biflow_chess_60hz_stock

BiFlow (one-step normalizing-flow) policy for SO-101 chess. 60 Hz control timeline, 30 Hz held cameras. Stock baseline: no z-weighting, no FK loss, uniform window sampling.

• Data: AnonymousMouse404/chess (357 eps, excl. 37+294), board(highlighted)+wrist+state, 128px
• 50k steps (10k forward pretrain + 40k reverse), batch 32, seed 1000, lr 1e-4 AdamW cosine
• Load: pip install -e the BiFlow_policy_MUTD_SO101_pick_place folder, import lerobot_policy_so101_biflow, then So101BiflowPolicy.from_pretrained(...). See deployment_contract.json.