diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/020000/pretrained_model/config.json b/checkpoints/diffusion_unet_dino_data_augmentation/joints/020000/pretrained_model/config.json
deleted file mode 100644
index 2fa3687b3b250787f09885f221d1cebc81f4fe1e..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/020000/pretrained_model/config.json
+++ /dev/null
@@ -1,90 +0,0 @@
-{
-    "type": "diffusion",
-    "n_obs_steps": 2,
-    "input_features": {
-        "observation.state": {
-            "type": "STATE",
-            "shape": [
-                6
-            ]
-        },
-        "observation.images.front": {
-            "type": "VISUAL",
-            "shape": [
-                3,
-                480,
-                640
-            ]
-        }
-    },
-    "output_features": {
-        "action": {
-            "type": "ACTION",
-            "shape": [
-                6
-            ]
-        }
-    },
-    "device": "cuda",
-    "use_amp": false,
-    "use_peft": false,
-    "push_to_hub": false,
-    "repo_id": null,
-    "private": null,
-    "tags": null,
-    "license": null,
-    "pretrained_path": null,
-    "horizon": 16,
-    "n_action_steps": 8,
-    "normalization_mapping": {
-        "VISUAL": "MEAN_STD",
-        "STATE": "MIN_MAX",
-        "ACTION": "MIN_MAX"
-    },
-    "drop_n_last_frames": 7,
-    "vision_backbone_type": "dinov2",
-    "vision_encoder_name": "facebook/dinov2-small",
-    "freeze_vision_encoder": true,
-    "vision_backbone": "resnet18",
-    "resize_shape": [
-        224,
-        224
-    ],
-    "crop_ratio": 1.0,
-    "crop_shape": null,
-    "crop_is_random": true,
-    "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
-    "use_group_norm": false,
-    "spatial_softmax_num_keypoints": 32,
-    "use_separate_rgb_encoder_per_camera": true,
-    "down_dims": [
-        512,
-        1024,
-        2048
-    ],
-    "kernel_size": 5,
-    "n_groups": 8,
-    "diffusion_step_embed_dim": 128,
-    "use_film_scale_modulation": true,
-    "noise_scheduler_type": "DDPM",
-    "num_train_timesteps": 100,
-    "beta_schedule": "squaredcos_cap_v2",
-    "beta_start": 0.0001,
-    "beta_end": 0.02,
-    "prediction_type": "epsilon",
-    "clip_sample": true,
-    "clip_sample_range": 1.0,
-    "num_inference_steps": 100,
-    "compile_model": false,
-    "compile_mode": "reduce-overhead",
-    "do_mask_loss_for_padding": false,
-    "optimizer_lr": 0.0001,
-    "optimizer_betas": [
-        0.95,
-        0.999
-    ],
-    "optimizer_eps": 1e-08,
-    "optimizer_weight_decay": 1e-06,
-    "scheduler_name": "cosine",
-    "scheduler_warmup_steps": 500
-}
\ No newline at end of file
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/020000/pretrained_model/model.safetensors b/checkpoints/diffusion_unet_dino_data_augmentation/joints/020000/pretrained_model/model.safetensors
deleted file mode 100644
index 2f4c23374d457e882f606aa1e54b3fd90c1540de..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/020000/pretrained_model/model.safetensors
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:dcb3b07b5ebda46517f0754eb270a8563e5b21e9fee4bb2a2fa52187b8fd87ff
-size 1095367712
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/020000/pretrained_model/policy_postprocessor.json b/checkpoints/diffusion_unet_dino_data_augmentation/joints/020000/pretrained_model/policy_postprocessor.json
deleted file mode 100644
index f2c5e6cea7850bb999ab193f96021fa0129ce4db..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/020000/pretrained_model/policy_postprocessor.json
+++ /dev/null
@@ -1,32 +0,0 @@
-{
-  "name": "policy_postprocessor",
-  "steps": [
-    {
-      "registry_name": "unnormalizer_processor",
-      "config": {
-        "eps": 1e-08,
-        "features": {
-          "action": {
-            "type": "ACTION",
-            "shape": [
-              6
-            ]
-          }
-        },
-        "norm_map": {
-          "VISUAL": "MEAN_STD",
-          "STATE": "MIN_MAX",
-          "ACTION": "MIN_MAX"
-        }
-      },
-      "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
-    },
-    {
-      "registry_name": "device_processor",
-      "config": {
-        "device": "cpu",
-        "float_dtype": null
-      }
-    }
-  ]
-}
\ No newline at end of file
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/020000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors b/checkpoints/diffusion_unet_dino_data_augmentation/joints/020000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors
deleted file mode 100644
index ad9e18436f8f0c586020700f357c5f939d1e2626..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/020000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:89a27803b4e2ad57a700eb9917bb97a9d4cc857f094337451fa30a3ffca0dbce
-size 6560
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/020000/pretrained_model/policy_preprocessor.json b/checkpoints/diffusion_unet_dino_data_augmentation/joints/020000/pretrained_model/policy_preprocessor.json
deleted file mode 100644
index a6f57e6242af17f882bc107c602ca76393c57d55..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/020000/pretrained_model/policy_preprocessor.json
+++ /dev/null
@@ -1,56 +0,0 @@
-{
-  "name": "policy_preprocessor",
-  "steps": [
-    {
-      "registry_name": "rename_observations_processor",
-      "config": {
-        "rename_map": {}
-      }
-    },
-    {
-      "registry_name": "to_batch_processor",
-      "config": {}
-    },
-    {
-      "registry_name": "device_processor",
-      "config": {
-        "device": "cuda",
-        "float_dtype": null
-      }
-    },
-    {
-      "registry_name": "normalizer_processor",
-      "config": {
-        "eps": 1e-08,
-        "features": {
-          "observation.state": {
-            "type": "STATE",
-            "shape": [
-              6
-            ]
-          },
-          "observation.images.front": {
-            "type": "VISUAL",
-            "shape": [
-              3,
-              480,
-              640
-            ]
-          },
-          "action": {
-            "type": "ACTION",
-            "shape": [
-              6
-            ]
-          }
-        },
-        "norm_map": {
-          "VISUAL": "MEAN_STD",
-          "STATE": "MIN_MAX",
-          "ACTION": "MIN_MAX"
-        }
-      },
-      "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
-    }
-  ]
-}
\ No newline at end of file
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/020000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors b/checkpoints/diffusion_unet_dino_data_augmentation/joints/020000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors
deleted file mode 100644
index ad9e18436f8f0c586020700f357c5f939d1e2626..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/020000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:89a27803b4e2ad57a700eb9917bb97a9d4cc857f094337451fa30a3ffca0dbce
-size 6560
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/020000/pretrained_model/train_config.json b/checkpoints/diffusion_unet_dino_data_augmentation/joints/020000/pretrained_model/train_config.json
deleted file mode 100644
index f8fc0ef49836809a64079818985a21e2bf489aef..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/020000/pretrained_model/train_config.json
+++ /dev/null
@@ -1,300 +0,0 @@
-{
-    "dataset": {
-        "repo_id": "local/act_collected_episodes",
-        "root": "/home/rguntz/Desktop/robot_learning/dataset/act_collected_episodes",
-        "episodes": null,
-        "image_transforms": {
-            "enable": false,
-            "max_num_transforms": 3,
-            "random_order": false,
-            "same_cloth_color": false,
-            "tfs": {
-                "color_jitter": {
-                    "weight": 1.5,
-                    "type": "ColorJitter",
-                    "kwargs": {
-                        "brightness": [
-                            0.7,
-                            1.3
-                        ],
-                        "contrast": [
-                            0.7,
-                            1.3
-                        ],
-                        "saturation": [
-                            0.4,
-                            1.6
-                        ],
-                        "hue": [
-                            -0.5,
-                            0.5
-                        ]
-                    }
-                },
-                "grayscale": {
-                    "weight": 0.5,
-                    "type": "RandomGrayscale",
-                    "kwargs": {
-                        "p": 1.0
-                    }
-                },
-                "shadow": {
-                    "weight": 0.8,
-                    "type": "RandomShadow",
-                    "kwargs": {
-                        "num_shadows": [
-                            1,
-                            2
-                        ],
-                        "intensity": [
-                            0.4,
-                            0.7
-                        ],
-                        "blur_sigma": [
-                            4.0,
-                            20.0
-                        ]
-                    }
-                },
-                "highlight": {
-                    "weight": 0.5,
-                    "type": "RandomHighlight",
-                    "kwargs": {
-                        "num_highlights": [
-                            0,
-                            1
-                        ],
-                        "intensity": [
-                            0.2,
-                            0.5
-                        ],
-                        "sigma": [
-                            20.0,
-                            60.0
-                        ]
-                    }
-                },
-                "gamma": {
-                    "weight": 0.7,
-                    "type": "RandomGamma",
-                    "kwargs": {
-                        "gamma": [
-                            0.6,
-                            1.4
-                        ]
-                    }
-                },
-                "blur": {
-                    "weight": 0.0,
-                    "type": "GaussianBlur",
-                    "kwargs": {
-                        "kernel_size": [
-                            3,
-                            3
-                        ],
-                        "sigma": [
-                            0.1,
-                            1.5
-                        ]
-                    }
-                },
-                "jpeg": {
-                    "weight": 0.0,
-                    "type": "RandomJPEG",
-                    "kwargs": {
-                        "quality": [
-                            60,
-                            95
-                        ]
-                    }
-                },
-                "crop": {
-                    "weight": 0.5,
-                    "type": "RandomCropPreserveSize",
-                    "kwargs": {
-                        "scale": [
-                            0.97,
-                            1.0
-                        ],
-                        "ratio": [
-                            0.99,
-                            1.01
-                        ]
-                    }
-                },
-                "affine": {
-                    "weight": 0.0,
-                    "type": "RandomAffine",
-                    "kwargs": {
-                        "degrees": [
-                            -5.0,
-                            5.0
-                        ],
-                        "translate": [
-                            0.05,
-                            0.05
-                        ]
-                    }
-                },
-                "sharpness": {
-                    "weight": 1.0,
-                    "type": "SharpnessJitter",
-                    "kwargs": {
-                        "sharpness": [
-                            0.5,
-                            1.5
-                        ]
-                    }
-                }
-            }
-        },
-        "revision": null,
-        "use_imagenet_stats": true,
-        "video_backend": "pyav",
-        "return_uint8": false,
-        "streaming": false
-    },
-    "env": null,
-    "policy": {
-        "type": "diffusion",
-        "n_obs_steps": 2,
-        "input_features": {
-            "observation.state": {
-                "type": "STATE",
-                "shape": [
-                    6
-                ]
-            },
-            "observation.images.front": {
-                "type": "VISUAL",
-                "shape": [
-                    3,
-                    480,
-                    640
-                ]
-            }
-        },
-        "output_features": {
-            "action": {
-                "type": "ACTION",
-                "shape": [
-                    6
-                ]
-            }
-        },
-        "device": "cuda",
-        "use_amp": false,
-        "use_peft": false,
-        "push_to_hub": false,
-        "repo_id": null,
-        "private": null,
-        "tags": null,
-        "license": null,
-        "pretrained_path": null,
-        "horizon": 16,
-        "n_action_steps": 8,
-        "normalization_mapping": {
-            "VISUAL": "MEAN_STD",
-            "STATE": "MIN_MAX",
-            "ACTION": "MIN_MAX"
-        },
-        "drop_n_last_frames": 7,
-        "vision_backbone_type": "dinov2",
-        "vision_encoder_name": "facebook/dinov2-small",
-        "freeze_vision_encoder": true,
-        "vision_backbone": "resnet18",
-        "resize_shape": [
-            224,
-            224
-        ],
-        "crop_ratio": 1.0,
-        "crop_shape": null,
-        "crop_is_random": true,
