019814312458035,
+        0.017458580099046227,
+        0.6020136940479277,
+        1.1223995780944824,
+        0.9843490004539485,
+        0.5519184732437132,
+        0.6048922944068897,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        0.03752971433102965,
+        0.12560979843139602,
+        0.10438466638326621,
+        -0.9657135927677155
+      ]
+    }
+  },
+  "normalization": {
+    "mode": "q01/q99",
+    "clamp": [
+      -5.0,
+      5.0
+    ],
+    "state_fixed_bounds": {
+      "start": 29,
+      "end": 41,
+      "min": 0.0,
+      "max": 1.0
+    },
+    "action_fixed_bounds": {
+      "start": 64,
+      "end": 76,
+      "min": 0.0,
+      "max": 1.0
+    },
+    "constant_range_tolerance": 0.0001
+  },
+  "train_episode_ids": [
+    0,
+    1,
+    2,
+    3,
+    4,
+    5,
+    6,
+    7,
+    8,
+    9,
+    10,
+    11,
+    12,
+    13,
+    14,
+    15,
+    16,
+    17,
+    18,
+    19,
+    20,
+    21,
+    22,
+    23,
+    24,
+    25,
+    26,
+    27,
+    28,
+    29,
+    30,
+    31,
+    32,
+    33,
+    34,
+    35,
+    36,
+    37,
+    38,
+    39,
+    40,
+    41,
+    42,
+    43,
+    44,
+    45,
+    46,
+    47,
+    48,
+    49,
+    50,
+    51,
+    52,
+    53,
+    54,
+    55,
+    56,
+    57,
+    58,
+    59,
+    60,
+    61,
+    62,
+    63,
+    64,
+    65,
+    66,
+    67,
+    68,
+    69
+  ],
+  "train_frames": 46927,
+  "train_split_mode": "all_70",
+  "heldout_episode_ids": [],
+  "normalization_reference_episode_ids": [
+    0,
+    1,
+    2,
+    3,
+    4,
+    5,
+    6,
+    7,
+    8,
+    9,
+    10,
+    11,
+    12,
+    13,
+    14,
+    15,
+    16,
+    17,
+    18,
+    19,
+    20,
+    21,
+    22,
+    23,
+    24,
+    25,
+    26,
+    27,
+    28,
+    29,
+    30,
+    31,
+    32,
+    33,
+    34,
+    35,
+    36,
+    37,
+    38,
+    39,
+    40,
+    41,
+    42,
+    43,
+    44,
+    45,
+    46,
+    47,
+    48,
+    49,
+    50,
+    51,
+    52,
+    53,
+    54,
+    55,
+    56,
+    57,
+    58,
+    59,
+    60,
+    61,
+    62,
+    63,
+    64,
+    65,
+    66,
+    67,
+    68,
+    69
+  ],
+  "normalization_reference_train_frames": 46927,
+  "normalization_strategy": "fit_wholebody_motion64_body29_gravity3_fixed_inspire_hands",
+  "action_order": "motion64,left_measured_hand6_native_order,right_measured_hand6_native_order",
+  "state_order": "body29,left_measured_hand6_native_order,right_measured_hand6_native_order,projected_gravity3",
+  "hand_target_time_offset": 0,
+  "hand_target_type": "same-row measured feedback, not issued command",
+  "hand_field_order": [
+    "pinky",
+    "ring",
+    "middle",
+    "index",
+    "thumb_bend",
+    "thumb_rotation"
+  ],
+  "hand_field_order_source": "meta/info.json features.observation.inspire_{left,right}_hand_state.names",
+  "hand_dataset_units": "[0,1]; do not divide recorded feedback by 1000 again",
+  "hand_deployment_raw1000_rule": "if the runtime reports raw Inspire units [0,1000], divide by 1000 exactly once before normalization",
+  "action_dim": 76,
+  "proprio_dim": 44,
+  "body_state_indices": [
+    0,
+    1,
+    2,
+    3,
+    4,
+    5,
+    6,
+    7,
+    8,
+    9,
+    10,
+    11,
+    12,
+    13,
+    14,
+    15,
+    16,
+    17,
+    18,
+    19,
+    20,
+    21,
+    22,
+    23,
+    24,
+    25,
+    26,
+    27,
+    28
+  ],
+  "constant_action_dims": [],
+  "split_manifest_sha256": "28ad4dd71544a7daf28ac6a8605c603fd69ec36ed24ae993ff5bc45d3a0a9f40",
+  "split_manifest": {
+    "train_episode_ids": [
+      0,
+      1,
+      2,
+      3,
+      4,
+      5,
+      6,
+      7,
+      8,
+      9,
+      10,
+      11,
+      12,
+      13,
+      14,
+      15,
+      16,
+      17,
+      18,
+      19,
+      20,
+      21,
+      22,
+      23,
+      24,
+      25,
+      26,
+      27,
+      28,
+      29,
+      30,
+      31,
+      32,
+      33,
+      34,
+      35,
+      36,
+      37,
+      38,
+      39,
+      40,
+      41,
+      42,
+      43,
+      44,
+      45,
+      46,
+      47,
+      48,
+      49,
+      50,
+      51,
+      52,
+      53,
+      54,
+      55,
+      56,
+      57,
+      58,
+      59,
+      60,
+      61,
+      62,
+      63,
+      64,
+      65,
+      66,
+      67,
+      68,
+      69
+    ],
+    "validation_episode_ids": [],
+    "source_group_by_episode": {
+      "0": "sim-0",
+      "1": "sim-1",
+      "2": "sim-2",
+      "3": "sim-3",
+      "4": "sim-4",
+      "5": "sim-5",
+      "6": "sim-6",
+      "7": "sim-7",
+      "8": "sim-8",
+      "9": "sim-9",
+      "10": "sim-10",
+      "11": "sim-11",
+      "12": "sim-12",
+      "13": "sim-13",
+      "14": "sim-14",
+      "15": "sim-15",
+      "16": "sim-16",
+      "17": "sim-17",
+      "18": "sim-18",
+      "19": "sim-19",
+      "20": "sim-20",
+      "21": "sim-21",
+      "22": "sim-22",
+      "23": "sim-23",
+      "24": "sim-24",
+      "25": "sim-25",
+      "26": "sim-26",
+      "27": "sim-27",
+      "28": "sim-28",
+      "29": "sim-29",
+      "30": "sim-30",
+      "31": "sim-31",
+      "32": "sim-32",
+      "33": "sim-33",
+      "34": "sim-34",
+      "35": "sim-35",
+      "36": "sim-36",
+      "37": "sim-37",
+      "38": "sim-38",
+      "39": "sim-39",
+      "40": "real-0",
+      "41": "real-1",
+      "42": "real-2",
+      "43": "real-3",
+      "44": "real-4",
+      "45": "real-5",
+      "46": "real-6",
+      "47": "real-7",
+      "48": "real-8",
+      "49": "real-9",
+      "50": "real-10",
+      "51": "real-11",
+      "52": "real-12",
+      "53": "real-13",
+      "54": "real-14",
+      "55": "real-15",
+      "56": "real-16",
+      "57": "real-17",
+      "58": "real-18",
+      "59": "real-19",
+      "60": "real-20",
+      "61": "real-21",
+      "62": "real-22",
+      "63": "real-23",
+      "64": "real-24",
+      "65": "real-25",
+      "66": "real-26",
+      "67": "real-27",
+      "68": "real-28",
+      "69": "real-29"
+    },
+    "provenance_reviewed": true,
+    "split_basis": "user authorized sim episodes 0-39 and all real episodes 0-29; full recordings",
+    "seed": 42,
+    "expected_body_joint_names": [
+      "left_hip_pitch_joint",
+      "left_hip_roll_joint",
+      "left_hip_yaw_joint",
+      "left_knee_joint",
+      "left_ankle_pitch_joint",
+      "left_ankle_roll_joint",
+      "right_hip_pitch_joint",
+      "right_hip_roll_joint",
+      "right_hip_yaw_joint",
+      "right_knee_joint",
+      "right_ankle_pitch_joint",
+      "right_ankle_roll_joint",
+      "waist_yaw_joint",
+      "waist_roll_joint",
+      "waist_pitch_joint",
+      "left_shoulder_pitch_joint",
+      "left_shoulder_roll_joint",
+      "left_shoulder_yaw_joint",
+      "left_elbow_joint",
+      "left_wrist_roll_joint",
+      "left_wrist_pitch_joint",
+      "left_wrist_yaw_joint",
+      "right_shoulder_pitch_joint",
+      "right_shoulder_roll_joint",
+      "right_shoulder_yaw_joint",
+      "right_elbow_joint",
+      "right_wrist_roll_joint",
+      "right_wrist_pitch_joint",
+      "right_wrist_yaw_joint"
+    ],
+    "source_metadata_sha256": {
+      "meta/episodes.jsonl": "dd8c0da4a7efe9d29dc9dda981fa70ad2c3c68eac609b645ae654f53f2c91beb",
+      "meta/episodes_stats.jsonl": "a94901604e80e93b6cf4aceef7491a8e76f1b877ff7d3263e257ac24476cacae",
+      "meta/info.json": "5d8efc9c318775f487be729a3792257c588c3a838a0ab0771635ebb1041ec768",
+      "meta/tasks.jsonl": "f1cd21614b2e587f62cb33f4efe1320db4e0e84d3bf578a38573178ebdf50ca2",
+      "meta/union_sources.jsonl": "672ca392fbb722a44b2e6b81138c2a26db16751ce2d2ad29a9634f29e838d8cd"
+    },
+    "source_hf_commits": {
+      "sim": "5b85dcf32f8eb1c2b463c86f4336548495dc6bab",
+      "real": "6996a43cede82c47f01b037eb5a5f4b842569393"
+    },
+    "sonic_compatibility": "both dataset cards/config reference SONIC v1.1; token64 shape and quantization checked"
+  },
+  "dataset_root": "/mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/mixed70-from-scratch-20261107-v3/merged70",
+  "instruction": "Pick up the chip barrel from the cart, walk to the pedal bin, step on its pedal and drop it in.",
+  "metadata_sha256": {
+    "meta/episodes.jsonl": "dd8c0da4a7efe9d29dc9dda981fa70ad2c3c68eac609b645ae654f53f2c91beb",
+    "meta/episodes_stats.jsonl": "a94901604e80e93b6cf4aceef7491a8e76f1b877ff7d3263e257ac24476cacae",
+    "meta/info.json": "5d8efc9c318775f487be729a3792257c588c3a838a0ab0771635ebb1041ec768",
+    "meta/tasks.jsonl": "f1cd21614b2e587f62cb33f4efe1320db4e0e84d3bf578a38573178ebdf50ca2",
+    "meta/union_sources.jsonl": "672ca392fbb722a44b2e6b81138c2a26db16751ce2d2ad29a9634f29e838d8cd"
+  },
+  "parquet_sha256": {
+    "data/chunk-000/episode_000000.parquet": "69484820542f156210a093f716efd120ecbc1f3620b4d37b791ee74b589f4e37",
+    "data/chunk-000/episode_000001.parquet": "7fc99a98f6adccf5986392f40449ca85554bc784ec1fe40aa9187b5449000913",
+    "data/chunk-000/episode_000002.parquet": "1962080c68bf449e3b7dd5e08ba4d78f111cea2b4b7f0ea3bf5d80bb843aee1b",
+    "data/chunk-000/episode_000003.parquet": "18af59b0d6de02b253bfe4bd8d24cc94dfebfd8d751af1424b9dd5049a64ff2a",
+    "data/chunk-000/episode_000004.parquet": "23278469c369f6af586d661af2c19656696d1872194a5fa5fb4b585d3f5c57ef",
+    "data/chunk-000/episode_000005.parquet": "85a262bbe7a114fdbc08c7690b1dc861464e3b6f5fe7cf215d78d8671aedb34e",
+    "data/chunk-000/episode_000006.parquet": "5d26fa0844029be9a28d820e3681034580c0843f7f164118d0027a4ea607fcb3",
+    "data/chunk-000/episode_000007.parquet": "de54be8c64ee584a4bd1f1c38c0e183b7668a453250d87e2ec83e36ae40bcc36",
+    "data/chunk-000/episode_000008.parquet": "da59945a9b8cb1bfb8bb70ab04d80cadf983a9a54ca542794eaf75e4c97c7e8b",
+    "data/chunk-000/episode_000009.parquet": "e84a9409712463d081dede979d19f11df0826675ee4553d62d0f9dd723649c65",
+    "data/chunk-000/episode_000010.parquet": "77861ef6bb85f03affad77b9ff205a06dc9339dab282ec19d527bddc9c0635ae",
+    "data/chunk-000/episode_000011.parquet": "84cbef20002a8957c7c333da747e02e881b9d1dd0ed2c3ae6c08e0cfaef34e9c",
+    "data/chunk-000/episode_000012.parquet": "6709f1f68f277948da9054f718e4f0f8bf7be978ce0654a0c49690fc97f4460a",
+    "data/chunk-000/episode_000013.parquet": "192b563af19abd3ef6e04309f268fdfba0e7065bd1d43819a10b909093cf6f4c",
+    "data/chunk-000/episode_000014.parquet": "69f5319077c6d280f59906fd9294d741f1cb638009bb09adb738f0e42c9b8e60",
+    "data/chunk-000/episode_000015.parquet": "cf85430760511ed53880aa43749a66d054c4ce09b005751814bd108c0d9919c0",
+    "data/chunk-000/episode_000016.parquet": "dde74139f8f6cf421aff6c42805670596b9f40481bbe83e1dd28716c9dd9da87",
+    "data/chunk-000/episode_000017.parquet": "69fe3412c19c224020a3ba9d48088da38c1a98140898ca5b7e26fd86be0ba5e9",
+    "data/chunk-000/episode_000018.parquet": "652c55378fdb3c0ba5c973eeed4089f47feb52dd27fc960286609217277f5b1f",
+    "data/chunk-000/episode_000019.parquet": "9136fa7b1ad8ba662bb84973c7bff5ce8632f62a8365a6359118489050e6708e",
+    "data/chunk-000/episode_000020.parquet": "b251b84e146dd0f287dc6cfa8d60089812f98cd3db828944c915539dfa544411",
+    "data/chunk-000/episode_000021.parquet": "c1d531350745101989c136f5309c3d36efcc0c6b51f4ab9651698eab2e5e0ffc",
+    "data/chunk-000/episode_000022.parquet": "053071089bdfd6d39cdfb13e873a14ca197995c2a1fd5cb141c6fecdb5eec24b",
+    "data/chunk-000/episode_000023.parquet": "4a7086093b20ff4d08f3211bf5c2d9c35e7feb961de4e50c6bb90dfef06f056e",
+    "data/chunk-000/episode_000024.parquet": "a625d4a61cec5f437455d86f382f15b5f5f602214cf6ca29e154a1372c66ddf2",
+    "data/chunk-000/episode_000025.parquet": "977ad17e13644fcb9cba472f7d001fc367a7ae4f0d66b8aea9b95e135c069b3b",
+    "data/chunk-000/episode_000026.parquet": "2ddc97cacfd1f15dbea5e9bb17699a407c8e43272b604c4c13b73a474d140429",
+    "data/chunk-000/episode_000027.parquet": "53297ba7ce1e8bd6b44fc43c99cef189f7e59db8b36654bc57f51ab1ebf9d9a6",
+    "data/chunk-000/episode_000028.parquet": "b12170831abafd50d95c276380bf2b15236e90a8724e38cf8503055872afcd98",
+    "data/chunk-000/episode_000029.parquet": "2129641b9df244932507cc85440e3c62acbcfe72be65f5128ad380348c8e4848",
+    "data/chunk-000/episode_000030.parquet": "ff5f9399b14bd74a2bfd093fc1b5350a0a5c86b8ace0148ab2af650d38ce3876",
+    "data/chunk-000/episode_000031.parquet": "5ec78afd31eda281522f3635b9c8f7c6e2507f1935fa20aafc01f788161aebdc",
+    "data/chunk-000/episode_000032.parquet": "4072a1fa3d2ae6342522100deeea0af7425547afe6896b7bd429fca9f683e71a",
+    "data/chunk-000/episode_000033.parquet": "d52735121d5666e807d3dc14b025b783adefaec06677715ac33c8db80b6b274e",
+    "data/chunk-000/episode_000034.parquet": "3a8e30d874eefb8f17491e684b5512f8bade25ecd18a5719a7a0029bca7049f0",
+    "data/chunk-000/episode_000035.parquet": "5b406bbd99b79aeba0ccbdba7135bfdd497554edf604245a22a16c21ce550602",
+    "data/chunk-000/episode_000036.parquet": "6d02567a72a130b1b98fa38f507aa723c9a82fc48df2e4aa56fd454cdf47d257",
+    "data/chunk-000/episode_000037.parquet": "caa52f69f5080ef3ca6ca63aa330eb2359fc64b018bcd08f8fbc96ddc606a586",
+    "data/chunk-000/episode_000038.parquet": "7dff8e9e69c86df4195d88ced05aacb4d3eac9f6a04d179be992a18114e2f771",
+    "data/chunk-000/episode_000039.parquet": "94c1ed4122a1e1bd52d15cf10ff3b8d62c99885da4fd6c4141514032bc74a126",
+    "data/chunk-000/episode_000040.parquet": "395bb3e1133c9a4c969e2a006b625a54f6816e740792c645208b74b636b8aa3a",
+    "data/chunk-000/episode_000041.parquet": "f41b0b4b29745d193786358d5b5840448cbee9985ca7fbbd9b29db57fc0d4e58",
+    "data/chunk-000/episode_000042.parquet": "d1469e758f44cabf6a65abbddff12d66287bea6ff94f601042fbc1f034b51f27",
+    "data/chunk-000/episode_000043.parquet": "6f20af04d40427781e0f35fb188d1cc434dfb6a7f6f22336f5691968cc1e1901",
+    "data/chunk-000/episode_000044.parquet": "9364e6f1a75df6d4cd3c67fd1e488d0fc88b0e7ee7575e6aba44ccd08c08f12b",
+    "data/chunk-000/episode_000045.parquet": "1d0c021eaadfc4d09dace9b1fffb27dbafdaaa758417fd22f48a440b3d6a9cd2",
+    "data/chunk-000/episode_000046.parquet": "11ec78c2b6bc9e68d4628c3634448200b26546b2b06b86643f13dbfbeaef6471",
+    "data/chunk-000/episode_000047.parquet": "26de2c481ed27567149cb3399cb25294b829bb0b54bb033250ddb29803c74c13",
+    "data/chunk-000/episode_000048.parquet": "6a3d6d3768f85b89354024d4a9abc2bbc6a4196777e6d01bc953221502acf613",
+    "data/chunk-000/episode_000049.parquet": "22f58ca5508f9c14bd3a903c5020d7ef58f97d5c8024ce86d851a8f7e783a4bd",
+    "data/chunk-000/episode_000050.parquet": "b1a6eed181ba27431280e5d19e3a209bff51d070faf83c3b70a1b4824cde1622",
+    "data/chunk-000/episode_000051.parquet": "e71ea5f57cccd4479a3ae1fdd9af8fb57a03e608fc849b7f08392c4f2ac9fb4e",
+    "data/chunk-000/episode_000052.parquet": "3c7177974464544659c618de8db70cfee331bf297a630a33d500b8a6cf0e1561",
+    "data/chunk-000/episode_000053.parquet": "b84005ac96bf2e939459cde60a95d912fdd9cd9000e4e8f5f361886308efe66f",
+    "data/chunk-000/episode_000054.parquet": "a9941f4ab70b6a0153336c1e7812494bdecebde82841a82f48579ed5387ca394",
+    "data/chunk-000/episode_000055.parquet": "add6c521218dc46fadfaa9f59976ada2d9c9b8d0add0498640e4e58468cd8f2b",
+    "data/chunk-000/episode_000056.parquet": "4d3ab3a85dfe716bb2316981602b99c2c7ce2e4a716849838a86432c83336171",
+    "data/chunk-000/episode_000057.parquet": "4c92baf38c4ec026455414ea63254e4d2b803a6605549f079b48d9fa3da20897",
+    "data/chunk-000/episode_000058.parquet": "7602705703495f04b7da327e557cc1be00b8a576910b88941c0b5df630907049",
+    "data/chunk-000/episode_000059.parquet": "237b3b6d0c022b7df8d4214be8a9cc53d863d8aadb655c86957c41a6670c3650",
+    "data/chunk-000/episode_000060.parquet": "640b5ab5ac0f853e49ed2f6c6d7017f993c83e90e3e63f4ab7783a87f1e65639",
+    "data/chunk-000/episode_000061.parquet": "05c64e25ea595df1658f990c3b360d6ba74e1a4af70cb2bed051d70e74b9c971",
+    "data/chunk-000/episode_000062.parquet": "22bb8baabce7d7d03cbd6bda85f0bc5415048e0246f536930bd96bf5ac98b2d6",
+    "data/chunk-000/episode_000063.parquet": "19834a7cbbac20921d3a784df8e23e6cfbba3bc5d603e27ccc6d5da06d4d5a50",
+    "data/chunk-000/episode_000064.parquet": "61512f36c52a3015662d3e2c7d69994b1ba06e08e522b82365f6cd8bff611917",
+    "data/chunk-000/episode_000065.parquet": "64d7969aa5f381cbc53a2e80708f33b2cfa940633e72a2fb707f791509cfab03",
+    "data/chunk-000/episode_000066.parquet": "176c1ec8daca8573ec5ba57eeadcf3768321ae0a34ac343afcac0435afc87071",
+    "data/chunk-000/episode_000067.parquet": "5cbb34b8b147fc3d777421bfc3b7eef66564e2da9b1c03d435bac12a5d1e70d2",
+    "data/chunk-000/episode_000068.parquet": "e384cddd794b2b5427287322759aad8e867bb48661fc3c965aa038c40d85cdf8",
+    "data/chunk-000/episode_000069.parquet": "eb5932400bd847b896e468456e6373ab72d24df464a3838131ee48876b53682d"
+  }
+}

legacy/b6-pedal-bin/mixed70-sim40-real30-v3-20261107/epoch-050/model.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbf674d8fb8e0a42c792e3ab23dbf3758d32777556de876059a2c52e217e0d4e
+size 9035633721

legacy/b6-pedal-bin/mixed70-sim40-real30-v3-20261107/epoch-050/original_protocol.json

@@ -0,0 +1,20 @@
+{
+  "run": "mixed70-sim40-real30-v3-20261107",
+  "epoch_completed": 50,
+  "global_step": 9200,
+  "total_epochs": 60,
+  "episodes": 70,
+  "sim_episodes": 40,
+  "real_episodes": 30,
+  "sim_revision": "5b85dcf32f8eb1c2b463c86f4336548495dc6bab",
+  "real_revision": "6996a43cede82c47f01b037eb5a5f4b842569393",
+  "action_dim": 76,
+  "state_dim": 44,
+  "chunk": 16,
+  "history": 16,
+  "action_layout": "motion_token64 + same-frame measured left6 + measured right6",
+  "state_layout": "body29 + measured hands12 + gravity3",
+  "fresh_task_initialization": true,
+  "augmentation_from_epoch_1": true,
+  "rollout_verified": false
+}

legacy/b6-pedal-bin/mixed70-sim40-real30-v3-20261107/epoch-050/protocol.json

@@ -0,0 +1,23 @@
+{
+  "benchmark_result": false,
+  "not_benchmark_because": "Sim + real experiment: 40 simulated + 30 real-robot B6 episodes, augmentation robust-v3, 60 epochs. Not the benchmark data or recipe.",
+  "model": "Delta Flow (ImageWAM, HumanWAM wholebody delta-flow policy): action = motion_token64 + same-frame measured hands12 (G1, 76-D) or H2 body31 + Sharpa hands44 (75-D); chunk 16, history 16, future image t+16.",
+  "task_dir": "b6-pedal-bin",
+  "run": "mixed70-sim40-real30-v3-20261107",
+  "epoch_folder": "epoch-050",
+  "weights": "model.pt",
+  "weights_sha256": "dbf674d8fb8e0a42c792e3ab23dbf3758d32777556de876059a2c52e217e0d4e",
+  "moved_from": {
+    "repo": "humanoid-benchmark/b6-imagewam-deltaflow76",
+    "path": "mixed70-sim40-real30-v3-20261107/epoch-050/model.pt",
+    "revision": "75af1c3ebbfa850d87f5e58e239da03712a4c52d",
+    "note": "original repository deleted after this move; file is byte-identical"
+  },
+  "original_protocol": "original_protocol.json (file names inside refer to the original repository; weights there were named model.pt)",
+  "files": {
+    "dataset_stats.json": 32862,
+    "model.pt": 9035633721,
+    "original_protocol.json": 621,
+    "training_config.yaml": 7649
+  }
+}

legacy/b6-pedal-bin/mixed70-sim40-real30-v3-20261107/epoch-050/training_config.yaml

