diff --git a/square_ph_image_flow_sudeepdit_256_seed2_success87.pt b/robomimic/square_ph_image/delta_legacy/flow_sudeepdit_256_seed2_success87.pt similarity index 100% rename from square_ph_image_flow_sudeepdit_256_seed2_success87.pt rename to robomimic/square_ph_image/delta_legacy/flow_sudeepdit_256_seed2_success87.pt diff --git a/square_ph_image_flow_sudeepdit_256_seed3_success95.pt b/robomimic/square_ph_image/delta_legacy/flow_sudeepdit_256_seed3_success95.pt similarity index 100% rename from square_ph_image_flow_sudeepdit_256_seed3_success95.pt rename to robomimic/square_ph_image/delta_legacy/flow_sudeepdit_256_seed3_success95.pt diff --git a/square_ph_image_mip_chitransformer_384_seed1_success95.pt b/robomimic/square_ph_image/delta_legacy/mip_chitransformer_384_seed1_success95.pt similarity index 100% rename from square_ph_image_mip_chitransformer_384_seed1_success95.pt rename to robomimic/square_ph_image/delta_legacy/mip_chitransformer_384_seed1_success95.pt diff --git a/square_ph_image_mip_chitransformer_384_seed2_success89.pt b/robomimic/square_ph_image/delta_legacy/mip_chitransformer_384_seed2_success89.pt similarity index 100% rename from square_ph_image_mip_chitransformer_384_seed2_success89.pt rename to robomimic/square_ph_image/delta_legacy/mip_chitransformer_384_seed2_success89.pt diff --git a/square_ph_image_mip_chitransformer_384_seed3_success93.pt b/robomimic/square_ph_image/delta_legacy/mip_chitransformer_384_seed3_success93.pt similarity index 100% rename from square_ph_image_mip_chitransformer_384_seed3_success93.pt rename to robomimic/square_ph_image/delta_legacy/mip_chitransformer_384_seed3_success93.pt diff --git a/square_ph_image_mip_chiunet_256_seed1_success87.pt b/robomimic/square_ph_image/delta_legacy/mip_chiunet_256_seed1_success87.pt similarity index 100% rename from square_ph_image_mip_chiunet_256_seed1_success87.pt rename to robomimic/square_ph_image/delta_legacy/mip_chiunet_256_seed1_success87.pt diff --git a/square_ph_image_mip_chiunet_256_seed2_success91.pt b/robomimic/square_ph_image/delta_legacy/mip_chiunet_256_seed2_success91.pt similarity index 100% rename from square_ph_image_mip_chiunet_256_seed2_success91.pt rename to robomimic/square_ph_image/delta_legacy/mip_chiunet_256_seed2_success91.pt diff --git a/square_ph_image_mip_chiunet_256_seed3_success91.pt b/robomimic/square_ph_image/delta_legacy/mip_chiunet_256_seed3_success91.pt similarity index 100% rename from square_ph_image_mip_chiunet_256_seed3_success91.pt rename to robomimic/square_ph_image/delta_legacy/mip_chiunet_256_seed3_success91.pt diff --git a/square_ph_image_mip_mlp_512_seed1_success93.pt b/robomimic/square_ph_image/delta_legacy/mip_mlp_512_seed1_success93.pt similarity index 100% rename from square_ph_image_mip_mlp_512_seed1_success93.pt rename to robomimic/square_ph_image/delta_legacy/mip_mlp_512_seed1_success93.pt diff --git a/square_ph_image_mip_mlp_512_seed2_success85.pt b/robomimic/square_ph_image/delta_legacy/mip_mlp_512_seed2_success85.pt similarity index 100% rename from square_ph_image_mip_mlp_512_seed2_success85.pt rename to robomimic/square_ph_image/delta_legacy/mip_mlp_512_seed2_success85.pt diff --git a/square_ph_image_mip_mlp_512_seed3_success93.pt b/robomimic/square_ph_image/delta_legacy/mip_mlp_512_seed3_success93.pt similarity index 100% rename from square_ph_image_mip_mlp_512_seed3_success93.pt rename to robomimic/square_ph_image/delta_legacy/mip_mlp_512_seed3_success93.pt diff --git a/square_ph_image_mip_rnn_512_seed1_success93.pt b/robomimic/square_ph_image/delta_legacy/mip_rnn_512_seed1_success93.pt similarity index 100% rename from square_ph_image_mip_rnn_512_seed1_success93.pt rename to robomimic/square_ph_image/delta_legacy/mip_rnn_512_seed1_success93.pt diff --git a/square_ph_image_mip_rnn_512_seed2_success93.pt b/robomimic/square_ph_image/delta_legacy/mip_rnn_512_seed2_success93.pt similarity index 100% rename from square_ph_image_mip_rnn_512_seed2_success93.pt rename to robomimic/square_ph_image/delta_legacy/mip_rnn_512_seed2_success93.pt