Add launch script for robot pipeline

Add ROS2 node for diff-drive robot deployment

Add fast model loader (cached distill, ~21s load)

Fix checkpoint resolution order (distill first), add self.device

Set proper README with YAML metadata

Add CPU inference script, update README with model details and perf stats

Add base checkpoint (no shim)

Add distill checkpoint

Update gitignore to allow .pt files

Add distill checkpoint

Add distill checkpoint (direct upload)

Add merged checkpoint (retry)

Add distill checkpoint (retry)

Add base checkpoint (no shim)

Add distilled checkpoint with trained shim

Add base checkpoint (no shim)

Add distilled checkpoint with trained shim

Initial upload: base + distill checkpoints, model code, train_shim.py

initial commit