diff --git a/pi/HOI_grap_cup/pi05_sonic_grapcup_0529/pretrained_model/config.json b/pi/HOI_grap_cup/pi05_sonic_grapcup_0529/pretrained_model/config.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ed5a8a282726eacda814de91e1b99c12c8c58d2
--- /dev/null
+++ b/pi/HOI_grap_cup/pi05_sonic_grapcup_0529/pretrained_model/config.json
@@ -0,0 +1,125 @@
+{
+    "type": "pi05",
+    "n_obs_steps": 1,
+    "input_features": {
+        "observation.images.front": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        },
+        "observation.state": {
+            "type": "STATE",
+            "shape": [
+                64
+            ]
+        }
+    },
+    "output_features": {
+        "action": {
+            "type": "ACTION",
+            "shape": [
+                40
+            ]
+        }
+    },
+    "device": "cuda",
+    "use_amp": false,
+    "use_peft": false,
+    "push_to_hub": false,
+    "repo_id": null,
+    "private": null,
+    "tags": null,
+    "license": null,
+    "pretrained_path": "/mnt/workspace/xujunzhe/yunhengwang/lerobot/checkpoints/pi05_base",
+    "paligemma_variant": "gemma_2b",
+    "action_expert_variant": "gemma_300m",
+    "dtype": "bfloat16",
+    "chunk_size": 20,
+    "n_action_steps": 20,
+    "max_state_dim": 64,
+    "max_action_dim": 40,
+    "num_inference_steps": 10,
+    "time_sampling_beta_alpha": 1.5,
+    "time_sampling_beta_beta": 1.0,
+    "time_sampling_scale": 0.999,
+    "time_sampling_offset": 0.001,
+    "min_period": 0.004,
+    "max_period": 4.0,
+    "use_relative_actions": false,
+    "relative_exclude_joints": [
+        "gripper"
+    ],
+    "action_feature_names": [
+        "action.root_ref_base_local_xy_delta.x",
+        "action.root_ref_base_local_xy_delta.y",
+        "action.root_z",
+        "action.root_ref_rot6d.0",
+        "action.root_ref_rot6d.1",
+        "action.root_ref_rot6d.2",
+        "action.root_ref_rot6d.3",
+        "action.root_ref_rot6d.4",
+        "action.root_ref_rot6d.5",
+        "action.joint_pos.left_hip_pitch_joint",
+        "action.joint_pos.right_hip_pitch_joint",
+        "action.joint_pos.waist_yaw_joint",
+        "action.joint_pos.left_hip_roll_joint",
+        "action.joint_pos.right_hip_roll_joint",
+        "action.joint_pos.waist_roll_joint",
+        "action.joint_pos.left_hip_yaw_joint",
+        "action.joint_pos.right_hip_yaw_joint",
+        "action.joint_pos.waist_pitch_joint",
+        "action.joint_pos.left_knee_joint",
+        "action.joint_pos.right_knee_joint",
+        "action.joint_pos.left_shoulder_pitch_joint",
+        "action.joint_pos.right_shoulder_pitch_joint",
+        "action.joint_pos.left_ankle_pitch_joint",
+        "action.joint_pos.right_ankle_pitch_joint",
+        "action.joint_pos.left_shoulder_roll_joint",
+        "action.joint_pos.right_shoulder_roll_joint",
+        "action.joint_pos.left_ankle_roll_joint",
+        "action.joint_pos.right_ankle_roll_joint",
+        "action.joint_pos.left_shoulder_yaw_joint",
+        "action.joint_pos.right_shoulder_yaw_joint",
+        "action.joint_pos.left_elbow_joint",
+        "action.joint_pos.right_elbow_joint",
+        "action.joint_pos.left_wrist_roll_joint",
+        "action.joint_pos.right_wrist_roll_joint",
+        "action.joint_pos.left_wrist_pitch_joint",
+        "action.joint_pos.right_wrist_pitch_joint",
+        "action.joint_pos.left_wrist_yaw_joint",
+        "action.joint_pos.right_wrist_yaw_joint",
+        "action.hand_binary.left",
+        "action.hand_binary.right"
+    ],
+    "rtc_config": null,
+    "image_resolution": [
+        224,
+        224
+    ],
+    "empty_cameras": 0,
+    "tokenizer_max_length": 200,
+    "normalization_mapping": {
+        "VISUAL": "IDENTITY",
+        "STATE": "QUANTILES",
+        "ACTION": "QUANTILES"
+    },
+    "gradient_checkpointing": true,
+    "compile_model": true,
+    "compile_mode": "max-autotune",
+    "freeze_vision_encoder": false,
+    "train_expert_only": false,
+    "optimizer_lr": 2.5e-05,
+    "optimizer_betas": [
+        0.9,
+        0.95
+    ],
+    "optimizer_eps": 1e-08,
+    "optimizer_weight_decay": 0.01,
+    "optimizer_grad_clip_norm": 1.0,
+    "scheduler_warmup_steps": 1000,
+    "scheduler_decay_steps": 30000,
+    "scheduler_decay_lr": 2.5e-06
+}
\ No newline at end of file
diff --git a/pi/HOI_grap_cup/pi05_sonic_grapcup_0529/pretrained_model/policy_postprocessor.json b/pi/HOI_grap_cup/pi05_sonic_grapcup_0529/pretrained_model/policy_postprocessor.json
new file mode 100644
index 0000000000000000000000000000000000000000..a35451825e1e0248da28301e4ae7fd31211b0614
--- /dev/null
+++ b/pi/HOI_grap_cup/pi05_sonic_grapcup_0529/pretrained_model/policy_postprocessor.json
@@ -0,0 +1,32 @@
+{
+  "name": "policy_postprocessor",
+  "steps": [
+    {
+      "registry_name": "unnormalizer_processor",
+      "config": {
+        "eps": 1e-08,
+        "features": {
+          "action": {
+            "type": "ACTION",
+            "shape": [
+              40
+            ]
+          }
+        },
+        "norm_map": {
+          "VISUAL": "IDENTITY",
+          "STATE": "QUANTILES",
+          "ACTION": "QUANTILES"
+        }
+      },
+      "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cpu",
+        "float_dtype": null
+      }
+    }
+  ]
+}
\ No newline at end of file
diff --git a/pi/HOI_grap_cup/pi05_sonic_grapcup_0529/pretrained_model/policy_preprocessor.json b/pi/HOI_grap_cup/pi05_sonic_grapcup_0529/pretrained_model/policy_preprocessor.json
new file mode 100644
index 0000000000000000000000000000000000000000..7de44101771a44f32fc7ec156196fb544da6368a
--- /dev/null
+++ b/pi/HOI_grap_cup/pi05_sonic_grapcup_0529/pretrained_model/policy_preprocessor.json
@@ -0,0 +1,71 @@
+{
+  "name": "policy_preprocessor",
+  "steps": [
+    {
+      "registry_name": "rename_observations_processor",
+      "config": {
+        "rename_map": {}
+      }
+    },
+    {
+      "registry_name": "to_batch_processor",
+      "config": {}
+    },
+    {
+      "registry_name": "normalizer_processor",
+      "config": {
+        "eps": 1e-08,
+        "features": {
+          "observation.images.front": {
+            "type": "VISUAL",
+            "shape": [
+              3,
+              480,
+              640
+            ]
+          },
+          "observation.state": {
+            "type": "STATE",
+            "shape": [
+              64
+            ]
+          },
+          "action": {
+            "type": "ACTION",
+            "shape": [
+              40
+            ]
+          }
+        },
+        "norm_map": {
+          "VISUAL": "IDENTITY",
+          "STATE": "QUANTILES",
+          "ACTION": "QUANTILES"
+        }
+      },
+      "state_file": "policy_preprocessor_step_2_normalizer_processor.safetensors"
+    },
+    {
+      "registry_name": "pi05_prepare_state_tokenizer_processor_step",
+      "config": {}
+    },
+    {
+      "registry_name": "tokenizer_processor",
+      "config": {
+        "max_length": 200,
+        "task_key": "task",
+        "padding_side": "right",
+        "padding": "max_length",
+        "truncation": true,
+        "tokenizer_name": "/mnt/workspace/xujunzhe/yunhengwang/lerobot/checkpoints/paligemma-3b-pt-224"
+      }
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cuda",
+        "float_dtype": null
+      }
+    }
+  ]
+}
\ No newline at end of file
diff --git a/pi/HOI_grap_cup/pi05_sonic_grapcup_0529/pretrained_model/train_config.json b/pi/HOI_grap_cup/pi05_sonic_grapcup_0529/pretrained_model/train_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd3517c6fe953a96e5269ef241747594bb45ee22
--- /dev/null
+++ b/pi/HOI_grap_cup/pi05_sonic_grapcup_0529/pretrained_model/train_config.json
@@ -0,0 +1,263 @@
+{
+    "dataset": {
+        "repo_id": "local/HOI_grap_cup_sonic_refpose_v3_1",
+        "root": "/mnt/workspace/xujunzhe/yunhengwang/lerobot/datasets/HumanoidArena_datasets_v3_1/HOI_grap_cup/HOI_grap_cup_sonic_refpose_v3_1",
+        "episodes": null,
+        "image_transforms": {
+            "enable": true,
+            "max_num_transforms": 3,
+            "random_order": false,
+            "tfs": {
+                "brightness": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "brightness": [
+                            0.8,
+                            1.2
+                        ]
+                    }
+                },
+                "contrast": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "contrast": [
+                            0.8,
+                            1.2
+                        ]
+                    }
+                },
+                "saturation": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "saturation": [
+                            0.5,
+                            1.5
+                        ]
+                    }
+                },
+                "hue": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "hue": [
+                            -0.05,
+                            0.05
+                        ]
+                    }
+                },
+                "sharpness": {
+                    "weight": 1.0,
+                    "type": "SharpnessJitter",
+                    "kwargs": {
+                        "sharpness": [
+                            0.5,
+                            1.5
+                        ]
+                    }
+                },
+                "affine": {
+                    "weight": 1.0,
+                    "type": "RandomAffine",
+                    "kwargs": {
+                        "degrees": [
+                            -5.0,
+                            5.0
+                        ],
+                        "translate": [
+                            0.05,
+                            0.05
+                        ]
+                    }
+                }
+            }
+        },
+        "revision": null,
+        "use_imagenet_stats": true,
+        "video_backend": "torchcodec",
+        "streaming": false
+    },
+    "env": null,
+    "policy": {
+        "type": "pi05",
+        "n_obs_steps": 1,
+        "input_features": {
+            "observation.images.front": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    480,
+                    640
+                ]
+            },
+            "observation.state": {
+                "type": "STATE",
+                "shape": [
+                    64
+                ]
+            }
+        },
+        "output_features": {
+            "action": {
+                "type": "ACTION",
+                "shape": [
+                    40
+                ]
+            }
+        },
+        "device": "cuda",
+        "use_amp": false,
+        "use_peft": false,
+        "push_to_hub": false,
+        "repo_id": null,
+        "private": null,
+        "tags": null,
+        "license": null,
+        "pretrained_path": "/mnt/workspace/xujunzhe/yunhengwang/lerobot/checkpoints/pi05_base",
+        "paligemma_variant": "gemma_2b",
+        "action_expert_variant": "gemma_300m",
+        "dtype": "bfloat16",
+        "chunk_size": 20,
+        "n_action_steps": 20,
+        "max_state_dim": 64,
+        "max_action_dim": 40,
+        "num_inference_steps": 10,
+        "time_sampling_beta_alpha": 1.5,
+        "time_sampling_beta_beta": 1.0,
+        "time_sampling_scale": 0.999,
+        "time_sampling_offset": 0.001,
+        "min_period": 0.004,
+        "max_period": 4.0,
+        "use_relative_actions": false,
+        "relative_exclude_joints": [
+            "gripper"
+        ],
+        "action_feature_names": [
+            "action.root_ref_base_local_xy_delta.x",
+            "action.root_ref_base_local_xy_delta.y",
+            "action.root_z",
+            "action.root_ref_rot6d.0",
+            "action.root_ref_rot6d.1",
+            "action.root_ref_rot6d.2",
+            "action.root_ref_rot6d.3",
+            "action.root_ref_rot6d.4",
+            "action.root_ref_rot6d.5",
+            "action.joint_pos.left_hip_pitch_joint",
+            "action.joint_pos.right_hip_pitch_joint",
+            "action.joint_pos.waist_yaw_joint",
+            "action.joint_pos.left_hip_roll_joint",
+            "action.joint_pos.right_hip_roll_joint",
+            "action.joint_pos.waist_roll_joint",
+            "action.joint_pos.left_hip_yaw_joint",
+            "action.joint_pos.right_hip_yaw_joint",
+            "action.joint_pos.waist_pitch_joint",
+            "action.joint_pos.left_knee_joint",
+            "action.joint_pos.right_knee_joint",
+            "action.joint_pos.left_shoulder_pitch_joint",
+            "action.joint_pos.right_shoulder_pitch_joint",
+            "action.joint_pos.left_ankle_pitch_joint",
+            "action.joint_pos.right_ankle_pitch_joint",
+            "action.joint_pos.left_shoulder_roll_joint",
+            "action.joint_pos.right_shoulder_roll_joint",
+            "action.joint_pos.left_ankle_roll_joint",
+            "action.joint_pos.right_ankle_roll_joint",
+            "action.joint_pos.left_shoulder_yaw_joint",
+            "action.joint_pos.right_shoulder_yaw_joint",
+            "action.joint_pos.left_elbow_joint",
+            "action.joint_pos.right_elbow_joint",
+            "action.joint_pos.left_wrist_roll_joint",
+            "action.joint_pos.right_wrist_roll_joint",
+            "action.joint_pos.left_wrist_pitch_joint",
+            "action.joint_pos.right_wrist_pitch_joint",
+            "action.joint_pos.left_wrist_yaw_joint",
+            "action.joint_pos.right_wrist_yaw_joint",
+            "action.hand_binary.left",
+            "action.hand_binary.right"
+        ],
+        "rtc_config": null,
+        "image_resolution": [
+            224,
+            224
+        ],
+        "empty_cameras": 0,
+        "tokenizer_max_length": 200,
+        "normalization_mapping": {
+            "VISUAL": "IDENTITY",
+            "STATE": "QUANTILES",
+            "ACTION": "QUANTILES"
+        },
+        "gradient_checkpointing": true,
+        "compile_model": true,
+        "compile_mode": "max-autotune",
+        "freeze_vision_encoder": false,
+        "train_expert_only": false,
+        "optimizer_lr": 2.5e-05,
+        "optimizer_betas": [
+            0.9,
+            0.95
+        ],
+        "optimizer_eps": 1e-08,
+        "optimizer_weight_decay": 0.01,
+        "optimizer_grad_clip_norm": 1.0,
+        "scheduler_warmup_steps": 1000,
+        "scheduler_decay_steps": 30000,
+        "scheduler_decay_lr": 2.5e-06
+    },
+    "output_dir": "/mnt/workspace/xujunzhe/yunhengwang/lerobot/results/2026-0527/Pi0.5_HOI_grap_cup_sonic_refpose_v3_1",
+    "job_name": "Pi0.5_HOI_grap_cup_sonic_refpose_v3_1",
+    "resume": false,
+    "seed": 42,
+    "cudnn_deterministic": false,
+    "num_workers": 4,
+    "batch_size": 64,
+    "steps": 100000,
+    "eval_freq": 20000,
+    "log_freq": 200,
+    "tolerance_s": 0.0001,
+    "save_checkpoint": true,
+    "save_freq": 20000,
+    "use_policy_training_preset": true,
+    "optimizer": {
+        "type": "adamw",
+        "lr": 2.5e-05,
+        "weight_decay": 0.01,
+        "grad_clip_norm": 1.0,
+        "betas": [
+            0.9,
+            0.95
+        ],
+        "eps": 1e-08
+    },
+    "scheduler": {
+        "type": "cosine_decay_with_warmup",
+        "num_warmup_steps": 1000,
+        "num_decay_steps": 30000,
+        "peak_lr": 2.5e-05,
+        "decay_lr": 2.5e-06
+    },
+    "eval": {
+        "n_episodes": 50,
+        "batch_size": 50,
+        "use_async_envs": false
+    },
+    "wandb": {
+        "enable": false,
+        "disable_artifact": false,
+        "project": "lerobot",
+        "entity": null,
+        "notes": null,
+        "run_id": null,
+        "mode": "offline",
+        "add_tags": true