@@ -0,0 +1,313 @@
+output_dir: REPLACE_WITH_WORK_ROOT/preflight-20261104T1648Z/mixed70-from-scratch-20261107-v3/run/production
+batch_size: 8
+gradient_accumulation_steps: 1
+num_workers: 4
+prefetch_factor: 2
+persistent_workers: true
+num_epochs: 60
+max_steps: 11040
+lr_scheduler_total_steps: 11040
+warmup_steps: 552
+lr_scheduler_type: cosine
+learning_rate: 0.0001
+weight_decay: 0.01
+optimizer_foreach: false
+mixed_precision: bf16
+seed: 42
+max_grad_norm: 1.0
+resume: null
+log_every: 5
+rank_timer_every: 20
+rank_timer_sync_cuda: true
+save_every: 1840
+save_steps: []
+save_at_end: true
+keep_latest_weights: 4
+keep_latest_state_only: true
+eval_every: 0
+eval_num_inference_steps: 1
+eval_num_samples: 1
+precache_arrow: false
+precache_num_workers: 0
+build_lerobot_meta_cache: false
+build_norm_stats: false
+precache_fuse_norm_stats: false
+norm_stats_cache_enabled: false
+wandb:
+  enabled: false
+  workspace: null
+  project: imagewam-wholebody
+  name: deltaflow76-p25
+  group: wholebody-action76-state44
+  mode: disabled
+data:
+  train:
+    _target_: imagewam.datasets.wholebody_augmented_v3.WholeBodyRobustLeRobotDataset
+    dataset_dir: REPLACE_WITH_WORK_ROOT/preflight-20261104T1648Z/mixed70-from-scratch-20261107-v3/merged70
+    stats_path: REPLACE_WITH_WORK_ROOT/preflight-20261104T1648Z/mixed70-from-scratch-20261107-v3/normalization/dataset_stats.json
+    qwen_text_cache_dir: REPLACE_WITH_WORK_ROOT/preflight-20261104T1648Z/all60-20261105/qwen3-text
+    split: train
+    train_split_mode: all_70
+    action_horizon: 16
+    past_action_size: 16
+    qwen_context_len: 128
+    qwen_text_dim: 7680
+    video_cache_frames: 64
+    split_manifest_path: REPLACE_WITH_WORK_ROOT/preflight-20261104T1648Z/mixed70-from-scratch-20261107-v3/mixed70-manifest.json
+    image_augmentation:
+      version: b6-visual-aug-v2
+      seed: 20261106
+      enabled: true
+      exposure_ev:
+      - -0.22
+      - 0.22
+      contrast:
+      - 0.88
+      - 1.12
+      saturation:
+      - 0.76
+      - 1.24
+      hue:
+      - -0.015
+      - 0.015
+      gamma:
+      - 0.89
+      - 1.11
+      temperature_delta:
+      - -0.066
+      - 0.066
+      noise_probability: 0.5
+      noise_sigma:
+      - 0.01568627450980392
+      - 0.01568627450980392
+      blur_probability: 0.15
+      blur_sigma:
+      - 0.25
+      - 0.65
+      blur_kernel: 3
+      shared_colour_across_cameras_and_time: true
+      noise_on_future_target: false
+      action_label_noise: false
+      state_label_noise: false
+      geometric_transforms: true
+      approval_status: USER_AUTHORIZED_20261106
+      supersedes: b6-visual-aug-v1
+      policy_id: b6-robust-v3
+      rotation_degrees: 1.5
+      crop_zoom_extra: 0.02
+      jpeg_probability: 0.35
+      jpeg_quality:
+      - 70
+      - 95
+    proprio_augmentation:
+      enabled: true
+      seed: 20261106
+      joint_bias_degrees: 2.0
+      joint_noise_std_degrees: 0.25
+      delay_probability: 0.15
+      max_delay_control_cycles: 2
+      control_hz: 50
+      recording_hz: 30
+      history_drop_probability: 0.15
+      affected_angle_channels:
+      - 0
+      - 1
+      - 2
+      - 3
+      - 4
+      - 5
+      - 6
+      - 7
+      - 8
+      - 9
+      - 10
+      - 11
+      - 12
+      - 13
+      - 14
+      - 15
+      - 16
+      - 17
+      - 18
+      - 19
+      - 20
+      - 21
+      - 22
+      - 23
+      - 24
+      - 25
+      - 26
+      - 27
+      - 28
+      velocity_channels: []
+      action_label_noise: false
+      bias_scope: fixed_per_episode
+      start_pose_library: not_applied_offline
+      render_randomization: not_applied_offline
+  val: null
+model:
+  _target_: imagewam.wholebody_delta.create_imagewam_flux2_wholebody_delta
+  flux2_src_path: REPLACE_WITH_WORK_ROOT/preflight-20261104T1648Z/HumanWAM/third_party/flux2
+  flux2_model_path: REPLACE_WITH_WORK_ROOT/preflight-20261104T1648Z/hf-inputs/FLUX.2-klein-base-4B/flux-2-klein-base-4b.safetensors
+  ae_model_path: REPLACE_WITH_WORK_ROOT/preflight-20261104T1648Z/hf-inputs/FLUX.2-AE/ae.safetensors
+  qwen3_model_spec: REPLACE_WITH_WORK_ROOT/preflight-20261104T1648Z/hf-inputs/Qwen3-4B
+  variant: klein-base-4b
+  qwen_context_len: 128
+  load_text_encoder: false
+  proprio_dim: 44
+  action_state_dim: 44
+  expected_action_dim: 76
+  expected_action_horizon: 16
+  state_only_init_seed: 42
+  mot_checkpoint_mixed_attn: true
+  mot_gqa_implementation: repeat
+  mot_force_flash_attention: false
+  pack_proprio_after_text: false
+  action_dit_pretrained_path: REPLACE_WITH_WORK_ROOT/preflight-20261104T1648Z/all60-20261105/action-shared-flux2-4b.pt
+  action_initializer_sha256: 3b40f3ca92b3e249ed39791c1ce3ab55adce8161e406c62d94387ab1532ef657
+  zero_init_action_head: false
+  action_head_init_scale: 1.0
+  flux2_action_image_context:
+    mode: noise_idm
+    include_future_tokens: true
+    knowledge_insulation: true
+    reuse_image_fm_workspace: false
+  flux2_lora_config:
+    enabled: false
+  action_dit_config:
+    action_dim: 76
+    hidden_dim: 1024
+    num_heads: 24
+    attn_head_dim: 128
+    num_layers_double: 5
+    num_layers_single: 20
+    mlp_ratio: 4.0
+    max_action_horizon: 64
+    use_gradient_checkpointing: true
+  video_scheduler:
+    train_shift: 5.0
+    infer_shift: 5.0
+    num_train_timesteps: 1000
+  action_scheduler:
+    train_shift: 5.0
+    infer_shift: 5.0
+    num_train_timesteps: 1000
+  loss:
+    lambda_video: 0.5
+    lambda_action: 1.0
+    action_a2a:
+      enabled: true
+      fm_weight: 1.0
+      ic_weight: 0.5
+      ic_steps: 1
+      ic_loss: l1
+      source_noise_std: 0.5
+      source_noise_dim_mask:
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      aura:
+        enabled: false
+    image_i2i:
+      enabled: true
+      source_mode: gaussian
+      current_residual_scale: 0.5773502691896258
+      variance_normalize: true
+      ic_weight: 1.0
+      ic_steps: 1
+      ic_loss: l1
+      source_noise_std: 0.0
+wholebody_contract:
+  world_size: 32
+  zero_stage: 1
+  statistics_sha256: 1cf050c279a16ba904c6584ea0f423296e19d00b7f1d447ca926dcb2f076d60b
+  stats_schema: wholebody-state41to44-action76-chunk16-train60val0-v1
+  normalization_strategy: fit_wholebody_motion64_body29_gravity3_fixed_inspire_hands
+  smoke_output_dir: REPLACE_WITH_WORK_ROOT/preflight-20261104T1648Z/mixed70-from-scratch-20261107-v3/run/smoke
+  production_output_dir: REPLACE_WITH_WORK_ROOT/preflight-20261104T1648Z/mixed70-from-scratch-20261107-v3/run/production
+  fresh_base: true
+  measured_loader:
+    dataset_frames: 46927
+    raw_loader_batches: 5866
+    per_rank_microbatches: 184
+    world_size: 32
+    microbatch: 8
+    gradient_accumulation: 1
+    dataloader_drop_last: false
+    source: CPU DataLoader and Accelerate.prepare_data_loader measurement; no model
+      or optimizer constructed
+  updates_per_epoch: 184
+  skip_five_step_preflight_user_authorized: true

legacy/b6-pedal-bin/mixed70-sim40-real30-v3-20261107/epoch-060/dataset_stats.json

@@ -0,0 +1,1248 @@
+{
+  "schema": "wholebody-state41to44-action76-chunk16-train60val0-v1",
+  "action": {
+    "wholebody_action76": {
+      "global_min": [
+        -0.5,
+        -0.5,
+        -0.625,
+        -0.5625,
+        -0.4375,
+        -0.25,
+        -0.5625,
+        -0.3125,
+        -0.4375,
+        -0.4375,
+        -0.625,
+        -0.5625,
+        -0.375,
+        -0.3125,
+        -0.25,
+        -0.5625,
+        -0.375,
+        -0.5,
+        -0.375,
+        -0.4375,
+        -0.375,
+        -0.5625,
+        -0.5,
+        -0.5,
+        -0.4375,
+        -0.375,
+        -0.375,
+        -0.5,
+        -0.375,
+        -0.4375,
+        -0.5,
+        -0.5,
+        -0.4375,
+        -0.25,
+        -0.25,
+        -0.25,
+        -0.4375,
+        -0.5,
+        -0.125,
+        -0.375,
+        -0.4375,
+        -0.4375,
+        -0.4375,
+        -0.5625,
+        -0.3125,
+        -0.3125,
+        -0.3125,
+        -0.5,
+        -0.6875,
+        -0.5625,
+        -0.6875,
+        -0.3125,
+        -0.5625,
+        -0.5625,
+        -0.1875,
+        -0.5,
+        -0.375,
+        -0.3125,
+        -0.25,
+        -0.5,
+        -0.375,
+        -0.4375,
+        -0.1875,
+        -0.5625,
+        0.9950000047683716,
+        0.9950000047683716,
+        0.9990000128746033,
+        0.9980000257492065,
+        0.9751649498939514,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.49900001287460327,
+        0.0,
+        0.0
+      ],
+      "global_max": [
+        0.3125,
+        0.4375,
+        0.5,
+        0.25,
+        0.625,
+        0.4375,
+        0.5,
+        0.375,
+        0.3125,
+        0.0625,
+        0.375,
+        0.125,
+        0.4375,
+        0.4375,
+        0.5625,
+        0.4375,
+        0.3125,
+        0.25,
+        0.4375,
+        0.1875,
+        0.25,
+        0.375,
+        0.4375,
+        0.375,
+        0.25,
+        0.375,
+        0.0625,
+        0.3125,
+        0.3125,
+        0.3125,
+        0.4375,
+        0.3125,
+        0.4375,
+        0.4375,
+        0.3125,
+        0.375,
+        0.375,
+        0.375,
+        0.5,
+        0.3125,
+        0.5,
+        0.375,
+        0.5,
+        0.3125,
+        0.375,
+        0.4375,
+        0.375,
+        0.5625,
+        0.3125,
+        0.4375,
+        0.4375,
+        0.3125,
+        0.5,
+        0.375,
+        0.3125,
+        0.5625,
+        0.4375,
+        0.4375,
+        0.4375,
+        0.125,
+        0.4375,
+        0.3125,
+        0.5,
+        0.375,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0
+      ],
+      "global_mean": [
+        0.0009709229228375988,
+        -0.03700295139258849,
+        -0.04302427174121508,
+        -0.07160856223496069,
+        0.0797861572229207,
+        0.1255580476058559,
+        0.07599036801841158,
+        0.022594934685788565,
+        0.03590150659535023,
+        -0.21546764122999554,
+        -0.0932645385385812,
+        -0.21916886866835725,
+        -0.02151479958233,
+        0.07804808532401389,
+        0.19880479255013106,
+        -0.06234417286423594,
+        0.01536695292688644,
+        -0.09441659385854625,
+        -0.025154761651075074,
+        -0.06876371811537069,
+        -0.07843965094721589,
+        -0.12015071280925693,
+        -0.11446502013766062,
+        -0.09716021693268267,
+        -0.0037678202314232745,
+        -0.009033978306731732,
+        -0.15592302938606772,
+        -0.026242887889701024,
+        0.01278315255609777,
+        -0.060623415091525135,
+        -0.039649348988855034,
+        -0.16460007032198948,
+        0.009542747245722079,
+        0.11123127410659109,
+        0.050193651842223026,
+        0.11900531676859803,
+        -0.08842990176231168,
+        -0.04916146354976879,
+        0.1489760692138854,
+        -0.09856266115455921,
+        -0.05570620325185927,
+        -0.08420525497048607,
+        0.11591807488226394,
+        -0.1825095360879664,
+        0.03804046710848765,
+        -0.01195873377799561,
+        0.022565633856841478,
+        -0.07642721674089543,
+        -0.28592015257740744,
+        -0.05741896988940269,
+        0.03980384426875786,
+        0.07018747203102692,
+        -0.0025345217039231148,
+        -0.02731236814626974,
+        0.023651096383744966,
+        0.0864933833400814,
+        -0.020188271144543652,
+        0.0818851620602212,
+        0.1635279263536983,
+        -0.20437727747352272,
+        -0.01080934216975302,
+        0.06739590214588616,
+        0.19083496707652312,
+        -0.09600150233341147,
+        0.9986273044516313,
+        0.9996320826043956,
+        0.9999978193047482,
+        0.9997453249173753,
+        0.998077474260634,
+        0.22454176384973445,
+        0.8520168424128799,
+        0.8654884860236849,
+        0.8669163332332201,
+        0.8684258048718363,
+        0.9590763067377113,
+        0.013511228970263278
+      ],
+      "global_std": [
+        0.12129640628073984,
+        0.16290714848482693,
+        0.14119575995428055,
+        0.12238699205273317,
+        0.18475634485380377,
+        0.11924343991320092,
+        0.14721757872147778,
+        0.10614920157189245,
+        0.11055734267046696,
+        0.07562197262497117,
+        0.12967557835162644,
+        0.10562241410039284,
+        0.126846038520241,
+        0.11980706348970489,
+        0.1244275624086533,
+        0.1543749390666615,
+        0.10905992379362804,
+        0.13462081367341122,
+        0.13609276172371698,
+        0.10514295943350814,
+        0.08796909134980842,
+        0.12047105434139538,
+        0.11711607604686633,
+        0.10677245223926297,
+        0.10035702149252256,
+        0.131041967442741,
+        0.06330423813942945,
+        0.12280397874725142,
+        0.10648785659500701,
+        0.13942438816187075,
+        0.1462667157964319,
+        0.11959088238638285,
+        0.09821007344239321,
+        0.1132937468008103,
+        0.07470070611330393,
+        0.09199213435114721,
+        0.11231273759126696,
+        0.12941621360850866,
+        0.08577110657238865,
+        0.10163086955138534,
+        0.1286468692645244,
+        0.1414999338672202,
+        0.14424953220909592,
+        0.11217185963223024,
+        0.13354848953509413,
+        0.14004876040486,
+        0.13009881261204917,
+        0.14051274545569814,
+        0.12290194583722612,
+        0.1197657118828989,
+        0.10897196827203363,
+        0.09907042527907815,
+        0.1802884578929388,
+        0.14375916468950573,
+        0.06940577259606583,
+        0.15615498239974634,
+        0.1482546201561341,
+        0.0996077748269753,
+        0.11295411436892494,
+        0.10241519677542534,
+        0.13250176949165346,
+        0.09418508115096413,
+        0.11257873983532012,
+        0.12310872495219656,
+        0.0015839815572631255,
+        0.0010462597452355258,
+        3.6430648396754394e-05,
+        0.0006652707131572087,
+        0.0014816303824504579,
+        0.4129760525112301,
+        0.17817807121397053,
+        0.1609881767919482,
+        0.16117214352262058,
+        0.16015227398997972,
+        0.08351586214049127,
+        0.07965983064627999
+      ],
+      "global_q01": [
+        -0.3125,
+        -0.375,
+        -0.3125,
+        -0.4375,
+        -0.3125,
+        -0.1875,
+        -0.25,
+        -0.1875,
+        -0.25,
+        -0.375,
+        -0.375,
+        -0.5,
+        -0.25,
+        -0.1875,
+        -0.125,
+        -0.4375,
+        -0.25,
+        -0.375,
+        -0.25,
+        -0.3125,
+        -0.3125,
+        -0.4375,
+        -0.3125,
+        -0.3125,
+        -0.375,
+        -0.25,
+        -0.3125,
+        -0.375,
+        -0.25,
+        -0.375,
+        -0.375,
+        -0.375,
+        -0.3125,
+        -0.125,
+        -0.125,
+        -0.125,
+        -0.3125,
+        -0.375,
+        -0.0625,
+        -0.3125,
+        -0.25,
+        -0.375,
+        -0.1875,
+        -0.4375,
+        -0.25,
+        -0.25,
+        -0.25,
+        -0.375,
+        -0.5,
+        -0.375,
+        -0.3125,
+        -0.1875,
+        -0.5,
+        -0.3125,
+        -0.125,
+        -0.3125,
+        -0.3125,
+        -0.1875,
+        -0.125,
+        -0.4375,
+        -0.3125,
+        -0.1875,
+        -0.125,
+        -0.4375,
+        0.9959999918937683,
+        0.9959999918937683,
+        0.9999718976020813,
+        0.9980000257492065,
+        0.9950000047683716,
+        0.0,
+        0.503000020980835,
+        0.5720000267028809,
+        0.5600000023841858,
+        0.5559999942779541,
+        0.8080000281333923,
+        0.0
+      ],
+      "global_q99": [
+        0.25,
+        0.3125,
+        0.3125,
+        0.1875,
+        0.5,
+        0.375,
+        0.4375,
+        0.25,
+        0.25,
+        0.0,
+        0.1875,
+        0.0,
+        0.375,
+        0.375,
+        0.4375,
+        0.25,
+        0.25,
+        0.1875,
+        0.375,
+        0.1875,
+        0.125,
+        0.125,
+        0.25,
+        0.1875,
+        0.1875,
+        0.3125,
+        0.0,
+        0.1875,
+        0.1875,
+        0.25,
+        0.3125,
+        0.125,
+        0.1875,
+        0.375,
+        0.25,
+        0.3125,
+        0.25,
+        0.25,
+        0.375,
+        0.1875,
+        0.3125,
+        0.25,
+        0.4375,
+        0.125,
+        0.3125,
+        0.4375,
+        0.375,
+        0.3125,
+        0.1875,
+        0.1875,
+        0.3125,
+        0.25,
+        0.4375,
+        0.25,
+        0.1875,
+        0.4375,
+        0.4375,
+        0.3125,
+        0.375,
+        0.0,
+        0.3125,
+        0.25,
+        0.375,
+        0.25,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        0.03752971433102965
+      ]
+    }
+  },
+  "state": {
+    "wholebody_state44": {
+      "global_min": [
+        -1.0186576843261719,
+        -0.2642878293991089,
+        -0.41315776109695435,
+        0.1148306280374527,
+        -0.5680165886878967,
+        -0.2173588126897812,
+        -0.5265184044837952,
+        -0.43026724457740784,
+        -1.0713918209075928,
+        0.07363646477460861,
+        -0.7344805598258972,
+        -0.3464173376560211,
+        -0.1249196007847786,
+        -0.22137953341007233,
+        -0.04456578940153122,
+        -0.03353186324238777,
+        0.025909895077347755,
+        -0.6583074927330017,
+        -0.8172283172607422,
+        -0.8367026448249817,
+        -0.47862598299980164,
+        -0.1592104285955429,
+        -0.9136219024658203,
+        -1.2159825563430786,
+        -0.738158106803894,
+        -0.8532509803771973,
+        -0.5497403740882874,
+        -1.0118358135223389,
+        -1.1398422718048096,
+        0.9950000047683716,
+        0.9950000047683716,
+        0.9990000128746033,
+        0.9980000257492065,
+        0.9751649498939514,
+        0.0,
+        0.0,
+        0.0,
+        0.0,
+        0.49900001287460327,
+        0.0,
+        0.0,
+        -0.35471171140670776,
+        -0.14480756223201752,
+        -0.9999998211860657
+      ],
+      "global_max": [
+        0.42866581678390503,
+        0.32244277000427246,
+        0.7529057860374451,
+        1.7379481792449951,
+        0.5265358090400696,
+        0.23990066349506378,
+        0.50412917137146,
+        0.20605282485485077,
+        0.32808804512023926,
+        1.2351953983306885,
+        0.2589474320411682,
+        0.14931561052799225,
+        0.28392156958580017,
+        0.1907903254032135,
+        0.4537332057952881,
+        0.573672890663147,
+        0.41873985528945923,
+        0.4268301725387573,
+        1.0464204549789429,
+        0.2633533477783203,
+        0.14983877539634705,
+        0.6381120681762695,
+        0.6288100481033325,
+        0.07798135280609131,
+        0.8755158185958862,
+        1.1569690704345703,
+        1.2920176982879639,
+        1.2550203800201416,
+        1.1416784524917603,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        0.22302038967609406,
+        0.22687481343746185,
+        -0.9349737763404846
+      ],
+      "global_mean": [
+        -0.11287630025368925,
+        0.02958933295514988,
+        0.08528332908039443,
+        0.3456830844287232,
+        -0.12611947739974377,
+        -0.014012637758658523,
+        -0.014458278458177496,
+        -0.06207428545974281,
+        -0.29061882939724326,
+        0.3276777168088518,
+        -0.21100153366829852,
+        -0.02695292207006873,
+        0.01060929447180074,
+        -0.0035943550841636513,
+        0.14681248637826175,
+        0.24803700998422862,
+        0.1830763244674727,
+        -0.05884056365018785,
+        -0.32727492453889717,
+        -0.3423039114015717,
+        -0.04627038410219749,
+        0.17059731870171319,
+        0.13733112986807386,
+        -0.2227693191416043,
+        0.014981445627347965,
+        -0.02061309153641612,
+        0.3821913884606627,
+        -0.038379784063828006,
+        -0.010694967072512543,
+        0.9986273044516313,
+        0.9996320826043956,
+        0.9999978193047482,
+        0.9997453249173753,
+        0.998077474260634,
+        0.22454176384973445,
+        0.8520168424128799,
+        0.8654884860236849,
+        0.8669163332332201,
+        0.8684258048718363,
+        0.9590763067377113,
+        0.013511228970263278,
+        -0.08685924005119033,
+        0.008924761975244812,
+        -0.9931692356756119
+      ],
+      "global_std": [
+        0.2610757415439352,
+        0.0862652057558356,
+        0.1688172629252225,
+        0.2532346324557956,
+        0.12921205535893424,
+        0.059627876697732625,
+        0.15454376643955028,
+        0.06476141404532917,
+        0.1767055284857123,
+        0.17916579586713471,
+        0.15882102301266335,
+        0.06197038044334734,
+        0.049621328987693426,
+        0.039525157023754316,
+        0.06539850038050614,
+        0.08715264084562852,
+        0.06210522101420166,
+        0.13740436257772812,
+        0.2508976587187566,
+        0.10901983596727029,
+        0.07729202087349109,
+        0.07831103179083147,
+        0.2587245586609446,
+        0.16594601669122883,
+        0.2051549736076041,
+        0.49855192655936786,
+        0.24695085604525066,
+        0.24004857719686462,
+        0.2266750911412326,
+        0.0015839815572631255,
+        0.0010462597452355258,
+        3.6430648396754394e-05,
+        0.0006652707131572087,
+        0.0014816303824504579,
+        0.4129760525112301,
+        0.17817807121397053,
+        0.1609881767919482,
+        0.16117214352262058,
+        0.16015227398997972,
+        0.08351586214049127,
+        0.07965983064627999,
+        0.07059052901133255,
+        0.03083494835477186,
+        0.007541470280990758
+      ],
+      "global_q01": [
+        -0.8651604795455933,
+        -0.17326016306877137,
+        -0.2665925514698029,
+        0.13382464349269868,
+        -0.3836742544174194,
+        -0.13062788158655167,
+        -0.3753642517328262,
+        -0.24056172639131546,
+        -0.7603436136245727,
+        0.12981706142425536,
+        -0.604680061340332,
+        -0.1876727670431137,
+        -0.07945375099778175,
+        -0.11852622449398041,
+        -0.01299794353544712,
+        -0.008645786587148905,
+        0.06332464516162872,
+        -0.5943269073963166,
+        -0.7038191723823547,
+        -0.6126903736591339,
+        -0.30195022344589234,
+        -0.027156254276633263,
+        -0.6329350042343139,
+        -0.8180834293365479,
+        -0.4564849919080734,
+        -0.8368398749828339,
+        -0.17830499410629272,
+        -0.6272651219367981,
+        -0.5667724227905273,
+        0.9959999918937683,
+        0.9959999918937683,
+        0.9999718976020813,
+        0.9980000257492065,
+        0.9950000047683716,
+        0.0,
+        0.503000020980835,
+        0.5720000267028809,
+        0.5600000023841858,
+        0.5559999942779541,
+        0.8080000281333923,
+        0.0,
+        -0.2560904949903488,
+        -0.06169948138296604,
+        -0.999934448003769
+      ],
+      "global_q99": [
+        0.28678110241889954,
+        0.1968254891037935,
+        0.5003011572360986,
+        1.3212290334701502,
+        0.19136007040739056,
+        0.1516441014409063,
+        0.2893162751197815,
+        0.08972866922616927,
+        0.08673582613468167,
+        0.9298176717758178,
+        0.07361656188964841,
+        0.09680641129612919,
+        0.16514939218759508,
+        0.09134209156036335,
+        0.37140693902969346,
+        0.4538140887022015,
+        0.3367831820249557,
+        0.20205978929996485,
+        1.0033817028999326,
+        0.014401203487067634,
+        0.1025068281590938,
+        0.3834920966625213,
+        0.5019814312458035,
+        0.017458580099046227,
+        0.6020136940479277,
+        1.1223995780944824,
+        0.9843490004539485,
+        0.5519184732437132,
+        0.6048922944068897,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        0.03752971433102965,
+        0.12560979843139602,
+        0.10438466638326621,
+        -0.9657135927677155
+      ]
+    }
+  },
+  "normalization": {
+    "mode": "q01/q99",
+    "clamp": [
+      -5.0,
+      5.0
+    ],
+    "state_fixed_bounds": {
+      "start": 29,
+      "end": 41,
+      "min": 0.0,
+      "max": 1.0
+    },
+    "action_fixed_bounds": {
+      "start": 64,
+      "end": 76,
+      "min": 0.0,
+      "max": 1.0
+    },
+    "constant_range_tolerance": 0.0001
+  },
+  "train_episode_ids": [
+    0,
+    1,
+    2,
+    3,
+    4,
+    5,
+    6,
+    7,
+    8,
+    9,
+    10,
+    11,
+    12,
+    13,
+    14,
+    15,
+    16,
+    17,
+    18,
+    19,
+    20,
+    21,
+    22,
+    23,
+    24,
+    25,
+    26,
+    27,
+    28,
+    29,
+    30,
+    31,
+    32,
+    33,
+    34,
+    35,
+    36,
+    37,
+    38,
+    39,
+    40,
+    41,
+    42,
+    43,
+    44,
+    45,
+    46,
+    47,
+    48,
+    49,
+    50,
+    51,
+    52,
+    53,
+    54,
+    55,
+    56,
+    57,
+    58,
+    59,
+    60,
+    61,
+    62,
+    63,
+    64,
+    65,
+    66,
+    67,
+    68,
+    69
+  ],
+  "train_frames": 46927,
+  "train_split_mode": "all_70",
+  "heldout_episode_ids": [],
+  "normalization_reference_episode_ids": [
+    0,
+    1,
+    2,
+    3,
+    4,
+    5,
+    6,
+    7,
+    8,
+    9,
+    10,
+    11,
+    12,
+    13,
+    14,
+    15,
+    16,
+    17,
+    18,
+    19,
+    20,
+    21,
+    22,
+    23,
+    24,
+    25,
+    26,
+    27,
+    28,
+    29,
+    30,
+    31,
+    32,
+    33,
+    34,
+    35,
+    36,
+    37,
+    38,
+    39,
+    40,
+    41,
+    42,
+    43,
+    44,
+    45,
+    46,
+    47,
+    48,
+    49,
+    50,
+    51,
+    52,
+    53,
+    54,
+    55,
+    56,
+    57,
+    58,
+    59,
+    60,
+    61,
+    62,
+    63,
+    64,
+    65,
+    66,
+    67,
+    68,
+    69
+  ],
+  "normalization_reference_train_frames": 46927,
+  "normalization_strategy": "fit_wholebody_motion64_body29_gravity3_fixed_inspire_hands",
+  "action_order": "motion64,left_measured_hand6_native_order,right_measured_hand6_native_order",
+  "state_order": "body29,left_measured_hand6_native_order,right_measured_hand6_native_order,projected_gravity3",
+  "hand_target_time_offset": 0,
+  "hand_target_type": "same-row measured feedback, not issued command",
+  "hand_field_order": [
+    "pinky",
+    "ring",
+    "middle",
+    "index",
+    "thumb_bend",
+    "thumb_rotation"
+  ],
+  "hand_field_order_source": "meta/info.json features.observation.inspire_{left,right}_hand_state.names",
+  "hand_dataset_units": "[0,1]; do not divide recorded feedback by 1000 again",
+  "hand_deployment_raw1000_rule": "if the runtime reports raw Inspire units [0,1000], divide by 1000 exactly once before normalization",
+  "action_dim": 76,
+  "proprio_dim": 44,
+  "body_state_indices": [
+    0,
+    1,
+    2,
+    3,
+    4,
+    5,
+    6,
+    7,
+    8,
+    9,
+    10,
+    11,
+    12,
+    13,
+    14,
+    15,
+    16,
+    17,
+    18,
+    19,
+    20,
+    21,
+    22,
+    23,
+    24,
+    25,
+    26,
+    27,
+    28
+  ],
+  "constant_action_dims": [],
+  "split_manifest_sha256": "28ad4dd71544a7daf28ac6a8605c603fd69ec36ed24ae993ff5bc45d3a0a9f40",
+  "split_manifest": {
+    "train_episode_ids": [
+      0,
+      1,
+      2,
+      3,
+      4,
+      5,
+      6,
+      7,
+      8,
+      9,
+      10,
+      11,
+      12,
+      13,
+      14,
+      15,
+      16,
+      17,
+      18,
+      19,
+      20,
+      21,
+      22,
+      23,
+      24,
+      25,
+      26,
+      27,
+      28,
+      29,
+      30,
+      31,
+      32,
+      33,
+      34,
+      35,
+      36,
+      37,
+      38,
+      39,
+      40,
+      41,
+      42,
+      43,
+      44,
+      45,
+      46,
+      47,
+      48,
+      49,
+      50,
+      51,
+      52,
+      53,
+      54,
+      55,
+      56,
+      57,
+      58,
+      59,
+      60,
+      61,
+      62,
+      63,
+      64,
+      65,
+      66,
+      67,
+      68,
+      69
+    ],
+    "validation_episode_ids": [],
+    "source_group_by_episode": {
+      "0": "sim-0",
+      "1": "sim-1",
+      "2": "sim-2",
+      "3": "sim-3",
+      "4": "sim-4",
+      "5": "sim-5",
+      "6": "sim-6",
+      "7": "sim-7",
+      "8": "sim-8",
+      "9": "sim-9",
+      "10": "sim-10",
+      "11": "sim-11",
+      "12": "sim-12",
+      "13": "sim-13",
+      "14": "sim-14",
+      "15": "sim-15",
+      "16": "sim-16",
+      "17": "sim-17",
+      "18": "sim-18",
+      "19": "sim-19",
+      "20": "sim-20",
+      "21": "sim-21",
+      "22": "sim-22",
+      "23": "sim-23",
+      "24": "sim-24",
+      "25": "sim-25",
+      "26": "sim-26",
+      "27": "sim-27",
+      "28": "sim-28",
+      "29": "sim-29",
+      "30": "sim-30",
+      "31": "sim-31",
+      "32": "sim-32",
+      "33": "sim-33",
+      "34": "sim-34",
+      "35": "sim-35",
+      "36": "sim-36",
+      "37": "sim-37",
+      "38": "sim-38",
+      "39": "sim-39",
+      "40": "real-0",
+      "41": "real-1",
+      "42": "real-2",
+      "43": "real-3",
+      "44": "real-4",
+      "45": "real-5",
+      "46": "real-6",
+      "47": "real-7",
+      "48": "real-8",
+      "49": "real-9",
+      "50": "real-10",
+      "51": "real-11",
+      "52": "real-12",
+      "53": "real-13",
+      "54": "real-14",
+      "55": "real-15",
+      "56": "real-16",
+      "57": "real-17",
+      "58": "real-18",
+      "59": "real-19",
+      "60": "real-20",
+      "61": "real-21",
+      "62": "real-22",
+      "63": "real-23",
+      "64": "real-24",
+      "65": "real-25",
+      "66": "real-26",
+      "67": "real-27",
+      "68": "real-28",
+      "69": "real-29"
+    },
+    "provenance_reviewed": true,
+    "split_basis": "user authorized sim episodes 0-39 and all real episodes 0-29; full recordings",
+    "seed": 42,
+    "expected_body_joint_names": [
+      "left_hip_pitch_joint",
+      "left_hip_roll_joint",
+      "left_hip_yaw_joint",
+      "left_knee_joint",
+      "left_ankle_pitch_joint",
+      "left_ankle_roll_joint",
+      "right_hip_pitch_joint",
+      "right_hip_roll_joint",
+      "right_hip_yaw_joint",
+      "right_knee_joint",
+      "right_ankle_pitch_joint",
+      "right_ankle_roll_joint",
+      "waist_yaw_joint",
+      "waist_roll_joint",
+      "waist_pitch_joint",
+      "left_shoulder_pitch_joint",
+      "left_shoulder_roll_joint",
+      "left_shoulder_yaw_joint",
+      "left_elbow_joint",
+      "left_wrist_roll_joint",
+      "left_wrist_pitch_joint",
+      "left_wrist_yaw_joint",
+      "right_shoulder_pitch_joint",
+      "right_shoulder_roll_joint",
+      "right_shoulder_yaw_joint",
+      "right_elbow_joint",
+      "right_wrist_roll_joint",
+      "right_wrist_pitch_joint",
+      "right_wrist_yaw_joint"
+    ],
+    "source_metadata_sha256": {
+      "meta/episodes.jsonl": "dd8c0da4a7efe9d29dc9dda981fa70ad2c3c68eac609b645ae654f53f2c91beb",
+      "meta/episodes_stats.jsonl": "a94901604e80e93b6cf4aceef7491a8e76f1b877ff7d3263e257ac24476cacae",
+      "meta/info.json": "5d8efc9c318775f487be729a3792257c588c3a838a0ab0771635ebb1041ec768",
+      "meta/tasks.jsonl": "f1cd21614b2e587f62cb33f4efe1320db4e0e84d3bf578a38573178ebdf50ca2",
+      "meta/union_sources.jsonl": "672ca392fbb722a44b2e6b81138c2a26db16751ce2d2ad29a9634f29e838d8cd"
+    },
+    "source_hf_commits": {
+      "sim": "5b85dcf32f8eb1c2b463c86f4336548495dc6bab",
+      "real": "6996a43cede82c47f01b037eb5a5f4b842569393"
+    },
+    "sonic_compatibility": "both dataset cards/config reference SONIC v1.1; token64 shape and quantization checked"
+  },
+  "dataset_root": "/mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/mixed70-from-scratch-20261107-v3/merged70",
+  "instruction": "Pick up the chip barrel from the cart, walk to the pedal bin, step on its pedal and drop it in.",
+  "metadata_sha256": {
+    "meta/episodes.jsonl": "dd8c0da4a7efe9d29dc9dda981fa70ad2c3c68eac609b645ae654f53f2c91beb",
+    "meta/episodes_stats.jsonl": "a94901604e80e93b6cf4aceef7491a8e76f1b877ff7d3263e257ac24476cacae",
+    "meta/info.json": "5d8efc9c318775f487be729a3792257c588c3a838a0ab0771635ebb1041ec768",
+    "meta/tasks.jsonl": "f1cd21614b2e587f62cb33f4efe1320db4e0e84d3bf578a38573178ebdf50ca2",
+    "meta/union_sources.jsonl": "672ca392fbb722a44b2e6b81138c2a26db16751ce2d2ad29a9634f29e838d8cd"
+  },
+  "parquet_sha256": {
+    "data/chunk-000/episode_000000.parquet": "69484820542f156210a093f716efd120ecbc1f3620b4d37b791ee74b589f4e37",
+    "data/chunk-000/episode_000001.parquet": "7fc99a98f6adccf5986392f40449ca85554bc784ec1fe40aa9187b5449000913",
+    "data/chunk-000/episode_000002.parquet": "1962080c68bf449e3b7dd5e08ba4d78f111cea2b4b7f0ea3bf5d80bb843aee1b",
+    "data/chunk-000/episode_000003.parquet": "18af59b0d6de02b253bfe4bd8d24cc94dfebfd8d751af1424b9dd5049a64ff2a",
+    "data/chunk-000/episode_000004.parquet": "23278469c369f6af586d661af2c19656696d1872194a5fa5fb4b585d3f5c57ef",
+    "data/chunk-000/episode_000005.parquet": "85a262bbe7a114fdbc08c7690b1dc861464e3b6f5fe7cf215d78d8671aedb34e",
+    "data/chunk-000/episode_000006.parquet": "5d26fa0844029be9a28d820e3681034580c0843f7f164118d0027a4ea607fcb3",
+    "data/chunk-000/episode_000007.parquet": "de54be8c64ee584a4bd1f1c38c0e183b7668a453250d87e2ec83e36ae40bcc36",
+    "data/chunk-000/episode_000008.parquet": "da59945a9b8cb1bfb8bb70ab04d80cadf983a9a54ca542794eaf75e4c97c7e8b",
+    "data/chunk-000/episode_000009.parquet": "e84a9409712463d081dede979d19f11df0826675ee4553d62d0f9dd723649c65",
+    "data/chunk-000/episode_000010.parquet": "77861ef6bb85f03affad77b9ff205a06dc9339dab282ec19d527bddc9c0635ae",
+    "data/chunk-000/episode_000011.parquet": "84cbef20002a8957c7c333da747e02e881b9d1dd0ed2c3ae6c08e0cfaef34e9c",
+    "data/chunk-000/episode_000012.parquet": "6709f1f68f277948da9054f718e4f0f8bf7be978ce0654a0c49690fc97f4460a",
+    "data/chunk-000/episode_000013.parquet": "192b563af19abd3ef6e04309f268fdfba0e7065bd1d43819a10b909093cf6f4c",
+    "data/chunk-000/episode_000014.parquet": "69f5319077c6d280f59906fd9294d741f1cb638009bb09adb738f0e42c9b8e60",
+    "data/chunk-000/episode_000015.parquet": "cf85430760511ed53880aa43749a66d054c4ce09b005751814bd108c0d9919c0",
+    "data/chunk-000/episode_000016.parquet": "dde74139f8f6cf421aff6c42805670596b9f40481bbe83e1dd28716c9dd9da87",
+    "data/chunk-000/episode_000017.parquet": "69fe3412c19c224020a3ba9d48088da38c1a98140898ca5b7e26fd86be0ba5e9",
+    "data/chunk-000/episode_000018.parquet": "652c55378fdb3c0ba5c973eeed4089f47feb52dd27fc960286609217277f5b1f",
+    "data/chunk-000/episode_000019.parquet": "9136fa7b1ad8ba662bb84973c7bff5ce8632f62a8365a6359118489050e6708e",
+    "data/chunk-000/episode_000020.parquet": "b251b84e146dd0f287dc6cfa8d60089812f98cd3db828944c915539dfa544411",
+    "data/chunk-000/episode_000021.parquet": "c1d531350745101989c136f5309c3d36efcc0c6b51f4ab9651698eab2e5e0ffc",
+    "data/chunk-000/episode_000022.parquet": "053071089bdfd6d39cdfb13e873a14ca197995c2a1fd5cb141c6fecdb5eec24b",
+    "data/chunk-000/episode_000023.parquet": "4a7086093b20ff4d08f3211bf5c2d9c35e7feb961de4e50c6bb90dfef06f056e",
+    "data/chunk-000/episode_000024.parquet": "a625d4a61cec5f437455d86f382f15b5f5f602214cf6ca29e154a1372c66ddf2",
+    "data/chunk-000/episode_000025.parquet": "977ad17e13644fcb9cba472f7d001fc367a7ae4f0d66b8aea9b95e135c069b3b",
+    "data/chunk-000/episode_000026.parquet": "2ddc97cacfd1f15dbea5e9bb17699a407c8e43272b604c4c13b73a474d140429",
+    "data/chunk-000/episode_000027.parquet": "53297ba7ce1e8bd6b44fc43c99cef189f7e59db8b36654bc57f51ab1ebf9d9a6",
+    "data/chunk-000/episode_000028.parquet": "b12170831abafd50d95c276380bf2b15236e90a8724e38cf8503055872afcd98",
+    "data/chunk-000/episode_000029.parquet": "2129641b9df244932507cc85440e3c62acbcfe72be65f5128ad380348c8e4848",
+    "data/chunk-000/episode_000030.parquet": "ff5f9399b14bd74a2bfd093fc1b5350a0a5c86b8ace0148ab2af650d38ce3876",
+    "data/chunk-000/episode_000031.parquet": "5ec78afd31eda281522f3635b9c8f7c6e2507f1935fa20aafc01f788161aebdc",
+    "data/chunk-000/episode_000032.parquet": "4072a1fa3d2ae6342522100deeea0af7425547afe6896b7bd429fca9f683e71a",
+    "data/chunk-000/episode_000033.parquet": "d52735121d5666e807d3dc14b025b783adefaec06677715ac33c8db80b6b274e",
+    "data/chunk-000/episode_000034.parquet": "3a8e30d874eefb8f17491e684b5512f8bade25ecd18a5719a7a0029bca7049f0",
+    "data/chunk-000/episode_000035.parquet": "5b406bbd99b79aeba0ccbdba7135bfdd497554edf604245a22a16c21ce550602",
+    "data/chunk-000/episode_000036.parquet": "6d02567a72a130b1b98fa38f507aa723c9a82fc48df2e4aa56fd454cdf47d257",
+    "data/chunk-000/episode_000037.parquet": "caa52f69f5080ef3ca6ca63aa330eb2359fc64b018bcd08f8fbc96ddc606a586",
+    "data/chunk-000/episode_000038.parquet": "7dff8e9e69c86df4195d88ced05aacb4d3eac9f6a04d179be992a18114e2f771",
+    "data/chunk-000/episode_000039.parquet": "94c1ed4122a1e1bd52d15cf10ff3b8d62c99885da4fd6c4141514032bc74a126",
+    "data/chunk-000/episode_000040.parquet": "395bb3e1133c9a4c969e2a006b625a54f6816e740792c645208b74b636b8aa3a",
+    "data/chunk-000/episode_000041.parquet": "f41b0b4b29745d193786358d5b5840448cbee9985ca7fbbd9b29db57fc0d4e58",
+    "data/chunk-000/episode_000042.parquet": "d1469e758f44cabf6a65abbddff12d66287bea6ff94f601042fbc1f034b51f27",
+    "data/chunk-000/episode_000043.parquet": "6f20af04d40427781e0f35fb188d1cc434dfb6a7f6f22336f5691968cc1e1901",
+    "data/chunk-000/episode_000044.parquet": "9364e6f1a75df6d4cd3c67fd1e488d0fc88b0e7ee7575e6aba44ccd08c08f12b",
+    "data/chunk-000/episode_000045.parquet": "1d0c021eaadfc4d09dace9b1fffb27dbafdaaa758417fd22f48a440b3d6a9cd2",
+    "data/chunk-000/episode_000046.parquet": "11ec78c2b6bc9e68d4628c3634448200b26546b2b06b86643f13dbfbeaef6471",
+    "data/chunk-000/episode_000047.parquet": "26de2c481ed27567149cb3399cb25294b829bb0b54bb033250ddb29803c74c13",
+    "data/chunk-000/episode_000048.parquet": "6a3d6d3768f85b89354024d4a9abc2bbc6a4196777e6d01bc953221502acf613",
+    "data/chunk-000/episode_000049.parquet": "22f58ca5508f9c14bd3a903c5020d7ef58f97d5c8024ce86d851a8f7e783a4bd",
+    "data/chunk-000/episode_000050.parquet": "b1a6eed181ba27431280e5d19e3a209bff51d070faf83c3b70a1b4824cde1622",
+    "data/chunk-000/episode_000051.parquet": "e71ea5f57cccd4479a3ae1fdd9af8fb57a03e608fc849b7f08392c4f2ac9fb4e",
+    "data/chunk-000/episode_000052.parquet": "3c7177974464544659c618de8db70cfee331bf297a630a33d500b8a6cf0e1561",
+    "data/chunk-000/episode_000053.parquet": "b84005ac96bf2e939459cde60a95d912fdd9cd9000e4e8f5f361886308efe66f",
+    "data/chunk-000/episode_000054.parquet": "a9941f4ab70b6a0153336c1e7812494bdecebde82841a82f48579ed5387ca394",
+    "data/chunk-000/episode_000055.parquet": "add6c521218dc46fadfaa9f59976ada2d9c9b8d0add0498640e4e58468cd8f2b",
+    "data/chunk-000/episode_000056.parquet": "4d3ab3a85dfe716bb2316981602b99c2c7ce2e4a716849838a86432c83336171",
+    "data/chunk-000/episode_000057.parquet": "4c92baf38c4ec026455414ea63254e4d2b803a6605549f079b48d9fa3da20897",
+    "data/chunk-000/episode_000058.parquet": "7602705703495f04b7da327e557cc1be00b8a576910b88941c0b5df630907049",
+    "data/chunk-000/episode_000059.parquet": "237b3b6d0c022b7df8d4214be8a9cc53d863d8aadb655c86957c41a6670c3650",
+    "data/chunk-000/episode_000060.parquet": "640b5ab5ac0f853e49ed2f6c6d7017f993c83e90e3e63f4ab7783a87f1e65639",
+    "data/chunk-000/episode_000061.parquet": "05c64e25ea595df1658f990c3b360d6ba74e1a4af70cb2bed051d70e74b9c971",
+    "data/chunk-000/episode_000062.parquet": "22bb8baabce7d7d03cbd6bda85f0bc5415048e0246f536930bd96bf5ac98b2d6",
+    "data/chunk-000/episode_000063.parquet": "19834a7cbbac20921d3a784df8e23e6cfbba3bc5d603e27ccc6d5da06d4d5a50",
+    "data/chunk-000/episode_000064.parquet": "61512f36c52a3015662d3e2c7d69994b1ba06e08e522b82365f6cd8bff611917",
+    "data/chunk-000/episode_000065.parquet": "64d7969aa5f381cbc53a2e80708f33b2cfa940633e72a2fb707f791509cfab03",
+    "data/chunk-000/episode_000066.parquet": "176c1ec8daca8573ec5ba57eeadcf3768321ae0a34ac343afcac0435afc87071",
+    "data/chunk-000/episode_000067.parquet": "5cbb34b8b147fc3d777421bfc3b7eef66564e2da9b1c03d435bac12a5d1e70d2",
+    "data/chunk-000/episode_000068.parquet": "e384cddd794b2b5427287322759aad8e867bb48661fc3c965aa038c40d85cdf8",
+    "data/chunk-000/episode_000069.parquet": "eb5932400bd847b896e468456e6373ab72d24df464a3838131ee48876b53682d"
+  }
+}

