From-scratch local baseline: kevin's 2 tasks ONLY (Orange_on_Blue, Blue_on_Orange), 10000 steps, own 2-repo normalizer. Blind to Green -> expected to FAIL the 4 Green tasks. Floor of the hierarchy.

lerobot-native export (portable tokenizer, real 6-D action/state; --policy.compile_model=false). SO-101 CubeStack, cameras base_0_rgb/left_wrist_0_rgb. Trained on Isambard-AI (GH200) with decent-vla. Part of the 3-client pi0.5 CubeStack federated study (color-pair non-IID: c0=harry Green/Orange, c1=zhekai Green/Blue, c2=kevin Orange/Blue; each client blind to the 3rd color).