diff --git a/.gitattributes b/.gitattributes
index 197b49b24b0fe58cb4e472f0556100943d07ea5e..6a7401dbaa93eda20c8374d5c11f632001e6a2b7 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -54,3 +54,78 @@ eval_results/observe_and_pickup/episode24.mp4 filter=lfs diff=lfs merge=lfs -tex
 eval_results/observe_and_pickup/episode65.mp4 filter=lfs diff=lfs merge=lfs -text
 eval_results/swap_T/episode16.mp4 filter=lfs diff=lfs merge=lfs -text
 eval_results/swap_T/episode45.mp4 filter=lfs diff=lfs merge=lfs -text
+eval_results/swap_T/episode59.mp4 filter=lfs diff=lfs merge=lfs -text
+eval_results/swap_T/episode35.mp4 filter=lfs diff=lfs merge=lfs -text
+eval_results/swap_T/episode11.mp4 filter=lfs diff=lfs merge=lfs -text
+eval_results/observe_and_pickup/episode16.mp4 filter=lfs diff=lfs merge=lfs -text
+eval_results/swap_T/episode98.mp4 filter=lfs diff=lfs merge=lfs -text
+eval_results/swap_T/episode14.mp4 filter=lfs diff=lfs merge=lfs -text
+eval_results/swap_T/episode84.mp4 filter=lfs diff=lfs merge=lfs -text
+eval_results/swap_T/episode26.mp4 filter=lfs diff=lfs merge=lfs -text
+eval_results/observe_and_pickup/episode73.mp4 filter=lfs diff=lfs merge=lfs -text
+eval_results/swap_T/episode83.mp4 filter=lfs diff=lfs merge=lfs -text
+eval_results/swap_T/episode47.mp4 filter=lfs diff=lfs merge=lfs -text
+eval_results/swap_T/episode95.mp4 filter=lfs diff=lfs merge=lfs -text
+eval_results/swap_T/episode69.mp4 filter=lfs diff=lfs merge=lfs -text
+eval_results/swap_T/episode60.mp4 filter=lfs diff=lfs merge=lfs -text
+eval_results/swap_T/episode97.mp4 filter=lfs diff=lfs merge=lfs -text
+eval_results/swap_T/episode61.mp4 filter=lfs diff=lfs merge=lfs -text
+eval_results/swap_T/episode9.mp4 filter=lfs diff=lfs merge=lfs -text
+eval_results/swap_T/episode21.mp4 filter=lfs diff=lfs merge=lfs -text
+eval_results/swap_T/episode67.mp4 filter=lfs diff=lfs merge=lfs -text
+eval_results/swap_T/episode75.mp4 filter=lfs diff=lfs merge=lfs -text
+eval_results/swap_T/episode18.mp4 filter=lfs diff=lfs merge=lfs -text
+eval_results/swap_T/episode31.mp4 filter=lfs diff=lfs merge=lfs -text
+eval_results/swap_T/episode74.mp4 filter=lfs diff=lfs merge=lfs -text
+eval_results/swap_T/episode15.mp4 filter=lfs diff=lfs merge=lfs -text
+eval_results/swap_T/episode6.mp4 filter=lfs diff=lfs merge=lfs -text
+eval_results/swap_T/episode36.mp4 filter=lfs diff=lfs merge=lfs -text
+eval_results/swap_T/episode72.mp4 filter=lfs diff=lfs merge=lfs -text
+eval_results/swap_T/episode32.mp4 filter=lfs diff=lfs merge=lfs -text
+eval_results/swap_T/episode96.mp4 filter=lfs diff=lfs merge=lfs -text
+eval_results/swap_T/episode73.mp4 filter=lfs diff=lfs merge=lfs -text
+eval_results/swap_T/episode19.mp4 filter=lfs diff=lfs merge=lfs -text
+eval_results/swap_T/episode0.mp4 filter=lfs diff=lfs merge=lfs -text
+eval_results/swap_T/episode65.mp4 filter=lfs diff=lfs merge=lfs -text
+eval_results/swap_T/episode53.mp4 filter=lfs diff=lfs merge=lfs -text
+eval_results/swap_T/episode24.mp4 filter=lfs diff=lfs merge=lfs -text
+eval_results/swap_T/episode2.mp4 filter=lfs diff=lfs merge=lfs -text
+eval_results/swap_T/episode44.mp4 filter=lfs diff=lfs merge=lfs -text
+eval_results/swap_T/episode48.mp4 filter=lfs diff=lfs merge=lfs -text
+eval_results/swap_T/episode27.mp4 filter=lfs diff=lfs merge=lfs -text
+eval_results/swap_T/episode79.mp4 filter=lfs diff=lfs merge=lfs -text
+eval_results/swap_T/episode30.mp4 filter=lfs diff=lfs merge=lfs -text
+eval_results/swap_T/episode51.mp4 filter=lfs diff=lfs merge=lfs -text
+eval_results/swap_T/episode33.mp4 filter=lfs diff=lfs merge=lfs -text
+eval_results/swap_T/episode52.mp4 filter=lfs diff=lfs merge=lfs -text
+eval_results/swap_T/episode85.mp4 filter=lfs diff=lfs merge=lfs -text
+eval_results/swap_T/episode20.mp4 filter=lfs diff=lfs merge=lfs -text
+eval_results/swap_T/episode34.mp4 filter=lfs diff=lfs merge=lfs -text
+eval_results/swap_T/episode88.mp4 filter=lfs diff=lfs merge=lfs -text
+eval_results/swap_T/episode56.mp4 filter=lfs diff=lfs merge=lfs -text
+eval_results/observe_and_pickup/episode35.mp4 filter=lfs diff=lfs merge=lfs -text