-        "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
-        "use_group_norm": false,
-        "spatial_softmax_num_keypoints": 32,
-        "use_separate_rgb_encoder_per_camera": true,
-        "down_dims": [
-            512,
-            1024,
-            2048
-        ],
-        "kernel_size": 5,
-        "n_groups": 8,
-        "diffusion_step_embed_dim": 128,
-        "use_film_scale_modulation": true,
-        "noise_scheduler_type": "DDPM",
-        "num_train_timesteps": 100,
-        "beta_schedule": "squaredcos_cap_v2",
-        "beta_start": 0.0001,
-        "beta_end": 0.02,
-        "prediction_type": "epsilon",
-        "clip_sample": true,
-        "clip_sample_range": 1.0,
-        "num_inference_steps": 100,
-        "compile_model": false,
-        "compile_mode": "reduce-overhead",
-        "do_mask_loss_for_padding": false,
-        "optimizer_lr": 0.0001,
-        "optimizer_betas": [
-            0.95,
-            0.999
-        ],
-        "optimizer_eps": 1e-08,
-        "optimizer_weight_decay": 1e-06,
-        "scheduler_name": "cosine",
-        "scheduler_warmup_steps": 500
-    },
-    "reward_model": null,
-    "output_dir": "/home/rguntz/Desktop/robot_learning/outputs/train/diffusion_laptop_20260515_200616",
-    "job_name": "diffusion_laptop_20260515_200616",
-    "resume": false,
-    "seed": 1000,
-    "cudnn_deterministic": false,
-    "num_workers": 4,
-    "batch_size": 32,
-    "prefetch_factor": 4,
-    "persistent_workers": true,
-    "steps": 200000,
-    "eval_freq": 0,
-    "log_freq": 20,
-    "tolerance_s": 0.0001,
-    "save_checkpoint": true,
-    "save_freq": 20000,
-    "use_policy_training_preset": true,
-    "optimizer": {
-        "type": "adam",
-        "lr": 0.0001,
-        "weight_decay": 1e-06,
-        "grad_clip_norm": 10.0,
-        "betas": [
-            0.95,
-            0.999
-        ],
-        "eps": 1e-08
-    },
-    "scheduler": {
-        "type": "diffuser",
-        "num_warmup_steps": 500,
-        "name": "cosine"
-    },
-    "eval": {
-        "n_episodes": 50,
-        "batch_size": 11,
-        "use_async_envs": true
-    },
-    "wandb": {
-        "enable": true,
-        "disable_artifact": false,
-        "project": "lerobot",
-        "entity": null,
-        "notes": null,
-        "run_id": "9kipd4of",
-        "mode": null,
-        "add_tags": true
-    },
-    "peft": null,
-    "sample_weighting": null,
-    "rename_map": {},
-    "checkpoint_path": null
-}
\ No newline at end of file
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/020000/training_state/optimizer_param_groups.json b/checkpoints/diffusion_unet_dino_data_augmentation/joints/020000/training_state/optimizer_param_groups.json
deleted file mode 100644
index 70a12d55c223f07bf32c57ee64925e50a9901c99..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/020000/training_state/optimizer_param_groups.json
+++ /dev/null
@@ -1,396 +0,0 @@
-[
-    {
-        "lr": 9.766112029998846e-05,
-        "betas": [
-            0.95,
-            0.999
-        ],
-        "eps": 1e-08,
-        "weight_decay": 1e-06,
-        "amsgrad": false,
-        "maximize": false,
-        "foreach": null,
-        "capturable": false,
-        "differentiable": false,
-        "fused": null,
-        "decoupled_weight_decay": false,
-        "initial_lr": 0.0001,
-        "params": [
-            0,
-            1,
-            2,
-            3,
-            4,
-            5,
-            6,
-            7,
-            8,
-            9,
-            10,
-            11,
-            12,
-            13,
-            14,
-            15,
-            16,
-            17,
-            18,
-            19,
-            20,
-            21,
-            22,
-            23,
-            24,
-            25,
-            26,
-            27,
-            28,
-            29,
-            30,
-            31,
-            32,
-            33,
-            34,
-            35,
-            36,
-            37,
-            38,
-            39,
-            40,
-            41,
-            42,
-            43,
-            44,
-            45,
-            46,
-            47,
-            48,
-            49,
-            50,
-            51,
-            52,
-            53,
-            54,
-            55,
-            56,
-            57,
-            58,
-            59,
-            60,
-            61,
-            62,
-            63,
-            64,
-            65,
-            66,
-            67,
-            68,
-            69,
-            70,
-            71,
-            72,
-            73,
-            74,
-            75,
-            76,
-            77,
-            78,
-            79,
-            80,
-            81,
-            82,
-            83,
-            84,
-            85,
-            86,
-            87,
-            88,
-            89,
-            90,
-            91,
-            92,
-            93,
-            94,
-            95,
-            96,
-            97,
-            98,
-            99,
-            100,
-            101,
-            102,
-            103,
-            104,
-            105,
-            106,
-            107,
-            108,
-            109,
-            110,
-            111,
-            112,
-            113,
-            114,
-            115,
-            116,
-            117,
-            118,
-            119,
-            120,
-            121,
-            122,
-            123,
-            124,
-            125,
-            126,
-            127,
-            128,
-            129,
-            130,
-            131,
-            132,
-            133,
-            134,
-            135,
-            136,
-            137,
-            138,
-            139,
-            140,
-            141,
-            142,
-            143,
-            144,
-            145,
-            146,
-            147,
-            148,
-            149,
-            150,
-            151,
-            152,
-            153,
-            154,
-            155,
-            156,
-            157,
-            158,
-            159,
-            160,
-            161,
-            162,
-            163,
-            164,
-            165,
-            166,
-            167,
-            168,
-            169,
-            170,
-            171,
-            172,
-            173,
-            174,
-            175,
-            176,
-            177,
-            178,
-            179,
-            180,
-            181,
-            182,
-            183,
-            184,
-            185,
-            186,
-            187,
-            188,
-            189,
-            190,
-            191,
-            192,
-            193,
-            194,
-            195,
-            196,
-            197,
-            198,
-            199,
-            200,
-            201,
-            202,
-            203,
-            204,
-            205,
-            206,
-            207,
-            208,
-            209,
-            210,
-            211,
-            212,
-            213,
-            214,
-            215,
-            216,
-            217,
-            218,
-            219,
-            220,
-            221,
-            222,
-            223,
-            224,
-            225,
-            226,
-            227,
-            228,
-            229,
-            230,
-            231,
-            232,
-            233,
-            234,
-            235,
-            236,
-            237,
-            238,
-            239,
-            240,
-            241,
-            242,
-            243,
-            244,
-            245,
-            246,
-            247,
-            248,
-            249,
-            250,
-            251,
-            252,
-            253,
-            254,
-            255,
-            256,
-            257,
-            258,
-            259,
-            260,
-            261,
-            262,
-            263,
-            264,
-            265,
-            266,
-            267,
-            268,
-            269,
-            270,
-            271,
-            272,
-            273,
-            274,
-            275,
-            276,
-            277,
-            278,
-            279,
-            280,
-            281,
-            282,
-            283,
-            284,
-            285,
-            286,
-            287,
-            288,
-            289,
-            290,
-            291,
-            292,
-            293,
-            294,
-            295,
-            296,
-            297,
-            298,
-            299,
-            300,
-            301,
-            302,
-            303,
-            304,
-            305,
-            306,
-            307,
-            308,
-            309,
-            310,
-            311,
-            312,
-            313,
-            314,
-            315,
-            316,
-            317,
-            318,
-            319,
-            320,
-            321,
-            322,
-            323,
-            324,
-            325,
-            326,
-            327,
-            328,
-            329,
-            330,
-            331,
-            332,
-            333,
-            334,
-            335,
-            336,
-            337,
-            338,
-            339,
-            340,
-            341,
-            342,
-            343,
-            344,
-            345,
-            346,
-            347,
-            348,
-            349,
-            350,
-            351,
-            352,
-            353,
-            354,
-            355,
-            356,
-            357,
-            358,
-            359,
-            360,
-            361,
-            362,
-            363,
-            364,
-            365,
-            366,
-            367,
-            368,
-            369,
-            370,
-            371,
-            372,
-            373,
-            374
-        ]
-    }
-]
\ No newline at end of file
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/020000/training_state/optimizer_state.safetensors b/checkpoints/diffusion_unet_dino_data_augmentation/joints/020000/training_state/optimizer_state.safetensors
deleted file mode 100644
index 1a53c453e88aa51d8220ec383932f4ace03ac045..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/020000/training_state/optimizer_state.safetensors
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:c56facffc91bbdeebe342ed75c72641ead9f7026bd00eeba01ede9de0a2e13a9
-size 2014217744
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/020000/training_state/rng_state.safetensors b/checkpoints/diffusion_unet_dino_data_augmentation/joints/020000/training_state/rng_state.safetensors
deleted file mode 100644
index 8ca6966159190fef17d3cc7b184065e4178636d2..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/020000/training_state/rng_state.safetensors
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:d28c44a24cbd6edc45423102df28ba8ee44cc1e303c9fc672f7839746018db50
-size 15708
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/020000/training_state/scheduler_state.json b/checkpoints/diffusion_unet_dino_data_augmentation/joints/020000/training_state/scheduler_state.json
deleted file mode 100644
index c8c235583f974dd100b1b646e34ace76dfc896ed..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/020000/training_state/scheduler_state.json
+++ /dev/null
@@ -1,15 +0,0 @@
-{
-    "base_lrs": [
-        0.0001
-    ],
-    "last_epoch": 20000,
-    "_step_count": 20001,
-    "_is_initial": false,
-    "_get_lr_called_within_step": false,
-    "_last_lr": [
-        9.766112029998846e-05
-    ],
-    "lr_lambdas": [
-        null
-    ]
-}
\ No newline at end of file
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/020000/training_state/training_step.json b/checkpoints/diffusion_unet_dino_data_augmentation/joints/020000/training_state/training_step.json
deleted file mode 100644
index dc9bb47026c5d5237ca6fc5dbff6020dd122ea05..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/020000/training_state/training_step.json
+++ /dev/null
@@ -1,3 +0,0 @@
-{
-    "step": 20000
-}
\ No newline at end of file
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/040000/pretrained_model/config.json b/checkpoints/diffusion_unet_dino_data_augmentation/joints/040000/pretrained_model/config.json
deleted file mode 100644
index 2fa3687b3b250787f09885f221d1cebc81f4fe1e..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/040000/pretrained_model/config.json
+++ /dev/null
@@ -1,90 +0,0 @@
-{
-    "type": "diffusion",
-    "n_obs_steps": 2,
-    "input_features": {
-        "observation.state": {
-            "type": "STATE",
-            "shape": [
-                6
-            ]
-        },
-        "observation.images.front": {
-            "type": "VISUAL",
-            "shape": [
-                3,
-                480,
-                640
-            ]
-        }
-    },
-    "output_features": {
-        "action": {
-            "type": "ACTION",
-            "shape": [
-                6
-            ]
-        }
-    },
-    "device": "cuda",
-    "use_amp": false,
-    "use_peft": false,
-    "push_to_hub": false,
-    "repo_id": null,
-    "private": null,
-    "tags": null,
-    "license": null,
-    "pretrained_path": null,
-    "horizon": 16,
-    "n_action_steps": 8,
-    "normalization_mapping": {
-        "VISUAL": "MEAN_STD",
-        "STATE": "MIN_MAX",
-        "ACTION": "MIN_MAX"
-    },
-    "drop_n_last_frames": 7,
-    "vision_backbone_type": "dinov2",
-    "vision_encoder_name": "facebook/dinov2-small",
-    "freeze_vision_encoder": true,
-    "vision_backbone": "resnet18",
-    "resize_shape": [
-        224,
-        224
-    ],
-    "crop_ratio": 1.0,
-    "crop_shape": null,
-    "crop_is_random": true,
