diff --git a/adjust_bottle.beat_block_hammer/demo_clean_franka-100/200/sim-adjust_bottle-demo_clean_franka-100/policy_epoch_6000_seed_200.ckpt b/adjust_bottle.beat_block_hammer/demo_clean_franka-100/200/sim-adjust_bottle-demo_clean_franka-100/policy_epoch_6000_seed_200.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..01fdd41c221093e1c7781dcad7863ce9b9a91705
--- /dev/null
+++ b/adjust_bottle.beat_block_hammer/demo_clean_franka-100/200/sim-adjust_bottle-demo_clean_franka-100/policy_epoch_6000_seed_200.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e06b0ddc0063429f8fc903e50ca256b3cf2a30c160465dd87c4872461081b8ab
+size 335929238
diff --git a/adjust_bottle.beat_block_hammer/demo_clean_franka-100/300/sim-beat_block_hammer-demo_clean_franka-100/policy_epoch_6000_seed_300.ckpt b/adjust_bottle.beat_block_hammer/demo_clean_franka-100/300/sim-beat_block_hammer-demo_clean_franka-100/policy_epoch_6000_seed_300.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..e6378c3d7f2e247c3920e3d1cab99e9a6dad8101
--- /dev/null
+++ b/adjust_bottle.beat_block_hammer/demo_clean_franka-100/300/sim-beat_block_hammer-demo_clean_franka-100/policy_epoch_6000_seed_300.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b76e5826822620096139ff9fe8c61980aa4d7c778013af73e9aae4f4716bd1e6
+size 335929238
diff --git a/adjust_bottle.click_bell/demo_clean_franka-100/100/sim-adjust_bottle-demo_clean_franka-100/dataset_stats.pkl b/adjust_bottle.click_bell/demo_clean_franka-100/100/sim-adjust_bottle-demo_clean_franka-100/dataset_stats.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..12a301a4f988b41ab189f0c9b8ba2a069a2668a5
--- /dev/null
+++ b/adjust_bottle.click_bell/demo_clean_franka-100/100/sim-adjust_bottle-demo_clean_franka-100/dataset_stats.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2767f82486307ef6cc159569c1ddfd270aba46abcba1ebefbe0200746a3ecbdb
+size 8056
diff --git a/adjust_bottle.click_bell/demo_clean_franka-100/100/sim-adjust_bottle-demo_clean_franka-100/policy_epoch_6000_seed_100.ckpt b/adjust_bottle.click_bell/demo_clean_franka-100/100/sim-adjust_bottle-demo_clean_franka-100/policy_epoch_6000_seed_100.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..9e377d4b971cb453790babd38fbc4f7a98de4dea
--- /dev/null
+++ b/adjust_bottle.click_bell/demo_clean_franka-100/100/sim-adjust_bottle-demo_clean_franka-100/policy_epoch_6000_seed_100.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:544c675ec3ec315d9c71dc671cc1b8b91d5adc60dd2ac8a6eb4a00063c59f6ca
+size 335929238
diff --git a/adjust_bottle.click_bell/demo_clean_franka-100/100/sim-click_bell-demo_clean_franka-100/dataset_stats.pkl b/adjust_bottle.click_bell/demo_clean_franka-100/100/sim-click_bell-demo_clean_franka-100/dataset_stats.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..12a301a4f988b41ab189f0c9b8ba2a069a2668a5
--- /dev/null
+++ b/adjust_bottle.click_bell/demo_clean_franka-100/100/sim-click_bell-demo_clean_franka-100/dataset_stats.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2767f82486307ef6cc159569c1ddfd270aba46abcba1ebefbe0200746a3ecbdb
+size 8056
diff --git a/adjust_bottle.click_bell/demo_clean_franka-100/200/sim-adjust_bottle-demo_clean_franka-100/dataset_stats.pkl b/adjust_bottle.click_bell/demo_clean_franka-100/200/sim-adjust_bottle-demo_clean_franka-100/dataset_stats.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..cc54ae5fd84bc97532b37b4c5934f347be3a0e3b
--- /dev/null
+++ b/adjust_bottle.click_bell/demo_clean_franka-100/200/sim-adjust_bottle-demo_clean_franka-100/dataset_stats.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:542bbd86edae151d60a811188ef25cd3e8a4b3768eb99c1f1f32f41d34091a6c
+size 8056
diff --git a/adjust_bottle.click_bell/demo_clean_franka-100/200/sim-click_bell-demo_clean_franka-100/dataset_stats.pkl b/adjust_bottle.click_bell/demo_clean_franka-100/200/sim-click_bell-demo_clean_franka-100/dataset_stats.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..cc54ae5fd84bc97532b37b4c5934f347be3a0e3b
--- /dev/null
+++ b/adjust_bottle.click_bell/demo_clean_franka-100/200/sim-click_bell-demo_clean_franka-100/dataset_stats.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:542bbd86edae151d60a811188ef25cd3e8a4b3768eb99c1f1f32f41d34091a6c
+size 8056
diff --git a/adjust_bottle.click_bell/demo_clean_franka-100/300/sim-adjust_bottle-demo_clean_franka-100/dataset_stats.pkl b/adjust_bottle.click_bell/demo_clean_franka-100/300/sim-adjust_bottle-demo_clean_franka-100/dataset_stats.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..23cd20e12b6c774c99198659d1519eab6abe7907
--- /dev/null
+++ b/adjust_bottle.click_bell/demo_clean_franka-100/300/sim-adjust_bottle-demo_clean_franka-100/dataset_stats.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad9f9ebed97676fc81f5415366e85dc96696dc5fa7e5915f2d1b91847f457684
+size 8056
diff --git a/adjust_bottle.click_bell/demo_clean_franka-100/300/sim-click_bell-demo_clean_franka-100/dataset_stats.pkl b/adjust_bottle.click_bell/demo_clean_franka-100/300/sim-click_bell-demo_clean_franka-100/dataset_stats.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..23cd20e12b6c774c99198659d1519eab6abe7907
--- /dev/null
+++ b/adjust_bottle.click_bell/demo_clean_franka-100/300/sim-click_bell-demo_clean_franka-100/dataset_stats.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad9f9ebed97676fc81f5415366e85dc96696dc5fa7e5915f2d1b91847f457684
+size 8056
diff --git a/adjust_bottle.open_microwave/demo_clean_franka-100/100/sim-adjust_bottle-demo_clean_franka-100/policy_epoch_6000_seed_100.ckpt b/adjust_bottle.open_microwave/demo_clean_franka-100/100/sim-adjust_bottle-demo_clean_franka-100/policy_epoch_6000_seed_100.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..c6e5ea1cdbde9953751e73f89763c63b6fd38444
--- /dev/null
+++ b/adjust_bottle.open_microwave/demo_clean_franka-100/100/sim-adjust_bottle-demo_clean_franka-100/policy_epoch_6000_seed_100.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe24ff6f0f82cedbb6525d5341537cd7d4952c41ff60ec8e142b94639630e906
+size 335929238
diff --git a/adjust_bottle.open_microwave/demo_clean_franka-100/200/sim-adjust_bottle-demo_clean_franka-100/policy_epoch_6000_seed_200.ckpt b/adjust_bottle.open_microwave/demo_clean_franka-100/200/sim-adjust_bottle-demo_clean_franka-100/policy_epoch_6000_seed_200.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..963d8dc609a53f052ad3ecfc62ff9caed83cf205
--- /dev/null
+++ b/adjust_bottle.open_microwave/demo_clean_franka-100/200/sim-adjust_bottle-demo_clean_franka-100/policy_epoch_6000_seed_200.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d80ed662f2059390d175ca6eb90a5c5e47390087b5aa70b00c3ff4482cdaf58b
+size 335929238
diff --git a/adjust_bottle.open_microwave/demo_clean_franka-100/200/sim-open_microwave-demo_clean_franka-100/policy_epoch_6000_seed_200.ckpt b/adjust_bottle.open_microwave/demo_clean_franka-100/200/sim-open_microwave-demo_clean_franka-100/policy_epoch_6000_seed_200.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..a022893bfa2f677ba5400292603d35d64a46323d
--- /dev/null
+++ b/adjust_bottle.open_microwave/demo_clean_franka-100/200/sim-open_microwave-demo_clean_franka-100/policy_epoch_6000_seed_200.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:baf5f21da7505013d591602d15bc6971f4fc2ff020cf3bbe5e94fba31097f7ed
+size 335929238
diff --git a/adjust_bottle.place_container_plate/demo_clean_franka-100/200/sim-adjust_bottle-demo_clean_franka-100/policy_epoch_6000_seed_200.ckpt b/adjust_bottle.place_container_plate/demo_clean_franka-100/200/sim-adjust_bottle-demo_clean_franka-100/policy_epoch_6000_seed_200.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..ce41315ab45e7f2deb67c2c3513369138042d436