+eval_results/swap_T/episode3.mp4 filter=lfs diff=lfs merge=lfs -text
+eval_results/swap_T/episode22.mp4 filter=lfs diff=lfs merge=lfs -text
+eval_results/swap_T/episode54.mp4 filter=lfs diff=lfs merge=lfs -text
+eval_results/swap_T/episode4.mp4 filter=lfs diff=lfs merge=lfs -text
+eval_results/swap_T/episode10.mp4 filter=lfs diff=lfs merge=lfs -text
+eval_results/swap_T/episode62.mp4 filter=lfs diff=lfs merge=lfs -text
+eval_results/swap_T/episode57.mp4 filter=lfs diff=lfs merge=lfs -text
+eval_results/swap_T/episode5.mp4 filter=lfs diff=lfs merge=lfs -text
+eval_results/swap_T/episode58.mp4 filter=lfs diff=lfs merge=lfs -text
+eval_results/swap_T/episode93.mp4 filter=lfs diff=lfs merge=lfs -text
+eval_results/swap_T/episode55.mp4 filter=lfs diff=lfs merge=lfs -text
+eval_results/swap_T/episode71.mp4 filter=lfs diff=lfs merge=lfs -text
+eval_results/swap_T/episode80.mp4 filter=lfs diff=lfs merge=lfs -text
+eval_results/swap_T/episode42.mp4 filter=lfs diff=lfs merge=lfs -text
+eval_results/swap_T/episode46.mp4 filter=lfs diff=lfs merge=lfs -text
+eval_results/swap_T/episode13.mp4 filter=lfs diff=lfs merge=lfs -text
+eval_results/swap_T/episode1.mp4 filter=lfs diff=lfs merge=lfs -text
+eval_results/swap_T/episode77.mp4 filter=lfs diff=lfs merge=lfs -text
+eval_results/swap_T/episode37.mp4 filter=lfs diff=lfs merge=lfs -text
+eval_results/swap_T/episode70.mp4 filter=lfs diff=lfs merge=lfs -text
+eval_results/swap_T/episode68.mp4 filter=lfs diff=lfs merge=lfs -text
+eval_results/observe_and_pickup/episode45.mp4 filter=lfs diff=lfs merge=lfs -text
+eval_results/observe_and_pickup/episode11.mp4 filter=lfs diff=lfs merge=lfs -text
+eval_results/observe_and_pickup/episode26.mp4 filter=lfs diff=lfs merge=lfs -text
+eval_results/observe_and_pickup/episode14.mp4 filter=lfs diff=lfs merge=lfs -text
diff --git a/eval_results/observe_and_pickup/episode11.mp4 b/eval_results/observe_and_pickup/episode11.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d8535e198e6f09f96b8ab54c732069665f98fe1d
--- /dev/null
+++ b/eval_results/observe_and_pickup/episode11.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12b7f96be9ae4440fabe9862104fe7aed83a75ff016e20b1eed07a08fbf09ce3
+size 153439
diff --git a/eval_results/observe_and_pickup/episode14.mp4 b/eval_results/observe_and_pickup/episode14.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..72230be99c5475f5a5373597b651ec366c1a171f
--- /dev/null
+++ b/eval_results/observe_and_pickup/episode14.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9dbc7ef639ea41bf66d63e72bb40195122f117e9bc6fed59c34e7b1c037de59
+size 141975
diff --git a/eval_results/observe_and_pickup/episode16.mp4 b/eval_results/observe_and_pickup/episode16.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..692e5ccd868dce10b9cb01dda1730201400bf4e2
--- /dev/null
+++ b/eval_results/observe_and_pickup/episode16.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc8cc79781a02808e513399401672dc6922cc5040d268e91c805fcebd96f7c34
+size 148187
diff --git a/eval_results/observe_and_pickup/episode26.mp4 b/eval_results/observe_and_pickup/episode26.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..221bacffcca5adba1e857ae0c8b5522963634ce1
--- /dev/null
+++ b/eval_results/observe_and_pickup/episode26.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8684b770b9dd3d13b6e4ffc31e665f26a85c110f05d859b03d2f35b05c794c2
+size 156142
diff --git a/eval_results/observe_and_pickup/episode35.mp4 b/eval_results/observe_and_pickup/episode35.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d0cdf472001a661e6f95687ba5c436b1c7f460d4
--- /dev/null
+++ b/eval_results/observe_and_pickup/episode35.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01f129fa3059e15367b3e0e38a150c86ee9f4e23ffcd2313f5afa17a6326ab46
+size 136403
diff --git a/eval_results/observe_and_pickup/episode45.mp4 b/eval_results/observe_and_pickup/episode45.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6c02437e71342879f2c0934a57bce8eaaecdeba4
--- /dev/null
+++ b/eval_results/observe_and_pickup/episode45.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aedc7de5240af057eb7f34c3406227ed1e60ab1c3cf3954de8f8194b8d1f561e
