Paper Banana prompt placeholder: create a 4:3 grouped bar chart for sim_transfer ablations from experimental_log Table 2. Show avg_reward and success_like episode count for native diffusion policy, best sim-transfer iMF-AttnRes infer1, ResNet18 multi-token iMF, full-AttnRes vision, and selected horizon/execution variants. Emphasize that best iMF-AttnRes reaches 526.22 avg_reward and 44/100 success-like episodes versus native diffusion policy at 319.2 and 29/100, while several ablations underperform.