legacy/b6-pedal-bin/mixed70-sim40-real30-v3-20261107/epoch-060/original_protocol.json

@@ -0,0 +1,20 @@
+{
+  "run": "mixed70-sim40-real30-v3-20261107",
+  "epoch_completed": 60,
+  "global_step": 11040,
+  "total_epochs": 60,
+  "episodes": 70,
+  "sim_episodes": 40,
+  "real_episodes": 30,
+  "sim_revision": "5b85dcf32f8eb1c2b463c86f4336548495dc6bab",
+  "real_revision": "6996a43cede82c47f01b037eb5a5f4b842569393",
+  "action_dim": 76,
+  "state_dim": 44,
+  "chunk": 16,
+  "history": 16,
+  "action_layout": "motion_token64 + same-frame measured left6 + measured right6",
+  "state_layout": "body29 + measured hands12 + gravity3",
+  "fresh_task_initialization": true,
+  "augmentation_from_epoch_1": true,
+  "rollout_verified": false
+}

legacy/b6-pedal-bin/mixed70-sim40-real30-v3-20261107/epoch-060/protocol.json

@@ -0,0 +1,23 @@
+{
+  "benchmark_result": false,
+  "not_benchmark_because": "Sim + real experiment: 40 simulated + 30 real-robot B6 episodes, augmentation robust-v3, 60 epochs. Not the benchmark data or recipe.",
+  "model": "Delta Flow (ImageWAM, HumanWAM wholebody delta-flow policy): action = motion_token64 + same-frame measured hands12 (G1, 76-D) or H2 body31 + Sharpa hands44 (75-D); chunk 16, history 16, future image t+16.",
+  "task_dir": "b6-pedal-bin",
+  "run": "mixed70-sim40-real30-v3-20261107",
+  "epoch_folder": "epoch-060",
+  "weights": "model.pt",
+  "weights_sha256": "847bbc3f0645df0e3787e2eabf7aabbebe4205933e33aa1387915ef53b08879a",
+  "moved_from": {
+    "repo": "humanoid-benchmark/b6-imagewam-deltaflow76",
+    "path": "mixed70-sim40-real30-v3-20261107/epoch-060/model.pt",
+    "revision": "75af1c3ebbfa850d87f5e58e239da03712a4c52d",
+    "note": "original repository deleted after this move; file is byte-identical"
+  },
+  "original_protocol": "original_protocol.json (file names inside refer to the original repository; weights there were named model.pt)",
+  "files": {
+    "dataset_stats.json": 32862,
+    "model.pt": 9035633721,
+    "original_protocol.json": 622,
+    "training_config.yaml": 7649
+  }
+}

legacy/b6-pedal-bin/mixed70-sim40-real30-v3-20261107/epoch-060/training_config.yaml

@@ -0,0 +1,313 @@
+output_dir: REPLACE_WITH_WORK_ROOT/preflight-20261104T1648Z/mixed70-from-scratch-20261107-v3/run/production
+batch_size: 8
+gradient_accumulation_steps: 1
+num_workers: 4
+prefetch_factor: 2
+persistent_workers: true
+num_epochs: 60
+max_steps: 11040
+lr_scheduler_total_steps: 11040
+warmup_steps: 552
+lr_scheduler_type: cosine
+learning_rate: 0.0001
+weight_decay: 0.01
+optimizer_foreach: false
+mixed_precision: bf16
+seed: 42
+max_grad_norm: 1.0
+resume: null
+log_every: 5
+rank_timer_every: 20
+rank_timer_sync_cuda: true
+save_every: 1840
+save_steps: []
+save_at_end: true
+keep_latest_weights: 4
+keep_latest_state_only: true
+eval_every: 0
+eval_num_inference_steps: 1
+eval_num_samples: 1
+precache_arrow: false
+precache_num_workers: 0
+build_lerobot_meta_cache: false
+build_norm_stats: false
+precache_fuse_norm_stats: false
+norm_stats_cache_enabled: false
+wandb:
+  enabled: false
+  workspace: null
+  project: imagewam-wholebody
+  name: deltaflow76-p25
+  group: wholebody-action76-state44
+  mode: disabled
+data:
+  train:
+    _target_: imagewam.datasets.wholebody_augmented_v3.WholeBodyRobustLeRobotDataset
+    dataset_dir: REPLACE_WITH_WORK_ROOT/preflight-20261104T1648Z/mixed70-from-scratch-20261107-v3/merged70
+    stats_path: REPLACE_WITH_WORK_ROOT/preflight-20261104T1648Z/mixed70-from-scratch-20261107-v3/normalization/dataset_stats.json
+    qwen_text_cache_dir: REPLACE_WITH_WORK_ROOT/preflight-20261104T1648Z/all60-20261105/qwen3-text
+    split: train
+    train_split_mode: all_70
+    action_horizon: 16
+    past_action_size: 16
+    qwen_context_len: 128
+    qwen_text_dim: 7680
+    video_cache_frames: 64
+    split_manifest_path: REPLACE_WITH_WORK_ROOT/preflight-20261104T1648Z/mixed70-from-scratch-20261107-v3/mixed70-manifest.json
+    image_augmentation:
+      version: b6-visual-aug-v2
+      seed: 20261106
+      enabled: true
+      exposure_ev:
+      - -0.22
+      - 0.22
+      contrast:
+      - 0.88
+      - 1.12
+      saturation:
+      - 0.76
+      - 1.24
+      hue:
+      - -0.015
+      - 0.015
+      gamma:
+      - 0.89
+      - 1.11
+      temperature_delta:
+      - -0.066
+      - 0.066
+      noise_probability: 0.5
+      noise_sigma:
+      - 0.01568627450980392
+      - 0.01568627450980392
+      blur_probability: 0.15
+      blur_sigma:
+      - 0.25
+      - 0.65
+      blur_kernel: 3
+      shared_colour_across_cameras_and_time: true
+      noise_on_future_target: false
+      action_label_noise: false
+      state_label_noise: false
+      geometric_transforms: true
+      approval_status: USER_AUTHORIZED_20261106
+      supersedes: b6-visual-aug-v1
+      policy_id: b6-robust-v3
+      rotation_degrees: 1.5
+      crop_zoom_extra: 0.02
+      jpeg_probability: 0.35
+      jpeg_quality:
+      - 70
+      - 95
+    proprio_augmentation:
+      enabled: true
+      seed: 20261106
+      joint_bias_degrees: 2.0
+      joint_noise_std_degrees: 0.25
+      delay_probability: 0.15
+      max_delay_control_cycles: 2
+      control_hz: 50
+      recording_hz: 30
+      history_drop_probability: 0.15
+      affected_angle_channels:
+      - 0
+      - 1
+      - 2
+      - 3
+      - 4
+      - 5
+      - 6
+      - 7
+      - 8
+      - 9
+      - 10
+      - 11
+      - 12
+      - 13
+      - 14
+      - 15
+      - 16
+      - 17
+      - 18
+      - 19
+      - 20
+      - 21
+      - 22
+      - 23
+      - 24
+      - 25
+      - 26
+      - 27
+      - 28
+      velocity_channels: []
+      action_label_noise: false
+      bias_scope: fixed_per_episode
+      start_pose_library: not_applied_offline
+      render_randomization: not_applied_offline
+  val: null
+model:
+  _target_: imagewam.wholebody_delta.create_imagewam_flux2_wholebody_delta
+  flux2_src_path: REPLACE_WITH_WORK_ROOT/preflight-20261104T1648Z/HumanWAM/third_party/flux2
+  flux2_model_path: REPLACE_WITH_WORK_ROOT/preflight-20261104T1648Z/hf-inputs/FLUX.2-klein-base-4B/flux-2-klein-base-4b.safetensors
+  ae_model_path: REPLACE_WITH_WORK_ROOT/preflight-20261104T1648Z/hf-inputs/FLUX.2-AE/ae.safetensors
+  qwen3_model_spec: REPLACE_WITH_WORK_ROOT/preflight-20261104T1648Z/hf-inputs/Qwen3-4B
+  variant: klein-base-4b
+  qwen_context_len: 128
+  load_text_encoder: false
+  proprio_dim: 44
+  action_state_dim: 44
+  expected_action_dim: 76
+  expected_action_horizon: 16
+  state_only_init_seed: 42
+  mot_checkpoint_mixed_attn: true
+  mot_gqa_implementation: repeat
+  mot_force_flash_attention: false
+  pack_proprio_after_text: false
+  action_dit_pretrained_path: REPLACE_WITH_WORK_ROOT/preflight-20261104T1648Z/all60-20261105/action-shared-flux2-4b.pt
+  action_initializer_sha256: 3b40f3ca92b3e249ed39791c1ce3ab55adce8161e406c62d94387ab1532ef657
+  zero_init_action_head: false
+  action_head_init_scale: 1.0
+  flux2_action_image_context:
+    mode: noise_idm
+    include_future_tokens: true
+    knowledge_insulation: true
+    reuse_image_fm_workspace: false
+  flux2_lora_config:
+    enabled: false
+  action_dit_config:
+    action_dim: 76
+    hidden_dim: 1024
+    num_heads: 24
+    attn_head_dim: 128
+    num_layers_double: 5
+    num_layers_single: 20
+    mlp_ratio: 4.0
+    max_action_horizon: 64
+    use_gradient_checkpointing: true
+  video_scheduler:
+    train_shift: 5.0
+    infer_shift: 5.0
+    num_train_timesteps: 1000
+  action_scheduler:
+    train_shift: 5.0
+    infer_shift: 5.0
+    num_train_timesteps: 1000
+  loss:
+    lambda_video: 0.5
+    lambda_action: 1.0
+    action_a2a:
+      enabled: true
+      fm_weight: 1.0
+      ic_weight: 0.5
+      ic_steps: 1
+      ic_loss: l1
+      source_noise_std: 0.5
+      source_noise_dim_mask:
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      aura:
+        enabled: false
+    image_i2i:
+      enabled: true
+      source_mode: gaussian
+      current_residual_scale: 0.5773502691896258
+      variance_normalize: true
+      ic_weight: 1.0
+      ic_steps: 1
+      ic_loss: l1
+      source_noise_std: 0.0
+wholebody_contract:
+  world_size: 32
+  zero_stage: 1
+  statistics_sha256: 1cf050c279a16ba904c6584ea0f423296e19d00b7f1d447ca926dcb2f076d60b
+  stats_schema: wholebody-state41to44-action76-chunk16-train60val0-v1
+  normalization_strategy: fit_wholebody_motion64_body29_gravity3_fixed_inspire_hands
+  smoke_output_dir: REPLACE_WITH_WORK_ROOT/preflight-20261104T1648Z/mixed70-from-scratch-20261107-v3/run/smoke
+  production_output_dir: REPLACE_WITH_WORK_ROOT/preflight-20261104T1648Z/mixed70-from-scratch-20261107-v3/run/production
+  fresh_base: true
+  measured_loader:
+    dataset_frames: 46927
+    raw_loader_batches: 5866
+    per_rank_microbatches: 184
+    world_size: 32
+    microbatch: 8
+    gradient_accumulation: 1
+    dataloader_drop_last: false
+    source: CPU DataLoader and Accelerate.prepare_data_loader measurement; no model
+      or optimizer constructed
+  updates_per_epoch: 184
+  skip_five_step_preflight_user_authorized: true