--- /dev/null
+++ b/adjust_bottle.place_container_plate/demo_clean_franka-100/200/sim-adjust_bottle-demo_clean_franka-100/policy_epoch_6000_seed_200.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b09f9b8bfa05e5ab7fc8d6a8a4eeda9114138d3ea8976d1dd544ae1482a762f2
+size 335929238
diff --git a/adjust_bottle.place_container_plate/demo_clean_franka-100/300/sim-adjust_bottle-demo_clean_franka-100/policy_epoch_6000_seed_300.ckpt b/adjust_bottle.place_container_plate/demo_clean_franka-100/300/sim-adjust_bottle-demo_clean_franka-100/policy_epoch_6000_seed_300.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..01daa7fcfe6052dcf1279c5fc18b4ed7f6d3a35b
--- /dev/null
+++ b/adjust_bottle.place_container_plate/demo_clean_franka-100/300/sim-adjust_bottle-demo_clean_franka-100/policy_epoch_6000_seed_300.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1a066d8e146f1651f9877ad78b757461c7710f2fba265a0b8d33bd1f0ae54b4
+size 335929238
diff --git a/adjust_bottle.place_empty_cup/demo_clean_franka-100/100/sim-adjust_bottle-demo_clean_franka-100/policy_epoch_6000_seed_100.ckpt b/adjust_bottle.place_empty_cup/demo_clean_franka-100/100/sim-adjust_bottle-demo_clean_franka-100/policy_epoch_6000_seed_100.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..fb016bdf9a10164be5d28b1ccf130020252b2907
--- /dev/null
+++ b/adjust_bottle.place_empty_cup/demo_clean_franka-100/100/sim-adjust_bottle-demo_clean_franka-100/policy_epoch_6000_seed_100.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67229e9c4328180dc1da32e16e4c01b7e8c14ddfa53fa10beda8efdfc0590d56
+size 335929238
diff --git a/adjust_bottle.place_empty_cup/demo_clean_franka-100/100/sim-place_empty_cup-demo_clean_franka-100/policy_epoch_6000_seed_100.ckpt b/adjust_bottle.place_empty_cup/demo_clean_franka-100/100/sim-place_empty_cup-demo_clean_franka-100/policy_epoch_6000_seed_100.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..0cad2ecf52d1cb93b49be29f5ec3d4285d869c49
--- /dev/null
+++ b/adjust_bottle.place_empty_cup/demo_clean_franka-100/100/sim-place_empty_cup-demo_clean_franka-100/policy_epoch_6000_seed_100.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d6c757fe313f8a5e5f7fb50a79aaf2bc1c2c7889e84efa68afbfdd73ddb041c
+size 335929238
diff --git a/adjust_bottle.place_empty_cup/demo_clean_franka-100/200/sim-adjust_bottle-demo_clean_franka-100/policy_epoch_6000_seed_200.ckpt b/adjust_bottle.place_empty_cup/demo_clean_franka-100/200/sim-adjust_bottle-demo_clean_franka-100/policy_epoch_6000_seed_200.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..25217aceff53396b7a2b6574970d71a9eac593d8
--- /dev/null
+++ b/adjust_bottle.place_empty_cup/demo_clean_franka-100/200/sim-adjust_bottle-demo_clean_franka-100/policy_epoch_6000_seed_200.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2fa66698d5b69f79375503455af6ca0845158b9d11c44e51b39643774b1b84e
+size 335929238
diff --git a/adjust_bottle.place_empty_cup/demo_clean_franka-100/200/sim-place_empty_cup-demo_clean_franka-100/policy_epoch_6000_seed_200.ckpt b/adjust_bottle.place_empty_cup/demo_clean_franka-100/200/sim-place_empty_cup-demo_clean_franka-100/policy_epoch_6000_seed_200.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..79e19d2ddb8e96717102ccdfb812a4cfe75dc988
--- /dev/null
+++ b/adjust_bottle.place_empty_cup/demo_clean_franka-100/200/sim-place_empty_cup-demo_clean_franka-100/policy_epoch_6000_seed_200.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ad1fd1ac4a3727f80a42e9d83daa69a893ad863fce6e7a585d5b2a574f8e81c
+size 335929238
diff --git a/adjust_bottle.place_empty_cup/demo_clean_franka-100/300/sim-place_empty_cup-demo_clean_franka-100/policy_epoch_6000_seed_300.ckpt b/adjust_bottle.place_empty_cup/demo_clean_franka-100/300/sim-place_empty_cup-demo_clean_franka-100/policy_epoch_6000_seed_300.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..8435549484b7932be28ccdadf606721a11606aad
--- /dev/null
+++ b/adjust_bottle.place_empty_cup/demo_clean_franka-100/300/sim-place_empty_cup-demo_clean_franka-100/policy_epoch_6000_seed_300.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3798c32fd4e6535bca6948a2ef283e462ba982563a3fb26bda37d34a35333dd
+size 335929238
diff --git a/adjust_bottle.place_shoe/demo_clean_franka-100/200/sim-adjust_bottle-demo_clean_franka-100/dataset_stats.pkl b/adjust_bottle.place_shoe/demo_clean_franka-100/200/sim-adjust_bottle-demo_clean_franka-100/dataset_stats.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..c6ee09ac99b48df4c12e3e6085785bb65a2cb9c2
--- /dev/null
+++ b/adjust_bottle.place_shoe/demo_clean_franka-100/200/sim-adjust_bottle-demo_clean_franka-100/dataset_stats.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf3257a4736be701e0fd3dfea0ae2dbd088b4e2ccbb5491a1cd2b82eecae1121
+size 10424
diff --git a/adjust_bottle.place_shoe/demo_clean_franka-100/200/sim-place_shoe-demo_clean_franka-100/dataset_stats.pkl b/adjust_bottle.place_shoe/demo_clean_franka-100/200/sim-place_shoe-demo_clean_franka-100/dataset_stats.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..c6ee09ac99b48df4c12e3e6085785bb65a2cb9c2
--- /dev/null
+++ b/adjust_bottle.place_shoe/demo_clean_franka-100/200/sim-place_shoe-demo_clean_franka-100/dataset_stats.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf3257a4736be701e0fd3dfea0ae2dbd088b4e2ccbb5491a1cd2b82eecae1121
+size 10424
diff --git a/adjust_bottle.place_shoe/demo_clean_franka-100/300/sim-adjust_bottle-demo_clean_franka-100/policy_epoch_6000_seed_300.ckpt b/adjust_bottle.place_shoe/demo_clean_franka-100/300/sim-adjust_bottle-demo_clean_franka-100/policy_epoch_6000_seed_300.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..74418d1694feefdfac362fe6b6836d1636880213
--- /dev/null
+++ b/adjust_bottle.place_shoe/demo_clean_franka-100/300/sim-adjust_bottle-demo_clean_franka-100/policy_epoch_6000_seed_300.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47f32cbef7efc00ab89d8b4c65fe9552576f74712d54b9d2f99d469619b94b03
+size 335929238
diff --git a/adjust_bottle/demo_clean_franka-100/400/policy_epoch_6000_seed_400.ckpt b/adjust_bottle/demo_clean_franka-100/400/policy_epoch_6000_seed_400.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..8013b9f23cbd45e666244b5af653671e82c47250
--- /dev/null
+++ b/adjust_bottle/demo_clean_franka-100/400/policy_epoch_6000_seed_400.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f80bd42f718f2942c8da7d2867192e6f397318bf6d9453f8a29cd533bdb0f4d3
+size 335929238
diff --git a/beat_block_hammer.click_bell/demo_clean_franka-100/100/sim-click_bell-demo_clean_franka-100/policy_epoch_6000_seed_100.ckpt b/beat_block_hammer.click_bell/demo_clean_franka-100/100/sim-click_bell-demo_clean_franka-100/policy_epoch_6000_seed_100.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..ab8ab47ccf1d489206102fe66d7b2092053c32ff
--- /dev/null
+++ b/beat_block_hammer.click_bell/demo_clean_franka-100/100/sim-click_bell-demo_clean_franka-100/policy_epoch_6000_seed_100.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bdf6949708155e01d4a5794b31ab6e3a0d2c102b252027c99f4ad5a7b19ebe6d
+size 335929238
diff --git a/beat_block_hammer.click_bell/demo_clean_franka-100/200/sim-beat_block_hammer-demo_clean_franka-100/policy_epoch_6000_seed_200.ckpt b/beat_block_hammer.click_bell/demo_clean_franka-100/200/sim-beat_block_hammer-demo_clean_franka-100/policy_epoch_6000_seed_200.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..6cd6d276c90b1c4de01e403bcdfc93c142ffeebe
