diff --git a/datasets/rlbench/keyframe_cache/size128_v2/place_wine_at_rack_location/episode98.npz b/datasets/rlbench/keyframe_cache/size128_v2/place_wine_at_rack_location/episode98.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0666358173f4be1de6ea52c88bf043587a0511da
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/place_wine_at_rack_location/episode98.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d1030836123523626b8bca8aa20da98e660bf4cd85c8ff987cd0901a969f033
+size 4601064
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/place_wine_at_rack_location/episode98.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/place_wine_at_rack_location/episode98.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..57acba006e5fb2421b97e7004a877e8d4c092572
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/place_wine_at_rack_location/episode98.npz.meta
@@ -0,0 +1 @@
+{"task": "place_wine_at_rack_location", "ep_idx": 98, "num_keyframes": 6, "keyframes": [0, 68, 79, 85, 172, 208], "lang_goal": ["stack the wine bottle to the left of the rack", "slide the bottle onto the left part of the rack", "put the wine on the left", "leave the wine on the left section of the shelf", "grasp the bottle and put it away on the left"], "variation": 1, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/place_wine_at_rack_location/episode99.npz b/datasets/rlbench/keyframe_cache/size128_v2/place_wine_at_rack_location/episode99.npz
new file mode 100644
index 0000000000000000000000000000000000000000..03976dc993b44fd266f8f6f2c572191f765213b8
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/place_wine_at_rack_location/episode99.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50bf519a39ebd79ab6514c497b84cc22271a3034bc644bcebbb733995e791bb6
+size 4560561
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/place_wine_at_rack_location/episode99.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/place_wine_at_rack_location/episode99.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..bd6a5b255281a29ddd165d46c3e1d10eaea39b81
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/place_wine_at_rack_location/episode99.npz.meta
@@ -0,0 +1 @@
+{"task": "place_wine_at_rack_location", "ep_idx": 99, "num_keyframes": 6, "keyframes": [0, 69, 80, 87, 157, 184], "lang_goal": ["stack the wine bottle to the left of the rack", "slide the bottle onto the left part of the rack", "put the wine on the left", "leave the wine on the left section of the shelf", "grasp the bottle and put it away on the left"], "variation": 1, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode0.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode0.npz
new file mode 100644
index 0000000000000000000000000000000000000000..12138be71a914d233bf981d21add40dc968bb538
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode0.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5399fbfcf4685a08214a48863c7f0442f78197c59ca79dac80f0c0eaa0d79fc2
+size 4801419
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode0.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode0.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..d36920128af2e5e066998e3681b288ff3546f5ad
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode0.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 0, "num_keyframes": 7, "keyframes": [0, 60, 72, 90, 100, 133, 145], "lang_goal": ["push the maroon button, then push the green button, then push the gray button", "press the maroon button, then press the green button, then press the gray button", "push down the button with the maroon base, then the green one, then the gray one"], "variation": 20, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode1.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode1.npz
new file mode 100644
index 0000000000000000000000000000000000000000..452ce8986d6c8533567ee19498dd24260865e51e
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode1.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96a6e0779c2d3ea911d797c6f89305ceca5f12698b13922718d0d58646923b87
+size 3648265
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode1.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode1.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..52285d1bd49c18ad840c7e0e2c8e7f6bca5a426b
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode1.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 1, "num_keyframes": 5, "keyframes": [0, 51, 60, 94, 105], "lang_goal": ["push the maroon button, then push the green button", "press the maroon button, then press the green button", "push down the button with the maroon base, then the green one"], "variation": 7, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode10.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode10.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7b63865088c4d3f77c029024dd45b450d315a6be
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode10.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94c581fd7ac24e49ef7732591af3fe6cb04b3f33c87fbae9edd61d0b0f2f1f9f
+size 3662986
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode10.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode10.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..987298c3c94d8fb3e127ad6d01c73a4ef16f7715
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode10.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 10, "num_keyframes": 5, "keyframes": [0, 49, 58, 91, 101], "lang_goal": ["push the maroon button, then push the green button", "press the maroon button, then press the green button", "push down the button with the maroon base, then the green one"], "variation": 31, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode11.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode11.npz
new file mode 100644
index 0000000000000000000000000000000000000000..91f05d4adb24f1b46010e902ab7c7fee3bab8b32
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode11.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd91066be7cc57929d823ebba5db7874471d450f6691830fb7ceb7b1333292c8
+size 3638370
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode11.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode11.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..e922ba7190c40fade1d43588b881c9b99e0b984a
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode11.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 11, "num_keyframes": 5, "keyframes": [0, 49, 58, 96, 107], "lang_goal": ["push the maroon button, then push the green button", "press the maroon button, then press the green button", "push down the button with the maroon base, then the green one"], "variation": 31, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode12.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode12.npz
new file mode 100644
index 0000000000000000000000000000000000000000..baa435e6eb95b4ec361853adb4da6875707b7646
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode12.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:150d82d7b06edaa4b1bcb1da68c1c5a518bafcc74aec3a380be07882c8977c07
+size 3645899
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode12.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode12.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..1946349b8efbc68ff0e0c35aacd85cbcb6efbbf6
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode12.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 12, "num_keyframes": 5, "keyframes": [0, 54, 64, 99, 110], "lang_goal": ["push the maroon button, then push the green button", "press the maroon button, then press the green button", "push down the button with the maroon base, then the green one"], "variation": 22, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode13.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode13.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7ee8f702f4393ca681a98c17eb29851285f20890
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode13.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd7a90127b2aea81040c4ccb3af525bfb88fb207a5bb739fdb3b99f1f29afc00
+size 3633004
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode13.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode13.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..6201720f6f945ddaae2ca7a988b7a8aa30cf2d09
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode13.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 13, "num_keyframes": 5, "keyframes": [0, 53, 63, 85, 96], "lang_goal": ["push the maroon button, then push the green button", "press the maroon button, then press the green button", "push down the button with the maroon base, then the green one"], "variation": 7, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode14.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode14.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f3dad890338ce74256e0b7371809dae28dcc465b
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode14.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c8e9455c8ee445fc1fb51555dea4f3e782aaf03ee9cd0adb5dc72b38c4ee4ad
+size 3622173
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode14.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode14.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..f46797593de8a9b7306b177fce32f6020ddce5eb
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode14.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 14, "num_keyframes": 5, "keyframes": [0, 53, 64, 107, 120], "lang_goal": ["push the maroon button, then push the green button", "press the maroon button, then press the green button", "push down the button with the maroon base, then the green one"], "variation": 1, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode15.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode15.npz
new file mode 100644
index 0000000000000000000000000000000000000000..31e9beeaac3014fa36bc8819bc5149358b5fcefd
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode15.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56ab6aea2f760254aef153afcbbaca93a2cecadd7614f97f0e1c64e220149580
+size 4811202
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode15.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode15.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..847b8286a454949265852fcb423ac6be3f31d679
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode15.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 15, "num_keyframes": 7, "keyframes": [0, 64, 78, 100, 111, 150, 167], "lang_goal": ["push the maroon button, then push the green button, then push the olive button", "press the maroon button, then press the green button, then press the olive button", "push down the button with the maroon base, then the green one, then the olive one"], "variation": 26, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode16.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode16.npz
new file mode 100644
index 0000000000000000000000000000000000000000..574b0e9199e01ebacecc7af283e885f330295cdb
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode16.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a50a8af5b476044ec5cf43d2755d8c239e1aa6d1676103220725431d18d9945
+size 2431764
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode16.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode16.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..1092ec11afb9fe9d33be15ca6459dc84f2f0c7c7
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode16.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 16, "num_keyframes": 3, "keyframes": [0, 62, 75], "lang_goal": ["push the maroon button", "press the maroon button", "push down the button with the maroon base"], "variation": 9, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode17.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode17.npz
new file mode 100644
index 0000000000000000000000000000000000000000..57796252e27272a8c4bfd6d8dfc17bdf176ca416
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode17.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cde421aece2e3df7815854c6d089caf25bf49c7ffa70add4bc482c33b6c243a5
+size 2412250
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode17.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode17.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..339cded10abed629b0094ed141bfd7b9d0272356
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode17.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 17, "num_keyframes": 3, "keyframes": [0, 62, 75], "lang_goal": ["push the maroon button", "press the maroon button", "push down the button with the maroon base"], "variation": 24, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode18.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode18.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0345dbfad4d16b7c4218d255c48870ce34355a75
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode18.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b762c7d4622543440a043b57cfe990935babf50fe69272727a048f6b3d73ff5
+size 3634642
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode18.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode18.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..9330f29bed1603831cb416cab42d4231e7a874b5
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode18.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 18, "num_keyframes": 5, "keyframes": [0, 63, 76, 112, 123], "lang_goal": ["push the maroon button, then push the green button", "press the maroon button, then press the green button", "push down the button with the maroon base, then the green one"], "variation": 43, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode19.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode19.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4f85949926a4bef432e20c89ece12a98f89feb95
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode19.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:718ce2988292987611bfed24c62e3d061ad3444f3640f557aacb6fa5fd5c3d6c
+size 3643129
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode19.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode19.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..80a8002d5e5afe1914f007a603164f673fc71385
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode19.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 19, "num_keyframes": 5, "keyframes": [0, 55, 67, 86, 99], "lang_goal": ["push the maroon button, then push the green button", "press the maroon button, then press the green button", "push down the button with the maroon base, then the green one"], "variation": 4, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode2.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode2.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ee27e714702de5daea1c9825cc6ab988e980be6d
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode2.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15d0df57b041c8a258bce757144f6513b1f16c7116d1a8f3eafa43eccd2e07e2
+size 2431298
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode2.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode2.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..3807da38054da3d6e63c0be74d67910ce4275c41
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode2.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 2, "num_keyframes": 3, "keyframes": [0, 55, 66], "lang_goal": ["push the maroon button", "press the maroon button", "push down the button with the maroon base"], "variation": 0, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode20.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode20.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7e4ce29936ee261552f187debeccccc67968c15d
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode20.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ba68cfef674bd5e0cc0389b4a2d95cc045738aca02430fb6a0fa60e722cd00b
+size 4800781
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode20.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode20.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..7a643f99614d1f3b194ebe3229bd2c43e7d7095f
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode20.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 20, "num_keyframes": 7, "keyframes": [0, 58, 71, 88, 100, 130, 142], "lang_goal": ["push the maroon button, then push the green button, then push the purple button", "press the maroon button, then press the green button, then press the purple button", "push down the button with the maroon base, then the green one, then the purple one"], "variation": 29, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode21.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode21.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3a9e2d8c8b04e62e37d947baff023533deb31df6
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode21.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b4e63bc2f0e340e5c59169d9ab4bf66c1e221b69ba32b33a333f7bdf779ebc7
+size 3650752
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode21.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode21.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..e33aecb0c4912ab1179c024b98a17bab04763f5e
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode21.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 21, "num_keyframes": 5, "keyframes": [0, 51, 60, 99, 111], "lang_goal": ["push the maroon button, then push the green button", "press the maroon button, then press the green button", "push down the button with the maroon base, then the green one"], "variation": 31, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode22.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode22.npz
new file mode 100644
index 0000000000000000000000000000000000000000..abdf8ef3556ea5bd10bbc06bcc58a8180e918542
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode22.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0cfefe860f455742016d520584dc6d6f63b829c8d2c11c6c87f0034178c1cf2e
+size 4861096
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode22.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode22.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..62acccdde85feed8aa97ead99836a621018ab465
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode22.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 22, "num_keyframes": 7, "keyframes": [0, 51, 60, 101, 114, 128, 141], "lang_goal": ["push the maroon button, then push the green button, then push the navy button", "press the maroon button, then press the green button, then press the navy button", "push down the button with the maroon base, then the green one, then the navy one"], "variation": 5, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode23.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode23.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3b8d09cb7613d7f6982e63a2fa011c4ed22f1a80
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode23.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf78ed16551d95b7f0048bd0c7168c3d898bc5ffbbc2aa2bbca1558f1e60927c
+size 4839147
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode23.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode23.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..caf8bc9256570cd323f36dd874826c299e737617
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode23.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 23, "num_keyframes": 7, "keyframes": [0, 53, 63, 87, 102, 120, 132], "lang_goal": ["push the maroon button, then push the green button, then push the black button", "press the maroon button, then press the green button, then press the black button", "push down the button with the maroon base, then the green one, then the black one"], "variation": 44, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode24.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode24.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2ba4e61fcc54df40ad393dd59a3ba9daf1a0abf3
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode24.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:822bcc574f1a43731aa50d9be801a859b12feea5c17acb3f1e7c8143434302b3
+size 2440399
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode24.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode24.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..72e2cb788f55fcd0050a3a3c31388e62bc623744
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode24.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 24, "num_keyframes": 3, "keyframes": [0, 54, 65], "lang_goal": ["push the maroon button", "press the maroon button", "push down the button with the maroon base"], "variation": 12, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode25.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode25.npz
new file mode 100644
index 0000000000000000000000000000000000000000..953106786a23e25515a98aa2af77ff5249a9cff1
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode25.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e38107a7438a008d49b8c0252b7025288dcc014d2197f5d40244d3a5bd2de7ba
+size 2428556
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode25.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode25.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..649a616f1bdf3fb4b7a6e88755b6402241199338
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode25.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 25, "num_keyframes": 3, "keyframes": [0, 53, 63], "lang_goal": ["push the maroon button", "press the maroon button", "push down the button with the maroon base"], "variation": 42, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode26.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode26.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5db875e813122407bb335e0a75c1e8c0f7c50b10
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode26.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0702bea88136ae213c3a261b2b97697ef0e1f5f669b304cb2eee31010743cb2
+size 2403789
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode26.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode26.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..8657e27b8c8038dc0052a85d1284019455df37fc
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode26.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 26, "num_keyframes": 3, "keyframes": [0, 58, 70], "lang_goal": ["push the maroon button", "press the maroon button", "push down the button with the maroon base"], "variation": 48, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode27.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode27.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d077dc96488936fc24ab45da4d090800e760ab5a
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode27.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e855e22786b2e0987b9751e021ff10b63842bac3584bec71de2ae31a07a5f7e
+size 4799846
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode27.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode27.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..e6230440eaeff7cf9207c89027eba35aedf951b1
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode27.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 27, "num_keyframes": 7, "keyframes": [0, 52, 62, 100, 115, 148, 161], "lang_goal": ["push the maroon button, then push the green button, then push the black button", "press the maroon button, then press the green button, then press the black button", "push down the button with the maroon base, then the green one, then the black one"], "variation": 44, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode28.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode28.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b3c9943720bea1fd3045011ea608f7a62104e39c
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode28.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a4a3814628cf5139dae17e78cf3beb00cc2543d493d94094b146ea4638ceb75
+size 3652656
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode28.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode28.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..788bed641ad01781125182339b90f1d4607b3ab3
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode28.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 28, "num_keyframes": 5, "keyframes": [0, 57, 68, 91, 102], "lang_goal": ["push the maroon button, then push the green button", "press the maroon button, then press the green button", "push down the button with the maroon base, then the green one"], "variation": 1, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode29.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode29.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5c995083488fbc3d0d7c5ad5f2a57d8e39519a56
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode29.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47c304f7117d1405167c0a9bae23d58b084a66853d414312f976b4a67735b211
+size 3617910
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode29.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode29.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..860bc95bb617fd5204cdd8155cfc259d420e3b3b
