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diff --git a/openpi-assets/checkpoints/pi05_base/assets/fibocom_mobile/norm_stats.json b/openpi-assets/checkpoints/pi05_base/assets/fibocom_mobile/norm_stats.json
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diff --git a/openpi-assets/checkpoints/pi05_base/assets/franka/norm_stats.json b/openpi-assets/checkpoints/pi05_base/assets/franka/norm_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..db069533dfc4997368f2d4da37186a39896337fc
--- /dev/null
+++ b/openpi-assets/checkpoints/pi05_base/assets/franka/norm_stats.json
@@ -0,0 +1,88 @@
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\ No newline at end of file
diff --git a/openpi-assets/checkpoints/pi05_base/assets/trossen/norm_stats.json b/openpi-assets/checkpoints/pi05_base/assets/trossen/norm_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..b83ac859f3ef8272aebd53bf35d8d3b00559c01e
--- /dev/null
+++ b/openpi-assets/checkpoints/pi05_base/assets/trossen/norm_stats.json
@@ -0,0 +1,136 @@
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diff --git a/openpi-assets/checkpoints/pi05_base/assets/trossen_mobile/norm_stats.json b/openpi-assets/checkpoints/pi05_base/assets/trossen_mobile/norm_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f46861443071cc04da29021f0b0f17827365b6b
--- /dev/null
+++ b/openpi-assets/checkpoints/pi05_base/assets/trossen_mobile/norm_stats.json
@@ -0,0 +1,144 @@
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\ No newline at end of file
diff --git a/openpi-assets/checkpoints/pi05_base/assets/ur5e/norm_stats.json b/openpi-assets/checkpoints/pi05_base/assets/ur5e/norm_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..dfa035a19c263c97d174ae9e9527a4b1c7211e62
--- /dev/null
+++ b/openpi-assets/checkpoints/pi05_base/assets/ur5e/norm_stats.json
@@ -0,0 +1,80 @@
+{
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\ No newline at end of file
diff --git a/openpi-assets/checkpoints/pi05_base/assets/ur5e_dual/norm_stats.json b/openpi-assets/checkpoints/pi05_base/assets/ur5e_dual/norm_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4396b400e857414e82c3c9f0bd7f52b3ae0b455
--- /dev/null
+++ b/openpi-assets/checkpoints/pi05_base/assets/ur5e_dual/norm_stats.json
@@ -0,0 +1,136 @@
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diff --git a/openpi-assets/checkpoints/pi05_base/params/_CHECKPOINT_METADATA b/openpi-assets/checkpoints/pi05_base/params/_CHECKPOINT_METADATA
new file mode 100644
index 0000000000000000000000000000000000000000..035f04e8bec665c06c66f2e682e829dbcf1b665d
--- /dev/null
+++ b/openpi-assets/checkpoints/pi05_base/params/_CHECKPOINT_METADATA
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\ No newline at end of file
diff --git a/openpi-assets/checkpoints/pi05_base/params/_METADATA b/openpi-assets/checkpoints/pi05_base/params/_METADATA
new file mode 100644
index 0000000000000000000000000000000000000000..b4831ba226942798e4a12b39353989cb23b74362
--- /dev/null
+++ b/openpi-assets/checkpoints/pi05_base/params/_METADATA
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\ No newline at end of file
diff --git a/openpi-assets/checkpoints/pi05_base/params/_sharding b/openpi-assets/checkpoints/pi05_base/params/_sharding
new file mode 100644
index 0000000000000000000000000000000000000000..8f83909275fb283ebbaeec21383ccdc1fd526823
--- /dev/null
+++ b/openpi-assets/checkpoints/pi05_base/params/_sharding
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/openpi-assets/checkpoints/pi05_base/params/array_metadatas/process_0 b/openpi-assets/checkpoints/pi05_base/params/array_metadatas/process_0
new file mode 100644
index 0000000000000000000000000000000000000000..26e14adb055cac5dfb10f0bf0e9ad8bb26d3675b
--- /dev/null
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diff --git a/openpi-assets/checkpoints/pi0_base/params/_sharding b/openpi-assets/checkpoints/pi0_base/params/_sharding
new file mode 100644
index 0000000000000000000000000000000000000000..159e385587596336d7df14139034ebc9bdab8273
--- /dev/null
+++ b/openpi-assets/checkpoints/pi0_base/params/_sharding
@@ -0,0 +1 @@
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