legacy/b6-pedal-bin/mixed70-sim40-real30-v3-20261107/training_plan.json

@@ -0,0 +1,14 @@
+{
+  "run": "mixed70-sim40-real30-v3-20261107",
+  "epochs": 60,
+  "episodes": 70,
+  "frames": 46927,
+  "upload_epochs": [
+    40,
+    50,
+    60
+  ],
+  "world_size": 32,
+  "augmentation": "robust v3 from epoch1",
+  "gpu_preflight": "skipped per user instruction"
+}

legacy/b6-pedal-bin/real30-from-sim60-20261108/epoch-020/dataset_stats.json

@@ -0,0 +1,1082 @@
+{
+  "schema": "wholebody-state41to44-action76-chunk16-train60val0-v1",
+  "action": {
+    "wholebody_action76": {
+      "global_min": [
+        -0.5,
+        -0.5625,
+        -0.3125,
+        -0.3125,
+        -0.5625,
+        -0.5,
+        -0.5,
+        -0.25,
+        -0.4375,
+        -0.125,
+        -0.4375,
+        -0.4375,
+        0.0,
+        -0.4375,
+        -0.3125,
+        -0.5625,
+        -0.375,
+        -0.25,
+        -0.5,
+        -0.5,
+        -0.5,
+        -0.4375,
+        -0.4375,
+        -0.5,
+        -0.625,
+        -0.0625,
+        -0.375,
+        -0.375,
+        -0.375,
+        -0.5625,
+        -0.25,
+        -0.4375,
+        -0.5,
+        -0.1875,
+        -0.0625,
+        -0.25,
+        -0.25,
+        -0.375,
+        -0.3125,
+        -0.25,
+        -0.375,
+        -0.4375,
+        -0.25,
+        -0.375,
+        -0.3125,
+        -0.0625,
+        -0.0625,
+        -0.375,
+        -0.5625,
+        -0.5625,
+        -0.75,
+        -0.375,
+        -0.625,
+        -0.5,
+        -0.25,
+        -0.4375,
+        -0.125,
+        -0.1875,
+        -0.4375,
+        -0.4375,
+        -0.25,
+        -0.375,
+        -0.3125,
+        -0.25,
+        0.9999428391456604,
+        0.9999276995658875,
+        0.9999210238456726,
+        0.9999285340309143,
+        0.9986287951469421,
+        0.9992701411247253,
+        0.6656574606895447,
+        0.7238412499427795,
+        0.7441709637641907,
+        0.7440497875213623,
+        0.8720815777778625,
+        0.0
+      ],
+      "global_max": [
+        0.4375,
+        0.25,
+        0.5,
+        0.375,
+        0.4375,
+        0.3125,
+        0.4375,
+        0.3125,
+        0.1875,
+        0.5,
+        0.3125,
+        0.1875,
+        0.625,
+        0.3125,
+        0.375,
+        0.3125,
+        0.1875,
+        0.4375,
+        0.25,
+        0.3125,
+        0.125,
+        0.375,
+        0.125,
+        0.25,
+        -0.0625,
+        0.5625,
+        0.0,
+        0.375,
+        0.3125,
+        0.1875,
+        0.4375,
+        0.375,
+        0.25,
+        0.4375,
+        0.5,
+        0.25,
+        0.5625,
+        0.375,
+        0.1875,
+        0.375,
+        0.5,
+        0.375,
+        0.4375,
+        0.1875,
+        0.3125,
+        0.625,
+        0.5625,
+        0.5,
+        0.3125,
+        0.25,
+        0.375,
+        0.3125,
+        0.375,
+        0.3125,
+        0.3125,
+        0.5,
+        0.5625,
+        0.3125,
+        0.1875,
+        0.125,
+        0.3125,
+        0.4375,
+        0.5,
+        0.5625,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        0.9993945956230164,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0
+      ],
+      "global_mean": [
+        0.12205392215212475,
+        -0.191904237590763,
+        0.08733707296750387,
+        0.026038566837281275,
+        -0.04580741875967147,
+        -0.10583375491012975,
+        -0.07459491429591715,
+        0.007153166289727414,
+        -0.03634053981668849,
+        0.1472257766932508,
+        -0.09219326568265683,
+        -0.13431622723485298,
+        0.3340283150815379,
+        -0.0008462534222116415,
+        0.05594944054279252,
+        -0.1644409891679562,
+        0.023750892750862992,
+        0.1390719854779193,
+        -0.0873872902035472,
+        -0.11926407570527318,
+        -0.17573056778954887,
+        -0.01916066539697655,
+        -0.12772846982502084,
+        -0.17683348708487084,
+        -0.3400171854541126,
+        0.30746525711224854,
+        -0.17064188787049162,
+        0.04540382097369361,
+        0.0011326776574217354,
+        -0.23277548803713843,
+        0.1392672747291989,
+        0.04347510713010356,
+        -0.0945720747530056,
+        0.1315951970003571,
+        0.3103369390548744,
+        -0.011365834424473278,
+        0.03394313177002738,
+        0.02199886918224021,
+        -0.05011494167361028,
+        0.024794295321985477,
+        -0.08120499047732413,
+        -0.010690691584335199,
+        0.0952862754433996,
+        -0.0718813236519462,
+        -0.0015511546244494703,
+        0.24170485656469468,
+        0.29831084097131294,
+        0.021734763718604926,
+        -0.13359272705630282,
+        -0.15295240149982145,
+        0.00410479407213427,
+        0.04467660099988097,
+        -0.09859503332936555,
+        -0.21653858171646231,
+        -0.01381903940007142,
+        0.11246614986311153,
+        0.2543317015831449,
+        0.09745491608141887,
+        -0.12355857933579335,
+        -0.1553405100583264,
+        -0.02950355612427092,
+        0.1963028954886323,
+        0.20641515890965362,
+        0.20040582966313533,
+        0.9999921767715328,
+        0.9999919751065499,
+        0.9999921913392316,
+        0.9999917814801412,
+        0.9990006654695477,
+        0.9999018464201533,
+        0.8782834985304866,
+        0.8850107173659435,
+        0.8900483158667476,
+        0.8944579906200258,
+        0.9991487625606315,
+        0.1626707116752267
+      ],
+      "global_std": [
+        0.13596290002461595,
+        0.18748733126558462,
+        0.12601473855801545,
+        0.10011682692122427,
+        0.17521196151908586,
+        0.15275669950480095,
+        0.17226017535508303,
+        0.09366615723208792,
+        0.12579817252318623,
+        0.12050780415955416,
+        0.11838907785638057,
+        0.09288635262974748,
+        0.14578264693864645,
+        0.13908424730509839,
+        0.10729044333225353,
+        0.18061337099840524,
+        0.08295358822000402,
+        0.16265996607267022,
+        0.15564986025814778,
+        0.09557719168947651,
+        0.09040151011246438,
+        0.11264392043604149,
+        0.0922248510661552,
+        0.13384355418992216,
+        0.1282031471478886,
+        0.13958901733055668,
+        0.06653164495891727,
+        0.11046393285652986,
+        0.13298782762476632,
+        0.1672657427822022,
+        0.1351966397133196,
+        0.11452271785641654,
+        0.10799686780912636,
+        0.11515864521938869,
+        0.09692246961352045,
+        0.07879130824818295,
+        0.12328107673859283,
+        0.15962525078050632,
+        0.11008117990977147,
+        0.09299148820957476,
+        0.1583480667548581,
+        0.16195318517354365,
+        0.13554047301792538,
+        0.07778100948697296,
+        0.11710128752179041,
+        0.17728887959144732,
+        0.14519101269657192,
+        0.1392994114528109,
+        0.13634772732091954,
+        0.12644674362442815,
+        0.13736326822255113,
+        0.10738645398874,
+        0.23806398036620682,
+        0.11535486858700235,
+        0.08074369822812408,
+        0.19515337305454844,
+        0.1864017949999747,
+        0.07607961628361623,
+        0.12830012639488636,
+        0.12408899637861243,
+        0.09042490515535681,
+        0.12539663292761385,
+        0.14064147993536863,
+        0.13477219454225184,
+        7.274007361725932e-06,
+        8.60790441827095e-06,
+        9.053195289922706e-06,
+        8.617247823552296e-06,
+        9.401444053163515e-05,
+        3.2841702827797235e-05,
+        0.12875264361563213,
+        0.12099240554097392,
+        0.11550356680440438,
+        0.11091380274253189,
+        0.0038477145767951697,
+        0.3467381205623456
+      ],
+      "global_q01": [
+        -0.25,
+        -0.5,
+        -0.1875,
+        -0.1875,
+        -0.4375,
+        -0.4375,
+        -0.4375,
+        -0.1875,
+        -0.3125,
+        -0.125,
+        -0.375,
+        -0.375,
+        0.0625,
+        -0.3125,
+        -0.1875,
+        -0.5,
+        -0.25,
+        -0.125,
+        -0.375,
+        -0.3125,
+        -0.375,
+        -0.3125,
+        -0.375,
+        -0.4375,
+        -0.5625,
+        0.0,
+        -0.3125,
+        -0.25,
+        -0.3125,
+        -0.5,
+        -0.125,
+        -0.1875,
+        -0.4375,
+        -0.0625,
+        0.125,
+        -0.1875,
+        -0.1875,
+        -0.3125,
+        -0.25,
+        -0.125,
+        -0.3125,
+        -0.375,
+        -0.1875,
+        -0.25,
+        -0.25,
+        0.0,
+        0.0,
+        -0.25,
+        -0.4375,
+        -0.4375,
+        -0.4375,
+        -0.25,
+        -0.5,
+        -0.4375,
+        -0.1875,
+        -0.25,
+        -0.0625,
+        -0.0625,
+        -0.375,
+        -0.375,
+        -0.25,
+        -0.0625,
+        -0.125,
+        -0.125,
+        0.9999714511632919,
+        0.9999661445617676,
+        0.99996417760849,
+        0.9999662041664124,
+        0.9988005775213241,
+        0.9998132586479187,
+        0.6913605260849,
+        0.7351129341125489,
+        0.7501687890291214,
+        0.7540875613689423,
+        0.992101634144783,
+        0.0
+      ],
+      "global_q99": [
+        0.375,
+        0.1875,
+        0.375,
+        0.25,
+        0.375,
+        0.1875,
+        0.3125,
+        0.25,
+        0.1875,
+        0.375,
+        0.1875,
+        0.0625,
+        0.5625,
+        0.25,
+        0.3125,
+        0.1875,
+        0.125,
+        0.4375,
+        0.1875,
+        0.125,
+        0.0625,
+        0.25,
+        0.0625,
+        0.125,
+        -0.125,
+        0.5625,
+        -0.0625,
+        0.3125,
+        0.1875,
+        0.125,
+        0.4375,
+        0.25,
+        0.125,
+        0.375,
+        0.4375,
+        0.1875,
+        0.375,
+        0.3125,
+        0.125,
+        0.25,
+        0.375,
+        0.25,
+        0.375,
+        0.125,
+        0.1875,
+        0.5625,
+        0.5,
+        0.375,
+        0.25,
+        0.125,
+        0.3125,
+        0.25,
+        0.25,
+        0.0625,
+        0.1875,
+        0.4375,
+        0.5625,
+        0.25,
+        0.125,
+        0.0625,
+        0.1875,
+        0.375,
+        0.5,
+        0.5,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        0.9991755485534668,
+        0.999984313249588,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0
+      ]
+    }
+  },
+  "state": {
+    "wholebody_state44": {
+      "global_min": [
+        -1.055478572845459,
+        -0.2701142728328705,
+        -0.34244224429130554,
+        0.14179371297359467,
+        -0.5140074491500854,
+        -0.25478988885879517,
+        -0.5060018301010132,
+        -0.36656486988067627,
+        -0.8835482597351074,
+        0.09821606427431107,
+        -0.5376335978507996,
+        -0.194913849234581,
+        -0.16901209950447083,
+        -0.09115391969680786,
+        0.09421355277299881,
+        -0.28237825632095337,
+        0.14426259696483612,
+        -0.9636492729187012,
+        0.7849960923194885,
+        -0.3521968126296997,
+        -0.14595942199230194,
+        -0.09411642700433731,
+        -0.6594600677490234,
+        -1.1580992937088013,
+        -1.1124080419540405,
+        -0.8441948890686035,
+        -0.26984357833862305,
+        -0.6765331625938416,
+        -0.6581082344055176,
+        0.9999428391456604,
+        0.9999276995658875,
+        0.9999210238456726,
+        0.9999285340309143,
+        0.9986287951469421,
+        0.9992701411247253,
+        0.6656574606895447,
+        0.7238412499427795,
+        0.7441709637641907,
+        0.7440497875213623,
+        0.8720815777778625,
+        0.0,
+        -0.21381627023220062,
+        -0.0789962112903595,
+        -1.0
+      ],
+      "global_max": [
+        0.3060455024242401,
+        0.32721370458602905,
+        0.6993118524551392,
+        1.7970227003097534,
+        0.5332104563713074,
+        0.13897332549095154,
+        0.4052600562572479,
+        0.1503346860408783,
+        0.30195242166519165,
+        1.2024953365325928,
+        0.14779508113861084,
+        0.16729821264743805,
+        0.14247669279575348,
+        0.09946724772453308,
+        0.30473047494888306,
+        0.4227847158908844,
+        0.44689857959747314,
+        0.17420144379138947,
+        1.267241358757019,
+        0.14509610831737518,
+        0.12133227288722992,
+        0.20619675517082214,
+        1.1219483613967896,
+        0.08046553283929825,
+        0.8236522674560547,
+        1.3544894456863403,
+        1.0394700765609741,
+        0.6882284283638,
+        1.2757254838943481,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        0.9993945956230164,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        0.06871921569108963,
+        0.13128259778022766,
+        -0.9745779037475586
+      ],
+      "global_mean": [
+        -0.12752648808861544,
+        0.036784690290555276,
+        0.07973235636188185,
+        0.419419822429755,
+        -0.18365543317158747,
+        -0.023815061469529594,
+        -0.004017499017434554,
+        -0.056628087675968684,
+        -0.34799479312910697,
+        0.2993887016478092,
+        -0.203624294578247,
+        -0.017414129189415716,
+        -0.01949365800596184,
+        0.019539556062235303,
+        0.14779126391798317,
+        0.1574790149423603,
+        0.25767560442937315,
+        -0.23948131031436076,
+        1.0740840654652142,
+        -0.07870681378614064,
+        -0.004016769732466547,
+        0.009444723144920267,
+        0.16882096377577002,
+        -0.36082676733529795,
+        -0.10850758257804603,
+        0.16186796333713394,
+        0.3163858792122422,
+        0.02755568064894681,
+        0.044813188074172075,
+        0.9999921767715328,
+        0.9999919751065499,
+        0.9999921913392316,
+        0.9999917814801412,
+        0.9990006654695477,
+        0.9999018464201533,
+        0.8782834985304866,
+        0.8850107173659435,
+        0.8900483158667476,
+        0.8944579906200258,
+        0.9991487625606315,
+        0.1626707116752267,
+        -0.06657946179959462,
+        0.017518817974242474,
+        -0.9959967701797073
+      ],
+      "global_std": [
+        0.24653085232551095,
+        0.11466058198114341,
+        0.16893146639830078,
+        0.28813595621959137,
+        0.14125105813300107,
+        0.057749580977855965,
+        0.1765763395188297,
+        0.0651992654969422,
+        0.16573149067197268,
+        0.15355775122150597,
+        0.12653989171698213,
+        0.057713219989396956,
+        0.048860294779378026,
+        0.0207794635074927,
+        0.022074932055940157,
+        0.10776954101514594,
+        0.03405858448160854,
+        0.23834730650476438,
+        0.11610632620920538,
+        0.08293742669378994,
+        0.04686390309837092,
+        0.03594887093715325,
+        0.2479861511521004,
+        0.16368047109908718,
+        0.29478058782575345,
+        0.7099018034960296,
+        0.27030265208671445,
+        0.19529026883716624,
+        0.2553896052172965,
+        7.274007361725932e-06,
+        8.60790441827095e-06,
+        9.053195289922706e-06,
+        8.617247823552296e-06,
+        9.401444053163515e-05,
+        3.2841702827797235e-05,
+        0.12875264361563213,
+        0.12099240554097392,
+        0.11550356680440438,
+        0.11091380274253189,
+        0.0038477145767951697,
+        0.3467381205623456,
+        0.04878459307205192,
+        0.029130552362414335,
+        0.004708973239125473
+      ],
+      "global_q01": [
+        -0.9299260765314102,
+        -0.2242169314622879,
+        -0.2826476657390594,
+        0.1608625093102455,
+        -0.4373463675379753,
+        -0.1322254030406475,
+        -0.3939542764425278,
+        -0.24082331299781798,
+        -0.7230627697706222,
+        0.15053387910127639,
+        -0.47352758556604385,
+        -0.14640963613986968,
+        -0.13467348515987396,
+        -0.030067484825849533,
+        0.11655354984104634,
+        -0.0455751771852374,
+        0.19865295112133027,
+        -0.7000703585147857,
+        0.8262790262699127,
+        -0.2651527985930443,
+        -0.10647640429437161,
+        -0.05538588404655456,
+        -0.521013890504837,
+        -0.7839655894041061,
+        -0.7384728568792344,
+        -0.7950092345476151,
+        -0.16188112616539,
+        -0.43226377338171007,
+        -0.43292497932910917,
+        0.9999714511632919,
+        0.9999661445617676,
+        0.99996417760849,
+        0.9999662041664124,
+        0.9988005775213241,
+        0.9998132586479187,
+        0.6913605260849,
+        0.7351129341125489,
+        0.7501687890291214,
+        0.7540875613689423,
+        0.992101634144783,
+        0.0,
+        -0.17818405538797377,
+        -0.041434145420789714,
+        -0.9999815118312836
+      ],
+      "global_q99": [
+        0.1764446207880975,
+        0.20983559206128122,
+        0.41207146644592296,
+        1.420135642290116,
+        0.22152226597070696,
+        0.09340010635554796,
+        0.3502546840906144,
+        0.10087930485606214,
+        -0.014066167026758161,
+        0.9975247037410743,
+        0.041801332011818945,
+        0.10381913430988791,
+        0.1116371110081673,
+        0.07421592935919763,
+        0.2394365781545639,
+        0.3422778826951981,
+        0.3616640183329583,
+        0.04531674332916738,
+        1.2490388488769533,
+        0.09866920776665215,
+        0.09438016697764401,
+        0.11531773582100877,
+        0.6761672908067705,
+        -0.058589987009762735,
+        0.650773352980614,
+        1.317708045244217,
+        0.8570230454206468,
+        0.4907196345925333,
+        0.802535644769669,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        0.9991755485534668,
+        0.999984313249588,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        0.01512152872048319,
+        0.10801279932260514,
+        -0.9810407876968383
+      ]
+    }
+  },
+  "normalization": {
+    "mode": "q01/q99",
+    "clamp": [
+      -5.0,
+      5.0
+    ],
+    "state_fixed_bounds": {
+      "start": 29,
+      "end": 41,
+      "min": 0.0,
+      "max": 1.0
+    },
+    "action_fixed_bounds": {
+      "start": 64,
+      "end": 76,
+      "min": 0.0,
+      "max": 1.0
+    },
+    "constant_range_tolerance": 0.0001
+  },
+  "train_episode_ids": [
+    0,
+    1,
+    2,
+    3,
+    4,
+    5,
+    6,
+    7,
+    8,
+    9,
+    10,
+    11,
+    12,
+    13,
+    14,
+    15,
+    16,
+    17,
+    18,
+    19,
+    20,
+    21,
+    22,
+    23,
+    24,
+    25,
+    26,
+    27,
+    28,
+    29
+  ],
+  "train_frames": 20695,
+  "train_split_mode": "real_30",
+  "heldout_episode_ids": [],
+  "normalization_reference_episode_ids": [
+    0,
+    1,
+    2,
+    3,
+    4,
+    5,
+    6,
+    7,
+    8,
+    9,
+    10,
+    11,
+    12,
+    13,
+    14,
+    15,
+    16,
+    17,
+    18,
+    19,
+    20,
+    21,
+    22,
+    23,
+    24,
+    25,
+    26,
+    27,
+    28,
+    29,
+    30,
+    31,
+    32,
+    33,
+    34,
+    35,
+    36,
+    37,
+    38,
+    39,
+    40,
+    41,
+    42,
+    43,
+    44,
+    45,
+    46,
+    47,
+    48,
+    49,
+    50,
+    51,
+    52,
+    53,
+    54,
+    55,
+    56,
+    57,
+    58,
+    59
+  ],
+  "normalization_reference_train_frames": 33604,
+  "normalization_strategy": "fit_wholebody_motion64_body29_gravity3_fixed_inspire_hands",
+  "action_order": "motion64,left_measured_hand6_native_order,right_measured_hand6_native_order",
+  "state_order": "body29,left_measured_hand6_native_order,right_measured_hand6_native_order,projected_gravity3",
+  "hand_target_time_offset": 0,
+  "hand_target_type": "same-row measured feedback, not issued command",
+  "hand_field_order": [
+    "pinky",
+    "ring",
+    "middle",
+    "index",
+    "thumb_bend",
+    "thumb_rotation"
+  ],
+  "hand_field_order_source": "meta/info.json features.observation.inspire_{left,right}_hand_state.names",
+  "hand_dataset_units": "[0,1]; do not divide recorded feedback by 1000 again",
+  "hand_deployment_raw1000_rule": "if the runtime reports raw Inspire units [0,1000], divide by 1000 exactly once before normalization",
+  "action_dim": 76,
+  "proprio_dim": 44,
+  "body_state_indices": [
+    0,
+    1,
+    2,
+    3,
+    4,
+    5,
+    6,
+    7,
+    8,
+    9,
+    10,
+    11,
+    12,
+    13,
+    14,
+    15,
+    16,
+    17,
+    18,
+    19,
+    20,
+    21,
+    22,
+    23,
+    24,
+    25,
+    26,
+    27,
+    28
+  ],
+  "constant_action_dims": [],
+  "split_manifest_sha256": "1ae07e1ff80ebe4330242671b765e5000679a6e3d43aa1a7a0f90abf6157b750",
+  "split_manifest": {
+    "train_episode_ids": [
+      0,
+      1,
+      2,
+      3,
+      4,
+      5,
+      6,
+      7,
+      8,
+      9,
+      10,
+      11,
+      12,
+      13,
+      14,
+      15,
+      16,
+      17,
+      18,
+      19,
+      20,
+      21,
+      22,
+      23,
+      24,
+      25,
+      26,
+      27,
+      28,
+      29
+    ],
+    "validation_episode_ids": [],
+    "source_group_by_episode": {
+      "0": "real-0",
+      "1": "real-1",
+      "2": "real-2",
+      "3": "real-3",
+      "4": "real-4",
+      "5": "real-5",
+      "6": "real-6",
+      "7": "real-7",
+      "8": "real-8",
+      "9": "real-9",
+      "10": "real-10",
+      "11": "real-11",
+      "12": "real-12",
+      "13": "real-13",
+      "14": "real-14",
+      "15": "real-15",
+      "16": "real-16",
+      "17": "real-17",
+      "18": "real-18",
+      "19": "real-19",
+      "20": "real-20",
+      "21": "real-21",
+      "22": "real-22",
+      "23": "real-23",
+      "24": "real-24",
+      "25": "real-25",
+      "26": "real-26",
+      "27": "real-27",
+      "28": "real-28",
+      "29": "real-29"
+    },
+    "provenance_reviewed": true,
+    "split_basis": "user authorized ZUO66 real episodes 0-29 only; full recordings",
+    "seed": 42,
+    "expected_body_joint_names": [
+      "left_hip_pitch_joint",
+      "left_hip_roll_joint",
+      "left_hip_yaw_joint",
+      "left_knee_joint",
+      "left_ankle_pitch_joint",
+      "left_ankle_roll_joint",
+      "right_hip_pitch_joint",
+      "right_hip_roll_joint",
+      "right_hip_yaw_joint",
+      "right_knee_joint",
+      "right_ankle_pitch_joint",
+      "right_ankle_roll_joint",
+      "waist_yaw_joint",
+      "waist_roll_joint",
+      "waist_pitch_joint",
+      "left_shoulder_pitch_joint",
+      "left_shoulder_roll_joint",
+      "left_shoulder_yaw_joint",
+      "left_elbow_joint",
+      "left_wrist_roll_joint",
+      "left_wrist_pitch_joint",
+      "left_wrist_yaw_joint",
+      "right_shoulder_pitch_joint",
+      "right_shoulder_roll_joint",
+      "right_shoulder_yaw_joint",
+      "right_elbow_joint",
+      "right_wrist_roll_joint",
+      "right_wrist_pitch_joint",
+      "right_wrist_yaw_joint"
+    ],
+    "source_metadata_sha256": {
+      "meta/episodes.jsonl": "8a304993860e232d2f4608387fc1b2d38a5c58667deac38ad7f89675aca90a4d",
+      "meta/episodes_stats.jsonl": "e72ef1a39e3a803c7e3801b59ddf24a7abc2a77f30d6a51ca7a91f61c4ba118d",
+      "meta/info.json": "4056a61864b0ec11e4d6b0b1be041a7373933614c4047392f753ac81e7d75ce4",
+      "meta/tasks.jsonl": "f1cd21614b2e587f62cb33f4efe1320db4e0e84d3bf578a38573178ebdf50ca2",
+      "meta/union_sources.jsonl": "cbab4cf20c763b22c6e039949b3aa84031c93e9637aad04686804b3a0bf37ab3"
+    },
+    "source_hf_commits": {
+      "real": "6996a43cede82c47f01b037eb5a5f4b842569393"
+    },
+    "sonic_compatibility": "real dataset and parent model use SONIC v1.1; token64 shape and quantization checked"
+  },
+  "dataset_root": "REPLACE_WITH_WORK_ROOT/preflight-20261104T1648Z/real30-from-sim60-20261108/real30",
+  "instruction": "Pick up the chip barrel from the cart, walk to the pedal bin, step on its pedal and drop it in.",
+  "metadata_sha256": {
+    "meta/episodes.jsonl": "8a304993860e232d2f4608387fc1b2d38a5c58667deac38ad7f89675aca90a4d",
+    "meta/episodes_stats.jsonl": "e72ef1a39e3a803c7e3801b59ddf24a7abc2a77f30d6a51ca7a91f61c4ba118d",
+    "meta/info.json": "4056a61864b0ec11e4d6b0b1be041a7373933614c4047392f753ac81e7d75ce4",
+    "meta/tasks.jsonl": "f1cd21614b2e587f62cb33f4efe1320db4e0e84d3bf578a38573178ebdf50ca2",
+    "meta/union_sources.jsonl": "cbab4cf20c763b22c6e039949b3aa84031c93e9637aad04686804b3a0bf37ab3"
+  },
+  "parquet_sha256": {
+    "data/chunk-000/episode_000000.parquet": "01bcd1630d5aaf581cb0b43ab445e4ac7ef3971dbf9a07d0b91325ee1a1792ee",
+    "data/chunk-000/episode_000001.parquet": "455dc0ed338099e816e9a8ba94a213022f8b59aded881a98a062668dd3e3310e",
+    "data/chunk-000/episode_000002.parquet": "872bd8f933ddbbdda386f1f23bbb14e5c4090252c1a203dd0fe6868fd1a1228c",
+    "data/chunk-000/episode_000003.parquet": "78c3a9174b16efd3d4bd2c3804e2257de1cc315e486cec023387a7ffa8709224",
+    "data/chunk-000/episode_000004.parquet": "6b0f4d1538de101c84c26e4dbf0a99924b9d34230e47096d74bba38025225f90",
+    "data/chunk-000/episode_000005.parquet": "5458d8fce3019592847a3f0e746a118c823bdeeaa6765c7668100f0d5bcc1e10",
+    "data/chunk-000/episode_000006.parquet": "2f2f3618c75628affbe1c0b5db337727641133b23b6fa962bb4943eedaca4dfd",
+    "data/chunk-000/episode_000007.parquet": "84bccc574f50adaf61d3b57b261977e406ea587944dbe2fdfaa4860e61c29923",
+    "data/chunk-000/episode_000008.parquet": "449b98a44e1428881d5b9a256dd68c2121023427d0bc341cc9edaed0faf18a36",
+    "data/chunk-000/episode_000009.parquet": "a99becd851341bd5bd9e435558b85c26eb4a47b47f23d6716c4a7562865ba26c",
+    "data/chunk-000/episode_000010.parquet": "e46d5b6dea53b978b83c29f4b5f7207c4cd7537b04dacb066896577c767b1363",
+    "data/chunk-000/episode_000011.parquet": "093767d319117e814d764083e77a00f4ce101ba889381029e855814176fbd578",
+    "data/chunk-000/episode_000012.parquet": "ba75f475070980cffd69f32060ee7d9af17690ca60e49b897be38eb962a87164",
+    "data/chunk-000/episode_000013.parquet": "47ead725716781a0faf459e0290b593a66fa899170dfa8b2e3bd8c9198335c32",
+    "data/chunk-000/episode_000014.parquet": "285ab50ea1cc0c2d5b53044a8c1aa80bffa5e9e5f7f170a5543d0b183411dfae",
+    "data/chunk-000/episode_000015.parquet": "ab1908bd8a76510c78d6dfb228ae7abb55cd3dabcec8a023e8cf242ce132dfc3",
+    "data/chunk-000/episode_000016.parquet": "e631992185b943c5089b5e6677e0c7196395482df4037b8ce07ce2bf56d6404c",
+    "data/chunk-000/episode_000017.parquet": "fee3489d9825e3789885fc05213df10496ca93534470fb9a1e9b4f2009cddf59",
+    "data/chunk-000/episode_000018.parquet": "2f823290062f4e74db05edcc51a9235e74d3e0e7d187890c0ab7d6c191c1afc7",
+    "data/chunk-000/episode_000019.parquet": "3c086b5900353a70f24cc3dd09366782927a5afbfeffacedc1748fa9eec12b8c",
+    "data/chunk-000/episode_000020.parquet": "b5ef9de587667aba254e76f88a244d319345ea1fa887fec3795da3767d3c253f",
+    "data/chunk-000/episode_000021.parquet": "63d4cf80f017730b92db3e38e04add89f3310546d8f4f65440bdb6f1ebc10886",
+    "data/chunk-000/episode_000022.parquet": "1364b739b5492923716e16c53fc32a14e43ca0d4919df3c2a4cfa37809e9cb81",
+    "data/chunk-000/episode_000023.parquet": "d690526a417a94f8b33b65e03b8c8ae876410190fedadf0c2c56d17461c1fa41",
+    "data/chunk-000/episode_000024.parquet": "f6565f06771482a264adc0e8a0b2a8251ca1ec66398ed3a54fa33832a000e40d",
+    "data/chunk-000/episode_000025.parquet": "00d901a0be0e859b8cfe4e0d9a10b57a4cc90fff9a2824f56f1848f233a4d4af",
+    "data/chunk-000/episode_000026.parquet": "075e143ce5f2bc4e79ea99fc54ce9f01621ea32f9b6488644586664185604296",
+    "data/chunk-000/episode_000027.parquet": "cd5be2cccdc297e598b2854f9bb26e50cffd193776119912fa0690ec1f8b817e",
+    "data/chunk-000/episode_000028.parquet": "57f35e11fb21d67ac6df61abfa349117fe995722311242b8aaaa18270f2cdee1",
+    "data/chunk-000/episode_000029.parquet": "8802364fe590ea550279bea8aac02f22e0bcda78c9f824763867442e3eda152a"
+  },
+  "parent_normalization": {
+    "sha256": "1e609854a9d859b4df96e416b62c07b1122cb72adc79239d0a9108d3d618dabf",
+    "file": "parent-source-stats.json",
+    "source_checkpoint_global_step": 7920
+  }
+}