--- /dev/null
+++ b/beat_block_hammer.click_bell/demo_clean_franka-100/200/sim-beat_block_hammer-demo_clean_franka-100/policy_epoch_6000_seed_200.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:867bb74188d055a0bb1e2064ea5a5fa5100545cbcff58d66409c65ce33684a49
+size 335929238
diff --git a/beat_block_hammer.click_bell/demo_clean_franka-100/200/sim-click_bell-demo_clean_franka-100/policy_epoch_6000_seed_200.ckpt b/beat_block_hammer.click_bell/demo_clean_franka-100/200/sim-click_bell-demo_clean_franka-100/policy_epoch_6000_seed_200.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..10a5c98033464f243e8f154dd817c4ff61b6f819
--- /dev/null
+++ b/beat_block_hammer.click_bell/demo_clean_franka-100/200/sim-click_bell-demo_clean_franka-100/policy_epoch_6000_seed_200.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:017c3fa75290e118c3c152650aa834a357e018cf057bc85922f6a6425968d397
+size 335929238
diff --git a/beat_block_hammer.lift_pot/demo_clean_franka-100/100/sim-beat_block_hammer-demo_clean_franka-100/policy_epoch_6000_seed_100.ckpt b/beat_block_hammer.lift_pot/demo_clean_franka-100/100/sim-beat_block_hammer-demo_clean_franka-100/policy_epoch_6000_seed_100.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..ff06811a31b77d4e333381555636cecc1ad3347e
--- /dev/null
+++ b/beat_block_hammer.lift_pot/demo_clean_franka-100/100/sim-beat_block_hammer-demo_clean_franka-100/policy_epoch_6000_seed_100.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34789ba45b6e8bc8359af2dd0904259b2a124be4bc8ea566b8ed457aa44b4fc9
+size 335929238
diff --git a/beat_block_hammer.lift_pot/demo_clean_franka-100/100/sim-lift_pot-demo_clean_franka-100/policy_epoch_6000_seed_100.ckpt b/beat_block_hammer.lift_pot/demo_clean_franka-100/100/sim-lift_pot-demo_clean_franka-100/policy_epoch_6000_seed_100.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..ae977c6e93992f39229800b3ba7f5f4fe18a175c
--- /dev/null
+++ b/beat_block_hammer.lift_pot/demo_clean_franka-100/100/sim-lift_pot-demo_clean_franka-100/policy_epoch_6000_seed_100.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dccf0f4f39f82725055b4e774b368c85d99f0808344b073a991182f8133c6ab4
+size 335929238
diff --git a/beat_block_hammer.lift_pot/demo_clean_franka-100/200/sim-beat_block_hammer-demo_clean_franka-100/policy_epoch_6000_seed_200.ckpt b/beat_block_hammer.lift_pot/demo_clean_franka-100/200/sim-beat_block_hammer-demo_clean_franka-100/policy_epoch_6000_seed_200.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..ad43c405f4a96bddc37e3cba6ece475342b79dcd
--- /dev/null
+++ b/beat_block_hammer.lift_pot/demo_clean_franka-100/200/sim-beat_block_hammer-demo_clean_franka-100/policy_epoch_6000_seed_200.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f0e7f43780bb374136975ffc678addd0b00d773b89c35d48a57e242945445ef
+size 335929238
diff --git a/beat_block_hammer.lift_pot/demo_clean_franka-100/200/sim-lift_pot-demo_clean_franka-100/policy_epoch_6000_seed_200.ckpt b/beat_block_hammer.lift_pot/demo_clean_franka-100/200/sim-lift_pot-demo_clean_franka-100/policy_epoch_6000_seed_200.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..75f2fc017971f610ca55b21825a42ad8d3b6a643
--- /dev/null
+++ b/beat_block_hammer.lift_pot/demo_clean_franka-100/200/sim-lift_pot-demo_clean_franka-100/policy_epoch_6000_seed_200.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0cc881b0c7ae13867a07bdffcc2d6f0dfd2ae9452e7c95f5967ebe2a611bde47
+size 335929238
diff --git a/beat_block_hammer.lift_pot/demo_clean_franka-100/300/sim-beat_block_hammer-demo_clean_franka-100/policy_epoch_6000_seed_300.ckpt b/beat_block_hammer.lift_pot/demo_clean_franka-100/300/sim-beat_block_hammer-demo_clean_franka-100/policy_epoch_6000_seed_300.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..fd9629c8fa032ec1fa4304c1d3e746245d1d9792
--- /dev/null
+++ b/beat_block_hammer.lift_pot/demo_clean_franka-100/300/sim-beat_block_hammer-demo_clean_franka-100/policy_epoch_6000_seed_300.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:732fcf472847db69872adcb102155651817db0a9055067f1e3ad0000e95182c1
+size 335929238
diff --git a/beat_block_hammer.lift_pot/demo_clean_franka-100/300/sim-lift_pot-demo_clean_franka-100/policy_epoch_6000_seed_300.ckpt b/beat_block_hammer.lift_pot/demo_clean_franka-100/300/sim-lift_pot-demo_clean_franka-100/policy_epoch_6000_seed_300.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..d434fbbb99e53926fdca1c0d2845ddf209b29fa4
--- /dev/null
+++ b/beat_block_hammer.lift_pot/demo_clean_franka-100/300/sim-lift_pot-demo_clean_franka-100/policy_epoch_6000_seed_300.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f661f2f2e0b8f7be4e5a0b7317f1ab00f035a8ff8e6e06e9a43057cb8f213efa
+size 335929238
diff --git a/beat_block_hammer.open_laptop/demo_clean_franka-100/300/sim-beat_block_hammer-demo_clean_franka-100/policy_epoch_6000_seed_300.ckpt b/beat_block_hammer.open_laptop/demo_clean_franka-100/300/sim-beat_block_hammer-demo_clean_franka-100/policy_epoch_6000_seed_300.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..9e0f702a6daa4de63d649ffa8b0075719f9f9bef
--- /dev/null
+++ b/beat_block_hammer.open_laptop/demo_clean_franka-100/300/sim-beat_block_hammer-demo_clean_franka-100/policy_epoch_6000_seed_300.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16a14e32ceaf211872d6cbe789539fcd7cd08edbaba9b0cda427ee6590ce81c5
+size 335929238
diff --git a/beat_block_hammer.open_microwave/demo_clean_franka-100/100/sim-beat_block_hammer-demo_clean_franka-100/policy_epoch_6000_seed_100.ckpt b/beat_block_hammer.open_microwave/demo_clean_franka-100/100/sim-beat_block_hammer-demo_clean_franka-100/policy_epoch_6000_seed_100.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..4b099c3477b523305b6721e9664ef531bad098de
--- /dev/null
+++ b/beat_block_hammer.open_microwave/demo_clean_franka-100/100/sim-beat_block_hammer-demo_clean_franka-100/policy_epoch_6000_seed_100.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7d576f72a6f7b30e0a02c220452807e79f7f057db55e5d676daccc991bac50e
+size 335929238
diff --git a/beat_block_hammer.open_microwave/demo_clean_franka-100/200/sim-open_microwave-demo_clean_franka-100/policy_epoch_6000_seed_200.ckpt b/beat_block_hammer.open_microwave/demo_clean_franka-100/200/sim-open_microwave-demo_clean_franka-100/policy_epoch_6000_seed_200.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..7541dc27f7ea6ca206b334cffc0c71bdabb36bc1
--- /dev/null
+++ b/beat_block_hammer.open_microwave/demo_clean_franka-100/200/sim-open_microwave-demo_clean_franka-100/policy_epoch_6000_seed_200.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5b42888d902259068953d103ffafc82f5c9f2a14fd298ae36a00363f2778cdd
+size 335929238
diff --git a/beat_block_hammer.open_microwave/demo_clean_franka-100/300/sim-beat_block_hammer-demo_clean_franka-100/policy_epoch_6000_seed_300.ckpt b/beat_block_hammer.open_microwave/demo_clean_franka-100/300/sim-beat_block_hammer-demo_clean_franka-100/policy_epoch_6000_seed_300.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..53966a7893dc992817e9502c1c8c63b2e95c79e0
--- /dev/null
+++ b/beat_block_hammer.open_microwave/demo_clean_franka-100/300/sim-beat_block_hammer-demo_clean_franka-100/policy_epoch_6000_seed_300.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe09b5779085e23f6633685eadcfc7b596c10fec2fa927c04971363eaab5e55d
+size 335929238
