STEP 2
REPLAYSIMS
· Humanoid Workbench
01
Sources
02
Harmonize
03
Policy Check
04
Replay & Debug
05
Handoff
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Evaluator Matrix
Preset: Canonical G1 Happy Path
Preset: Normalizer Mismatch & Recovery
Preset: Missing Channels & Loss Accounting
Preset: Multi-Embodiment (2-Joint Arm)
Preset: Interrupted Staging Transfer
Backend Proximity
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UX Review Drawer