-    "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
-    "use_group_norm": false,
-    "spatial_softmax_num_keypoints": 32,
-    "use_separate_rgb_encoder_per_camera": true,
-    "down_dims": [
-        512,
-        1024,
-        2048
-    ],
-    "kernel_size": 5,
-    "n_groups": 8,
-    "diffusion_step_embed_dim": 128,
-    "use_film_scale_modulation": true,
-    "noise_scheduler_type": "DDPM",
-    "num_train_timesteps": 100,
-    "beta_schedule": "squaredcos_cap_v2",
-    "beta_start": 0.0001,
-    "beta_end": 0.02,
-    "prediction_type": "epsilon",
-    "clip_sample": true,
-    "clip_sample_range": 1.0,
-    "num_inference_steps": 100,
-    "compile_model": false,
-    "compile_mode": "reduce-overhead",
-    "do_mask_loss_for_padding": false,
-    "optimizer_lr": 0.0001,
-    "optimizer_betas": [
-        0.95,
-        0.999
-    ],
-    "optimizer_eps": 1e-08,
-    "optimizer_weight_decay": 1e-06,
-    "scheduler_name": "cosine",
-    "scheduler_warmup_steps": 500
-}
\ No newline at end of file
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/040000/pretrained_model/model.safetensors b/checkpoints/diffusion_unet_dino_data_augmentation/joints/040000/pretrained_model/model.safetensors
deleted file mode 100644
index a6edcf7f33f5288685df5d36919efbc0b79cb990..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/040000/pretrained_model/model.safetensors
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:70c700282310cb2a81d45322fc13a5edcecf83662b1a67c88df86ecc93b406e0
-size 1095367712
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/040000/pretrained_model/policy_postprocessor.json b/checkpoints/diffusion_unet_dino_data_augmentation/joints/040000/pretrained_model/policy_postprocessor.json
deleted file mode 100644
index f2c5e6cea7850bb999ab193f96021fa0129ce4db..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/040000/pretrained_model/policy_postprocessor.json
+++ /dev/null
@@ -1,32 +0,0 @@
-{
-  "name": "policy_postprocessor",
-  "steps": [
-    {
-      "registry_name": "unnormalizer_processor",
-      "config": {
-        "eps": 1e-08,
-        "features": {
-          "action": {
-            "type": "ACTION",
-            "shape": [
-              6
-            ]
-          }
-        },
-        "norm_map": {
-          "VISUAL": "MEAN_STD",
-          "STATE": "MIN_MAX",
-          "ACTION": "MIN_MAX"
-        }
-      },
-      "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
-    },
-    {
-      "registry_name": "device_processor",
-      "config": {
-        "device": "cpu",
-        "float_dtype": null
-      }
-    }
-  ]
-}
\ No newline at end of file
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/040000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors b/checkpoints/diffusion_unet_dino_data_augmentation/joints/040000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors
deleted file mode 100644
index ad9e18436f8f0c586020700f357c5f939d1e2626..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/040000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:89a27803b4e2ad57a700eb9917bb97a9d4cc857f094337451fa30a3ffca0dbce
-size 6560
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/040000/pretrained_model/policy_preprocessor.json b/checkpoints/diffusion_unet_dino_data_augmentation/joints/040000/pretrained_model/policy_preprocessor.json
deleted file mode 100644
index a6f57e6242af17f882bc107c602ca76393c57d55..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/040000/pretrained_model/policy_preprocessor.json
+++ /dev/null
@@ -1,56 +0,0 @@
-{
-  "name": "policy_preprocessor",
-  "steps": [
-    {
-      "registry_name": "rename_observations_processor",
-      "config": {
-        "rename_map": {}
-      }
-    },
-    {
-      "registry_name": "to_batch_processor",
-      "config": {}
-    },
-    {
-      "registry_name": "device_processor",
-      "config": {
-        "device": "cuda",
-        "float_dtype": null
-      }
-    },
-    {
-      "registry_name": "normalizer_processor",
-      "config": {
-        "eps": 1e-08,
-        "features": {
-          "observation.state": {
-            "type": "STATE",
-            "shape": [
-              6
-            ]
-          },
-          "observation.images.front": {
-            "type": "VISUAL",
-            "shape": [
-              3,
-              480,
-              640
-            ]
-          },
-          "action": {
-            "type": "ACTION",
-            "shape": [
-              6
-            ]
-          }
-        },
-        "norm_map": {
-          "VISUAL": "MEAN_STD",
-          "STATE": "MIN_MAX",
-          "ACTION": "MIN_MAX"
-        }
-      },
-      "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
-    }
-  ]
-}
\ No newline at end of file
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/040000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors b/checkpoints/diffusion_unet_dino_data_augmentation/joints/040000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors
deleted file mode 100644
index ad9e18436f8f0c586020700f357c5f939d1e2626..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/040000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:89a27803b4e2ad57a700eb9917bb97a9d4cc857f094337451fa30a3ffca0dbce
-size 6560
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/040000/pretrained_model/train_config.json b/checkpoints/diffusion_unet_dino_data_augmentation/joints/040000/pretrained_model/train_config.json
deleted file mode 100644
index f8fc0ef49836809a64079818985a21e2bf489aef..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/040000/pretrained_model/train_config.json
+++ /dev/null
@@ -1,300 +0,0 @@
-{
-    "dataset": {
-        "repo_id": "local/act_collected_episodes",
-        "root": "/home/rguntz/Desktop/robot_learning/dataset/act_collected_episodes",
-        "episodes": null,
-        "image_transforms": {
-            "enable": false,
-            "max_num_transforms": 3,
-            "random_order": false,
-            "same_cloth_color": false,
-            "tfs": {
-                "color_jitter": {
-                    "weight": 1.5,
-                    "type": "ColorJitter",
-                    "kwargs": {
-                        "brightness": [
-                            0.7,
-                            1.3
-                        ],
-                        "contrast": [
-                            0.7,
-                            1.3
-                        ],
-                        "saturation": [
-                            0.4,
-                            1.6
-                        ],
-                        "hue": [
-                            -0.5,
-                            0.5
-                        ]
-                    }
-                },
-                "grayscale": {
-                    "weight": 0.5,
-                    "type": "RandomGrayscale",
-                    "kwargs": {
-                        "p": 1.0
-                    }
-                },
-                "shadow": {
-                    "weight": 0.8,
-                    "type": "RandomShadow",
-                    "kwargs": {
-                        "num_shadows": [
-                            1,
-                            2
-                        ],
-                        "intensity": [
-                            0.4,
-                            0.7
-                        ],
-                        "blur_sigma": [
-                            4.0,
-                            20.0
-                        ]
-                    }
-                },
-                "highlight": {
-                    "weight": 0.5,
-                    "type": "RandomHighlight",
-                    "kwargs": {
-                        "num_highlights": [
-                            0,
-                            1
-                        ],
-                        "intensity": [
-                            0.2,
-                            0.5
-                        ],
-                        "sigma": [
-                            20.0,
-                            60.0
-                        ]
-                    }
-                },
-                "gamma": {
-                    "weight": 0.7,
-                    "type": "RandomGamma",
-                    "kwargs": {
-                        "gamma": [
-                            0.6,
-                            1.4
-                        ]
-                    }
-                },
-                "blur": {
-                    "weight": 0.0,
-                    "type": "GaussianBlur",
-                    "kwargs": {
-                        "kernel_size": [
-                            3,
-                            3
-                        ],
-                        "sigma": [
-                            0.1,
-                            1.5
-                        ]
-                    }
-                },
-                "jpeg": {
-                    "weight": 0.0,
-                    "type": "RandomJPEG",
-                    "kwargs": {
-                        "quality": [
-                            60,
-                            95
-                        ]
-                    }
-                },
-                "crop": {
-                    "weight": 0.5,
-                    "type": "RandomCropPreserveSize",
-                    "kwargs": {
-                        "scale": [
-                            0.97,
-                            1.0
-                        ],
-                        "ratio": [
-                            0.99,
-                            1.01
-                        ]
-                    }
-                },
-                "affine": {
-                    "weight": 0.0,
-                    "type": "RandomAffine",
-                    "kwargs": {
-                        "degrees": [
-                            -5.0,
-                            5.0
-                        ],
-                        "translate": [
-                            0.05,
-                            0.05
-                        ]
-                    }
-                },
-                "sharpness": {
-                    "weight": 1.0,
-                    "type": "SharpnessJitter",
-                    "kwargs": {
-                        "sharpness": [
-                            0.5,
-                            1.5
-                        ]
-                    }
-                }
-            }
-        },
-        "revision": null,
-        "use_imagenet_stats": true,
-        "video_backend": "pyav",
-        "return_uint8": false,
-        "streaming": false
-    },
-    "env": null,
-    "policy": {
-        "type": "diffusion",
-        "n_obs_steps": 2,
-        "input_features": {
-            "observation.state": {
-                "type": "STATE",
-                "shape": [
-                    6
-                ]
-            },
-            "observation.images.front": {
-                "type": "VISUAL",
-                "shape": [
-                    3,
-                    480,
-                    640
-                ]
-            }
-        },
-        "output_features": {
-            "action": {
-                "type": "ACTION",
-                "shape": [
-                    6
-                ]
-            }
-        },
-        "device": "cuda",
-        "use_amp": false,
-        "use_peft": false,
-        "push_to_hub": false,
-        "repo_id": null,
-        "private": null,
-        "tags": null,
-        "license": null,
-        "pretrained_path": null,
-        "horizon": 16,
-        "n_action_steps": 8,
-        "normalization_mapping": {
-            "VISUAL": "MEAN_STD",
-            "STATE": "MIN_MAX",
-            "ACTION": "MIN_MAX"
-        },
-        "drop_n_last_frames": 7,
-        "vision_backbone_type": "dinov2",
-        "vision_encoder_name": "facebook/dinov2-small",
-        "freeze_vision_encoder": true,
-        "vision_backbone": "resnet18",
-        "resize_shape": [
-            224,
-            224
-        ],
-        "crop_ratio": 1.0,
-        "crop_shape": null,
-        "crop_is_random": true,
-        "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
-        "use_group_norm": false,
-        "spatial_softmax_num_keypoints": 32,
-        "use_separate_rgb_encoder_per_camera": true,
-        "down_dims": [
-            512,
-            1024,
-            2048
-        ],
-        "kernel_size": 5,
-        "n_groups": 8,
-        "diffusion_step_embed_dim": 128,
-        "use_film_scale_modulation": true,
-        "noise_scheduler_type": "DDPM",
-        "num_train_timesteps": 100,
-        "beta_schedule": "squaredcos_cap_v2",
-        "beta_start": 0.0001,
-        "beta_end": 0.02,
-        "prediction_type": "epsilon",
-        "clip_sample": true,
-        "clip_sample_range": 1.0,
-        "num_inference_steps": 100,
-        "compile_model": false,
-        "compile_mode": "reduce-overhead",
-        "do_mask_loss_for_padding": false,
-        "optimizer_lr": 0.0001,
-        "optimizer_betas": [
-            0.95,
-            0.999
-        ],
-        "optimizer_eps": 1e-08,
-        "optimizer_weight_decay": 1e-06,
-        "scheduler_name": "cosine",
-        "scheduler_warmup_steps": 500
-    },
-    "reward_model": null,
-    "output_dir": "/home/rguntz/Desktop/robot_learning/outputs/train/diffusion_laptop_20260515_200616",
-    "job_name": "diffusion_laptop_20260515_200616",
-    "resume": false,
-    "seed": 1000,
-    "cudnn_deterministic": false,
-    "num_workers": 4,
-    "batch_size": 32,
-    "prefetch_factor": 4,
-    "persistent_workers": true,
-    "steps": 200000,
-    "eval_freq": 0,
-    "log_freq": 20,
-    "tolerance_s": 0.0001,
-    "save_checkpoint": true,
-    "save_freq": 20000,