+size 146057
diff --git a/eval_results/observe_and_pickup/episode73.mp4 b/eval_results/observe_and_pickup/episode73.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..623e226063048ad62e4190ab0e20bb5e594d2084
--- /dev/null
+++ b/eval_results/observe_and_pickup/episode73.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6afa631e632db19f5599e81b879dae10a8e035f0cb8d8ade050b13c72c0b1bc
+size 164958
diff --git a/eval_results/swap_T/episode0.mp4 b/eval_results/swap_T/episode0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c539d769781134a4a888d9e84cd93bfa961f4312
--- /dev/null
+++ b/eval_results/swap_T/episode0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c11579da9dab49c442e5e09e9cdfa4b8a51ff37ea620446c250ead6e2a23e8a3
+size 689797
diff --git a/eval_results/swap_T/episode1.mp4 b/eval_results/swap_T/episode1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b0825e573cc6b3ff6e7c45bbd70103e2b143cd58
--- /dev/null
+++ b/eval_results/swap_T/episode1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15730d57f04893c8a3270b3bbe3066c0f6284605dc8101f3c56dd90636bf095f
+size 677984
diff --git a/eval_results/swap_T/episode10.mp4 b/eval_results/swap_T/episode10.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5458551857b950a3e25431c61e27f3a016fa2f14
--- /dev/null
+++ b/eval_results/swap_T/episode10.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42e9e553aa491b4b6b13688e3adbc1427275f4d396a37d35a320da8bb55eefd0
+size 667790
diff --git a/eval_results/swap_T/episode11.mp4 b/eval_results/swap_T/episode11.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0e42af980fb82f182f71fa35f2486b8eea2f9637
--- /dev/null
+++ b/eval_results/swap_T/episode11.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:014b58ab9f2e260612cdadcddb2e62c93644b7f433997e18c5d6fe07436c6327
+size 351192
diff --git a/eval_results/swap_T/episode13.mp4 b/eval_results/swap_T/episode13.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..042741b300d085c65bf9ce260ca1b503d5d1cbaa
--- /dev/null
+++ b/eval_results/swap_T/episode13.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5944e7fce477d13c66e775d2eef8dd1aaa6663a42c5a2d6a42eafc9b167cd338
+size 508616
diff --git a/eval_results/swap_T/episode14.mp4 b/eval_results/swap_T/episode14.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9dfdbcd3106335c8783dd349b7fee59a3aa4ea35
--- /dev/null
+++ b/eval_results/swap_T/episode14.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44a2cee6484b574df0356b99835a701b8a0d51e44117238e2a1341eae8e4bb06
+size 680079
diff --git a/eval_results/swap_T/episode15.mp4 b/eval_results/swap_T/episode15.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b8208af50dc2bd4d605eff334ee9f0342f0ec4ff
--- /dev/null
+++ b/eval_results/swap_T/episode15.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95456026baa42c3067a99450441d364ee6a55b94b9dfc6f756690918a0359004
+size 652494
diff --git a/eval_results/swap_T/episode18.mp4 b/eval_results/swap_T/episode18.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c6e8876d605755cd62ed38992857eccfa4bbcabe
--- /dev/null
+++ b/eval_results/swap_T/episode18.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f90130a3dec893a63206b555f20573a85431b63b1e21363f5e82f8d903308bca
+size 684339
diff --git a/eval_results/swap_T/episode19.mp4 b/eval_results/swap_T/episode19.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..38a2082fac53ed0c8b550672c7d0bec57c6aab6d
--- /dev/null
+++ b/eval_results/swap_T/episode19.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68b760a6ee2f79abe17fa101690ee2a8d01b6195467de5ffd95a82f7e663a75c
+size 686628
diff --git a/eval_results/swap_T/episode2.mp4 b/eval_results/swap_T/episode2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..761a1fe2ab015f8c2d9ddba7e2ca275dd23d2b62
--- /dev/null
+++ b/eval_results/swap_T/episode2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96e8e17aa73ea78be6c2a09574fcc3c00b239bc77ed74c6302fbbbb83a90b58f
+size 680030
diff --git a/eval_results/swap_T/episode20.mp4 b/eval_results/swap_T/episode20.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d297b59a1878da3cdec41f599cf61852ce3e403c
