This is a 20-minute unedited on/off-gantry run from today. What's special about it is that no gains were tuned on the robot before we started running the policy. This is the DVBF-based motion policy we've been working on, which is turning out to be quite special. The goal of using DVBF is to ensure policies can be deployed on many robots at once without manual gain adjustment before the policy runs reliably on each robot.