== 1. tar を広げる → /workspace/data/mecharm_redblock_box_teach_v1_trim2_corr_v5
   エピソード 30 本 (Mac で作ったときは 30 本)
== 2. 学習設定 pi05_mecharm_trim_corr_v5_lora を足す (steps=1500 init=/workspace/ckpt/corr_v2_1499/params)
installed: pi05_mecharm_trim_corr_v5_lora (repo_id=local/mecharm_redblock_box_teach_v1_trim2_corr_v5, 1500 steps, init=/workspace/ckpt/corr_v2_1499/params)
== 3. LeRobot 形式に変換 (local/mecharm_redblock_box_teach_v1_trim2_corr_v5)

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done: 30 episodes / 4301 frames → /root/.cache/huggingface/lerobot/local/mecharm_redblock_box_teach_v1_trim2_corr_v5
== 4. 正規化の値は trim2 の値をそのまま置く (計算し直さない)
   /workspace/ckpt/corr_v2_1499/assets/local/mecharm_redblock_box_teach_v1_trim2_corr_v4b/norm_stats.json → /workspace/openpi/assets/pi05_mecharm_trim_corr_v5_lora/local/mecharm_redblock_box_teach_v1_trim2_corr_v5/norm_stats.json (sha256 80346837eb12…)
== 5. 準備できました. 学習はこのコマンドで始める (このスクリプトでは流さない):
   cd /workspace/openpi && XLA_PYTHON_CLIENT_MEM_FRACTION=0.9 uv run scripts/train.py pi05_mecharm_trim_corr_v5_lora --exp-name=trim_corr_v5 --overwrite 2>&1 | tee /workspace/logs/train_trim_corr_v5.log