diff --git a/square_ph_image_mip_rnn_512_seed3_success91.pt b/robomimic/square_ph_image/delta_legacy/mip_rnn_512_seed3_success91.pt similarity index 100% rename from square_ph_image_mip_rnn_512_seed3_success91.pt rename to robomimic/square_ph_image/delta_legacy/mip_rnn_512_seed3_success91.pt diff --git a/square_ph_image_mip_sudeepdit_256_seed1_success93.pt b/robomimic/square_ph_image/delta_legacy/mip_sudeepdit_256_seed1_success93.pt similarity index 100% rename from square_ph_image_mip_sudeepdit_256_seed1_success93.pt rename to robomimic/square_ph_image/delta_legacy/mip_sudeepdit_256_seed1_success93.pt diff --git a/square_ph_image_mip_sudeepdit_256_seed2_success97.pt b/robomimic/square_ph_image/delta_legacy/mip_sudeepdit_256_seed2_success97.pt similarity index 100% rename from square_ph_image_mip_sudeepdit_256_seed2_success97.pt rename to robomimic/square_ph_image/delta_legacy/mip_sudeepdit_256_seed2_success97.pt diff --git a/square_ph_image_mip_sudeepdit_256_seed3_success91.pt b/robomimic/square_ph_image/delta_legacy/mip_sudeepdit_256_seed3_success91.pt similarity index 100% rename from square_ph_image_mip_sudeepdit_256_seed3_success91.pt rename to robomimic/square_ph_image/delta_legacy/mip_sudeepdit_256_seed3_success91.pt diff --git a/square_ph_image_regression_chitransformer_384_seed1_success91.pt b/robomimic/square_ph_image/delta_legacy/regression_chitransformer_384_seed1_success91.pt similarity index 100% rename from square_ph_image_regression_chitransformer_384_seed1_success91.pt rename to robomimic/square_ph_image/delta_legacy/regression_chitransformer_384_seed1_success91.pt diff --git a/square_ph_image_regression_chitransformer_384_seed2_success91.pt b/robomimic/square_ph_image/delta_legacy/regression_chitransformer_384_seed2_success91.pt similarity index 100% rename from square_ph_image_regression_chitransformer_384_seed2_success91.pt rename to robomimic/square_ph_image/delta_legacy/regression_chitransformer_384_seed2_success91.pt diff --git a/square_ph_image_regression_chitransformer_384_seed3_success93.pt b/robomimic/square_ph_image/delta_legacy/regression_chitransformer_384_seed3_success93.pt similarity index 100% rename from square_ph_image_regression_chitransformer_384_seed3_success93.pt rename to robomimic/square_ph_image/delta_legacy/regression_chitransformer_384_seed3_success93.pt diff --git a/square_ph_image_regression_chiunet_256_seed1_success87.pt b/robomimic/square_ph_image/delta_legacy/regression_chiunet_256_seed1_success87.pt similarity index 100% rename from square_ph_image_regression_chiunet_256_seed1_success87.pt rename to robomimic/square_ph_image/delta_legacy/regression_chiunet_256_seed1_success87.pt diff --git a/square_ph_image_regression_chiunet_256_seed2_success85.pt b/robomimic/square_ph_image/delta_legacy/regression_chiunet_256_seed2_success85.pt similarity index 100% rename from square_ph_image_regression_chiunet_256_seed2_success85.pt rename to robomimic/square_ph_image/delta_legacy/regression_chiunet_256_seed2_success85.pt diff --git a/square_ph_image_regression_chiunet_256_seed3_success87.pt b/robomimic/square_ph_image/delta_legacy/regression_chiunet_256_seed3_success87.pt similarity index 100% rename from square_ph_image_regression_chiunet_256_seed3_success87.pt rename to robomimic/square_ph_image/delta_legacy/regression_chiunet_256_seed3_success87.pt diff --git a/square_ph_image_regression_mlp_512_seed1_success91.pt b/robomimic/square_ph_image/delta_legacy/regression_mlp_512_seed1_success91.pt similarity index 100% rename from square_ph_image_regression_mlp_512_seed1_success91.pt rename to robomimic/square_ph_image/delta_legacy/regression_mlp_512_seed1_success91.pt diff --git a/square_ph_image_regression_mlp_512_seed2_success91.pt b/robomimic/square_ph_image/delta_legacy/regression_mlp_512_seed2_success91.pt similarity index 100% rename from square_ph_image_regression_mlp_512_seed2_success91.pt rename to robomimic/square_ph_image/delta_legacy/regression_mlp_512_seed2_success91.pt diff --git