Experiment provenance
Experiment line: pre-abstraction EE-DiT baseline. The original end-to-end line (xyz-conditioned EE-DiT), before the abstraction-emergence framing; kept for lineage.
What changed: Root of its line — no parent corpus.
Collected in simulation (robosuite/MuJoCo, Panda): scene + wrist video, proprio, OSC actions, and a language task string minted by the project's verbalizer (certificate → instruction; the relabeler may not invent words).
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