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode29.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 29, "num_keyframes": 5, "keyframes": [0, 57, 68, 97, 108], "lang_goal": ["push the maroon button, then push the green button", "press the maroon button, then press the green button", "push down the button with the maroon base, then the green one"], "variation": 10, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode3.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode3.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2e25d560352071e536df0c9a298ab9ff68cecd43
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode3.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f92c3adad443afd232029cc8657b90fd928ff41c35de18fbc9a40b4af86c229
+size 4798196
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode3.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode3.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..a3e7afcc534a7bf386b3449462d95af6a2cb22b0
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode3.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 3, "num_keyframes": 7, "keyframes": [0, 64, 79, 106, 118, 139, 151], "lang_goal": ["push the maroon button, then push the green button, then push the olive button", "press the maroon button, then press the green button, then press the olive button", "push down the button with the maroon base, then the green one, then the olive one"], "variation": 26, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode30.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode30.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1152b098871cc7e2ea0cca04763c0b48f701f049
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode30.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9f7197916b52f7c8def429105bf35e5c9ffa5bb61cbf4d6dbb531755b68a869
+size 3670850
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode30.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode30.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..021db93d425747836f3e9fb91e2417b9221c9536
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode30.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 30, "num_keyframes": 5, "keyframes": [0, 70, 93, 134, 145], "lang_goal": ["push the maroon button, then push the green button", "press the maroon button, then press the green button", "push down the button with the maroon base, then the green one"], "variation": 10, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode31.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode31.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9c9cc31ea9d3a04d545eb70c95ee89d882e46858
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode31.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4ecdc758ac46e45d1cb299e16feb7e06250050f2e7ee3cebccd843443baa6b9
+size 2420430
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode31.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode31.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..4a545a9bddea952b5f5198b53a758d49eefa4984
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode31.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 31, "num_keyframes": 3, "keyframes": [0, 63, 76], "lang_goal": ["push the maroon button", "press the maroon button", "push down the button with the maroon base"], "variation": 24, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode32.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode32.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6b4b0d9145a71a30b1804703e13905b1c151d800
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode32.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd61d482547e4c8f3d351065ca297d9b670cb038fac7e446fffd819213e8b9e8
+size 4860731
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode32.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode32.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..26bedcd988dfd82184a3b5774395477e74b0ed8f
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode32.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 32, "num_keyframes": 7, "keyframes": [0, 53, 63, 91, 101, 143, 158], "lang_goal": ["push the maroon button, then push the green button, then push the silver button", "press the maroon button, then press the green button, then press the silver button", "push down the button with the maroon base, then the green one, then the silver one"], "variation": 17, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode33.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode33.npz
new file mode 100644
index 0000000000000000000000000000000000000000..184f0cd2ec094679db9431a6f11c60d23d71d6fb
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode33.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6de3f5dcafec2ab8adbe1d2dcb6a5cd6277e9f3fcf5543d4767a3007a1dce949
+size 4834023
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode33.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode33.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..1f2e4b41d09fe833d9ae371e7d3b300005d8d62b
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode33.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 33, "num_keyframes": 7, "keyframes": [0, 63, 76, 114, 124, 163, 176], "lang_goal": ["push the maroon button, then push the green button, then push the violet button", "press the maroon button, then press the green button, then press the violet button", "push down the button with the maroon base, then the green one, then the violet one"], "variation": 38, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode34.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode34.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1575c5cb4c22ffca9bc00a9c33d47ae56a619051
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode34.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03aa14761ed8ca959b823dbeeb207ff3ee619c058d799c14dd739aa3ec30c0af
+size 3643033
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode34.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode34.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..74ff203df8c829496e12232ddf87c7aea53ebd0b
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode34.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 34, "num_keyframes": 5, "keyframes": [0, 62, 75, 92, 107], "lang_goal": ["push the maroon button, then push the green button", "press the maroon button, then press the green button", "push down the button with the maroon base, then the green one"], "variation": 1, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode35.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode35.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cddaf9deeff0991c39b326c2fb2f56a5182a60f8
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode35.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4635d8babe7fe4632841c541a39650c5f43f2fc65832446e9b33d0c7ac03a1d9
+size 4858443
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode35.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode35.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..b3e34140af5e208173cb331fd7fe7fa2ae403a88
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode35.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 35, "num_keyframes": 7, "keyframes": [0, 50, 59, 90, 103, 125, 137], "lang_goal": ["push the maroon button, then push the green button, then push the magenta button", "press the maroon button, then press the green button, then press the magenta button", "push down the button with the maroon base, then the green one, then the magenta one"], "variation": 14, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode36.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode36.npz
new file mode 100644
index 0000000000000000000000000000000000000000..df9d19cfef0f69e9a2c6cba4a78336e87537a92e
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode36.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2fd5188b89ded6e6bd5c3db78de0dff37e023d93757b73de43eb7b7066ad6e6
+size 3648677
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode36.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode36.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..eefd771142111b68696861782ab6ca44feedd574
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode36.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 36, "num_keyframes": 5, "keyframes": [0, 64, 79, 107, 125], "lang_goal": ["push the maroon button, then push the green button", "press the maroon button, then press the green button", "push down the button with the maroon base, then the green one"], "variation": 1, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode37.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode37.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ac8d510ec854707ceb6ee4e699e0c8f142526a57
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode37.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae45fdb562ec6830359af34eff52b9828c45af39d693ec0297c23a13f8ad7680
+size 2392823
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode37.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode37.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..6555ccc0391a8af18c02f5cbc6aaa37978e55fdc
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode37.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 37, "num_keyframes": 3, "keyframes": [0, 51, 62], "lang_goal": ["push the maroon button", "press the maroon button", "push down the button with the maroon base"], "variation": 33, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode38.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode38.npz
new file mode 100644
index 0000000000000000000000000000000000000000..71e04dd77d396271dfd443e80a4d7410daa64e65
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode38.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96cfaa252676ec048fd09e1b2cb49fdfe30868d2296ac0ecf7adb14811709185
+size 2441806
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode38.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode38.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..4fa642c956cc61a27d7483f6f19f8814cbd49799
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode38.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 38, "num_keyframes": 3, "keyframes": [0, 53, 64], "lang_goal": ["push the maroon button", "press the maroon button", "push down the button with the maroon base"], "variation": 12, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode39.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode39.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5809dc178c7092c3efdfa720ab109ae48bf09dcd
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode39.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c3da610a7809ebb341b61568f841bf268a178ea3596a3074e1658c6b131a534
+size 3594479
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode39.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode39.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..9605f25e5ca999e49d88df8cc9c06c1607308966
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode39.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 39, "num_keyframes": 5, "keyframes": [0, 60, 72, 115, 128], "lang_goal": ["push the maroon button, then push the green button", "press the maroon button, then press the green button", "push down the button with the maroon base, then the green one"], "variation": 37, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode4.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode4.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4fa4a2b32100083577e8c72ce6e97ef9ba4a3e68
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode4.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4dd3058f3a5bce1adb7916e4229fa577165a9a2ac982b08df922bc1cead1778b
+size 3651705
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode4.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode4.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..4a76564dc8c7ac60b9b88a56e38b208cebf72688
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode4.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 4, "num_keyframes": 5, "keyframes": [0, 71, 88, 126, 141], "lang_goal": ["push the maroon button, then push the green button", "press the maroon button, then press the green button", "push down the button with the maroon base, then the green one"], "variation": 40, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode40.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode40.npz
new file mode 100644
index 0000000000000000000000000000000000000000..da740aaa10b4bb14d9d156e85f66852890b4b7d5
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode40.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7caba9182d08762c863a5a0b3b25acc1d7d84125f24946edf901c8f708e4be2c
+size 2474464
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode40.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode40.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..6183b62cc724d5bb36bdfffdb71122145fd2e988
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode40.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 40, "num_keyframes": 3, "keyframes": [0, 48, 58], "lang_goal": ["push the maroon button", "press the maroon button", "push down the button with the maroon base"], "variation": 12, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode41.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode41.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1a55e277c1b0b3a15034afcafc4331cd59548bfb
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode41.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5705d7e65d717574373abec6cbda0fa2e06570a2cbb8b8966ee7ec53a4aef11e
+size 3585897
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode41.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode41.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..a7a0e9d57a14ca8d6f943576e6155c3cc55f695b
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode41.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 41, "num_keyframes": 5, "keyframes": [0, 68, 86, 132, 143], "lang_goal": ["push the maroon button, then push the green button", "press the maroon button, then press the green button", "push down the button with the maroon base, then the green one"], "variation": 37, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode42.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode42.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9c9936a59c31b57434a00dc11a85d36eb1599abd
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode42.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae8dd06c9006f3ae8eecd5404e0fa4ccc5dea4347a7c9aee376167d965b3c6ad
+size 3630739
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode42.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode42.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..3fd0ad4bfa3d1b482ed6a5dccb3af538f5dce933
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode42.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 42, "num_keyframes": 5, "keyframes": [0, 67, 84, 111, 124], "lang_goal": ["push the maroon button, then push the green button", "press the maroon button, then press the green button", "push down the button with the maroon base, then the green one"], "variation": 34, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode43.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode43.npz
new file mode 100644
index 0000000000000000000000000000000000000000..88abdb26dcf2b1f573a9677ff8fadce64a6d6f2f
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode43.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f246edf697b15e0d123feb9753ea0a45a6c0c2b85c233c3606071d726017c93
+size 2454341
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode43.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode43.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..a9d52bcaf8e4064f93f46cb5589f9d9fa84256d2
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode43.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 43, "num_keyframes": 3, "keyframes": [0, 50, 61], "lang_goal": ["push the maroon button", "press the maroon button", "push down the button with the maroon base"], "variation": 45, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode44.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode44.npz
new file mode 100644
index 0000000000000000000000000000000000000000..94dfc77c01f0ded48b83f6aca13dd6f175433e4f
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode44.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a7ad78a8a31ed781cc609e79b3f24652ad4130264d4334f5c894d0ea3983701
+size 4826548
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode44.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode44.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..7a0d49cfc2987467362505555d3b8e4ce621ded0
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode44.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 44, "num_keyframes": 7, "keyframes": [0, 51, 60, 89, 103, 121, 134], "lang_goal": ["push the maroon button, then push the green button, then push the white button", "press the maroon button, then press the green button, then press the white button", "push down the button with the maroon base, then the green one, then the white one"], "variation": 47, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode45.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode45.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c466b106873cbe835343417c2e0fd5ce66f90737
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode45.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78c47630932da531632dfca9e9a1f76ecd965d096c537fcaa0e19b8d6e7e7280
+size 2450056
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode45.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode45.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..46fcc6a72b68bf3631c467863eeafe76e99d2901
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode45.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 45, "num_keyframes": 3, "keyframes": [0, 58, 70], "lang_goal": ["push the maroon button", "press the maroon button", "push down the button with the maroon base"], "variation": 27, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode46.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode46.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3aebba48aeeaa62c11acb37da7f798b0122b0d1c
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode46.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf13e7a1fb0a8522ad2fd3f059b424b9c0e6d2b0b266999517be7ac480427fd1
+size 2453258
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode46.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode46.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..df1a6acebe99dbb9f922d748c3452ac3bd78e9c0
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode46.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 46, "num_keyframes": 3, "keyframes": [0, 62, 75], "lang_goal": ["push the maroon button", "press the maroon button", "push down the button with the maroon base"], "variation": 48, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode47.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode47.npz
new file mode 100644
index 0000000000000000000000000000000000000000..92a530f56d7ebe5a8644360290a8ba10eeb9e326
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode47.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d882ccb99c44f908e08b16db5cf7394be84972bb54098add588a553d338b20a
+size 3649844
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode47.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode47.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..24b93c47fdaf7df7cad10e52489b4fe1f6194293
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode47.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 47, "num_keyframes": 5, "keyframes": [0, 63, 76, 98, 108], "lang_goal": ["push the maroon button, then push the green button", "press the maroon button, then press the green button", "push down the button with the maroon base, then the green one"], "variation": 4, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode48.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode48.npz
new file mode 100644
index 0000000000000000000000000000000000000000..56aea58340187447e1c232978501cf0068ab1ad2
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode48.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eceaf6cd67caa4ee755aa5e1b15e3cd1054bcfcfcabe46e758705ccdb0f382a0
+size 2433804
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode48.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode48.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..160c7836ea9f2a9ba6cf055e2fbcc681c1723c5b
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode48.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 48, "num_keyframes": 3, "keyframes": [0, 63, 77], "lang_goal": ["push the maroon button", "press the maroon button", "push down the button with the maroon base"], "variation": 21, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode49.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode49.npz
new file mode 100644
index 0000000000000000000000000000000000000000..fe8ab21dee64ba896b36e3df20bfdce6654d8d84
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode49.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:398fd45f2e6744fa385d17283889bac24f7ec655b7d387384874234bcbb88d57
+size 3620488
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode49.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode49.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..5cf692903215e94c434a6be0e59d88714f49a078
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode49.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 49, "num_keyframes": 5, "keyframes": [0, 61, 73, 103, 115], "lang_goal": ["push the maroon button, then push the green button", "press the maroon button, then press the green button", "push down the button with the maroon base, then the green one"], "variation": 4, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode5.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode5.npz
new file mode 100644
index 0000000000000000000000000000000000000000..699428d0fc90726dcec511f161f8674eb223cd46
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode5.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d2d02d92a7eb9888e7370e07114874a6b865868c76f3fc4cb9981872018aaf5
+size 4847359
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode5.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode5.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..74fa0f9c50fb8ef4fd31f7e39ba5d74007020673
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode5.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 5, "num_keyframes": 7, "keyframes": [0, 49, 59, 93, 107, 134, 144], "lang_goal": ["push the maroon button, then push the green button, then push the gray button", "press the maroon button, then press the green button, then press the gray button", "push down the button with the maroon base, then the green one, then the gray one"], "variation": 20, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode50.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode50.npz
new file mode 100644
index 0000000000000000000000000000000000000000..89c20e10520e92426a64a3fff98cb93c1fe83c8c
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode50.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76a5551157401d7e5bc51500742d5497f3147b87184a04015f7f4c9e59b00ce0
+size 3640312
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode50.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode50.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..cf97345b552cda48dcf852bf33359dcc15da4724
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode50.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 50, "num_keyframes": 5, "keyframes": [0, 68, 86, 109, 123], "lang_goal": ["push the maroon button, then push the green button", "press the maroon button, then press the green button", "push down the button with the maroon base, then the green one"], "variation": 7, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode51.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode51.npz
new file mode 100644
index 0000000000000000000000000000000000000000..aa445159ad56062a1e8f56812d7eff8fa5a23fbe
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode51.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c68cf69c5c56d35b7c82bc84567df4d44b5ed784992225c4a1c7ae45f34176ff
+size 4885429
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode51.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode51.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..d4a696b97586a817b7f9858472dfcf5bb20dfb4c
