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- ZarrDataset.set_pose_glitch_mask / MultiDataset pose_glitch_mask: drop sample starts whose read window touches a head-pose jump (> step_m or > rot_deg) - Episode staging: hard errors instead of NFS reads, free-space floor, local episode index - extra_valid val head; per-lag proprio history stats; warmup_stable_decay LR; optional torch.compile of the algo hot submodules - Configs: RDT / RDT-1B keypoint models and the mecka flagship/freeform fold kp train + data configs Co-Authored-By: Claude Opus 5.5 <[email protected]> Claude-Session: https://claude.ai/code/session_01ATYRxaGgajTsfB8GErKMWX
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starts whose read window touches a head-pose jump (> step_m or > rot_deg)
episode index
optional torch.compile of the algo hot submodules
train + data configs
🤖 Generated with Claude Code
https://claude.ai/code/session_01X86xQuci4asKUkiCwqMiKF