[DEMO] Golden policy correctness check - #12
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Reject an unknown or misspelled physics/render backend in tasks.json at load time instead of silently producing a backend_key that no threshold targets (which disables the FPS gate) or emitting a bad Hydra presets= token that crashes the GPU benchmark job at launch.
Runs a frozen policy checkpoint per (task, backend) after the perf smoke benchmark, on the same warm runner via the shared isaac-rollout composite action, and scores behavioural KPIs (reward / episode length / success rate) against hard-set thresholds in golden_tasks.json. Standalone from perf (no baselines); advisory via a separate gate_config.golden_blocking toggle. Golden piggybacks perf cells so it needs no extra image pull; a separate ubuntu-latest golden_aggregate emits its own omni-github artifact (test_tool_id=golden-policy).
Throwaway branch (do not merge). Trims tasks.json to Cartpole/physx (golden pair) + Velocity-Flat-G1/physx (no golden -> must skip); golden_tasks.json to Cartpole/physx. Adds a TEST-only step that pulls a real rsl_rl checkpoint from the fork release 'angehu-test-golden-ckpt' into a workspace GOLDEN_ROOT and times it, so the real --checkpoint pull+load path is exercised on RTX 6000.
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Demo only; do not merge.