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode51.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 51, "num_keyframes": 7, "keyframes": [0, 49, 60, 93, 108, 143, 154], "lang_goal": ["push the maroon button, then push the green button, then push the magenta button", "press the maroon button, then press the green button, then press the magenta button", "push down the button with the maroon base, then the green one, then the magenta one"], "variation": 14, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode52.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode52.npz
new file mode 100644
index 0000000000000000000000000000000000000000..62072072528e2023258a8c34f356692a32631ff0
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode52.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6b99b8553b0abdb679564e2aa1df28974050d570e207db2e9ca3299eabd675b
+size 3680712
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode52.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode52.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..bc48165b8b8977758219000139b39b8f87a7e760
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode52.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 52, "num_keyframes": 5, "keyframes": [0, 50, 61, 80, 91], "lang_goal": ["push the maroon button, then push the green button", "press the maroon button, then press the green button", "push down the button with the maroon base, then the green one"], "variation": 1, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode53.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode53.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0dc0f5aec07b5a0fe76ede6e7a86e3ec549addd0
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode53.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99a3c39a5260f69b8188f234e96bd1bf9c5f705a25cb4666dec3678bf9814e18
+size 4829538
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode53.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode53.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..c2a5c6dcb70f346e308c291efa9027785e01227d
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode53.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 53, "num_keyframes": 7, "keyframes": [0, 56, 68, 103, 116, 151, 162], "lang_goal": ["push the maroon button, then push the green button, then push the gray button", "press the maroon button, then press the green button, then press the gray button", "push down the button with the maroon base, then the green one, then the gray one"], "variation": 20, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode54.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode54.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2569bb41d5f7b9b65aa47378987938dd2f48ab37
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode54.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e757424063e6e205ac85177d2c344679f3fae22b53b43fc8e29f98b6ead05304
+size 3644096
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode54.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode54.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..afbc2fb332d815a8f2b8e3b9d7f823521064e206
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode54.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 54, "num_keyframes": 5, "keyframes": [0, 66, 82, 115, 129], "lang_goal": ["push the maroon button, then push the green button", "press the maroon button, then press the green button", "push down the button with the maroon base, then the green one"], "variation": 4, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode55.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode55.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0beaa06e0161f67faee895a4d18717d6b82670f7
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode55.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5ba1cfb14bf9758edfdaa06db61953f3bce2b213b126d2e53047983033f5031
+size 3583512
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode55.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode55.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..2f1a02b6a9020efffb5518153339c6621d15ed8d
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode55.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 55, "num_keyframes": 5, "keyframes": [0, 58, 69, 90, 105], "lang_goal": ["push the maroon button, then push the blue button", "press the maroon button, then press the blue button", "push down the button with the maroon base, then the blue one"], "variation": 49, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode56.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode56.npz
new file mode 100644
index 0000000000000000000000000000000000000000..358fe971a66d0e86a8c165c68b1908cb58908b0c
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode56.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:844cfc519762296afbb302e8f70735a36c848c17f2857a1f6acdae067255c30e
+size 4854931
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode56.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode56.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..60e457596db71d694fa6d7c6e35eb6ff13c7d5a5
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode56.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 56, "num_keyframes": 7, "keyframes": [0, 48, 57, 93, 106, 147, 158], "lang_goal": ["push the maroon button, then push the green button, then push the silver button", "press the maroon button, then press the green button, then press the silver button", "push down the button with the maroon base, then the green one, then the silver one"], "variation": 17, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode57.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode57.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e27e005dd11a0babc9bf3b4c55b7f4a1c4120532
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode57.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bca1998b77bd761d39c183ca0d13236a7cc3f70e064372cc512515fda11a90dd
+size 2445437
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode57.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode57.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..a25c3f2408ad2b2d1f411b4d97800e403acb47bc
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode57.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 57, "num_keyframes": 3, "keyframes": [0, 50, 61], "lang_goal": ["push the maroon button", "press the maroon button", "push down the button with the maroon base"], "variation": 48, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode58.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode58.npz
new file mode 100644
index 0000000000000000000000000000000000000000..fcb7e1bc18824af12ac71868d86a5d2ffe759d00
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode58.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98f953ba2a55acf13fde3277231d7b19ec82e70a6423823449a06ae24d34b2cb
+size 2450463
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode58.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode58.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..89b63fab116e29b99a10874f226065a066fb3e58
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode58.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 58, "num_keyframes": 3, "keyframes": [0, 62, 76], "lang_goal": ["push the maroon button", "press the maroon button", "push down the button with the maroon base"], "variation": 30, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode59.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode59.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cd26c46b6cbfbbf73d145caead66ac1376944b8f
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode59.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96c473ebf8b97cd2948dbe75982c63b2dafa3311d5a0fdd4761cf46ef5c29ddd
+size 2446699
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode59.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode59.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..8160ccc79ca8d08d3b37fa6b933df44897d39a01
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode59.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 59, "num_keyframes": 3, "keyframes": [0, 55, 66], "lang_goal": ["push the maroon button", "press the maroon button", "push down the button with the maroon base"], "variation": 12, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode6.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode6.npz
new file mode 100644
index 0000000000000000000000000000000000000000..99d98f34615f19891b5be1d408b397fe79f91c35
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode6.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dcfc91f7ff790eb059773434b252c31e5c48bf3f63b928833219375793b4d1b8
+size 3664148
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode6.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode6.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..56992e605befc4899f15b7600c417b3cc00e1f9c
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode6.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 6, "num_keyframes": 5, "keyframes": [0, 48, 59, 76, 88], "lang_goal": ["push the maroon button, then push the green button", "press the maroon button, then press the green button", "push down the button with the maroon base, then the green one"], "variation": 28, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode60.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode60.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0909c1a72a7816e653e518fd523aa1f2b51af455
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode60.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d0825a2cf9ff1bf4d9d84a71026f710d47f66d8f28527e705b1be97f16baed5
+size 4853590
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode60.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode60.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..aba8b7743b8814d92c180c029fab6254843357fd
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode60.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 60, "num_keyframes": 7, "keyframes": [0, 54, 64, 88, 102, 144, 155], "lang_goal": ["push the maroon button, then push the green button, then push the yellow button", "press the maroon button, then press the green button, then press the yellow button", "push down the button with the maroon base, then the green one, then the yellow one"], "variation": 8, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode61.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode61.npz
new file mode 100644
index 0000000000000000000000000000000000000000..29ce5e6834032b18339b443546c8f0d27bbe1696
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode61.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54933ac0a9b70af93240054e066d1e15b2483405a07ebe83393fef75e3c8075e
+size 3622472
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode61.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode61.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..e40381befd88ac16caf9f5630a52b755387e94c8
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode61.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 61, "num_keyframes": 5, "keyframes": [0, 55, 67, 88, 101], "lang_goal": ["push the maroon button, then push the green button", "press the maroon button, then press the green button", "push down the button with the maroon base, then the green one"], "variation": 19, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode62.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode62.npz
new file mode 100644
index 0000000000000000000000000000000000000000..711f44e85716b9c24794e638091f5ae0e3bcc028
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode62.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90ada45858c7d26a2b92921cf267fa590d281040c74dc629c036a3bc4c6c9e2a
+size 4817328
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode62.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode62.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..ac2fe42ebb600795d27555dcd1602bb15a69fd65
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode62.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 62, "num_keyframes": 7, "keyframes": [0, 60, 72, 94, 105, 129, 142], "lang_goal": ["push the maroon button, then push the green button, then push the navy button", "press the maroon button, then press the green button, then press the navy button", "push down the button with the maroon base, then the green one, then the navy one"], "variation": 5, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode63.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode63.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5d0c8c8928c63b7f3cd04e8b64e5629e8f6713b1
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode63.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f304ee808db41635049e9a80908943f7ae2228e8a41778d4707fb569a054d7f9
+size 3638060
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode63.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode63.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..18fc1d6dbfbce7d8818b7020bc94317a9397783b
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode63.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 63, "num_keyframes": 5, "keyframes": [0, 50, 60, 83, 94], "lang_goal": ["push the maroon button, then push the green button", "press the maroon button, then press the green button", "push down the button with the maroon base, then the green one"], "variation": 40, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode64.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode64.npz
new file mode 100644
index 0000000000000000000000000000000000000000..78752b87142658ebd7b3c68c4efdf1649586b8bd
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode64.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98b2d1bd2cfb919109774e8c091dcda6fdccea599e3bce3cdc4bd1f7ac627e17
+size 3651470
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode64.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode64.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..38b6546783c263840a73cc20342daac94bd43186
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode64.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 64, "num_keyframes": 5, "keyframes": [0, 61, 73, 92, 106], "lang_goal": ["push the maroon button, then push the green button", "press the maroon button, then press the green button", "push down the button with the maroon base, then the green one"], "variation": 16, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode65.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode65.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6b4decedd8302e996d7609dd599a422b716ed310
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode65.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a803b5ec2d43ece7b12339c0ad9bdad8a02a089ec56ea416f7dde025400e1a02
+size 2455667
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode65.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode65.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..1e396836cff38591b5a04ab153744e3d32510a71
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode65.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 65, "num_keyframes": 3, "keyframes": [0, 50, 60], "lang_goal": ["push the maroon button", "press the maroon button", "push down the button with the maroon base"], "variation": 15, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode66.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode66.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1fdc5b40221c29c6a16991a013dbaf6ca3ffdbe7
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode66.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f850053720bd9cf728f9da2ae00de7ea02c00d0d56d08681f594e367f55478a2
+size 3607389
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode66.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode66.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..dcc40b46a2e2bf3b439db1f3d818ecef040f9869
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode66.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 66, "num_keyframes": 5, "keyframes": [0, 48, 57, 83, 96], "lang_goal": ["push the maroon button, then push the green button", "press the maroon button, then press the green button", "push down the button with the maroon base, then the green one"], "variation": 31, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode67.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode67.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e7a75bf6ba08a2bca4f2f354e3aedf1c8bd763f5
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode67.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66210229ffebbdefa6bbaf71a641ef5b147b64bee17071663cf2029b518f2a0b
+size 3623187
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode67.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode67.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..b367e7b9f8e68e322456dfef5c86613abd731607
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode67.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 67, "num_keyframes": 5, "keyframes": [0, 64, 77, 108, 119], "lang_goal": ["push the maroon button, then push the blue button", "press the maroon button, then press the blue button", "push down the button with the maroon base, then the blue one"], "variation": 49, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode68.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode68.npz
new file mode 100644
index 0000000000000000000000000000000000000000..60cc11debc3f066672c583d9fb81cc69d068119e
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode68.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:871dfc8ce53bdf6267053fa984b448b0e4dbac0bd7fb9397b01d45255e2186c0
+size 4832262
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode68.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode68.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..cd553cc8b95894380ce9b4b6b3072fcfca321d5a
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode68.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 68, "num_keyframes": 7, "keyframes": [0, 64, 78, 98, 110, 135, 146], "lang_goal": ["push the maroon button, then push the green button, then push the yellow button", "press the maroon button, then press the green button, then press the yellow button", "push down the button with the maroon base, then the green one, then the yellow one"], "variation": 8, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode69.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode69.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4e498565715426131bd10416619a3de950273e9a
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode69.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39bdd68cc52cebd11d8c0a02793c36a924703158e64bba78f5ceb16da4fad2ca
+size 2425371
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode69.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode69.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..37a62ec52bfee0a4e8fd85065e44e9c62ba5ac2d
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode69.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 69, "num_keyframes": 3, "keyframes": [0, 59, 71], "lang_goal": ["push the maroon button", "press the maroon button", "push down the button with the maroon base"], "variation": 33, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode7.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode7.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b867bad78ec6e7da61be665fc3a08f3ecc258871
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode7.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6854c6f0313af84497d5c598964c3f0ad7d46ff8b54ad64ed50194d579636ce1
+size 2402712
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode7.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode7.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..06af6d5d7cd847be17aa6237e7e7a70834350510
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode7.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 7, "num_keyframes": 3, "keyframes": [0, 59, 71], "lang_goal": ["push the maroon button", "press the maroon button", "push down the button with the maroon base"], "variation": 0, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode70.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode70.npz
new file mode 100644
index 0000000000000000000000000000000000000000..329862833234bf1863e97e9d51b2e6735836fa35
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode70.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcab5544511c1524dfe4f485797107b64390775a030be73c46e95b9f0dd012a8
+size 2422720
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode70.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode70.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..406e541584d1cc042a7f6f1e46a90eacc1546550
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode70.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 70, "num_keyframes": 3, "keyframes": [0, 57, 69], "lang_goal": ["push the maroon button", "press the maroon button", "push down the button with the maroon base"], "variation": 33, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode71.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode71.npz
new file mode 100644
index 0000000000000000000000000000000000000000..977bb745111238962a1038ef87662f5673d1f2bb
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode71.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b06fc138894e437a44a40ad4efdd685cf044ec629cf43077c2ab75211d6e6cdd
+size 2432721
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode71.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode71.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..f0da82d04c516b8d721dfcfb7795dd919b780a88
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode71.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 71, "num_keyframes": 3, "keyframes": [0, 65, 80], "lang_goal": ["push the maroon button", "press the maroon button", "push down the button with the maroon base"], "variation": 45, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode72.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode72.npz
new file mode 100644
index 0000000000000000000000000000000000000000..93df9182bdb04c25f09855e5f450ef7ea42a26a0
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode72.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:decea02dc195417a6249dd76b3a2f3edb6709744190780ca3639f7d2bacdd1f4
+size 4775029
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode72.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode72.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..a5026150bf2c34d07c103850c61ca4f96470d8fd
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode72.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 72, "num_keyframes": 7, "keyframes": [0, 53, 63, 91, 100, 139, 152], "lang_goal": ["push the maroon button, then push the green button, then push the magenta button", "press the maroon button, then press the green button, then press the magenta button", "push down the button with the maroon base, then the green one, then the magenta one"], "variation": 14, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode73.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode73.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f246649b9fdc2d882a2cc45aa48439760f52aab2
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode73.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:674f60ddeb2b77946706c7ef9d22fb8843a83208e974d4872c1ae5621419b8a0
+size 3633259
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode73.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode73.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..98fcfa39b8cec8f7a46122cf04941d003d0d3fba
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode73.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 73, "num_keyframes": 5, "keyframes": [0, 49, 58, 78, 90], "lang_goal": ["push the maroon button, then push the green button", "press the maroon button, then press the green button", "push down the button with the maroon base, then the green one"], "variation": 4, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode74.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode74.npz
new file mode 100644
index 0000000000000000000000000000000000000000..28ee8ee907eb889c929ab4e4e666e3f4a072da5d
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode74.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2fc59be14b7bc015e40da8ddd63b01bb3ea54535fb2f8103195b8185e994efd3
+size 3633699
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode74.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode74.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..f70ada7e9c4674d40df99af37e955c8705580ee1
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode74.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 74, "num_keyframes": 5, "keyframes": [0, 65, 80, 98, 111], "lang_goal": ["push the maroon button, then push the green button", "press the maroon button, then press the green button", "push down the button with the maroon base, then the green one"], "variation": 43, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode75.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode75.npz
