rl-checkpoints/

Residual-PPO (rsl_rl) checkpoints and full logs for the EgoEngine refine chunks that replay/MPC could not fix (pending_rl escalation, see docs/REFINE.md §7 in the code repo).

Layout:

<triplet>/<seq_id>/chunk_<a>_<b>/ — local run: logs/model_final.pt (rsl_rl checkpoint), tensorboard event files, train_log*.txt, eval_residual.json + eval_residual.png, chunk_start_state.npz.
a800/<triplet>/<seq_id>/chunk_<a>_<b>_<tag>/ — remote 4xA800 batch runs with the RL.md §5 improvement bundle (dense-after-violation, contact-or, warm-start-mpc, feasibility curriculum; v2_m05f15 = mass x0.5 / friction 1.5 sweep variant).

Produced by (repo https://github.com/physercoe/egoengine-repro, see docs/RL.md + docs/A800_RL.md):

OMNI_KIT_ACCEPT_EULA=YES .venv-sim/bin/python scripts/train_residual.py \
  "<triplet>" <seq_id> --chunk <a>:<b> --dense-after-violation --contact-or \
  --warm-start-mpc --curriculum-start-scale 2.0
# batch: scripts/run_rl_a800.sh

Honest status: the stage is delivered but under-budget — the canonical knife-slip chunk [40,60) was NOT fixed (tool feasible_frac 0.0 before and after RL, see eval_residual.json); candid negative result, analysis in docs/RL.md.

License: MIT (our checkpoints/logs).