a/square_ph_image_regression_mlp_512_seed3_success89.pt b/robomimic/square_ph_image/delta_legacy/regression_mlp_512_seed3_success89.pt similarity index 100% rename from square_ph_image_regression_mlp_512_seed3_success89.pt rename to robomimic/square_ph_image/delta_legacy/regression_mlp_512_seed3_success89.pt diff --git a/square_ph_image_regression_rnn_512_seed1_success93.pt b/robomimic/square_ph_image/delta_legacy/regression_rnn_512_seed1_success93.pt similarity index 100% rename from square_ph_image_regression_rnn_512_seed1_success93.pt rename to robomimic/square_ph_image/delta_legacy/regression_rnn_512_seed1_success93.pt diff --git a/square_ph_image_regression_rnn_512_seed2_success91.pt b/robomimic/square_ph_image/delta_legacy/regression_rnn_512_seed2_success91.pt similarity index 100% rename from square_ph_image_regression_rnn_512_seed2_success91.pt rename to robomimic/square_ph_image/delta_legacy/regression_rnn_512_seed2_success91.pt diff --git a/square_ph_image_regression_rnn_512_seed3_success87.pt b/robomimic/square_ph_image/delta_legacy/regression_rnn_512_seed3_success87.pt similarity index 100% rename from square_ph_image_regression_rnn_512_seed3_success87.pt rename to robomimic/square_ph_image/delta_legacy/regression_rnn_512_seed3_success87.pt diff --git a/square_ph_image_regression_sudeepdit_256_seed1_success93.pt b/robomimic/square_ph_image/delta_legacy/regression_sudeepdit_256_seed1_success93.pt similarity index 100% rename from square_ph_image_regression_sudeepdit_256_seed1_success93.pt rename to robomimic/square_ph_image/delta_legacy/regression_sudeepdit_256_seed1_success93.pt diff --git a/square_ph_image_regression_sudeepdit_256_seed2_success91.pt b/robomimic/square_ph_image/delta_legacy/regression_sudeepdit_256_seed2_success91.pt similarity index 100% rename from square_ph_image_regression_sudeepdit_256_seed2_success91.pt rename to robomimic/square_ph_image/delta_legacy/regression_sudeepdit_256_seed2_success91.pt diff --git a/square_ph_image_regression_sudeepdit_256_seed3_success91.pt b/robomimic/square_ph_image/delta_legacy/regression_sudeepdit_256_seed3_success91.pt similarity index 100% rename from square_ph_image_regression_sudeepdit_256_seed3_success91.pt rename to robomimic/square_ph_image/delta_legacy/regression_sudeepdit_256_seed3_success91.pt diff --git a/square_ph_state_flow_chitransformer_384_seed0_success97.pt b/robomimic/square_ph_state/delta_legacy/flow_chitransformer_384_seed0_success97.pt similarity index 100% rename from square_ph_state_flow_chitransformer_384_seed0_success97.pt rename to robomimic/square_ph_state/delta_legacy/flow_chitransformer_384_seed0_success97.pt diff --git a/square_ph_state_flow_chitransformer_384_seed1_success100.pt b/robomimic/square_ph_state/delta_legacy/flow_chitransformer_384_seed1_success100.pt similarity index 100% rename from square_ph_state_flow_chitransformer_384_seed1_success100.pt rename to robomimic/square_ph_state/delta_legacy/flow_chitransformer_384_seed1_success100.pt diff --git a/square_ph_state_flow_chitransformer_384_seed2_success95.pt b/robomimic/square_ph_state/delta_legacy/flow_chitransformer_384_seed2_success95.pt similarity index 100% rename from square_ph_state_flow_chitransformer_384_seed2_success95.pt rename to robomimic/square_ph_state/delta_legacy/flow_chitransformer_384_seed2_success95.pt diff --git a/square_ph_state_flow_chitransformer_384_seed3_success92.pt b/robomimic/square_ph_state/delta_legacy/flow_chitransformer_384_seed3_success92.pt similarity index 100% rename from square_ph_state_flow_chitransformer_384_seed3_success92.pt rename to robomimic/square_ph_state/delta_legacy/flow_chitransformer_384_seed3_success92.pt diff --git a/square_ph_state_flow_chiunet_256_seed0_success100.pt b/robomimic/square_ph_state/delta_legacy/flow_chiunet_256_seed0_success100.pt similarity index 100% rename from square_ph_state_flow_chiunet_256_seed0_success100.pt rename to robomimic/square_ph_state/delta_legacy/flow_chiunet_256_seed0_success100.pt diff --git