+    },
+    "peft": null,
+    "use_rabc": false,
+    "rabc_progress_path": null,
+    "rabc_kappa": 0.01,
+    "rabc_epsilon": 1e-06,
+    "rabc_head_mode": "sparse",
+    "rename_map": {},
+    "checkpoint_path": null
+}
\ No newline at end of file
diff --git a/pi/HOI_grap_cup/pi05_sonic_grapcup_0529/training_state/optimizer_param_groups.json b/pi/HOI_grap_cup/pi05_sonic_grapcup_0529/training_state/optimizer_param_groups.json
new file mode 100644
index 0000000000000000000000000000000000000000..fbd93be86ae2f57430154a1dc768eb510aebe115
--- /dev/null
+++ b/pi/HOI_grap_cup/pi05_sonic_grapcup_0529/training_state/optimizer_param_groups.json
@@ -0,0 +1,834 @@
+[
+    {
+        "lr": 2.5e-06,
+        "betas": [
+            0.9,
+            0.95
+        ],
+        "eps": 1e-08,
+        "weight_decay": 0.01,
+        "amsgrad": false,
+        "maximize": false,
+        "foreach": null,
+        "capturable": false,
+        "differentiable": false,
+        "fused": null,
+        "decoupled_weight_decay": true,
+        "initial_lr": 2.5e-05,
+        "params": [
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+]
\ No newline at end of file
diff --git a/pi/HOI_grap_cup/pi05_sonic_grapcup_0529/training_state/scheduler_state.json b/pi/HOI_grap_cup/pi05_sonic_grapcup_0529/training_state/scheduler_state.json
new file mode 100644
index 0000000000000000000000000000000000000000..62eb88d80bdf0310589b8f312793f5b6eb4e9f18
--- /dev/null
+++ b/pi/HOI_grap_cup/pi05_sonic_grapcup_0529/training_state/scheduler_state.json
@@ -0,0 +1,15 @@
+{
+    "base_lrs": [
+        2.5e-05
+    ],
+    "last_epoch": 100000,
+    "_step_count": 100001,
+    "_is_initial": false,
+    "_get_lr_called_within_step": false,
+    "_last_lr": [
+        2.5e-06
+    ],
+    "lr_lambdas": [
+        null
+    ]
+}
\ No newline at end of file
diff --git a/pi/HOI_grap_cup/pi05_sonic_grapcup_0529/training_state/training_step.json b/pi/HOI_grap_cup/pi05_sonic_grapcup_0529/training_state/training_step.json
new file mode 100644
index 0000000000000000000000000000000000000000..8eb73c13d28bca88058c08796abbf931c3f9b012
--- /dev/null
+++ b/pi/HOI_grap_cup/pi05_sonic_grapcup_0529/training_state/training_step.json
@@ -0,0 +1,3 @@
+{
+    "step": 100000
+}
\ No newline at end of file
diff --git a/pi/HOI_grap_cup/pi05_twist2_grapcup_0529/pretrained_model/config.json b/pi/HOI_grap_cup/pi05_twist2_grapcup_0529/pretrained_model/config.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ed5a8a282726eacda814de91e1b99c12c8c58d2
--- /dev/null
+++ b/pi/HOI_grap_cup/pi05_twist2_grapcup_0529/pretrained_model/config.json
@@ -0,0 +1,125 @@
+{
+    "type": "pi05",
+    "n_obs_steps": 1,
+    "input_features": {
+        "observation.images.front": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        },
+        "observation.state": {
+            "type": "STATE",
+            "shape": [
+                64
+            ]
+        }
+    },
+    "output_features": {
+        "action": {
+            "type": "ACTION",
+            "shape": [
+                40
+            ]
+        }
+    },
+    "device": "cuda",
+    "use_amp": false,
+    "use_peft": false,
+    "push_to_hub": false,
+    "repo_id": null,
+    "private": null,
+    "tags": null,
+    "license": null,
+    "pretrained_path": "/mnt/workspace/xujunzhe/yunhengwang/lerobot/checkpoints/pi05_base",
+    "paligemma_variant": "gemma_2b",
+    "action_expert_variant": "gemma_300m",
+    "dtype": "bfloat16",
+    "chunk_size": 20,
+    "n_action_steps": 20,
+    "max_state_dim": 64,
+    "max_action_dim": 40,
+    "num_inference_steps": 10,
+    "time_sampling_beta_alpha": 1.5,
+    "time_sampling_beta_beta": 1.0,
+    "time_sampling_scale": 0.999,
+    "time_sampling_offset": 0.001,
+    "min_period": 0.004,
+    "max_period": 4.0,
+    "use_relative_actions": false,
+    "relative_exclude_joints": [
+        "gripper"
+    ],
+    "action_feature_names": [
+        "action.root_ref_base_local_xy_delta.x",
+        "action.root_ref_base_local_xy_delta.y",
+        "action.root_z",
+        "action.root_ref_rot6d.0",
+        "action.root_ref_rot6d.1",
+        "action.root_ref_rot6d.2",
+        "action.root_ref_rot6d.3",
+        "action.root_ref_rot6d.4",
+        "action.root_ref_rot6d.5",
+        "action.joint_pos.left_hip_pitch_joint",
+        "action.joint_pos.right_hip_pitch_joint",
+        "action.joint_pos.waist_yaw_joint",
+        "action.joint_pos.left_hip_roll_joint",
+        "action.joint_pos.right_hip_roll_joint",
+        "action.joint_pos.waist_roll_joint",
+        "action.joint_pos.left_hip_yaw_joint",
+        "action.joint_pos.right_hip_yaw_joint",
+        "action.joint_pos.waist_pitch_joint",
+        "action.joint_pos.left_knee_joint",
+        "action.joint_pos.right_knee_joint",
+        "action.joint_pos.left_shoulder_pitch_joint",
+        "action.joint_pos.right_shoulder_pitch_joint",
+        "action.joint_pos.left_ankle_pitch_joint",
+        "action.joint_pos.right_ankle_pitch_joint",
+        "action.joint_pos.left_shoulder_roll_joint",
+        "action.joint_pos.right_shoulder_roll_joint",
+        "action.joint_pos.left_ankle_roll_joint",
+        "action.joint_pos.right_ankle_roll_joint",
+        "action.joint_pos.left_shoulder_yaw_joint",
+        "action.joint_pos.right_shoulder_yaw_joint",
+        "action.joint_pos.left_elbow_joint",
+        "action.joint_pos.right_elbow_joint",
+        "action.joint_pos.left_wrist_roll_joint",
+        "action.joint_pos.right_wrist_roll_joint",
+        "action.joint_pos.left_wrist_pitch_joint",
+        "action.joint_pos.right_wrist_pitch_joint",
+        "action.joint_pos.left_wrist_yaw_joint",
+        "action.joint_pos.right_wrist_yaw_joint",
+        "action.hand_binary.left",
+        "action.hand_binary.right"
+    ],
+    "rtc_config": null,
+    "image_resolution": [
+        224,
+        224
+    ],
+    "empty_cameras": 0,
+    "tokenizer_max_length": 200,
+    "normalization_mapping": {
+        "VISUAL": "IDENTITY",
+        "STATE": "QUANTILES",
+        "ACTION": "QUANTILES"
+    },
+    "gradient_checkpointing": true,
+    "compile_model": true,
+    "compile_mode": "max-autotune",
+    "freeze_vision_encoder": false,
+    "train_expert_only": false,
+    "optimizer_lr": 2.5e-05,
+    "optimizer_betas": [
+        0.9,
+        0.95
+    ],
+    "optimizer_eps": 1e-08,
+    "optimizer_weight_decay": 0.01,
+    "optimizer_grad_clip_norm": 1.0,
+    "scheduler_warmup_steps": 1000,
+    "scheduler_decay_steps": 30000,
+    "scheduler_decay_lr": 2.5e-06
+}
\ No newline at end of file
diff --git a/pi/HOI_grap_cup/pi05_twist2_grapcup_0529/pretrained_model/policy_preprocessor.json b/pi/HOI_grap_cup/pi05_twist2_grapcup_0529/pretrained_model/policy_preprocessor.json
new file mode 100644
index 0000000000000000000000000000000000000000..7de44101771a44f32fc7ec156196fb544da6368a
--- /dev/null
+++ b/pi/HOI_grap_cup/pi05_twist2_grapcup_0529/pretrained_model/policy_preprocessor.json
@@ -0,0 +1,71 @@
+{
+  "name": "policy_preprocessor",
+  "steps": [
+    {
+      "registry_name": "rename_observations_processor",
+      "config": {
+        "rename_map": {}
+      }
+    },
+    {
+      "registry_name": "to_batch_processor",
+      "config": {}
+    },
+    {
+      "registry_name": "normalizer_processor",
+      "config": {
+        "eps": 1e-08,
+        "features": {
+          "observation.images.front": {
+            "type": "VISUAL",
+            "shape": [
+              3,
+              480,
+              640
+            ]
+          },
+          "observation.state": {
+            "type": "STATE",
+            "shape": [
+              64
+            ]
+          },
+          "action": {
+            "type": "ACTION",
+            "shape": [
+              40
+            ]
+          }
+        },
+        "norm_map": {
+          "VISUAL": "IDENTITY",
+          "STATE": "QUANTILES",
+          "ACTION": "QUANTILES"
+        }
+      },
+      "state_file": "policy_preprocessor_step_2_normalizer_processor.safetensors"
+    },
+    {
+      "registry_name": "pi05_prepare_state_tokenizer_processor_step",
+      "config": {}
+    },
+    {
+      "registry_name": "tokenizer_processor",
+      "config": {
+        "max_length": 200,
+        "task_key": "task",
+        "padding_side": "right",
+        "padding": "max_length",
+        "truncation": true,
+        "tokenizer_name": "/mnt/workspace/xujunzhe/yunhengwang/lerobot/checkpoints/paligemma-3b-pt-224"
+      }
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cuda",
+        "float_dtype": null
+      }
+    }
+  ]
+}
\ No newline at end of file
diff --git a/pi/HOI_grap_cup/pi05_twist2_grapcup_0529/pretrained_model/train_config.json b/pi/HOI_grap_cup/pi05_twist2_grapcup_0529/pretrained_model/train_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..c45930fad1334cfda5b7b6a0548cc7ab9204962d
--- /dev/null
+++ b/pi/HOI_grap_cup/pi05_twist2_grapcup_0529/pretrained_model/train_config.json
@@ -0,0 +1,263 @@
+{
+    "dataset": {
+        "repo_id": "local/HOI_grap_cup_twist2_refpose_v3_1",
+        "root": "/mnt/workspace/xujunzhe/yunhengwang/lerobot/datasets/HumanoidArena_datasets_v3_1/HOI_grap_cup/HOI_grap_cup_twist2_refpose_v3_1",
+        "episodes": null,
+        "image_transforms": {
+            "enable": true,
+            "max_num_transforms": 3,
+            "random_order": false,
+            "tfs": {
+                "brightness": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "brightness": [
+                            0.8,
+                            1.2
+                        ]
+                    }
+                },
+                "contrast": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "contrast": [
+                            0.8,
+                            1.2
+                        ]
+                    }
+                },
+                "saturation": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "saturation": [
+                            0.5,
+                            1.5
+                        ]
+                    }
+                },
+                "hue": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "hue": [
+                            -0.05,
+                            0.05
+                        ]
+                    }
+                },
+                "sharpness": {
+                    "weight": 1.0,
+                    "type": "SharpnessJitter",
+                    "kwargs": {
+                        "sharpness": [
+                            0.5,
+                            1.5
+                        ]
+                    }
+                },
+                "affine": {
+                    "weight": 1.0,
+                    "type": "RandomAffine",
+                    "kwargs": {
+                        "degrees": [
+                            -5.0,
+                            5.0
+                        ],
+                        "translate": [
+                            0.05,
+                            0.05
+                        ]
+                    }
+                }
+            }
+        },
+        "revision": null,
+        "use_imagenet_stats": true,
+        "video_backend": "torchcodec",
+        "streaming": false
+    },
+    "env": null,
+    "policy": {
+        "type": "pi05",
+        "n_obs_steps": 1,
+        "input_features": {
+            "observation.images.front": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    480,
+                    640
+                ]
+            },
+            "observation.state": {
+                "type": "STATE",
+                "shape": [
+                    64
+                ]
+            }
+        },
+        "output_features": {
+            "action": {
+                "type": "ACTION",
+                "shape": [
+                    40
+                ]
+            }
+        },
+        "device": "cuda",
+        "use_amp": false,
+        "use_peft": false,
+        "push_to_hub": false,
+        "repo_id": null,
+        "private": null,
+        "tags": null,
+        "license": null,
+        "pretrained_path": "/mnt/workspace/xujunzhe/yunhengwang/lerobot/checkpoints/pi05_base",
+        "paligemma_variant": "gemma_2b",
+        "action_expert_variant": "gemma_300m",
+        "dtype": "bfloat16",
+        "chunk_size": 20,
+        "n_action_steps": 20,
+        "max_state_dim": 64,
+        "max_action_dim": 40,
+        "num_inference_steps": 10,
+        "time_sampling_beta_alpha": 1.5,
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+        "disable_artifact": false,
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+        "notes": null,
+        "run_id": null,
+        "mode": "offline",
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+    },
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+    "rabc_progress_path": null,
+    "rabc_kappa": 0.01,
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+    "rabc_head_mode": "sparse",
+    "rename_map": {},
+    "checkpoint_path": null
+}
\ No newline at end of file
diff --git a/pi/HOI_grap_cup/pi05_twist2_grapcup_0529/training_state/optimizer_param_groups.json b/pi/HOI_grap_cup/pi05_twist2_grapcup_0529/training_state/optimizer_param_groups.json
new file mode 100644
index 0000000000000000000000000000000000000000..fbd93be86ae2f57430154a1dc768eb510aebe115
--- /dev/null
+++ b/pi/HOI_grap_cup/pi05_twist2_grapcup_0529/training_state/optimizer_param_groups.json
@@ -0,0 +1,834 @@
+[
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diff --git a/pi/HOI_grap_cup/pi05_twist2_grapcup_0529/training_state/scheduler_state.json b/pi/HOI_grap_cup/pi05_twist2_grapcup_0529/training_state/scheduler_state.json
new file mode 100644
index 0000000000000000000000000000000000000000..62eb88d80bdf0310589b8f312793f5b6eb4e9f18
--- /dev/null
+++ b/pi/HOI_grap_cup/pi05_twist2_grapcup_0529/training_state/scheduler_state.json
@@ -0,0 +1,15 @@
+{
+    "base_lrs": [
+        2.5e-05
+    ],
+    "last_epoch": 100000,
+    "_step_count": 100001,
+    "_is_initial": false,
+    "_get_lr_called_within_step": false,
+    "_last_lr": [
+        2.5e-06
+    ],
+    "lr_lambdas": [
+        null
+    ]
+}
\ No newline at end of file
diff --git a/pi/HOI_grap_cup/pi05_twist2_grapcup_0529/training_state/training_step.json b/pi/HOI_grap_cup/pi05_twist2_grapcup_0529/training_state/training_step.json
new file mode 100644
index 0000000000000000000000000000000000000000..8eb73c13d28bca88058c08796abbf931c3f9b012
--- /dev/null
+++ b/pi/HOI_grap_cup/pi05_twist2_grapcup_0529/training_state/training_step.json
@@ -0,0 +1,3 @@
+{
+    "step": 100000
+}
\ No newline at end of file
diff --git a/pi/HSI_boxing/pi05_sonic_boxing_0529/100000/pretrained_model/config.json b/pi/HSI_boxing/pi05_sonic_boxing_0529/100000/pretrained_model/config.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b7b6859529dda775395814565cccfce3c157bc9
--- /dev/null
+++ b/pi/HSI_boxing/pi05_sonic_boxing_0529/100000/pretrained_model/config.json
@@ -0,0 +1,125 @@
+{
+    "type": "pi05",
+    "n_obs_steps": 1,
+    "input_features": {
+        "observation.images.front": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
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+        "observation.state": {
+            "type": "STATE",
+            "shape": [
+                64
+            ]
+        }
+    },
+    "output_features": {
+        "action": {
+            "type": "ACTION",
+            "shape": [
+                40
+            ]
+        }
+    },
+    "device": "cuda",
+    "use_amp": false,
+    "use_peft": false,
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+    "repo_id": null,
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+        "action.root_ref_rot6d.1",
