Commit History
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Fix hand joint order in observation.state to match actual Pink-IK action term (find_joints without preserve_order uses raw articulation order, not the real-dataset side-grouped convention)
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Fix observation.state: 57-dim -> 28-dim, matches action joint ordering exactly
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Add batch02 (12 successful demos) -- 16 episodes total
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Add 4 successful G1 Dex3 cube-stacking demos (LeRobot format, rendered cameras)
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initial commit
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