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Mixed new and old data, action horizons
All listed checkpoints completed 30,000 full fine-tuning updates. Each horizon includes its own train-only normalization.
| Horizon | Final checkpoint | Selected / contributing recordings | Complete windows |
|---|---|---|---|
| h10 | full/new50_plus_old117/h10/20261109-step030000 | 167 / 167 | 48842 |
| h32 | full/new50_plus_old117/h32/20261109-step030000 | 167 / 167 | 32212 |
| h16 | full/new50_plus_old117/h16/20261109-step030000 | 167 / 167 | 43466 |
New recordings passed review; old recordings were unreviewed. See each version for loading instructions. CPU policy loading and finite parameters are checked; no real-robot task-success evaluation is included.
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