+        "action.root_ref_rot6d.2",
+        "action.root_ref_rot6d.3",
+        "action.root_ref_rot6d.4",
+        "action.root_ref_rot6d.5",
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+        "action.joint_pos.right_hip_pitch_joint",
+        "action.joint_pos.waist_yaw_joint",
+        "action.joint_pos.left_hip_roll_joint",
+        "action.joint_pos.right_hip_roll_joint",
+        "action.joint_pos.waist_roll_joint",
+        "action.joint_pos.left_hip_yaw_joint",
+        "action.joint_pos.right_hip_yaw_joint",
+        "action.joint_pos.waist_pitch_joint",
+        "action.joint_pos.left_knee_joint",
+        "action.joint_pos.right_knee_joint",
+        "action.joint_pos.left_shoulder_pitch_joint",
+        "action.joint_pos.right_shoulder_pitch_joint",
+        "action.joint_pos.left_ankle_pitch_joint",
+        "action.joint_pos.right_ankle_pitch_joint",
+        "action.joint_pos.left_shoulder_roll_joint",
+        "action.joint_pos.right_shoulder_roll_joint",
+        "action.joint_pos.left_ankle_roll_joint",
+        "action.joint_pos.right_ankle_roll_joint",
+        "action.joint_pos.left_shoulder_yaw_joint",
+        "action.joint_pos.right_shoulder_yaw_joint",
+        "action.joint_pos.left_elbow_joint",
+        "action.joint_pos.right_elbow_joint",
+        "action.joint_pos.left_wrist_roll_joint",
+        "action.joint_pos.right_wrist_roll_joint",
+        "action.joint_pos.left_wrist_pitch_joint",
+        "action.joint_pos.right_wrist_pitch_joint",
+        "action.joint_pos.left_wrist_yaw_joint",
+        "action.joint_pos.right_wrist_yaw_joint",
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+}
\ No newline at end of file
diff --git a/pi/HSI_boxing/pi05_sonic_boxing_0529/100000/pretrained_model/policy_postprocessor.json b/pi/HSI_boxing/pi05_sonic_boxing_0529/100000/pretrained_model/policy_postprocessor.json
new file mode 100644
index 0000000000000000000000000000000000000000..a35451825e1e0248da28301e4ae7fd31211b0614
--- /dev/null
+++ b/pi/HSI_boxing/pi05_sonic_boxing_0529/100000/pretrained_model/policy_postprocessor.json
@@ -0,0 +1,32 @@
+{
+  "name": "policy_postprocessor",
+  "steps": [
+    {
+      "registry_name": "unnormalizer_processor",
+      "config": {
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+        "features": {
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+            "shape": [
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+          "VISUAL": "IDENTITY",
+          "STATE": "QUANTILES",
+          "ACTION": "QUANTILES"
+        }
+      },
+      "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cpu",
+        "float_dtype": null
+      }
+    }
+  ]
+}
\ No newline at end of file
diff --git a/pi/HSI_boxing/pi05_sonic_boxing_0529/100000/pretrained_model/policy_preprocessor.json b/pi/HSI_boxing/pi05_sonic_boxing_0529/100000/pretrained_model/policy_preprocessor.json
new file mode 100644
index 0000000000000000000000000000000000000000..61edc9e51d8336720d4465e0fad78818b263060d
--- /dev/null
+++ b/pi/HSI_boxing/pi05_sonic_boxing_0529/100000/pretrained_model/policy_preprocessor.json
@@ -0,0 +1,71 @@
+{
+  "name": "policy_preprocessor",
+  "steps": [
+    {
+      "registry_name": "rename_observations_processor",
+      "config": {
+        "rename_map": {}
+      }
+    },
+    {
+      "registry_name": "to_batch_processor",
+      "config": {}
+    },
+    {
+      "registry_name": "normalizer_processor",
+      "config": {
+        "eps": 1e-08,
+        "features": {
+          "observation.images.front": {
+            "type": "VISUAL",
+            "shape": [
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+              480,
+              640
+            ]
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+            "type": "STATE",
+            "shape": [
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+            ]
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+              40
+            ]
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+          "VISUAL": "IDENTITY",
+          "STATE": "QUANTILES",
+          "ACTION": "QUANTILES"
+        }
+      },
+      "state_file": "policy_preprocessor_step_2_normalizer_processor.safetensors"
+    },
+    {
+      "registry_name": "pi05_prepare_state_tokenizer_processor_step",
+      "config": {}
+    },
+    {
+      "registry_name": "tokenizer_processor",
+      "config": {
+        "max_length": 200,
+        "task_key": "task",
+        "padding_side": "right",
+        "padding": "max_length",
+        "truncation": true,
+        "tokenizer_name": "/mnt/workspace/users/xujunzhe/yunhengwang/lerobot/lerobot/checkpoints/paligemma-3b-pt-224"
+      }
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cuda",
+        "float_dtype": null
+      }
+    }
+  ]
+}
\ No newline at end of file
diff --git a/pi/HSI_boxing/pi05_sonic_boxing_0529/100000/pretrained_model/train_config.json b/pi/HSI_boxing/pi05_sonic_boxing_0529/100000/pretrained_model/train_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..3abfb3e2690e8bbcb19f5ba4485039f5236f29a4
--- /dev/null
+++ b/pi/HSI_boxing/pi05_sonic_boxing_0529/100000/pretrained_model/train_config.json
@@ -0,0 +1,263 @@
+{
+    "dataset": {
+        "repo_id": "local/HSI_boxing_sonic_refpose_v3_1",
+        "root": "/mnt/workspace/vla/users/xujunzhe/yunhengwang/lerobot/lerobot/datasets/HumanoidArena_datasets_v3_1/HSI_boxing/HSI_boxing_sonic_refpose_v3_1",
+        "episodes": null,
+        "image_transforms": {
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+            "max_num_transforms": 3,
+            "random_order": false,
+            "tfs": {
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+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "brightness": [
+                            0.8,
+                            1.2
+                        ]
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+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "contrast": [
+                            0.8,
+                            1.2
+                        ]
+                    }
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+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "saturation": [
+                            0.5,
+                            1.5
+                        ]
+                    }
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+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "hue": [
+                            -0.05,
+                            0.05
+                        ]
+                    }
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+                    "type": "SharpnessJitter",
+                    "kwargs": {
+                        "sharpness": [
+                            0.5,
+                            1.5
+                        ]
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+                    "kwargs": {
+                        "degrees": [
+                            -5.0,
+                            5.0
+                        ],
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+                        ]
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+        "video_backend": "torchcodec",
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+            "action.root_ref_rot6d.1",
+            "action.root_ref_rot6d.2",
+            "action.root_ref_rot6d.3",
+            "action.root_ref_rot6d.4",
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+            "action.joint_pos.right_hip_roll_joint",
+            "action.joint_pos.waist_roll_joint",
+            "action.joint_pos.left_hip_yaw_joint",
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+            "action.joint_pos.waist_pitch_joint",
+            "action.joint_pos.left_knee_joint",
+            "action.joint_pos.right_knee_joint",
+            "action.joint_pos.left_shoulder_pitch_joint",
+            "action.joint_pos.right_shoulder_pitch_joint",
+            "action.joint_pos.left_ankle_pitch_joint",
+            "action.joint_pos.right_ankle_pitch_joint",
+            "action.joint_pos.left_shoulder_roll_joint",
+            "action.joint_pos.right_shoulder_roll_joint",
+            "action.joint_pos.left_ankle_roll_joint",
+            "action.joint_pos.right_ankle_roll_joint",
+            "action.joint_pos.left_shoulder_yaw_joint",
+            "action.joint_pos.right_shoulder_yaw_joint",
+            "action.joint_pos.left_elbow_joint",
+            "action.joint_pos.right_elbow_joint",
+            "action.joint_pos.left_wrist_roll_joint",
+            "action.joint_pos.right_wrist_roll_joint",
+            "action.joint_pos.left_wrist_pitch_joint",
+            "action.joint_pos.right_wrist_pitch_joint",
+            "action.joint_pos.left_wrist_yaw_joint",
+            "action.joint_pos.right_wrist_yaw_joint",
+            "action.hand_binary.left",
+            "action.hand_binary.right"
+        ],
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+        "tokenizer_max_length": 200,
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+            "STATE": "QUANTILES",
+            "ACTION": "QUANTILES"
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+        "compile_model": true,
+        "compile_mode": "max-autotune",
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+        "train_expert_only": false,
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+        "type": "cosine_decay_with_warmup",
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+        "num_decay_steps": 30000,
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+        "decay_lr": 2.5e-06
+    },
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+        "batch_size": 50,
+        "use_async_envs": false
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+        "enable": true,
+        "disable_artifact": false,
+        "project": "lerobot",
+        "entity": null,
+        "notes": null,
+        "run_id": "aibove57",
+        "mode": "offline",
+        "add_tags": true
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+    "use_rabc": false,
+    "rabc_progress_path": null,
+    "rabc_kappa": 0.01,
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+    "rabc_head_mode": "sparse",
+    "rename_map": {},
+    "checkpoint_path": null
+}
\ No newline at end of file
diff --git a/pi/HSI_boxing/pi05_sonic_boxing_0529/100000/training_state/optimizer_param_groups.json b/pi/HSI_boxing/pi05_sonic_boxing_0529/100000/training_state/optimizer_param_groups.json
new file mode 100644
index 0000000000000000000000000000000000000000..fbd93be86ae2f57430154a1dc768eb510aebe115
--- /dev/null
+++ b/pi/HSI_boxing/pi05_sonic_boxing_0529/100000/training_state/optimizer_param_groups.json
@@ -0,0 +1,834 @@
+[
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diff --git a/pi/HSI_boxing/pi05_sonic_boxing_0529/100000/training_state/scheduler_state.json b/pi/HSI_boxing/pi05_sonic_boxing_0529/100000/training_state/scheduler_state.json
new file mode 100644
index 0000000000000000000000000000000000000000..62eb88d80bdf0310589b8f312793f5b6eb4e9f18
--- /dev/null
+++ b/pi/HSI_boxing/pi05_sonic_boxing_0529/100000/training_state/scheduler_state.json
@@ -0,0 +1,15 @@
+{
+    "base_lrs": [
+        2.5e-05
+    ],
+    "last_epoch": 100000,
+    "_step_count": 100001,
+    "_is_initial": false,
+    "_get_lr_called_within_step": false,
+    "_last_lr": [
+        2.5e-06
+    ],
+    "lr_lambdas": [
+        null
+    ]
+}
\ No newline at end of file
diff --git a/pi/HSI_boxing/pi05_sonic_boxing_0529/100000/training_state/training_step.json b/pi/HSI_boxing/pi05_sonic_boxing_0529/100000/training_state/training_step.json
new file mode 100644
index 0000000000000000000000000000000000000000..8eb73c13d28bca88058c08796abbf931c3f9b012
--- /dev/null
+++ b/pi/HSI_boxing/pi05_sonic_boxing_0529/100000/training_state/training_step.json
@@ -0,0 +1,3 @@
+{
+    "step": 100000
+}
\ No newline at end of file
diff --git a/pi/HSI_boxing/pi05_twist2_boxing_0529/100000/pretrained_model/config.json b/pi/HSI_boxing/pi05_twist2_boxing_0529/100000/pretrained_model/config.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b7b6859529dda775395814565cccfce3c157bc9
--- /dev/null
+++ b/pi/HSI_boxing/pi05_twist2_boxing_0529/100000/pretrained_model/config.json
@@ -0,0 +1,125 @@
+{
+    "type": "pi05",
+    "n_obs_steps": 1,
+    "input_features": {
+        "observation.images.front": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        },
+        "observation.state": {
+            "type": "STATE",
+            "shape": [
+                64
+            ]
+        }
+    },
+    "output_features": {
+        "action": {
+            "type": "ACTION",
+            "shape": [
+                40
+            ]
+        }
+    },
+    "device": "cuda",
+    "use_amp": false,
+    "use_peft": false,
+    "push_to_hub": false,
+    "repo_id": null,
+    "private": null,
+    "tags": null,
+    "license": null,
+    "pretrained_path": "/mnt/workspace/vla/users/xujunzhe/yunhengwang/lerobot/lerobot/checkpoints/pi05_base",
+    "paligemma_variant": "gemma_2b",
+    "action_expert_variant": "gemma_300m",
+    "dtype": "bfloat16",
+    "chunk_size": 20,
+    "n_action_steps": 20,
+    "max_state_dim": 64,
+    "max_action_dim": 40,
+    "num_inference_steps": 10,
+    "time_sampling_beta_alpha": 1.5,
+    "time_sampling_beta_beta": 1.0,
+    "time_sampling_scale": 0.999,
+    "time_sampling_offset": 0.001,
+    "min_period": 0.004,
+    "max_period": 4.0,
+    "use_relative_actions": false,
+    "relative_exclude_joints": [
+        "gripper"
+    ],
+    "action_feature_names": [
+        "action.root_ref_base_local_xy_delta.x",
+        "action.root_ref_base_local_xy_delta.y",
+        "action.root_z",
+        "action.root_ref_rot6d.0",
+        "action.root_ref_rot6d.1",
+        "action.root_ref_rot6d.2",
+        "action.root_ref_rot6d.3",
+        "action.root_ref_rot6d.4",
+        "action.root_ref_rot6d.5",
+        "action.joint_pos.left_hip_pitch_joint",
+        "action.joint_pos.right_hip_pitch_joint",
+        "action.joint_pos.waist_yaw_joint",
+        "action.joint_pos.left_hip_roll_joint",
+        "action.joint_pos.right_hip_roll_joint",
+        "action.joint_pos.waist_roll_joint",
+        "action.joint_pos.left_hip_yaw_joint",
+        "action.joint_pos.right_hip_yaw_joint",
+        "action.joint_pos.waist_pitch_joint",
+        "action.joint_pos.left_knee_joint",
+        "action.joint_pos.right_knee_joint",
+        "action.joint_pos.left_shoulder_pitch_joint",
+        "action.joint_pos.right_shoulder_pitch_joint",
+        "action.joint_pos.left_ankle_pitch_joint",
+        "action.joint_pos.right_ankle_pitch_joint",
+        "action.joint_pos.left_shoulder_roll_joint",
+        "action.joint_pos.right_shoulder_roll_joint",
+        "action.joint_pos.left_ankle_roll_joint",
+        "action.joint_pos.right_ankle_roll_joint",
+        "action.joint_pos.left_shoulder_yaw_joint",
+        "action.joint_pos.right_shoulder_yaw_joint",
+        "action.joint_pos.left_elbow_joint",
+        "action.joint_pos.right_elbow_joint",
+        "action.joint_pos.left_wrist_roll_joint",
+        "action.joint_pos.right_wrist_roll_joint",
+        "action.joint_pos.left_wrist_pitch_joint",
+        "action.joint_pos.right_wrist_pitch_joint",
+        "action.joint_pos.left_wrist_yaw_joint",
+        "action.joint_pos.right_wrist_yaw_joint",
+        "action.hand_binary.left",
+        "action.hand_binary.right"
+    ],
+    "rtc_config": null,
+    "image_resolution": [
+        224,
+        224
+    ],
+    "empty_cameras": 0,
+    "tokenizer_max_length": 200,
+    "normalization_mapping": {
+        "VISUAL": "IDENTITY",
