The saved configuration's scene_boxes control publishes an empty scene of fixed capacity (one object, two boxes) in the simulator, and the two scene observations compute the box corners inside the policy from the joint readings and the torso anchor pose with the goal's FK kernel, replacing the two dummy observations. The generic export takes eight scene_boxes_* inputs beside the sensor readings (37 in all). Weights, launch config, provenance and browser graphs unchanged; the model card's license sentence regains its subject. Verified against the pinned Oct-25 graph on 64 MuJoCo playback states and four scene cases: raw action within 1.1e-5, gains exact.
Rebind the saved goal observation and document in-graph FK. Preserve weights, browser artifacts and history. Update the functional config.json index while retaining all browser export records.
6 days ago
Add identical FP32 demo policy in external-weight format for mobile loading
