Activate_cafe_AUG_newIDMlabeled — Stretch serve policy (GR00T N1.6-3B, Run C)

Same recipe as Activate_GT_AUG (letterbox 320×320 + relative actions + mu3, 120ep 1:1 = GT 60 + repaired augmentation 60, 27 epochs / 90,705 steps GB64) — but augmented labels come from the new letterbox-trained IDM (cafe_stretch_idm_letterbox320, label corr vs GT = 0.996) instead of the squish-era labeler. Isolates the value of retraining the labeler under the deployment view.

Serving requirements (critical)

• mu3: STRETCH_N16_MULAW="wrist,gripper" (not stored in ckpt)
• After loading, recompute norm anchors: processor.state_action_processor.use_percentiles=True + _compute_normalization_parameters()
• Preprocessing: LETTERBOX 320×320 · Actions: RELATIVE (stored in processor config; serve with stretch_deploy_v2 run_gr00t_server.py --expect a)
• Cameras: dual (gripper wrist + head) raw-resolution RGB · task text: "serve the cup"