+        "STATE": "QUANTILES",
+        "ACTION": "QUANTILES"
+    },
+    "gradient_checkpointing": true,
+    "compile_model": true,
+    "compile_mode": "max-autotune",
+    "freeze_vision_encoder": false,
+    "train_expert_only": false,
+    "optimizer_lr": 2.5e-05,
+    "optimizer_betas": [
+        0.9,
+        0.95
+    ],
+    "optimizer_eps": 1e-08,
+    "optimizer_weight_decay": 0.01,
+    "optimizer_grad_clip_norm": 1.0,
+    "scheduler_warmup_steps": 1000,
+    "scheduler_decay_steps": 30000,
+    "scheduler_decay_lr": 2.5e-06
+}
\ No newline at end of file
diff --git a/pi/HSI_boxing/pi05_twist2_boxing_0529/100000/pretrained_model/policy_postprocessor.json b/pi/HSI_boxing/pi05_twist2_boxing_0529/100000/pretrained_model/policy_postprocessor.json
new file mode 100644
index 0000000000000000000000000000000000000000..a35451825e1e0248da28301e4ae7fd31211b0614
--- /dev/null
+++ b/pi/HSI_boxing/pi05_twist2_boxing_0529/100000/pretrained_model/policy_postprocessor.json
@@ -0,0 +1,32 @@
+{
+  "name": "policy_postprocessor",
+  "steps": [
+    {
+      "registry_name": "unnormalizer_processor",
+      "config": {
+        "eps": 1e-08,
+        "features": {
+          "action": {
+            "type": "ACTION",
+            "shape": [
+              40
+            ]
+          }
+        },
+        "norm_map": {
+          "VISUAL": "IDENTITY",
+          "STATE": "QUANTILES",
+          "ACTION": "QUANTILES"
+        }
+      },
+      "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cpu",
+        "float_dtype": null
+      }
+    }
+  ]
+}
\ No newline at end of file
diff --git a/pi/HSI_boxing/pi05_twist2_boxing_0529/100000/pretrained_model/policy_preprocessor.json b/pi/HSI_boxing/pi05_twist2_boxing_0529/100000/pretrained_model/policy_preprocessor.json
new file mode 100644
index 0000000000000000000000000000000000000000..61edc9e51d8336720d4465e0fad78818b263060d
--- /dev/null
+++ b/pi/HSI_boxing/pi05_twist2_boxing_0529/100000/pretrained_model/policy_preprocessor.json
@@ -0,0 +1,71 @@
+{
+  "name": "policy_preprocessor",
+  "steps": [
+    {
+      "registry_name": "rename_observations_processor",
+      "config": {
+        "rename_map": {}
+      }
+    },
+    {
+      "registry_name": "to_batch_processor",
+      "config": {}
+    },
+    {
+      "registry_name": "normalizer_processor",
+      "config": {
+        "eps": 1e-08,
+        "features": {
+          "observation.images.front": {
+            "type": "VISUAL",
+            "shape": [
+              3,
+              480,
+              640
+            ]
+          },
+          "observation.state": {
+            "type": "STATE",
+            "shape": [
+              64
+            ]
+          },
+          "action": {
+            "type": "ACTION",
+            "shape": [
+              40
+            ]
+          }
+        },
+        "norm_map": {
+          "VISUAL": "IDENTITY",
+          "STATE": "QUANTILES",
+          "ACTION": "QUANTILES"
+        }
+      },
+      "state_file": "policy_preprocessor_step_2_normalizer_processor.safetensors"
+    },
+    {
+      "registry_name": "pi05_prepare_state_tokenizer_processor_step",
+      "config": {}
+    },
+    {
+      "registry_name": "tokenizer_processor",
+      "config": {
+        "max_length": 200,
+        "task_key": "task",
+        "padding_side": "right",
+        "padding": "max_length",
+        "truncation": true,
+        "tokenizer_name": "/mnt/workspace/users/xujunzhe/yunhengwang/lerobot/lerobot/checkpoints/paligemma-3b-pt-224"
+      }
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cuda",
+        "float_dtype": null
+      }
+    }
+  ]
+}
\ No newline at end of file
diff --git a/pi/HSI_boxing/pi05_twist2_boxing_0529/100000/pretrained_model/train_config.json b/pi/HSI_boxing/pi05_twist2_boxing_0529/100000/pretrained_model/train_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..b676a4716a2debb9d2a27f2a7c6a2fb0df1076da
--- /dev/null
+++ b/pi/HSI_boxing/pi05_twist2_boxing_0529/100000/pretrained_model/train_config.json
@@ -0,0 +1,263 @@
+{
+    "dataset": {
+        "repo_id": "local/HSI_boxing_twist2_refpose_v3_1",
+        "root": "/mnt/workspace/vla/users/xujunzhe/yunhengwang/lerobot/lerobot/datasets/HumanoidArena_datasets_v3_1/HSI_boxing/HSI_boxing_twist2_refpose_v3_1",
+        "episodes": null,
+        "image_transforms": {
+            "enable": true,
+            "max_num_transforms": 3,
+            "random_order": false,
+            "tfs": {
+                "brightness": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "brightness": [
+                            0.8,
+                            1.2
+                        ]
+                    }
+                },
+                "contrast": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "contrast": [
+                            0.8,
+                            1.2
+                        ]
+                    }
+                },
+                "saturation": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "saturation": [
+                            0.5,
+                            1.5
+                        ]
+                    }
+                },
+                "hue": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "hue": [
+                            -0.05,
+                            0.05
+                        ]
+                    }
+                },
+                "sharpness": {
+                    "weight": 1.0,
+                    "type": "SharpnessJitter",
+                    "kwargs": {
+                        "sharpness": [
+                            0.5,
+                            1.5
+                        ]
+                    }
+                },
+                "affine": {
+                    "weight": 1.0,
+                    "type": "RandomAffine",
+                    "kwargs": {
+                        "degrees": [
+                            -5.0,
+                            5.0
+                        ],
+                        "translate": [
+                            0.05,
+                            0.05
+                        ]
+                    }
+                }
+            }
+        },
+        "revision": null,
+        "use_imagenet_stats": true,
+        "video_backend": "torchcodec",
+        "streaming": false
+    },
+    "env": null,
+    "policy": {
+        "type": "pi05",
+        "n_obs_steps": 1,
+        "input_features": {
+            "observation.images.front": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    480,
+                    640
+                ]
+            },
+            "observation.state": {
+                "type": "STATE",
+                "shape": [
+                    64
+                ]
+            }
+        },
+        "output_features": {
+            "action": {
+                "type": "ACTION",
+                "shape": [
+                    40
+                ]
+            }
+        },
+        "device": "cuda",
+        "use_amp": false,
+        "use_peft": false,
+        "push_to_hub": false,
+        "repo_id": null,
+        "private": null,
+        "tags": null,
+        "license": null,
+        "pretrained_path": "/mnt/workspace/vla/users/xujunzhe/yunhengwang/lerobot/lerobot/checkpoints/pi05_base",
+        "paligemma_variant": "gemma_2b",
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+        "use_async_envs": false
+    },
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+        "disable_artifact": false,
+        "project": "lerobot",
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+        "notes": null,
+        "run_id": "bjf7m3oy",
+        "mode": "offline",
+        "add_tags": true
+    },
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+    "use_rabc": false,
+    "rabc_progress_path": null,
+    "rabc_kappa": 0.01,
+    "rabc_epsilon": 1e-06,
+    "rabc_head_mode": "sparse",
+    "rename_map": {},
+    "checkpoint_path": null
+}
\ No newline at end of file
diff --git a/pi/HSI_boxing/pi05_twist2_boxing_0529/100000/training_state/optimizer_param_groups.json b/pi/HSI_boxing/pi05_twist2_boxing_0529/100000/training_state/optimizer_param_groups.json
new file mode 100644
index 0000000000000000000000000000000000000000..fbd93be86ae2f57430154a1dc768eb510aebe115
--- /dev/null
+++ b/pi/HSI_boxing/pi05_twist2_boxing_0529/100000/training_state/optimizer_param_groups.json
@@ -0,0 +1,834 @@
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diff --git a/pi/HSI_boxing/pi05_twist2_boxing_0529/100000/training_state/scheduler_state.json b/pi/HSI_boxing/pi05_twist2_boxing_0529/100000/training_state/scheduler_state.json
new file mode 100644
index 0000000000000000000000000000000000000000..62eb88d80bdf0310589b8f312793f5b6eb4e9f18
--- /dev/null
+++ b/pi/HSI_boxing/pi05_twist2_boxing_0529/100000/training_state/scheduler_state.json
@@ -0,0 +1,15 @@
+{
+    "base_lrs": [
+        2.5e-05
+    ],
+    "last_epoch": 100000,
+    "_step_count": 100001,
+    "_is_initial": false,
+    "_get_lr_called_within_step": false,
+    "_last_lr": [
+        2.5e-06
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+    "lr_lambdas": [
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+    ]
+}
\ No newline at end of file
diff --git a/pi/HSI_boxing/pi05_twist2_boxing_0529/100000/training_state/training_step.json b/pi/HSI_boxing/pi05_twist2_boxing_0529/100000/training_state/training_step.json
new file mode 100644
index 0000000000000000000000000000000000000000..8eb73c13d28bca88058c08796abbf931c3f9b012
--- /dev/null
+++ b/pi/HSI_boxing/pi05_twist2_boxing_0529/100000/training_state/training_step.json
@@ -0,0 +1,3 @@
+{
+    "step": 100000
+}
\ No newline at end of file
diff --git a/pi/HSI_open_door/pi05_sonic_opendoor_0529/100000/pretrained_model/config.json b/pi/HSI_open_door/pi05_sonic_opendoor_0529/100000/pretrained_model/config.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b7b6859529dda775395814565cccfce3c157bc9
--- /dev/null
+++ b/pi/HSI_open_door/pi05_sonic_opendoor_0529/100000/pretrained_model/config.json
@@ -0,0 +1,125 @@
+{
+    "type": "pi05",
+    "n_obs_steps": 1,
+    "input_features": {
+        "observation.images.front": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
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+            "shape": [
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+            ]
+        }
+    },
+    "output_features": {
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+            "shape": [
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+            ]
+        }
+    },
+    "device": "cuda",
+    "use_amp": false,
+    "use_peft": false,
+    "push_to_hub": false,
+    "repo_id": null,
+    "private": null,
+    "tags": null,
+    "license": null,
+    "pretrained_path": "/mnt/workspace/vla/users/xujunzhe/yunhengwang/lerobot/lerobot/checkpoints/pi05_base",
+    "paligemma_variant": "gemma_2b",
+    "action_expert_variant": "gemma_300m",
+    "dtype": "bfloat16",
+    "chunk_size": 20,
+    "n_action_steps": 20,
+    "max_state_dim": 64,
+    "max_action_dim": 40,
+    "num_inference_steps": 10,
+    "time_sampling_beta_alpha": 1.5,
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+    "time_sampling_offset": 0.001,
+    "min_period": 0.004,
+    "max_period": 4.0,
+    "use_relative_actions": false,
+    "relative_exclude_joints": [
+        "gripper"
+    ],
+    "action_feature_names": [
+        "action.root_ref_base_local_xy_delta.x",
+        "action.root_ref_base_local_xy_delta.y",
+        "action.root_z",
+        "action.root_ref_rot6d.0",
+        "action.root_ref_rot6d.1",
+        "action.root_ref_rot6d.2",
+        "action.root_ref_rot6d.3",
+        "action.root_ref_rot6d.4",
+        "action.root_ref_rot6d.5",
+        "action.joint_pos.left_hip_pitch_joint",
+        "action.joint_pos.right_hip_pitch_joint",
+        "action.joint_pos.waist_yaw_joint",
+        "action.joint_pos.left_hip_roll_joint",
+        "action.joint_pos.right_hip_roll_joint",
+        "action.joint_pos.waist_roll_joint",
+        "action.joint_pos.left_hip_yaw_joint",
+        "action.joint_pos.right_hip_yaw_joint",
+        "action.joint_pos.waist_pitch_joint",
+        "action.joint_pos.left_knee_joint",
+        "action.joint_pos.right_knee_joint",
+        "action.joint_pos.left_shoulder_pitch_joint",
+        "action.joint_pos.right_shoulder_pitch_joint",
+        "action.joint_pos.left_ankle_pitch_joint",
+        "action.joint_pos.right_ankle_pitch_joint",
+        "action.joint_pos.left_shoulder_roll_joint",
+        "action.joint_pos.right_shoulder_roll_joint",
+        "action.joint_pos.left_ankle_roll_joint",
+        "action.joint_pos.right_ankle_roll_joint",
+        "action.joint_pos.left_shoulder_yaw_joint",
+        "action.joint_pos.right_shoulder_yaw_joint",
+        "action.joint_pos.left_elbow_joint",
+        "action.joint_pos.right_elbow_joint",
+        "action.joint_pos.left_wrist_roll_joint",
+        "action.joint_pos.right_wrist_roll_joint",
+        "action.joint_pos.left_wrist_pitch_joint",
+        "action.joint_pos.right_wrist_pitch_joint",
+        "action.joint_pos.left_wrist_yaw_joint",
+        "action.joint_pos.right_wrist_yaw_joint",
+        "action.hand_binary.left",
+        "action.hand_binary.right"
+    ],
+    "rtc_config": null,
+    "image_resolution": [
+        224,
+        224
+    ],
+    "empty_cameras": 0,
+    "tokenizer_max_length": 200,
+    "normalization_mapping": {
+        "VISUAL": "IDENTITY",
+        "STATE": "QUANTILES",
+        "ACTION": "QUANTILES"
+    },
+    "gradient_checkpointing": true,
+    "compile_model": true,
+    "compile_mode": "max-autotune",
+    "freeze_vision_encoder": false,
+    "train_expert_only": false,
+    "optimizer_lr": 2.5e-05,
+    "optimizer_betas": [
+        0.9,
+        0.95
+    ],
+    "optimizer_eps": 1e-08,
+    "optimizer_weight_decay": 0.01,
+    "optimizer_grad_clip_norm": 1.0,
+    "scheduler_warmup_steps": 1000,
+    "scheduler_decay_steps": 30000,
+    "scheduler_decay_lr": 2.5e-06
+}
\ No newline at end of file
diff --git a/pi/HSI_open_door/pi05_sonic_opendoor_0529/100000/pretrained_model/policy_postprocessor.json b/pi/HSI_open_door/pi05_sonic_opendoor_0529/100000/pretrained_model/policy_postprocessor.json
new file mode 100644
index 0000000000000000000000000000000000000000..a35451825e1e0248da28301e4ae7fd31211b0614
--- /dev/null
+++ b/pi/HSI_open_door/pi05_sonic_opendoor_0529/100000/pretrained_model/policy_postprocessor.json
@@ -0,0 +1,32 @@
+{
+  "name": "policy_postprocessor",
+  "steps": [
+    {
+      "registry_name": "unnormalizer_processor",
+      "config": {
+        "eps": 1e-08,
+        "features": {
+          "action": {
+            "type": "ACTION",
+            "shape": [
+              40
+            ]
+          }
+        },
+        "norm_map": {
+          "VISUAL": "IDENTITY",
+          "STATE": "QUANTILES",
+          "ACTION": "QUANTILES"
+        }
+      },
+      "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cpu",
+        "float_dtype": null
+      }
+    }
+  ]
+}
\ No newline at end of file
diff --git a/pi/HSI_open_door/pi05_sonic_opendoor_0529/100000/pretrained_model/policy_preprocessor.json b/pi/HSI_open_door/pi05_sonic_opendoor_0529/100000/pretrained_model/policy_preprocessor.json
new file mode 100644
index 0000000000000000000000000000000000000000..61edc9e51d8336720d4465e0fad78818b263060d
--- /dev/null
+++ b/pi/HSI_open_door/pi05_sonic_opendoor_0529/100000/pretrained_model/policy_preprocessor.json
@@ -0,0 +1,71 @@
+{
+  "name": "policy_preprocessor",
+  "steps": [
+    {
+      "registry_name": "rename_observations_processor",
+      "config": {
+        "rename_map": {}
+      }
+    },
+    {
+      "registry_name": "to_batch_processor",
