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+  "policy_checkpoint": "/home/luana/Documents/OfflineRL/Benchmark/CORL/expert/logs/H1JoystickGaitTracking-20260629-053443/checkpoints/183500800",
+  "medium_checkpoint": "/home/luana/Documents/OfflineRL/Benchmark/CORL/expert/logs/H1JoystickGaitTracking-20260629-033309/checkpoints/91750400",
+  "num_checkpoints": 300,
+  "seeds": {
+    "env_seed": 0,
+    "sampling_seed": 0
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+    "num_samples": 1000000,
+    "num_envs": 16,
+    "p90_eval_episodes": 100,
+    "p90_percentile": 90.0,
+    "medium_low": 0.4,
+    "medium_high": 0.6
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+    "iter_peak": 0.8494983277591973,
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+    "peak_return_mean": 133.77776756286622,
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+    "peak_ratio": 0.568273048291192,
+    "curve_shape": "late_plateau"
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+  "return_min": 0.08055390338413418,
+  "return_expert": 133.77776756286622,
+  "return_mean": 1.9393874339043506,
+  "return_std": 2.370059394923314,
+  "normalized_score_mean": 1.3903307927228328,
+  "num_episodes": 23920,
+  "curriculum_wrapper": false
+}
\ No newline at end of file
diff --git a/h1-gait-tracking/medium-v0/data/main_data.hdf5 b/h1-gait-tracking/medium-v0/data/main_data.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..5c0f92eda990d4c999fe56ea9c0bc19520833c69
--- /dev/null
+++ b/h1-gait-tracking/medium-v0/data/main_data.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97911c3d3b473a4283cbe1f3ffd22b16b0b40a5b90e3845bec87be4b2d2cc22b
+size 1796512449
diff --git a/h1-gait-tracking/medium-v0/data/metadata.json b/h1-gait-tracking/medium-v0/data/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a008ed63c166d7815baeacefacbfc41e052f18f
--- /dev/null
+++ b/h1-gait-tracking/medium-v0/data/metadata.json
@@ -0,0 +1 @@
+{"total_episodes": 11466, "total_steps": 1000033, "data_format": "hdf5", "observation_space": "{\"type\": \"Box\", \"dtype\": \"float32\", \"shape\": [113], \"low\": [-Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity], \"high\": [Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity]}", "action_space": "{\"type\": \"Box\", \"dtype\": \"float32\", \"shape\": [19], \"low\": [-Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity, -Infinity], \"high\": [Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity, Infinity]}", "dataset_size": 1796.5, "dataset_id": "playground/h1-gait-tracking/medium-v0", "code_permalink": "https://github.com/AKCIT-RL/mujoco_playground", "author": ["Luana Martins"], "author_email": ["luanagbmartins@gmail.com"], "algorithm_name": "random_policy", "minari_version": "0.5.3", "env_name": "H1JoystickGaitTracking", "task_id": "h1-gait-tracking", "difficulty": "medium", "command_type": "fowardfixed", "deterministic": false, "domain_randomization": false, "policy_checkpoint": "/home/luana/Documents/OfflineRL/Benchmark/CORL/expert/logs/H1JoystickGaitTracking-20260629-053443/checkpoints/183500800", "medium_checkpoint": "/home/luana/Documents/OfflineRL/Benchmark/CORL/expert/logs/H1JoystickGaitTracking-20260629-033309/checkpoints/91750400", "num_checkpoints": 300, "seeds": {"env_seed": 0, "sampling_seed": 0}, "collection_config": {"num_samples": 1000000, "num_envs": 16, "p90_eval_episodes": 100, "p90_percentile": 90.0, "medium_low": 0.4, "medium_high": 0.6}, "peak_analysis": {"iter_peak": 0.8494983277591973, "iter_medium": 0.6755852842809364, "peak_return_mean": 133.77776756286622, "medium_return_mean": 76.02229976654053, "peak_ratio": 0.568273048291192, "curve_shape": "late_plateau"}, "return_min": 0.08055390338413418, "return_expert": 133.77776756286622, "return_mean": 4.281857159472316, "return_std": 2.6919909765516623, "normalized_score_mean": 3.1424015064282647, "num_episodes": 11472, "curriculum_wrapper": false}
\ No newline at end of file
