15 Hz, 10,000 BC updates, freshly initialized from NVIDIA GR00T-N1.7-3B. Labels are future observed/executed TCP poses, not reconstructed robot command poses. No SVF, critic, LoRA, or prior Bigenlight BC initialization. gripper command. For a chunk observed at time t, native relative processing uses inv(T[t]) @ T[t+k+1], k=0..15: local-frame xyz and the first two rows of the relative rotation matrix, flattened row-major. All 16 EEF targets share T[t] as their reference; they are not consecutive-step deltas. Gripper target k retains the original absolute command at t+k, with 0=open and 1=closed. State: 16 dimensions = six measured arm joints in radians, measured gripper, and current observed…