+      "config": {}
+    },
+    {
+      "registry_name": "normalizer_processor",
+      "config": {
+        "eps": 1e-08,
+        "features": {
+          "observation.images.front": {
+            "type": "VISUAL",
+            "shape": [
+              3,
+              480,
+              640
+            ]
+          },
+          "observation.state": {
+            "type": "STATE",
+            "shape": [
+              64
+            ]
+          },
+          "action": {
+            "type": "ACTION",
+            "shape": [
+              40
+            ]
+          }
+        },
+        "norm_map": {
+          "VISUAL": "IDENTITY",
+          "STATE": "QUANTILES",
+          "ACTION": "QUANTILES"
+        }
+      },
+      "state_file": "policy_preprocessor_step_2_normalizer_processor.safetensors"
+    },
+    {
+      "registry_name": "pi05_prepare_state_tokenizer_processor_step",
+      "config": {}
+    },
+    {
+      "registry_name": "tokenizer_processor",
+      "config": {
+        "max_length": 200,
+        "task_key": "task",
+        "padding_side": "right",
+        "padding": "max_length",
+        "truncation": true,
+        "tokenizer_name": "/mnt/workspace/users/xujunzhe/yunhengwang/lerobot/lerobot/checkpoints/paligemma-3b-pt-224"
+      }
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cuda",
+        "float_dtype": null
+      }
+    }
+  ]
+}
\ No newline at end of file
diff --git a/pi/HSI_open_door/pi05_sonic_opendoor_0529/100000/training_state/scheduler_state.json b/pi/HSI_open_door/pi05_sonic_opendoor_0529/100000/training_state/scheduler_state.json
new file mode 100644
index 0000000000000000000000000000000000000000..62eb88d80bdf0310589b8f312793f5b6eb4e9f18
--- /dev/null
+++ b/pi/HSI_open_door/pi05_sonic_opendoor_0529/100000/training_state/scheduler_state.json
@@ -0,0 +1,15 @@
+{
+    "base_lrs": [
+        2.5e-05
+    ],
+    "last_epoch": 100000,
+    "_step_count": 100001,
+    "_is_initial": false,
+    "_get_lr_called_within_step": false,
+    "_last_lr": [
+        2.5e-06
+    ],
+    "lr_lambdas": [
+        null
+    ]
+}
\ No newline at end of file
diff --git a/pi/HSI_open_door/pi05_twist2_opendoor_0529/100000/pretrained_model/config.json b/pi/HSI_open_door/pi05_twist2_opendoor_0529/100000/pretrained_model/config.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b7b6859529dda775395814565cccfce3c157bc9
--- /dev/null
+++ b/pi/HSI_open_door/pi05_twist2_opendoor_0529/100000/pretrained_model/config.json
@@ -0,0 +1,125 @@
+{
+    "type": "pi05",
+    "n_obs_steps": 1,
+    "input_features": {
+        "observation.images.front": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        },
+        "observation.state": {
+            "type": "STATE",
+            "shape": [
+                64
+            ]
+        }
+    },
+    "output_features": {
+        "action": {
+            "type": "ACTION",
+            "shape": [
+                40
+            ]
+        }
+    },
+    "device": "cuda",
+    "use_amp": false,
+    "use_peft": false,
+    "push_to_hub": false,
+    "repo_id": null,
+    "private": null,
+    "tags": null,
+    "license": null,
+    "pretrained_path": "/mnt/workspace/vla/users/xujunzhe/yunhengwang/lerobot/lerobot/checkpoints/pi05_base",
+    "paligemma_variant": "gemma_2b",
+    "action_expert_variant": "gemma_300m",
+    "dtype": "bfloat16",
+    "chunk_size": 20,
+    "n_action_steps": 20,
+    "max_state_dim": 64,
+    "max_action_dim": 40,
+    "num_inference_steps": 10,
+    "time_sampling_beta_alpha": 1.5,
+    "time_sampling_beta_beta": 1.0,
+    "time_sampling_scale": 0.999,
+    "time_sampling_offset": 0.001,
+    "min_period": 0.004,
+    "max_period": 4.0,
+    "use_relative_actions": false,
+    "relative_exclude_joints": [
+        "gripper"
+    ],
+    "action_feature_names": [
+        "action.root_ref_base_local_xy_delta.x",
+        "action.root_ref_base_local_xy_delta.y",
+        "action.root_z",
+        "action.root_ref_rot6d.0",
+        "action.root_ref_rot6d.1",
+        "action.root_ref_rot6d.2",
+        "action.root_ref_rot6d.3",
+        "action.root_ref_rot6d.4",
+        "action.root_ref_rot6d.5",
+        "action.joint_pos.left_hip_pitch_joint",
+        "action.joint_pos.right_hip_pitch_joint",
+        "action.joint_pos.waist_yaw_joint",
+        "action.joint_pos.left_hip_roll_joint",
+        "action.joint_pos.right_hip_roll_joint",
+        "action.joint_pos.waist_roll_joint",
+        "action.joint_pos.left_hip_yaw_joint",
+        "action.joint_pos.right_hip_yaw_joint",
+        "action.joint_pos.waist_pitch_joint",
+        "action.joint_pos.left_knee_joint",
+        "action.joint_pos.right_knee_joint",
+        "action.joint_pos.left_shoulder_pitch_joint",
+        "action.joint_pos.right_shoulder_pitch_joint",
+        "action.joint_pos.left_ankle_pitch_joint",
+        "action.joint_pos.right_ankle_pitch_joint",
+        "action.joint_pos.left_shoulder_roll_joint",
+        "action.joint_pos.right_shoulder_roll_joint",
+        "action.joint_pos.left_ankle_roll_joint",
+        "action.joint_pos.right_ankle_roll_joint",
+        "action.joint_pos.left_shoulder_yaw_joint",
+        "action.joint_pos.right_shoulder_yaw_joint",
+        "action.joint_pos.left_elbow_joint",
+        "action.joint_pos.right_elbow_joint",
+        "action.joint_pos.left_wrist_roll_joint",
+        "action.joint_pos.right_wrist_roll_joint",
+        "action.joint_pos.left_wrist_pitch_joint",
+        "action.joint_pos.right_wrist_pitch_joint",
+        "action.joint_pos.left_wrist_yaw_joint",
+        "action.joint_pos.right_wrist_yaw_joint",
+        "action.hand_binary.left",
+        "action.hand_binary.right"
+    ],
+    "rtc_config": null,
+    "image_resolution": [
+        224,
+        224
+    ],
+    "empty_cameras": 0,
+    "tokenizer_max_length": 200,
+    "normalization_mapping": {
+        "VISUAL": "IDENTITY",
+        "STATE": "QUANTILES",
+        "ACTION": "QUANTILES"
+    },
+    "gradient_checkpointing": true,
+    "compile_model": true,
+    "compile_mode": "max-autotune",
+    "freeze_vision_encoder": false,
+    "train_expert_only": false,
+    "optimizer_lr": 2.5e-05,
+    "optimizer_betas": [
+        0.9,
+        0.95
+    ],
+    "optimizer_eps": 1e-08,
+    "optimizer_weight_decay": 0.01,
+    "optimizer_grad_clip_norm": 1.0,
+    "scheduler_warmup_steps": 1000,
+    "scheduler_decay_steps": 30000,
+    "scheduler_decay_lr": 2.5e-06
+}
\ No newline at end of file
diff --git a/pi/HSI_open_door/pi05_twist2_opendoor_0529/100000/pretrained_model/policy_preprocessor.json b/pi/HSI_open_door/pi05_twist2_opendoor_0529/100000/pretrained_model/policy_preprocessor.json
new file mode 100644
index 0000000000000000000000000000000000000000..61edc9e51d8336720d4465e0fad78818b263060d
--- /dev/null
+++ b/pi/HSI_open_door/pi05_twist2_opendoor_0529/100000/pretrained_model/policy_preprocessor.json
@@ -0,0 +1,71 @@
+{
+  "name": "policy_preprocessor",
+  "steps": [
+    {
+      "registry_name": "rename_observations_processor",
+      "config": {
+        "rename_map": {}
+      }
+    },
+    {
+      "registry_name": "to_batch_processor",
+      "config": {}
+    },
+    {
+      "registry_name": "normalizer_processor",
+      "config": {
+        "eps": 1e-08,
+        "features": {
+          "observation.images.front": {
+            "type": "VISUAL",
+            "shape": [
+              3,
+              480,
+              640
+            ]
+          },
+          "observation.state": {
+            "type": "STATE",
+            "shape": [
+              64
+            ]
+          },
+          "action": {
+            "type": "ACTION",
+            "shape": [
+              40
+            ]
+          }
+        },
+        "norm_map": {
+          "VISUAL": "IDENTITY",
+          "STATE": "QUANTILES",
+          "ACTION": "QUANTILES"
+        }
+      },
+      "state_file": "policy_preprocessor_step_2_normalizer_processor.safetensors"
+    },
+    {
+      "registry_name": "pi05_prepare_state_tokenizer_processor_step",
+      "config": {}
+    },
+    {
+      "registry_name": "tokenizer_processor",
+      "config": {
+        "max_length": 200,
+        "task_key": "task",
+        "padding_side": "right",
+        "padding": "max_length",
+        "truncation": true,
+        "tokenizer_name": "/mnt/workspace/users/xujunzhe/yunhengwang/lerobot/lerobot/checkpoints/paligemma-3b-pt-224"
+      }
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cuda",
+        "float_dtype": null
+      }
+    }
+  ]
+}
\ No newline at end of file
diff --git a/pi/HSI_open_door/pi05_twist2_opendoor_0529/100000/pretrained_model/train_config.json b/pi/HSI_open_door/pi05_twist2_opendoor_0529/100000/pretrained_model/train_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb1eb160c21284d6b1e6c8c3cd6fdbac94827adf
--- /dev/null
+++ b/pi/HSI_open_door/pi05_twist2_opendoor_0529/100000/pretrained_model/train_config.json
@@ -0,0 +1,263 @@
+{
+    "dataset": {
+        "repo_id": "local/HSI_open_door_twist2_refpose_v3_1",
+        "root": "/mnt/workspace/vla/users/xujunzhe/yunhengwang/lerobot/lerobot/datasets/HumanoidArena_datasets_v3_1/HSI_open_door/HSI_open_door_twist2_refpose_v3_1",
+        "episodes": null,
+        "image_transforms": {
+            "enable": true,
+            "max_num_transforms": 3,
+            "random_order": false,
+            "tfs": {
+                "brightness": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "brightness": [
+                            0.8,
+                            1.2
+                        ]
+                    }
+                },
+                "contrast": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "contrast": [
+                            0.8,
+                            1.2
+                        ]
+                    }
+                },
+                "saturation": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "saturation": [
+                            0.5,
+                            1.5
+                        ]
+                    }
+                },
+                "hue": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "hue": [
+                            -0.05,
+                            0.05
+                        ]
+                    }
+                },
+                "sharpness": {
+                    "weight": 1.0,
+                    "type": "SharpnessJitter",
+                    "kwargs": {
+                        "sharpness": [
+                            0.5,
+                            1.5
+                        ]
+                    }
+                },
+                "affine": {
+                    "weight": 1.0,
+                    "type": "RandomAffine",
+                    "kwargs": {
+                        "degrees": [
+                            -5.0,
+                            5.0
+                        ],
+                        "translate": [
+                            0.05,
+                            0.05
+                        ]
+                    }
+                }
+            }
+        },
+        "revision": null,
+        "use_imagenet_stats": true,
+        "video_backend": "torchcodec",
+        "streaming": false
+    },
+    "env": null,
+    "policy": {
+        "type": "pi05",
+        "n_obs_steps": 1,
+        "input_features": {
+            "observation.images.front": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    480,
+                    640
+                ]
+            },
+            "observation.state": {
+                "type": "STATE",
+                "shape": [
+                    64
+                ]
+            }
+        },
+        "output_features": {
+            "action": {
+                "type": "ACTION",
+                "shape": [
+                    40
+                ]
+            }
+        },
+        "device": "cuda",
+        "use_amp": false,
+        "use_peft": false,
+        "push_to_hub": false,
+        "repo_id": null,
+        "private": null,
+        "tags": null,
+        "license": null,
+        "pretrained_path": "/mnt/workspace/vla/users/xujunzhe/yunhengwang/lerobot/lerobot/checkpoints/pi05_base",
+        "paligemma_variant": "gemma_2b",
+        "action_expert_variant": "gemma_300m",
+        "dtype": "bfloat16",
+        "chunk_size": 20,
+        "n_action_steps": 20,
+        "max_state_dim": 64,
+        "max_action_dim": 40,
+        "num_inference_steps": 10,
+        "time_sampling_beta_alpha": 1.5,
+        "time_sampling_beta_beta": 1.0,
+        "time_sampling_scale": 0.999,
+        "time_sampling_offset": 0.001,
+        "min_period": 0.004,
+        "max_period": 4.0,
+        "use_relative_actions": false,
+        "relative_exclude_joints": [
+            "gripper"
+        ],
+        "action_feature_names": [
+            "action.root_ref_base_local_xy_delta.x",
+            "action.root_ref_base_local_xy_delta.y",
+            "action.root_z",
+            "action.root_ref_rot6d.0",
+            "action.root_ref_rot6d.1",
+            "action.root_ref_rot6d.2",
+            "action.root_ref_rot6d.3",
+            "action.root_ref_rot6d.4",
+            "action.root_ref_rot6d.5",
+            "action.joint_pos.left_hip_pitch_joint",
+            "action.joint_pos.right_hip_pitch_joint",
+            "action.joint_pos.waist_yaw_joint",
+            "action.joint_pos.left_hip_roll_joint",
+            "action.joint_pos.right_hip_roll_joint",
+            "action.joint_pos.waist_roll_joint",
+            "action.joint_pos.left_hip_yaw_joint",
+            "action.joint_pos.right_hip_yaw_joint",
+            "action.joint_pos.waist_pitch_joint",
+            "action.joint_pos.left_knee_joint",
+            "action.joint_pos.right_knee_joint",
+            "action.joint_pos.left_shoulder_pitch_joint",
+            "action.joint_pos.right_shoulder_pitch_joint",
+            "action.joint_pos.left_ankle_pitch_joint",
+            "action.joint_pos.right_ankle_pitch_joint",
+            "action.joint_pos.left_shoulder_roll_joint",
+            "action.joint_pos.right_shoulder_roll_joint",
+            "action.joint_pos.left_ankle_roll_joint",
+            "action.joint_pos.right_ankle_roll_joint",
+            "action.joint_pos.left_shoulder_yaw_joint",
+            "action.joint_pos.right_shoulder_yaw_joint",
+            "action.joint_pos.left_elbow_joint",
+            "action.joint_pos.right_elbow_joint",
+            "action.joint_pos.left_wrist_roll_joint",
+            "action.joint_pos.right_wrist_roll_joint",
+            "action.joint_pos.left_wrist_pitch_joint",
+            "action.joint_pos.right_wrist_pitch_joint",
+            "action.joint_pos.left_wrist_yaw_joint",
+            "action.joint_pos.right_wrist_yaw_joint",
+            "action.hand_binary.left",
+            "action.hand_binary.right"
+        ],
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+        "image_resolution": [
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+        "tokenizer_max_length": 200,
+        "normalization_mapping": {
+            "VISUAL": "IDENTITY",
+            "STATE": "QUANTILES",
+            "ACTION": "QUANTILES"
+        },
+        "gradient_checkpointing": true,
+        "compile_model": true,
+        "compile_mode": "max-autotune",
+        "freeze_vision_encoder": false,
+        "train_expert_only": false,
+        "optimizer_lr": 2.5e-05,
+        "optimizer_betas": [
+            0.9,
+            0.95
+        ],
+        "optimizer_eps": 1e-08,
+        "optimizer_weight_decay": 0.01,
+        "optimizer_grad_clip_norm": 1.0,
+        "scheduler_warmup_steps": 1000,
+        "scheduler_decay_steps": 30000,