diff --git a/h1-gait-tracking/medium-v0/metadata.json b/h1-gait-tracking/medium-v0/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3eecafd67fef2bf7d7664f6ceb9386b2fd5c7b2
--- /dev/null
+++ b/h1-gait-tracking/medium-v0/metadata.json
@@ -0,0 +1,38 @@
+{
+  "env_name": "H1JoystickGaitTracking",
+  "task_id": "h1-gait-tracking",
+  "difficulty": "medium",
+  "command_type": "fowardfixed",
+  "deterministic": false,
+  "domain_randomization": false,
+  "policy_checkpoint": "/home/luana/Documents/OfflineRL/Benchmark/CORL/expert/logs/H1JoystickGaitTracking-20260629-053443/checkpoints/183500800",
+  "medium_checkpoint": "/home/luana/Documents/OfflineRL/Benchmark/CORL/expert/logs/H1JoystickGaitTracking-20260629-033309/checkpoints/91750400",
+  "num_checkpoints": 300,
+  "seeds": {
+    "env_seed": 0,
+    "sampling_seed": 0
+  },
+  "collection_config": {
+    "num_samples": 1000000,
+    "num_envs": 16,
+    "p90_eval_episodes": 100,
+    "p90_percentile": 90.0,
+    "medium_low": 0.4,
+    "medium_high": 0.6
+  },
+  "peak_analysis": {
+    "iter_peak": 0.8494983277591973,
+    "iter_medium": 0.6755852842809364,
+    "peak_return_mean": 133.77776756286622,
+    "medium_return_mean": 76.02229976654053,
+    "peak_ratio": 0.568273048291192,
+    "curve_shape": "late_plateau"
+  },
+  "return_min": 0.08055390338413418,
+  "return_expert": 133.77776756286622,
+  "return_mean": 4.281857159472316,
+  "return_std": 2.6919909765516623,
+  "normalized_score_mean": 3.1424015064282647,
+  "num_episodes": 11472,
+  "curriculum_wrapper": false
+}
\ No newline at end of file
diff --git a/h1-gait-tracking/namespace_metadata.json b/h1-gait-tracking/namespace_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e26dfeeb6e641a33dae4961196235bdb965b21b
--- /dev/null
+++ b/h1-gait-tracking/namespace_metadata.json
@@ -0,0 +1 @@
+{}
\ No newline at end of file
diff --git a/hf_download.sh b/hf_download.sh
deleted file mode 100644
index 6e0e10905e9c1e21e93352b7acdc8a0184ed3c60..0000000000000000000000000000000000000000
--- a/hf_download.sh
+++ /dev/null
@@ -1,24 +0,0 @@
-hf download akcit-rl/playground Go2Footstand-medium-v1/data/main_data.hdf5 --repo-type dataset --local-dir . 
-hf download akcit-rl/playground Go2Footstand-medium-v1/data/metadata.json --repo-type dataset --local-dir .
-
-hf download akcit-rl/playground Go2Footstand-expert-v1/data/main_data.hdf5 --repo-type dataset --local-dir . 
-hf download akcit-rl/playground Go2Footstand-expert-v1/data/metadata.json --repo-type dataset --local-dir .
-
-
-hf download akcit-rl/playground Go2JoystickFlatTerrain-direction-medium-v1/data/main_data.hdf5 --repo-type dataset --local-dir . 
-hf download akcit-rl/playground Go2JoystickFlatTerrain-direction-medium-v1/data/metadata.json --repo-type dataset --local-dir .
-
-hf download akcit-rl/playground Go2JoystickFlatTerrain-direction-expert-v1/data/main_data.hdf5 --repo-type dataset --local-dir . 
-hf download akcit-rl/playground Go2JoystickFlatTerrain-direction-expert-v1/data/metadata.json --repo-type dataset --local-dir .
-
-hf download akcit-rl/playground Go2JoystickFlatTerrain-fowardfixed-expert-v1/data/main_data.hdf5 --repo-type dataset --local-dir . 
-hf download akcit-rl/playground Go2JoystickFlatTerrain-fowardfixed-expert-v1/data/metadata.json --repo-type dataset --local-dir .
-
-hf download akcit-rl/playground Go2JoystickFlatTerrain-fowardfixed-medium-v1/data/main_data.hdf5 --repo-type dataset --local-dir . 
-hf download akcit-rl/playground Go2JoystickFlatTerrain-fowardfixed-medium-v1/data/metadata.json --repo-type dataset --local-dir .
-
-hf download akcit-rl/playground Go2Getup-expert-v1/data/main_data.hdf5 --repo-type dataset --local-dir . 
-hf download akcit-rl/playground Go2Getup-expert-v1/data/metadata.json --repo-type dataset --local-dir .
-
-hf download akcit-rl/playground Go2Getup-medium-v1/data/main_data.hdf5 --repo-type dataset --local-dir . 
-hf download akcit-rl/playground Go2Getup-medium-v1/data/metadata.json --repo-type dataset --local-dir .
\ No newline at end of file