diff --git a/beat_block_hammer.open_microwave/demo_clean_franka-100/300/sim-open_microwave-demo_clean_franka-100/policy_epoch_6000_seed_300.ckpt b/beat_block_hammer.open_microwave/demo_clean_franka-100/300/sim-open_microwave-demo_clean_franka-100/policy_epoch_6000_seed_300.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..3e7319f9912e6431abf326a745a2e628d9c7e72e
--- /dev/null
+++ b/beat_block_hammer.open_microwave/demo_clean_franka-100/300/sim-open_microwave-demo_clean_franka-100/policy_epoch_6000_seed_300.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e40cf05509224321cb87afc72be626d68243ad5d7eb25445d1022a888d5d5d67
+size 335929238
diff --git a/beat_block_hammer/demo_clean_franka-100/100/policy_epoch_6000_seed_100.ckpt b/beat_block_hammer/demo_clean_franka-100/100/policy_epoch_6000_seed_100.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..0596160831e61ffdabd390c1a66c05e1f7e65eba
--- /dev/null
+++ b/beat_block_hammer/demo_clean_franka-100/100/policy_epoch_6000_seed_100.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d4971898421800752f6e633c383e3847c5f2f2a82d78b465ed67a20748baecf
+size 335929238
diff --git a/beat_block_hammer/demo_clean_franka-100/300/policy_epoch_6000_seed_300.ckpt b/beat_block_hammer/demo_clean_franka-100/300/policy_epoch_6000_seed_300.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..f1f3945015d5aa20bf2a9269faab46fd6b147041
--- /dev/null
+++ b/beat_block_hammer/demo_clean_franka-100/300/policy_epoch_6000_seed_300.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b471f9dcabdf98edd8c1c92bfae053b8f135279859dd022b169ecaa9b7f99130
+size 335929238
diff --git a/click_alarmclock.open_laptop/demo_clean_franka-100/100/sim-click_alarmclock-demo_clean_franka-100/policy_epoch_6000_seed_100.ckpt b/click_alarmclock.open_laptop/demo_clean_franka-100/100/sim-click_alarmclock-demo_clean_franka-100/policy_epoch_6000_seed_100.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..41ef07aa9896ba0ee4c3682b92a2ca82b29f34a6
--- /dev/null
+++ b/click_alarmclock.open_laptop/demo_clean_franka-100/100/sim-click_alarmclock-demo_clean_franka-100/policy_epoch_6000_seed_100.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6fafe0768fe7d7652965ada4b9a20c0a8c4e231a61760d41a78af2bbe7ad321a
+size 335929238
diff --git a/click_alarmclock.open_laptop/demo_clean_franka-100/200/sim-open_laptop-demo_clean_franka-100/policy_epoch_6000_seed_200.ckpt b/click_alarmclock.open_laptop/demo_clean_franka-100/200/sim-open_laptop-demo_clean_franka-100/policy_epoch_6000_seed_200.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..269f7c5e9d186cf25117d86c51f66deac72a9e69
--- /dev/null
+++ b/click_alarmclock.open_laptop/demo_clean_franka-100/200/sim-open_laptop-demo_clean_franka-100/policy_epoch_6000_seed_200.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9407b72a87e8033b59c3a8405d82754c5d4b5a6cd0c028386c0d8a71101093f9
+size 335929238
diff --git a/click_alarmclock.place_empty_cup/demo_clean_franka-100/100/sim-click_alarmclock-demo_clean_franka-100/policy_epoch_6000_seed_100.ckpt b/click_alarmclock.place_empty_cup/demo_clean_franka-100/100/sim-click_alarmclock-demo_clean_franka-100/policy_epoch_6000_seed_100.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..584df9afaebb917927950ede1d48941c13f2dc06
--- /dev/null
+++ b/click_alarmclock.place_empty_cup/demo_clean_franka-100/100/sim-click_alarmclock-demo_clean_franka-100/policy_epoch_6000_seed_100.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79dbefac0deff862d8958c6aa4a1d4519196ff4cc34aef5c6e6398d702a751d5
+size 335929238
diff --git a/click_alarmclock.place_empty_cup/demo_clean_franka-100/200/sim-place_empty_cup-demo_clean_franka-100/policy_epoch_6000_seed_200.ckpt b/click_alarmclock.place_empty_cup/demo_clean_franka-100/200/sim-place_empty_cup-demo_clean_franka-100/policy_epoch_6000_seed_200.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..b0a0a4d7c3aef116742fb07dcb97af5cc439d846
--- /dev/null
+++ b/click_alarmclock.place_empty_cup/demo_clean_franka-100/200/sim-place_empty_cup-demo_clean_franka-100/policy_epoch_6000_seed_200.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a57d78f6d78dbacac56dbbb79e81c07952c6e288bffd4daac13554e6f2bad69
+size 335929238
diff --git a/click_alarmclock.place_empty_cup/demo_clean_franka-100/300/sim-click_alarmclock-demo_clean_franka-100/policy_epoch_6000_seed_300.ckpt b/click_alarmclock.place_empty_cup/demo_clean_franka-100/300/sim-click_alarmclock-demo_clean_franka-100/policy_epoch_6000_seed_300.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..47777247cb09901bbdec42adfade105497ac511c
--- /dev/null
+++ b/click_alarmclock.place_empty_cup/demo_clean_franka-100/300/sim-click_alarmclock-demo_clean_franka-100/policy_epoch_6000_seed_300.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ece2f2719dbac36575034afd9de179c66e5bbcbc0292f68a974920201ab8d3f2
+size 335929238
diff --git a/click_bell.lift_pot/demo_clean_franka-100/100/sim-lift_pot-demo_clean_franka-100/policy_epoch_6000_seed_100.ckpt b/click_bell.lift_pot/demo_clean_franka-100/100/sim-lift_pot-demo_clean_franka-100/policy_epoch_6000_seed_100.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..109e67b5b4e084a8445f35df5ef2ef4bf822167e
--- /dev/null
+++ b/click_bell.lift_pot/demo_clean_franka-100/100/sim-lift_pot-demo_clean_franka-100/policy_epoch_6000_seed_100.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d84e0660198c53153c9a0b88af4e5e1b40299ae76f3657e1ca07ed53daaad05
+size 335929238
diff --git a/click_bell.lift_pot/demo_clean_franka-100/200/sim-click_bell-demo_clean_franka-100/policy_epoch_6000_seed_200.ckpt b/click_bell.lift_pot/demo_clean_franka-100/200/sim-click_bell-demo_clean_franka-100/policy_epoch_6000_seed_200.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..ba6e437556e57106d94b403c304eec6c3684f0ea
--- /dev/null
+++ b/click_bell.lift_pot/demo_clean_franka-100/200/sim-click_bell-demo_clean_franka-100/policy_epoch_6000_seed_200.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8904cc9a6876d005dbd34a8c90e047b889635739ca5afb0e0d5177f9899de07b
+size 335929238
diff --git a/click_bell.lift_pot/demo_clean_franka-100/200/sim-lift_pot-demo_clean_franka-100/policy_epoch_6000_seed_200.ckpt b/click_bell.lift_pot/demo_clean_franka-100/200/sim-lift_pot-demo_clean_franka-100/policy_epoch_6000_seed_200.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..a94c3787aa218f15f1c1e415f40c7fa1439b02a7
--- /dev/null
+++ b/click_bell.lift_pot/demo_clean_franka-100/200/sim-lift_pot-demo_clean_franka-100/policy_epoch_6000_seed_200.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8068dfa51443297768d8c4b9333192b9f10842ca60cd8589f278b8f688c38c46
+size 335929238
diff --git a/click_bell.lift_pot/demo_clean_franka-100/300/sim-lift_pot-demo_clean_franka-100/policy_epoch_6000_seed_300.ckpt b/click_bell.lift_pot/demo_clean_franka-100/300/sim-lift_pot-demo_clean_franka-100/policy_epoch_6000_seed_300.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..3955c8f13e9e5e974eeeec2114f1213ca9f44eba
--- /dev/null
+++ b/click_bell.lift_pot/demo_clean_franka-100/300/sim-lift_pot-demo_clean_franka-100/policy_epoch_6000_seed_300.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f1ffc11e84176167318790ed155517b3129cf0c2bf9642c4d2f6e2de434b001
+size 335929238
diff --git a/click_bell.open_laptop/demo_clean_franka-100/100/sim-click_bell-demo_clean_franka-100/policy_epoch_6000_seed_100.ckpt b/click_bell.open_laptop/demo_clean_franka-100/100/sim-click_bell-demo_clean_franka-100/policy_epoch_6000_seed_100.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..5662dfa0d5925b5093ea4830e2d2310317fa7f29
--- /dev/null