legacy/b6-pedal-bin/real30-from-sim60-20261108/epoch-020/model.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4f89dc75f129f91831df0c42a4e98d5fbe61c1bf8c400b81e9f55d0a1b87197
+size 9035633721

legacy/b6-pedal-bin/real30-from-sim60-20261108/epoch-020/original_protocol.json

@@ -0,0 +1,22 @@
+{
+  "run": "real30-from-sim60-20261108",
+  "stage_epoch": 20,
+  "stage_steps": 1620,
+  "global_step": 9540,
+  "parent_global_step": 7920,
+  "parent_checkpoint": "robust-v3-20261106/epoch-060",
+  "parent_sim_episodes": 60,
+  "stage_real_episodes": 30,
+  "stage_sim_episodes": 0,
+  "stage_frames": 20695,
+  "source_dataset": "ZUO66/wb-trash-bin-sonic-v11-first30",
+  "source_revision": "6996a43cede82c47f01b037eb5a5f4b842569393",
+  "action_dim": 76,
+  "state_dim": 44,
+  "action_chunk": 16,
+  "history": 16,
+  "optimizer_state_restored_for_training": true,
+  "learning_rate_schedule_reset": true,
+  "original_parent_normalization_sha256": "06303225cc999a0d94ebbde47b10876bd89fc15a68f33e2a264bb7037e456010",
+  "archive_includes_optimizer_state": false
+}

legacy/b6-pedal-bin/real30-from-sim60-20261108/epoch-020/parent-source-stats.json

@@ -0,0 +1,1202 @@
+{
+  "schema": "wholebody-state41to44-action76-chunk16-train60val0-v1",
+  "action": {
+    "wholebody_action76": {
+      "global_min": [
+        -0.5,
+        -0.5625,
+        -0.3125,
+        -0.3125,
+        -0.5625,
+        -0.5,
+        -0.5,
+        -0.25,
+        -0.4375,
+        -0.125,
+        -0.4375,
+        -0.4375,
+        0.0,
+        -0.4375,
+        -0.3125,
+        -0.5625,
+        -0.375,
+        -0.25,
+        -0.5,
+        -0.5,
+        -0.5,
+        -0.4375,
+        -0.4375,
+        -0.5,
+        -0.625,
+        -0.0625,
+        -0.375,
+        -0.375,
+        -0.375,
+        -0.5625,
+        -0.25,
+        -0.4375,
+        -0.5,
+        -0.1875,
+        -0.0625,
+        -0.25,
+        -0.25,
+        -0.375,
+        -0.3125,
+        -0.25,
+        -0.375,
+        -0.4375,
+        -0.25,
+        -0.375,
+        -0.3125,
+        -0.0625,
+        -0.0625,
+        -0.375,
+        -0.5625,
+        -0.5625,
+        -0.75,
+        -0.375,
+        -0.625,
+        -0.5,
+        -0.25,
+        -0.4375,
+        -0.125,
+        -0.1875,
+        -0.4375,
+        -0.4375,
+        -0.25,
+        -0.375,
+        -0.3125,
+        -0.25,
+        0.9999428391456604,
+        0.9999276995658875,
+        0.9999210238456726,
+        0.9999285340309143,
+        0.9986287951469421,
+        0.9992701411247253,
+        0.6656574606895447,
+        0.7238412499427795,
+        0.7441709637641907,
+        0.7440497875213623,
+        0.8720815777778625,
+        0.0
+      ],
+      "global_max": [
+        0.4375,
+        0.25,
+        0.5,
+        0.375,
+        0.4375,
+        0.3125,
+        0.4375,
+        0.3125,
+        0.1875,
+        0.5,
+        0.3125,
+        0.1875,
+        0.625,
+        0.3125,
+        0.375,
+        0.3125,
+        0.1875,
+        0.4375,
+        0.25,
+        0.3125,
+        0.125,
+        0.375,
+        0.125,
+        0.25,
+        -0.0625,
+        0.5625,
+        0.0,
+        0.375,
+        0.3125,
+        0.1875,
+        0.4375,
+        0.375,
+        0.25,
+        0.4375,
+        0.5,
+        0.25,
+        0.5625,
+        0.375,
+        0.1875,
+        0.375,
+        0.5,
+        0.375,
+        0.4375,
+        0.1875,
+        0.3125,
+        0.625,
+        0.5625,
+        0.5,
+        0.3125,
+        0.25,
+        0.375,
+        0.3125,
+        0.375,
+        0.3125,
+        0.3125,
+        0.5,
+        0.5625,
+        0.3125,
+        0.1875,
+        0.125,
+        0.3125,
+        0.4375,
+        0.5,
+        0.5625,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        0.9993945956230164,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0
+      ],
+      "global_mean": [
+        0.12205392215212475,
+        -0.191904237590763,
+        0.08733707296750387,
+        0.026038566837281275,
+        -0.04580741875967147,
+        -0.10583375491012975,
+        -0.07459491429591715,
+        0.007153166289727414,
+        -0.03634053981668849,
+        0.1472257766932508,
+        -0.09219326568265683,
+        -0.13431622723485298,
+        0.3340283150815379,
+        -0.0008462534222116415,
+        0.05594944054279252,
+        -0.1644409891679562,
+        0.023750892750862992,
+        0.1390719854779193,
+        -0.0873872902035472,
+        -0.11926407570527318,
+        -0.17573056778954887,
+        -0.01916066539697655,
+        -0.12772846982502084,
+        -0.17683348708487084,
+        -0.3400171854541126,
+        0.30746525711224854,
+        -0.17064188787049162,
+        0.04540382097369361,
+        0.0011326776574217354,
+        -0.23277548803713843,
+        0.1392672747291989,
+        0.04347510713010356,
+        -0.0945720747530056,
+        0.1315951970003571,
+        0.3103369390548744,
+        -0.011365834424473278,
+        0.03394313177002738,
+        0.02199886918224021,
+        -0.05011494167361028,
+        0.024794295321985477,
+        -0.08120499047732413,
+        -0.010690691584335199,
+        0.0952862754433996,
+        -0.0718813236519462,
+        -0.0015511546244494703,
+        0.24170485656469468,
+        0.29831084097131294,
+        0.021734763718604926,
+        -0.13359272705630282,
+        -0.15295240149982145,
+        0.00410479407213427,
+        0.04467660099988097,
+        -0.09859503332936555,
+        -0.21653858171646231,
+        -0.01381903940007142,
+        0.11246614986311153,
+        0.2543317015831449,
+        0.09745491608141887,
+        -0.12355857933579335,
+        -0.1553405100583264,
+        -0.02950355612427092,
+        0.1963028954886323,
+        0.20641515890965362,
+        0.20040582966313533,
+        0.9999921767715328,
+        0.9999919751065499,
+        0.9999921913392316,
+        0.9999917814801412,
+        0.9990006654695477,
+        0.9999018464201533,
+        0.8782834985304866,
+        0.8850107173659435,
+        0.8900483158667476,
+        0.8944579906200258,
+        0.9991487625606315,
+        0.1626707116752267
+      ],
+      "global_std": [
+        0.13596290002461595,
+        0.18748733126558462,
+        0.12601473855801545,
+        0.10011682692122427,
+        0.17521196151908586,
+        0.15275669950480095,
+        0.17226017535508303,
+        0.09366615723208792,
+        0.12579817252318623,
+        0.12050780415955416,
+        0.11838907785638057,
+        0.09288635262974748,
+        0.14578264693864645,
+        0.13908424730509839,
+        0.10729044333225353,
+        0.18061337099840524,
+        0.08295358822000402,
+        0.16265996607267022,
+        0.15564986025814778,
+        0.09557719168947651,
+        0.09040151011246438,
+        0.11264392043604149,
+        0.0922248510661552,
+        0.13384355418992216,
+        0.1282031471478886,
+        0.13958901733055668,
+        0.06653164495891727,
+        0.11046393285652986,
+        0.13298782762476632,
+        0.1672657427822022,
+        0.1351966397133196,
+        0.11452271785641654,
+        0.10799686780912636,
+        0.11515864521938869,
+        0.09692246961352045,
+        0.07879130824818295,
+        0.12328107673859283,
+        0.15962525078050632,
+        0.11008117990977147,
+        0.09299148820957476,
+        0.1583480667548581,
+        0.16195318517354365,
+        0.13554047301792538,
+        0.07778100948697296,
+        0.11710128752179041,
+        0.17728887959144732,
+        0.14519101269657192,
+        0.1392994114528109,
+        0.13634772732091954,
+        0.12644674362442815,
+        0.13736326822255113,
+        0.10738645398874,
+        0.23806398036620682,
+        0.11535486858700235,
+        0.08074369822812408,
+        0.19515337305454844,
+        0.1864017949999747,
+        0.07607961628361623,
+        0.12830012639488636,
+        0.12408899637861243,
+        0.09042490515535681,
+        0.12539663292761385,
+        0.14064147993536863,
+        0.13477219454225184,
+        7.274007361725932e-06,
+        8.60790441827095e-06,
+        9.053195289922706e-06,
+        8.617247823552296e-06,
+        9.401444053163515e-05,
+        3.2841702827797235e-05,
+        0.12875264361563213,
+        0.12099240554097392,
+        0.11550356680440438,
+        0.11091380274253189,
+        0.0038477145767951697,
+        0.3467381205623456
+      ],
+      "global_q01": [
+        -0.25,
+        -0.5,
+        -0.1875,
+        -0.1875,
+        -0.4375,
+        -0.4375,
+        -0.4375,
+        -0.1875,
+        -0.3125,
+        -0.125,
+        -0.375,
+        -0.375,
+        0.0625,
+        -0.3125,
+        -0.1875,
+        -0.5,
+        -0.25,
+        -0.125,
+        -0.375,
+        -0.3125,
+        -0.375,
+        -0.3125,
+        -0.375,
+        -0.4375,
+        -0.5625,
+        0.0,
+        -0.3125,
+        -0.25,
+        -0.3125,
+        -0.5,
+        -0.125,
+        -0.1875,
+        -0.4375,
+        -0.0625,
+        0.125,
+        -0.1875,
+        -0.1875,
+        -0.3125,
+        -0.25,
+        -0.125,
+        -0.3125,
+        -0.375,
+        -0.1875,
+        -0.25,
+        -0.25,
+        0.0,
+        0.0,
+        -0.25,
+        -0.4375,
+        -0.4375,
+        -0.4375,
+        -0.25,
+        -0.5,
+        -0.4375,
+        -0.1875,
+        -0.25,
+        -0.0625,
+        -0.0625,
+        -0.375,
+        -0.375,
+        -0.25,
+        -0.0625,
+        -0.125,
+        -0.125,
+        0.9999714511632919,
+        0.9999661445617676,
+        0.99996417760849,
+        0.9999662041664124,
+        0.9988005775213241,
+        0.9998132586479187,
+        0.6913605260849,
+        0.7351129341125489,
+        0.7501687890291214,
+        0.7540875613689423,
+        0.992101634144783,
+        0.0
+      ],
+      "global_q99": [
+        0.375,
+        0.1875,
+        0.375,
+        0.25,
+        0.375,
+        0.1875,
+        0.3125,
+        0.25,
+        0.1875,
+        0.375,
+        0.1875,
+        0.0625,
+        0.5625,
+        0.25,
+        0.3125,
+        0.1875,
+        0.125,
+        0.4375,
+        0.1875,
+        0.125,
+        0.0625,
+        0.25,
+        0.0625,
+        0.125,
+        -0.125,
+        0.5625,
+        -0.0625,
+        0.3125,
+        0.1875,
+        0.125,
+        0.4375,
+        0.25,
+        0.125,
+        0.375,
+        0.4375,
+        0.1875,
+        0.375,
+        0.3125,
+        0.125,
+        0.25,
+        0.375,
+        0.25,
+        0.375,
+        0.125,
+        0.1875,
+        0.5625,
+        0.5,
+        0.375,
+        0.25,
+        0.125,
+        0.3125,
+        0.25,
+        0.25,
+        0.0625,
+        0.1875,
+        0.4375,
+        0.5625,
+        0.25,
+        0.125,
+        0.0625,
+        0.1875,
+        0.375,
+        0.5,
+        0.5,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        0.9991755485534668,
+        0.999984313249588,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0
+      ]
+    }
+  },
+  "state": {
+    "wholebody_state44": {
+      "global_min": [
+        -1.055478572845459,
+        -0.2701142728328705,
+        -0.34244224429130554,
+        0.14179371297359467,
+        -0.5140074491500854,
+        -0.25478988885879517,
+        -0.5060018301010132,
+        -0.36656486988067627,
+        -0.8835482597351074,
+        0.09821606427431107,
+        -0.5376335978507996,
+        -0.194913849234581,
+        -0.16901209950447083,
+        -0.09115391969680786,
+        0.09421355277299881,
+        -0.28237825632095337,
+        0.14426259696483612,
+        -0.9636492729187012,
+        0.7849960923194885,
+        -0.3521968126296997,
+        -0.14595942199230194,
+        -0.09411642700433731,
+        -0.6594600677490234,
+        -1.1580992937088013,
+        -1.1124080419540405,
+        -0.8441948890686035,
+        -0.26984357833862305,
+        -0.6765331625938416,
+        -0.6581082344055176,
+        0.9999428391456604,
+        0.9999276995658875,
+        0.9999210238456726,
+        0.9999285340309143,
+        0.9986287951469421,
+        0.9992701411247253,
+        0.6656574606895447,
+        0.7238412499427795,
+        0.7441709637641907,
+        0.7440497875213623,
+        0.8720815777778625,
+        0.0,
+        -0.21381627023220062,
+        -0.0789962112903595,
+        -1.0
+      ],
+      "global_max": [
+        0.3060455024242401,
+        0.32721370458602905,
+        0.6993118524551392,
+        1.7970227003097534,
+        0.5332104563713074,
+        0.13897332549095154,
+        0.4052600562572479,
+        0.1503346860408783,
+        0.30195242166519165,
+        1.2024953365325928,
+        0.14779508113861084,
+        0.16729821264743805,
+        0.14247669279575348,
+        0.09946724772453308,
+        0.30473047494888306,
+        0.4227847158908844,
+        0.44689857959747314,
+        0.17420144379138947,
+        1.267241358757019,
+        0.14509610831737518,
+        0.12133227288722992,
+        0.20619675517082214,
+        1.1219483613967896,
+        0.08046553283929825,
+        0.8236522674560547,
+        1.3544894456863403,
+        1.0394700765609741,
+        0.6882284283638,
+        1.2757254838943481,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        0.9993945956230164,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        0.06871921569108963,
+        0.13128259778022766,
+        -0.9745779037475586
+      ],
+      "global_mean": [
+        -0.12752648808861544,
+        0.036784690290555276,
+        0.07973235636188185,
+        0.419419822429755,
+        -0.18365543317158747,
+        -0.023815061469529594,
+        -0.004017499017434554,
+        -0.056628087675968684,
+        -0.34799479312910697,
+        0.2993887016478092,
+        -0.203624294578247,
+        -0.017414129189415716,
+        -0.01949365800596184,
+        0.019539556062235303,
+        0.14779126391798317,
+        0.1574790149423603,
+        0.25767560442937315,
+        -0.23948131031436076,
+        1.0740840654652142,
+        -0.07870681378614064,
+        -0.004016769732466547,
+        0.009444723144920267,
+        0.16882096377577002,
+        -0.36082676733529795,
+        -0.10850758257804603,
+        0.16186796333713394,
+        0.3163858792122422,
+        0.02755568064894681,
+        0.044813188074172075,
+        0.9999921767715328,
+        0.9999919751065499,
+        0.9999921913392316,
+        0.9999917814801412,
+        0.9990006654695477,
+        0.9999018464201533,
+        0.8782834985304866,
+        0.8850107173659435,
+        0.8900483158667476,
+        0.8944579906200258,
+        0.9991487625606315,
+        0.1626707116752267,
+        -0.06657946179959462,
+        0.017518817974242474,
+        -0.9959967701797073
+      ],
+      "global_std": [
+        0.24653085232551095,
+        0.11466058198114341,
+        0.16893146639830078,
+        0.28813595621959137,
+        0.14125105813300107,
+        0.057749580977855965,
+        0.1765763395188297,
+        0.0651992654969422,
+        0.16573149067197268,
+        0.15355775122150597,
+        0.12653989171698213,
+        0.057713219989396956,
+        0.048860294779378026,
+        0.0207794635074927,
+        0.022074932055940157,
+        0.10776954101514594,
+        0.03405858448160854,
+        0.23834730650476438,
+        0.11610632620920538,
+        0.08293742669378994,
+        0.04686390309837092,
+        0.03594887093715325,
+        0.2479861511521004,
+        0.16368047109908718,
+        0.29478058782575345,
+        0.7099018034960296,
+        0.27030265208671445,
+        0.19529026883716624,
+        0.2553896052172965,
+        7.274007361725932e-06,
+        8.60790441827095e-06,
+        9.053195289922706e-06,
+        8.617247823552296e-06,
+        9.401444053163515e-05,
+        3.2841702827797235e-05,
+        0.12875264361563213,
+        0.12099240554097392,
+        0.11550356680440438,
+        0.11091380274253189,
+        0.0038477145767951697,
+        0.3467381205623456,
+        0.04878459307205192,
+        0.029130552362414335,
+        0.004708973239125473
+      ],
+      "global_q01": [
+        -0.9299260765314102,
+        -0.2242169314622879,
+        -0.2826476657390594,
+        0.1608625093102455,
+        -0.4373463675379753,
+        -0.1322254030406475,
+        -0.3939542764425278,
+        -0.24082331299781798,
+        -0.7230627697706222,
+        0.15053387910127639,
+        -0.47352758556604385,
+        -0.14640963613986968,
+        -0.13467348515987396,
+        -0.030067484825849533,
+        0.11655354984104634,
+        -0.0455751771852374,
+        0.19865295112133027,
+        -0.7000703585147857,
+        0.8262790262699127,
+        -0.2651527985930443,
+        -0.10647640429437161,
+        -0.05538588404655456,
+        -0.521013890504837,
+        -0.7839655894041061,
+        -0.7384728568792344,
+        -0.7950092345476151,
+        -0.16188112616539,
+        -0.43226377338171007,
+        -0.43292497932910917,
+        0.9999714511632919,
+        0.9999661445617676,
+        0.99996417760849,
+        0.9999662041664124,
+        0.9988005775213241,
+        0.9998132586479187,
+        0.6913605260849,
+        0.7351129341125489,
+        0.7501687890291214,
+        0.7540875613689423,
+        0.992101634144783,
+        0.0,
+        -0.17818405538797377,
+        -0.041434145420789714,
+        -0.9999815118312836
+      ],
+      "global_q99": [
+        0.1764446207880975,
+        0.20983559206128122,
+        0.41207146644592296,
+        1.420135642290116,
+        0.22152226597070696,
+        0.09340010635554796,
+        0.3502546840906144,
+        0.10087930485606214,
+        -0.014066167026758161,
+        0.9975247037410743,
+        0.041801332011818945,
+        0.10381913430988791,
+        0.1116371110081673,
+        0.07421592935919763,
+        0.2394365781545639,
+        0.3422778826951981,
+        0.3616640183329583,
+        0.04531674332916738,
+        1.2490388488769533,
+        0.09866920776665215,
+        0.09438016697764401,
+        0.11531773582100877,
+        0.6761672908067705,
+        -0.058589987009762735,
+        0.650773352980614,
+        1.317708045244217,
+        0.8570230454206468,
+        0.4907196345925333,
+        0.802535644769669,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        0.9991755485534668,
+        0.999984313249588,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        0.01512152872048319,
+        0.10801279932260514,
+        -0.9810407876968383
+      ]
+    }
+  },
+  "normalization": {
+    "mode": "q01/q99",
+    "clamp": [
+      -5.0,
+      5.0
+    ],
+    "state_fixed_bounds": {
+      "start": 29,
+      "end": 41,
+      "min": 0.0,
+      "max": 1.0
+    },
+    "action_fixed_bounds": {
+      "start": 64,
+      "end": 76,
+      "min": 0.0,
+      "max": 1.0
+    },
+    "constant_range_tolerance": 0.0001
+  },
+  "train_episode_ids": [
+    0,
+    1,
+    2,
+    3,
+    4,
+    5,
+    6,
+    7,
+    8,
+    9,
+    10,
+    11,
+    12,
+    13,
+    14,
+    15,
+    16,
+    17,
+    18,
+    19,
+    20,
+    21,
+    22,
+    23,
+    24,
+    25,
+    26,
+    27,
+    28,
+    29,
+    30,
+    31,
+    32,
+    33,
+    34,
+    35,
+    36,
+    37,
+    38,
+    39,
+    40,
+    41,
+    42,
+    43,
+    44,
+    45,
+    46,
+    47,
+    48,
+    49,
+    50,
+    51,
+    52,
+    53,
+    54,
+    55,
+    56,
+    57,
+    58,
+    59
+  ],
+  "train_frames": 33604,
+  "train_split_mode": "all_60",
+  "heldout_episode_ids": [],
+  "normalization_reference_episode_ids": [
+    0,
+    1,
+    2,
+    3,
+    4,
+    5,
+    6,
+    7,
+    8,
+    9,
+    10,
+    11,
+    12,
+    13,
+    14,
+    15,
+    16,
+    17,
+    18,
+    19,
+    20,
+    21,
+    22,
+    23,
+    24,
+    25,
+    26,
+    27,
+    28,
+    29,
+    30,
+    31,
+    32,
+    33,
+    34,
+    35,
+    36,
+    37,
+    38,
+    39,
+    40,
+    41,
+    42,
+    43,
+    44,
+    45,
+    46,
+    47,
+    48,
+    49,
+    50,
+    51,
+    52,
+    53,
+    54,
+    55,
+    56,
+    57,
+    58,
+    59
+  ],
+  "normalization_reference_train_frames": 33604,
+  "normalization_strategy": "fit_wholebody_motion64_body29_gravity3_fixed_inspire_hands",
+  "action_order": "motion64,left_measured_hand6_native_order,right_measured_hand6_native_order",
+  "state_order": "body29,left_measured_hand6_native_order,right_measured_hand6_native_order,projected_gravity3",
+  "hand_target_time_offset": 0,
+  "hand_target_type": "same-row measured feedback, not issued command",
+  "hand_field_order": [
+    "pinky",
+    "ring",
+    "middle",
+    "index",
+    "thumb_bend",
+    "thumb_rotation"
+  ],
+  "hand_field_order_source": "meta/info.json features.observation.inspire_{left,right}_hand_state.names",
+  "hand_dataset_units": "[0,1]; do not divide recorded feedback by 1000 again",
+  "hand_deployment_raw1000_rule": "if the runtime reports raw Inspire units [0,1000], divide by 1000 exactly once before normalization",
+  "action_dim": 76,
+  "proprio_dim": 44,
+  "body_state_indices": [
+    0,
+    1,
+    2,
+    3,
+    4,
+    5,
+    6,
+    7,
+    8,
+    9,
+    10,
+    11,
+    12,
+    13,
+    14,
+    15,
+    16,
+    17,
+    18,
+    19,
+    20,
+    21,
+    22,
+    23,
+    24,
+    25,
+    26,
+    27,
+    28
+  ],
+  "constant_action_dims": [],
+  "split_manifest_sha256": "2fb704a0ec6edf358180843993ca4fab79757a592124cbe4ca730bacece3a92f",
+  "split_manifest": {
+    "train_episode_ids": [
+      0,
+      1,
+      2,
+      3,
+      4,
+      5,
+      6,
+      7,
+      8,
+      9,
+      10,
+      11,
+      12,
+      13,
+      14,
+      15,
+      16,
+      17,
+      18,
+      19,
+      20,
+      21,
+      22,
+      23,
+      24,
+      25,
+      26,
+      27,
+      28,
+      29,
+      30,
+      31,
+      32,
+      33,
+      34,
+      35,
+      36,
+      37,
+      38,
+      39,
+      40,
+      41,
+      42,
+      43,
+      44,
+      45,
+      46,
+      47,
+      48,
+      49,
+      50,
+      51,
+      52,
+      53,
+      54,
+      55,
+      56,
+      57,
+      58,
+      59
+    ],
+    "validation_episode_ids": [],
+    "source_group_by_episode": {
+      "0": "v1:episodes/1:seed1",
+      "1": "v1:episodes/2:seed2",
+      "2": "v1:episodes/3:seed3",
+      "3": "v1:episodes/4:seed4",
+      "4": "v1:episodes/5:seed5",
+      "5": "v1:episodes/6:seed6",
+      "6": "v1:episodes/7:seed7",
+      "7": "v1:episodes/8:seed8",
+      "8": "v1:episodes/9:seed9",
+      "9": "v1:episodes/10:seed10",
+      "10": "v1:episodes/11:seed11",
+      "11": "v1:episodes/12:seed12",
+      "12": "v1:episodes/13:seed13",
+      "13": "v1:episodes/14:seed14",
+      "14": "v1:episodes/15:seed15",
+      "15": "v1:episodes/16:seed16",
+      "16": "v1:episodes/17:seed17",
+      "17": "v1:episodes/18:seed18",
+      "18": "v1:episodes/19:seed19",
+      "19": "v1:episodes/20:seed20",
+      "20": "v1:episodes/21:seed21",
+      "21": "v1:episodes/22:seed22",
+      "22": "v1:episodes/23:seed23",
+      "23": "v1:episodes/24:seed24",
+      "24": "v1:episodes/25:seed25",
+      "25": "v1:episodes/26:seed26",
+      "26": "v1:episodes/27:seed27",
+      "27": "v1:episodes/28:seed28",
+      "28": "v1:episodes/29:seed29",
+      "29": "v1:episodes/30:seed30",
+      "30": "v1:episodes/31:seed31",
+      "31": "v1:episodes/32:seed32",
+      "32": "v1:episodes/33:seed33",
+      "33": "v1:episodes/34:seed34",
+      "34": "v1:episodes/35:seed35",
+      "35": "v1:episodes/36:seed36",
+      "36": "v1:episodes/37:seed37",
+      "37": "v1:episodes/38:seed38",
+      "38": "v1:episodes/39:seed39",
+      "39": "v1:episodes/40:seed40",
+      "40": "v1:episodes/41:seed41",
+      "41": "v1:episodes/42:seed42",
+      "42": "v1:episodes/43:seed43",
+      "43": "v1:episodes/44:seed44",
+      "44": "v2:episodes/1:seed1",
+      "45": "v2:episodes/2:seed2",
+      "46": "v2:episodes/3:seed3",
+      "47": "v2:episodes/4:seed4",
+      "48": "v2:episodes/5:seed5",
+      "49": "v2:episodes/6:seed6",
+      "50": "v2:episodes/7:seed7",
+      "51": "v2:episodes/8:seed8",
+      "52": "v2:episodes/9:seed9",
+      "53": "v2:episodes/10:seed10",
+      "54": "v2:episodes/11:seed11",
+      "55": "v2:episodes/12:seed12",
+      "56": "v2:episodes/13:seed13",
+      "57": "v2:episodes/14:seed14",
+      "58": "v2:episodes/15:seed15",
+      "59": "v2:episodes/16:seed16"
+    },
+    "provenance_reviewed": true,
+    "split_basis": "User requested every v1+v2 episode for training, no heldout; per-source hashes and commits audited",
+    "seed": 42,
+    "expected_body_joint_names": [
+      "left_hip_pitch_joint",
+      "left_hip_roll_joint",
+      "left_hip_yaw_joint",
+      "left_knee_joint",
+      "left_ankle_pitch_joint",
+      "left_ankle_roll_joint",
+      "right_hip_pitch_joint",
+      "right_hip_roll_joint",
+      "right_hip_yaw_joint",
+      "right_knee_joint",
+      "right_ankle_pitch_joint",
+      "right_ankle_roll_joint",
+      "waist_yaw_joint",
+      "waist_roll_joint",
+      "waist_pitch_joint",
+      "left_shoulder_pitch_joint",
+      "left_shoulder_roll_joint",
+      "left_shoulder_yaw_joint",
+      "left_elbow_joint",
+      "left_wrist_roll_joint",
+      "left_wrist_pitch_joint",
+      "left_wrist_yaw_joint",
+      "right_shoulder_pitch_joint",
+      "right_shoulder_roll_joint",
+      "right_shoulder_yaw_joint",
+      "right_elbow_joint",
+      "right_wrist_roll_joint",
+      "right_wrist_pitch_joint",
+      "right_wrist_yaw_joint"
+    ],
+    "source_metadata_sha256": {
+      "meta/episodes.jsonl": "c5b75c8fb0fe8794010ee04ac9749a7ff95b53aeed6e25d1bc1acdc5eef3ebea",
+      "meta/episodes_stats.jsonl": "e72a105c4605b649712ff9ae300a41817e2db45b81da9d8cf2269fe7b1532aae",
+      "meta/info.json": "56b2afd537d2ec6ecd00f4ca42896ad044f193ed2ae457beb93f1dd9aef1b0e3",
+      "meta/modality.json": "d1723bc550d2ca7c5a4c40ee058e80b573929fe0c45098ce939abe5e088c875d",
+      "meta/sim_episodes.jsonl": "c76264f3e541c44c8b7fdbb7887878308e7ca661ffba5d8c8abf19e3723e5ee0",
+      "meta/tasks.jsonl": "f1cd21614b2e587f62cb33f4efe1320db4e0e84d3bf578a38573178ebdf50ca2",
+      "meta/union_sources.jsonl": "916fc089e0df341ffd24c898ff7e5083af40f69db38e58a5d38fad500d171c55"
+    },
+    "source_hf_commits": {
+      "v1": "f931af2ac171d89b23924e83f04791f10f55f7e4",
+      "v2": "bfe41421e200fd142f2ec85e9564c2fbb0d28e93"
+    },
+    "sonic_compatibility": "User confirmed v1 and v2 use identical SONIC version and policy weights, 2026-11-05"
+  },
+  "dataset_root": "REPLACE_WITH_WORK_ROOT/preflight-20261104T1648Z/all60-20261105/merged60",
+  "instruction": "Pick up the chip barrel from the cart, walk to the pedal bin, step on its pedal and drop it in.",
+  "metadata_sha256": {
+    "meta/episodes.jsonl": "c5b75c8fb0fe8794010ee04ac9749a7ff95b53aeed6e25d1bc1acdc5eef3ebea",
+    "meta/episodes_stats.jsonl": "e72a105c4605b649712ff9ae300a41817e2db45b81da9d8cf2269fe7b1532aae",
+    "meta/info.json": "56b2afd537d2ec6ecd00f4ca42896ad044f193ed2ae457beb93f1dd9aef1b0e3",
+    "meta/modality.json": "d1723bc550d2ca7c5a4c40ee058e80b573929fe0c45098ce939abe5e088c875d",
+    "meta/sim_episodes.jsonl": "c76264f3e541c44c8b7fdbb7887878308e7ca661ffba5d8c8abf19e3723e5ee0",
+    "meta/tasks.jsonl": "f1cd21614b2e587f62cb33f4efe1320db4e0e84d3bf578a38573178ebdf50ca2",
+    "meta/union_sources.jsonl": "916fc089e0df341ffd24c898ff7e5083af40f69db38e58a5d38fad500d171c55"
+  },
+  "parquet_sha256": {
+    "data/chunk-000/episode_000000.parquet": "f2401b657988f4e0bce54abe52c08971a911313ba4598293005cc915c466abcd",
+    "data/chunk-000/episode_000001.parquet": "ad99c8bc7f1c06ec6b214e7716dcfb0e361c6ed0873c787251daa100b58db1dd",
+    "data/chunk-000/episode_000002.parquet": "64c85dce79a3375216908b94741bfb1a8d9f93d862d6690c68520f1c5ec71f95",
+    "data/chunk-000/episode_000003.parquet": "6e086aa9b4d9c92402bcbcd204e6e7d3f7ef35a354279656150121b0e1497375",
+    "data/chunk-000/episode_000004.parquet": "bdcfe0a0b3cc0977b703e1b62ef1f300167a4fa447f391b7544f2984d627c215",
+    "data/chunk-000/episode_000005.parquet": "a329f83c71bfa84c805fbe2b12a2d8b9e30b70a7384a06bb289f160bca50566e",
+    "data/chunk-000/episode_000006.parquet": "e008b08898d1ab003bc2b977418df15293e13ed0db99dd4f9f417d0913aecf45",
+    "data/chunk-000/episode_000007.parquet": "9c5b2e8cee7924a0f2ac54c2ac19da20b72d8d0821f9165286166c4c041cec40",
+    "data/chunk-000/episode_000008.parquet": "89e354aae186533dc61a99405f3f371f1787b3b9842bd2aa0a93a0217564158c",
+    "data/chunk-000/episode_000009.parquet": "4b734c7b45f24ea1e73ff47edf0b116335a5ef18b28fdeb3e4a22f028d11a335",
+    "data/chunk-000/episode_000010.parquet": "625ade70a39d05284d7a4fb753b770335d13de6129c5c86c9d44eda57c71fd93",
+    "data/chunk-000/episode_000011.parquet": "0a3f24aa4580de66e59cf21af47a2345bc4d4610c4c64dff1c9a09b7c0a1d0f9",
+    "data/chunk-000/episode_000012.parquet": "72ce0e476c0bb89e5337d262a36d645267adaeda0c9c2f1132ea1eadef3eb06b",
+    "data/chunk-000/episode_000013.parquet": "54512120052a697421f294e7ebf983494973a8f5ce5a52a09320f298f8fa81a5",
+    "data/chunk-000/episode_000014.parquet": "a51fe3ba866ea8897d7060bc15ea666538722fa94181669e2d6e2a6971301e64",
+    "data/chunk-000/episode_000015.parquet": "9f3a6454d8475bc89ad0899887230c2b8f799b7be69f3d1ed83eb0576dd67fb8",
+    "data/chunk-000/episode_000016.parquet": "9995e3d81bc6c008abc6365443c569fcb94bfda2d22e2e9992f62c1a6452a69f",
+    "data/chunk-000/episode_000017.parquet": "03914a28039b84b6c11aba36f714cee8afbca98bfbf73a0c125cfcf1c06c252c",
+    "data/chunk-000/episode_000018.parquet": "ffc77084229099afb381a46fb1e50e65bbf48ee3f5a3ec6dc707cbbcff4b60fc",
+    "data/chunk-000/episode_000019.parquet": "df910d320bad98e9fc92124da0ec38c25726882a90b50bff6345925a06bf3d88",
+    "data/chunk-000/episode_000020.parquet": "3bf35e28513feea6e0e8acbf2106b65e2263759b8ed1f6c376b859a13486d716",
+    "data/chunk-000/episode_000021.parquet": "ba277b067f701dc88f6ff22b4539656b0906e5c6b2c072fd76e07042d5f1cdbd",
+    "data/chunk-000/episode_000022.parquet": "0ed3a8efc9c50d758745848deaa83f567b3e33b5526ef0050f3fee7edec121b5",
+    "data/chunk-000/episode_000023.parquet": "2564056cf5d0e685946d3be74e50e6e76688408c0dafcc8b7998b81ffeb668cf",
+    "data/chunk-000/episode_000024.parquet": "e6c3a316e801d8de33ee15e3e62d4a76454c88a55ebdadbdb20d1c2ca3261bd9",
+    "data/chunk-000/episode_000025.parquet": "7069897b103bc4a05d9c620c71b96503c374056501f690db3e4535c68e597457",
+    "data/chunk-000/episode_000026.parquet": "c5dcf156b7cc0aafba7ab5d571aa0ff262bb4f86ffe46b54a09eaf7e2f809891",
+    "data/chunk-000/episode_000027.parquet": "3f1e8568726b471c62b016d7ec81266253a96928a4723ef1935e68e2586d9caa",
+    "data/chunk-000/episode_000028.parquet": "c4c2ada4491e2c15f8e65362fd7818d1cb3c58a1240290a2e2f8bc237be07741",
+    "data/chunk-000/episode_000029.parquet": "f11b69855fc0376914fb72dd34edf21cba31eef2315955d48a8b1be10d952ae0",
+    "data/chunk-000/episode_000030.parquet": "62ab416cc378ba435155e15f059e6f0eca1d362acb3a4050c1857e66f9c38638",
+    "data/chunk-000/episode_000031.parquet": "9beee2c4b8e8e8d5db84bad994354829657fc565063e5d4bf47117b45985350d",
+    "data/chunk-000/episode_000032.parquet": "ff1edf66fa6daf2986167f0d9d436d80abcc55f774e049d240cec3528cff4b84",
+    "data/chunk-000/episode_000033.parquet": "331a74982df7fdbdf65f13babcadb75f4106be123d2f7cb358fd93fcaa2fea8f",
+    "data/chunk-000/episode_000034.parquet": "6b0760d7b38e52293670b486b12164a89eb24791d9b9afdc4cf9f68779e18e75",
+    "data/chunk-000/episode_000035.parquet": "e313a99ef44c1c6977a7fa46b155ddb18d30e2bf96dffd7e5d9063d198318489",
+    "data/chunk-000/episode_000036.parquet": "9a25543a5f13eb5113a993b1c68699399ffb879d259b802682267eb705d9e0db",
+    "data/chunk-000/episode_000037.parquet": "38cac5ea3ef2e9c042027e8f2c7031f7a20b3085287a0fb50cf87577e476aa2e",
+    "data/chunk-000/episode_000038.parquet": "e284006545898b1b933012a153e2635d33c6767914d1772f8781ceb138cfef0d",
+    "data/chunk-000/episode_000039.parquet": "8ca77a89bbef8ab1d184632856f170517546430573f58936e3e7f08ea2b3cc09",
+    "data/chunk-000/episode_000040.parquet": "aa0db5c3fa4967722b874a80a23086cbdba4f4959575915f0151af2c0e49146e",
+    "data/chunk-000/episode_000041.parquet": "a1d077db621c248dc49aff0eeb8add6404d4da7915d5ed4c5e56b64eb2c31df5",
+    "data/chunk-000/episode_000042.parquet": "f29c637d877830cdf85fdc9c88eb50bf8d9ec89814cad70b31eaa78c79b786f1",
+    "data/chunk-000/episode_000043.parquet": "812d0188c51a2c9a544348668b38c417e8d51ecdec2f1f68e6fb45f3ce413fd7",
+    "data/chunk-000/episode_000044.parquet": "35079a372e1a17539ee0f4be7e231083034c0ef1cf8ed407281778b351bd9d8b",
+    "data/chunk-000/episode_000045.parquet": "da6b22930716be8845b480a622d2dbf9239113d1c67480c49020006d5c549d77",
+    "data/chunk-000/episode_000046.parquet": "7b149e5304e29c1567158f95bc9eb2ded67306144c4dbb99463b060efa427bbf",
+    "data/chunk-000/episode_000047.parquet": "a83a00fcc2b7d3d2eb103c4532ffac96f4b61174292fc7de132ac2782df54388",
+    "data/chunk-000/episode_000048.parquet": "3d4e3eccc2e8e05c2acfb374c235b3f2f05946a822b0f7d5b8ba4a06bd521815",
+    "data/chunk-000/episode_000049.parquet": "5447263ccda847c4f74f2d02b73e18a37663affac3f81eb70e54591aa3313013",
+    "data/chunk-000/episode_000050.parquet": "b82e6092cc040fb6cb524dc163692c3a47f6bc5dda398b22346bf828018e982f",
+    "data/chunk-000/episode_000051.parquet": "405710c75c17e08c802476f9ba0c1f2dbc153c4c8d8055c597b44d2dac4b3461",
+    "data/chunk-000/episode_000052.parquet": "103f21788306d17cdaeb3a4108b55fa3678f38ea264465676a3700f23d6b7759",
+    "data/chunk-000/episode_000053.parquet": "35a2451aa6a308705d07df2680798257eced50cb1447b6e72ce73317273b4c46",
+    "data/chunk-000/episode_000054.parquet": "03025e46e5a320e150f6999e7d7923573857c5d50147feea345e12db487b6b84",
+    "data/chunk-000/episode_000055.parquet": "e2e72a95a10a5d188d468e0be49aab6ba03d95407fb24b68e263601eb17ef8ba",
+    "data/chunk-000/episode_000056.parquet": "1cd378392c705971c86f53c043bf3b4548d5a52d5060ce22bc32772a649738b4",
+    "data/chunk-000/episode_000057.parquet": "a5cd5254108fc42561ad0b8126d547ffcbf619e997db0bab84ab2bae90b79197",
+    "data/chunk-000/episode_000058.parquet": "bd0ccacc9dc56c7252f3fa870479cd495e409971b37be4ab34d422ace7408f39",
+    "data/chunk-000/episode_000059.parquet": "abc6f2ab5b0e662ec340321356688c19c6051a2472412bf09ef30503560baead"
+  }
+}

