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flagship-v16-unicycle

UnicycleStepReadout (2.11M) on the frozen flagship-v1arch-v2bal-30k trunk. Latents-only input surface (speed_input=False, predict_delta=False). WM-reliance gate PASS 0.6233. Registry section 1.10.

ckpt md5 81f7f3a19ad0da97fb55ed9270f2f884. Trunk NOT included — this is the 2.11M step-readout head only; it requires flagship-v1arch-v2bal-30k. Trained/evaluated on nvidia PhysicalAI-AV; eval corpus physicalai-oodval q90 (official val split), 6,834 stride-1 windows.

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