Add ChainGripper native4/points6 routed Action Flow co-train

[ElmoPA]

Purpose

Add the reviewed-source candidate for one ChainGripper Action Flow co-train with two views of the same 4,919 manually collected episodes: native 4D [x,y,theta,grip] controls and deterministic 6D ordered Cartesian command points. Both routes use private H384/D12 codecs and one shared H384/D12 conditional velocity field. The from-scratch recipe is seed 42, 150,000 optimizer steps; this PR does not launch training or change the live Skynet launcher.

Evidence

• Scheduled ICE CPU tests: 27 targeted source tests passed in job 6069286; 3 route-specific EnergyScore tests passed in job 6069517.
• Scheduled ICE paired-data audit 6069517 passed train/validation spot checks for physical episode/frame alignment, native4 identity, 4D→6D geometry, route IDs and finite shapes.
• Scheduled ICE exact Hydra/model count 6069672 completed 0:0: 86,539,098 inference parameters (requested exact match), 65,451,872 training-only, 151,990,970 total.
• Existing manual4919 episode split/content manifests were SHA checked; no corpus or Zarr metadata was changed.

Review and launch gates still open

• Review routed stages, typed native4 metric/provenance, gradient route and diagnostic behavior. This draft is not an approved new-training source pin.
• Extend and review the live Skynet Action Flow launcher for a paired Chain-native4/points6 arm, then port it byte-identically to the selected cluster. Existing U+Chain arms are not substitutes.
• Complete train-only normalizers for both routes, full configuration/source provenance, storage/immutable checkpoint plan, one-H100 optimizer+validation/checkpoint/W&B smoke, exact scheduler preflight and run-registry update before any full submission.

Task record: 30_Projects/RL2/UNITE/Analysis/Comparisons/action-flow-chain-joint-cartesian-h384-20261004/.

[ElmoPA]

• Add ChainGripper native4/points6 routed Action Flow co-train #205 👈 (View in Graphite)
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