legacy/b6-pedal-bin/real30-from-sim60-20261108/epoch-020/protocol.json

@@ -0,0 +1,24 @@
+{
+  "benchmark_result": false,
+  "not_benchmark_because": "Real-robot model: robust-v3 epoch 60 fine-tuned 20 epochs on 30 real-robot episodes (ZUO66/wb-trash-bin-sonic-v11-first30). Not a simulation-benchmark result; its 44-D state interface (no joint velocities) is the reference the benchmark interface follows.",
+  "model": "Delta Flow (ImageWAM, HumanWAM wholebody delta-flow policy): action = motion_token64 + same-frame measured hands12 (G1, 76-D) or H2 body31 + Sharpa hands44 (75-D); chunk 16, history 16, future image t+16.",
+  "task_dir": "b6-pedal-bin",
+  "run": "real30-from-sim60-20261108",
+  "epoch_folder": "epoch-020",
+  "weights": "model.pt",
+  "weights_sha256": "a4f89dc75f129f91831df0c42a4e98d5fbe61c1bf8c400b81e9f55d0a1b87197",
+  "moved_from": {
+    "repo": "humanoid-benchmark/b6-imagewam-deltaflow76",
+    "path": "real30-from-sim60-20261108/epoch-020/model.pt",
+    "revision": "75af1c3ebbfa850d87f5e58e239da03712a4c52d",
+    "note": "original repository deleted after this move; file is byte-identical"
+  },
+  "original_protocol": "original_protocol.json (file names inside refer to the original repository; weights there were named model.pt)",
+  "files": {
+    "dataset_stats.json": 26935,
+    "model.pt": 9035633721,
+    "original_protocol.json": 751,
+    "parent-source-stats.json": 32639,
+    "training_config.yaml": 7943
+  }
+}

legacy/b6-pedal-bin/real30-from-sim60-20261108/epoch-020/training_config.yaml

@@ -0,0 +1,326 @@
+output_dir: REPLACE_WITH_WORK_ROOT/preflight-20261104T1648Z/real30-from-sim60-20261108/run/production
+batch_size: 8
+gradient_accumulation_steps: 1
+num_workers: 4
+prefetch_factor: 2
+persistent_workers: true
+num_epochs: 20
+max_steps: 1620
+lr_scheduler_total_steps: 1620
+warmup_steps: 81
+lr_scheduler_type: cosine
+learning_rate: 2.0e-05
+weight_decay: 0.01
+optimizer_foreach: false
+mixed_precision: bf16
+seed: 42
+max_grad_norm: 1.0
+resume: REPLACE_WITH_WORK_ROOT/preflight-20261104T1648Z/augmented-from-scratch-20261106-v3/run/production/checkpoints/state/step_007920
+log_every: 5
+rank_timer_every: 20
+rank_timer_sync_cuda: true
+save_every: 0
+save_steps:
+- 8730
+- 9540
+save_at_end: true
+keep_latest_weights: 2
+keep_latest_state_only: false
+eval_every: 0
+eval_num_inference_steps: 1
+eval_num_samples: 1
+precache_arrow: false
+precache_num_workers: 0
+build_lerobot_meta_cache: false
+build_norm_stats: false
+precache_fuse_norm_stats: false
+norm_stats_cache_enabled: false
+wandb:
+  enabled: false
+  workspace: null
+  project: imagewam-wholebody
+  name: deltaflow76-p25
+  group: wholebody-action76-state44
+  mode: disabled
+data:
+  train:
+    _target_: imagewam.datasets.wholebody_augmented_v3.WholeBodyRobustLeRobotDataset
+    dataset_dir: REPLACE_WITH_WORK_ROOT/preflight-20261104T1648Z/real30-from-sim60-20261108/real30
+    stats_path: REPLACE_WITH_WORK_ROOT/preflight-20261104T1648Z/real30-from-sim60-20261108/normalization/dataset_stats.inherited.json
+    qwen_text_cache_dir: REPLACE_WITH_WORK_ROOT/preflight-20261104T1648Z/all60-20261105/qwen3-text
+    split: train
+    train_split_mode: real_30
+    action_horizon: 16
+    past_action_size: 16
+    qwen_context_len: 128
+    qwen_text_dim: 7680
+    video_cache_frames: 64
+    split_manifest_path: REPLACE_WITH_WORK_ROOT/preflight-20261104T1648Z/real30-from-sim60-20261108/real30-manifest.json
+    image_augmentation:
+      version: b6-visual-aug-v2
+      seed: 20261106
+      enabled: true
+      exposure_ev:
+      - -0.22
+      - 0.22
+      contrast:
+      - 0.88
+      - 1.12
+      saturation:
+      - 0.76
+      - 1.24
+      hue:
+      - -0.015
+      - 0.015
+      gamma:
+      - 0.89
+      - 1.11
+      temperature_delta:
+      - -0.066
+      - 0.066
+      noise_probability: 0.5
+      noise_sigma:
+      - 0.01568627450980392
+      - 0.01568627450980392
+      blur_probability: 0.15
+      blur_sigma:
+      - 0.25
+      - 0.65
+      blur_kernel: 3
+      shared_colour_across_cameras_and_time: true
+      noise_on_future_target: false
+      action_label_noise: false
+      state_label_noise: false
+      geometric_transforms: true
+      approval_status: USER_AUTHORIZED_20261106
+      supersedes: b6-visual-aug-v1
+      policy_id: b6-robust-v3
+      rotation_degrees: 1.5
+      crop_zoom_extra: 0.02
+      jpeg_probability: 0.35
+      jpeg_quality:
+      - 70
+      - 95
+    proprio_augmentation:
+      enabled: true
+      seed: 20261106
+      joint_bias_degrees: 2.0
+      joint_noise_std_degrees: 0.25
+      delay_probability: 0.15
+      max_delay_control_cycles: 2
+      control_hz: 30
+      recording_hz: 50
+      history_drop_probability: 0.15
+      affected_angle_channels:
+      - 0
+      - 1
+      - 2
+      - 3
+      - 4
+      - 5
+      - 6
+      - 7
+      - 8
+      - 9
+      - 10
+      - 11
+      - 12
+      - 13
+      - 14
+      - 15
+      - 16
+      - 17
+      - 18
+      - 19
+      - 20
+      - 21
+      - 22
+      - 23
+      - 24
+      - 25
+      - 26
+      - 27
+      - 28
+      velocity_channels: []
+      action_label_noise: false
+      bias_scope: fixed_per_episode
+      start_pose_library: not_applied_offline
+      render_randomization: not_applied_offline
+  val: null
+model:
+  _target_: imagewam.wholebody_delta.create_imagewam_flux2_wholebody_delta
+  flux2_src_path: REPLACE_WITH_WORK_ROOT/preflight-20261104T1648Z/HumanWAM/third_party/flux2
+  flux2_model_path: REPLACE_WITH_WORK_ROOT/preflight-20261104T1648Z/hf-inputs/FLUX.2-klein-base-4B/flux-2-klein-base-4b.safetensors
+  ae_model_path: REPLACE_WITH_WORK_ROOT/preflight-20261104T1648Z/hf-inputs/FLUX.2-AE/ae.safetensors
+  qwen3_model_spec: REPLACE_WITH_WORK_ROOT/preflight-20261104T1648Z/hf-inputs/Qwen3-4B
+  variant: klein-base-4b
+  qwen_context_len: 128
+  load_text_encoder: false
+  proprio_dim: 44
+  action_state_dim: 44
+  expected_action_dim: 76
+  expected_action_horizon: 16
+  state_only_init_seed: 42
+  mot_checkpoint_mixed_attn: true
+  mot_gqa_implementation: repeat
+  mot_force_flash_attention: false
+  pack_proprio_after_text: false
+  action_dit_pretrained_path: REPLACE_WITH_WORK_ROOT/preflight-20261104T1648Z/all60-20261105/action-shared-flux2-4b.pt
+  action_initializer_sha256: 3b40f3ca92b3e249ed39791c1ce3ab55adce8161e406c62d94387ab1532ef657
+  zero_init_action_head: false
+  action_head_init_scale: 1.0
+  flux2_action_image_context:
+    mode: noise_idm
+    include_future_tokens: true
+    knowledge_insulation: true
+    reuse_image_fm_workspace: false
+  flux2_lora_config:
+    enabled: false
+  action_dit_config:
+    action_dim: 76
+    hidden_dim: 1024
+    num_heads: 24
+    attn_head_dim: 128
+    num_layers_double: 5
+    num_layers_single: 20
+    mlp_ratio: 4.0
+    max_action_horizon: 64
+    use_gradient_checkpointing: true
+  video_scheduler:
+    train_shift: 5.0
+    infer_shift: 5.0
+    num_train_timesteps: 1000
+  action_scheduler:
+    train_shift: 5.0
+    infer_shift: 5.0
+    num_train_timesteps: 1000
+  loss:
+    lambda_video: 0.5
+    lambda_action: 1.0
+    action_a2a:
+      enabled: true
+      fm_weight: 1.0
+      ic_weight: 0.5
+      ic_steps: 1
+      ic_loss: l1
+      source_noise_std: 0.5
+      source_noise_dim_mask:
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      aura:
+        enabled: false
+    image_i2i:
+      enabled: true
+      source_mode: gaussian
+      current_residual_scale: 0.5773502691896258
+      variance_normalize: true
+      ic_weight: 1.0
+      ic_steps: 1
+      ic_loss: l1
+      source_noise_std: 0.0
+wholebody_contract:
+  world_size: 32
+  zero_stage: 1
+  statistics_sha256: 06303225cc999a0d94ebbde47b10876bd89fc15a68f33e2a264bb7037e456010
+  stats_schema: wholebody-state41to44-action76-chunk16-train60val0-v1
+  normalization_strategy: fit_wholebody_motion64_body29_gravity3_fixed_inspire_hands
+  smoke_output_dir: REPLACE_WITH_WORK_ROOT/preflight-20261104T1648Z/augmented-from-scratch-20261106-v3/run/smoke
+  production_output_dir: REPLACE_WITH_WORK_ROOT/preflight-20261104T1648Z/augmented-from-scratch-20261106-v3/run/production
+  fresh_base: true
+  measured_loader:
+    dataset_frames: 33604
+    raw_loader_batches: 4201
+    per_rank_microbatches: 132
+    world_size: 32
+    microbatch: 8
+    gradient_accumulation: 1
+    dataloader_drop_last: false
+    source: native Wan22Trainer._build_loader + Accelerate.prepare_data_loader; no
+      iteration/model/optimizer
+  updates_per_epoch: 132
+continuation_plan:
+  phase: production
+  parent_global_step: 7920
+  real_episodes: 30
+  sim_episodes: 0
+  real_frames: 20695
+  updates_per_epoch: 81
+  stage_updates: 1620
+  stage_epochs: 20
+  save_stage_epochs:
+  - 10
+  - 20

legacy/b6-pedal-bin/robust-v3-20261106/README.md

@@ -0,0 +1,3 @@
+# B6 robust v3: 60 epochs from fresh task initialization
+
+Uses the same pretrained visual backbone and unchanged original 60-epoch recipe. New input augmentation is enabled from epoch 1. Only epoch 50 and 60 are uploaded. Actions remain motion_token64 + measured hands12; state44; chunk/history16. Optimizer state stays on NAS. Rollout has not been verified.