--- /dev/null
+++ b/eval_results/swap_T/episode20.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c0569d7e1279ece35eefebf9dd0c114a015927a783a24cf3d2b0776a22fd5de
+size 683290
diff --git a/eval_results/swap_T/episode21.mp4 b/eval_results/swap_T/episode21.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9b47d791b9224643055f9ec860e09532f4a6c15c
--- /dev/null
+++ b/eval_results/swap_T/episode21.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22b6fcf868214ad8e31c3d7ce24a269362d9d97e4246d7cc88663f340dc32fa3
+size 682782
diff --git a/eval_results/swap_T/episode22.mp4 b/eval_results/swap_T/episode22.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f436d6edf42760039ccf0497eb8c0294923da3d4
--- /dev/null
+++ b/eval_results/swap_T/episode22.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1c805397289dd0dd530fdbcc1badfd44c591451dfd5f3fe55fd5fcac3014fcd
+size 717121
diff --git a/eval_results/swap_T/episode24.mp4 b/eval_results/swap_T/episode24.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8bd6da082bbf38b1c73389bf4deb19d3e2db20da
--- /dev/null
+++ b/eval_results/swap_T/episode24.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e34c957d1062d46307160f53022927e1bdbb880d3353de31fd4f2be624f9dea
+size 676195
diff --git a/eval_results/swap_T/episode26.mp4 b/eval_results/swap_T/episode26.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..31d39913f394773ae44e6656cbddd95ebb06e3f2
--- /dev/null
+++ b/eval_results/swap_T/episode26.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5d99459ec45479c0edf69bc691d0dabc3d3c30e37bd86aa53ab75d09055c6dd
+size 661216
diff --git a/eval_results/swap_T/episode27.mp4 b/eval_results/swap_T/episode27.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6f1949f9211084a9f1affe3e9013a7fb795a31d2
--- /dev/null
+++ b/eval_results/swap_T/episode27.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e8df023343b36db84c0614a4aab30a492d0f15b6ee1b9ae5cbf61223c2f4343
+size 655077
diff --git a/eval_results/swap_T/episode3.mp4 b/eval_results/swap_T/episode3.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..44d204edf00569b5f7b784eae101010e4a2e2245
--- /dev/null
+++ b/eval_results/swap_T/episode3.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea77e58e8b7d45954f5d5d0251ef45407a13a192a5c6f45b720146797ddd5630
+size 652407
diff --git a/eval_results/swap_T/episode30.mp4 b/eval_results/swap_T/episode30.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..55691da3695d99cea2565f80da40a0550f5831cd
--- /dev/null
+++ b/eval_results/swap_T/episode30.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce0e413507de4fb61d5148e3e485500f0c8be2f1a4f1312a6ee0b12ee0237f9b
+size 345905
diff --git a/eval_results/swap_T/episode31.mp4 b/eval_results/swap_T/episode31.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..105fbaf48693b67a4b405842e220ed029796ed07
--- /dev/null
+++ b/eval_results/swap_T/episode31.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1bef1a942568b300e18ce2623e5da56e8507d7eb64680e01a60d2e52eca039c3
+size 677820
diff --git a/eval_results/swap_T/episode32.mp4 b/eval_results/swap_T/episode32.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..68284f5da6d33557ef8750afff5fcc94380a7c37
--- /dev/null
+++ b/eval_results/swap_T/episode32.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5bf4acc492016f716357af5ebccc0f044be074a1e5623ec7f0d316ad0d52be1
+size 606435
diff --git a/eval_results/swap_T/episode33.mp4 b/eval_results/swap_T/episode33.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..71e9269452242b21d3a695c41e25fea0a27816f9
--- /dev/null
+++ b/eval_results/swap_T/episode33.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa1d1aae02081f4112c6199a56e5906e8fb5fb890ebf43e0295a95430bdc84f6
+size 339923
diff --git a/eval_results/swap_T/episode34.mp4 b/eval_results/swap_T/episode34.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..60762f8cfafacfb94a650e9fd1a43cb4fce72f30
--- /dev/null
+++ b/eval_results/swap_T/episode34.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65c2430df7c27f6056898404b6784a4f1967f620a9144eaff991c428a7aff67c