+++ b/click_bell.open_laptop/demo_clean_franka-100/100/sim-click_bell-demo_clean_franka-100/policy_epoch_6000_seed_100.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ebdee507d8248c04a571d36858e4a297c1fe629ff65955ea780806a9ea3cf1b0
+size 335929238
diff --git a/click_bell.open_laptop/demo_clean_franka-100/100/sim-open_laptop-demo_clean_franka-100/policy_epoch_6000_seed_100.ckpt b/click_bell.open_laptop/demo_clean_franka-100/100/sim-open_laptop-demo_clean_franka-100/policy_epoch_6000_seed_100.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..aed15efc6a6d247fd7af94de4e9ee3a15a8cc1cd
--- /dev/null
+++ b/click_bell.open_laptop/demo_clean_franka-100/100/sim-open_laptop-demo_clean_franka-100/policy_epoch_6000_seed_100.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d052774a6d8fafed2b23a40246b6a2a545a75a70cbb8cfc09dddd050d9da04c
+size 335929238
diff --git a/click_bell.open_laptop/demo_clean_franka-100/200/sim-click_bell-demo_clean_franka-100/policy_epoch_6000_seed_200.ckpt b/click_bell.open_laptop/demo_clean_franka-100/200/sim-click_bell-demo_clean_franka-100/policy_epoch_6000_seed_200.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..ca95517fc3edeec691c9c17fe090c941125092a3
--- /dev/null
+++ b/click_bell.open_laptop/demo_clean_franka-100/200/sim-click_bell-demo_clean_franka-100/policy_epoch_6000_seed_200.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c48e99b89c7f380b887ed6a81dec207aea5c16eeee19706ef3b22fe7c1f1cf1
+size 335929238
diff --git a/click_bell.open_laptop/demo_clean_franka-100/200/sim-open_laptop-demo_clean_franka-100/policy_epoch_6000_seed_200.ckpt b/click_bell.open_laptop/demo_clean_franka-100/200/sim-open_laptop-demo_clean_franka-100/policy_epoch_6000_seed_200.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..40b781e919931325dc04a2fe40b3962819588fb2
--- /dev/null
+++ b/click_bell.open_laptop/demo_clean_franka-100/200/sim-open_laptop-demo_clean_franka-100/policy_epoch_6000_seed_200.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:080958712a06131c6e9f272ae612c5e03cb1793a7adf29ea4efa1a6a0ab1eeda
+size 335929238
diff --git a/click_bell.open_laptop/demo_clean_franka-100/300/sim-click_bell-demo_clean_franka-100/policy_epoch_6000_seed_300.ckpt b/click_bell.open_laptop/demo_clean_franka-100/300/sim-click_bell-demo_clean_franka-100/policy_epoch_6000_seed_300.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..5b6462c9298401bdcf2d9aea4a39525634f98293
--- /dev/null
+++ b/click_bell.open_laptop/demo_clean_franka-100/300/sim-click_bell-demo_clean_franka-100/policy_epoch_6000_seed_300.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c18bfa3b12d8c73d5d9046f74cfa17e1f6301b6131ed601e70511b0d6db8d963
+size 335929238
diff --git a/click_bell.open_microwave/demo_clean_franka-100/100/sim-click_bell-demo_clean_franka-100/dataset_stats.pkl b/click_bell.open_microwave/demo_clean_franka-100/100/sim-click_bell-demo_clean_franka-100/dataset_stats.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..8bb391d686dc87c3dcd58912d4479d29291cced9
--- /dev/null
+++ b/click_bell.open_microwave/demo_clean_franka-100/100/sim-click_bell-demo_clean_franka-100/dataset_stats.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38fb6f3c29997b5b2ca92897da33fa00f2f8195eb8e76546122c8b78e05c386c
+size 50233
diff --git a/click_bell.open_microwave/demo_clean_franka-100/100/sim-open_microwave-demo_clean_franka-100/dataset_stats.pkl b/click_bell.open_microwave/demo_clean_franka-100/100/sim-open_microwave-demo_clean_franka-100/dataset_stats.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..8bb391d686dc87c3dcd58912d4479d29291cced9
--- /dev/null
+++ b/click_bell.open_microwave/demo_clean_franka-100/100/sim-open_microwave-demo_clean_franka-100/dataset_stats.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38fb6f3c29997b5b2ca92897da33fa00f2f8195eb8e76546122c8b78e05c386c
+size 50233
diff --git a/click_bell.open_microwave/demo_clean_franka-100/200/sim-click_bell-demo_clean_franka-100/dataset_stats.pkl b/click_bell.open_microwave/demo_clean_franka-100/200/sim-click_bell-demo_clean_franka-100/dataset_stats.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..4925938d6445d0d6039fa22fa70d6567f96c01fb
--- /dev/null
+++ b/click_bell.open_microwave/demo_clean_franka-100/200/sim-click_bell-demo_clean_franka-100/dataset_stats.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e1c1fdde17694e5d85dd0107b973057207d905ba644cbc14dc0476b2a020589
+size 50233
diff --git a/click_bell.open_microwave/demo_clean_franka-100/200/sim-open_microwave-demo_clean_franka-100/dataset_stats.pkl b/click_bell.open_microwave/demo_clean_franka-100/200/sim-open_microwave-demo_clean_franka-100/dataset_stats.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..4925938d6445d0d6039fa22fa70d6567f96c01fb
--- /dev/null
+++ b/click_bell.open_microwave/demo_clean_franka-100/200/sim-open_microwave-demo_clean_franka-100/dataset_stats.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e1c1fdde17694e5d85dd0107b973057207d905ba644cbc14dc0476b2a020589
+size 50233
diff --git a/click_bell.open_microwave/demo_clean_franka-100/300/sim-click_bell-demo_clean_franka-100/dataset_stats.pkl b/click_bell.open_microwave/demo_clean_franka-100/300/sim-click_bell-demo_clean_franka-100/dataset_stats.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..e9de2c142f4abf6625827d7c30c313941aee45cf
--- /dev/null
+++ b/click_bell.open_microwave/demo_clean_franka-100/300/sim-click_bell-demo_clean_franka-100/dataset_stats.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:113eba195c8b41aba02f03e7bd1954f7163862c09ea7708af7d0bd7675e48a86
+size 50233
diff --git a/click_bell.open_microwave/demo_clean_franka-100/300/sim-open_microwave-demo_clean_franka-100/dataset_stats.pkl b/click_bell.open_microwave/demo_clean_franka-100/300/sim-open_microwave-demo_clean_franka-100/dataset_stats.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..e9de2c142f4abf6625827d7c30c313941aee45cf
--- /dev/null
+++ b/click_bell.open_microwave/demo_clean_franka-100/300/sim-open_microwave-demo_clean_franka-100/dataset_stats.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:113eba195c8b41aba02f03e7bd1954f7163862c09ea7708af7d0bd7675e48a86
+size 50233
diff --git a/click_bell.place_container_plate/demo_clean_franka-100/100/sim-click_bell-demo_clean_franka-100/policy_epoch_6000_seed_100.ckpt b/click_bell.place_container_plate/demo_clean_franka-100/100/sim-click_bell-demo_clean_franka-100/policy_epoch_6000_seed_100.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..29d9db36ca2dc4b07dda0ace748eee08bf68f02a
--- /dev/null
+++ b/click_bell.place_container_plate/demo_clean_franka-100/100/sim-click_bell-demo_clean_franka-100/policy_epoch_6000_seed_100.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9fe6dd4fabedbbe64f4747aac4d1f1df64cc441829cec228190795f0add63b0
+size 335929238
diff --git a/click_bell.place_container_plate/demo_clean_franka-100/100/sim-place_container_plate-demo_clean_franka-100/policy_epoch_6000_seed_100.ckpt b/click_bell.place_container_plate/demo_clean_franka-100/100/sim-place_container_plate-demo_clean_franka-100/policy_epoch_6000_seed_100.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..1459fb316f8549dc2190e50d2104bc009e25399c
--- /dev/null
+++ b/click_bell.place_container_plate/demo_clean_franka-100/100/sim-place_container_plate-demo_clean_franka-100/policy_epoch_6000_seed_100.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c483752e05cf46c9eb9adfbf12dc268ceccab021485c2806de2eb7710a48487
+size 335929238