new file mode 100644
index 0000000000000000000000000000000000000000..358f02084cbf3a43349b27ac8919c78d7ff70b89
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode75.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f555c101da47d8581d2d49523dcf2855787a0a1bc1d655461271e8db5f87b119
+size 3656331
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode75.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode75.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..08c1cc34f1e5030c7e8f22fc631e04d11790bee1
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode75.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 75, "num_keyframes": 5, "keyframes": [0, 68, 87, 132, 144], "lang_goal": ["push the maroon button, then push the blue button", "press the maroon button, then press the blue button", "push down the button with the maroon base, then the blue one"], "variation": 49, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode76.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode76.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0ed80b8c28dd7446db7ec9f0851cb57268bd8187
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode76.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10144f50110ed7be8bc25e87969f1daeff1768151d16ec0a2ce47bdf91908897
+size 4853767
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode76.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode76.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..fb8c3f619fb373a06618721dbd5aaa5e95b7a4ae
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode76.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 76, "num_keyframes": 7, "keyframes": [0, 68, 88, 126, 136, 165, 177], "lang_goal": ["push the maroon button, then push the green button, then push the navy button", "press the maroon button, then press the green button, then press the navy button", "push down the button with the maroon base, then the green one, then the navy one"], "variation": 5, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode77.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode77.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b51dfbc1d28710feaaef3263d4bcd592b1ea886a
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode77.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68ac701d0bc7a990d6ef5477cd6572da713dd0936644df1f7aa88cefb58037c0
+size 4837686
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode77.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode77.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..dfd2a553294a2eca387e771d26c4468bc640eefb
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode77.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 77, "num_keyframes": 7, "keyframes": [0, 48, 57, 88, 100, 122, 135], "lang_goal": ["push the maroon button, then push the green button, then push the blue button", "press the maroon button, then press the green button, then press the blue button", "push down the button with the maroon base, then the green one, then the blue one"], "variation": 2, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode78.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode78.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4caa9de4931bd287f7871518f56463c6d924cd49
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode78.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3217f2295265e0f333453f161157e99422d162da29d55f7dcb59b52a112ef41b
+size 4853062
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode78.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode78.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..0f9dd118460bfa165a29a1ea292240d1aec4c73b
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode78.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 78, "num_keyframes": 7, "keyframes": [0, 66, 80, 126, 135, 161, 172], "lang_goal": ["push the maroon button, then push the green button, then push the black button", "press the maroon button, then press the green button, then press the black button", "push down the button with the maroon base, then the green one, then the black one"], "variation": 44, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode79.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode79.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1287fd461bba5b9487937d2f708e2451d5ce649a
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode79.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:301075febc3578326967feacba1e46bde52363687cf3b7ad91768d85871aabea
+size 3663064
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode79.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode79.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..47b4cb367a89cee3f5cd15a81a2b0e18e5d16a3f
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode79.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 79, "num_keyframes": 5, "keyframes": [0, 52, 62, 102, 120], "lang_goal": ["push the maroon button, then push the green button", "press the maroon button, then press the green button", "push down the button with the maroon base, then the green one"], "variation": 28, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode8.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode8.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6912fea05457101077f9c670968a0a80ff33a585
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode8.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b35370412e8c9624d0ae8dae8ec6a03de6fb2677af29f186d6905fa1ee0f0f7
+size 2466615
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode8.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode8.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..726869ee03f4c2e240903fb62b86b45235600ee1
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode8.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 8, "num_keyframes": 3, "keyframes": [0, 50, 60], "lang_goal": ["push the maroon button", "press the maroon button", "push down the button with the maroon base"], "variation": 6, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode80.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode80.npz
new file mode 100644
index 0000000000000000000000000000000000000000..113b97954e681a2a34c1aaa1f0fa8e075a72fcee
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode80.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8d45ec5ff1a29d9d44548eaf51c839532b251ba6dfcc4b8333fa6f0fe32a990
+size 3627813
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode80.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode80.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..4900dc5b01fc3c716513321cb0735933cf509160
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode80.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 80, "num_keyframes": 5, "keyframes": [0, 48, 57, 92, 105], "lang_goal": ["push the maroon button, then push the green button", "press the maroon button, then press the green button", "push down the button with the maroon base, then the green one"], "variation": 4, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode81.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode81.npz
new file mode 100644
index 0000000000000000000000000000000000000000..863d13c5aaf5f21527e2ba73e14102cb8acb0dd5
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode81.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62dba15515f9b15429be5724c20ae99496191269ab65413b9dcba5d553cd005f
+size 2420167
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode81.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode81.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..c0c7a7861b2cf01733d38c257d5596681a4c3bae
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode81.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 81, "num_keyframes": 3, "keyframes": [0, 53, 64], "lang_goal": ["push the maroon button", "press the maroon button", "push down the button with the maroon base"], "variation": 30, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode82.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode82.npz
new file mode 100644
index 0000000000000000000000000000000000000000..794219674d92fe31b1ef6f8488906a73c15516d9
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode82.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6dafa182bfdf31b7fca9a064d01e423fa34d1ed54618d4161befd0740e01ea7d
+size 2425780
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode82.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode82.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..383a693faf8b946599d3947552bdb91c5bb31637
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode82.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 82, "num_keyframes": 3, "keyframes": [0, 54, 65], "lang_goal": ["push the maroon button", "press the maroon button", "push down the button with the maroon base"], "variation": 15, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode83.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode83.npz
new file mode 100644
index 0000000000000000000000000000000000000000..aad983e043851f9eadf467a6b30e9a10c3f0a0bb
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode83.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a35ca887833188c4dbbe0c7d8f49427fe5b18dbe3667e1191846f1f77958dd44
+size 4882457
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode83.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode83.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..56cafca11c7b3b50a7fa31253aa3e2576c56dca1
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode83.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 83, "num_keyframes": 7, "keyframes": [0, 49, 60, 78, 87, 116, 128], "lang_goal": ["push the maroon button, then push the green button, then push the blue button", "press the maroon button, then press the green button, then press the blue button", "push down the button with the maroon base, then the green one, then the blue one"], "variation": 2, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode84.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode84.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5ee6e58c24cb1526b6d546314449407a236cd41b
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode84.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a62401cc377e710d5af6d4fcd597af1c67d9fdb7848930ef876b555b2725821a
+size 2452667
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode84.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode84.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..923cf7aea1ac99f56e9dfc4ad125f45b4cb15888
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode84.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 84, "num_keyframes": 3, "keyframes": [0, 53, 64], "lang_goal": ["push the maroon button", "press the maroon button", "push down the button with the maroon base"], "variation": 0, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode85.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode85.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ffa719b1b2937b1b5df424c7a3939beafdc18ef5
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode85.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:adf416ab8d1b66c5e2c3de9fb8d35548e83b63f84655243ef4ec54cefbc1cc6a
+size 2463007
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode85.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode85.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..6bf26ccd65a7b1653b87b388717ae3d30c8ce662
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode85.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 85, "num_keyframes": 3, "keyframes": [0, 58, 70], "lang_goal": ["push the maroon button", "press the maroon button", "push down the button with the maroon base"], "variation": 12, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode86.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode86.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c30b7b2045f44a713161911cb9351924ea80c01f
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode86.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:044967905ee0cb1739b097c493bbde98f166a116eac16d8b55e4cdd8f1ae7a87
+size 4849456
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode86.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode86.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..e98ae43adf0f926cdb67305503700934b8fff2e0
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode86.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 86, "num_keyframes": 7, "keyframes": [0, 53, 63, 99, 111, 127, 139], "lang_goal": ["push the maroon button, then push the green button, then push the orange button", "press the maroon button, then press the green button, then press the orange button", "push down the button with the maroon base, then the green one, then the orange one"], "variation": 23, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode87.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode87.npz
new file mode 100644
index 0000000000000000000000000000000000000000..59a5ec7504e9e54596be2928ea4bca72737d894a
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode87.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9157854bdaa442b6d66736cf8c9264b6ab2c35ca44ad390295544edc17906f2
+size 4797651
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode87.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode87.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..b1d876e503caf5f43e76eb9ff29034b75504d118
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode87.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 87, "num_keyframes": 7, "keyframes": [0, 68, 87, 123, 134, 154, 167], "lang_goal": ["push the maroon button, then push the green button, then push the white button", "press the maroon button, then press the green button, then press the white button", "push down the button with the maroon base, then the green one, then the white one"], "variation": 47, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode88.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode88.npz
new file mode 100644
index 0000000000000000000000000000000000000000..125021e13f83324ab856762b306d4082c11a02ad
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode88.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0167512cab5986b6b32d118139bb6809772177454b738fbcfd1e1f352b805e7a
+size 2415115
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode88.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode88.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..efe8ce304d0c1539344cdb3a03b8c22621db33aa
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode88.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 88, "num_keyframes": 3, "keyframes": [0, 48, 58], "lang_goal": ["push the maroon button", "press the maroon button", "push down the button with the maroon base"], "variation": 45, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode89.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode89.npz
new file mode 100644
index 0000000000000000000000000000000000000000..79c41d232d63443307f44780a50f96d5c7ffc1d0
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode89.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b753d999d3e61fcbfe673a07bb05846909e10936664b7e5d51cbaa5df2b5d69
+size 2454132
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode89.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode89.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..178104a1bc67cec483a8a7803ad01b9eaae71800
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode89.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 89, "num_keyframes": 3, "keyframes": [0, 64, 78], "lang_goal": ["push the maroon button", "press the maroon button", "push down the button with the maroon base"], "variation": 33, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode9.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode9.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8f5b8c2e17fe1959a923a7780f635a58004df25f
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode9.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f12d218423f14a3461703a102e19c2964a940dcff4e52abb19e8d149e430630d
+size 2441300
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode9.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode9.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..1315b0d7766f18dda23411927f2d2929569af506
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode9.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 9, "num_keyframes": 3, "keyframes": [0, 49, 59], "lang_goal": ["push the maroon button", "press the maroon button", "push down the button with the maroon base"], "variation": 18, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode90.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode90.npz
new file mode 100644
index 0000000000000000000000000000000000000000..28b69925d055b10eed43bfce1dd86908aec1af6e
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode90.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6d46180c197cf9ca5d25ec9cd2508640f18b6906c4f68e2aa06234c2189b4c8
+size 2449965
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode90.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode90.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..e8bb6fdafc749492d1fdd0fd1829220faeb352bb
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode90.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 90, "num_keyframes": 3, "keyframes": [0, 49, 59], "lang_goal": ["push the maroon button", "press the maroon button", "push down the button with the maroon base"], "variation": 6, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode91.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode91.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8fac811fa3f88823d3c9b39951e86f8fdd1e1a02
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode91.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:502f72817c77dc2242d1d439785e373a3b0bdab96e8e048f3c56bff6b325ddb5
+size 4828703
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode91.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode91.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..ac5d5115f031767efd92fd52c798c143ffd50240
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode91.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 91, "num_keyframes": 7, "keyframes": [0, 59, 72, 101, 110, 133, 146], "lang_goal": ["push the maroon button, then push the green button, then push the violet button", "press the maroon button, then press the green button, then press the violet button", "push down the button with the maroon base, then the green one, then the violet one"], "variation": 38, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode92.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode92.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7c35009b1f8ceabb28c1a7c54a66165010b5cc66
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode92.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4c0be4d5c2db4be6fb2c5fd280c191ddb07216dafa1f65628227492a47fb4c3
+size 3595538
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode92.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode92.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..69ce5bb2b6ed118fea626b6f5e1023390dc59b44
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode92.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 92, "num_keyframes": 5, "keyframes": [0, 51, 60, 113, 130], "lang_goal": ["push the maroon button, then push the green button", "press the maroon button, then press the green button", "push down the button with the maroon base, then the green one"], "variation": 31, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode93.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode93.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8c22336c559df4528a8428538697d2561c81e2d5
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode93.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61696028fee106958cb257aef7194cdfe93c758a55dd4180e0789189fae1665f
+size 4873121
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode93.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode93.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..f619cff15c3bf2a020bf09da3e4515112398ab35
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode93.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 93, "num_keyframes": 7, "keyframes": [0, 54, 66, 89, 101, 122, 132], "lang_goal": ["push the maroon button, then push the green button, then push the violet button", "press the maroon button, then press the green button, then press the violet button", "push down the button with the maroon base, then the green one, then the violet one"], "variation": 38, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode94.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode94.npz
new file mode 100644
index 0000000000000000000000000000000000000000..98fb3b716569e5a50d55658d203f64fd282ada54
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode94.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08b8af87094b74833193231dddba052ded15431c1917f77ce13b0e4300f5e77b
+size 3640287
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode94.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode94.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..3fbf424c477bf6328248b5c83b7a7f02ca750c70
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode94.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 94, "num_keyframes": 5, "keyframes": [0, 50, 60, 75, 86], "lang_goal": ["push the maroon button, then push the green button", "press the maroon button, then press the green button", "push down the button with the maroon base, then the green one"], "variation": 40, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode95.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode95.npz
new file mode 100644
index 0000000000000000000000000000000000000000..329c96e5c1978587924c59499f5e7671ad2da596
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode95.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a585dab553fd15db89d3a7fa69a324c814cd01a968f487e7d0ce9b5d7b2b5abb
+size 4877986
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode95.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode95.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..9fa8ffcd1b8fe1f05dacdfac0ed99ef122a0f9a7
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode95.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 95, "num_keyframes": 7, "keyframes": [0, 54, 66, 85, 96, 114, 125], "lang_goal": ["push the maroon button, then push the green button, then push the purple button", "press the maroon button, then press the green button, then press the purple button", "push down the button with the maroon base, then the green one, then the purple one"], "variation": 29, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode96.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode96.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3e879ef2472810ea26ce85a0968b93754fb9fcbd
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode96.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e654ba59833dce6d76813aa9ac286c5c1c269076b53bb72826371b9b85440db
+size 4840406
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode96.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode96.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..610e7e296fac7162e3753d4277cd57f410d28376
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode96.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 96, "num_keyframes": 7, "keyframes": [0, 56, 66, 82, 93, 118, 133], "lang_goal": ["push the maroon button, then push the green button, then push the yellow button", "press the maroon button, then press the green button, then press the yellow button", "push down the button with the maroon base, then the green one, then the yellow one"], "variation": 8, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode97.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode97.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4cf99602f4c79d924804e2f30af285378b577369
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode97.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3b519fe8bb01998f18688fc03419b262df70876cc82150a315bd323e0f8701a
+size 4852042
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode97.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode97.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..f7714fadf1235a858f3b828a6e6056ca856384a7