-    "use_policy_training_preset": true,
-    "optimizer": {
-        "type": "adam",
-        "lr": 0.0001,
-        "weight_decay": 1e-06,
-        "grad_clip_norm": 10.0,
-        "betas": [
-            0.95,
-            0.999
-        ],
-        "eps": 1e-08
-    },
-    "scheduler": {
-        "type": "diffuser",
-        "num_warmup_steps": 500,
-        "name": "cosine"
-    },
-    "eval": {
-        "n_episodes": 50,
-        "batch_size": 11,
-        "use_async_envs": true
-    },
-    "wandb": {
-        "enable": true,
-        "disable_artifact": false,
-        "project": "lerobot",
-        "entity": null,
-        "notes": null,
-        "run_id": "9kipd4of",
-        "mode": null,
-        "add_tags": true
-    },
-    "peft": null,
-    "sample_weighting": null,
-    "rename_map": {},
-    "checkpoint_path": null
-}
\ No newline at end of file
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/040000/training_state/optimizer_param_groups.json b/checkpoints/diffusion_unet_dino_data_augmentation/joints/040000/training_state/optimizer_param_groups.json
deleted file mode 100644
index b056a954fd228e87e1383bb234ebe565263ff8a8..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/040000/training_state/optimizer_param_groups.json
+++ /dev/null
@@ -1,396 +0,0 @@
-[
-    {
-        "lr": 9.063516700762651e-05,
-        "betas": [
-            0.95,
-            0.999
-        ],
-        "eps": 1e-08,
-        "weight_decay": 1e-06,
-        "amsgrad": false,
-        "maximize": false,
-        "foreach": null,
-        "capturable": false,
-        "differentiable": false,
-        "fused": null,
-        "decoupled_weight_decay": false,
-        "initial_lr": 0.0001,
-        "params": [
-            0,
-            1,
-            2,
-            3,
-            4,
-            5,
-            6,
-            7,
-            8,
-            9,
-            10,
-            11,
-            12,
-            13,
-            14,
-            15,
-            16,
-            17,
-            18,
-            19,
-            20,
-            21,
-            22,
-            23,
-            24,
-            25,
-            26,
-            27,
-            28,
-            29,
-            30,
-            31,
-            32,
-            33,
-            34,
-            35,
-            36,
-            37,
-            38,
-            39,
-            40,
-            41,
-            42,
-            43,
-            44,
-            45,
-            46,
-            47,
-            48,
-            49,
-            50,
-            51,
-            52,
-            53,
-            54,
-            55,
-            56,
-            57,
-            58,
-            59,
-            60,
-            61,
-            62,
-            63,
-            64,
-            65,
-            66,
-            67,
-            68,
-            69,
-            70,
-            71,
-            72,
-            73,
-            74,
-            75,
-            76,
-            77,
-            78,
-            79,
-            80,
-            81,
-            82,
-            83,
-            84,
-            85,
-            86,
-            87,
-            88,
-            89,
-            90,
-            91,
-            92,
-            93,
-            94,
-            95,
-            96,
-            97,
-            98,
-            99,
-            100,
-            101,
-            102,
-            103,
-            104,
-            105,
-            106,
-            107,
-            108,
-            109,
-            110,
-            111,
-            112,
-            113,
-            114,
-            115,
-            116,
-            117,
-            118,
-            119,
-            120,
-            121,
-            122,
-            123,
-            124,
-            125,
-            126,
-            127,
-            128,
-            129,
-            130,
-            131,
-            132,
-            133,
-            134,
-            135,
-            136,
-            137,
-            138,
-            139,
-            140,
-            141,
-            142,
-            143,
-            144,
-            145,
-            146,
-            147,
-            148,
-            149,
-            150,
-            151,
-            152,
-            153,
-            154,
-            155,
-            156,
-            157,
-            158,
-            159,
-            160,
-            161,
-            162,
-            163,
-            164,
-            165,
-            166,
-            167,
-            168,
-            169,
-            170,
-            171,
-            172,
-            173,
-            174,
-            175,
-            176,
-            177,
-            178,
-            179,
-            180,
-            181,
-            182,
-            183,
-            184,
-            185,
-            186,
-            187,
-            188,
-            189,
-            190,
-            191,
-            192,
-            193,
-            194,
-            195,
-            196,
-            197,
-            198,
-            199,
-            200,
-            201,
-            202,
-            203,
-            204,
-            205,
-            206,
-            207,
-            208,
-            209,
-            210,
-            211,
-            212,
-            213,
-            214,
-            215,
-            216,
-            217,
-            218,
-            219,
-            220,
-            221,
-            222,
-            223,
-            224,
-            225,
-            226,
-            227,
-            228,
-            229,
-            230,
-            231,
-            232,
-            233,
-            234,
-            235,
-            236,
-            237,
-            238,
-            239,
-            240,
-            241,
-            242,
-            243,
-            244,
-            245,
-            246,
-            247,
-            248,
-            249,
-            250,
-            251,
-            252,
-            253,
-            254,
-            255,
-            256,
-            257,
-            258,
-            259,
-            260,
-            261,
-            262,
-            263,
-            264,
-            265,
-            266,
-            267,
-            268,
-            269,
-            270,
-            271,
-            272,
-            273,
-            274,
-            275,
-            276,
-            277,
-            278,
-            279,
-            280,
-            281,
-            282,
-            283,
-            284,
-            285,
-            286,
-            287,
-            288,
-            289,
-            290,
-            291,
-            292,
-            293,
-            294,
-            295,
-            296,
-            297,
-            298,
-            299,
-            300,
-            301,
-            302,
-            303,
-            304,
-            305,
-            306,
-            307,
-            308,
-            309,
-            310,
-            311,
-            312,
-            313,
-            314,
-            315,
-            316,
-            317,
-            318,
-            319,
-            320,
-            321,
-            322,
-            323,
-            324,
-            325,
-            326,
-            327,
-            328,
-            329,
-            330,
-            331,
-            332,
-            333,
-            334,
-            335,
-            336,
-            337,
-            338,
-            339,
-            340,
-            341,
-            342,
-            343,
-            344,
-            345,
-            346,
-            347,
-            348,
-            349,
-            350,
-            351,
-            352,
-            353,
-            354,
-            355,
-            356,
-            357,
-            358,
-            359,
-            360,
-            361,
-            362,
-            363,
-            364,
-            365,
-            366,
-            367,
-            368,
-            369,
-            370,
-            371,
-            372,
-            373,
-            374
-        ]
-    }
-]
\ No newline at end of file
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/040000/training_state/optimizer_state.safetensors b/checkpoints/diffusion_unet_dino_data_augmentation/joints/040000/training_state/optimizer_state.safetensors
deleted file mode 100644
index fd814fcc964358ba5237f522e77a0fa64f20429f..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/040000/training_state/optimizer_state.safetensors
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:e0dd9344b2baf4151d60683a5dce8bdc67988fb63179a0a6098600812ec5acab
-size 2014217744
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/040000/training_state/rng_state.safetensors b/checkpoints/diffusion_unet_dino_data_augmentation/joints/040000/training_state/rng_state.safetensors
deleted file mode 100644
index 8d32dd00cac24d9f525bcda9d570c899477d39bf..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/040000/training_state/rng_state.safetensors
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:dcbd26e25da138c60254493115e576baccb5da256ea72c43e3d807b642ee44d0
-size 15708
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/040000/training_state/scheduler_state.json b/checkpoints/diffusion_unet_dino_data_augmentation/joints/040000/training_state/scheduler_state.json
deleted file mode 100644
index 0209f8b21c604205d3c5f41a0c50528f07a71755..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/040000/training_state/scheduler_state.json
+++ /dev/null
@@ -1,15 +0,0 @@
-{
-    "base_lrs": [
-        0.0001
-    ],
-    "last_epoch": 40000,
-    "_step_count": 40001,
-    "_is_initial": false,
-    "_get_lr_called_within_step": false,
-    "_last_lr": [
-        9.063516700762651e-05
-    ],
-    "lr_lambdas": [
-        null
-    ]
-}
\ No newline at end of file
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/040000/training_state/training_step.json b/checkpoints/diffusion_unet_dino_data_augmentation/joints/040000/training_state/training_step.json
deleted file mode 100644
index fe40d8ff4312c7e5a8fba9bcc932a43a1384ba77..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/040000/training_state/training_step.json
+++ /dev/null
@@ -1,3 +0,0 @@
-{
-    "step": 40000
-}
\ No newline at end of file
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/060000/pretrained_model/config.json b/checkpoints/diffusion_unet_dino_data_augmentation/joints/060000/pretrained_model/config.json
deleted file mode 100644
index 2fa3687b3b250787f09885f221d1cebc81f4fe1e..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/060000/pretrained_model/config.json
+++ /dev/null
@@ -1,90 +0,0 @@
-{
-    "type": "diffusion",
-    "n_obs_steps": 2,
-    "input_features": {
-        "observation.state": {
-            "type": "STATE",
-            "shape": [
-                6
-            ]
-        },
-        "observation.images.front": {
-            "type": "VISUAL",
-            "shape": [
-                3,
-                480,
-                640
-            ]
-        }
-    },
-    "output_features": {
-        "action": {
-            "type": "ACTION",
-            "shape": [
-                6
-            ]
-        }
-    },
-    "device": "cuda",
-    "use_amp": false,
-    "use_peft": false,
-    "push_to_hub": false,
-    "repo_id": null,
-    "private": null,
-    "tags": null,
-    "license": null,
-    "pretrained_path": null,
-    "horizon": 16,
-    "n_action_steps": 8,
-    "normalization_mapping": {
-        "VISUAL": "MEAN_STD",
-        "STATE": "MIN_MAX",
-        "ACTION": "MIN_MAX"
-    },
-    "drop_n_last_frames": 7,
-    "vision_backbone_type": "dinov2",
-    "vision_encoder_name": "facebook/dinov2-small",
-    "freeze_vision_encoder": true,
-    "vision_backbone": "resnet18",
-    "resize_shape": [
-        224,
-        224
-    ],
-    "crop_ratio": 1.0,
-    "crop_shape": null,
-    "crop_is_random": true,
-    "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
-    "use_group_norm": false,
-    "spatial_softmax_num_keypoints": 32,
-    "use_separate_rgb_encoder_per_camera": true,
-    "down_dims": [
-        512,
-        1024,
-        2048
-    ],
-    "kernel_size": 5,
-    "n_groups": 8,
-    "diffusion_step_embed_dim": 128,
-    "use_film_scale_modulation": true,
-    "noise_scheduler_type": "DDPM",
-    "num_train_timesteps": 100,
-    "beta_schedule": "squaredcos_cap_v2",
-    "beta_start": 0.0001,
-    "beta_end": 0.02,
-    "prediction_type": "epsilon",
-    "clip_sample": true,
-    "clip_sample_range": 1.0,
-    "num_inference_steps": 100,
-    "compile_model": false,
-    "compile_mode": "reduce-overhead",
-    "do_mask_loss_for_padding": false,
-    "optimizer_lr": 0.0001,
-    "optimizer_betas": [
-        0.95,
-        0.999
-    ],
-    "optimizer_eps": 1e-08,
-    "optimizer_weight_decay": 1e-06,
-    "scheduler_name": "cosine",
-    "scheduler_warmup_steps": 500
-}
\ No newline at end of file
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/060000/pretrained_model/model.safetensors b/checkpoints/diffusion_unet_dino_data_augmentation/joints/060000/pretrained_model/model.safetensors
deleted file mode 100644
index 1dd1cc38be7c6bd89a763e70acb8344688ab9292..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/060000/pretrained_model/model.safetensors
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:c247b0c304c23ea6fe0dd9f4440ad73988d303b4989e621fe98cb2c288eb9f7f
-size 1095367712