+        "scheduler_decay_lr": 2.5e-06
+    },
+    "output_dir": "/mnt/workspace/vla/users/xujunzhe/yunhengwang/lerobot/lerobot/results/2026-05-28/Pi0.5_HSI_open_door_twist2_refpose_v3_1",
+    "job_name": "Pi0.5_HSI_open_door_twist2_refpose_v3_1",
+    "resume": false,
+    "seed": 42,
+    "cudnn_deterministic": false,
+    "num_workers": 4,
+    "batch_size": 64,
+    "steps": 100000,
+    "eval_freq": 20000,
+    "log_freq": 200,
+    "tolerance_s": 0.0001,
+    "save_checkpoint": true,
+    "save_freq": 20000,
+    "use_policy_training_preset": true,
+    "optimizer": {
+        "type": "adamw",
+        "lr": 2.5e-05,
+        "weight_decay": 0.01,
+        "grad_clip_norm": 1.0,
+        "betas": [
+            0.9,
+            0.95
+        ],
+        "eps": 1e-08
+    },
+    "scheduler": {
+        "type": "cosine_decay_with_warmup",
+        "num_warmup_steps": 1000,
+        "num_decay_steps": 30000,
+        "peak_lr": 2.5e-05,
+        "decay_lr": 2.5e-06
+    },
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+        "batch_size": 50,
+        "use_async_envs": false
+    },
+    "wandb": {
+        "enable": true,
+        "disable_artifact": false,
+        "project": "lerobot",
+        "entity": null,
+        "notes": null,
+        "run_id": "70120ne0",
+        "mode": "offline",
+        "add_tags": true
+    },
+    "peft": null,
+    "use_rabc": false,
+    "rabc_progress_path": null,
+    "rabc_kappa": 0.01,
+    "rabc_epsilon": 1e-06,
+    "rabc_head_mode": "sparse",
+    "rename_map": {},
+    "checkpoint_path": null
+}
\ No newline at end of file
diff --git a/pi/HSI_open_door/pi05_twist2_opendoor_0529/100000/training_state/training_step.json b/pi/HSI_open_door/pi05_twist2_opendoor_0529/100000/training_state/training_step.json
new file mode 100644
index 0000000000000000000000000000000000000000..8eb73c13d28bca88058c08796abbf931c3f9b012
--- /dev/null
+++ b/pi/HSI_open_door/pi05_twist2_opendoor_0529/100000/training_state/training_step.json
@@ -0,0 +1,3 @@
+{
+    "step": 100000
+}
\ No newline at end of file
diff --git a/pi/HSI_vision_navi/pi05_sonic_visionnavi_0529/100000/pretrained_model/config.json b/pi/HSI_vision_navi/pi05_sonic_visionnavi_0529/100000/pretrained_model/config.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b7b6859529dda775395814565cccfce3c157bc9
--- /dev/null
+++ b/pi/HSI_vision_navi/pi05_sonic_visionnavi_0529/100000/pretrained_model/config.json
@@ -0,0 +1,125 @@
+{
+    "type": "pi05",
+    "n_obs_steps": 1,
+    "input_features": {
+        "observation.images.front": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        },
+        "observation.state": {
+            "type": "STATE",
+            "shape": [
+                64
+            ]
+        }
+    },
+    "output_features": {
+        "action": {
+            "type": "ACTION",
+            "shape": [
+                40
+            ]
+        }
+    },
+    "device": "cuda",
+    "use_amp": false,
+    "use_peft": false,
+    "push_to_hub": false,
+    "repo_id": null,
+    "private": null,
+    "tags": null,
+    "license": null,
+    "pretrained_path": "/mnt/workspace/vla/users/xujunzhe/yunhengwang/lerobot/lerobot/checkpoints/pi05_base",
+    "paligemma_variant": "gemma_2b",
+    "action_expert_variant": "gemma_300m",
+    "dtype": "bfloat16",
+    "chunk_size": 20,
+    "n_action_steps": 20,
+    "max_state_dim": 64,
+    "max_action_dim": 40,
+    "num_inference_steps": 10,
+    "time_sampling_beta_alpha": 1.5,
+    "time_sampling_beta_beta": 1.0,
+    "time_sampling_scale": 0.999,
+    "time_sampling_offset": 0.001,
+    "min_period": 0.004,
+    "max_period": 4.0,
+    "use_relative_actions": false,
+    "relative_exclude_joints": [
+        "gripper"
+    ],
+    "action_feature_names": [
+        "action.root_ref_base_local_xy_delta.x",
+        "action.root_ref_base_local_xy_delta.y",
+        "action.root_z",
+        "action.root_ref_rot6d.0",
+        "action.root_ref_rot6d.1",
+        "action.root_ref_rot6d.2",
+        "action.root_ref_rot6d.3",
+        "action.root_ref_rot6d.4",
+        "action.root_ref_rot6d.5",
+        "action.joint_pos.left_hip_pitch_joint",
+        "action.joint_pos.right_hip_pitch_joint",
+        "action.joint_pos.waist_yaw_joint",
+        "action.joint_pos.left_hip_roll_joint",
+        "action.joint_pos.right_hip_roll_joint",
+        "action.joint_pos.waist_roll_joint",
+        "action.joint_pos.left_hip_yaw_joint",
+        "action.joint_pos.right_hip_yaw_joint",
+        "action.joint_pos.waist_pitch_joint",
+        "action.joint_pos.left_knee_joint",
+        "action.joint_pos.right_knee_joint",
+        "action.joint_pos.left_shoulder_pitch_joint",
+        "action.joint_pos.right_shoulder_pitch_joint",
+        "action.joint_pos.left_ankle_pitch_joint",
+        "action.joint_pos.right_ankle_pitch_joint",
+        "action.joint_pos.left_shoulder_roll_joint",
+        "action.joint_pos.right_shoulder_roll_joint",
+        "action.joint_pos.left_ankle_roll_joint",
+        "action.joint_pos.right_ankle_roll_joint",
+        "action.joint_pos.left_shoulder_yaw_joint",
+        "action.joint_pos.right_shoulder_yaw_joint",
+        "action.joint_pos.left_elbow_joint",
+        "action.joint_pos.right_elbow_joint",
+        "action.joint_pos.left_wrist_roll_joint",
+        "action.joint_pos.right_wrist_roll_joint",
+        "action.joint_pos.left_wrist_pitch_joint",
+        "action.joint_pos.right_wrist_pitch_joint",
+        "action.joint_pos.left_wrist_yaw_joint",
+        "action.joint_pos.right_wrist_yaw_joint",
+        "action.hand_binary.left",
+        "action.hand_binary.right"
+    ],
+    "rtc_config": null,
+    "image_resolution": [
+        224,
+        224
+    ],
+    "empty_cameras": 0,
+    "tokenizer_max_length": 200,
+    "normalization_mapping": {
+        "VISUAL": "IDENTITY",
+        "STATE": "QUANTILES",
+        "ACTION": "QUANTILES"
+    },
+    "gradient_checkpointing": true,
+    "compile_model": true,
+    "compile_mode": "max-autotune",
+    "freeze_vision_encoder": false,
+    "train_expert_only": false,
+    "optimizer_lr": 2.5e-05,
+    "optimizer_betas": [
+        0.9,
+        0.95
+    ],
+    "optimizer_eps": 1e-08,
+    "optimizer_weight_decay": 0.01,
+    "optimizer_grad_clip_norm": 1.0,
+    "scheduler_warmup_steps": 1000,
+    "scheduler_decay_steps": 30000,
+    "scheduler_decay_lr": 2.5e-06
+}
\ No newline at end of file
diff --git a/pi/HSI_vision_navi/pi05_sonic_visionnavi_0529/100000/pretrained_model/policy_postprocessor.json b/pi/HSI_vision_navi/pi05_sonic_visionnavi_0529/100000/pretrained_model/policy_postprocessor.json
new file mode 100644
index 0000000000000000000000000000000000000000..a35451825e1e0248da28301e4ae7fd31211b0614
--- /dev/null
+++ b/pi/HSI_vision_navi/pi05_sonic_visionnavi_0529/100000/pretrained_model/policy_postprocessor.json
@@ -0,0 +1,32 @@
+{
+  "name": "policy_postprocessor",
+  "steps": [
+    {
+      "registry_name": "unnormalizer_processor",
+      "config": {
+        "eps": 1e-08,
+        "features": {
+          "action": {
+            "type": "ACTION",
+            "shape": [
+              40
+            ]
+          }
+        },
+        "norm_map": {
+          "VISUAL": "IDENTITY",
+          "STATE": "QUANTILES",
+          "ACTION": "QUANTILES"
+        }
+      },
+      "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cpu",
+        "float_dtype": null
+      }
+    }
+  ]
+}
\ No newline at end of file
diff --git a/pi/HSI_vision_navi/pi05_sonic_visionnavi_0529/100000/pretrained_model/policy_preprocessor.json b/pi/HSI_vision_navi/pi05_sonic_visionnavi_0529/100000/pretrained_model/policy_preprocessor.json
new file mode 100644
index 0000000000000000000000000000000000000000..61edc9e51d8336720d4465e0fad78818b263060d
--- /dev/null
+++ b/pi/HSI_vision_navi/pi05_sonic_visionnavi_0529/100000/pretrained_model/policy_preprocessor.json
@@ -0,0 +1,71 @@
+{
+  "name": "policy_preprocessor",
+  "steps": [
+    {
+      "registry_name": "rename_observations_processor",
+      "config": {
+        "rename_map": {}
+      }
+    },
+    {
+      "registry_name": "to_batch_processor",
+      "config": {}
+    },
+    {
+      "registry_name": "normalizer_processor",
+      "config": {
+        "eps": 1e-08,
+        "features": {
+          "observation.images.front": {
+            "type": "VISUAL",
+            "shape": [
+              3,
+              480,
+              640
+            ]
+          },
+          "observation.state": {
+            "type": "STATE",
+            "shape": [
+              64
+            ]
+          },
+          "action": {
+            "type": "ACTION",
+            "shape": [
+              40
+            ]
+          }
+        },
+        "norm_map": {
+          "VISUAL": "IDENTITY",
+          "STATE": "QUANTILES",
+          "ACTION": "QUANTILES"
+        }
+      },
+      "state_file": "policy_preprocessor_step_2_normalizer_processor.safetensors"
+    },
+    {
+      "registry_name": "pi05_prepare_state_tokenizer_processor_step",
+      "config": {}
+    },
+    {
+      "registry_name": "tokenizer_processor",
+      "config": {
+        "max_length": 200,
+        "task_key": "task",
+        "padding_side": "right",
+        "padding": "max_length",
+        "truncation": true,
+        "tokenizer_name": "/mnt/workspace/users/xujunzhe/yunhengwang/lerobot/lerobot/checkpoints/paligemma-3b-pt-224"
+      }
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cuda",
+        "float_dtype": null
+      }
+    }
+  ]
+}
\ No newline at end of file
diff --git a/pi/HSI_vision_navi/pi05_sonic_visionnavi_0529/100000/pretrained_model/train_config.json b/pi/HSI_vision_navi/pi05_sonic_visionnavi_0529/100000/pretrained_model/train_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdeb2e6d1a45a539b6318a9d0db831a3f5d0fb63
--- /dev/null
+++ b/pi/HSI_vision_navi/pi05_sonic_visionnavi_0529/100000/pretrained_model/train_config.json
@@ -0,0 +1,263 @@
+{
+    "dataset": {
+        "repo_id": "local/HSI_vision_navi_sonic_refpose_v3_1",
+        "root": "/mnt/workspace/vla/users/xujunzhe/yunhengwang/lerobot/lerobot/datasets/HumanoidArena_datasets_v3_1/HSI_vision_navi/HSI_vision_navi_sonic_refpose_v3_1",
+        "episodes": null,
+        "image_transforms": {
+            "enable": true,
+            "max_num_transforms": 3,
+            "random_order": false,
+            "tfs": {
+                "brightness": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "brightness": [
+                            0.8,
+                            1.2
+                        ]
+                    }
+                },
+                "contrast": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "contrast": [
+                            0.8,
+                            1.2
+                        ]
+                    }
+                },
+                "saturation": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "saturation": [
+                            0.5,
+                            1.5
+                        ]
+                    }
+                },
+                "hue": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "hue": [
+                            -0.05,
+                            0.05
+                        ]
+                    }
+                },
+                "sharpness": {
+                    "weight": 1.0,
+                    "type": "SharpnessJitter",
+                    "kwargs": {
+                        "sharpness": [
+                            0.5,
+                            1.5
+                        ]
+                    }
+                },
+                "affine": {
+                    "weight": 1.0,
+                    "type": "RandomAffine",
+                    "kwargs": {
+                        "degrees": [
+                            -5.0,
+                            5.0
+                        ],
+                        "translate": [
+                            0.05,
+                            0.05
+                        ]
+                    }
+                }
+            }
+        },
+        "revision": null,
+        "use_imagenet_stats": true,
+        "video_backend": "torchcodec",
+        "streaming": false
+    },
+    "env": null,
+    "policy": {
+        "type": "pi05",
+        "n_obs_steps": 1,
+        "input_features": {
+            "observation.images.front": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    480,
+                    640
+                ]
+            },
+            "observation.state": {
+                "type": "STATE",
+                "shape": [
+                    64
+                ]
+            }
+        },
+        "output_features": {
+            "action": {
+                "type": "ACTION",
+                "shape": [
+                    40
+                ]
+            }
+        },
+        "device": "cuda",
+        "use_amp": false,
+        "use_peft": false,
+        "push_to_hub": false,
+        "repo_id": null,
+        "private": null,
+        "tags": null,
+        "license": null,
+        "pretrained_path": "/mnt/workspace/vla/users/xujunzhe/yunhengwang/lerobot/lerobot/checkpoints/pi05_base",
+        "paligemma_variant": "gemma_2b",
+        "action_expert_variant": "gemma_300m",
+        "dtype": "bfloat16",
+        "chunk_size": 20,
+        "n_action_steps": 20,
+        "max_state_dim": 64,
+        "max_action_dim": 40,
+        "num_inference_steps": 10,
+        "time_sampling_beta_alpha": 1.5,
+        "time_sampling_beta_beta": 1.0,
+        "time_sampling_scale": 0.999,
+        "time_sampling_offset": 0.001,
+        "min_period": 0.004,
+        "max_period": 4.0,
+        "use_relative_actions": false,
+        "relative_exclude_joints": [
+            "gripper"
+        ],
+        "action_feature_names": [
+            "action.root_ref_base_local_xy_delta.x",
+            "action.root_ref_base_local_xy_delta.y",
+            "action.root_z",
+            "action.root_ref_rot6d.0",
+            "action.root_ref_rot6d.1",
+            "action.root_ref_rot6d.2",
+            "action.root_ref_rot6d.3",
+            "action.root_ref_rot6d.4",
+            "action.root_ref_rot6d.5",
+            "action.joint_pos.left_hip_pitch_joint",
+            "action.joint_pos.right_hip_pitch_joint",
+            "action.joint_pos.waist_yaw_joint",
+            "action.joint_pos.left_hip_roll_joint",
+            "action.joint_pos.right_hip_roll_joint",
+            "action.joint_pos.waist_roll_joint",
+            "action.joint_pos.left_hip_yaw_joint",
+            "action.joint_pos.right_hip_yaw_joint",
+            "action.joint_pos.waist_pitch_joint",
+            "action.joint_pos.left_knee_joint",
+            "action.joint_pos.right_knee_joint",
+            "action.joint_pos.left_shoulder_pitch_joint",
+            "action.joint_pos.right_shoulder_pitch_joint",
+            "action.joint_pos.left_ankle_pitch_joint",
+            "action.joint_pos.right_ankle_pitch_joint",
+            "action.joint_pos.left_shoulder_roll_joint",
+            "action.joint_pos.right_shoulder_roll_joint",
+            "action.joint_pos.left_ankle_roll_joint",
+            "action.joint_pos.right_ankle_roll_joint",
+            "action.joint_pos.left_shoulder_yaw_joint",
+            "action.joint_pos.right_shoulder_yaw_joint",
+            "action.joint_pos.left_elbow_joint",
+            "action.joint_pos.right_elbow_joint",
+            "action.joint_pos.left_wrist_roll_joint",
+            "action.joint_pos.right_wrist_roll_joint",
+            "action.joint_pos.left_wrist_pitch_joint",
+            "action.joint_pos.right_wrist_pitch_joint",
+            "action.joint_pos.left_wrist_yaw_joint",