+size 664417
diff --git a/eval_results/swap_T/episode35.mp4 b/eval_results/swap_T/episode35.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1642597704b323c785988204365121ba8afbc60e
--- /dev/null
+++ b/eval_results/swap_T/episode35.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1efda60d3c4d30f396cabd6b995ec37ba852d6d5ed8e465823a7ef7975c018e0
+size 666187
diff --git a/eval_results/swap_T/episode36.mp4 b/eval_results/swap_T/episode36.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2a8d3d1c27f473c8d7d3cc92647d96ef7108c803
--- /dev/null
+++ b/eval_results/swap_T/episode36.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6fe671e02b61ded2cfcadc83900b52ee27c621024918fda6f54af4cac3728ce8
+size 688366
diff --git a/eval_results/swap_T/episode37.mp4 b/eval_results/swap_T/episode37.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a46a4ccd5d5b3574ee7de40ee4ff089623f66ddb
--- /dev/null
+++ b/eval_results/swap_T/episode37.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c411c836ddc730fe48e41544a12c28a3e4ac524c627885c0c442a740c997e3a
+size 670319
diff --git a/eval_results/swap_T/episode4.mp4 b/eval_results/swap_T/episode4.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6da7bf3cc1e5944b3ad511f587124164b473d7fa
--- /dev/null
+++ b/eval_results/swap_T/episode4.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:893c5bd4df294be11edfc52e90f4402483c87100bcfcbfddde6008d920ce155c
+size 333284
diff --git a/eval_results/swap_T/episode42.mp4 b/eval_results/swap_T/episode42.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d53206e7146549f0178e1ca2332a214b44e35b8f
--- /dev/null
+++ b/eval_results/swap_T/episode42.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94cb10019e6eb4281de48e46f7d79ab261410cc292cad449ba1ad486bbf26b5d
+size 662728
diff --git a/eval_results/swap_T/episode44.mp4 b/eval_results/swap_T/episode44.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5048273b0fc5ab7b0610bcb3d5eddb3cffbf3bf3
--- /dev/null
+++ b/eval_results/swap_T/episode44.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f9422e2a07d88ee289e120e325062f025b14404da9c7f32d7bced9544db36f6
+size 680937
diff --git a/eval_results/swap_T/episode46.mp4 b/eval_results/swap_T/episode46.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bcd14d7c839a2ae765d3ff42e5a0011b2af59744
--- /dev/null
+++ b/eval_results/swap_T/episode46.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff0317fc5d27c38023e42b27b52e92fa0b8e94e91a47eb422878cb1bd3a73e36
+size 636255
diff --git a/eval_results/swap_T/episode47.mp4 b/eval_results/swap_T/episode47.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7dcc83db8618278d1296a2fd8cd17dfb015828cc
--- /dev/null
+++ b/eval_results/swap_T/episode47.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66f5806cfff3447775ee2cd9885dd5e67bf1a3e484a64c95cb453a63de4e7dd3
+size 695394
diff --git a/eval_results/swap_T/episode48.mp4 b/eval_results/swap_T/episode48.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..427e476a61bae6fceae50f8fdb84f8ba1eae7c08
--- /dev/null
+++ b/eval_results/swap_T/episode48.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dad1298e45dd8007e574ba57af2a10390102faabe14d6ffbb79e0bc87fa40ec8
+size 684463
diff --git a/eval_results/swap_T/episode5.mp4 b/eval_results/swap_T/episode5.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1315112effb25908bd1052cc0c877493f857dc37
--- /dev/null
+++ b/eval_results/swap_T/episode5.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d779e797e3512020cec244c728011909cdf4a8777bcdc60c68c04a0e75058b95
+size 645406
diff --git a/eval_results/swap_T/episode51.mp4 b/eval_results/swap_T/episode51.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..18a794ae5245e3ed5096134320e25a7693dfb607
--- /dev/null
+++ b/eval_results/swap_T/episode51.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8cb3c57dcc4c3efa5efcb3365a45e895bb38261b11619adba07a10fa94b792e9
+size 342540
diff --git a/eval_results/swap_T/episode52.mp4 b/eval_results/swap_T/episode52.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..db4ff104a806fae9131c89cfa1c6b10c6fd89103