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode97.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 97, "num_keyframes": 7, "keyframes": [0, 62, 74, 103, 114, 138, 148], "lang_goal": ["push the maroon button, then push the green button, then push the navy button", "press the maroon button, then press the green button, then press the navy button", "push down the button with the maroon base, then the green one, then the navy one"], "variation": 5, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode98.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode98.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4fa640f2d16d3d3253868a1afb489406ab827ee0
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode98.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f2fb2e3f3fcf4f0d87e8e3a95d097415add738c5916c2f3c96c3d78b8317ea8
+size 2433645
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode98.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode98.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..3acdec44e30c8d0171a1e9cc482eb61f622caeb8
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode98.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 98, "num_keyframes": 3, "keyframes": [0, 49, 59], "lang_goal": ["push the maroon button", "press the maroon button", "push down the button with the maroon base"], "variation": 9, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode99.npz b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode99.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6cbc201030063610fcb55d806adcb835fed3ad61
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode99.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0705b6a4eccfaa7b0216487f1f4a5b99cf54da2b5260252f8008a0e5a93e815
+size 3639210
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode99.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode99.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..ce9b7bc6961680c8833bd0083e04c4d99ee028b3
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/push_buttons/episode99.npz.meta
@@ -0,0 +1 @@
+{"task": "push_buttons", "ep_idx": 99, "num_keyframes": 5, "keyframes": [0, 57, 68, 95, 106], "lang_goal": ["push the maroon button, then push the green button", "press the maroon button, then press the green button", "push down the button with the maroon base, then the green one"], "variation": 19, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode0.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode0.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a2d4cd899d476675df0f2aee9e56cfe07c76928f
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode0.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d37044ecf2b38f1d9459ca37709967755f71e03fa16df4f6f698c0d555398146
+size 4756818
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode0.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode0.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..96538139ac3a295981c6f3e3c2a007ad76fa9a59
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode0.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 0, "num_keyframes": 6, "keyframes": [0, 59, 80, 106, 161, 201], "lang_goal": ["put the soup in the cupboard", "pick up the soup and place it in the cupboard", "move the soup to the bottom shelf", "put away the soup in the cupboard"], "variation": 3, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode1.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode1.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4c635c161733cea6c8b98989a0b4341904bb65ce
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode1.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dca842395c1bad653fd6a822cc93fafd659e8fdf53fb11890d2ec5aad80183b5
+size 4713125
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode1.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode1.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..946f5ca14d5d2e2c78c7c054ff5e87755cc8a964
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode1.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 1, "num_keyframes": 6, "keyframes": [0, 92, 110, 132, 222, 256], "lang_goal": ["put the crackers in the cupboard", "pick up the crackers and place it in the cupboard", "move the crackers to the bottom shelf", "put away the crackers in the cupboard"], "variation": 0, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode10.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode10.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d264de489d0e7cffd103df39d0b9c9c3390f0129
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode10.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ceba0384ecab1b2f5ab8e607654a11f701873c84475b42c879682aefa0f3758
+size 4868734
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode10.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode10.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..51ccd2b97e213e412260eaa74f079d1a12365dbe
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode10.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 10, "num_keyframes": 6, "keyframes": [0, 52, 69, 89, 136, 171], "lang_goal": ["put the coffee in the cupboard", "pick up the coffee and place it in the cupboard", "move the coffee to the bottom shelf", "put away the coffee in the cupboard"], "variation": 6, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode11.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode11.npz
new file mode 100644
index 0000000000000000000000000000000000000000..681036e18c3f89665106470d442daa5dc266e672
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode11.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b57c0a171cdcb750ca9e83cc68ad4eb8d55f0947f6d0300ab5db726fd3c89439
+size 4784870
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode11.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode11.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..d7e61963514981873f8bed7d5be65450d2d32d64
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode11.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 11, "num_keyframes": 6, "keyframes": [0, 66, 85, 109, 184, 225], "lang_goal": ["put the sugar in the cupboard", "pick up the sugar and place it in the cupboard", "move the sugar to the bottom shelf", "put away the sugar in the cupboard"], "variation": 8, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode12.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode12.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3010398e5035c2cb12c7d6372268317fce9c29f5
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode12.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:974f717287d82587419ab3c9857f16ed55c7cb60124074eaf502408029224292
+size 4729264
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode12.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode12.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..79aab3d6b57905172399c600affcd3de6c5c7d45
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode12.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 12, "num_keyframes": 6, "keyframes": [0, 61, 79, 102, 159, 203], "lang_goal": ["put the sugar in the cupboard", "pick up the sugar and place it in the cupboard", "move the sugar to the bottom shelf", "put away the sugar in the cupboard"], "variation": 8, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode13.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode13.npz
new file mode 100644
index 0000000000000000000000000000000000000000..675ae7817a3acd844c88be5410e113274bc012c9
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode13.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79c8fb88b9917ce42eaa3b41204923c02a70487a00398630c163d5a3513c79ba
+size 4764268
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode13.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode13.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..eab77dedb8c95620bea9f011df1e82612bef79e9
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode13.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 13, "num_keyframes": 6, "keyframes": [0, 57, 75, 99, 150, 219], "lang_goal": ["put the soup in the cupboard", "pick up the soup and place it in the cupboard", "move the soup to the bottom shelf", "put away the soup in the cupboard"], "variation": 3, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode14.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode14.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0f63b62fcb03154fd40a5d01960d72c4a0c2ad74
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode14.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd9b830ef6d9a85d8893ac376fa16472ae1751bf9fc665d12fc40158f9a05120
+size 4767672
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode14.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode14.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..abee5e3269c35bcdf21efe758c6744e508f2ad25
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode14.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 14, "num_keyframes": 6, "keyframes": [0, 58, 78, 102, 152, 191], "lang_goal": ["put the strawberry jello in the cupboard", "pick up the strawberry jello and place it in the cupboard", "move the strawberry jello to the bottom shelf", "put away the strawberry jello in the cupboard"], "variation": 2, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode15.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode15.npz
new file mode 100644
index 0000000000000000000000000000000000000000..241c34ffb892dd3a0472ae691452bba7fcb93651
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode15.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28e6b980cffd5010d7f20d46992dc88bde641f177197820ce7162687e0d120dc
+size 4851189
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode15.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode15.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..674598d88c606e6021f7773c628f3feb61b8693a
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode15.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 15, "num_keyframes": 6, "keyframes": [0, 49, 63, 81, 128, 182], "lang_goal": ["put the coffee in the cupboard", "pick up the coffee and place it in the cupboard", "move the coffee to the bottom shelf", "put away the coffee in the cupboard"], "variation": 6, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode16.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode16.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cd2b05863dd1fda6a815c7879e65571322e8d291
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode16.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6cf315ccb51977cd283571ade9e5f0c00e11e43e6d2f4bade5b24257ef0c423f
+size 4770472
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode16.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode16.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..b6eddeaa5fce1efae16d12c6db65aba37298ffdb
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode16.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 16, "num_keyframes": 6, "keyframes": [0, 52, 66, 83, 165, 197], "lang_goal": ["put the crackers in the cupboard", "pick up the crackers and place it in the cupboard", "move the crackers to the bottom shelf", "put away the crackers in the cupboard"], "variation": 0, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode17.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode17.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b6adc491782059bb2c35d4426b01d78c38d4602f
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode17.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8d6e786c7f853b6fd8adf1e0ce4f6a99b6f2365ee008e8039ef9ccd315efebf
+size 4723590
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode17.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode17.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..0719703e3f1b1b29f5a06f057f1548035b189fbf
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode17.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 17, "num_keyframes": 6, "keyframes": [0, 65, 80, 99, 180, 214], "lang_goal": ["put the tuna in the cupboard", "pick up the tuna and place it in the cupboard", "move the tuna to the bottom shelf", "put away the tuna in the cupboard"], "variation": 4, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode18.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode18.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cb82e1c875a7370a368a7fa706ff81f10e28f496
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode18.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa052c4e4ee2722a66da805f508a2033bd142aacd7883096ef8cf9f6ca7e3297
+size 4831111
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode18.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode18.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..e9f3f47bda62929d656e6ab31f5df01cca6462d1
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode18.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 18, "num_keyframes": 6, "keyframes": [0, 58, 73, 93, 162, 199], "lang_goal": ["put the coffee in the cupboard", "pick up the coffee and place it in the cupboard", "move the coffee to the bottom shelf", "put away the coffee in the cupboard"], "variation": 6, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode19.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode19.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1ea8bd4256dc85d87866fd7b7eccd3e1f9a98579
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode19.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c828dd59c3cbd7ded68b5bd8e2cf05251ebb0c9f7730be161eab0781d3846b24
+size 4744944
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode19.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode19.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..40b3527e5327047d4212a084eb460ef639377bfd
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode19.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 19, "num_keyframes": 6, "keyframes": [0, 61, 78, 98, 148, 180], "lang_goal": ["put the soup in the cupboard", "pick up the soup and place it in the cupboard", "move the soup to the bottom shelf", "put away the soup in the cupboard"], "variation": 3, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode2.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode2.npz
new file mode 100644
index 0000000000000000000000000000000000000000..957d0e70744620e3f3744462280229367b33339c
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode2.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:839ff4a6d4c067eaa67cab5270d836596ed5e7ad813dbda1acb9dc250708bb8b
+size 4763052
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode2.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode2.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..3624aa9f707e2fbfc630938b8ec1d01356d79674
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode2.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 2, "num_keyframes": 6, "keyframes": [0, 70, 91, 117, 166, 199], "lang_goal": ["put the strawberry jello in the cupboard", "pick up the strawberry jello and place it in the cupboard", "move the strawberry jello to the bottom shelf", "put away the strawberry jello in the cupboard"], "variation": 2, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode20.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode20.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c33d253aa59d6a40e4f0925249bcc60974e692ec
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode20.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:500ee69226d6b65201f2365f4fe847b697067b309c66d3cc6e04cfcf002701c5
+size 4714581
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode20.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode20.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..64ad1e0af4af3f50b14671f033e8b6a3debd864e
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode20.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 20, "num_keyframes": 6, "keyframes": [0, 62, 76, 93, 174, 218], "lang_goal": ["put the coffee in the cupboard", "pick up the coffee and place it in the cupboard", "move the coffee to the bottom shelf", "put away the coffee in the cupboard"], "variation": 6, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode21.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode21.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ab9faa5e6eb8a998ac4b2920eabaa6fa7024d44b
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode21.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b16ba10c33f6d1622d9595588fe9fc7f1247fffc41e1e037452afac272a920a
+size 4847676
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode21.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode21.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..2bdfdd1311c55565a838299c98187362b6d0bc43
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode21.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 21, "num_keyframes": 6, "keyframes": [0, 75, 141, 181, 226, 264], "lang_goal": ["put the spam in the cupboard", "pick up the spam and place it in the cupboard", "move the spam to the bottom shelf", "put away the spam in the cupboard"], "variation": 5, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode22.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode22.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f87a3891cb39ce2845cbb05751f197250ddc0bdd
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode22.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12b8e1f384c91a9a6ec24a8c19b6ec6e41240a175b80ff524a5d9ee08cce6f44
+size 4773545
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode22.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode22.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..9a8c77f898fae13d6d6ff229731a500942c3df5b
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode22.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 22, "num_keyframes": 6, "keyframes": [0, 70, 88, 114, 192, 235], "lang_goal": ["put the tuna in the cupboard", "pick up the tuna and place it in the cupboard", "move the tuna to the bottom shelf", "put away the tuna in the cupboard"], "variation": 4, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode23.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode23.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ddc7fc8d2afb8f654369235086a10279cc0bc051
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode23.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af0916a0bbdaf0249527b5b0f8756b58dc0b7cfcd0c3988f2b9023a63c36d878
+size 4784188
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode23.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode23.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..564272575852f14f5665d988c435b08207e6e5ce
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode23.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 23, "num_keyframes": 6, "keyframes": [0, 51, 65, 82, 139, 182], "lang_goal": ["put the strawberry jello in the cupboard", "pick up the strawberry jello and place it in the cupboard", "move the strawberry jello to the bottom shelf", "put away the strawberry jello in the cupboard"], "variation": 2, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode24.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode24.npz
new file mode 100644
index 0000000000000000000000000000000000000000..07c3cafd5189ff04638caf5847e7e4e6a063a0ba
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode24.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0cffbca323281eca737949c36728a918ef715ce3a5a12d818f54454e271e292a
+size 4706982
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode24.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode24.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..81fe9324f9ee77aa3140350ae762647772e6c7a2
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode24.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 24, "num_keyframes": 6, "keyframes": [0, 69, 90, 116, 169, 216], "lang_goal": ["put the chocolate jello in the cupboard", "pick up the chocolate jello and place it in the cupboard", "move the chocolate jello to the bottom shelf", "put away the chocolate jello in the cupboard"], "variation": 1, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode25.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode25.npz
new file mode 100644
index 0000000000000000000000000000000000000000..67c63513bb5089964648d12055dc66b55fba55a9
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode25.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a84391293ae5e13f7907e45549f3d3d79e10878c0c1129f38caa17539ba1381
+size 4796565
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode25.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode25.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..61c0ee3aa80d796ccd383229a024b9b827384acd
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode25.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 25, "num_keyframes": 6, "keyframes": [0, 53, 69, 88, 159, 201], "lang_goal": ["put the coffee in the cupboard", "pick up the coffee and place it in the cupboard", "move the coffee to the bottom shelf", "put away the coffee in the cupboard"], "variation": 6, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode26.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode26.npz
new file mode 100644
index 0000000000000000000000000000000000000000..882febb88e97a1d11cc19ec4706d2753133186c4
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode26.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2093060a9f9e0d33a69d6ef41f73a336c5eed79f307f7c084ac742ffece210d2
+size 4800274
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode26.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode26.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..6c625e639547f1c9599bf118632dca6c7547e7b2
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode26.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 26, "num_keyframes": 6, "keyframes": [0, 73, 84, 98, 176, 226], "lang_goal": ["put the chocolate jello in the cupboard", "pick up the chocolate jello and place it in the cupboard", "move the chocolate jello to the bottom shelf", "put away the chocolate jello in the cupboard"], "variation": 1, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode27.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode27.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0c5e08458e2735aeea62a046b6b7d18e7bed5d39
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode27.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7832c8d4732fae77280a601be1cd031cbfeff8920cb32be58103ee82a06d666d
+size 4816697
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode27.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode27.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..c0e0bf319ab0fea5a163ebaa9f00d66100d66e64
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode27.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 27, "num_keyframes": 6, "keyframes": [0, 50, 63, 81, 153, 187], "lang_goal": ["put the sugar in the cupboard", "pick up the sugar and place it in the cupboard", "move the sugar to the bottom shelf", "put away the sugar in the cupboard"], "variation": 8, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode28.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode28.npz
new file mode 100644
index 0000000000000000000000000000000000000000..24773c118563696b5756e407c92d579802d5ef9d
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode28.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79cc5946ef6499cd99020422091e1f53ab0a6730bcf8816182b23af92d768e99
+size 4735341
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode28.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode28.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..fd6afee5ea89ed73107d68511a4d8c8d8d4737a3
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode28.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 28, "num_keyframes": 6, "keyframes": [0, 76, 95, 118, 237, 248], "lang_goal": ["put the soup in the cupboard", "pick up the soup and place it in the cupboard", "move the soup to the bottom shelf", "put away the soup in the cupboard"], "variation": 3, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode29.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode29.npz
new file mode 100644
index 0000000000000000000000000000000000000000..bb655194978161a480e0dafb27dc4ab3217a74f2
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode29.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d17eb407097db84334dc9041ebf52550c6ca7af8886cbd360c8efd0e616e90e
+size 4785020
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode29.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode29.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..236d527ecfebd8cb64ad220c80295219317624ee
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode29.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 29, "num_keyframes": 6, "keyframes": [0, 43, 55, 71, 155, 196], "lang_goal": ["put the crackers in the cupboard", "pick up the crackers and place it in the cupboard", "move the crackers to the bottom shelf", "put away the crackers in the cupboard"], "variation": 0, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode3.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode3.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0f1bde2aa6985cc2ffe48cb412ea8dbb790fe75b