a/square_ph_state_flow_chiunet_256_seed1_success97.pt b/robomimic/square_ph_state/delta_legacy/flow_chiunet_256_seed1_success97.pt similarity index 100% rename from square_ph_state_flow_chiunet_256_seed1_success97.pt rename to robomimic/square_ph_state/delta_legacy/flow_chiunet_256_seed1_success97.pt diff --git a/square_ph_state_flow_chiunet_256_seed2_success95.pt b/robomimic/square_ph_state/delta_legacy/flow_chiunet_256_seed2_success95.pt similarity index 100% rename from square_ph_state_flow_chiunet_256_seed2_success95.pt rename to robomimic/square_ph_state/delta_legacy/flow_chiunet_256_seed2_success95.pt diff --git a/square_ph_state_flow_chiunet_256_seed3_success97.pt b/robomimic/square_ph_state/delta_legacy/flow_chiunet_256_seed3_success97.pt similarity index 100% rename from square_ph_state_flow_chiunet_256_seed3_success97.pt rename to robomimic/square_ph_state/delta_legacy/flow_chiunet_256_seed3_success97.pt diff --git a/square_ph_state_flow_mlp_512_seed1_success82.pt b/robomimic/square_ph_state/delta_legacy/flow_mlp_512_seed1_success82.pt similarity index 100% rename from square_ph_state_flow_mlp_512_seed1_success82.pt rename to robomimic/square_ph_state/delta_legacy/flow_mlp_512_seed1_success82.pt diff --git a/square_ph_state_flow_mlp_512_seed2_success80.pt b/robomimic/square_ph_state/delta_legacy/flow_mlp_512_seed2_success80.pt similarity index 100% rename from square_ph_state_flow_mlp_512_seed2_success80.pt rename to robomimic/square_ph_state/delta_legacy/flow_mlp_512_seed2_success80.pt diff --git a/square_ph_state_flow_mlp_512_seed3_success87.pt b/robomimic/square_ph_state/delta_legacy/flow_mlp_512_seed3_success87.pt similarity index 100% rename from square_ph_state_flow_mlp_512_seed3_success87.pt rename to robomimic/square_ph_state/delta_legacy/flow_mlp_512_seed3_success87.pt diff --git a/square_ph_state_flow_rnn_512_seed1_success70.pt b/robomimic/square_ph_state/delta_legacy/flow_rnn_512_seed1_success70.pt similarity index 100% rename from square_ph_state_flow_rnn_512_seed1_success70.pt rename to robomimic/square_ph_state/delta_legacy/flow_rnn_512_seed1_success70.pt diff --git a/square_ph_state_flow_rnn_512_seed2_success47.pt b/robomimic/square_ph_state/delta_legacy/flow_rnn_512_seed2_success47.pt similarity index 100% rename from square_ph_state_flow_rnn_512_seed2_success47.pt rename to robomimic/square_ph_state/delta_legacy/flow_rnn_512_seed2_success47.pt diff --git a/square_ph_state_flow_rnn_512_seed3_success50.pt b/robomimic/square_ph_state/delta_legacy/flow_rnn_512_seed3_success50.pt similarity index 100% rename from square_ph_state_flow_rnn_512_seed3_success50.pt rename to robomimic/square_ph_state/delta_legacy/flow_rnn_512_seed3_success50.pt diff --git a/square_ph_state_flow_sudeepdit_256_seed0_success95.pt b/robomimic/square_ph_state/delta_legacy/flow_sudeepdit_256_seed0_success95.pt similarity index 100% rename from square_ph_state_flow_sudeepdit_256_seed0_success95.pt rename to robomimic/square_ph_state/delta_legacy/flow_sudeepdit_256_seed0_success95.pt diff --git a/square_ph_state_flow_sudeepdit_256_seed1_success95.pt b/robomimic/square_ph_state/delta_legacy/flow_sudeepdit_256_seed1_success95.pt similarity index 100% rename from square_ph_state_flow_sudeepdit_256_seed1_success95.pt rename to robomimic/square_ph_state/delta_legacy/flow_sudeepdit_256_seed1_success95.pt diff --git a/square_ph_state_flow_sudeepdit_256_seed2_success90.pt b/robomimic/square_ph_state/delta_legacy/flow_sudeepdit_256_seed2_success90.pt similarity index 100% rename from square_ph_state_flow_sudeepdit_256_seed2_success90.pt rename to robomimic/square_ph_state/delta_legacy/flow_sudeepdit_256_seed2_success90.pt diff --git a/square_ph_state_flow_sudeepdit_256_seed3_success92.pt b/robomimic/square_ph_state/delta_legacy/flow_sudeepdit_256_seed3_success92.pt similarity index 100% rename from square_ph_state_flow_sudeepdit_256_seed3_success92.pt rename to robomimic/square_ph_state/delta_legacy/flow_sudeepdit_256_seed3_success92.pt diff --git a/square_ph_state_lsd_chiunet_256_seed0_success100.pt