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Implements the accumulated MicroDuck training stack and the latest strict grounded-backroll intervention. The newest revision uses physically captured 100/140-degree sagittal entry states, penalizes persistent rounded-head stalls, and rewards signed progress toward flat head-top alignment without weakening ordered trunk-to-head-to-feet success gates.\n\nValidation:\n- 68 focused backroll tests passed\n- Targeted Ruff checks passed\n- Mandatory 64-env x 5-iteration GPU smoke passed\n- Actor observation 61D and action 14D\n- Zero NaN and out-of-bounds terminations in smoke\n\nLatest commit: cd2d81e