Dongkkka/Task000519_PourWater_ViTacFormer_Hand_Intern

Task 000519 ViTacFormer SH5 v2.1

This is a runtime-calibrated child of the completed v2 training run. It does not claim that the learned right future-tactile residual beat persistence. Instead, the exact runtime sets the right residual to zero while retaining the right current tactile history in ViTacFormer cross-attention. Every promoted candidate must be revalidated through this runtime path.

This directory is only eligible for offline staging. It never authorizes powered robot execution.