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode3.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cffae41483afc3e8b48a12a0044cfd8a56dd1400020dfc1afe95becda06e580c
+size 4774679
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode3.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode3.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..76d8561d97110a34a13d05ba4a195a48463dcf17
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode3.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 3, "num_keyframes": 6, "keyframes": [0, 59, 75, 96, 149, 210], "lang_goal": ["put the spam in the cupboard", "pick up the spam and place it in the cupboard", "move the spam to the bottom shelf", "put away the spam in the cupboard"], "variation": 5, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode30.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode30.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a1751f685168bea4222b36f0c812ced7f0be53fd
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode30.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:246eda06101ef2f4a860861d463c6355900ff8201da1440324110e45c28cd830
+size 4678150
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode30.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode30.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..00f8dd8ca9820ed9a4201409efdcb9aa4b40dd3e
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode30.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 30, "num_keyframes": 6, "keyframes": [0, 43, 56, 73, 120, 152], "lang_goal": ["put the chocolate jello in the cupboard", "pick up the chocolate jello and place it in the cupboard", "move the chocolate jello to the bottom shelf", "put away the chocolate jello in the cupboard"], "variation": 1, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode31.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode31.npz
new file mode 100644
index 0000000000000000000000000000000000000000..586ef6c65c11020bfcd6571dbdaef4951a910ed4
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode31.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6bf1f0dc26a7d932c01cb5ed970544d072158b36637e1a5e2ade8061908412b6
+size 4801403
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode31.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode31.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..d015cf8cc844f0f548d8794f5e3fb8ac9ae64af2
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode31.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 31, "num_keyframes": 6, "keyframes": [0, 54, 69, 88, 148, 191], "lang_goal": ["put the coffee in the cupboard", "pick up the coffee and place it in the cupboard", "move the coffee to the bottom shelf", "put away the coffee in the cupboard"], "variation": 6, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode32.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode32.npz
new file mode 100644
index 0000000000000000000000000000000000000000..018a2c8df225d8b83bfa50f41e09c1c48f2be4ac
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode32.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7e3adea2c93a6c5c7d0c6a2fc3acd75992bc71df2d5f7ead14f4076a6362854
+size 4796917
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode32.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode32.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..4717cf603416f950cfea2457426ebb83ad5e671a
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode32.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 32, "num_keyframes": 6, "keyframes": [0, 72, 114, 166, 246, 292], "lang_goal": ["put the tuna in the cupboard", "pick up the tuna and place it in the cupboard", "move the tuna to the bottom shelf", "put away the tuna in the cupboard"], "variation": 4, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode33.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode33.npz
new file mode 100644
index 0000000000000000000000000000000000000000..eeafe67dca58e016a9964d07f56513b2718fc8a2
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode33.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a21f66543a2d853b02c28e9ee80398bc8af5477d94780258284f315471f115be
+size 4852791
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode33.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode33.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..29bf8a2209f7414470c2ead40dae4cb0d9901ef3
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode33.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 33, "num_keyframes": 6, "keyframes": [0, 76, 89, 107, 193, 254], "lang_goal": ["put the mustard in the cupboard", "pick up the mustard and place it in the cupboard", "move the mustard to the bottom shelf", "put away the mustard in the cupboard"], "variation": 7, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode34.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode34.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e2bf9e59d7f506a2247d1c35dba8478d8383e8cf
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode34.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2745eb4931956e5728b1f3e20d05c9c278569bf4fd8a518369252a356496f502
+size 4718545
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode34.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode34.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..728f527e68f5e776e43d0597b5930cce08ca0933
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode34.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 34, "num_keyframes": 6, "keyframes": [0, 73, 85, 101, 173, 203], "lang_goal": ["put the chocolate jello in the cupboard", "pick up the chocolate jello and place it in the cupboard", "move the chocolate jello to the bottom shelf", "put away the chocolate jello in the cupboard"], "variation": 1, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode35.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode35.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8e87e74c02e817d2c11b676c8100293670a649c9
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode35.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26ad1ae2729927710fad5c6db5e05e6a191fb3941ba5eca1f4378a531edd92df
+size 4762026
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode35.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode35.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..866cf83d5ac5321de0e08da64c914d42189a03ee
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode35.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 35, "num_keyframes": 6, "keyframes": [0, 47, 62, 80, 132, 174], "lang_goal": ["put the mustard in the cupboard", "pick up the mustard and place it in the cupboard", "move the mustard to the bottom shelf", "put away the mustard in the cupboard"], "variation": 7, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode36.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode36.npz
new file mode 100644
index 0000000000000000000000000000000000000000..da6a7d5fbf8c80024e4f67cbb81b30b837fcf404
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode36.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44a101b033bdc868380907f70b29b3dc673a3f63554c6cff79f74ac77833d753
+size 4792835
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode36.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode36.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..3e4bb5e2f94de525596a8097321b9fe75fd5c200
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode36.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 36, "num_keyframes": 6, "keyframes": [0, 56, 72, 91, 138, 180], "lang_goal": ["put the soup in the cupboard", "pick up the soup and place it in the cupboard", "move the soup to the bottom shelf", "put away the soup in the cupboard"], "variation": 3, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode37.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode37.npz
new file mode 100644
index 0000000000000000000000000000000000000000..09770843b689debc806fa7026e03530df4d44446
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode37.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84be93d25d95d813bc34cf3578cfa1e3c54882d799a87b882d33125f88aae4c9
+size 4807226
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode37.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode37.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..456849fd0a021b78e85d96d28342f88249fdcb56
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode37.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 37, "num_keyframes": 6, "keyframes": [0, 67, 90, 121, 171, 226], "lang_goal": ["put the tuna in the cupboard", "pick up the tuna and place it in the cupboard", "move the tuna to the bottom shelf", "put away the tuna in the cupboard"], "variation": 4, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode38.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode38.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8c46e3168af99948283e2ce6cc2337635aacb727
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode38.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10c402819df60974e60f0e0ec703807b679f80de14ef8f9ede2db39a38121ed4
+size 4789087
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode38.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode38.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..bf2546d933ef25146884ef2cdf44626724a1737a
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode38.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 38, "num_keyframes": 6, "keyframes": [0, 73, 90, 113, 194, 240], "lang_goal": ["put the tuna in the cupboard", "pick up the tuna and place it in the cupboard", "move the tuna to the bottom shelf", "put away the tuna in the cupboard"], "variation": 4, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode39.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode39.npz
new file mode 100644
index 0000000000000000000000000000000000000000..bbb0779c91def83cb8caa445310e5c249c50bb12
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode39.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b93bf071fc84cf98ea7c360da0232c407b2c2388d60081ae0a2e5c017a5d9bfd
+size 4765671
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode39.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode39.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..b45fa6dccefc26508e84d90308b4d345018e1511
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode39.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 39, "num_keyframes": 6, "keyframes": [0, 44, 59, 76, 135, 178], "lang_goal": ["put the sugar in the cupboard", "pick up the sugar and place it in the cupboard", "move the sugar to the bottom shelf", "put away the sugar in the cupboard"], "variation": 8, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode4.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode4.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e48cb05b3395c5d63ca7d27f4617b491109a94c4
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode4.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6e46cc118462c85f09ca428a35f04f15141ded2e660f1ab420e5e69a91b5e73
+size 4800923
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode4.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode4.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..ae9f2cb68aab171f75bf9a0fe96a131b2b6b25a2
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode4.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 4, "num_keyframes": 6, "keyframes": [0, 66, 83, 103, 155, 225], "lang_goal": ["put the mustard in the cupboard", "pick up the mustard and place it in the cupboard", "move the mustard to the bottom shelf", "put away the mustard in the cupboard"], "variation": 7, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode40.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode40.npz
new file mode 100644
index 0000000000000000000000000000000000000000..dbd9c5b39c0c6326e9058e6405598d56d0ff0cea
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode40.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da7c0dd999dc0f8324dfdd3a7397894a34f3c18e0ecf35fb7752aa19c2bbaab4
+size 4767314
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode40.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode40.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..e5ca92c6b391935704eddef2ec73f4c77bb39f3d
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode40.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 40, "num_keyframes": 6, "keyframes": [0, 58, 73, 91, 157, 201], "lang_goal": ["put the strawberry jello in the cupboard", "pick up the strawberry jello and place it in the cupboard", "move the strawberry jello to the bottom shelf", "put away the strawberry jello in the cupboard"], "variation": 2, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode41.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode41.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e5855700a680591754df9c664ec0689b738dbc0c
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode41.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9fcbff25ea50c012a044770e1641526068d1847f0926c159b43b95aea0b8b5c
+size 4809973
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode41.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode41.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..5e724f09a6ba54ae12bb3e5022f326db627968b0
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode41.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 41, "num_keyframes": 6, "keyframes": [0, 40, 53, 69, 125, 157], "lang_goal": ["put the crackers in the cupboard", "pick up the crackers and place it in the cupboard", "move the crackers to the bottom shelf", "put away the crackers in the cupboard"], "variation": 0, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode42.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode42.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4282e9e458d2a26b66a901aa8a0b4e79457a6f32
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode42.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a515a2149fe997a9391073d3012c39f4f3743b7f31e0fc3b7e37732e8d4912b5
+size 4809087
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode42.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode42.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..aec3a85bab7b14ed5674bd567c9a28a67c3864f9
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode42.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 42, "num_keyframes": 6, "keyframes": [0, 35, 48, 64, 126, 179], "lang_goal": ["put the crackers in the cupboard", "pick up the crackers and place it in the cupboard", "move the crackers to the bottom shelf", "put away the crackers in the cupboard"], "variation": 0, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode43.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode43.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d81c83146109e4a26a65b17bb79388a80d09a4de
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode43.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ebd02f328c6f153a327b96cd29769e5ff8762096b175a5b5a1132dcf5efedea
+size 4839691
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode43.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode43.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..c7cf08eff6c848279904b8b357d5a95e29de43b1
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode43.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 43, "num_keyframes": 6, "keyframes": [0, 76, 93, 113, 216, 245], "lang_goal": ["put the coffee in the cupboard", "pick up the coffee and place it in the cupboard", "move the coffee to the bottom shelf", "put away the coffee in the cupboard"], "variation": 6, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode44.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode44.npz
new file mode 100644
index 0000000000000000000000000000000000000000..efd84db110e15869271ad1186e0e92f684c0d658
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode44.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2be46de315cceb8882a42f6b6a12647817d5c4f71ac04a7d99ed518234224aff
+size 4728536
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode44.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode44.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..305f13bde299b744fcd3f4754313374c44b1358d
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode44.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 44, "num_keyframes": 6, "keyframes": [0, 69, 91, 119, 172, 216], "lang_goal": ["put the soup in the cupboard", "pick up the soup and place it in the cupboard", "move the soup to the bottom shelf", "put away the soup in the cupboard"], "variation": 3, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode45.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode45.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6460adfda1e6f2f9a2ab8b1b032369f315c51560
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode45.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:452d8a79434199e0dc7b1c12fdd692ea1b7b2656f04d264b265fdbab1365ac45
+size 4828992
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode45.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode45.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..5ae7556052f32d50bcd90bd9fcfbfbb47c0bc2df
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode45.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 45, "num_keyframes": 6, "keyframes": [0, 64, 75, 89, 148, 180], "lang_goal": ["put the chocolate jello in the cupboard", "pick up the chocolate jello and place it in the cupboard", "move the chocolate jello to the bottom shelf", "put away the chocolate jello in the cupboard"], "variation": 1, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode46.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode46.npz
new file mode 100644
index 0000000000000000000000000000000000000000..22c61a17da5a8c4e61e54007b6b06bb7041537f4
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode46.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8bc80e6efb4a5d576cbc3c063706a3ef5707e893aef5d6c91ac01186b029cc8f
+size 4608347
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode46.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode46.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..0fbdafc57d20f24ac343f62e22221d4c6fcd50c8
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode46.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 46, "num_keyframes": 6, "keyframes": [0, 74, 113, 158, 232, 293], "lang_goal": ["put the strawberry jello in the cupboard", "pick up the strawberry jello and place it in the cupboard", "move the strawberry jello to the bottom shelf", "put away the strawberry jello in the cupboard"], "variation": 2, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode47.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode47.npz
new file mode 100644
index 0000000000000000000000000000000000000000..033846924a81da85fc4264cc8ab8dd1d8ed5b191
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode47.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94877c24b71e5162f40518df2016b55b19dace72182a062918a051a6725b6816
+size 4854246
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode47.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode47.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..93217c27770e5f927f4276af0c608ac5f2088a6f
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode47.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 47, "num_keyframes": 6, "keyframes": [0, 62, 76, 94, 173, 217], "lang_goal": ["put the coffee in the cupboard", "pick up the coffee and place it in the cupboard", "move the coffee to the bottom shelf", "put away the coffee in the cupboard"], "variation": 6, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode48.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode48.npz
new file mode 100644
index 0000000000000000000000000000000000000000..73d3deaff22b5a4777135667a1595b804578fdfa
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode48.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6b0adbddb2f073725db6f5ab8a447c4a9334f7aaf253c6adf8264f98f080cd7
+size 4760104
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode48.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode48.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..ae7c649b28d6334a2a344f619d7d508e307061e4
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode48.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 48, "num_keyframes": 6, "keyframes": [0, 64, 77, 94, 175, 213], "lang_goal": ["put the chocolate jello in the cupboard", "pick up the chocolate jello and place it in the cupboard", "move the chocolate jello to the bottom shelf", "put away the chocolate jello in the cupboard"], "variation": 1, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode49.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode49.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e2bfbc52b28b9d3aaf14236358b7301dcd64a342
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode49.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ea50e76c24a4affa4368854111f93087dc7204c5cf5d129551f4d66c146d006
+size 4766555
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode49.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode49.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..82ad9caaa12501d5fd9ae69869154f0b0795e531
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode49.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 49, "num_keyframes": 6, "keyframes": [0, 81, 102, 130, 209, 242], "lang_goal": ["put the tuna in the cupboard", "pick up the tuna and place it in the cupboard", "move the tuna to the bottom shelf", "put away the tuna in the cupboard"], "variation": 4, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode5.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode5.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b3b85188675f321ee96bfe781fa45fe03a4c486b
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode5.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be4d7e1802a5c0f92c2802be4b8f5cf9d9562225b165a086c162c66406c5528e
+size 4865026
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode5.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode5.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..8450b0f646e65ef80af9a31b09ffe41b74384615
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode5.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 5, "num_keyframes": 6, "keyframes": [0, 71, 84, 102, 163, 201], "lang_goal": ["put the crackers in the cupboard", "pick up the crackers and place it in the cupboard", "move the crackers to the bottom shelf", "put away the crackers in the cupboard"], "variation": 0, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode50.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode50.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d9ad14033a5c11e8b5c53878c836b1ab2fd7dec6
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode50.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9e6eb41735a19a76a3896ea5294e4e84d749f20640cfb33f0a5f87b2bbcc234
+size 4720695
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode50.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode50.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..352e443014079ccc12122f99b0c6f1586cafeebd
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode50.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 50, "num_keyframes": 6, "keyframes": [0, 45, 59, 77, 134, 176], "lang_goal": ["put the spam in the cupboard", "pick up the spam and place it in the cupboard", "move the spam to the bottom shelf", "put away the spam in the cupboard"], "variation": 5, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode51.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode51.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9074fcb3bbdff00346885d8382b67e26240a48ed
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode51.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70a0bb0a9dade46c1bea5f4f6a1b5bda07d80f5031b31e2b4aebb9d72211e30f
+size 4691031
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode51.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode51.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..84069566a8dcc1a66402b449fde89f52f3a1617d
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode51.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 51, "num_keyframes": 6, "keyframes": [0, 58, 80, 107, 152, 203], "lang_goal": ["put the strawberry jello in the cupboard", "pick up the strawberry jello and place it in the cupboard", "move the strawberry jello to the bottom shelf", "put away the strawberry jello in the cupboard"], "variation": 2, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode52.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode52.npz
new file mode 100644
