chore: canonical naming migration

rskill.yaml

@@ -40,7 +40,7 @@
 # `dataset_uri`'s `meta/episodes_stats.jsonl`), the processor pair was
 # rebuilt once via `make_pre_post_processors(policy.config,
 # dataset_stats=...)` and uploaded to THIS rSkill's own HF repo
-# (OpenRAL/rskill-smolvla-maniskill-franka). The rebuilt normalizer
+# (OpenRAL/rskill-smolvla-franka_panda-maniskill3-bf16). The rebuilt normalizer
 # stats match the checkpoint's baked `normalize_inputs` /
 # `normalize_targets` buffers exactly, so the processors are faithful to
 # how the model was trained. The fallback path still exists for any
@@ -48,11 +48,11 @@
 
 # ── Identity ───────────────────────────────────────────────────────────────
 schema_version: "0.1"
-name: "OpenRAL/rskill-smolvla-maniskill-franka"
+name: "OpenRAL/rskill-smolvla-franka_panda-maniskill3-bf16"
 version: "0.1.0"
 license: "apache-2.0"
 role: "s1"
-kind: "vla"  # ADR-00XX: rSkill kind discriminator. "vla" = learnable Vision-Language-Action policy.
+kind: "vla"  # rSkill kind discriminator. "vla" = learnable Vision-Language-Action policy.
 
 # ── Policy identity ────────────────────────────────────────────────────────
 model_family: "smolvla"
@@ -77,7 +77,7 @@ sensors_required:
     min_width: 256
     min_height: 256
 
-# Output side (ADR-0013). 7 arm joints + 1 gripper command. For
+# Output side. 7 arm joints + 1 gripper command. For
 # franka_panda the loader auto-fills n_dof + vla_action_key from
 # robots/franka_panda/robot.yaml.
 actuators_required:
@@ -101,8 +101,8 @@ weights_uri: "hf://Calvert0921/smolvla_franka_liftcube_1000"
 # downloads exactly these files (and their `state_file` siblings) — no 404,
 # no dataset-stats recompute at load time.
 processors:
-  preprocessor_uri: "hf://OpenRAL/rskill-smolvla-maniskill-franka/policy_preprocessor.json"
-  postprocessor_uri: "hf://OpenRAL/rskill-smolvla-maniskill-franka/policy_postprocessor.json"
+  preprocessor_uri: "hf://OpenRAL/rskill-smolvla-franka_panda-maniskill3-bf16/policy_preprocessor.json"
+  postprocessor_uri: "hf://OpenRAL/rskill-smolvla-franka_panda-maniskill3-bf16/policy_postprocessor.json"
 # Per-checkpoint knobs the processor JSONs don't encode. The model was
 # trained on raw SAPIEN renders (no 180° flip); cameras need an alias
 # remap from the in-tree scene-side keys (camera1 / camera2) to the
@@ -130,7 +130,7 @@ latency_budget:
 paper_url: "https://arxiv.org/abs/2506.01844"
 dataset_uri: "hf://Calvert0921/SmolVLA_LiftCube_Franka_1000"
 source_repo: "hf://Calvert0921/smolvla_franka_liftcube_1000"
-# Task-data gate (ADR-0060): this checkpoint was trained on the *LiftCube*
+# Task-data gate: this checkpoint was trained on the *LiftCube*
 # dataset (a ManiSkill2-style "lift the cube to a height" task) which has NO
 # equivalent env in ManiSkill3 3.0.1 — MS3 ships PickCube-v1 (grasp + place at
 # a goal + stay static), a different task. Declaring the (MS3-absent) true task
@@ -152,7 +152,7 @@ description: >
   Runs end-to-end on ManiSkill3 PickCube-v1 with a live SAPIEN viewer
   via `openral sim run --view`.
 
-# ADR-0022 — action vocabulary surfaced to the reasoner LLM tool palette.
+# Action vocabulary surfaced to the reasoner LLM tool palette.
 # "lift" is not in the RSkillAction enum; the lift motion is expressed
 # as a pick (the post-grasp upward motion is implicit in the policy's
 # closed-loop control).
@@ -164,7 +164,7 @@ objects:
 scenes:
   - "tabletop"
 
-# ADR-0019 — per-checkpoint action contract (consumed by the dataset bridge
+# Per-checkpoint action contract (consumed by the dataset bridge
 # to bind the LeRobot v3 `action` feature shape).
 action_contract:
   dim: 8