+            "action.joint_pos.right_wrist_yaw_joint",
+            "action.hand_binary.left",
+            "action.hand_binary.right"
+        ],
+        "rtc_config": null,
+        "image_resolution": [
+            224,
+            224
+        ],
+        "empty_cameras": 0,
+        "tokenizer_max_length": 200,
+        "normalization_mapping": {
+            "VISUAL": "IDENTITY",
+            "STATE": "QUANTILES",
+            "ACTION": "QUANTILES"
+        },
+        "gradient_checkpointing": true,
+        "compile_model": true,
+        "compile_mode": "max-autotune",
+        "freeze_vision_encoder": false,
+        "train_expert_only": false,
+        "optimizer_lr": 2.5e-05,
+        "optimizer_betas": [
+            0.9,
+            0.95
+        ],
+        "optimizer_eps": 1e-08,
+        "optimizer_weight_decay": 0.01,
+        "optimizer_grad_clip_norm": 1.0,
+        "scheduler_warmup_steps": 1000,
+        "scheduler_decay_steps": 30000,
+        "scheduler_decay_lr": 2.5e-06
+    },
+    "output_dir": "/mnt/workspace/vla/users/xujunzhe/yunhengwang/lerobot/lerobot/results/2026-05-28/Pi0.5_HSI_vision_navi_sonic_refpose_v3_1",
+    "job_name": "Pi0.5_HSI_vision_navi_sonic_refpose_v3_1",
+    "resume": false,
+    "seed": 42,
+    "cudnn_deterministic": false,
+    "num_workers": 4,
+    "batch_size": 64,
+    "steps": 100000,
+    "eval_freq": 20000,
+    "log_freq": 200,
+    "tolerance_s": 0.0001,
+    "save_checkpoint": true,
+    "save_freq": 20000,
+    "use_policy_training_preset": true,
+    "optimizer": {
+        "type": "adamw",
+        "lr": 2.5e-05,
+        "weight_decay": 0.01,
+        "grad_clip_norm": 1.0,
+        "betas": [
+            0.9,
+            0.95
+        ],
+        "eps": 1e-08
+    },
+    "scheduler": {
+        "type": "cosine_decay_with_warmup",
+        "num_warmup_steps": 1000,
+        "num_decay_steps": 30000,
+        "peak_lr": 2.5e-05,
+        "decay_lr": 2.5e-06
+    },
+    "eval": {
+        "n_episodes": 50,
+        "batch_size": 50,
+        "use_async_envs": false
+    },
+    "wandb": {
+        "enable": true,
+        "disable_artifact": false,
+        "project": "lerobot",
+        "entity": null,
+        "notes": null,
+        "run_id": "o3j6q3y8",
+        "mode": "offline",
+        "add_tags": true
+    },
+    "peft": null,
+    "use_rabc": false,
+    "rabc_progress_path": null,
+    "rabc_kappa": 0.01,
+    "rabc_epsilon": 1e-06,
+    "rabc_head_mode": "sparse",
+    "rename_map": {},
+    "checkpoint_path": null
+}
\ No newline at end of file
diff --git a/pi/HSI_vision_navi/pi05_sonic_visionnavi_0529/100000/training_state/optimizer_param_groups.json b/pi/HSI_vision_navi/pi05_sonic_visionnavi_0529/100000/training_state/optimizer_param_groups.json
new file mode 100644
index 0000000000000000000000000000000000000000..fbd93be86ae2f57430154a1dc768eb510aebe115
--- /dev/null
+++ b/pi/HSI_vision_navi/pi05_sonic_visionnavi_0529/100000/training_state/optimizer_param_groups.json
@@ -0,0 +1,834 @@
+[
+    {
+        "lr": 2.5e-06,
+        "betas": [
+            0.9,
+            0.95
+        ],
+        "eps": 1e-08,
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+]
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diff --git a/pi/HSI_vision_navi/pi05_sonic_visionnavi_0529/100000/training_state/scheduler_state.json b/pi/HSI_vision_navi/pi05_sonic_visionnavi_0529/100000/training_state/scheduler_state.json
new file mode 100644
index 0000000000000000000000000000000000000000..62eb88d80bdf0310589b8f312793f5b6eb4e9f18
--- /dev/null
+++ b/pi/HSI_vision_navi/pi05_sonic_visionnavi_0529/100000/training_state/scheduler_state.json
@@ -0,0 +1,15 @@
+{
+    "base_lrs": [
+        2.5e-05
+    ],
+    "last_epoch": 100000,
+    "_step_count": 100001,
+    "_is_initial": false,
+    "_get_lr_called_within_step": false,
+    "_last_lr": [
+        2.5e-06
+    ],
+    "lr_lambdas": [
+        null
+    ]
+}
\ No newline at end of file
diff --git a/pi/HSI_vision_navi/pi05_sonic_visionnavi_0529/100000/training_state/training_step.json b/pi/HSI_vision_navi/pi05_sonic_visionnavi_0529/100000/training_state/training_step.json
new file mode 100644
index 0000000000000000000000000000000000000000..8eb73c13d28bca88058c08796abbf931c3f9b012
--- /dev/null
+++ b/pi/HSI_vision_navi/pi05_sonic_visionnavi_0529/100000/training_state/training_step.json
@@ -0,0 +1,3 @@
+{
+    "step": 100000
+}
\ No newline at end of file
diff --git a/pi/HSI_vision_navi/pi05_twist2_visionnavi_0529/100000/pretrained_model/config.json b/pi/HSI_vision_navi/pi05_twist2_visionnavi_0529/100000/pretrained_model/config.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b7b6859529dda775395814565cccfce3c157bc9
--- /dev/null
+++ b/pi/HSI_vision_navi/pi05_twist2_visionnavi_0529/100000/pretrained_model/config.json
@@ -0,0 +1,125 @@
+{
+    "type": "pi05",
+    "n_obs_steps": 1,
+    "input_features": {
+        "observation.images.front": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        },
+        "observation.state": {
+            "type": "STATE",
+            "shape": [
+                64
+            ]
+        }
+    },
+    "output_features": {
+        "action": {
+            "type": "ACTION",
+            "shape": [
+                40
+            ]
+        }
+    },
+    "device": "cuda",
+    "use_amp": false,
+    "use_peft": false,
+    "push_to_hub": false,
+    "repo_id": null,
+    "private": null,
+    "tags": null,
+    "license": null,
+    "pretrained_path": "/mnt/workspace/vla/users/xujunzhe/yunhengwang/lerobot/lerobot/checkpoints/pi05_base",
+    "paligemma_variant": "gemma_2b",
+    "action_expert_variant": "gemma_300m",
+    "dtype": "bfloat16",
+    "chunk_size": 20,
+    "n_action_steps": 20,
+    "max_state_dim": 64,
+    "max_action_dim": 40,
+    "num_inference_steps": 10,
+    "time_sampling_beta_alpha": 1.5,
+    "time_sampling_beta_beta": 1.0,
+    "time_sampling_scale": 0.999,
+    "time_sampling_offset": 0.001,
+    "min_period": 0.004,
+    "max_period": 4.0,
+    "use_relative_actions": false,
+    "relative_exclude_joints": [
+        "gripper"
+    ],
+    "action_feature_names": [
+        "action.root_ref_base_local_xy_delta.x",
+        "action.root_ref_base_local_xy_delta.y",
+        "action.root_z",
+        "action.root_ref_rot6d.0",
+        "action.root_ref_rot6d.1",
+        "action.root_ref_rot6d.2",
+        "action.root_ref_rot6d.3",
+        "action.root_ref_rot6d.4",
+        "action.root_ref_rot6d.5",
+        "action.joint_pos.left_hip_pitch_joint",
+        "action.joint_pos.right_hip_pitch_joint",
+        "action.joint_pos.waist_yaw_joint",
+        "action.joint_pos.left_hip_roll_joint",
+        "action.joint_pos.right_hip_roll_joint",
+        "action.joint_pos.waist_roll_joint",
+        "action.joint_pos.left_hip_yaw_joint",
+        "action.joint_pos.right_hip_yaw_joint",
+        "action.joint_pos.waist_pitch_joint",
+        "action.joint_pos.left_knee_joint",
+        "action.joint_pos.right_knee_joint",
+        "action.joint_pos.left_shoulder_pitch_joint",
+        "action.joint_pos.right_shoulder_pitch_joint",
+        "action.joint_pos.left_ankle_pitch_joint",
+        "action.joint_pos.right_ankle_pitch_joint",
+        "action.joint_pos.left_shoulder_roll_joint",
+        "action.joint_pos.right_shoulder_roll_joint",
+        "action.joint_pos.left_ankle_roll_joint",
+        "action.joint_pos.right_ankle_roll_joint",
+        "action.joint_pos.left_shoulder_yaw_joint",
+        "action.joint_pos.right_shoulder_yaw_joint",
+        "action.joint_pos.left_elbow_joint",
+        "action.joint_pos.right_elbow_joint",
+        "action.joint_pos.left_wrist_roll_joint",
+        "action.joint_pos.right_wrist_roll_joint",
+        "action.joint_pos.left_wrist_pitch_joint",
+        "action.joint_pos.right_wrist_pitch_joint",
+        "action.joint_pos.left_wrist_yaw_joint",
+        "action.joint_pos.right_wrist_yaw_joint",
+        "action.hand_binary.left",
+        "action.hand_binary.right"
+    ],
+    "rtc_config": null,
+    "image_resolution": [
+        224,
+        224
+    ],
+    "empty_cameras": 0,
+    "tokenizer_max_length": 200,
+    "normalization_mapping": {
+        "VISUAL": "IDENTITY",
+        "STATE": "QUANTILES",
+        "ACTION": "QUANTILES"
+    },
+    "gradient_checkpointing": true,
+    "compile_model": true,
+    "compile_mode": "max-autotune",
+    "freeze_vision_encoder": false,
+    "train_expert_only": false,
+    "optimizer_lr": 2.5e-05,
+    "optimizer_betas": [
+        0.9,
+        0.95
+    ],
+    "optimizer_eps": 1e-08,
+    "optimizer_weight_decay": 0.01,
+    "optimizer_grad_clip_norm": 1.0,
+    "scheduler_warmup_steps": 1000,
+    "scheduler_decay_steps": 30000,
+    "scheduler_decay_lr": 2.5e-06
+}
\ No newline at end of file
diff --git a/pi/HSI_vision_navi/pi05_twist2_visionnavi_0529/100000/pretrained_model/policy_postprocessor.json b/pi/HSI_vision_navi/pi05_twist2_visionnavi_0529/100000/pretrained_model/policy_postprocessor.json
new file mode 100644
index 0000000000000000000000000000000000000000..a35451825e1e0248da28301e4ae7fd31211b0614
--- /dev/null
+++ b/pi/HSI_vision_navi/pi05_twist2_visionnavi_0529/100000/pretrained_model/policy_postprocessor.json
@@ -0,0 +1,32 @@
+{
+  "name": "policy_postprocessor",
+  "steps": [
+    {
+      "registry_name": "unnormalizer_processor",
+      "config": {
+        "eps": 1e-08,
+        "features": {
+          "action": {
+            "type": "ACTION",
+            "shape": [
+              40
+            ]
+          }
+        },
+        "norm_map": {
+          "VISUAL": "IDENTITY",
+          "STATE": "QUANTILES",
+          "ACTION": "QUANTILES"
+        }
+      },
+      "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cpu",
+        "float_dtype": null
+      }
+    }
+  ]
+}
\ No newline at end of file
diff --git a/pi/HSI_vision_navi/pi05_twist2_visionnavi_0529/100000/pretrained_model/policy_preprocessor.json b/pi/HSI_vision_navi/pi05_twist2_visionnavi_0529/100000/pretrained_model/policy_preprocessor.json
new file mode 100644
index 0000000000000000000000000000000000000000..61edc9e51d8336720d4465e0fad78818b263060d
--- /dev/null
+++ b/pi/HSI_vision_navi/pi05_twist2_visionnavi_0529/100000/pretrained_model/policy_preprocessor.json
@@ -0,0 +1,71 @@
+{
+  "name": "policy_preprocessor",
+  "steps": [
+    {
+      "registry_name": "rename_observations_processor",
+      "config": {
+        "rename_map": {}
+      }
+    },
+    {
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+      "config": {}
+    },
+    {
+      "registry_name": "normalizer_processor",
+      "config": {
+        "eps": 1e-08,
+        "features": {
+          "observation.images.front": {
+            "type": "VISUAL",
+            "shape": [
+              3,
+              480,
+              640
+            ]
+          },
+          "observation.state": {
+            "type": "STATE",
+            "shape": [
+              64
+            ]
+          },
+          "action": {
+            "type": "ACTION",
+            "shape": [
+              40
+            ]
+          }
+        },
+        "norm_map": {
+          "VISUAL": "IDENTITY",
+          "STATE": "QUANTILES",
+          "ACTION": "QUANTILES"
+        }
+      },
+      "state_file": "policy_preprocessor_step_2_normalizer_processor.safetensors"
+    },
+    {
+      "registry_name": "pi05_prepare_state_tokenizer_processor_step",
+      "config": {}
+    },
+    {
+      "registry_name": "tokenizer_processor",
+      "config": {
+        "max_length": 200,
+        "task_key": "task",
+        "padding_side": "right",
+        "padding": "max_length",
+        "truncation": true,
+        "tokenizer_name": "/mnt/workspace/users/xujunzhe/yunhengwang/lerobot/lerobot/checkpoints/paligemma-3b-pt-224"
+      }
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cuda",
+        "float_dtype": null
+      }
+    }
+  ]
+}
\ No newline at end of file
diff --git a/pi/HSI_vision_navi/pi05_twist2_visionnavi_0529/100000/pretrained_model/train_config.json b/pi/HSI_vision_navi/pi05_twist2_visionnavi_0529/100000/pretrained_model/train_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..71862b265fc0e4bd71702e166cba62cbfdb49a3d
--- /dev/null
+++ b/pi/HSI_vision_navi/pi05_twist2_visionnavi_0529/100000/pretrained_model/train_config.json
@@ -0,0 +1,263 @@
+{
+    "dataset": {
+        "repo_id": "local/HSI_vision_navi_twist2_refpose_v3_1",
+        "root": "/mnt/workspace/vla/users/xujunzhe/yunhengwang/lerobot/lerobot/datasets/HumanoidArena_datasets_v3_1/HSI_vision_navi/HSI_vision_navi_twist2_refpose_v3_1",
+        "episodes": null,
+        "image_transforms": {
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+            "random_order": false,
+            "tfs": {
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+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "brightness": [
+                            0.8,
+                            1.2
+                        ]
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+                },
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+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "contrast": [
+                            0.8,
+                            1.2
+                        ]
+                    }
+                },
+                "saturation": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "saturation": [
+                            0.5,
+                            1.5
+                        ]
+                    }
+                },
+                "hue": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "hue": [
+                            -0.05,
+                            0.05
+                        ]
+                    }
+                },
+                "sharpness": {
+                    "weight": 1.0,
+                    "type": "SharpnessJitter",
+                    "kwargs": {
+                        "sharpness": [
+                            0.5,
+                            1.5
+                        ]
+                    }
+                },
+                "affine": {
+                    "weight": 1.0,
+                    "type": "RandomAffine",
+                    "kwargs": {
+                        "degrees": [
+                            -5.0,
+                            5.0
+                        ],
+                        "translate": [
+                            0.05,
+                            0.05
+                        ]
+                    }
+                }
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+        "use_imagenet_stats": true,
+        "video_backend": "torchcodec",
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+    },
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+        "use_peft": false,
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+        "private": null,
+        "tags": null,
+        "license": null,
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+        "num_inference_steps": 10,
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+            "gripper"
+        ],
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+            "action.root_ref_rot6d.1",
+            "action.root_ref_rot6d.2",
+            "action.root_ref_rot6d.3",
+            "action.root_ref_rot6d.4",
+            "action.root_ref_rot6d.5",
+            "action.joint_pos.left_hip_pitch_joint",
+            "action.joint_pos.right_hip_pitch_joint",
+            "action.joint_pos.waist_yaw_joint",
+            "action.joint_pos.left_hip_roll_joint",
+            "action.joint_pos.right_hip_roll_joint",
+            "action.joint_pos.waist_roll_joint",
+            "action.joint_pos.left_hip_yaw_joint",
