Checkpoint 5 - incomplete

tools/dagger_merge_train.py

@@ -10,7 +10,7 @@ where:
 * ``actions`` is the **active-scan-teacher action computed from
   ground-truth sheep positions** (read off the sheep emitter).
 
-Combined with the existing sim demos (``training/demos_v3.npz`` by
+Combined with the existing sim demos (``training/demos.npz`` by
 default), this gives the BC student a training set that includes the
 real Webots false-positive distribution — closing the sim-to-real
 perception gap that the all-sim pipeline couldn't bridge.
@@ -19,7 +19,7 @@ Usage::
 
     # Iteration 1 — merge all dagger files with sim demos, retrain
     python -m tools.dagger_merge_train \\
-        --sim training/demos_v3.npz \\
+        --sim training/demos.npz \\
         --out training/runs/bc_dagger1
 
     # Iteration 2 — drop the sim baseline, train only on Webots data
@@ -48,7 +48,7 @@ import numpy as np
 
 def main() -> None:
     parser = argparse.ArgumentParser()
-    parser.add_argument("--sim", default="training/demos_v3.npz",
+    parser.add_argument("--sim", default="training/demos.npz",
                         help="Sim demo file to mix with the Webots data. "
                              "Pass --no-sim to train only on dagger data.")
     parser.add_argument("--no-sim", action="store_true",