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/060000/pretrained_model/policy_postprocessor.json b/checkpoints/diffusion_unet_dino_data_augmentation/joints/060000/pretrained_model/policy_postprocessor.json
deleted file mode 100644
index f2c5e6cea7850bb999ab193f96021fa0129ce4db..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/060000/pretrained_model/policy_postprocessor.json
+++ /dev/null
@@ -1,32 +0,0 @@
-{
-  "name": "policy_postprocessor",
-  "steps": [
-    {
-      "registry_name": "unnormalizer_processor",
-      "config": {
-        "eps": 1e-08,
-        "features": {
-          "action": {
-            "type": "ACTION",
-            "shape": [
-              6
-            ]
-          }
-        },
-        "norm_map": {
-          "VISUAL": "MEAN_STD",
-          "STATE": "MIN_MAX",
-          "ACTION": "MIN_MAX"
-        }
-      },
-      "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
-    },
-    {
-      "registry_name": "device_processor",
-      "config": {
-        "device": "cpu",
-        "float_dtype": null
-      }
-    }
-  ]
-}
\ No newline at end of file
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/060000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors b/checkpoints/diffusion_unet_dino_data_augmentation/joints/060000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors
deleted file mode 100644
index ad9e18436f8f0c586020700f357c5f939d1e2626..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/060000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:89a27803b4e2ad57a700eb9917bb97a9d4cc857f094337451fa30a3ffca0dbce
-size 6560
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/060000/pretrained_model/policy_preprocessor.json b/checkpoints/diffusion_unet_dino_data_augmentation/joints/060000/pretrained_model/policy_preprocessor.json
deleted file mode 100644
index a6f57e6242af17f882bc107c602ca76393c57d55..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/060000/pretrained_model/policy_preprocessor.json
+++ /dev/null
@@ -1,56 +0,0 @@
-{
-  "name": "policy_preprocessor",
-  "steps": [
-    {
-      "registry_name": "rename_observations_processor",
-      "config": {
-        "rename_map": {}
-      }
-    },
-    {
-      "registry_name": "to_batch_processor",
-      "config": {}
-    },
-    {
-      "registry_name": "device_processor",
-      "config": {
-        "device": "cuda",
-        "float_dtype": null
-      }
-    },
-    {
-      "registry_name": "normalizer_processor",
-      "config": {
-        "eps": 1e-08,
-        "features": {
-          "observation.state": {
-            "type": "STATE",
-            "shape": [
-              6
-            ]
-          },
-          "observation.images.front": {
-            "type": "VISUAL",
-            "shape": [
-              3,
-              480,
-              640
-            ]
-          },
-          "action": {
-            "type": "ACTION",
-            "shape": [
-              6
-            ]
-          }
-        },
-        "norm_map": {
-          "VISUAL": "MEAN_STD",
-          "STATE": "MIN_MAX",
-          "ACTION": "MIN_MAX"
-        }
-      },
-      "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
-    }
-  ]
-}
\ No newline at end of file
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/060000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors b/checkpoints/diffusion_unet_dino_data_augmentation/joints/060000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors
deleted file mode 100644
index ad9e18436f8f0c586020700f357c5f939d1e2626..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/060000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:89a27803b4e2ad57a700eb9917bb97a9d4cc857f094337451fa30a3ffca0dbce
-size 6560
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/060000/pretrained_model/train_config.json b/checkpoints/diffusion_unet_dino_data_augmentation/joints/060000/pretrained_model/train_config.json
deleted file mode 100644
index f8fc0ef49836809a64079818985a21e2bf489aef..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/060000/pretrained_model/train_config.json
+++ /dev/null
@@ -1,300 +0,0 @@
-{
-    "dataset": {
-        "repo_id": "local/act_collected_episodes",
-        "root": "/home/rguntz/Desktop/robot_learning/dataset/act_collected_episodes",
-        "episodes": null,
-        "image_transforms": {
-            "enable": false,
-            "max_num_transforms": 3,
-            "random_order": false,
-            "same_cloth_color": false,
-            "tfs": {
-                "color_jitter": {
-                    "weight": 1.5,
-                    "type": "ColorJitter",
-                    "kwargs": {
-                        "brightness": [
-                            0.7,
-                            1.3
-                        ],
-                        "contrast": [
-                            0.7,
-                            1.3
-                        ],
-                        "saturation": [
-                            0.4,
-                            1.6
-                        ],
-                        "hue": [
-                            -0.5,
-                            0.5
-                        ]
-                    }
-                },
-                "grayscale": {
-                    "weight": 0.5,
-                    "type": "RandomGrayscale",
-                    "kwargs": {
-                        "p": 1.0
-                    }
-                },
-                "shadow": {
-                    "weight": 0.8,
-                    "type": "RandomShadow",
-                    "kwargs": {
-                        "num_shadows": [
-                            1,
-                            2
-                        ],
-                        "intensity": [
-                            0.4,
-                            0.7
-                        ],
-                        "blur_sigma": [
-                            4.0,
-                            20.0
-                        ]
-                    }
-                },
-                "highlight": {
-                    "weight": 0.5,
-                    "type": "RandomHighlight",
-                    "kwargs": {
-                        "num_highlights": [
-                            0,
-                            1
-                        ],
-                        "intensity": [
-                            0.2,
-                            0.5
-                        ],
-                        "sigma": [
-                            20.0,
-                            60.0
-                        ]
-                    }
-                },
-                "gamma": {
-                    "weight": 0.7,
-                    "type": "RandomGamma",
-                    "kwargs": {
-                        "gamma": [
-                            0.6,
-                            1.4
-                        ]
-                    }
-                },
-                "blur": {
-                    "weight": 0.0,
-                    "type": "GaussianBlur",
-                    "kwargs": {
-                        "kernel_size": [
-                            3,
-                            3
-                        ],
-                        "sigma": [
-                            0.1,
-                            1.5
-                        ]
-                    }
-                },
-                "jpeg": {
-                    "weight": 0.0,
-                    "type": "RandomJPEG",
-                    "kwargs": {
-                        "quality": [
-                            60,
-                            95
-                        ]
-                    }
-                },
-                "crop": {
-                    "weight": 0.5,
-                    "type": "RandomCropPreserveSize",
-                    "kwargs": {
-                        "scale": [
-                            0.97,
-                            1.0
-                        ],
-                        "ratio": [
-                            0.99,
-                            1.01
-                        ]
-                    }
-                },
-                "affine": {
-                    "weight": 0.0,
-                    "type": "RandomAffine",
-                    "kwargs": {
-                        "degrees": [
-                            -5.0,
-                            5.0
-                        ],
-                        "translate": [
-                            0.05,
-                            0.05
-                        ]
-                    }
-                },
-                "sharpness": {
-                    "weight": 1.0,
-                    "type": "SharpnessJitter",
-                    "kwargs": {
-                        "sharpness": [
-                            0.5,
-                            1.5
-                        ]
-                    }
-                }
-            }
-        },
-        "revision": null,
-        "use_imagenet_stats": true,
-        "video_backend": "pyav",
-        "return_uint8": false,
-        "streaming": false
-    },
-    "env": null,
-    "policy": {
-        "type": "diffusion",
-        "n_obs_steps": 2,
-        "input_features": {
-            "observation.state": {
-                "type": "STATE",
-                "shape": [
-                    6
-                ]
-            },
-            "observation.images.front": {
-                "type": "VISUAL",
-                "shape": [
-                    3,
-                    480,
-                    640
-                ]
-            }
-        },
-        "output_features": {
-            "action": {
-                "type": "ACTION",
-                "shape": [
-                    6
-                ]
-            }
-        },
-        "device": "cuda",
-        "use_amp": false,
-        "use_peft": false,
-        "push_to_hub": false,
-        "repo_id": null,
-        "private": null,
-        "tags": null,
-        "license": null,
-        "pretrained_path": null,
-        "horizon": 16,
-        "n_action_steps": 8,
-        "normalization_mapping": {
-            "VISUAL": "MEAN_STD",
-            "STATE": "MIN_MAX",
-            "ACTION": "MIN_MAX"
-        },
-        "drop_n_last_frames": 7,
-        "vision_backbone_type": "dinov2",
-        "vision_encoder_name": "facebook/dinov2-small",
-        "freeze_vision_encoder": true,
-        "vision_backbone": "resnet18",
-        "resize_shape": [
-            224,
-            224
-        ],
-        "crop_ratio": 1.0,
-        "crop_shape": null,
-        "crop_is_random": true,
-        "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
-        "use_group_norm": false,
-        "spatial_softmax_num_keypoints": 32,
-        "use_separate_rgb_encoder_per_camera": true,
-        "down_dims": [
-            512,
-            1024,
-            2048
-        ],
-        "kernel_size": 5,
-        "n_groups": 8,
-        "diffusion_step_embed_dim": 128,
-        "use_film_scale_modulation": true,
-        "noise_scheduler_type": "DDPM",
-        "num_train_timesteps": 100,
-        "beta_schedule": "squaredcos_cap_v2",
-        "beta_start": 0.0001,
-        "beta_end": 0.02,
-        "prediction_type": "epsilon",
-        "clip_sample": true,
-        "clip_sample_range": 1.0,
-        "num_inference_steps": 100,
-        "compile_model": false,
-        "compile_mode": "reduce-overhead",
-        "do_mask_loss_for_padding": false,
-        "optimizer_lr": 0.0001,
-        "optimizer_betas": [
-            0.95,
-            0.999
-        ],
-        "optimizer_eps": 1e-08,
-        "optimizer_weight_decay": 1e-06,
-        "scheduler_name": "cosine",
-        "scheduler_warmup_steps": 500
-    },
-    "reward_model": null,
-    "output_dir": "/home/rguntz/Desktop/robot_learning/outputs/train/diffusion_laptop_20260515_200616",
-    "job_name": "diffusion_laptop_20260515_200616",
-    "resume": false,
-    "seed": 1000,
-    "cudnn_deterministic": false,
-    "num_workers": 4,
-    "batch_size": 32,
-    "prefetch_factor": 4,
-    "persistent_workers": true,
-    "steps": 200000,
-    "eval_freq": 0,
-    "log_freq": 20,
-    "tolerance_s": 0.0001,
-    "save_checkpoint": true,
-    "save_freq": 20000,
-    "use_policy_training_preset": true,
-    "optimizer": {
-        "type": "adam",
-        "lr": 0.0001,
-        "weight_decay": 1e-06,
-        "grad_clip_norm": 10.0,
-        "betas": [
-            0.95,
-            0.999
-        ],
-        "eps": 1e-08
-    },
-    "scheduler": {
-        "type": "diffuser",
-        "num_warmup_steps": 500,
-        "name": "cosine"
-    },
-    "eval": {
-        "n_episodes": 50,
-        "batch_size": 11,
-        "use_async_envs": true
-    },
-    "wandb": {
-        "enable": true,
-        "disable_artifact": false,
-        "project": "lerobot",
-        "entity": null,
-        "notes": null,
-        "run_id": "9kipd4of",
-        "mode": null,
-        "add_tags": true
-    },
-    "peft": null,
-    "sample_weighting": null,
-    "rename_map": {},
-    "checkpoint_path": null
-}
\ No newline at end of file
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/060000/training_state/optimizer_param_groups.json b/checkpoints/diffusion_unet_dino_data_augmentation/joints/060000/training_state/optimizer_param_groups.json
deleted file mode 100644
index 16b88d9fe0dcf0685d719ba09fa687b19c11de2e..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/060000/training_state/optimizer_param_groups.json
+++ /dev/null
@@ -1,396 +0,0 @@
-[
-    {
-        "lr": 7.961176263324901e-05,
-        "betas": [
-            0.95,
-            0.999
-        ],
-        "eps": 1e-08,
-        "weight_decay": 1e-06,
-        "amsgrad": false,
-        "maximize": false,
-        "foreach": null,
-        "capturable": false,
-        "differentiable": false,
-        "fused": null,