diff --git a/click_bell.place_shoe/demo_clean_franka-100/300/sim-click_bell-demo_clean_franka-100/policy_epoch_6000_seed_300.ckpt b/click_bell.place_shoe/demo_clean_franka-100/300/sim-click_bell-demo_clean_franka-100/policy_epoch_6000_seed_300.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..95b6ed901b2204df8c072d11073ea8163bb22826
--- /dev/null
+++ b/click_bell.place_shoe/demo_clean_franka-100/300/sim-click_bell-demo_clean_franka-100/policy_epoch_6000_seed_300.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dfff8c590506ad080432cab62563f624c3a5dfff0033200f940b89c93bc66ff3
+size 335929238
diff --git a/click_bell.place_shoe/demo_clean_franka-100/300/sim-place_shoe-demo_clean_franka-100/policy_epoch_6000_seed_300.ckpt b/click_bell.place_shoe/demo_clean_franka-100/300/sim-place_shoe-demo_clean_franka-100/policy_epoch_6000_seed_300.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..48a20ec2fce98c7bd7bc234808c6c8d7866a1267
--- /dev/null
+++ b/click_bell.place_shoe/demo_clean_franka-100/300/sim-place_shoe-demo_clean_franka-100/policy_epoch_6000_seed_300.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04ef378a0a6d60f0f62484d0bfd4c056b4db9c77bffc3b5eb9bda58dc110a334
+size 335929238
diff --git a/lift_pot.open_laptop/demo_clean_franka-100/100/sim-lift_pot-demo_clean_franka-100/policy_epoch_6000_seed_100.ckpt b/lift_pot.open_laptop/demo_clean_franka-100/100/sim-lift_pot-demo_clean_franka-100/policy_epoch_6000_seed_100.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..91a2ca72ca9e7312ec757ee16e1df780372f2245
--- /dev/null
+++ b/lift_pot.open_laptop/demo_clean_franka-100/100/sim-lift_pot-demo_clean_franka-100/policy_epoch_6000_seed_100.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27303ee53203f649ca2cbfe8bcbc3e265699c85c2861652be53e266f8b0e0a57
+size 335929238
diff --git a/lift_pot.open_microwave/demo_clean_franka-100/200/sim-lift_pot-demo_clean_franka-100/policy_epoch_6000_seed_200.ckpt b/lift_pot.open_microwave/demo_clean_franka-100/200/sim-lift_pot-demo_clean_franka-100/policy_epoch_6000_seed_200.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..f7cb1d5a481cca98982f7b93761ea36ca47026b2
--- /dev/null
+++ b/lift_pot.open_microwave/demo_clean_franka-100/200/sim-lift_pot-demo_clean_franka-100/policy_epoch_6000_seed_200.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc3a1bffa3bb8ab0f3280ac156d6c5733de06215ab63a0b4cde0043843bac0f7
+size 335929238
diff --git a/lift_pot.open_microwave/demo_clean_franka-100/300/sim-lift_pot-demo_clean_franka-100/policy_epoch_6000_seed_300.ckpt b/lift_pot.open_microwave/demo_clean_franka-100/300/sim-lift_pot-demo_clean_franka-100/policy_epoch_6000_seed_300.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..8a637e44710cb18c4b3e03b1d8ee9d186132d94f
--- /dev/null
+++ b/lift_pot.open_microwave/demo_clean_franka-100/300/sim-lift_pot-demo_clean_franka-100/policy_epoch_6000_seed_300.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65cb9eeab19a857a3af47296ee4efd993994133648497693ce08e5fb0ead43ac
+size 335929238
diff --git a/lift_pot.open_microwave/demo_clean_franka-100/300/sim-open_microwave-demo_clean_franka-100/policy_epoch_6000_seed_300.ckpt b/lift_pot.open_microwave/demo_clean_franka-100/300/sim-open_microwave-demo_clean_franka-100/policy_epoch_6000_seed_300.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..be4867562c873f94763084a4adbd7d1891b8916d
--- /dev/null
+++ b/lift_pot.open_microwave/demo_clean_franka-100/300/sim-open_microwave-demo_clean_franka-100/policy_epoch_6000_seed_300.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f843c8122a1bef3abe6d5b772c6286d5ecfaa13e82c15dbdd96383279ebd9d1
+size 335929238
diff --git a/lift_pot.place_container_plate/demo_clean_franka-100/100/sim-lift_pot-demo_clean_franka-100/policy_epoch_6000_seed_100.ckpt b/lift_pot.place_container_plate/demo_clean_franka-100/100/sim-lift_pot-demo_clean_franka-100/policy_epoch_6000_seed_100.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..3ef5a11203b035963d6458352857cb4e0886d429
--- /dev/null
+++ b/lift_pot.place_container_plate/demo_clean_franka-100/100/sim-lift_pot-demo_clean_franka-100/policy_epoch_6000_seed_100.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2f34c4fd7ba7f0b44d32a3e3c5b6c9f3bf67a98a7691b8df8456ecde6830e3b
+size 335929238
diff --git a/lift_pot.place_container_plate/demo_clean_franka-100/300/sim-lift_pot-demo_clean_franka-100/policy_epoch_6000_seed_300.ckpt b/lift_pot.place_container_plate/demo_clean_franka-100/300/sim-lift_pot-demo_clean_franka-100/policy_epoch_6000_seed_300.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..3de73c26e8a3b7f0f8880d1920a9a2f023da6315
--- /dev/null
+++ b/lift_pot.place_container_plate/demo_clean_franka-100/300/sim-lift_pot-demo_clean_franka-100/policy_epoch_6000_seed_300.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fda179a5ec19ec67e61526fbd29050cdbef59c70e1bcf853b5e8a28ba5ebe682
+size 335929238
diff --git a/lift_pot.place_container_plate/demo_clean_franka-100/300/sim-place_container_plate-demo_clean_franka-100/policy_epoch_6000_seed_300.ckpt b/lift_pot.place_container_plate/demo_clean_franka-100/300/sim-place_container_plate-demo_clean_franka-100/policy_epoch_6000_seed_300.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..6da74f87abd36f5c77d122474e723ddc9b5e0812
--- /dev/null
+++ b/lift_pot.place_container_plate/demo_clean_franka-100/300/sim-place_container_plate-demo_clean_franka-100/policy_epoch_6000_seed_300.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9434e0dc6e5b157f99a4e9dfad775b3039da77f042a4c2f7c03bc83b1ec8bbed
+size 335929238
diff --git a/lift_pot.place_empty_cup/demo_clean_franka-100/100/sim-lift_pot-demo_clean_franka-100/policy_epoch_6000_seed_100.ckpt b/lift_pot.place_empty_cup/demo_clean_franka-100/100/sim-lift_pot-demo_clean_franka-100/policy_epoch_6000_seed_100.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..c3e990fe0d56459ae4f3d19521919ec35eeabd4f
--- /dev/null
+++ b/lift_pot.place_empty_cup/demo_clean_franka-100/100/sim-lift_pot-demo_clean_franka-100/policy_epoch_6000_seed_100.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f93138d133319c6621c1560e6aad0e97896f7e9fc3403e958eede92bde613d0
+size 335929238
diff --git a/lift_pot.place_empty_cup/demo_clean_franka-100/200/sim-lift_pot-demo_clean_franka-100/policy_epoch_6000_seed_200.ckpt b/lift_pot.place_empty_cup/demo_clean_franka-100/200/sim-lift_pot-demo_clean_franka-100/policy_epoch_6000_seed_200.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..aa0a73a0a9e116d75a2d1c60478a8527ba7ab8e0
--- /dev/null
+++ b/lift_pot.place_empty_cup/demo_clean_franka-100/200/sim-lift_pot-demo_clean_franka-100/policy_epoch_6000_seed_200.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76aaea69418259736328731ef19adb07d56de9a91df868543ff14b042c5bf638
+size 335929238
diff --git a/lift_pot.place_shoe/demo_clean_franka-100/100/sim-lift_pot-demo_clean_franka-100/policy_epoch_6000_seed_100.ckpt b/lift_pot.place_shoe/demo_clean_franka-100/100/sim-lift_pot-demo_clean_franka-100/policy_epoch_6000_seed_100.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..3a6f20470e3295f1ca5448a235491c2849857925
--- /dev/null
+++ b/lift_pot.place_shoe/demo_clean_franka-100/100/sim-lift_pot-demo_clean_franka-100/policy_epoch_6000_seed_100.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23e6921023398debb655cb7ad4d55189c1761c65fa04dcddd35f6216520837fb
+size 335929238
diff --git a/lift_pot.place_shoe/demo_clean_franka-100/200/sim-place_shoe-demo_clean_franka-100/policy_epoch_6000_seed_200.ckpt b/lift_pot.place_shoe/demo_clean_franka-100/200/sim-place_shoe-demo_clean_franka-100/policy_epoch_6000_seed_200.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..3edad4c289061a57f990f09fb77a147c19942df8