b/robomimic/square_ph_state/delta_legacy/lsd_chiunet_256_seed0_success100.pt similarity index 100% rename from square_ph_state_lsd_chiunet_256_seed0_success100.pt rename to robomimic/square_ph_state/delta_legacy/lsd_chiunet_256_seed0_success100.pt diff --git a/square_ph_state_mip_chitransformer_384_seed1_success92.pt b/robomimic/square_ph_state/delta_legacy/mip_chitransformer_384_seed1_success92.pt similarity index 100% rename from square_ph_state_mip_chitransformer_384_seed1_success92.pt rename to robomimic/square_ph_state/delta_legacy/mip_chitransformer_384_seed1_success92.pt diff --git a/square_ph_state_mip_chitransformer_384_seed2_success92.pt b/robomimic/square_ph_state/delta_legacy/mip_chitransformer_384_seed2_success92.pt similarity index 100% rename from square_ph_state_mip_chitransformer_384_seed2_success92.pt rename to robomimic/square_ph_state/delta_legacy/mip_chitransformer_384_seed2_success92.pt diff --git a/square_ph_state_mip_chitransformer_384_seed3_success97.pt b/robomimic/square_ph_state/delta_legacy/mip_chitransformer_384_seed3_success97.pt similarity index 100% rename from square_ph_state_mip_chitransformer_384_seed3_success97.pt rename to robomimic/square_ph_state/delta_legacy/mip_chitransformer_384_seed3_success97.pt diff --git a/square_ph_state_mip_chiunet_256_seed1_success85.pt b/robomimic/square_ph_state/delta_legacy/mip_chiunet_256_seed1_success85.pt similarity index 100% rename from square_ph_state_mip_chiunet_256_seed1_success85.pt rename to robomimic/square_ph_state/delta_legacy/mip_chiunet_256_seed1_success85.pt diff --git a/square_ph_state_mip_chiunet_256_seed2_success100.pt b/robomimic/square_ph_state/delta_legacy/mip_chiunet_256_seed2_success100.pt similarity index 100% rename from square_ph_state_mip_chiunet_256_seed2_success100.pt rename to robomimic/square_ph_state/delta_legacy/mip_chiunet_256_seed2_success100.pt diff --git a/square_ph_state_mip_chiunet_256_seed3_success97.pt b/robomimic/square_ph_state/delta_legacy/mip_chiunet_256_seed3_success97.pt similarity index 100% rename from square_ph_state_mip_chiunet_256_seed3_success97.pt rename to robomimic/square_ph_state/delta_legacy/mip_chiunet_256_seed3_success97.pt diff --git a/square_ph_state_mip_mlp_512_seed1_success95.pt b/robomimic/square_ph_state/delta_legacy/mip_mlp_512_seed1_success95.pt similarity index 100% rename from square_ph_state_mip_mlp_512_seed1_success95.pt rename to robomimic/square_ph_state/delta_legacy/mip_mlp_512_seed1_success95.pt diff --git a/square_ph_state_mip_mlp_512_seed2_success92.pt b/robomimic/square_ph_state/delta_legacy/mip_mlp_512_seed2_success92.pt similarity index 100% rename from square_ph_state_mip_mlp_512_seed2_success92.pt rename to robomimic/square_ph_state/delta_legacy/mip_mlp_512_seed2_success92.pt diff --git a/square_ph_state_mip_mlp_512_seed3_success95.pt b/robomimic/square_ph_state/delta_legacy/mip_mlp_512_seed3_success95.pt similarity index 100% rename from square_ph_state_mip_mlp_512_seed3_success95.pt rename to robomimic/square_ph_state/delta_legacy/mip_mlp_512_seed3_success95.pt diff --git a/square_ph_state_mip_rnn_512_seed1_success92.pt b/robomimic/square_ph_state/delta_legacy/mip_rnn_512_seed1_success92.pt similarity index 100% rename from square_ph_state_mip_rnn_512_seed1_success92.pt rename to robomimic/square_ph_state/delta_legacy/mip_rnn_512_seed1_success92.pt diff --git a/square_ph_state_mip_rnn_512_seed2_success87.pt b/robomimic/square_ph_state/delta_legacy/mip_rnn_512_seed2_success87.pt similarity index 100% rename from square_ph_state_mip_rnn_512_seed2_success87.pt rename to robomimic/square_ph_state/delta_legacy/mip_rnn_512_seed2_success87.pt diff --git a/square_ph_state_mip_rnn_512_seed3_success90.pt b/robomimic/square_ph_state/delta_legacy/mip_rnn_512_seed3_success90.pt similarity index 100% rename from square_ph_state_mip_rnn_512_seed3_success90.pt rename to robomimic/square_ph_state/delta_legacy/mip_rnn_512_seed3_success90.pt diff --git a/square_ph_state_mip_sudeepdit_256_seed1_success95.pt