-        "decoupled_weight_decay": false,
-        "initial_lr": 0.0001,
-        "params": [
-            0,
-            1,
-            2,
-            3,
-            4,
-            5,
-            6,
-            7,
-            8,
-            9,
-            10,
-            11,
-            12,
-            13,
-            14,
-            15,
-            16,
-            17,
-            18,
-            19,
-            20,
-            21,
-            22,
-            23,
-            24,
-            25,
-            26,
-            27,
-            28,
-            29,
-            30,
-            31,
-            32,
-            33,
-            34,
-            35,
-            36,
-            37,
-            38,
-            39,
-            40,
-            41,
-            42,
-            43,
-            44,
-            45,
-            46,
-            47,
-            48,
-            49,
-            50,
-            51,
-            52,
-            53,
-            54,
-            55,
-            56,
-            57,
-            58,
-            59,
-            60,
-            61,
-            62,
-            63,
-            64,
-            65,
-            66,
-            67,
-            68,
-            69,
-            70,
-            71,
-            72,
-            73,
-            74,
-            75,
-            76,
-            77,
-            78,
-            79,
-            80,
-            81,
-            82,
-            83,
-            84,
-            85,
-            86,
-            87,
-            88,
-            89,
-            90,
-            91,
-            92,
-            93,
-            94,
-            95,
-            96,
-            97,
-            98,
-            99,
-            100,
-            101,
-            102,
-            103,
-            104,
-            105,
-            106,
-            107,
-            108,
-            109,
-            110,
-            111,
-            112,
-            113,
-            114,
-            115,
-            116,
-            117,
-            118,
-            119,
-            120,
-            121,
-            122,
-            123,
-            124,
-            125,
-            126,
-            127,
-            128,
-            129,
-            130,
-            131,
-            132,
-            133,
-            134,
-            135,
-            136,
-            137,
-            138,
-            139,
-            140,
-            141,
-            142,
-            143,
-            144,
-            145,
-            146,
-            147,
-            148,
-            149,
-            150,
-            151,
-            152,
-            153,
-            154,
-            155,
-            156,
-            157,
-            158,
-            159,
-            160,
-            161,
-            162,
-            163,
-            164,
-            165,
-            166,
-            167,
-            168,
-            169,
-            170,
-            171,
-            172,
-            173,
-            174,
-            175,
-            176,
-            177,
-            178,
-            179,
-            180,
-            181,
-            182,
-            183,
-            184,
-            185,
-            186,
-            187,
-            188,
-            189,
-            190,
-            191,
-            192,
-            193,
-            194,
-            195,
-            196,
-            197,
-            198,
-            199,
-            200,
-            201,
-            202,
-            203,
-            204,
-            205,
-            206,
-            207,
-            208,
-            209,
-            210,
-            211,
-            212,
-            213,
-            214,
-            215,
-            216,
-            217,
-            218,
-            219,
-            220,
-            221,
-            222,
-            223,
-            224,
-            225,
-            226,
-            227,
-            228,
-            229,
-            230,
-            231,
-            232,
-            233,
-            234,
-            235,
-            236,
-            237,
-            238,
-            239,
-            240,
-            241,
-            242,
-            243,
-            244,
-            245,
-            246,
-            247,
-            248,
-            249,
-            250,
-            251,
-            252,
-            253,
-            254,
-            255,
-            256,
-            257,
-            258,
-            259,
-            260,
-            261,
-            262,
-            263,
-            264,
-            265,
-            266,
-            267,
-            268,
-            269,
-            270,
-            271,
-            272,
-            273,
-            274,
-            275,
-            276,
-            277,
-            278,
-            279,
-            280,
-            281,
-            282,
-            283,
-            284,
-            285,
-            286,
-            287,
-            288,
-            289,
-            290,
-            291,
-            292,
-            293,
-            294,
-            295,
-            296,
-            297,
-            298,
-            299,
-            300,
-            301,
-            302,
-            303,
-            304,
-            305,
-            306,
-            307,
-            308,
-            309,
-            310,
-            311,
-            312,
-            313,
-            314,
-            315,
-            316,
-            317,
-            318,
-            319,
-            320,
-            321,
-            322,
-            323,
-            324,
-            325,
-            326,
-            327,
-            328,
-            329,
-            330,
-            331,
-            332,
-            333,
-            334,
-            335,
-            336,
-            337,
-            338,
-            339,
-            340,
-            341,
-            342,
-            343,
-            344,
-            345,
-            346,
-            347,
-            348,
-            349,
-            350,
-            351,
-            352,
-            353,
-            354,
-            355,
-            356,
-            357,
-            358,
-            359,
-            360,
-            361,
-            362,
-            363,
-            364,
-            365,
-            366,
-            367,
-            368,
-            369,
-            370,
-            371,
-            372,
-            373,
-            374
-        ]
-    }
-]
\ No newline at end of file
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/060000/training_state/optimizer_state.safetensors b/checkpoints/diffusion_unet_dino_data_augmentation/joints/060000/training_state/optimizer_state.safetensors
deleted file mode 100644
index 34411b8fe774ef7132587f06b2b8a9fb09fdcfd9..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/060000/training_state/optimizer_state.safetensors
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:b3dc7771bdb1508f88d03692775dac1cd1478170c11a5f7605cd98544c7c1515
-size 2014217744
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/060000/training_state/rng_state.safetensors b/checkpoints/diffusion_unet_dino_data_augmentation/joints/060000/training_state/rng_state.safetensors
deleted file mode 100644
index 7c924ceadbbdd98d6025d738467afab33a6366af..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/060000/training_state/rng_state.safetensors
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:4d6c805cab1299b4515757c37b100862b4b57e64315f167ed54ee1d3a1acea86
-size 15708
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/060000/training_state/scheduler_state.json b/checkpoints/diffusion_unet_dino_data_augmentation/joints/060000/training_state/scheduler_state.json
deleted file mode 100644
index 90a7b933eaf672331cef07dfd60c101926b5e7c1..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/060000/training_state/scheduler_state.json
+++ /dev/null
@@ -1,15 +0,0 @@
-{
-    "base_lrs": [
-        0.0001
-    ],
-    "last_epoch": 60000,
-    "_step_count": 60001,
-    "_is_initial": false,
-    "_get_lr_called_within_step": false,
-    "_last_lr": [
-        7.961176263324901e-05
-    ],
-    "lr_lambdas": [
-        null
-    ]
-}
\ No newline at end of file
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/060000/training_state/training_step.json b/checkpoints/diffusion_unet_dino_data_augmentation/joints/060000/training_state/training_step.json
deleted file mode 100644
index d360b6037f1c8c2c85d38e951160eb02ace507dd..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/060000/training_state/training_step.json
+++ /dev/null
@@ -1,3 +0,0 @@
-{
-    "step": 60000
-}
\ No newline at end of file
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/080000/pretrained_model/config.json b/checkpoints/diffusion_unet_dino_data_augmentation/joints/080000/pretrained_model/config.json
deleted file mode 100644
index 2fa3687b3b250787f09885f221d1cebc81f4fe1e..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/080000/pretrained_model/config.json
+++ /dev/null
@@ -1,90 +0,0 @@
-{
-    "type": "diffusion",
-    "n_obs_steps": 2,
-    "input_features": {
-        "observation.state": {
-            "type": "STATE",
-            "shape": [
-                6
-            ]
-        },
-        "observation.images.front": {
-            "type": "VISUAL",
-            "shape": [
-                3,
-                480,
-                640
-            ]
-        }
-    },
-    "output_features": {
-        "action": {
-            "type": "ACTION",
-            "shape": [
-                6
-            ]
-        }
-    },
-    "device": "cuda",
-    "use_amp": false,
-    "use_peft": false,
-    "push_to_hub": false,
-    "repo_id": null,
-    "private": null,
-    "tags": null,
-    "license": null,
-    "pretrained_path": null,
-    "horizon": 16,
-    "n_action_steps": 8,
-    "normalization_mapping": {
-        "VISUAL": "MEAN_STD",
-        "STATE": "MIN_MAX",
-        "ACTION": "MIN_MAX"
-    },
-    "drop_n_last_frames": 7,
-    "vision_backbone_type": "dinov2",
-    "vision_encoder_name": "facebook/dinov2-small",
-    "freeze_vision_encoder": true,
-    "vision_backbone": "resnet18",
-    "resize_shape": [
-        224,
-        224
-    ],
-    "crop_ratio": 1.0,
-    "crop_shape": null,
-    "crop_is_random": true,
-    "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
-    "use_group_norm": false,
-    "spatial_softmax_num_keypoints": 32,
-    "use_separate_rgb_encoder_per_camera": true,
-    "down_dims": [
-        512,
-        1024,
-        2048
-    ],
-    "kernel_size": 5,
-    "n_groups": 8,
-    "diffusion_step_embed_dim": 128,
-    "use_film_scale_modulation": true,
-    "noise_scheduler_type": "DDPM",
-    "num_train_timesteps": 100,
-    "beta_schedule": "squaredcos_cap_v2",
-    "beta_start": 0.0001,
-    "beta_end": 0.02,
-    "prediction_type": "epsilon",
-    "clip_sample": true,
-    "clip_sample_range": 1.0,
-    "num_inference_steps": 100,
-    "compile_model": false,
-    "compile_mode": "reduce-overhead",
-    "do_mask_loss_for_padding": false,
-    "optimizer_lr": 0.0001,
-    "optimizer_betas": [
-        0.95,
-        0.999
-    ],
-    "optimizer_eps": 1e-08,
-    "optimizer_weight_decay": 1e-06,
-    "scheduler_name": "cosine",
-    "scheduler_warmup_steps": 500
-}
\ No newline at end of file
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/080000/pretrained_model/model.safetensors b/checkpoints/diffusion_unet_dino_data_augmentation/joints/080000/pretrained_model/model.safetensors
deleted file mode 100644
index c8172a1de5d7a1ff2cd0f83fe1bfb46b5d7a3e03..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/080000/pretrained_model/model.safetensors
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:e77831c02cc4cae084ab7b7b178c0826e818b21af94cf2ea778417587b5458ab
-size 1095367712
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/080000/pretrained_model/policy_postprocessor.json b/checkpoints/diffusion_unet_dino_data_augmentation/joints/080000/pretrained_model/policy_postprocessor.json
deleted file mode 100644
index f2c5e6cea7850bb999ab193f96021fa0129ce4db..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/080000/pretrained_model/policy_postprocessor.json
+++ /dev/null
@@ -1,32 +0,0 @@
-{
-  "name": "policy_postprocessor",
-  "steps": [
-    {
-      "registry_name": "unnormalizer_processor",
-      "config": {
-        "eps": 1e-08,
-        "features": {
-          "action": {
-            "type": "ACTION",
-            "shape": [
-              6
-            ]
-          }
-        },
-        "norm_map": {
-          "VISUAL": "MEAN_STD",
-          "STATE": "MIN_MAX",
-          "ACTION": "MIN_MAX"
-        }
-      },
-      "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
-    },
-    {
-      "registry_name": "device_processor",
-      "config": {
-        "device": "cpu",
-        "float_dtype": null
-      }
-    }
-  ]
-}
\ No newline at end of file
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/080000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors b/checkpoints/diffusion_unet_dino_data_augmentation/joints/080000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors
deleted file mode 100644
index ad9e18436f8f0c586020700f357c5f939d1e2626..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/080000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:89a27803b4e2ad57a700eb9917bb97a9d4cc857f094337451fa30a3ffca0dbce
-size 6560
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/080000/pretrained_model/policy_preprocessor.json b/checkpoints/diffusion_unet_dino_data_augmentation/joints/080000/pretrained_model/policy_preprocessor.json
