Add pi0.5 subtask generation#3
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Research scaffolding for the subtask probe: DROID eval pipeline (sample extraction, subtask generation, action eval, metrics, visualization), Comet-style hierarchical reasoner, ForeAct foreshadow reconstruction, dual-runtime benchmark, and FINDINGS.md. All paths cache under .experiments_cache/ (gitignored). Kept in a separate tree from src/hosting/ per the plan to land the production pieces on main without the experiments subtree. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
…and README; enhance task scheduling in foresight generation script
… enhance subtask generation with transport options
…ction in subtask generation script
…ualization with optional subtasks JSON
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
The mujoco-based bimanual simulator under experiments/bimanual_sim/ has been migrated to a standalone repo at github.com/Hebbian-Robotics/mujoco-workbench. Drop it here to keep this repo focused on the openpi-flash hosting layer. No root-level configs reference the directory; mujoco's presence in the root uv.lock comes via the sibling openpi editable (dm-control, gym-aloha) and is unaffected by this removal. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
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