Document the bundled in-domain eval scenes

README.md

@@ -113,6 +113,27 @@ pipeline (5.8 h for 1016 episodes).
 > LeRobotDataset(repo_id, root=root)
 > ```
 
+### In-domain eval scenes (`eval_scenes/`)
+
+Reproducing the in-domain numbers needs the scenes restored exactly as they were generated, which
+`run_ckpt_eval*.sh` does through `--replay_h5_dir` on the source HDF5s. Those are 37 GB (25 Hz) /
+267 GB (250 Hz) and are not published.
+
+They do not have to be. `eval_server.load_h5_episode` reads only the root attrs (`env_config`,
+`seed`, `instruction`, `init_*`) and the `action` dataset -- the camera frames, which are 99.99%
+of the file, are re-rendered by the server. Stripped to that, a 250 Hz 20-scene set goes from
+5.1 GB to 0.37 MB, and ships here under `eval_scenes/`. Restoring from the stripped files was
+verified to reproduce the original scene exactly: object pose and velocity, bowl pose, arm pose
+and action length all match.
+
+```bash
+huggingface-cli download mickeykang/dvla-can-250hz-events-250fps-delta-trim --repo-type dataset --include 'eval_scenes/*' --local-dir .
+REPLAY_DIR=$PWD/eval_scenes/indomain_scenes_s20_250 ... bash overnight_delta_n3/run_policy_eval.sh
+```
+
+Out-of-distribution eval needs no files at all -- those scenes are generated from seeds
+9000000-9000019 at run time, and both control rates draw the same ones.
+
 ### Reproducing
 
 Generation, conversion, training and evaluation scripts, plus the measured results and the