--- /dev/null
+++ b/eval_results/swap_T/episode52.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47b0d318c3d9a82c019f221bcadcaf5aace5e0213bc14cd21f1fd71f50d03d1b
+size 651440
diff --git a/eval_results/swap_T/episode53.mp4 b/eval_results/swap_T/episode53.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..01348eef5ca3b5bb06ae77035ceba01bc04d1d41
--- /dev/null
+++ b/eval_results/swap_T/episode53.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1e7f6d91ce0383bb8237c5d760feaa2d6fc5d940e49e703a891e83a23ad0fdf
+size 667370
diff --git a/eval_results/swap_T/episode54.mp4 b/eval_results/swap_T/episode54.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cba017243539d6a20607f34aa3c9e938e562dddf
--- /dev/null
+++ b/eval_results/swap_T/episode54.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:353d1ab1e9780bf6449b9f9a967a1f3c84ef1b860455462e8beb09b05e33ec98
+size 674923
diff --git a/eval_results/swap_T/episode55.mp4 b/eval_results/swap_T/episode55.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8fbaf74a19c645cbcb430c5b4260128eda0b8058
--- /dev/null
+++ b/eval_results/swap_T/episode55.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa2c87a1fe942645c1cf6201d90ce8dd162f6cb31fff82e2b53a3505dd24ed01
+size 644642
diff --git a/eval_results/swap_T/episode56.mp4 b/eval_results/swap_T/episode56.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a5f48d349040ba22a7364079395338ba79935a11
--- /dev/null
+++ b/eval_results/swap_T/episode56.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cdb0807ec446ee09ed0bcc60cdb3944c36eefefc98b83834710339562a5fffe9
+size 677946
diff --git a/eval_results/swap_T/episode57.mp4 b/eval_results/swap_T/episode57.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..26834e14d26b3c6138cef1c4629880dc810aced6
--- /dev/null
+++ b/eval_results/swap_T/episode57.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72367b57e55b46c77daa9d7192f1c19b633d5b2a5a44b9374def2bd6a62bc553
+size 681900
diff --git a/eval_results/swap_T/episode58.mp4 b/eval_results/swap_T/episode58.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e44ccba404904f26f9370ac7092716a7bdb1c72c
--- /dev/null
+++ b/eval_results/swap_T/episode58.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2115d4d3769cd03f6f9517fdb2d27b1343aec2549e27a71ff7be0d9200d500b
+size 689647
diff --git a/eval_results/swap_T/episode59.mp4 b/eval_results/swap_T/episode59.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4207f091d246d09ffb6577596ef450a85f3e221b
--- /dev/null
+++ b/eval_results/swap_T/episode59.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae2f83f03ae1ac3d4e748958755596a75338360797cb37f8874effc719efca42
+size 680384
diff --git a/eval_results/swap_T/episode6.mp4 b/eval_results/swap_T/episode6.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0f87570872b651c329974acb95510dfdaf75c3af
--- /dev/null
+++ b/eval_results/swap_T/episode6.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4bea3fcdf28c5ca6f8e443e89ec946285ee2bac1b70e166b2d733b1801f7a4b
+size 682824
diff --git a/eval_results/swap_T/episode60.mp4 b/eval_results/swap_T/episode60.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..627ac55fb51ecdc5ffbfa23074b1f8f9f9050919
--- /dev/null
+++ b/eval_results/swap_T/episode60.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:314c091758d2a42dbf51a8e0e191e4ccf6cbc9f5c68868045abaaa9853762fe1
+size 698966
diff --git a/eval_results/swap_T/episode61.mp4 b/eval_results/swap_T/episode61.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..db5e6811fefd3ae5e2b5176b145bdf8a3b46089c
--- /dev/null
+++ b/eval_results/swap_T/episode61.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40e5e30c4db7a3d247ea945f3cb7f6fb9483f146d5b5f0161baa2e8667a6278b
+size 615920
diff --git a/eval_results/swap_T/episode62.mp4 b/eval_results/swap_T/episode62.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..84974b902698c476ff208ccabb85dd0221da83aa
--- /dev/null
+++ b/eval_results/swap_T/episode62.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10ea61a6bbb2286b8408c26f0442ef5d4a87ffce821c07886e8df5241489d87f