deleted file mode 100644
index a6f57e6242af17f882bc107c602ca76393c57d55..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/080000/pretrained_model/policy_preprocessor.json
+++ /dev/null
@@ -1,56 +0,0 @@
-{
-  "name": "policy_preprocessor",
-  "steps": [
-    {
-      "registry_name": "rename_observations_processor",
-      "config": {
-        "rename_map": {}
-      }
-    },
-    {
-      "registry_name": "to_batch_processor",
-      "config": {}
-    },
-    {
-      "registry_name": "device_processor",
-      "config": {
-        "device": "cuda",
-        "float_dtype": null
-      }
-    },
-    {
-      "registry_name": "normalizer_processor",
-      "config": {
-        "eps": 1e-08,
-        "features": {
-          "observation.state": {
-            "type": "STATE",
-            "shape": [
-              6
-            ]
-          },
-          "observation.images.front": {
-            "type": "VISUAL",
-            "shape": [
-              3,
-              480,
-              640
-            ]
-          },
-          "action": {
-            "type": "ACTION",
-            "shape": [
-              6
-            ]
-          }
-        },
-        "norm_map": {
-          "VISUAL": "MEAN_STD",
-          "STATE": "MIN_MAX",
-          "ACTION": "MIN_MAX"
-        }
-      },
-      "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
-    }
-  ]
-}
\ No newline at end of file
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/080000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors b/checkpoints/diffusion_unet_dino_data_augmentation/joints/080000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors
deleted file mode 100644
index ad9e18436f8f0c586020700f357c5f939d1e2626..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/080000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:89a27803b4e2ad57a700eb9917bb97a9d4cc857f094337451fa30a3ffca0dbce
-size 6560
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/080000/pretrained_model/train_config.json b/checkpoints/diffusion_unet_dino_data_augmentation/joints/080000/pretrained_model/train_config.json
deleted file mode 100644
index f8fc0ef49836809a64079818985a21e2bf489aef..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/080000/pretrained_model/train_config.json
+++ /dev/null
@@ -1,300 +0,0 @@
-{
-    "dataset": {
-        "repo_id": "local/act_collected_episodes",
-        "root": "/home/rguntz/Desktop/robot_learning/dataset/act_collected_episodes",
-        "episodes": null,
-        "image_transforms": {
-            "enable": false,
-            "max_num_transforms": 3,
-            "random_order": false,
-            "same_cloth_color": false,
-            "tfs": {
-                "color_jitter": {
-                    "weight": 1.5,
-                    "type": "ColorJitter",
-                    "kwargs": {
-                        "brightness": [
-                            0.7,
-                            1.3
-                        ],
-                        "contrast": [
-                            0.7,
-                            1.3
-                        ],
-                        "saturation": [
-                            0.4,
-                            1.6
-                        ],
-                        "hue": [
-                            -0.5,
-                            0.5
-                        ]
-                    }
-                },
-                "grayscale": {
-                    "weight": 0.5,
-                    "type": "RandomGrayscale",
-                    "kwargs": {
-                        "p": 1.0
-                    }
-                },
-                "shadow": {
-                    "weight": 0.8,
-                    "type": "RandomShadow",
-                    "kwargs": {
-                        "num_shadows": [
-                            1,
-                            2
-                        ],
-                        "intensity": [
-                            0.4,
-                            0.7
-                        ],
-                        "blur_sigma": [
-                            4.0,
-                            20.0
-                        ]
-                    }
-                },
-                "highlight": {
-                    "weight": 0.5,
-                    "type": "RandomHighlight",
-                    "kwargs": {
-                        "num_highlights": [
-                            0,
-                            1
-                        ],
-                        "intensity": [
-                            0.2,
-                            0.5
-                        ],
-                        "sigma": [
-                            20.0,
-                            60.0
-                        ]
-                    }
-                },
-                "gamma": {
-                    "weight": 0.7,
-                    "type": "RandomGamma",
-                    "kwargs": {
-                        "gamma": [
-                            0.6,
-                            1.4
-                        ]
-                    }
-                },
-                "blur": {
-                    "weight": 0.0,
-                    "type": "GaussianBlur",
-                    "kwargs": {
-                        "kernel_size": [
-                            3,
-                            3
-                        ],
-                        "sigma": [
-                            0.1,
-                            1.5
-                        ]
-                    }
-                },
-                "jpeg": {
-                    "weight": 0.0,
-                    "type": "RandomJPEG",
-                    "kwargs": {
-                        "quality": [
-                            60,
-                            95
-                        ]
-                    }
-                },
-                "crop": {
-                    "weight": 0.5,
-                    "type": "RandomCropPreserveSize",
-                    "kwargs": {
-                        "scale": [
-                            0.97,
-                            1.0
-                        ],
-                        "ratio": [
-                            0.99,
-                            1.01
-                        ]
-                    }
-                },
-                "affine": {
-                    "weight": 0.0,
-                    "type": "RandomAffine",
-                    "kwargs": {
-                        "degrees": [
-                            -5.0,
-                            5.0
-                        ],
-                        "translate": [
-                            0.05,
-                            0.05
-                        ]
-                    }
-                },
-                "sharpness": {
-                    "weight": 1.0,
-                    "type": "SharpnessJitter",
-                    "kwargs": {
-                        "sharpness": [
-                            0.5,
-                            1.5
-                        ]
-                    }
-                }
-            }
-        },
-        "revision": null,
-        "use_imagenet_stats": true,
-        "video_backend": "pyav",
-        "return_uint8": false,
-        "streaming": false
-    },
-    "env": null,
-    "policy": {
-        "type": "diffusion",
-        "n_obs_steps": 2,
-        "input_features": {
-            "observation.state": {
-                "type": "STATE",
-                "shape": [
-                    6
-                ]
-            },
-            "observation.images.front": {
-                "type": "VISUAL",
-                "shape": [
-                    3,
-                    480,
-                    640
-                ]
-            }
-        },
-        "output_features": {
-            "action": {
-                "type": "ACTION",
-                "shape": [
-                    6
-                ]
-            }
-        },
-        "device": "cuda",
-        "use_amp": false,
-        "use_peft": false,
-        "push_to_hub": false,
-        "repo_id": null,
-        "private": null,
-        "tags": null,
-        "license": null,
-        "pretrained_path": null,
-        "horizon": 16,
-        "n_action_steps": 8,
-        "normalization_mapping": {
-            "VISUAL": "MEAN_STD",
-            "STATE": "MIN_MAX",
-            "ACTION": "MIN_MAX"
-        },
-        "drop_n_last_frames": 7,
-        "vision_backbone_type": "dinov2",
-        "vision_encoder_name": "facebook/dinov2-small",
-        "freeze_vision_encoder": true,
-        "vision_backbone": "resnet18",
-        "resize_shape": [
-            224,
-            224
-        ],
-        "crop_ratio": 1.0,
-        "crop_shape": null,
-        "crop_is_random": true,
-        "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
-        "use_group_norm": false,
-        "spatial_softmax_num_keypoints": 32,
-        "use_separate_rgb_encoder_per_camera": true,
-        "down_dims": [
-            512,
-            1024,
-            2048
-        ],
-        "kernel_size": 5,
-        "n_groups": 8,
-        "diffusion_step_embed_dim": 128,
-        "use_film_scale_modulation": true,
-        "noise_scheduler_type": "DDPM",
-        "num_train_timesteps": 100,
-        "beta_schedule": "squaredcos_cap_v2",
-        "beta_start": 0.0001,
-        "beta_end": 0.02,
-        "prediction_type": "epsilon",
-        "clip_sample": true,
-        "clip_sample_range": 1.0,
-        "num_inference_steps": 100,
-        "compile_model": false,
-        "compile_mode": "reduce-overhead",
-        "do_mask_loss_for_padding": false,
-        "optimizer_lr": 0.0001,
-        "optimizer_betas": [
-            0.95,
-            0.999
-        ],
-        "optimizer_eps": 1e-08,
-        "optimizer_weight_decay": 1e-06,
-        "scheduler_name": "cosine",
-        "scheduler_warmup_steps": 500
-    },
-    "reward_model": null,
-    "output_dir": "/home/rguntz/Desktop/robot_learning/outputs/train/diffusion_laptop_20260515_200616",
-    "job_name": "diffusion_laptop_20260515_200616",
-    "resume": false,
-    "seed": 1000,
-    "cudnn_deterministic": false,
-    "num_workers": 4,
-    "batch_size": 32,
-    "prefetch_factor": 4,
-    "persistent_workers": true,
-    "steps": 200000,
-    "eval_freq": 0,
-    "log_freq": 20,
-    "tolerance_s": 0.0001,
-    "save_checkpoint": true,
-    "save_freq": 20000,
-    "use_policy_training_preset": true,
-    "optimizer": {
-        "type": "adam",
-        "lr": 0.0001,
-        "weight_decay": 1e-06,
-        "grad_clip_norm": 10.0,
-        "betas": [
-            0.95,
-            0.999
-        ],
-        "eps": 1e-08
-    },
-    "scheduler": {
-        "type": "diffuser",
-        "num_warmup_steps": 500,
-        "name": "cosine"
-    },
-    "eval": {
-        "n_episodes": 50,
-        "batch_size": 11,
-        "use_async_envs": true
-    },
-    "wandb": {
-        "enable": true,
-        "disable_artifact": false,
-        "project": "lerobot",
-        "entity": null,
-        "notes": null,
-        "run_id": "9kipd4of",
-        "mode": null,
-        "add_tags": true
-    },
-    "peft": null,
-    "sample_weighting": null,
-    "rename_map": {},
-    "checkpoint_path": null
-}
\ No newline at end of file
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/080000/training_state/optimizer_param_groups.json b/checkpoints/diffusion_unet_dino_data_augmentation/joints/080000/training_state/optimizer_param_groups.json
deleted file mode 100644
index 4dc62d82e6236137e23255a2439520686a25739a..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/080000/training_state/optimizer_param_groups.json
+++ /dev/null
@@ -1,396 +0,0 @@
-[
-    {
-        "lr": 6.567532550188907e-05,
-        "betas": [
-            0.95,
-            0.999
-        ],
-        "eps": 1e-08,
-        "weight_decay": 1e-06,
-        "amsgrad": false,
-        "maximize": false,
-        "foreach": null,
-        "capturable": false,
-        "differentiable": false,
-        "fused": null,
-        "decoupled_weight_decay": false,
-        "initial_lr": 0.0001,
-        "params": [
-            0,
-            1,
-            2,
-            3,
-            4,
-            5,
-            6,
-            7,
-            8,
-            9,
-            10,
-            11,
-            12,
-            13,
-            14,
-            15,
-            16,
-            17,
-            18,
-            19,
-            20,
-            21,
-            22,
-            23,
-            24,
-            25,
-            26,
-            27,
-            28,
-            29,
-            30,
-            31,
-            32,
-            33,
-            34,
-            35,
-            36,
-            37,
-            38,
-            39,
-            40,
-            41,
-            42,
-            43,
-            44,
-            45,
-            46,
-            47,
-            48,
-            49,
-            50,
-            51,
-            52,
-            53,
-            54,
-            55,
-            56,
-            57,
-            58,
-            59,
-            60,
-            61,
-            62,
-            63,
-            64,
-            65,
-            66,
-            67,
-            68,
-            69,
-            70,
-            71,
-            72,
-            73,
-            74,
-            75,
-            76,
-            77,
-            78,
-            79,
-            80,
-            81,
-            82,
-            83,
-            84,
-            85,
-            86,
-            87,
-            88,
-            89,
-            90,