--- /dev/null
+++ b/lift_pot.place_shoe/demo_clean_franka-100/200/sim-place_shoe-demo_clean_franka-100/policy_epoch_6000_seed_200.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40ade7d700cd426b14becb31908aea95fbda5eaaa3a41becf4d276f7dcbc60e8
+size 335929238
diff --git a/lift_pot.place_shoe/demo_clean_franka-100/300/sim-place_shoe-demo_clean_franka-100/policy_epoch_6000_seed_300.ckpt b/lift_pot.place_shoe/demo_clean_franka-100/300/sim-place_shoe-demo_clean_franka-100/policy_epoch_6000_seed_300.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..72addc571afd097d28e37bbe8a59b6f7f8dd9c82
--- /dev/null
+++ b/lift_pot.place_shoe/demo_clean_franka-100/300/sim-place_shoe-demo_clean_franka-100/policy_epoch_6000_seed_300.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99d52e2fbc1a86255b208f171c1c5b106e7115d5b61d9ffb71e5e5e24e68cca8
+size 335929238
diff --git a/lift_pot/demo_clean_franka-100/100/dataset_stats.pkl b/lift_pot/demo_clean_franka-100/100/dataset_stats.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..d570a839b853fa527b9255bd7f6b39a5fdea0971
--- /dev/null
+++ b/lift_pot/demo_clean_franka-100/100/dataset_stats.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf8c4f09ef769e6fdce2375970b00fc526853c3b3322cd5a375cf6ea72d1b4a9
+size 6264
diff --git a/lift_pot/demo_clean_franka-100/200/dataset_stats.pkl b/lift_pot/demo_clean_franka-100/200/dataset_stats.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..7d2ad31b6b14a4861fa9f8d7232981c89e17f7fc
--- /dev/null
+++ b/lift_pot/demo_clean_franka-100/200/dataset_stats.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:507f82b80ad2ce4b51566247bea02ae7cdc5c746a3dfa799f5004922a26ef055
+size 6264
diff --git a/lift_pot/demo_clean_franka-100/300/dataset_stats.pkl b/lift_pot/demo_clean_franka-100/300/dataset_stats.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..487f0c05d5483a36f244ba23cc108c371d83b150
--- /dev/null
+++ b/lift_pot/demo_clean_franka-100/300/dataset_stats.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e82bb5116c8ce583da2d2765b961442e1331625cc88d40e3cb2dfc79a389177f
+size 6264
diff --git a/lift_pot/demo_clean_franka-100/400/dataset_stats.pkl b/lift_pot/demo_clean_franka-100/400/dataset_stats.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..7229e7be03a912668ec0fc619fb0ca4ac91e7249
--- /dev/null
+++ b/lift_pot/demo_clean_franka-100/400/dataset_stats.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7d67b0bb52c9c04c77f9821af68360e376a0120b5b2156e35fc0183ccf375b1
+size 6264
diff --git a/open_laptop.place_shoe/demo_clean_franka-100/100/sim-open_laptop-demo_clean_franka-100/dataset_stats.pkl b/open_laptop.place_shoe/demo_clean_franka-100/100/sim-open_laptop-demo_clean_franka-100/dataset_stats.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..9022c7d36d036c6e99f07c1c139fb9be913c438b
--- /dev/null
+++ b/open_laptop.place_shoe/demo_clean_franka-100/100/sim-open_laptop-demo_clean_franka-100/dataset_stats.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3056c3407eedfb48074439bc9d45cca3390f9e2a7aa948325dfa85a5b60b087
+size 35129
diff --git a/open_laptop.place_shoe/demo_clean_franka-100/100/sim-place_shoe-demo_clean_franka-100/dataset_stats.pkl b/open_laptop.place_shoe/demo_clean_franka-100/100/sim-place_shoe-demo_clean_franka-100/dataset_stats.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..9022c7d36d036c6e99f07c1c139fb9be913c438b
--- /dev/null
+++ b/open_laptop.place_shoe/demo_clean_franka-100/100/sim-place_shoe-demo_clean_franka-100/dataset_stats.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3056c3407eedfb48074439bc9d45cca3390f9e2a7aa948325dfa85a5b60b087
+size 35129
diff --git a/open_laptop.place_shoe/demo_clean_franka-100/100/sim-place_shoe-demo_clean_franka-100/policy_epoch_6000_seed_100.ckpt b/open_laptop.place_shoe/demo_clean_franka-100/100/sim-place_shoe-demo_clean_franka-100/policy_epoch_6000_seed_100.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..9406e85a2cc214a43f06f9bf303b58eeb65fb317
--- /dev/null
+++ b/open_laptop.place_shoe/demo_clean_franka-100/100/sim-place_shoe-demo_clean_franka-100/policy_epoch_6000_seed_100.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f88c309cdece6e95db22ddc2a91db53703cf685831af2fb59f153416d5e873ac
+size 335929238
diff --git a/open_laptop.place_shoe/demo_clean_franka-100/200/sim-open_laptop-demo_clean_franka-100/dataset_stats.pkl b/open_laptop.place_shoe/demo_clean_franka-100/200/sim-open_laptop-demo_clean_franka-100/dataset_stats.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..aba4410c72c84ed13c461cd718bb2912f4eb1486
--- /dev/null
+++ b/open_laptop.place_shoe/demo_clean_franka-100/200/sim-open_laptop-demo_clean_franka-100/dataset_stats.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8051289d3d0e3b159754d6dbc6acc44621eb4dc83ec60740c49eb19fcc93db87
+size 35129
diff --git a/open_laptop.place_shoe/demo_clean_franka-100/200/sim-place_shoe-demo_clean_franka-100/dataset_stats.pkl b/open_laptop.place_shoe/demo_clean_franka-100/200/sim-place_shoe-demo_clean_franka-100/dataset_stats.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..aba4410c72c84ed13c461cd718bb2912f4eb1486
--- /dev/null
+++ b/open_laptop.place_shoe/demo_clean_franka-100/200/sim-place_shoe-demo_clean_franka-100/dataset_stats.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8051289d3d0e3b159754d6dbc6acc44621eb4dc83ec60740c49eb19fcc93db87
+size 35129
diff --git a/open_laptop.place_shoe/demo_clean_franka-100/300/sim-open_laptop-demo_clean_franka-100/dataset_stats.pkl b/open_laptop.place_shoe/demo_clean_franka-100/300/sim-open_laptop-demo_clean_franka-100/dataset_stats.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..08dabc15c0023b351abd906d8aa3063db3b3f6be
--- /dev/null
+++ b/open_laptop.place_shoe/demo_clean_franka-100/300/sim-open_laptop-demo_clean_franka-100/dataset_stats.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3db1fe5a5cb33cb2be984693db0442317767554281f418e8c4904c5f35431345
+size 35129
diff --git a/open_laptop.place_shoe/demo_clean_franka-100/300/sim-place_shoe-demo_clean_franka-100/dataset_stats.pkl b/open_laptop.place_shoe/demo_clean_franka-100/300/sim-place_shoe-demo_clean_franka-100/dataset_stats.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..08dabc15c0023b351abd906d8aa3063db3b3f6be
--- /dev/null
+++ b/open_laptop.place_shoe/demo_clean_franka-100/300/sim-place_shoe-demo_clean_franka-100/dataset_stats.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3db1fe5a5cb33cb2be984693db0442317767554281f418e8c4904c5f35431345
+size 35129
diff --git a/open_microwave.place_container_plate/demo_clean_franka-100/200/sim-open_microwave-demo_clean_franka-100/policy_epoch_6000_seed_200.ckpt b/open_microwave.place_container_plate/demo_clean_franka-100/200/sim-open_microwave-demo_clean_franka-100/policy_epoch_6000_seed_200.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..c83b56b3ab377b89f40feccb0cbe90c8c0fd3315
--- /dev/null
+++ b/open_microwave.place_container_plate/demo_clean_franka-100/200/sim-open_microwave-demo_clean_franka-100/policy_epoch_6000_seed_200.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2986fbb925f921feccd144945fd8d58152eea382fe634515abadc631599a2b5
+size 335929238