+            "action.joint_pos.right_hip_yaw_joint",
+            "action.joint_pos.waist_pitch_joint",
+            "action.joint_pos.left_knee_joint",
+            "action.joint_pos.right_knee_joint",
+            "action.joint_pos.left_shoulder_pitch_joint",
+            "action.joint_pos.right_shoulder_pitch_joint",
+            "action.joint_pos.left_ankle_pitch_joint",
+            "action.joint_pos.right_ankle_pitch_joint",
+            "action.joint_pos.left_shoulder_roll_joint",
+            "action.joint_pos.right_shoulder_roll_joint",
+            "action.joint_pos.left_ankle_roll_joint",
+            "action.joint_pos.right_ankle_roll_joint",
+            "action.joint_pos.left_shoulder_yaw_joint",
+            "action.joint_pos.right_shoulder_yaw_joint",
+            "action.joint_pos.left_elbow_joint",
+            "action.joint_pos.right_elbow_joint",
+            "action.joint_pos.left_wrist_roll_joint",
+            "action.joint_pos.right_wrist_roll_joint",
+            "action.joint_pos.left_wrist_pitch_joint",
+            "action.joint_pos.right_wrist_pitch_joint",
+            "action.joint_pos.left_wrist_yaw_joint",
+            "action.joint_pos.right_wrist_yaw_joint",
+            "action.hand_binary.left",
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+            "ACTION": "QUANTILES"
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+        "compile_model": true,
+        "compile_mode": "max-autotune",
+        "freeze_vision_encoder": false,
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+        "optimizer_betas": [
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+        "scheduler_warmup_steps": 1000,
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+    },
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+        "weight_decay": 0.01,
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+        "betas": [
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+    },
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+        "entity": null,
+        "notes": null,
+        "run_id": "b2jdmy31",
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+}
\ No newline at end of file
diff --git a/pi/HSI_vision_navi/pi05_twist2_visionnavi_0529/100000/training_state/scheduler_state.json b/pi/HSI_vision_navi/pi05_twist2_visionnavi_0529/100000/training_state/scheduler_state.json
new file mode 100644
index 0000000000000000000000000000000000000000..62eb88d80bdf0310589b8f312793f5b6eb4e9f18
--- /dev/null
+++ b/pi/HSI_vision_navi/pi05_twist2_visionnavi_0529/100000/training_state/scheduler_state.json
@@ -0,0 +1,15 @@
+{
+    "base_lrs": [
+        2.5e-05
+    ],
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+    "_step_count": 100001,
+    "_is_initial": false,
+    "_get_lr_called_within_step": false,
+    "_last_lr": [
+        2.5e-06
+    ],
+    "lr_lambdas": [
+        null
+    ]
+}
\ No newline at end of file
diff --git a/pi/HSI_vision_navi/pi05_twist2_visionnavi_0529/100000/training_state/training_step.json b/pi/HSI_vision_navi/pi05_twist2_visionnavi_0529/100000/training_state/training_step.json
new file mode 100644
index 0000000000000000000000000000000000000000..8eb73c13d28bca88058c08796abbf931c3f9b012
--- /dev/null
+++ b/pi/HSI_vision_navi/pi05_twist2_visionnavi_0529/100000/training_state/training_step.json
@@ -0,0 +1,3 @@
+{
+    "step": 100000
+}
\ No newline at end of file
diff --git a/small/HOI_grap_cup/act_twist2_grapcup_0529/pretrained_model/config.json b/small/HOI_grap_cup/act_twist2_grapcup_0529/pretrained_model/config.json
new file mode 100644
index 0000000000000000000000000000000000000000..69f8e7d2e90fdd1cd2cd3e44cb1901c0a9904712
--- /dev/null
+++ b/small/HOI_grap_cup/act_twist2_grapcup_0529/pretrained_model/config.json
@@ -0,0 +1,63 @@
+{
+    "type": "act",
+    "n_obs_steps": 1,
+    "input_features": {
+        "observation.images.front": {
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+            "shape": [
+                3,
+                480,
+                640
+            ]
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+            "shape": [
+                64
+            ]
+        }
+    },
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+            "shape": [
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+    "use_peft": false,
+    "push_to_hub": false,
+    "repo_id": null,
+    "private": null,
+    "tags": null,
+    "license": null,
+    "pretrained_path": null,
+    "chunk_size": 20,
+    "n_action_steps": 20,
+    "normalization_mapping": {
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+        "STATE": "MEAN_STD",
+        "ACTION": "MEAN_STD"
+    },
+    "vision_backbone": "resnet18",
+    "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
+    "replace_final_stride_with_dilation": false,
+    "pre_norm": false,
+    "dim_model": 512,
+    "n_heads": 8,
+    "dim_feedforward": 3200,
+    "feedforward_activation": "relu",
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+    "optimizer_lr": 1e-05,
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+    "optimizer_lr_backbone": 1e-05
+}
\ No newline at end of file
diff --git a/small/HOI_grap_cup/act_twist2_grapcup_0529/pretrained_model/policy_postprocessor.json b/small/HOI_grap_cup/act_twist2_grapcup_0529/pretrained_model/policy_postprocessor.json
new file mode 100644
index 0000000000000000000000000000000000000000..bba8303252c414ba9a4815afc58dc5173ab27c5e
--- /dev/null
+++ b/small/HOI_grap_cup/act_twist2_grapcup_0529/pretrained_model/policy_postprocessor.json
@@ -0,0 +1,32 @@
+{
+  "name": "policy_postprocessor",
+  "steps": [
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+      "config": {
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+          "STATE": "MEAN_STD",
+          "ACTION": "MEAN_STD"
+        }
+      },
+      "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cpu",
+        "float_dtype": null
+      }
+    }
+  ]
+}
\ No newline at end of file
diff --git a/small/HOI_grap_cup/act_twist2_grapcup_0529/pretrained_model/train_config.json b/small/HOI_grap_cup/act_twist2_grapcup_0529/pretrained_model/train_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..f288768c359c231de66235597dafb37a1c314a84
--- /dev/null
+++ b/small/HOI_grap_cup/act_twist2_grapcup_0529/pretrained_model/train_config.json
@@ -0,0 +1,154 @@
+{
+    "dataset": {
+        "repo_id": "local/HOI_grap_cup_twist2_refpose_v3_1",
+        "root": "/mnt/workspace/vla/users/xujunzhe/yunhengwang/lerobot/lerobot/datasets/HumanoidArena_datasets_v3_1/HOI_grap_cup/HOI_grap_cup_twist2_refpose_v3_1",
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+                            224
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+}
\ No newline at end of file
diff --git a/small/HOI_grap_cup/act_twist2_grapcup_0529/training_state/optimizer_param_groups.json b/small/HOI_grap_cup/act_twist2_grapcup_0529/training_state/optimizer_param_groups.json
new file mode 100644
index 0000000000000000000000000000000000000000..33506df097b87c64b2aa15765ab89706780c0dc0
--- /dev/null
+++ b/small/HOI_grap_cup/act_twist2_grapcup_0529/training_state/optimizer_param_groups.json
@@ -0,0 +1,191 @@
+[
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diff --git a/small/HOI_grap_cup/act_twist2_grapcup_0529/training_state/training_step.json b/small/HOI_grap_cup/act_twist2_grapcup_0529/training_state/training_step.json
new file mode 100644
index 0000000000000000000000000000000000000000..8eb73c13d28bca88058c08796abbf931c3f9b012
--- /dev/null
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@@ -0,0 +1,3 @@
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+}
\ No newline at end of file
diff --git a/small/HOI_grap_cup/diffusion_sonic_grapcup_0529/pretrained_model/config.json b/small/HOI_grap_cup/diffusion_sonic_grapcup_0529/pretrained_model/config.json
new file mode 100644
index 0000000000000000000000000000000000000000..460ea67ad033f7b6b1b2c5c9ba2175c8e1468e8d
--- /dev/null
+++ b/small/HOI_grap_cup/diffusion_sonic_grapcup_0529/pretrained_model/config.json
@@ -0,0 +1,87 @@
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+}
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diff --git a/small/HOI_grap_cup/diffusion_sonic_grapcup_0529/pretrained_model/policy_postprocessor.json b/small/HOI_grap_cup/diffusion_sonic_grapcup_0529/pretrained_model/policy_postprocessor.json
new file mode 100644
index 0000000000000000000000000000000000000000..16b3cba6f8909a885815d4c823510e367bc0d843
--- /dev/null
+++ b/small/HOI_grap_cup/diffusion_sonic_grapcup_0529/pretrained_model/policy_postprocessor.json
@@ -0,0 +1,32 @@
+{
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diff --git a/small/HOI_grap_cup/diffusion_sonic_grapcup_0529/pretrained_model/policy_preprocessor.json b/small/HOI_grap_cup/diffusion_sonic_grapcup_0529/pretrained_model/policy_preprocessor.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e1ab41ada69949b579d7350b9246d04cc832387
--- /dev/null
+++ b/small/HOI_grap_cup/diffusion_sonic_grapcup_0529/pretrained_model/policy_preprocessor.json
@@ -0,0 +1,56 @@
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+    }
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+}
\ No newline at end of file
diff --git a/small/HOI_grap_cup/diffusion_sonic_grapcup_0529/pretrained_model/train_config.json b/small/HOI_grap_cup/diffusion_sonic_grapcup_0529/pretrained_model/train_config.json
new file mode 100644
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--- /dev/null
+++ b/small/HOI_grap_cup/diffusion_sonic_grapcup_0529/pretrained_model/train_config.json
@@ -0,0 +1,182 @@
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+}
\ No newline at end of file
diff --git a/small/HOI_grap_cup/diffusion_sonic_grapcup_0529/training_state/optimizer_param_groups.json b/small/HOI_grap_cup/diffusion_sonic_grapcup_0529/training_state/optimizer_param_groups.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ad4a0652f3e90db3740c824423694349bd048f0
--- /dev/null
+++ b/small/HOI_grap_cup/diffusion_sonic_grapcup_0529/training_state/optimizer_param_groups.json
@@ -0,0 +1,233 @@
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diff --git a/small/HOI_grap_cup/diffusion_sonic_grapcup_0529/training_state/scheduler_state.json b/small/HOI_grap_cup/diffusion_sonic_grapcup_0529/training_state/scheduler_state.json
new file mode 100644
index 0000000000000000000000000000000000000000..9026ed6a39a1d91fe6d3b91e0ded64aa35ee587b
--- /dev/null
+++ b/small/HOI_grap_cup/diffusion_sonic_grapcup_0529/training_state/scheduler_state.json
@@ -0,0 +1,15 @@
+{
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diff --git a/small/HOI_grap_cup/diffusion_sonic_grapcup_0529/training_state/training_step.json b/small/HOI_grap_cup/diffusion_sonic_grapcup_0529/training_state/training_step.json
new file mode 100644
index 0000000000000000000000000000000000000000..8eb73c13d28bca88058c08796abbf931c3f9b012
--- /dev/null
+++ b/small/HOI_grap_cup/diffusion_sonic_grapcup_0529/training_state/training_step.json
@@ -0,0 +1,3 @@
+{
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+}
\ No newline at end of file
diff --git a/small/HOI_grap_cup/mtp_sonic_grapcup_0529/pretrained_model/config.json b/small/HOI_grap_cup/mtp_sonic_grapcup_0529/pretrained_model/config.json
new file mode 100644
index 0000000000000000000000000000000000000000..dfada256f7f9c7b44506559cf87d3670f32bdad4
--- /dev/null
+++ b/small/HOI_grap_cup/mtp_sonic_grapcup_0529/pretrained_model/config.json
@@ -0,0 +1,94 @@
+{
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diff --git a/small_merge/act_twist28_merge_0529/pretrained_model/config.json b/small_merge/act_twist28_merge_0529/pretrained_model/config.json
new file mode 100644
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new file mode 100644
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new file mode 100644
index 0000000000000000000000000000000000000000..bcef8d8b05253341579ace0987c46cee6885c961
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diff --git a/small_merge/diffusion_all16_merge_0529/pretrained_model/policy_preprocessor.json b/small_merge/diffusion_all16_merge_0529/pretrained_model/policy_preprocessor.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e1ab41ada69949b579d7350b9246d04cc832387
--- /dev/null
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diff --git a/small_merge/diffusion_all16_merge_0529/training_state/optimizer_param_groups.json b/small_merge/diffusion_all16_merge_0529/training_state/optimizer_param_groups.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ad4a0652f3e90db3740c824423694349bd048f0
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diff --git a/small_merge/diffusion_twist28_merge_0529/pretrained_model/config.json b/small_merge/diffusion_twist28_merge_0529/pretrained_model/config.json
new file mode 100644
index 0000000000000000000000000000000000000000..460ea67ad033f7b6b1b2c5c9ba2175c8e1468e8d
--- /dev/null
+++ b/small_merge/diffusion_twist28_merge_0529/pretrained_model/config.json
@@ -0,0 +1,87 @@
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diff --git a/small_merge/diffusion_twist28_merge_0529/pretrained_model/policy_postprocessor.json b/small_merge/diffusion_twist28_merge_0529/pretrained_model/policy_postprocessor.json
new file mode 100644
index 0000000000000000000000000000000000000000..16b3cba6f8909a885815d4c823510e367bc0d843
--- /dev/null
+++ b/small_merge/diffusion_twist28_merge_0529/pretrained_model/policy_postprocessor.json
@@ -0,0 +1,32 @@
+{
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+}
\ No newline at end of file
diff --git a/small_merge/diffusion_twist28_merge_0529/pretrained_model/train_config.json b/small_merge/diffusion_twist28_merge_0529/pretrained_model/train_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3fe51bbae9995b89c471adce7d02ce0196a643a
--- /dev/null
+++ b/small_merge/diffusion_twist28_merge_0529/pretrained_model/train_config.json
@@ -0,0 +1,182 @@
+{
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new file mode 100644
index 0000000000000000000000000000000000000000..5ad4a0652f3e90db3740c824423694349bd048f0
--- /dev/null
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diff --git a/small_merge/diffusion_twist28_merge_0529/training_state/scheduler_state.json b/small_merge/diffusion_twist28_merge_0529/training_state/scheduler_state.json
new file mode 100644
index 0000000000000000000000000000000000000000..ebeb5e218c0a3e73559a74ead254ad4f8e30632e
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..16b3cba6f8909a885815d4c823510e367bc0d843
--- /dev/null
+++ b/small_merge/mtp_twist28_merge_0529/pretrained_model/policy_postprocessor.json
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diff --git a/small_merge/mtp_twist28_merge_0529/pretrained_model/policy_preprocessor.json b/small_merge/mtp_twist28_merge_0529/pretrained_model/policy_preprocessor.json
new file mode 100644
index 0000000000000000000000000000000000000000..b93b2b34130aa01f598ea5bc191078d6b44ff217
--- /dev/null
+++ b/small_merge/mtp_twist28_merge_0529/pretrained_model/policy_preprocessor.json
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\ No newline at end of file
diff --git a/small_merge/mtp_twist28_merge_0529/pretrained_model/train_config.json b/small_merge/mtp_twist28_merge_0529/pretrained_model/train_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..018568a56ed52693ea25052423898343d199a9bc
--- /dev/null
+++ b/small_merge/mtp_twist28_merge_0529/pretrained_model/train_config.json
@@ -0,0 +1,191 @@
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new file mode 100644
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--- /dev/null
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+            267,
+            268
+        ]
+    }
+]
\ No newline at end of file