index 0000000000000000000000000000000000000000..88ac005a6df6c7c4d1c58cae384701d38910f9e3
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode52.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c38b1ca331d363f2d7ec5eab71e7c670b311dbfeac88fce8d8e0c6ed175538cb
+size 4772373
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode52.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode52.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..d6ad98c33b390aaeacb5373f0511195fe392c807
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode52.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 52, "num_keyframes": 6, "keyframes": [0, 65, 85, 109, 162, 197], "lang_goal": ["put the strawberry jello in the cupboard", "pick up the strawberry jello and place it in the cupboard", "move the strawberry jello to the bottom shelf", "put away the strawberry jello in the cupboard"], "variation": 2, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode53.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode53.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b14cddf8b1d5c8cb8842e00247519b02c7e7873e
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode53.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de5e01f3f19993af9639db09206f48402c0de8d87fbe2b8104ca35c08df7d9fd
+size 4725241
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode53.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode53.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..9bd70333dddb7510e2fca36caa6aaf13493a1834
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode53.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 53, "num_keyframes": 6, "keyframes": [0, 79, 100, 125, 184, 222], "lang_goal": ["put the strawberry jello in the cupboard", "pick up the strawberry jello and place it in the cupboard", "move the strawberry jello to the bottom shelf", "put away the strawberry jello in the cupboard"], "variation": 2, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode54.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode54.npz
new file mode 100644
index 0000000000000000000000000000000000000000..daf54603d75a92dc6c4305165195cc7792584ab9
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode54.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e671d3b3f4eca0d20680fe1513ce7bca385a2e39ef2e459744b4f063654cc29a
+size 4782630
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode54.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode54.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..2a28a5c7e032f5b00b2e9dfd5ecf554e8f274113
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode54.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 54, "num_keyframes": 6, "keyframes": [0, 82, 99, 119, 193, 219], "lang_goal": ["put the sugar in the cupboard", "pick up the sugar and place it in the cupboard", "move the sugar to the bottom shelf", "put away the sugar in the cupboard"], "variation": 8, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode55.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode55.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c03c3618789dd39a5914538f63307348c693e034
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode55.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85ef18d1176260329f3e07233dc6fd24116983e8870daa468fc19848bb3a8f16
+size 4779174
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode55.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode55.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..2b60e4932d3fc7fd5bedd4e576e1538470895623
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode55.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 55, "num_keyframes": 6, "keyframes": [0, 53, 64, 78, 169, 216], "lang_goal": ["put the soup in the cupboard", "pick up the soup and place it in the cupboard", "move the soup to the bottom shelf", "put away the soup in the cupboard"], "variation": 3, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode56.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode56.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4ea32a11224fefc5980b71b2695d5215475be138
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode56.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f71c32f15b1f5333d105fcc2ceb197fc93829c89fe2206db48e87b13b4c615f7
+size 4782714
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode56.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode56.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..330da17b8817c462af5f0cf49000962812513394
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode56.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 56, "num_keyframes": 6, "keyframes": [0, 56, 76, 101, 145, 198], "lang_goal": ["put the soup in the cupboard", "pick up the soup and place it in the cupboard", "move the soup to the bottom shelf", "put away the soup in the cupboard"], "variation": 3, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode57.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode57.npz
new file mode 100644
index 0000000000000000000000000000000000000000..22eff7556851e345f62969b939049da7f3f8f600
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode57.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28d1bc1f5759ac809498822dd0ea7cfdc49563a487012f67690d91304c50ede2
+size 4855457
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode57.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode57.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..4e75e25ec9d6f6a4d88c16751553254b029bc6f1
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode57.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 57, "num_keyframes": 6, "keyframes": [0, 51, 67, 87, 155, 190], "lang_goal": ["put the coffee in the cupboard", "pick up the coffee and place it in the cupboard", "move the coffee to the bottom shelf", "put away the coffee in the cupboard"], "variation": 6, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode58.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode58.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5856b47952be81f2ba73c4f7d3710bddb5821c74
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode58.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25f2ede03d7c813d65a8c8f0745c21ac134da64be24b85886346bdbfba5b3ded
+size 4690508
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode58.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode58.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..4f64012615f6ba1d9d577f6a76a4fdb86fe573fc
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode58.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 58, "num_keyframes": 6, "keyframes": [0, 68, 84, 104, 162, 200], "lang_goal": ["put the chocolate jello in the cupboard", "pick up the chocolate jello and place it in the cupboard", "move the chocolate jello to the bottom shelf", "put away the chocolate jello in the cupboard"], "variation": 1, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode59.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode59.npz
new file mode 100644
index 0000000000000000000000000000000000000000..36da176efd9f5c61242daa2b2ee3ec9a2bb14866
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode59.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c31638ea1e5a002a648cb823f1db2d02993ede9c80f2a23ebb3fbcc2fe2e8613
+size 4661734
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode59.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode59.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..c0e9a2fb6d82ce17ff0433203b01329808bdf68a
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode59.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 59, "num_keyframes": 6, "keyframes": [0, 67, 82, 102, 168, 212], "lang_goal": ["put the tuna in the cupboard", "pick up the tuna and place it in the cupboard", "move the tuna to the bottom shelf", "put away the tuna in the cupboard"], "variation": 4, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode6.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode6.npz
new file mode 100644
index 0000000000000000000000000000000000000000..058585bbad401aff4296e3ebbef5ec4638148da9
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode6.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc8913cd81818014dce32a58c1ccacb83dc675d2c0279485cce52b71ac2719c9
+size 4678756
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode6.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode6.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..c656ace4c1f3a104336dcafc55a2593e69e54ac8
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode6.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 6, "num_keyframes": 6, "keyframes": [0, 73, 93, 120, 207, 262], "lang_goal": ["put the strawberry jello in the cupboard", "pick up the strawberry jello and place it in the cupboard", "move the strawberry jello to the bottom shelf", "put away the strawberry jello in the cupboard"], "variation": 2, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode60.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode60.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0f4a53e554d5c991cc8c28ccadc9c3dcad6dc8a3
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode60.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b39fab3ca2e52c22d826708406bb89ef0f8521aaa5e76ac2860ee18ba6b7393f
+size 4749097
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode60.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode60.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..bce06a965632bfaaefa95cf97bafa76309d0a6ac
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode60.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 60, "num_keyframes": 6, "keyframes": [0, 71, 87, 108, 158, 194], "lang_goal": ["put the mustard in the cupboard", "pick up the mustard and place it in the cupboard", "move the mustard to the bottom shelf", "put away the mustard in the cupboard"], "variation": 7, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode61.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode61.npz
new file mode 100644
index 0000000000000000000000000000000000000000..12ed5c80e4a811a5eb4ac1daad3c56f0f7ee6fbd
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode61.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c8054902b1946d74fd048ac9e65dc2cea8d5d4767635705bdc14877d84edaa7
+size 4775553
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode61.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode61.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..de672ed88c228d8bcb7c58d29a0c5a9da63686c7
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode61.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 61, "num_keyframes": 6, "keyframes": [0, 34, 47, 63, 144, 178], "lang_goal": ["put the crackers in the cupboard", "pick up the crackers and place it in the cupboard", "move the crackers to the bottom shelf", "put away the crackers in the cupboard"], "variation": 0, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode62.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode62.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7ad0f1dd6497c1203800bda65da9f8d21a8379e0
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode62.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b77a0b91696b17b62c20155d3044d2f05bd404028f53f33b1451748b0eb39a1
+size 4736540
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode62.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode62.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..e906c16c37b0e24828eb9f4e594052fb9dbf0cb1
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode62.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 62, "num_keyframes": 6, "keyframes": [0, 64, 81, 104, 168, 210], "lang_goal": ["put the tuna in the cupboard", "pick up the tuna and place it in the cupboard", "move the tuna to the bottom shelf", "put away the tuna in the cupboard"], "variation": 4, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode63.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode63.npz
new file mode 100644
index 0000000000000000000000000000000000000000..06338c50d6c9eaa816807bffa6dc64bb671a97a4
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode63.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f3f16d16c643e58ae8e6fc3cff2cc9f42d2ba166ffecc528634ddb9a45100fb
+size 4834103
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode63.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode63.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..68f1fc7ad8bcc9e93c3bfb011d247168d0b1828e
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode63.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 63, "num_keyframes": 6, "keyframes": [0, 63, 76, 92, 144, 188], "lang_goal": ["put the chocolate jello in the cupboard", "pick up the chocolate jello and place it in the cupboard", "move the chocolate jello to the bottom shelf", "put away the chocolate jello in the cupboard"], "variation": 1, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode64.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode64.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8e072b43a838d8d1d39366e228f444912cffb149
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode64.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56061b035446c9e125ad31202f6af367dd272ffbab6fa78b3975a76f86d725a6
+size 4749188
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode64.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode64.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..2b7ca5de93c8f2c1c7d01ac0663d28ec790fadb6
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode64.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 64, "num_keyframes": 6, "keyframes": [0, 44, 56, 70, 134, 166], "lang_goal": ["put the chocolate jello in the cupboard", "pick up the chocolate jello and place it in the cupboard", "move the chocolate jello to the bottom shelf", "put away the chocolate jello in the cupboard"], "variation": 1, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode65.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode65.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5b035781def8307723cf411cd19b27c5581c8178
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode65.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e1d04c6706ee1aab471c70ed0781895dbf510020be9c842f3b1e918e64ef069
+size 4839430
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode65.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode65.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..2e8c3c21a847840de39b8724aa1779b957715e3f
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode65.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 65, "num_keyframes": 6, "keyframes": [0, 59, 71, 88, 157, 217], "lang_goal": ["put the mustard in the cupboard", "pick up the mustard and place it in the cupboard", "move the mustard to the bottom shelf", "put away the mustard in the cupboard"], "variation": 7, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode66.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode66.npz
new file mode 100644
index 0000000000000000000000000000000000000000..340a129fc9b34dcd68efad0d5c85e11efd9fd431
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode66.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46c682680ffc0d33b038c243caf32adb1647bf7958f59fb4329b8b9585406cd6
+size 4761704
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode66.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode66.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..524a538542850847e73635723894e4b584f37720
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode66.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 66, "num_keyframes": 6, "keyframes": [0, 54, 69, 88, 153, 194], "lang_goal": ["put the mustard in the cupboard", "pick up the mustard and place it in the cupboard", "move the mustard to the bottom shelf", "put away the mustard in the cupboard"], "variation": 7, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode67.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode67.npz
new file mode 100644
index 0000000000000000000000000000000000000000..af574350604bcc231678a24c32c9bc78ee817498
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode67.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5cae30947e8384ca9b4d8ca3f86ab76402a915a54254cc82b64aa6bdde0fd757
+size 4836276
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode67.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode67.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..8864868e16629aa48365ec4391057209c2453e99
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode67.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 67, "num_keyframes": 6, "keyframes": [0, 74, 87, 102, 159, 188], "lang_goal": ["put the spam in the cupboard", "pick up the spam and place it in the cupboard", "move the spam to the bottom shelf", "put away the spam in the cupboard"], "variation": 5, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode68.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode68.npz
new file mode 100644
index 0000000000000000000000000000000000000000..733d7894f49c6d0ae223c0862959776553dcc877
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode68.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4faff25418200a42eb8f6e5359470323e54fee3a3cb51bb1a4b85e8be0a3435f
+size 4770506
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode68.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode68.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..365d8c75752a84ce19c9ccb227e7e0df07bffd23
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode68.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 68, "num_keyframes": 6, "keyframes": [0, 59, 72, 88, 144, 176], "lang_goal": ["put the soup in the cupboard", "pick up the soup and place it in the cupboard", "move the soup to the bottom shelf", "put away the soup in the cupboard"], "variation": 3, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode69.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode69.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0755d771b50cb9258491f3d36fe378ba775f45d1
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode69.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:813471c1846eebc7e0a48b5fea51dd007520f148da7e6d5568aac7707d17b78d
+size 4806623
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode69.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode69.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..4954947cc833e960bfb5ec55947f548705606c8f
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode69.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 69, "num_keyframes": 6, "keyframes": [0, 57, 104, 128, 177, 213], "lang_goal": ["put the mustard in the cupboard", "pick up the mustard and place it in the cupboard", "move the mustard to the bottom shelf", "put away the mustard in the cupboard"], "variation": 7, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode7.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode7.npz
new file mode 100644
index 0000000000000000000000000000000000000000..504f51e66b332ff9673ab752a828aedbc2fbb07a
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode7.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:efd58113b26bc50d739e9dbe21c69c7653112916878fe9dd19649d634789bb07
+size 4763348
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode7.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode7.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..877a9446d552d72d58395cb7abcb5202a941810d
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode7.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 7, "num_keyframes": 6, "keyframes": [0, 48, 61, 76, 163, 204], "lang_goal": ["put the soup in the cupboard", "pick up the soup and place it in the cupboard", "move the soup to the bottom shelf", "put away the soup in the cupboard"], "variation": 3, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode70.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode70.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1afaad7503cb360f28d4a0cd0bb204c5eb5bd99b
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode70.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31df973e0c3916eda83b3ef9b4824a9e713e386b7518262e1a58548fb95bcf6e
+size 4795215
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode70.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode70.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..5dc16d313ab735f5678b3fc0777485b80491c619
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode70.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 70, "num_keyframes": 6, "keyframes": [0, 48, 61, 78, 154, 188], "lang_goal": ["put the strawberry jello in the cupboard", "pick up the strawberry jello and place it in the cupboard", "move the strawberry jello to the bottom shelf", "put away the strawberry jello in the cupboard"], "variation": 2, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode71.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode71.npz
new file mode 100644
index 0000000000000000000000000000000000000000..43733c21b110356328dcc2da85bdf3c38f49db3a
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode71.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bedfbab72c291de8e296d3edd0333a3fa453412d9b6812e896055a2c27e9a4d1
+size 4770121
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode71.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode71.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..3763a94cad5f3047ca9cb721155dbe5d13a6c375
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode71.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 71, "num_keyframes": 6, "keyframes": [0, 74, 87, 106, 201, 234], "lang_goal": ["put the tuna in the cupboard", "pick up the tuna and place it in the cupboard", "move the tuna to the bottom shelf", "put away the tuna in the cupboard"], "variation": 4, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode72.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode72.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2859485a24f954d0713233a03de44a1a297b0b2e
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode72.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ade687feecff6623b56df1283fc86c5ca9be8314c8afa6c2732808ed02224c51
+size 4754090
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode72.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode72.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..2c16a30a8b35b817396d6ec92ca2222d9b4e9e58
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode72.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 72, "num_keyframes": 6, "keyframes": [0, 79, 92, 110, 179, 231], "lang_goal": ["put the tuna in the cupboard", "pick up the tuna and place it in the cupboard", "move the tuna to the bottom shelf", "put away the tuna in the cupboard"], "variation": 4, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode73.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode73.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d266131e9dc5ca6ccce2b41f4e56eebd113aaf94
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode73.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ccfa576b0a67b9f7c5e99d0fc1a9ceb22fd4111d82dda9e009bb23c16e568cc5
+size 4721550
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode73.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode73.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..cd13f37c2ac7ea61f8d872789bbd542fb41ff7b1
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode73.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 73, "num_keyframes": 6, "keyframes": [0, 66, 82, 102, 176, 219], "lang_goal": ["put the crackers in the cupboard", "pick up the crackers and place it in the cupboard", "move the crackers to the bottom shelf", "put away the crackers in the cupboard"], "variation": 0, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode74.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode74.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1951e87a1fb4f73d90f515c381069416df194b2e
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode74.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:942364cf88646d2707683f87039c7bd9aebb6856d17f58be4da9864664f00e84
+size 4704303
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode74.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode74.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..5c2db2dcad5af303cd1e69007b352f8e5360a9fd
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode74.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 74, "num_keyframes": 6, "keyframes": [0, 54, 69, 89, 129, 170], "lang_goal": ["put the tuna in the cupboard", "pick up the tuna and place it in the cupboard", "move the tuna to the bottom shelf", "put away the tuna in the cupboard"], "variation": 4, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode75.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode75.npz
new file mode 100644