b/robomimic/square_ph_state/delta_legacy/mip_sudeepdit_256_seed1_success95.pt similarity index 100% rename from square_ph_state_mip_sudeepdit_256_seed1_success95.pt rename to robomimic/square_ph_state/delta_legacy/mip_sudeepdit_256_seed1_success95.pt diff --git a/square_ph_state_mip_sudeepdit_256_seed2_success95.pt b/robomimic/square_ph_state/delta_legacy/mip_sudeepdit_256_seed2_success95.pt similarity index 100% rename from square_ph_state_mip_sudeepdit_256_seed2_success95.pt rename to robomimic/square_ph_state/delta_legacy/mip_sudeepdit_256_seed2_success95.pt diff --git a/square_ph_state_mip_sudeepdit_256_seed3_success95.pt b/robomimic/square_ph_state/delta_legacy/mip_sudeepdit_256_seed3_success95.pt similarity index 100% rename from square_ph_state_mip_sudeepdit_256_seed3_success95.pt rename to robomimic/square_ph_state/delta_legacy/mip_sudeepdit_256_seed3_success95.pt diff --git a/square_ph_state_psd_chitransformer_384_seed0_success95.pt b/robomimic/square_ph_state/delta_legacy/psd_chitransformer_384_seed0_success95.pt similarity index 100% rename from square_ph_state_psd_chitransformer_384_seed0_success95.pt rename to robomimic/square_ph_state/delta_legacy/psd_chitransformer_384_seed0_success95.pt diff --git a/square_ph_state_psd_chiunet_256_seed0_success97.pt b/robomimic/square_ph_state/delta_legacy/psd_chiunet_256_seed0_success97.pt similarity index 100% rename from square_ph_state_psd_chiunet_256_seed0_success97.pt rename to robomimic/square_ph_state/delta_legacy/psd_chiunet_256_seed0_success97.pt diff --git a/square_ph_state_psd_mlp_512_seed0_success77.pt b/robomimic/square_ph_state/delta_legacy/psd_mlp_512_seed0_success77.pt similarity index 100% rename from square_ph_state_psd_mlp_512_seed0_success77.pt rename to robomimic/square_ph_state/delta_legacy/psd_mlp_512_seed0_success77.pt diff --git a/square_ph_state_psd_rnn_512_seed0_success15.pt b/robomimic/square_ph_state/delta_legacy/psd_rnn_512_seed0_success15.pt similarity index 100% rename from square_ph_state_psd_rnn_512_seed0_success15.pt rename to robomimic/square_ph_state/delta_legacy/psd_rnn_512_seed0_success15.pt diff --git a/square_ph_state_psd_sudeepdit_256_seed0_success95.pt b/robomimic/square_ph_state/delta_legacy/psd_sudeepdit_256_seed0_success95.pt similarity index 100% rename from square_ph_state_psd_sudeepdit_256_seed0_success95.pt rename to robomimic/square_ph_state/delta_legacy/psd_sudeepdit_256_seed0_success95.pt diff --git a/square_ph_state_regression_chitransformer_384_seed1_success92.pt b/robomimic/square_ph_state/delta_legacy/regression_chitransformer_384_seed1_success92.pt similarity index 100% rename from square_ph_state_regression_chitransformer_384_seed1_success92.pt rename to robomimic/square_ph_state/delta_legacy/regression_chitransformer_384_seed1_success92.pt diff --git a/square_ph_state_regression_chitransformer_384_seed2_success92.pt b/robomimic/square_ph_state/delta_legacy/regression_chitransformer_384_seed2_success92.pt similarity index 100% rename from square_ph_state_regression_chitransformer_384_seed2_success92.pt rename to robomimic/square_ph_state/delta_legacy/regression_chitransformer_384_seed2_success92.pt diff --git a/square_ph_state_regression_chitransformer_384_seed3_success92.pt b/robomimic/square_ph_state/delta_legacy/regression_chitransformer_384_seed3_success92.pt similarity index 100% rename from square_ph_state_regression_chitransformer_384_seed3_success92.pt rename to robomimic/square_ph_state/delta_legacy/regression_chitransformer_384_seed3_success92.pt diff --git a/square_ph_state_regression_chiunet_256_seed1_success87.pt b/robomimic/square_ph_state/delta_legacy/regression_chiunet_256_seed1_success87.pt similarity index 100% rename from square_ph_state_regression_chiunet_256_seed1_success87.pt rename to robomimic/square_ph_state/delta_legacy/regression_chiunet_256_seed1_success87.pt diff --git a/square_ph_state_regression_chiunet_256_seed2_success90.pt b/robomimic/square_ph_state/delta_legacy/regression_chiunet_256_seed2_success90.pt