Refreshed September 10, 2026: task-shaped translucent goals at the correct pose,
corrected mechanism clearances, and physical arm, wrist and palm contacts.
Each rate uses 128 independent single episodes on the randomized training distribution;
no reset retries are counted. Clips show one uninterrupted attempt at real-time speed.
Teachers below 90% are included for review and marked amber. Success clips are selected
examples, not a claim that every attempt succeeds.
Previous gallery (old physics).