diff --git a/open_microwave.place_container_plate/demo_clean_franka-100/200/sim-place_container_plate-demo_clean_franka-100/policy_epoch_6000_seed_200.ckpt b/open_microwave.place_container_plate/demo_clean_franka-100/200/sim-place_container_plate-demo_clean_franka-100/policy_epoch_6000_seed_200.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..655bed9208dab0a31701e0a21fedc5eb4fa4074e
--- /dev/null
+++ b/open_microwave.place_container_plate/demo_clean_franka-100/200/sim-place_container_plate-demo_clean_franka-100/policy_epoch_6000_seed_200.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d85a2c4af6477750bef503854e8608fbc02e710dd984efb1249f243d5a4ed1b
+size 335929238
diff --git a/open_microwave.place_shoe/demo_clean_franka-100/100/sim-place_shoe-demo_clean_franka-100/policy_epoch_6000_seed_100.ckpt b/open_microwave.place_shoe/demo_clean_franka-100/100/sim-place_shoe-demo_clean_franka-100/policy_epoch_6000_seed_100.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..4d5d9a4f3785c0f4e71370fad18fd1d598cfce1e
--- /dev/null
+++ b/open_microwave.place_shoe/demo_clean_franka-100/100/sim-place_shoe-demo_clean_franka-100/policy_epoch_6000_seed_100.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4fce37671bf094121d09bdefa75c3b6ba401997149a4db8996ece05ebcae06bb
+size 335929238
diff --git a/open_microwave.place_shoe/demo_clean_franka-100/200/sim-open_microwave-demo_clean_franka-100/policy_epoch_6000_seed_200.ckpt b/open_microwave.place_shoe/demo_clean_franka-100/200/sim-open_microwave-demo_clean_franka-100/policy_epoch_6000_seed_200.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..9ad6b115f7a4e24da3d5da9ddf2f9f96ee2ca03f
--- /dev/null
+++ b/open_microwave.place_shoe/demo_clean_franka-100/200/sim-open_microwave-demo_clean_franka-100/policy_epoch_6000_seed_200.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0a77a2ca455dc1744e8d7c3fc4cd7f73eecdbc44c78ae25f0c34b0672826713
+size 335929238
diff --git a/open_microwave.place_shoe/demo_clean_franka-100/300/sim-open_microwave-demo_clean_franka-100/policy_epoch_6000_seed_300.ckpt b/open_microwave.place_shoe/demo_clean_franka-100/300/sim-open_microwave-demo_clean_franka-100/policy_epoch_6000_seed_300.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..f76a227e4950e9f72ba2ff2c1f18aec260b6435d
--- /dev/null
+++ b/open_microwave.place_shoe/demo_clean_franka-100/300/sim-open_microwave-demo_clean_franka-100/policy_epoch_6000_seed_300.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:922df9d3412beccf3f24969034fc027bae0b50d2230b624cfd1d21c29b4b6ac5
+size 335929238
diff --git a/open_microwave.place_shoe/demo_clean_franka-100/300/sim-place_shoe-demo_clean_franka-100/policy_epoch_6000_seed_300.ckpt b/open_microwave.place_shoe/demo_clean_franka-100/300/sim-place_shoe-demo_clean_franka-100/policy_epoch_6000_seed_300.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..1220306b2aa3e751b171c15a01bb55206aac1e9b
--- /dev/null
+++ b/open_microwave.place_shoe/demo_clean_franka-100/300/sim-place_shoe-demo_clean_franka-100/policy_epoch_6000_seed_300.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:853f319d88ecbe3c57eb09194f022959bd0b63a8ca5e5974651e6da30b097c78
+size 335929238
diff --git a/place_container_plate.place_empty_cup/demo_clean_franka-100/300/sim-place_container_plate-demo_clean_franka-100/policy_epoch_6000_seed_300.ckpt b/place_container_plate.place_empty_cup/demo_clean_franka-100/300/sim-place_container_plate-demo_clean_franka-100/policy_epoch_6000_seed_300.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..aafe592760d97dbdc316693449759305afe16ef7
--- /dev/null
+++ b/place_container_plate.place_empty_cup/demo_clean_franka-100/300/sim-place_container_plate-demo_clean_franka-100/policy_epoch_6000_seed_300.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f69aafe9819e823e50bafaf3b045d4e66b034a2ff361a5b7123cf057d248737
+size 335929238
diff --git a/place_container_plate.place_empty_cup/demo_clean_franka-100/300/sim-place_empty_cup-demo_clean_franka-100/policy_epoch_6000_seed_300.ckpt b/place_container_plate.place_empty_cup/demo_clean_franka-100/300/sim-place_empty_cup-demo_clean_franka-100/policy_epoch_6000_seed_300.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..6aab6a8d4a357a4e9c0eb9962ff92fa92565c37a
--- /dev/null
+++ b/place_container_plate.place_empty_cup/demo_clean_franka-100/300/sim-place_empty_cup-demo_clean_franka-100/policy_epoch_6000_seed_300.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53b00eb6f8a1b78e93bdc9f3a59bf9f4335c16ee1e1aba1adf9673a8fbadbca5
+size 335929238
diff --git a/place_empty_cup.place_shoe/demo_clean_franka-100/100/sim-place_shoe-demo_clean_franka-100/policy_epoch_6000_seed_100.ckpt b/place_empty_cup.place_shoe/demo_clean_franka-100/100/sim-place_shoe-demo_clean_franka-100/policy_epoch_6000_seed_100.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..5f9069c8d1ce8a96e7244846859c29e70463881f
--- /dev/null
+++ b/place_empty_cup.place_shoe/demo_clean_franka-100/100/sim-place_shoe-demo_clean_franka-100/policy_epoch_6000_seed_100.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0043d4b753fce74d17de90b4a69c46528472b84ac6f20e1cb8f152d530f5312a
+size 335929238
diff --git a/place_empty_cup.place_shoe/demo_clean_franka-100/300/sim-place_shoe-demo_clean_franka-100/policy_epoch_6000_seed_300.ckpt b/place_empty_cup.place_shoe/demo_clean_franka-100/300/sim-place_shoe-demo_clean_franka-100/policy_epoch_6000_seed_300.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..0fb31a40212b0138fa81c6a51c417ddd66834fe6
--- /dev/null
+++ b/place_empty_cup.place_shoe/demo_clean_franka-100/300/sim-place_shoe-demo_clean_franka-100/policy_epoch_6000_seed_300.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63b91ef49da83608cdd3aa2a819928bf15a2240c0d62dd797176c636dd4fd4aa
+size 335929238
diff --git a/place_shoe/demo_clean_franka-100/100/policy_epoch_6000_seed_100.ckpt b/place_shoe/demo_clean_franka-100/100/policy_epoch_6000_seed_100.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..c2b024332fc7a5d7546b01b4bd2456aa53ccfeda
--- /dev/null
+++ b/place_shoe/demo_clean_franka-100/100/policy_epoch_6000_seed_100.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c15a0c15ffd704ef72c022e01dc62a27dc0661ab7f502b0f2297e3f8e71e7423
+size 335929238
diff --git a/place_shoe/demo_clean_franka-100/200/policy_epoch_6000_seed_200.ckpt b/place_shoe/demo_clean_franka-100/200/policy_epoch_6000_seed_200.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..b1eb38c499d7eb34c1650f2849e663225d3ac2cc
--- /dev/null
+++ b/place_shoe/demo_clean_franka-100/200/policy_epoch_6000_seed_200.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8ab70eadb2bca4d7db7af3e80ad926bf6c11a86db23ce571a80cce05b819b1b
+size 335929238
diff --git a/place_shoe/demo_clean_franka-100/300/policy_epoch_6000_seed_300.ckpt b/place_shoe/demo_clean_franka-100/300/policy_epoch_6000_seed_300.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..03b601b71f418fe8e2003db5ffa0ee9e6be60e43
--- /dev/null
+++ b/place_shoe/demo_clean_franka-100/300/policy_epoch_6000_seed_300.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a9c9886c65c00fd8065ace7676323a2ff8f1b42634228b607a2b07b76344baf
+size 335929238
diff --git a/place_shoe/demo_clean_franka-100/400/policy_epoch_6000_seed_400.ckpt b/place_shoe/demo_clean_franka-100/400/policy_epoch_6000_seed_400.ckpt
new file mode 100644
index 0000000000000000000000000000000000000000..8bd36376802968a38f6818bb0749cda3ba91780b
--- /dev/null
+++ b/place_shoe/demo_clean_franka-100/400/policy_epoch_6000_seed_400.ckpt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:533036eff9e90a65500e119486a87da7fc3a35a8ea5e904dc24d3dfab5ceb2a4
+size 335929238