legacy/b6-pedal-bin/robust-v3-20261106/epoch-060/augmentation_policy.json

@@ -0,0 +1,110 @@
+{
+  "visual": {
+    "version": "b6-visual-aug-v2",
+    "seed": 20261106,
+    "enabled": true,
+    "exposure_ev": [
+      -0.22,
+      0.22
+    ],
+    "contrast": [
+      0.88,
+      1.12
+    ],
+    "saturation": [
+      0.76,
+      1.24
+    ],
+    "hue": [
+      -0.015,
+      0.015
+    ],
+    "gamma": [
+      0.89,
+      1.11
+    ],
+    "temperature_delta": [
+      -0.066,
+      0.066
+    ],
+    "noise_probability": 0.5,
+    "noise_sigma": [
+      0.01568627450980392,
+      0.01568627450980392
+    ],
+    "blur_probability": 0.15,
+    "blur_sigma": [
+      0.25,
+      0.65
+    ],
+    "blur_kernel": 3,
+    "shared_colour_across_cameras_and_time": true,
+    "noise_on_future_target": false,
+    "action_label_noise": false,
+    "state_label_noise": false,
+    "geometric_transforms": true,
+    "approval_status": "USER_AUTHORIZED_20261106",
+    "supersedes": "b6-visual-aug-v1",
+    "policy_id": "b6-robust-v3",
+    "rotation_degrees": 1.5,
+    "crop_zoom_extra": 0.02,
+    "jpeg_probability": 0.35,
+    "jpeg_quality": [
+      70,
+      95
+    ]
+  },
+  "proprio": {
+    "enabled": true,
+    "seed": 20261106,
+    "joint_bias_degrees": 2.0,
+    "joint_noise_std_degrees": 0.25,
+    "delay_probability": 0.15,
+    "max_delay_control_cycles": 2,
+    "control_hz": 30,
+    "recording_hz": 50,
+    "history_drop_probability": 0.15,
+    "affected_angle_channels": [
+      0,
+      1,
+      2,
+      3,
+      4,
+      5,
+      6,
+      7,
+      8,
+      9,
+      10,
+      11,
+      12,
+      13,
+      14,
+      15,
+      16,
+      17,
+      18,
+      19,
+      20,
+      21,
+      22,
+      23,
+      24,
+      25,
+      26,
+      27,
+      28
+    ],
+    "velocity_channels": [],
+    "action_label_noise": false,
+    "bias_scope": "fixed_per_episode",
+    "start_pose_library": "not_applied_offline",
+    "render_randomization": "not_applied_offline"
+  },
+  "scope_notes": [
+    "Unchanged 44D input contains no velocity channel.",
+    "Recorded initial poses and renderer lights/camera cannot be regenerated offline.",
+    "Labels and raw dataset unchanged; state sensor noise precedes original normalization.",
+    "Camera transform shared across time per view; noise and JPEG on current inputs only."
+  ]
+}

legacy/b6-pedal-bin/robust-v3-20261106/epoch-060/code_manifest.json

@@ -0,0 +1,7 @@
+{
+  "HumanWAM/scripts/wholebody/train.py": "36aa06e068a01b45ccbc5e48a9773794314ec216aca2d00a6850c539bd5869da",
+  "HumanWAM/src/imagewam/datasets/wholebody_augmented_v3.py": "0e34ea3a71dde2f05bd4bd314ec97787bf3d1809c1cedc3dff5e8610b7723366",
+  "run/production.yaml": "3b955baed4a7c261380065c13a9ac10cc318bd470af83317a972d416f38d8b1d",
+  "run/smoke.yaml": "329e85d25458fe833cb2d5a7e787bf7246243e0ff8fdc6e9fab2949ab5ecc676",
+  "augmentation_policy.json": "71e685c7f40bee359035d44a17285e9beddb0654227375bf3e9df94e882a5c4a"
+}

legacy/b6-pedal-bin/robust-v3-20261106/epoch-060/dataset_stats.json

@@ -0,0 +1,1202 @@
+{
+  "schema": "wholebody-state41to44-action76-chunk16-train60val0-v1",
+  "action": {
+    "wholebody_action76": {
+      "global_min": [
+        -0.5,
+        -0.5625,
+        -0.3125,
+        -0.3125,
+        -0.5625,
+        -0.5,
+        -0.5,
+        -0.25,
+        -0.4375,
+        -0.125,
+        -0.4375,
+        -0.4375,
+        0.0,
+        -0.4375,
+        -0.3125,
+        -0.5625,
+        -0.375,
+        -0.25,
+        -0.5,
+        -0.5,
+        -0.5,
+        -0.4375,
+        -0.4375,
+        -0.5,
+        -0.625,
+        -0.0625,
+        -0.375,
+        -0.375,
+        -0.375,
+        -0.5625,
+        -0.25,
+        -0.4375,
+        -0.5,
+        -0.1875,
+        -0.0625,
+        -0.25,
+        -0.25,
+        -0.375,
+        -0.3125,
+        -0.25,
+        -0.375,
+        -0.4375,
+        -0.25,
+        -0.375,
+        -0.3125,
+        -0.0625,
+        -0.0625,
+        -0.375,
+        -0.5625,
+        -0.5625,
+        -0.75,
+        -0.375,
+        -0.625,
+        -0.5,
+        -0.25,
+        -0.4375,
+        -0.125,
+        -0.1875,
+        -0.4375,
+        -0.4375,
+        -0.25,
+        -0.375,
+        -0.3125,
+        -0.25,
+        0.9999428391456604,
+        0.9999276995658875,
+        0.9999210238456726,
+        0.9999285340309143,
+        0.9986287951469421,
+        0.9992701411247253,
+        0.6656574606895447,
+        0.7238412499427795,
+        0.7441709637641907,
+        0.7440497875213623,
+        0.8720815777778625,
+        0.0
+      ],
+      "global_max": [
+        0.4375,
+        0.25,
+        0.5,
+        0.375,
+        0.4375,
+        0.3125,
+        0.4375,
+        0.3125,
+        0.1875,
+        0.5,
+        0.3125,
+        0.1875,
+        0.625,
+        0.3125,
+        0.375,
+        0.3125,
+        0.1875,
+        0.4375,
+        0.25,
+        0.3125,
+        0.125,
+        0.375,
+        0.125,
+        0.25,
+        -0.0625,
+        0.5625,
+        0.0,
+        0.375,
+        0.3125,
+        0.1875,
+        0.4375,
+        0.375,
+        0.25,
+        0.4375,
+        0.5,
+        0.25,
+        0.5625,
+        0.375,
+        0.1875,
+        0.375,
+        0.5,
+        0.375,
+        0.4375,
+        0.1875,
+        0.3125,
+        0.625,
+        0.5625,
+        0.5,
+        0.3125,
+        0.25,
+        0.375,
+        0.3125,
+        0.375,
+        0.3125,
+        0.3125,
+        0.5,
+        0.5625,
+        0.3125,
+        0.1875,
+        0.125,
+        0.3125,
+        0.4375,
+        0.5,
+        0.5625,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        0.9993945956230164,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0
+      ],
+      "global_mean": [
+        0.12205392215212475,
+        -0.191904237590763,
+        0.08733707296750387,
+        0.026038566837281275,
+        -0.04580741875967147,
+        -0.10583375491012975,
+        -0.07459491429591715,
+        0.007153166289727414,
+        -0.03634053981668849,
+        0.1472257766932508,
+        -0.09219326568265683,
+        -0.13431622723485298,
+        0.3340283150815379,
+        -0.0008462534222116415,
+        0.05594944054279252,
+        -0.1644409891679562,
+        0.023750892750862992,
+        0.1390719854779193,
+        -0.0873872902035472,
+        -0.11926407570527318,
+        -0.17573056778954887,
+        -0.01916066539697655,
+        -0.12772846982502084,
+        -0.17683348708487084,
+        -0.3400171854541126,
+        0.30746525711224854,
+        -0.17064188787049162,
+        0.04540382097369361,
+        0.0011326776574217354,
+        -0.23277548803713843,
+        0.1392672747291989,
+        0.04347510713010356,
+        -0.0945720747530056,
+        0.1315951970003571,
+        0.3103369390548744,
+        -0.011365834424473278,
+        0.03394313177002738,
+        0.02199886918224021,
+        -0.05011494167361028,
+        0.024794295321985477,
+        -0.08120499047732413,
+        -0.010690691584335199,
+        0.0952862754433996,
+        -0.0718813236519462,
+        -0.0015511546244494703,
+        0.24170485656469468,
+        0.29831084097131294,
+        0.021734763718604926,
+        -0.13359272705630282,
+        -0.15295240149982145,
+        0.00410479407213427,
+        0.04467660099988097,
+        -0.09859503332936555,
+        -0.21653858171646231,
+        -0.01381903940007142,
+        0.11246614986311153,
+        0.2543317015831449,
+        0.09745491608141887,
+        -0.12355857933579335,
+        -0.1553405100583264,
+        -0.02950355612427092,
+        0.1963028954886323,
+        0.20641515890965362,
+        0.20040582966313533,
+        0.9999921767715328,
+        0.9999919751065499,
+        0.9999921913392316,
+        0.9999917814801412,
+        0.9990006654695477,
+        0.9999018464201533,
+        0.8782834985304866,
+        0.8850107173659435,
+        0.8900483158667476,
+        0.8944579906200258,
+        0.9991487625606315,
+        0.1626707116752267
+      ],
+      "global_std": [
+        0.13596290002461595,
+        0.18748733126558462,
+        0.12601473855801545,
+        0.10011682692122427,
+        0.17521196151908586,
+        0.15275669950480095,
+        0.17226017535508303,
+        0.09366615723208792,
+        0.12579817252318623,
+        0.12050780415955416,
+        0.11838907785638057,
+        0.09288635262974748,
+        0.14578264693864645,
+        0.13908424730509839,
+        0.10729044333225353,
+        0.18061337099840524,
+        0.08295358822000402,
+        0.16265996607267022,
+        0.15564986025814778,
+        0.09557719168947651,
+        0.09040151011246438,
+        0.11264392043604149,
+        0.0922248510661552,
+        0.13384355418992216,
+        0.1282031471478886,
+        0.13958901733055668,
+        0.06653164495891727,
+        0.11046393285652986,
+        0.13298782762476632,
+        0.1672657427822022,
+        0.1351966397133196,
+        0.11452271785641654,
+        0.10799686780912636,
+        0.11515864521938869,
+        0.09692246961352045,
+        0.07879130824818295,
+        0.12328107673859283,
+        0.15962525078050632,
+        0.11008117990977147,
+        0.09299148820957476,
+        0.1583480667548581,
+        0.16195318517354365,
+        0.13554047301792538,
+        0.07778100948697296,
+        0.11710128752179041,
+        0.17728887959144732,
+        0.14519101269657192,
+        0.1392994114528109,
+        0.13634772732091954,
+        0.12644674362442815,
+        0.13736326822255113,
+        0.10738645398874,
+        0.23806398036620682,
+        0.11535486858700235,
+        0.08074369822812408,
+        0.19515337305454844,
+        0.1864017949999747,
+        0.07607961628361623,
+        0.12830012639488636,
+        0.12408899637861243,
+        0.09042490515535681,
+        0.12539663292761385,
+        0.14064147993536863,
+        0.13477219454225184,
+        7.274007361725932e-06,
+        8.60790441827095e-06,
+        9.053195289922706e-06,
+        8.617247823552296e-06,
+        9.401444053163515e-05,
+        3.2841702827797235e-05,
+        0.12875264361563213,
+        0.12099240554097392,
+        0.11550356680440438,
+        0.11091380274253189,
+        0.0038477145767951697,
+        0.3467381205623456
+      ],
+      "global_q01": [
+        -0.25,
+        -0.5,
+        -0.1875,
+        -0.1875,
+        -0.4375,
+        -0.4375,
+        -0.4375,
+        -0.1875,
+        -0.3125,
+        -0.125,
+        -0.375,
+        -0.375,
+        0.0625,
+        -0.3125,
+        -0.1875,
+        -0.5,
+        -0.25,
+        -0.125,
+        -0.375,
+        -0.3125,
+        -0.375,
+        -0.3125,
+        -0.375,
+        -0.4375,
+        -0.5625,
+        0.0,
+        -0.3125,
+        -0.25,
+        -0.3125,
+        -0.5,
+        -0.125,
+        -0.1875,
+        -0.4375,
+        -0.0625,
+        0.125,
+        -0.1875,
+        -0.1875,
+        -0.3125,
+        -0.25,
+        -0.125,
+        -0.3125,
+        -0.375,
+        -0.1875,
+        -0.25,
+        -0.25,
+        0.0,
+        0.0,
+        -0.25,
+        -0.4375,
+        -0.4375,
+        -0.4375,
+        -0.25,
+        -0.5,
+        -0.4375,
+        -0.1875,
+        -0.25,
+        -0.0625,
+        -0.0625,
+        -0.375,
+        -0.375,
+        -0.25,
+        -0.0625,
+        -0.125,
+        -0.125,
+        0.9999714511632919,
+        0.9999661445617676,
+        0.99996417760849,
+        0.9999662041664124,
+        0.9988005775213241,
+        0.9998132586479187,
+        0.6913605260849,
+        0.7351129341125489,
+        0.7501687890291214,
+        0.7540875613689423,
+        0.992101634144783,
+        0.0
+      ],
+      "global_q99": [
+        0.375,
+        0.1875,
+        0.375,
+        0.25,
+        0.375,
+        0.1875,
+        0.3125,
+        0.25,
+        0.1875,
+        0.375,
+        0.1875,
+        0.0625,
+        0.5625,
+        0.25,
+        0.3125,
+        0.1875,
+        0.125,
+        0.4375,
+        0.1875,
+        0.125,
+        0.0625,
+        0.25,
+        0.0625,
+        0.125,
+        -0.125,
+        0.5625,
+        -0.0625,
+        0.3125,
+        0.1875,
+        0.125,
+        0.4375,
+        0.25,
+        0.125,
+        0.375,
+        0.4375,
+        0.1875,
+        0.375,
+        0.3125,
+        0.125,
+        0.25,
+        0.375,
+        0.25,
+        0.375,
+        0.125,
+        0.1875,
+        0.5625,
+        0.5,
+        0.375,
+        0.25,
+        0.125,
+        0.3125,
+        0.25,
+        0.25,
+        0.0625,
+        0.1875,
+        0.4375,
+        0.5625,
+        0.25,
+        0.125,
+        0.0625,
+        0.1875,
+        0.375,
+        0.5,
+        0.5,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        0.9991755485534668,
+        0.999984313249588,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0
+      ]
+    }
+  },
+  "state": {
+    "wholebody_state44": {
+      "global_min": [
+        -1.055478572845459,
+        -0.2701142728328705,
+        -0.34244224429130554,
+        0.14179371297359467,
+        -0.5140074491500854,
+        -0.25478988885879517,
+        -0.5060018301010132,
+        -0.36656486988067627,
+        -0.8835482597351074,
+        0.09821606427431107,
+        -0.5376335978507996,
+        -0.194913849234581,
+        -0.16901209950447083,
+        -0.09115391969680786,
+        0.09421355277299881,
+        -0.28237825632095337,
+        0.14426259696483612,
+        -0.9636492729187012,
+        0.7849960923194885,
+        -0.3521968126296997,
+        -0.14595942199230194,
+        -0.09411642700433731,
+        -0.6594600677490234,
+        -1.1580992937088013,
+        -1.1124080419540405,
+        -0.8441948890686035,
+        -0.26984357833862305,
+        -0.6765331625938416,
+        -0.6581082344055176,
+        0.9999428391456604,
+        0.9999276995658875,
+        0.9999210238456726,
+        0.9999285340309143,
+        0.9986287951469421,
+        0.9992701411247253,
+        0.6656574606895447,
+        0.7238412499427795,
+        0.7441709637641907,
+        0.7440497875213623,
+        0.8720815777778625,
+        0.0,
+        -0.21381627023220062,
+        -0.0789962112903595,
+        -1.0
+      ],
+      "global_max": [
+        0.3060455024242401,
+        0.32721370458602905,
+        0.6993118524551392,
+        1.7970227003097534,
+        0.5332104563713074,
+        0.13897332549095154,
+        0.4052600562572479,
+        0.1503346860408783,
+        0.30195242166519165,
+        1.2024953365325928,
+        0.14779508113861084,
+        0.16729821264743805,
+        0.14247669279575348,
+        0.09946724772453308,
+        0.30473047494888306,
+        0.4227847158908844,
+        0.44689857959747314,
+        0.17420144379138947,
+        1.267241358757019,
+        0.14509610831737518,
+        0.12133227288722992,
+        0.20619675517082214,
+        1.1219483613967896,
+        0.08046553283929825,
+        0.8236522674560547,
+        1.3544894456863403,
+        1.0394700765609741,
+        0.6882284283638,
+        1.2757254838943481,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        0.9993945956230164,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        0.06871921569108963,
+        0.13128259778022766,
+        -0.9745779037475586
+      ],
+      "global_mean": [
+        -0.12752648808861544,
+        0.036784690290555276,
+        0.07973235636188185,
+        0.419419822429755,
+        -0.18365543317158747,
+        -0.023815061469529594,
+        -0.004017499017434554,
+        -0.056628087675968684,
+        -0.34799479312910697,
+        0.2993887016478092,
+        -0.203624294578247,
+        -0.017414129189415716,
+        -0.01949365800596184,
+        0.019539556062235303,
+        0.14779126391798317,
+        0.1574790149423603,
+        0.25767560442937315,
+        -0.23948131031436076,
+        1.0740840654652142,
+        -0.07870681378614064,
+        -0.004016769732466547,
+        0.009444723144920267,
+        0.16882096377577002,
+        -0.36082676733529795,
+        -0.10850758257804603,
+        0.16186796333713394,
+        0.3163858792122422,
+        0.02755568064894681,
+        0.044813188074172075,
+        0.9999921767715328,
+        0.9999919751065499,
+        0.9999921913392316,
+        0.9999917814801412,
+        0.9990006654695477,
+        0.9999018464201533,
+        0.8782834985304866,
+        0.8850107173659435,
+        0.8900483158667476,
+        0.8944579906200258,
+        0.9991487625606315,
+        0.1626707116752267,
+        -0.06657946179959462,
+        0.017518817974242474,
+        -0.9959967701797073
+      ],
+      "global_std": [
+        0.24653085232551095,
+        0.11466058198114341,
+        0.16893146639830078,
+        0.28813595621959137,
+        0.14125105813300107,
+        0.057749580977855965,
+        0.1765763395188297,
+        0.0651992654969422,
+        0.16573149067197268,
+        0.15355775122150597,
+        0.12653989171698213,
+        0.057713219989396956,
+        0.048860294779378026,
+        0.0207794635074927,
+        0.022074932055940157,
+        0.10776954101514594,
+        0.03405858448160854,
+        0.23834730650476438,
+        0.11610632620920538,
+        0.08293742669378994,
+        0.04686390309837092,
+        0.03594887093715325,
+        0.2479861511521004,
+        0.16368047109908718,
+        0.29478058782575345,
+        0.7099018034960296,
+        0.27030265208671445,
+        0.19529026883716624,
+        0.2553896052172965,
+        7.274007361725932e-06,
+        8.60790441827095e-06,
+        9.053195289922706e-06,
+        8.617247823552296e-06,
+        9.401444053163515e-05,
+        3.2841702827797235e-05,
+        0.12875264361563213,
+        0.12099240554097392,
+        0.11550356680440438,
+        0.11091380274253189,
+        0.0038477145767951697,
+        0.3467381205623456,
+        0.04878459307205192,
+        0.029130552362414335,
+        0.004708973239125473
+      ],
+      "global_q01": [
+        -0.9299260765314102,
+        -0.2242169314622879,
+        -0.2826476657390594,
+        0.1608625093102455,
+        -0.4373463675379753,
+        -0.1322254030406475,
+        -0.3939542764425278,
+        -0.24082331299781798,
+        -0.7230627697706222,
+        0.15053387910127639,
+        -0.47352758556604385,
+        -0.14640963613986968,
+        -0.13467348515987396,
+        -0.030067484825849533,
+        0.11655354984104634,
+        -0.0455751771852374,
+        0.19865295112133027,
+        -0.7000703585147857,
+        0.8262790262699127,
+        -0.2651527985930443,
+        -0.10647640429437161,
+        -0.05538588404655456,
+        -0.521013890504837,
+        -0.7839655894041061,
+        -0.7384728568792344,
+        -0.7950092345476151,
+        -0.16188112616539,
+        -0.43226377338171007,
+        -0.43292497932910917,
+        0.9999714511632919,
+        0.9999661445617676,
+        0.99996417760849,
+        0.9999662041664124,
+        0.9988005775213241,
+        0.9998132586479187,
+        0.6913605260849,
+        0.7351129341125489,
+        0.7501687890291214,
+        0.7540875613689423,
+        0.992101634144783,
+        0.0,
+        -0.17818405538797377,
+        -0.041434145420789714,
+        -0.9999815118312836
+      ],
+      "global_q99": [
+        0.1764446207880975,
+        0.20983559206128122,
+        0.41207146644592296,
+        1.420135642290116,
+        0.22152226597070696,
+        0.09340010635554796,
+        0.3502546840906144,
+        0.10087930485606214,
+        -0.014066167026758161,
+        0.9975247037410743,
+        0.041801332011818945,
+        0.10381913430988791,
+        0.1116371110081673,
+        0.07421592935919763,
+        0.2394365781545639,
+        0.3422778826951981,
+        0.3616640183329583,
+        0.04531674332916738,
+        1.2490388488769533,
+        0.09866920776665215,
+        0.09438016697764401,
+        0.11531773582100877,
+        0.6761672908067705,
+        -0.058589987009762735,
+        0.650773352980614,
+        1.317708045244217,
+        0.8570230454206468,
+        0.4907196345925333,
+        0.802535644769669,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        0.9991755485534668,
+        0.999984313249588,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        1.0,
+        0.01512152872048319,
+        0.10801279932260514,
+        -0.9810407876968383
+      ]
+    }
+  },
+  "normalization": {
+    "mode": "q01/q99",
+    "clamp": [
+      -5.0,
+      5.0
+    ],
+    "state_fixed_bounds": {
+      "start": 29,
+      "end": 41,
+      "min": 0.0,
+      "max": 1.0
+    },
+    "action_fixed_bounds": {
+      "start": 64,
+      "end": 76,
+      "min": 0.0,
+      "max": 1.0
+    },
+    "constant_range_tolerance": 0.0001
+  },
+  "train_episode_ids": [
+    0,
+    1,
+    2,
+    3,
+    4,
+    5,
+    6,
+    7,
+    8,
+    9,
+    10,
+    11,
+    12,
+    13,
+    14,
+    15,
+    16,
+    17,
+    18,
+    19,
+    20,
+    21,
+    22,
+    23,
+    24,
+    25,
+    26,
+    27,
+    28,
+    29,
+    30,
+    31,
+    32,
+    33,
+    34,
+    35,
+    36,
+    37,
+    38,
+    39,
+    40,
+    41,
+    42,
+    43,
+    44,
+    45,
+    46,
+    47,
+    48,
+    49,
+    50,
+    51,
+    52,
+    53,
+    54,
+    55,
+    56,
+    57,
+    58,
+    59
+  ],
+  "train_frames": 33604,
+  "train_split_mode": "all_60",
+  "heldout_episode_ids": [],
+  "normalization_reference_episode_ids": [
+    0,
+    1,
+    2,
+    3,
+    4,
+    5,
+    6,
+    7,
+    8,
+    9,
+    10,
+    11,
+    12,
+    13,
+    14,
+    15,
+    16,
+    17,
+    18,
+    19,
+    20,
+    21,
+    22,
+    23,
+    24,
+    25,
+    26,
+    27,
+    28,
+    29,
+    30,
+    31,
+    32,
+    33,
+    34,
+    35,
+    36,
+    37,
+    38,
+    39,
+    40,
+    41,
+    42,
+    43,
+    44,
+    45,
+    46,
+    47,
+    48,
+    49,
+    50,
+    51,
+    52,
+    53,
+    54,
+    55,
+    56,
+    57,
+    58,
+    59
+  ],
+  "normalization_reference_train_frames": 33604,
+  "normalization_strategy": "fit_wholebody_motion64_body29_gravity3_fixed_inspire_hands",
+  "action_order": "motion64,left_measured_hand6_native_order,right_measured_hand6_native_order",
+  "state_order": "body29,left_measured_hand6_native_order,right_measured_hand6_native_order,projected_gravity3",
+  "hand_target_time_offset": 0,
+  "hand_target_type": "same-row measured feedback, not issued command",
+  "hand_field_order": [
+    "pinky",
+    "ring",
+    "middle",
+    "index",
+    "thumb_bend",
+    "thumb_rotation"
+  ],
+  "hand_field_order_source": "meta/info.json features.observation.inspire_{left,right}_hand_state.names",
+  "hand_dataset_units": "[0,1]; do not divide recorded feedback by 1000 again",
+  "hand_deployment_raw1000_rule": "if the runtime reports raw Inspire units [0,1000], divide by 1000 exactly once before normalization",
+  "action_dim": 76,
+  "proprio_dim": 44,
+  "body_state_indices": [
+    0,
+    1,
+    2,
+    3,
+    4,
+    5,
+    6,
+    7,
+    8,
+    9,
+    10,
+    11,
+    12,
+    13,
+    14,
+    15,
+    16,
+    17,
+    18,
+    19,
+    20,
+    21,
+    22,
+    23,
+    24,
+    25,
+    26,
+    27,
+    28
+  ],
+  "constant_action_dims": [],
+  "split_manifest_sha256": "2fb704a0ec6edf358180843993ca4fab79757a592124cbe4ca730bacece3a92f",
+  "split_manifest": {
+    "train_episode_ids": [
+      0,
+      1,
+      2,
+      3,
+      4,
+      5,
+      6,
+      7,
+      8,
+      9,
+      10,
+      11,
+      12,
+      13,
+      14,
+      15,
+      16,
+      17,
+      18,
+      19,
+      20,
+      21,
+      22,
+      23,
+      24,
+      25,
+      26,
+      27,
+      28,
+      29,
+      30,
+      31,
+      32,
+      33,
+      34,
+      35,
+      36,
+      37,
+      38,
+      39,
+      40,
+      41,
+      42,
+      43,
+      44,
+      45,
+      46,
+      47,
+      48,
+      49,
+      50,
+      51,
+      52,
+      53,
+      54,
+      55,
+      56,
+      57,
+      58,
+      59
+    ],
+    "validation_episode_ids": [],
+    "source_group_by_episode": {
+      "0": "v1:episodes/1:seed1",
+      "1": "v1:episodes/2:seed2",
+      "2": "v1:episodes/3:seed3",
+      "3": "v1:episodes/4:seed4",
+      "4": "v1:episodes/5:seed5",
+      "5": "v1:episodes/6:seed6",
+      "6": "v1:episodes/7:seed7",
+      "7": "v1:episodes/8:seed8",
+      "8": "v1:episodes/9:seed9",
+      "9": "v1:episodes/10:seed10",
+      "10": "v1:episodes/11:seed11",
+      "11": "v1:episodes/12:seed12",
+      "12": "v1:episodes/13:seed13",
+      "13": "v1:episodes/14:seed14",
+      "14": "v1:episodes/15:seed15",
+      "15": "v1:episodes/16:seed16",
+      "16": "v1:episodes/17:seed17",
+      "17": "v1:episodes/18:seed18",
+      "18": "v1:episodes/19:seed19",
+      "19": "v1:episodes/20:seed20",
+      "20": "v1:episodes/21:seed21",
+      "21": "v1:episodes/22:seed22",
+      "22": "v1:episodes/23:seed23",
+      "23": "v1:episodes/24:seed24",
+      "24": "v1:episodes/25:seed25",
+      "25": "v1:episodes/26:seed26",
+      "26": "v1:episodes/27:seed27",
+      "27": "v1:episodes/28:seed28",
+      "28": "v1:episodes/29:seed29",
+      "29": "v1:episodes/30:seed30",
+      "30": "v1:episodes/31:seed31",
+      "31": "v1:episodes/32:seed32",
+      "32": "v1:episodes/33:seed33",
+      "33": "v1:episodes/34:seed34",
+      "34": "v1:episodes/35:seed35",
+      "35": "v1:episodes/36:seed36",
+      "36": "v1:episodes/37:seed37",
+      "37": "v1:episodes/38:seed38",
+      "38": "v1:episodes/39:seed39",
+      "39": "v1:episodes/40:seed40",
+      "40": "v1:episodes/41:seed41",
+      "41": "v1:episodes/42:seed42",
+      "42": "v1:episodes/43:seed43",
+      "43": "v1:episodes/44:seed44",
+      "44": "v2:episodes/1:seed1",
+      "45": "v2:episodes/2:seed2",
+      "46": "v2:episodes/3:seed3",
+      "47": "v2:episodes/4:seed4",
+      "48": "v2:episodes/5:seed5",
+      "49": "v2:episodes/6:seed6",
+      "50": "v2:episodes/7:seed7",
+      "51": "v2:episodes/8:seed8",
+      "52": "v2:episodes/9:seed9",
+      "53": "v2:episodes/10:seed10",
+      "54": "v2:episodes/11:seed11",
+      "55": "v2:episodes/12:seed12",
+      "56": "v2:episodes/13:seed13",
+      "57": "v2:episodes/14:seed14",
+      "58": "v2:episodes/15:seed15",
+      "59": "v2:episodes/16:seed16"
+    },
+    "provenance_reviewed": true,
+    "split_basis": "User requested every v1+v2 episode for training, no heldout; per-source hashes and commits audited",
+    "seed": 42,
+    "expected_body_joint_names": [
+      "left_hip_pitch_joint",
+      "left_hip_roll_joint",
+      "left_hip_yaw_joint",
+      "left_knee_joint",
+      "left_ankle_pitch_joint",
+      "left_ankle_roll_joint",
+      "right_hip_pitch_joint",
+      "right_hip_roll_joint",
+      "right_hip_yaw_joint",
+      "right_knee_joint",
+      "right_ankle_pitch_joint",
+      "right_ankle_roll_joint",
+      "waist_yaw_joint",
+      "waist_roll_joint",
+      "waist_pitch_joint",
+      "left_shoulder_pitch_joint",
+      "left_shoulder_roll_joint",
+      "left_shoulder_yaw_joint",
+      "left_elbow_joint",
+      "left_wrist_roll_joint",
+      "left_wrist_pitch_joint",
+      "left_wrist_yaw_joint",
+      "right_shoulder_pitch_joint",
+      "right_shoulder_roll_joint",
+      "right_shoulder_yaw_joint",
+      "right_elbow_joint",
+      "right_wrist_roll_joint",
+      "right_wrist_pitch_joint",
+      "right_wrist_yaw_joint"
+    ],
+    "source_metadata_sha256": {
+      "meta/episodes.jsonl": "c5b75c8fb0fe8794010ee04ac9749a7ff95b53aeed6e25d1bc1acdc5eef3ebea",
+      "meta/episodes_stats.jsonl": "e72a105c4605b649712ff9ae300a41817e2db45b81da9d8cf2269fe7b1532aae",
+      "meta/info.json": "56b2afd537d2ec6ecd00f4ca42896ad044f193ed2ae457beb93f1dd9aef1b0e3",
+      "meta/modality.json": "d1723bc550d2ca7c5a4c40ee058e80b573929fe0c45098ce939abe5e088c875d",
+      "meta/sim_episodes.jsonl": "c76264f3e541c44c8b7fdbb7887878308e7ca661ffba5d8c8abf19e3723e5ee0",
+      "meta/tasks.jsonl": "f1cd21614b2e587f62cb33f4efe1320db4e0e84d3bf578a38573178ebdf50ca2",
+      "meta/union_sources.jsonl": "916fc089e0df341ffd24c898ff7e5083af40f69db38e58a5d38fad500d171c55"
+    },
+    "source_hf_commits": {
+      "v1": "f931af2ac171d89b23924e83f04791f10f55f7e4",
+      "v2": "bfe41421e200fd142f2ec85e9564c2fbb0d28e93"
+    },
+    "sonic_compatibility": "User confirmed v1 and v2 use identical SONIC version and policy weights, 2026-11-05"
+  },
+  "dataset_root": "/mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/all60-20261105/merged60",
+  "instruction": "Pick up the chip barrel from the cart, walk to the pedal bin, step on its pedal and drop it in.",
+  "metadata_sha256": {
+    "meta/episodes.jsonl": "c5b75c8fb0fe8794010ee04ac9749a7ff95b53aeed6e25d1bc1acdc5eef3ebea",
+    "meta/episodes_stats.jsonl": "e72a105c4605b649712ff9ae300a41817e2db45b81da9d8cf2269fe7b1532aae",
+    "meta/info.json": "56b2afd537d2ec6ecd00f4ca42896ad044f193ed2ae457beb93f1dd9aef1b0e3",
+    "meta/modality.json": "d1723bc550d2ca7c5a4c40ee058e80b573929fe0c45098ce939abe5e088c875d",
+    "meta/sim_episodes.jsonl": "c76264f3e541c44c8b7fdbb7887878308e7ca661ffba5d8c8abf19e3723e5ee0",
+    "meta/tasks.jsonl": "f1cd21614b2e587f62cb33f4efe1320db4e0e84d3bf578a38573178ebdf50ca2",
+    "meta/union_sources.jsonl": "916fc089e0df341ffd24c898ff7e5083af40f69db38e58a5d38fad500d171c55"
+  },
+  "parquet_sha256": {
+    "data/chunk-000/episode_000000.parquet": "f2401b657988f4e0bce54abe52c08971a911313ba4598293005cc915c466abcd",
+    "data/chunk-000/episode_000001.parquet": "ad99c8bc7f1c06ec6b214e7716dcfb0e361c6ed0873c787251daa100b58db1dd",
+    "data/chunk-000/episode_000002.parquet": "64c85dce79a3375216908b94741bfb1a8d9f93d862d6690c68520f1c5ec71f95",
+    "data/chunk-000/episode_000003.parquet": "6e086aa9b4d9c92402bcbcd204e6e7d3f7ef35a354279656150121b0e1497375",
+    "data/chunk-000/episode_000004.parquet": "bdcfe0a0b3cc0977b703e1b62ef1f300167a4fa447f391b7544f2984d627c215",
+    "data/chunk-000/episode_000005.parquet": "a329f83c71bfa84c805fbe2b12a2d8b9e30b70a7384a06bb289f160bca50566e",
+    "data/chunk-000/episode_000006.parquet": "e008b08898d1ab003bc2b977418df15293e13ed0db99dd4f9f417d0913aecf45",
+    "data/chunk-000/episode_000007.parquet": "9c5b2e8cee7924a0f2ac54c2ac19da20b72d8d0821f9165286166c4c041cec40",
+    "data/chunk-000/episode_000008.parquet": "89e354aae186533dc61a99405f3f371f1787b3b9842bd2aa0a93a0217564158c",
+    "data/chunk-000/episode_000009.parquet": "4b734c7b45f24ea1e73ff47edf0b116335a5ef18b28fdeb3e4a22f028d11a335",
+    "data/chunk-000/episode_000010.parquet": "625ade70a39d05284d7a4fb753b770335d13de6129c5c86c9d44eda57c71fd93",
+    "data/chunk-000/episode_000011.parquet": "0a3f24aa4580de66e59cf21af47a2345bc4d4610c4c64dff1c9a09b7c0a1d0f9",
+    "data/chunk-000/episode_000012.parquet": "72ce0e476c0bb89e5337d262a36d645267adaeda0c9c2f1132ea1eadef3eb06b",
+    "data/chunk-000/episode_000013.parquet": "54512120052a697421f294e7ebf983494973a8f5ce5a52a09320f298f8fa81a5",
+    "data/chunk-000/episode_000014.parquet": "a51fe3ba866ea8897d7060bc15ea666538722fa94181669e2d6e2a6971301e64",
+    "data/chunk-000/episode_000015.parquet": "9f3a6454d8475bc89ad0899887230c2b8f799b7be69f3d1ed83eb0576dd67fb8",
+    "data/chunk-000/episode_000016.parquet": "9995e3d81bc6c008abc6365443c569fcb94bfda2d22e2e9992f62c1a6452a69f",
+    "data/chunk-000/episode_000017.parquet": "03914a28039b84b6c11aba36f714cee8afbca98bfbf73a0c125cfcf1c06c252c",
+    "data/chunk-000/episode_000018.parquet": "ffc77084229099afb381a46fb1e50e65bbf48ee3f5a3ec6dc707cbbcff4b60fc",
+    "data/chunk-000/episode_000019.parquet": "df910d320bad98e9fc92124da0ec38c25726882a90b50bff6345925a06bf3d88",
+    "data/chunk-000/episode_000020.parquet": "3bf35e28513feea6e0e8acbf2106b65e2263759b8ed1f6c376b859a13486d716",
+    "data/chunk-000/episode_000021.parquet": "ba277b067f701dc88f6ff22b4539656b0906e5c6b2c072fd76e07042d5f1cdbd",
+    "data/chunk-000/episode_000022.parquet": "0ed3a8efc9c50d758745848deaa83f567b3e33b5526ef0050f3fee7edec121b5",
+    "data/chunk-000/episode_000023.parquet": "2564056cf5d0e685946d3be74e50e6e76688408c0dafcc8b7998b81ffeb668cf",
+    "data/chunk-000/episode_000024.parquet": "e6c3a316e801d8de33ee15e3e62d4a76454c88a55ebdadbdb20d1c2ca3261bd9",
+    "data/chunk-000/episode_000025.parquet": "7069897b103bc4a05d9c620c71b96503c374056501f690db3e4535c68e597457",
+    "data/chunk-000/episode_000026.parquet": "c5dcf156b7cc0aafba7ab5d571aa0ff262bb4f86ffe46b54a09eaf7e2f809891",
+    "data/chunk-000/episode_000027.parquet": "3f1e8568726b471c62b016d7ec81266253a96928a4723ef1935e68e2586d9caa",
+    "data/chunk-000/episode_000028.parquet": "c4c2ada4491e2c15f8e65362fd7818d1cb3c58a1240290a2e2f8bc237be07741",
+    "data/chunk-000/episode_000029.parquet": "f11b69855fc0376914fb72dd34edf21cba31eef2315955d48a8b1be10d952ae0",
+    "data/chunk-000/episode_000030.parquet": "62ab416cc378ba435155e15f059e6f0eca1d362acb3a4050c1857e66f9c38638",
+    "data/chunk-000/episode_000031.parquet": "9beee2c4b8e8e8d5db84bad994354829657fc565063e5d4bf47117b45985350d",
+    "data/chunk-000/episode_000032.parquet": "ff1edf66fa6daf2986167f0d9d436d80abcc55f774e049d240cec3528cff4b84",
+    "data/chunk-000/episode_000033.parquet": "331a74982df7fdbdf65f13babcadb75f4106be123d2f7cb358fd93fcaa2fea8f",
+    "data/chunk-000/episode_000034.parquet": "6b0760d7b38e52293670b486b12164a89eb24791d9b9afdc4cf9f68779e18e75",
+    "data/chunk-000/episode_000035.parquet": "e313a99ef44c1c6977a7fa46b155ddb18d30e2bf96dffd7e5d9063d198318489",
+    "data/chunk-000/episode_000036.parquet": "9a25543a5f13eb5113a993b1c68699399ffb879d259b802682267eb705d9e0db",
+    "data/chunk-000/episode_000037.parquet": "38cac5ea3ef2e9c042027e8f2c7031f7a20b3085287a0fb50cf87577e476aa2e",
+    "data/chunk-000/episode_000038.parquet": "e284006545898b1b933012a153e2635d33c6767914d1772f8781ceb138cfef0d",
+    "data/chunk-000/episode_000039.parquet": "8ca77a89bbef8ab1d184632856f170517546430573f58936e3e7f08ea2b3cc09",
+    "data/chunk-000/episode_000040.parquet": "aa0db5c3fa4967722b874a80a23086cbdba4f4959575915f0151af2c0e49146e",
+    "data/chunk-000/episode_000041.parquet": "a1d077db621c248dc49aff0eeb8add6404d4da7915d5ed4c5e56b64eb2c31df5",
+    "data/chunk-000/episode_000042.parquet": "f29c637d877830cdf85fdc9c88eb50bf8d9ec89814cad70b31eaa78c79b786f1",
+    "data/chunk-000/episode_000043.parquet": "812d0188c51a2c9a544348668b38c417e8d51ecdec2f1f68e6fb45f3ce413fd7",
+    "data/chunk-000/episode_000044.parquet": "35079a372e1a17539ee0f4be7e231083034c0ef1cf8ed407281778b351bd9d8b",
+    "data/chunk-000/episode_000045.parquet": "da6b22930716be8845b480a622d2dbf9239113d1c67480c49020006d5c549d77",
+    "data/chunk-000/episode_000046.parquet": "7b149e5304e29c1567158f95bc9eb2ded67306144c4dbb99463b060efa427bbf",
+    "data/chunk-000/episode_000047.parquet": "a83a00fcc2b7d3d2eb103c4532ffac96f4b61174292fc7de132ac2782df54388",
+    "data/chunk-000/episode_000048.parquet": "3d4e3eccc2e8e05c2acfb374c235b3f2f05946a822b0f7d5b8ba4a06bd521815",
+    "data/chunk-000/episode_000049.parquet": "5447263ccda847c4f74f2d02b73e18a37663affac3f81eb70e54591aa3313013",
+    "data/chunk-000/episode_000050.parquet": "b82e6092cc040fb6cb524dc163692c3a47f6bc5dda398b22346bf828018e982f",
+    "data/chunk-000/episode_000051.parquet": "405710c75c17e08c802476f9ba0c1f2dbc153c4c8d8055c597b44d2dac4b3461",
+    "data/chunk-000/episode_000052.parquet": "103f21788306d17cdaeb3a4108b55fa3678f38ea264465676a3700f23d6b7759",
+    "data/chunk-000/episode_000053.parquet": "35a2451aa6a308705d07df2680798257eced50cb1447b6e72ce73317273b4c46",
+    "data/chunk-000/episode_000054.parquet": "03025e46e5a320e150f6999e7d7923573857c5d50147feea345e12db487b6b84",
+    "data/chunk-000/episode_000055.parquet": "e2e72a95a10a5d188d468e0be49aab6ba03d95407fb24b68e263601eb17ef8ba",
+    "data/chunk-000/episode_000056.parquet": "1cd378392c705971c86f53c043bf3b4548d5a52d5060ce22bc32772a649738b4",
+    "data/chunk-000/episode_000057.parquet": "a5cd5254108fc42561ad0b8126d547ffcbf619e997db0bab84ab2bae90b79197",
+    "data/chunk-000/episode_000058.parquet": "bd0ccacc9dc56c7252f3fa870479cd495e409971b37be4ab34d422ace7408f39",
+    "data/chunk-000/episode_000059.parquet": "abc6f2ab5b0e662ec340321356688c19c6051a2472412bf09ef30503560baead"
+  }
+}