similarity index 100% rename from square_ph_state_regression_chiunet_256_seed2_success90.pt rename to robomimic/square_ph_state/delta_legacy/regression_chiunet_256_seed2_success90.pt diff --git a/square_ph_state_regression_chiunet_256_seed3_success92.pt b/robomimic/square_ph_state/delta_legacy/regression_chiunet_256_seed3_success92.pt similarity index 100% rename from square_ph_state_regression_chiunet_256_seed3_success92.pt rename to robomimic/square_ph_state/delta_legacy/regression_chiunet_256_seed3_success92.pt diff --git a/square_ph_state_regression_mlp_512_seed1_success97.pt b/robomimic/square_ph_state/delta_legacy/regression_mlp_512_seed1_success97.pt similarity index 100% rename from square_ph_state_regression_mlp_512_seed1_success97.pt rename to robomimic/square_ph_state/delta_legacy/regression_mlp_512_seed1_success97.pt diff --git a/square_ph_state_regression_mlp_512_seed2_success95.pt b/robomimic/square_ph_state/delta_legacy/regression_mlp_512_seed2_success95.pt similarity index 100% rename from square_ph_state_regression_mlp_512_seed2_success95.pt rename to robomimic/square_ph_state/delta_legacy/regression_mlp_512_seed2_success95.pt diff --git a/square_ph_state_regression_mlp_512_seed3_success95.pt b/robomimic/square_ph_state/delta_legacy/regression_mlp_512_seed3_success95.pt similarity index 100% rename from square_ph_state_regression_mlp_512_seed3_success95.pt rename to robomimic/square_ph_state/delta_legacy/regression_mlp_512_seed3_success95.pt diff --git a/square_ph_state_regression_rnn_512_seed1_success87.pt b/robomimic/square_ph_state/delta_legacy/regression_rnn_512_seed1_success87.pt similarity index 100% rename from square_ph_state_regression_rnn_512_seed1_success87.pt rename to robomimic/square_ph_state/delta_legacy/regression_rnn_512_seed1_success87.pt diff --git a/square_ph_state_regression_rnn_512_seed2_success87.pt b/robomimic/square_ph_state/delta_legacy/regression_rnn_512_seed2_success87.pt similarity index 100% rename from square_ph_state_regression_rnn_512_seed2_success87.pt rename to robomimic/square_ph_state/delta_legacy/regression_rnn_512_seed2_success87.pt diff --git a/square_ph_state_regression_rnn_512_seed3_success92.pt b/robomimic/square_ph_state/delta_legacy/regression_rnn_512_seed3_success92.pt similarity index 100% rename from square_ph_state_regression_rnn_512_seed3_success92.pt rename to robomimic/square_ph_state/delta_legacy/regression_rnn_512_seed3_success92.pt diff --git a/square_ph_state_regression_sudeepdit_256_seed1_success75.pt b/robomimic/square_ph_state/delta_legacy/regression_sudeepdit_256_seed1_success75.pt similarity index 100% rename from square_ph_state_regression_sudeepdit_256_seed1_success75.pt rename to robomimic/square_ph_state/delta_legacy/regression_sudeepdit_256_seed1_success75.pt diff --git a/square_ph_state_regression_sudeepdit_256_seed2_success82.pt b/robomimic/square_ph_state/delta_legacy/regression_sudeepdit_256_seed2_success82.pt similarity index 100% rename from square_ph_state_regression_sudeepdit_256_seed2_success82.pt rename to robomimic/square_ph_state/delta_legacy/regression_sudeepdit_256_seed2_success82.pt diff --git a/square_ph_state_regression_sudeepdit_256_seed3_success75.pt b/robomimic/square_ph_state/delta_legacy/regression_sudeepdit_256_seed3_success75.pt similarity index 100% rename from square_ph_state_regression_sudeepdit_256_seed3_success75.pt rename to robomimic/square_ph_state/delta_legacy/regression_sudeepdit_256_seed3_success75.pt diff --git a/tool_hang_ph_image_flow_chitransformer_384_seed0_success27.pt b/robomimic/tool_hang_ph_image/delta_legacy/flow_chitransformer_384_seed0_success27.pt similarity index 100% rename from tool_hang_ph_image_flow_chitransformer_384_seed0_success27.pt rename to robomimic/tool_hang_ph_image/delta_legacy/flow_chitransformer_384_seed0_success27.pt diff --git a/tool_hang_ph_image_flow_chitransformer_384_seed1_success31.pt b/robomimic/tool_hang_ph_image/delta_legacy/flow_chitransformer_384_seed1_success31.pt similarity index 