index 0000000000000000000000000000000000000000..fa57991abe96b675bb4f3f14bb5f4e81573cd45a
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode75.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:edf06784eada7fcb1df9ec955ec0e6ebfbba06188b58398940b323f83168735e
+size 4809589
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode75.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode75.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..4d511117e3426ca9e4f922fd2ca1ec2ddedd413f
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode75.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 75, "num_keyframes": 6, "keyframes": [0, 62, 74, 90, 166, 205], "lang_goal": ["put the spam in the cupboard", "pick up the spam and place it in the cupboard", "move the spam to the bottom shelf", "put away the spam in the cupboard"], "variation": 5, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode76.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode76.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e773d93791a09036aa9ad6d7ad2b32a46c280c44
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode76.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7cb02f19d3beed76bc2d240ea80187de6c7f459d925f3aa3ba5d4dc2d05364df
+size 4851451
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode76.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode76.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..25c79be33087897fb2d192e2329f87a2c06a9e9b
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode76.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 76, "num_keyframes": 6, "keyframes": [0, 51, 67, 87, 151, 191], "lang_goal": ["put the coffee in the cupboard", "pick up the coffee and place it in the cupboard", "move the coffee to the bottom shelf", "put away the coffee in the cupboard"], "variation": 6, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode77.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode77.npz
new file mode 100644
index 0000000000000000000000000000000000000000..07b6771a7b9ed15ccea9d9ad3bf5660f78b8e767
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode77.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f70de97f367f9f344f059d2e780263e44bceecf274e37a156bd5f0bb624399c
+size 4835894
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode77.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode77.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..ec99a5f3f20caa5c503eb5a50abbc2ef08ece7fe
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode77.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 77, "num_keyframes": 6, "keyframes": [0, 42, 56, 76, 144, 180], "lang_goal": ["put the coffee in the cupboard", "pick up the coffee and place it in the cupboard", "move the coffee to the bottom shelf", "put away the coffee in the cupboard"], "variation": 6, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode78.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode78.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ce8b6896c9c6893537c8e3eb3551218b149f8515
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode78.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb459ac8c5166acf224d600736cf08161a1f40e45d97f1c24ccf4454d10f29a1
+size 4753698
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode78.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode78.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..6d9b4f5ba45c21a3ca4dbbcbdcb74d375a271c2b
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode78.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 78, "num_keyframes": 6, "keyframes": [0, 94, 111, 132, 193, 235], "lang_goal": ["put the soup in the cupboard", "pick up the soup and place it in the cupboard", "move the soup to the bottom shelf", "put away the soup in the cupboard"], "variation": 3, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode79.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode79.npz
new file mode 100644
index 0000000000000000000000000000000000000000..76ac25ae1cbc16543d0d8ffabb2e62a6e3507f8f
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode79.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b6d87df360adf0c4ec8c5560742447a592d36b1f753d1e20349e53d28fa23f9
+size 4849766
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode79.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode79.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..3370306810d8a522798de2555e2c0d1d57e0d928
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode79.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 79, "num_keyframes": 6, "keyframes": [0, 69, 86, 113, 189, 242], "lang_goal": ["put the spam in the cupboard", "pick up the spam and place it in the cupboard", "move the spam to the bottom shelf", "put away the spam in the cupboard"], "variation": 5, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode8.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode8.npz
new file mode 100644
index 0000000000000000000000000000000000000000..be5ba7fe51134f84c3bc02047dec5b1232406ec1
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode8.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0786342fb6afbf17278f723900535d53e4be4c5a9b5f72a2ff9c730d03861f6
+size 4717796
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode8.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode8.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..4769bd042a66505bc98dfc6000d8e3f7f2bccb01
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode8.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 8, "num_keyframes": 6, "keyframes": [0, 75, 88, 104, 179, 225], "lang_goal": ["put the strawberry jello in the cupboard", "pick up the strawberry jello and place it in the cupboard", "move the strawberry jello to the bottom shelf", "put away the strawberry jello in the cupboard"], "variation": 2, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode80.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode80.npz
new file mode 100644
index 0000000000000000000000000000000000000000..859b44f7b3a45142f3f51165107931de258aab1d
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode80.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb778d91b572bcd4af2b36203990f76a5b35f42767c1f1196adc02f1d62d86ca
+size 4787627
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode80.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode80.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..2cabcbd14c536cff91973a87631abf442522cd49
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode80.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 80, "num_keyframes": 6, "keyframes": [0, 62, 74, 88, 137, 168], "lang_goal": ["put the tuna in the cupboard", "pick up the tuna and place it in the cupboard", "move the tuna to the bottom shelf", "put away the tuna in the cupboard"], "variation": 4, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode81.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode81.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b1f588ba201faba217dd4c6d3c08d16537eab7ee
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode81.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd19f05be70080e8da0abecaef7d3d827ffef00b1730a1b26142dde981bdc3f6
+size 4732164
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode81.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode81.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..3bc54ad82e1c86652aaef6e3c93b1c5345fec2f3
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode81.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 81, "num_keyframes": 6, "keyframes": [0, 55, 69, 88, 153, 192], "lang_goal": ["put the tuna in the cupboard", "pick up the tuna and place it in the cupboard", "move the tuna to the bottom shelf", "put away the tuna in the cupboard"], "variation": 4, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode82.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode82.npz
new file mode 100644
index 0000000000000000000000000000000000000000..57d38e162f71c0a74af81ebd0c5e403a93d964a7
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode82.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98eb2cc7cfb68e26f8d6be6bbc0d5bdeaebf74965ac8e205e9b8ee3f808f77de
+size 4702835
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode82.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode82.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..d20e20957406921f99d2f41371da162f25053fdf
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode82.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 82, "num_keyframes": 6, "keyframes": [0, 65, 80, 100, 157, 192], "lang_goal": ["put the tuna in the cupboard", "pick up the tuna and place it in the cupboard", "move the tuna to the bottom shelf", "put away the tuna in the cupboard"], "variation": 4, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode83.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode83.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f13a202bba31148ee4a3cb2485db85cec3c24c47
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode83.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7009a506c83fe970add28aa59d931506bd4b8fb80206d4f5f129f568dbdf4eef
+size 4721626
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode83.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode83.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..1580544dba4431997a06310af98ff13dea094044
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode83.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 83, "num_keyframes": 6, "keyframes": [0, 56, 83, 108, 171, 221], "lang_goal": ["put the mustard in the cupboard", "pick up the mustard and place it in the cupboard", "move the mustard to the bottom shelf", "put away the mustard in the cupboard"], "variation": 7, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode84.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode84.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1e0c6305c52b0a7541a95b9ea831ffe0963168ce
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode84.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91a3a25b7efcb4e48eab7bb25b1b1677bdda45521bca54b785e16553a34c7ab5
+size 4720058
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode84.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode84.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..58bbec60cdfd1d2a788d000c379472af7f1b5b90
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode84.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 84, "num_keyframes": 6, "keyframes": [0, 43, 56, 74, 120, 185], "lang_goal": ["put the sugar in the cupboard", "pick up the sugar and place it in the cupboard", "move the sugar to the bottom shelf", "put away the sugar in the cupboard"], "variation": 8, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode85.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode85.npz
new file mode 100644
index 0000000000000000000000000000000000000000..eb399108473e406ffe11606e7b970402c383adad
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode85.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01c6b8a816daa049edb390dd81b1618f43a73645917e076616f740a82c55d500
+size 4802443
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode85.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode85.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..e8a48832bacd5faa8f09656b52ed521da7510be5
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode85.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 85, "num_keyframes": 6, "keyframes": [0, 51, 67, 87, 146, 187], "lang_goal": ["put the coffee in the cupboard", "pick up the coffee and place it in the cupboard", "move the coffee to the bottom shelf", "put away the coffee in the cupboard"], "variation": 6, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode86.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode86.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cebef3435fd15b8e0a578b6d6c8be14d5aa5a482
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode86.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9eba913d56b83b773f4219a3333ce4b562b159ba3fc9cb372bad090f5c76bd36
+size 4744175
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode86.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode86.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..2fe7e0b3a9f4dc596f42cdb6a3533938019ecc17
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode86.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 86, "num_keyframes": 6, "keyframes": [0, 81, 95, 112, 190, 265], "lang_goal": ["put the strawberry jello in the cupboard", "pick up the strawberry jello and place it in the cupboard", "move the strawberry jello to the bottom shelf", "put away the strawberry jello in the cupboard"], "variation": 2, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode87.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode87.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3605e51924a38519de3e466ec73d47bcfd1a2f00
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode87.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f816a5b39f079129159ec050d157e233d889acc6d8ce01d7cec4875d48bb721
+size 4085814
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode87.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode87.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..d39438b4cdb1d81459e9c44646e081abd595f7f0
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode87.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 87, "num_keyframes": 5, "keyframes": [0, 51, 65, 144, 200], "lang_goal": ["put the tuna in the cupboard", "pick up the tuna and place it in the cupboard", "move the tuna to the bottom shelf", "put away the tuna in the cupboard"], "variation": 4, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": false, "kf_note": "signature (0, 1) != modal (), unrepairable"}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode88.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode88.npz
new file mode 100644
index 0000000000000000000000000000000000000000..479a2f2e667dc9feb2e813780aeb380e97f28f2d
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode88.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a117ee3edb290e349b36eec48e3b4386fd4aa3d2aa245951faf829108a3b88e
+size 4753916
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode88.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode88.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..b8034e3620aa5fd219a7e69e74c9d4f2e52f7cc6
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode88.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 88, "num_keyframes": 6, "keyframes": [0, 105, 117, 132, 223, 254], "lang_goal": ["put the spam in the cupboard", "pick up the spam and place it in the cupboard", "move the spam to the bottom shelf", "put away the spam in the cupboard"], "variation": 5, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode89.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode89.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6b44b8a2403d2b0b928a648dd9e5bf268f91c166
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode89.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c984956094d1b71b95766ba7b0653788e2a63a3d0733cf22c21905a1d09115cb
+size 4772699
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode89.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode89.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..152bdf39ba49e278246dc08d0e80f5ec53c31160
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode89.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 89, "num_keyframes": 6, "keyframes": [0, 76, 95, 123, 175, 208], "lang_goal": ["put the tuna in the cupboard", "pick up the tuna and place it in the cupboard", "move the tuna to the bottom shelf", "put away the tuna in the cupboard"], "variation": 4, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode9.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode9.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0c0bd2e42062a23e67d8165944f2515ff9ad3cbb
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode9.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d414d9ab2f0970228d375435d832b2ed77f440ebe024f8d8a852a5e8f1e6110
+size 4762446
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode9.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode9.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..5c9075653b28d22a35deb92e00ad0a4cd0310947
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode9.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 9, "num_keyframes": 6, "keyframes": [0, 62, 75, 93, 173, 236], "lang_goal": ["put the mustard in the cupboard", "pick up the mustard and place it in the cupboard", "move the mustard to the bottom shelf", "put away the mustard in the cupboard"], "variation": 7, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode90.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode90.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b9183b793dda140d2fb5989a71e72a4db647fed5
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode90.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:567f954a2632eee05424128b8926deb06262e71cf1c41a7dc79232ec95670209
+size 4809083
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode90.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode90.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..94e30727ed8e0415f34384db1d541a6ee0775b3d
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode90.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 90, "num_keyframes": 6, "keyframes": [0, 72, 108, 153, 204, 258], "lang_goal": ["put the coffee in the cupboard", "pick up the coffee and place it in the cupboard", "move the coffee to the bottom shelf", "put away the coffee in the cupboard"], "variation": 6, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode91.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode91.npz
new file mode 100644
index 0000000000000000000000000000000000000000..57c24f6377e6f813de7802deb9e6e54e417053d4
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode91.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78102bb2f61d19a48c46a6410337d418dc801bdac5d6013998140a3f8bc23a9a
+size 4808118
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode91.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode91.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..9172f86450bb2c67e4ddd3535a8eefd48bd5a0ae
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode91.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 91, "num_keyframes": 6, "keyframes": [0, 68, 85, 108, 219, 250], "lang_goal": ["put the coffee in the cupboard", "pick up the coffee and place it in the cupboard", "move the coffee to the bottom shelf", "put away the coffee in the cupboard"], "variation": 6, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode92.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode92.npz
new file mode 100644
index 0000000000000000000000000000000000000000..22a801c105a7db078890c3d1007fb7153def2512
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode92.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2a8a4dd8f9f3b2daccf84d0859cfedc1bfefe29a6d2572c2f440633fc45dda4
+size 4777261
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode92.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode92.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..b4f8381d843674c745bac19276e44bb06799cb96
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode92.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 92, "num_keyframes": 6, "keyframes": [0, 47, 62, 81, 140, 176], "lang_goal": ["put the mustard in the cupboard", "pick up the mustard and place it in the cupboard", "move the mustard to the bottom shelf", "put away the mustard in the cupboard"], "variation": 7, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode93.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode93.npz
new file mode 100644
index 0000000000000000000000000000000000000000..960ff886a9e60fcbe0749403656d6595b324e111
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode93.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8095d5199b4ff93df8ec6a30e28e7fc6be034fd4949132ad1597b4a6fe621552
+size 4755078
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode93.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode93.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..2279a7efe12dc189b1ec3bfa6efc35b3afe79755
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode93.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 93, "num_keyframes": 6, "keyframes": [0, 51, 63, 81, 156, 190], "lang_goal": ["put the spam in the cupboard", "pick up the spam and place it in the cupboard", "move the spam to the bottom shelf", "put away the spam in the cupboard"], "variation": 5, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode94.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode94.npz
new file mode 100644
index 0000000000000000000000000000000000000000..12a5dbab807df5b2ae1f8b88c9a077a325914bb3
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode94.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c31e950baa226c44e0826685f70cf8763df2ade415a0fa7d41b56edde373e51d
+size 4755993
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode94.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode94.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..543efd9a417b40545aced9be89ce7165e4fa2025
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode94.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 94, "num_keyframes": 6, "keyframes": [0, 90, 113, 142, 224, 267], "lang_goal": ["put the sugar in the cupboard", "pick up the sugar and place it in the cupboard", "move the sugar to the bottom shelf", "put away the sugar in the cupboard"], "variation": 8, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode95.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode95.npz
new file mode 100644
index 0000000000000000000000000000000000000000..083f8c63eefc1d98553f87a5d0e6963911691c93
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode95.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1fb67d0bd3bb38b09bb16451d038228618dfef979497d6da07d14f8f38403c2
+size 4798217
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode95.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode95.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..d5930ae9d825a2bf7095776ff6ffab091f6c139b
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode95.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 95, "num_keyframes": 6, "keyframes": [0, 85, 121, 164, 257, 290], "lang_goal": ["put the soup in the cupboard", "pick up the soup and place it in the cupboard", "move the soup to the bottom shelf", "put away the soup in the cupboard"], "variation": 3, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode96.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode96.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cacc1db59d509f985602849f5d7bb7a4d7b32e30
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode96.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34a90c83aba36ad633b75b50510c07561df23debfa53a659e31fa09b139a798c
+size 4771083
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode96.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode96.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..5f3c9a45a60fda9182ca36ace39daa8c30f536b1
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode96.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 96, "num_keyframes": 6, "keyframes": [0, 57, 74, 96, 145, 183], "lang_goal": ["put the crackers in the cupboard", "pick up the crackers and place it in the cupboard", "move the crackers to the bottom shelf", "put away the crackers in the cupboard"], "variation": 0, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode97.npz b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode97.npz
new file mode 100644
index 0000000000000000000000000000000000000000..fd086bf8249c7b38eb53a8f241f18d16935ac7be
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode97.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:139538181da184af01a69412948bcafe7839cb75b02512c16207a636cdc91441
+size 4666994
diff --git a/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode97.npz.meta b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode97.npz.meta
new file mode 100644
index 0000000000000000000000000000000000000000..d180c6a68060a8e5134531723f9a2f09a4886db8
--- /dev/null
+++ b/datasets/rlbench/keyframe_cache/size128_v2/put_groceries_in_cupboard/episode97.npz.meta
@@ -0,0 +1 @@
+{"task": "put_groceries_in_cupboard", "ep_idx": 97, "num_keyframes": 6, "keyframes": [0, 57, 70, 86, 162, 210], "lang_goal": ["put the sugar in the cupboard", "pick up the sugar and place it in the cupboard", "move the sugar to the bottom shelf", "put away the sugar in the cupboard"], "variation": 8, "cameras": ["front", "left_shoulder", "right_shoulder", "wrist"], "image_size": 128, "cache_version": 2, "kf_conform": true, "kf_note": ""}
\ No newline at end of file