+size 652624
diff --git a/eval_results/swap_T/episode65.mp4 b/eval_results/swap_T/episode65.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6a26521c9e18b28fd58a4ad9a8c9b48526863dc9
--- /dev/null
+++ b/eval_results/swap_T/episode65.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f5b864bdc8de3ee7c34ca903bec3d4f8e0bb8f4f316980296230c388adcc70e
+size 655024
diff --git a/eval_results/swap_T/episode67.mp4 b/eval_results/swap_T/episode67.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9e67b792c55f1c255a426377ee3917cfde78c138
--- /dev/null
+++ b/eval_results/swap_T/episode67.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66af9a044a81c3daa1b6243b6e0f9410e6afa38b1fdc9db707575d9c5b974b41
+size 643519
diff --git a/eval_results/swap_T/episode68.mp4 b/eval_results/swap_T/episode68.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4e9b89117afe894975179c171d87e20279e7ba1b
--- /dev/null
+++ b/eval_results/swap_T/episode68.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbb5f46fb8d128295e1c9369bd5fc468dd63b9b890b48a1c95628888e0afb3d2
+size 681653
diff --git a/eval_results/swap_T/episode69.mp4 b/eval_results/swap_T/episode69.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fc4445be8b598147818e494e32af796fcdb8e42f
--- /dev/null
+++ b/eval_results/swap_T/episode69.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a94f616fc37a180c3a7c878b08e20ab483acd62c7a8f024ad4888227603b212c
+size 670795
diff --git a/eval_results/swap_T/episode70.mp4 b/eval_results/swap_T/episode70.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b243d6e1adbb6d5540d607b75142aa2db35b2c03
--- /dev/null
+++ b/eval_results/swap_T/episode70.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da3c4e73365c5902b1080476e957859107737065e0c785b63055ac706069d72b
+size 676710
diff --git a/eval_results/swap_T/episode71.mp4 b/eval_results/swap_T/episode71.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..22dbe810b60b4dcbdfa75d3124be18f6700392f5
--- /dev/null
+++ b/eval_results/swap_T/episode71.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e53a4a47f1d18176383a178b0eb98bbf012e447cfe4f3848833067189e16bf9
+size 673812
diff --git a/eval_results/swap_T/episode72.mp4 b/eval_results/swap_T/episode72.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..25c8d10727223eb2c0e20f1ee07f977bec0b242d
--- /dev/null
+++ b/eval_results/swap_T/episode72.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6118399b2e0ba2de0010bbe82d6394a5cc915119584c316c21a78fdc006ed9e1
+size 675219
diff --git a/eval_results/swap_T/episode73.mp4 b/eval_results/swap_T/episode73.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..86d903d652d75863cd08f34ba714f9adbe4f98ab
--- /dev/null
+++ b/eval_results/swap_T/episode73.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b181add1f5f0e10c828bbc960d7a826c6fd82b08b5ca8497ad91d23f6a835191
+size 679322
diff --git a/eval_results/swap_T/episode74.mp4 b/eval_results/swap_T/episode74.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d8192fe2b2ae158ef173cd72bf70b7016b2dc94d
--- /dev/null
+++ b/eval_results/swap_T/episode74.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae0eb9f2e992577b51230250631b80be9b937fbefe28ee5173378e5e325c5233
+size 689353
diff --git a/eval_results/swap_T/episode75.mp4 b/eval_results/swap_T/episode75.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..88717822bd3f41ec5392dc1ee8575bafd043900d
--- /dev/null
+++ b/eval_results/swap_T/episode75.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fabcef7a8c8b2b4884e903fd8597097276d1c4ea4a1df6b1640126bd7d0a7789
+size 683759
diff --git a/eval_results/swap_T/episode77.mp4 b/eval_results/swap_T/episode77.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3154ce3bebbd8d0a579a6fa6225bd634bab0ff66
--- /dev/null
+++ b/eval_results/swap_T/episode77.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7e6f596d467b47adc6a7cc74ca357f2bd112920c260ad63d761caa267d846b2
+size 685039
diff --git a/eval_results/swap_T/episode79.mp4 b/eval_results/swap_T/episode79.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a52735aa762e24cfdc620532b3e45d5405f2e5e3