100% rename from tool_hang_ph_image_flow_chitransformer_384_seed1_success31.pt rename to robomimic/tool_hang_ph_image/delta_legacy/flow_chitransformer_384_seed1_success31.pt diff --git a/tool_hang_ph_image_flow_chitransformer_384_seed2_success22.pt b/robomimic/tool_hang_ph_image/delta_legacy/flow_chitransformer_384_seed2_success22.pt similarity index 100% rename from tool_hang_ph_image_flow_chitransformer_384_seed2_success22.pt rename to robomimic/tool_hang_ph_image/delta_legacy/flow_chitransformer_384_seed2_success22.pt diff --git a/tool_hang_ph_image_flow_chitransformer_384_seed3_success37.pt b/robomimic/tool_hang_ph_image/delta_legacy/flow_chitransformer_384_seed3_success37.pt similarity index 100% rename from tool_hang_ph_image_flow_chitransformer_384_seed3_success37.pt rename to robomimic/tool_hang_ph_image/delta_legacy/flow_chitransformer_384_seed3_success37.pt diff --git a/tool_hang_ph_image_flow_chiunet_256_seed0_success45.pt b/robomimic/tool_hang_ph_image/delta_legacy/flow_chiunet_256_seed0_success45.pt similarity index 100% rename from tool_hang_ph_image_flow_chiunet_256_seed0_success45.pt rename to robomimic/tool_hang_ph_image/delta_legacy/flow_chiunet_256_seed0_success45.pt diff --git a/tool_hang_ph_image_flow_chiunet_256_seed1_success52.pt b/robomimic/tool_hang_ph_image/delta_legacy/flow_chiunet_256_seed1_success52.pt similarity index 100% rename from tool_hang_ph_image_flow_chiunet_256_seed1_success52.pt rename to robomimic/tool_hang_ph_image/delta_legacy/flow_chiunet_256_seed1_success52.pt diff --git a/tool_hang_ph_image_flow_chiunet_256_seed2_success56.pt b/robomimic/tool_hang_ph_image/delta_legacy/flow_chiunet_256_seed2_success56.pt similarity index 100% rename from tool_hang_ph_image_flow_chiunet_256_seed2_success56.pt rename to robomimic/tool_hang_ph_image/delta_legacy/flow_chiunet_256_seed2_success56.pt diff --git a/tool_hang_ph_image_flow_chiunet_256_seed3_success52.pt b/robomimic/tool_hang_ph_image/delta_legacy/flow_chiunet_256_seed3_success52.pt similarity index 100% rename from tool_hang_ph_image_flow_chiunet_256_seed3_success52.pt rename to robomimic/tool_hang_ph_image/delta_legacy/flow_chiunet_256_seed3_success52.pt diff --git a/tool_hang_ph_image_flow_mlp_512_seed1_success31.pt b/robomimic/tool_hang_ph_image/delta_legacy/flow_mlp_512_seed1_success31.pt similarity index 100% rename from tool_hang_ph_image_flow_mlp_512_seed1_success31.pt rename to robomimic/tool_hang_ph_image/delta_legacy/flow_mlp_512_seed1_success31.pt diff --git a/tool_hang_ph_image_flow_mlp_512_seed2_success25.pt b/robomimic/tool_hang_ph_image/delta_legacy/flow_mlp_512_seed2_success25.pt similarity index 100% rename from tool_hang_ph_image_flow_mlp_512_seed2_success25.pt rename to robomimic/tool_hang_ph_image/delta_legacy/flow_mlp_512_seed2_success25.pt diff --git a/tool_hang_ph_image_flow_mlp_512_seed3_success33.pt b/robomimic/tool_hang_ph_image/delta_legacy/flow_mlp_512_seed3_success33.pt similarity index 100% rename from tool_hang_ph_image_flow_mlp_512_seed3_success33.pt rename to robomimic/tool_hang_ph_image/delta_legacy/flow_mlp_512_seed3_success33.pt diff --git a/tool_hang_ph_image_flow_rnn_512_seed1_success0.pt b/robomimic/tool_hang_ph_image/delta_legacy/flow_rnn_512_seed1_success0.pt similarity index 100% rename from tool_hang_ph_image_flow_rnn_512_seed1_success0.pt rename to robomimic/tool_hang_ph_image/delta_legacy/flow_rnn_512_seed1_success0.pt diff --git a/tool_hang_ph_image_flow_rnn_512_seed2_success0.pt b/robomimic/tool_hang_ph_image/delta_legacy/flow_rnn_512_seed2_success0.pt similarity index 100% rename from tool_hang_ph_image_flow_rnn_512_seed2_success0.pt rename to robomimic/tool_hang_ph_image/delta_legacy/flow_rnn_512_seed2_success0.pt diff --git a/tool_hang_ph_image_flow_rnn_512_seed3_success35.pt b/robomimic/tool_hang_ph_image/delta_legacy/flow_rnn_512_seed3_success35.pt similarity index 100% rename from tool_hang_ph_image_flow_rnn_512_seed3_success35.pt rename to robomimic/tool_hang_ph_image/delta_legacy/flow_rnn_512_seed3_success35.pt