legacy/README: describe the added training records
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legacy/README.md
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Moved here on 2026-11-11 from `humanoid-benchmark/g1-basket-transfer-imagewam-deltaflow76` (revision `01a2456a6873d1aea5fade2a42e83ba6beb07882`) and
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`humanoid-benchmark/b6-imagewam-deltaflow76` (revision `75af1c3ebbfa850d87f5e58e239da03712a4c52d`).
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Moved here on 2026-11-11 from `humanoid-benchmark/g1-basket-transfer-imagewam-deltaflow76` (revision `01a2456a6873d1aea5fade2a42e83ba6beb07882`) and
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`humanoid-benchmark/b6-imagewam-deltaflow76` (revision `75af1c3ebbfa850d87f5e58e239da03712a4c52d`).
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## Training records
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Every legacy run folder (`legacy/<task>/<run>/`) has a `training_records/` folder, the same kind of records the
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benchmark checkpoints carry:
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- `logs/`: node-0 trainer logs of every production attempt, oldest first (resumed attempts continue the step count);
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- `metrics.csv`: every logged step (total `loss`, its components, `lr`, `speed`) parsed from those logs, and
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`loss_summary.json`: mean / min loss per epoch, first / last logged loss;
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- `production.yaml` / `resolved_config.yaml`: the training configuration; other `*.json`: data verification, build,
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gate and completion receipts of the run.
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Notes: `b6-pedal-bin/real30-from-sim60-20261108` continues `b6-pedal-bin/robust-v3-20261106` from its step 7920, so its
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records start at step 7925; `a18-pour-water/from-scratch-pre-v2-aug-20261108` was planned for 60 epochs (17100 steps)
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and deliberately stopped at epoch 40 (step 11400).
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