legacy/b6-pedal-bin/robust-v3-20261106/epoch-060/model.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:785e1690206efab9f9bdba7242c865ce1b6223e9aa80bcb8930bcb28c3ee32aa
+size 9035633721

legacy/b6-pedal-bin/robust-v3-20261106/epoch-060/original_protocol.json

@@ -0,0 +1,27 @@
+{
+  "run": "robust-v3-20261106",
+  "epoch_completed": 60,
+  "global_step": 7920,
+  "total_epochs": 60,
+  "fresh_task_training": true,
+  "old_task_checkpoint_loaded": false,
+  "optimizer_fresh": true,
+  "action_dim": 76,
+  "state_dim": 44,
+  "action_layout": [
+    "motion_token64",
+    "left_measured_hand_state6",
+    "right_measured_hand_state6"
+  ],
+  "state_layout": [
+    "body_joint_positions29",
+    "measured_hands12",
+    "projected_gravity3"
+  ],
+  "action_chunk": 16,
+  "history": 16,
+  "future_image_offset": 16,
+  "episodes": 60,
+  "augmentation": "robust-v3-from-epoch-1",
+  "rollout_verified": false
+}

legacy/b6-pedal-bin/robust-v3-20261106/epoch-060/preparation_receipt.json

@@ -0,0 +1,14 @@
+{
+  "status": "PREPARED_NOT_STARTED",
+  "run": "/mnt/nas/cross/Team/RobotAgent/Personal/baijiaqi/humanoid-benchmark-work/preflight-20261104T1648Z/augmented-from-scratch-20261106-v3",
+  "same_original_recipe": true,
+  "epochs": 60,
+  "total_steps": 7920,
+  "learning_rate": 0.0001,
+  "resume": null,
+  "hf_epochs": [
+    50,
+    60
+  ],
+  "created_utc": "2026-11-05T17:51:47.577629+00:00"
+}

legacy/b6-pedal-bin/robust-v3-20261106/epoch-060/protocol.json

@@ -0,0 +1,26 @@
+{
+  "benchmark_result": false,
+  "not_benchmark_because": "Early B6 experiment: older B6 data (b6-pedal-bin-expert-v1 + v2, 60 episodes) instead of the benchmark's 100-episode B6 set, older augmentation robust-v3 instead of spec v2, 60 epochs.",
+  "model": "Delta Flow (ImageWAM, HumanWAM wholebody delta-flow policy): action = motion_token64 + same-frame measured hands12 (G1, 76-D) or H2 body31 + Sharpa hands44 (75-D); chunk 16, history 16, future image t+16.",
+  "task_dir": "b6-pedal-bin",
+  "run": "robust-v3-20261106",
+  "epoch_folder": "epoch-060",
+  "weights": "model.pt",
+  "weights_sha256": "785e1690206efab9f9bdba7242c865ce1b6223e9aa80bcb8930bcb28c3ee32aa",
+  "moved_from": {
+    "repo": "humanoid-benchmark/b6-imagewam-deltaflow76",
+    "path": "robust-v3-20261106/epoch-060/model.pt",
+    "revision": "75af1c3ebbfa850d87f5e58e239da03712a4c52d",
+    "note": "original repository deleted after this move; file is byte-identical"
+  },
+  "original_protocol": "original_protocol.json (file names inside refer to the original repository; weights there were named model.pt)",
+  "files": {
+    "augmentation_policy.json": 2211,
+    "code_manifest.json": 520,
+    "dataset_stats.json": 32689,
+    "model.pt": 9035633721,
+    "original_protocol.json": 617,
+    "preparation_receipt.json": 390,
+    "training_config.yaml": 7558
+  }
+}

legacy/b6-pedal-bin/robust-v3-20261106/epoch-060/training_config.yaml

@@ -0,0 +1,312 @@
+output_dir: REPLACE_WITH_WORK_ROOT/preflight-20261104T1648Z/augmented-from-scratch-20261106-v3/run/production
+batch_size: 8
+gradient_accumulation_steps: 1
+num_workers: 4
+prefetch_factor: 2
+persistent_workers: true
+num_epochs: 60
+max_steps: 7920
+lr_scheduler_total_steps: 7920
+warmup_steps: 396
+lr_scheduler_type: cosine
+learning_rate: 0.0001
+weight_decay: 0.01
+optimizer_foreach: false
+mixed_precision: bf16
+seed: 42
+max_grad_norm: 1.0
+resume: null
+log_every: 5
+rank_timer_every: 20
+rank_timer_sync_cuda: true
+save_every: 1320
+save_steps: []
+save_at_end: true
+keep_latest_weights: 4
+keep_latest_state_only: true
+eval_every: 0
+eval_num_inference_steps: 1
+eval_num_samples: 1
+precache_arrow: false
+precache_num_workers: 0
+build_lerobot_meta_cache: false
+build_norm_stats: false
+precache_fuse_norm_stats: false
+norm_stats_cache_enabled: false
+wandb:
+  enabled: false
+  workspace: null
+  project: imagewam-wholebody
+  name: deltaflow76-p25
+  group: wholebody-action76-state44
+  mode: disabled
+data:
+  train:
+    _target_: imagewam.datasets.wholebody_augmented_v3.WholeBodyRobustLeRobotDataset
+    dataset_dir: REPLACE_WITH_WORK_ROOT/preflight-20261104T1648Z/all60-20261105/merged60
+    stats_path: REPLACE_WITH_WORK_ROOT/preflight-20261104T1648Z/all60-20261105/normalization-confirmed/dataset_stats.json
+    qwen_text_cache_dir: REPLACE_WITH_WORK_ROOT/preflight-20261104T1648Z/all60-20261105/qwen3-text
+    split: train
+    train_split_mode: all_60
+    action_horizon: 16
+    past_action_size: 16
+    qwen_context_len: 128
+    qwen_text_dim: 7680
+    video_cache_frames: 64
+    split_manifest_path: REPLACE_WITH_WORK_ROOT/preflight-20261104T1648Z/all60-20261105/all60-manifest.json
+    image_augmentation:
+      version: b6-visual-aug-v2
+      seed: 20261106
+      enabled: true
+      exposure_ev:
+      - -0.22
+      - 0.22
+      contrast:
+      - 0.88
+      - 1.12
+      saturation:
+      - 0.76
+      - 1.24
+      hue:
+      - -0.015
+      - 0.015
+      gamma:
+      - 0.89
+      - 1.11
+      temperature_delta:
+      - -0.066
+      - 0.066
+      noise_probability: 0.5
+      noise_sigma:
+      - 0.01568627450980392
+      - 0.01568627450980392
+      blur_probability: 0.15
+      blur_sigma:
+      - 0.25
+      - 0.65
+      blur_kernel: 3
+      shared_colour_across_cameras_and_time: true
+      noise_on_future_target: false
+      action_label_noise: false
+      state_label_noise: false
+      geometric_transforms: true
+      approval_status: USER_AUTHORIZED_20261106
+      supersedes: b6-visual-aug-v1
+      policy_id: b6-robust-v3
+      rotation_degrees: 1.5
+      crop_zoom_extra: 0.02
+      jpeg_probability: 0.35
+      jpeg_quality:
+      - 70
+      - 95
+    proprio_augmentation:
+      enabled: true
+      seed: 20261106
+      joint_bias_degrees: 2.0
+      joint_noise_std_degrees: 0.25
+      delay_probability: 0.15
+      max_delay_control_cycles: 2
+      control_hz: 30
+      recording_hz: 50
+      history_drop_probability: 0.15
+      affected_angle_channels:
+      - 0
+      - 1
+      - 2
+      - 3
+      - 4
+      - 5
+      - 6
+      - 7
+      - 8
+      - 9
+      - 10
+      - 11
+      - 12
+      - 13
+      - 14
+      - 15
+      - 16
+      - 17
+      - 18
+      - 19
+      - 20
+      - 21
+      - 22
+      - 23
+      - 24
+      - 25
+      - 26
+      - 27
+      - 28
+      velocity_channels: []
+      action_label_noise: false
+      bias_scope: fixed_per_episode
+      start_pose_library: not_applied_offline
+      render_randomization: not_applied_offline
+  val: null
+model:
+  _target_: imagewam.wholebody_delta.create_imagewam_flux2_wholebody_delta
+  flux2_src_path: REPLACE_WITH_WORK_ROOT/preflight-20261104T1648Z/HumanWAM/third_party/flux2
+  flux2_model_path: REPLACE_WITH_WORK_ROOT/preflight-20261104T1648Z/hf-inputs/FLUX.2-klein-base-4B/flux-2-klein-base-4b.safetensors
+  ae_model_path: REPLACE_WITH_WORK_ROOT/preflight-20261104T1648Z/hf-inputs/FLUX.2-AE/ae.safetensors
+  qwen3_model_spec: REPLACE_WITH_WORK_ROOT/preflight-20261104T1648Z/hf-inputs/Qwen3-4B
+  variant: klein-base-4b
+  qwen_context_len: 128
+  load_text_encoder: false
+  proprio_dim: 44
+  action_state_dim: 44
+  expected_action_dim: 76
+  expected_action_horizon: 16
+  state_only_init_seed: 42
+  mot_checkpoint_mixed_attn: true
+  mot_gqa_implementation: repeat
+  mot_force_flash_attention: false
+  pack_proprio_after_text: false
+  action_dit_pretrained_path: REPLACE_WITH_WORK_ROOT/preflight-20261104T1648Z/all60-20261105/action-shared-flux2-4b.pt
+  action_initializer_sha256: 3b40f3ca92b3e249ed39791c1ce3ab55adce8161e406c62d94387ab1532ef657
+  zero_init_action_head: false
+  action_head_init_scale: 1.0
+  flux2_action_image_context:
+    mode: noise_idm
+    include_future_tokens: true
+    knowledge_insulation: true
+    reuse_image_fm_workspace: false
+  flux2_lora_config:
+    enabled: false
+  action_dit_config:
+    action_dim: 76
+    hidden_dim: 1024
+    num_heads: 24
+    attn_head_dim: 128
+    num_layers_double: 5
+    num_layers_single: 20
+    mlp_ratio: 4.0
+    max_action_horizon: 64
+    use_gradient_checkpointing: true
+  video_scheduler:
+    train_shift: 5.0
+    infer_shift: 5.0
+    num_train_timesteps: 1000
+  action_scheduler:
+    train_shift: 5.0
+    infer_shift: 5.0
+    num_train_timesteps: 1000
+  loss:
+    lambda_video: 0.5
+    lambda_action: 1.0
+    action_a2a:
+      enabled: true
+      fm_weight: 1.0
+      ic_weight: 0.5
+      ic_steps: 1
+      ic_loss: l1
+      source_noise_std: 0.5
+      source_noise_dim_mask:
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      - true
+      aura:
+        enabled: false
+    image_i2i:
+      enabled: true
+      source_mode: gaussian
+      current_residual_scale: 0.5773502691896258
+      variance_normalize: true
+      ic_weight: 1.0
+      ic_steps: 1
+      ic_loss: l1
+      source_noise_std: 0.0
+wholebody_contract:
+  world_size: 32
+  zero_stage: 1
+  statistics_sha256: 06303225cc999a0d94ebbde47b10876bd89fc15a68f33e2a264bb7037e456010
+  stats_schema: wholebody-state41to44-action76-chunk16-train60val0-v1
+  normalization_strategy: fit_wholebody_motion64_body29_gravity3_fixed_inspire_hands
+  smoke_output_dir: REPLACE_WITH_WORK_ROOT/preflight-20261104T1648Z/augmented-from-scratch-20261106-v3/run/smoke
+  production_output_dir: REPLACE_WITH_WORK_ROOT/preflight-20261104T1648Z/augmented-from-scratch-20261106-v3/run/production
+  fresh_base: true
+  measured_loader:
+    dataset_frames: 33604
+    raw_loader_batches: 4201
+    per_rank_microbatches: 132
+    world_size: 32
+    microbatch: 8
+    gradient_accumulation: 1
+    dataloader_drop_last: false
+    source: native Wan22Trainer._build_loader + Accelerate.prepare_data_loader; no
+      iteration/model/optimizer
+  updates_per_epoch: 132