Cleanup, README notes

Load AoTI-compiled DiT blocks with eager fallback

Bin on the robot's right as in most community pick-and-place data

Normalize with median new-calibration SO-101 dataset stats; sim joints in LeRobot degrees directly

Viewer: wall-clock playback that holds while waiting for frames

Softer lighting

Wrist camera upright like the standard SO-101 mount (jaws at the bottom)

Wrist roll offset, prompt examples in training style

Scene camera and layout closer to the reference SO-101 setup

Joint mapping as sign/offset, warmup timing

Decimated meshes for CPU rendering, drop probes, time text encoding

Probe EGL

Single GPU generator per rollout, background video, per-stage timing

Live three.js viewer, sparse camera rendering

Match q/k dtype to v for NATTEN under torch 2.13 autocast

Load triton before OSMesa

Enable faulthandler

Pick NATTEN wheel for the runtime torch

FLUX 3 Action SO-101 MuJoCo demo

initial commit