--- /dev/null
+++ b/eval_results/swap_T/episode79.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8fd9b9159a2d1b4fc504a70b26c06e0cde766d068f84e81d78709b64785e5055
+size 716554
diff --git a/eval_results/swap_T/episode80.mp4 b/eval_results/swap_T/episode80.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..431988bd10d9686f39a8e89bfd3951044e0f06a4
--- /dev/null
+++ b/eval_results/swap_T/episode80.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dcde164beed3951ff54a5e2eae226df47158ae33d4d34891c7e2e1d30c013e56
+size 347105
diff --git a/eval_results/swap_T/episode83.mp4 b/eval_results/swap_T/episode83.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c26fc5037568200732d7cc0d16763d1d7599e5e2
--- /dev/null
+++ b/eval_results/swap_T/episode83.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02b74ab546e938be95a141e100e566e3f234e2b9ad6d4fdc1f4bd1471fdd3a1f
+size 680764
diff --git a/eval_results/swap_T/episode84.mp4 b/eval_results/swap_T/episode84.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6229b94068a52aa292a29bb73c57c5c6de83590c
--- /dev/null
+++ b/eval_results/swap_T/episode84.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a6123167ee5af9745abcef56c43eed387efa8911c5b87b801637be7f90ca72f
+size 346227
diff --git a/eval_results/swap_T/episode85.mp4 b/eval_results/swap_T/episode85.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..47f7f996b24ea34785cdde97ef495d62d271a5eb
--- /dev/null
+++ b/eval_results/swap_T/episode85.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85fc5ee24922ee12ff15c3b685602e265b1e99c5c9901aca87de7705263933e5
+size 702158
diff --git a/eval_results/swap_T/episode88.mp4 b/eval_results/swap_T/episode88.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9eec98aa5554a8797c6d016150dc205bb5e1cb24
--- /dev/null
+++ b/eval_results/swap_T/episode88.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:220a8919d0e9166be34c6d4a785f3bb3a38492f26fc1db44afb7d675eb37b042
+size 672046
diff --git a/eval_results/swap_T/episode9.mp4 b/eval_results/swap_T/episode9.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4f367fe2e3bc7d9992d709cbf86ce33df5db682a
--- /dev/null
+++ b/eval_results/swap_T/episode9.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5633fef5eb86ff8493336ebb2f633c1e85a450295441fcf56c4f063aec0ab9e6
+size 686114
diff --git a/eval_results/swap_T/episode93.mp4 b/eval_results/swap_T/episode93.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e1dfdc02ad2ece41e5d0df8a7e9d4b5af80900ae
--- /dev/null
+++ b/eval_results/swap_T/episode93.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43b9a1dae81d02922ed0c1957fdc2835a52d67db9cd769ec3701eeefb467a0c6
+size 676767
diff --git a/eval_results/swap_T/episode95.mp4 b/eval_results/swap_T/episode95.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4153eacb1fcd8b5f273906dd349b5907a7d2e9a9
--- /dev/null
+++ b/eval_results/swap_T/episode95.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eef8395d10a73e63ec24800bc5b0fa75fd00144eecfa9426c351af125bf7a36d
+size 336610
diff --git a/eval_results/swap_T/episode96.mp4 b/eval_results/swap_T/episode96.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..06a91778a189f3a2f8dd0df83c7d08279f0480c0
--- /dev/null
+++ b/eval_results/swap_T/episode96.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c9516fc0ad260518be8e78aeddc58cf324719f2c57f9899c8758b9736e0d441
+size 673086
diff --git a/eval_results/swap_T/episode97.mp4 b/eval_results/swap_T/episode97.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9f7df02ef25b2cf2e450979f65a1a110b6bcd666
--- /dev/null
+++ b/eval_results/swap_T/episode97.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc9603e750cc28be7a71b91cd5ea57b305a0b77f1f8505b530d606e13e59e564
+size 507050
diff --git a/eval_results/swap_T/episode98.mp4 b/eval_results/swap_T/episode98.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7e2b3e192f40dd9d5f99f46244bb76e9d6a33829
--- /dev/null
+++ b/eval_results/swap_T/episode98.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:628f819b559e4fdecf82e2c38763797111db9096a6173906674d5383b7af1e68
+size 674015