-            91,
-            92,
-            93,
-            94,
-            95,
-            96,
-            97,
-            98,
-            99,
-            100,
-            101,
-            102,
-            103,
-            104,
-            105,
-            106,
-            107,
-            108,
-            109,
-            110,
-            111,
-            112,
-            113,
-            114,
-            115,
-            116,
-            117,
-            118,
-            119,
-            120,
-            121,
-            122,
-            123,
-            124,
-            125,
-            126,
-            127,
-            128,
-            129,
-            130,
-            131,
-            132,
-            133,
-            134,
-            135,
-            136,
-            137,
-            138,
-            139,
-            140,
-            141,
-            142,
-            143,
-            144,
-            145,
-            146,
-            147,
-            148,
-            149,
-            150,
-            151,
-            152,
-            153,
-            154,
-            155,
-            156,
-            157,
-            158,
-            159,
-            160,
-            161,
-            162,
-            163,
-            164,
-            165,
-            166,
-            167,
-            168,
-            169,
-            170,
-            171,
-            172,
-            173,
-            174,
-            175,
-            176,
-            177,
-            178,
-            179,
-            180,
-            181,
-            182,
-            183,
-            184,
-            185,
-            186,
-            187,
-            188,
-            189,
-            190,
-            191,
-            192,
-            193,
-            194,
-            195,
-            196,
-            197,
-            198,
-            199,
-            200,
-            201,
-            202,
-            203,
-            204,
-            205,
-            206,
-            207,
-            208,
-            209,
-            210,
-            211,
-            212,
-            213,
-            214,
-            215,
-            216,
-            217,
-            218,
-            219,
-            220,
-            221,
-            222,
-            223,
-            224,
-            225,
-            226,
-            227,
-            228,
-            229,
-            230,
-            231,
-            232,
-            233,
-            234,
-            235,
-            236,
-            237,
-            238,
-            239,
-            240,
-            241,
-            242,
-            243,
-            244,
-            245,
-            246,
-            247,
-            248,
-            249,
-            250,
-            251,
-            252,
-            253,
-            254,
-            255,
-            256,
-            257,
-            258,
-            259,
-            260,
-            261,
-            262,
-            263,
-            264,
-            265,
-            266,
-            267,
-            268,
-            269,
-            270,
-            271,
-            272,
-            273,
-            274,
-            275,
-            276,
-            277,
-            278,
-            279,
-            280,
-            281,
-            282,
-            283,
-            284,
-            285,
-            286,
-            287,
-            288,
-            289,
-            290,
-            291,
-            292,
-            293,
-            294,
-            295,
-            296,
-            297,
-            298,
-            299,
-            300,
-            301,
-            302,
-            303,
-            304,
-            305,
-            306,
-            307,
-            308,
-            309,
-            310,
-            311,
-            312,
-            313,
-            314,
-            315,
-            316,
-            317,
-            318,
-            319,
-            320,
-            321,
-            322,
-            323,
-            324,
-            325,
-            326,
-            327,
-            328,
-            329,
-            330,
-            331,
-            332,
-            333,
-            334,
-            335,
-            336,
-            337,
-            338,
-            339,
-            340,
-            341,
-            342,
-            343,
-            344,
-            345,
-            346,
-            347,
-            348,
-            349,
-            350,
-            351,
-            352,
-            353,
-            354,
-            355,
-            356,
-            357,
-            358,
-            359,
-            360,
-            361,
-            362,
-            363,
-            364,
-            365,
-            366,
-            367,
-            368,
-            369,
-            370,
-            371,
-            372,
-            373,
-            374
-        ]
-    }
-]
\ No newline at end of file
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/080000/training_state/optimizer_state.safetensors b/checkpoints/diffusion_unet_dino_data_augmentation/joints/080000/training_state/optimizer_state.safetensors
deleted file mode 100644
index 66ef52255aaf7b2f83da7c7be591fe0d1467a384..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/080000/training_state/optimizer_state.safetensors
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:70af0a5b6e218ccaa0390a82122c95b31ae74352a630b21f8437e945a8af21d6
-size 2014217744
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/080000/training_state/rng_state.safetensors b/checkpoints/diffusion_unet_dino_data_augmentation/joints/080000/training_state/rng_state.safetensors
deleted file mode 100644
index b852c5c1692b558d9f600ad3e99dd0f909680f6c..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/080000/training_state/rng_state.safetensors
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:6731e5c08bb32d8fee1d57d92c5c813aad8b84a63e2ef8090378503bd36573c5
-size 15708
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/080000/training_state/scheduler_state.json b/checkpoints/diffusion_unet_dino_data_augmentation/joints/080000/training_state/scheduler_state.json
deleted file mode 100644
index c44746ed1d22f5bb663a3bc294e0e59a2711b22a..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/080000/training_state/scheduler_state.json
+++ /dev/null
@@ -1,15 +0,0 @@
-{
-    "base_lrs": [
-        0.0001
-    ],
-    "last_epoch": 80000,
-    "_step_count": 80001,
-    "_is_initial": false,
-    "_get_lr_called_within_step": false,
-    "_last_lr": [
-        6.567532550188907e-05
-    ],
-    "lr_lambdas": [
-        null
-    ]
-}
\ No newline at end of file
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/080000/training_state/training_step.json b/checkpoints/diffusion_unet_dino_data_augmentation/joints/080000/training_state/training_step.json
deleted file mode 100644
index 384eace4ecc2a6cba352aa7cf27f04405b7319c3..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/080000/training_state/training_step.json
+++ /dev/null
@@ -1,3 +0,0 @@
-{
-    "step": 80000
-}
\ No newline at end of file
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/100000/pretrained_model/config.json b/checkpoints/diffusion_unet_dino_data_augmentation/joints/100000/pretrained_model/config.json
deleted file mode 100644
index 2fa3687b3b250787f09885f221d1cebc81f4fe1e..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/100000/pretrained_model/config.json
+++ /dev/null
@@ -1,90 +0,0 @@
-{
-    "type": "diffusion",
-    "n_obs_steps": 2,
-    "input_features": {
-        "observation.state": {
-            "type": "STATE",
-            "shape": [
-                6
-            ]
-        },
-        "observation.images.front": {
-            "type": "VISUAL",
-            "shape": [
-                3,
-                480,
-                640
-            ]
-        }
-    },
-    "output_features": {
-        "action": {
-            "type": "ACTION",
-            "shape": [
-                6
-            ]
-        }
-    },
-    "device": "cuda",
-    "use_amp": false,
-    "use_peft": false,
-    "push_to_hub": false,
-    "repo_id": null,
-    "private": null,
-    "tags": null,
-    "license": null,
-    "pretrained_path": null,
-    "horizon": 16,
-    "n_action_steps": 8,
-    "normalization_mapping": {
-        "VISUAL": "MEAN_STD",
-        "STATE": "MIN_MAX",
-        "ACTION": "MIN_MAX"
-    },
-    "drop_n_last_frames": 7,
-    "vision_backbone_type": "dinov2",
-    "vision_encoder_name": "facebook/dinov2-small",
-    "freeze_vision_encoder": true,
-    "vision_backbone": "resnet18",
-    "resize_shape": [
-        224,
-        224
-    ],
-    "crop_ratio": 1.0,
-    "crop_shape": null,
-    "crop_is_random": true,
-    "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
-    "use_group_norm": false,
-    "spatial_softmax_num_keypoints": 32,
-    "use_separate_rgb_encoder_per_camera": true,
-    "down_dims": [
-        512,
-        1024,
-        2048
-    ],
-    "kernel_size": 5,
-    "n_groups": 8,
-    "diffusion_step_embed_dim": 128,
-    "use_film_scale_modulation": true,
-    "noise_scheduler_type": "DDPM",
-    "num_train_timesteps": 100,
-    "beta_schedule": "squaredcos_cap_v2",
-    "beta_start": 0.0001,
-    "beta_end": 0.02,
-    "prediction_type": "epsilon",
-    "clip_sample": true,
-    "clip_sample_range": 1.0,
-    "num_inference_steps": 100,
-    "compile_model": false,
-    "compile_mode": "reduce-overhead",
-    "do_mask_loss_for_padding": false,
-    "optimizer_lr": 0.0001,
-    "optimizer_betas": [
-        0.95,
-        0.999
-    ],
-    "optimizer_eps": 1e-08,
-    "optimizer_weight_decay": 1e-06,
-    "scheduler_name": "cosine",
-    "scheduler_warmup_steps": 500
-}
\ No newline at end of file
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/100000/pretrained_model/model.safetensors b/checkpoints/diffusion_unet_dino_data_augmentation/joints/100000/pretrained_model/model.safetensors
deleted file mode 100644
index 797b46b3998300324e79c395249d25b0716d0da4..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/100000/pretrained_model/model.safetensors
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:259587050fd6684daa3c586cb39b5e23cdc3d2bc467c7ea9e63d521878a6567b
-size 1095367712
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/100000/pretrained_model/policy_postprocessor.json b/checkpoints/diffusion_unet_dino_data_augmentation/joints/100000/pretrained_model/policy_postprocessor.json
deleted file mode 100644
index f2c5e6cea7850bb999ab193f96021fa0129ce4db..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/100000/pretrained_model/policy_postprocessor.json
+++ /dev/null
@@ -1,32 +0,0 @@
-{
-  "name": "policy_postprocessor",
-  "steps": [
-    {
-      "registry_name": "unnormalizer_processor",
-      "config": {
-        "eps": 1e-08,
-        "features": {
-          "action": {
-            "type": "ACTION",
-            "shape": [
-              6
-            ]
-          }
-        },
-        "norm_map": {
-          "VISUAL": "MEAN_STD",
-          "STATE": "MIN_MAX",
-          "ACTION": "MIN_MAX"
-        }
-      },
-      "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
-    },
-    {
-      "registry_name": "device_processor",
-      "config": {
-        "device": "cpu",
-        "float_dtype": null
-      }
-    }
-  ]
-}
\ No newline at end of file
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/100000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors b/checkpoints/diffusion_unet_dino_data_augmentation/joints/100000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors
deleted file mode 100644
index ad9e18436f8f0c586020700f357c5f939d1e2626..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/100000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:89a27803b4e2ad57a700eb9917bb97a9d4cc857f094337451fa30a3ffca0dbce
-size 6560
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/100000/pretrained_model/policy_preprocessor.json b/checkpoints/diffusion_unet_dino_data_augmentation/joints/100000/pretrained_model/policy_preprocessor.json
deleted file mode 100644
index a6f57e6242af17f882bc107c602ca76393c57d55..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/100000/pretrained_model/policy_preprocessor.json
+++ /dev/null
@@ -1,56 +0,0 @@
-{
-  "name": "policy_preprocessor",
-  "steps": [
-    {
-      "registry_name": "rename_observations_processor",
-      "config": {
-        "rename_map": {}
-      }
-    },
-    {
-      "registry_name": "to_batch_processor",
-      "config": {}
-    },
-    {
-      "registry_name": "device_processor",
-      "config": {
-        "device": "cuda",
-        "float_dtype": null
-      }
-    },
-    {
-      "registry_name": "normalizer_processor",
-      "config": {
-        "eps": 1e-08,
-        "features": {
-          "observation.state": {
-            "type": "STATE",
-            "shape": [
-              6
-            ]
-          },
-          "observation.images.front": {
-            "type": "VISUAL",
-            "shape": [
-              3,
-              480,
-              640
-            ]
-          },
-          "action": {
-            "type": "ACTION",
-            "shape": [
-              6
-            ]
-          }
-        },
-        "norm_map": {
-          "VISUAL": "MEAN_STD",
-          "STATE": "MIN_MAX",
-          "ACTION": "MIN_MAX"
-        }
-      },
-      "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
-    }
-  ]
-}
\ No newline at end of file
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/100000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors b/checkpoints/diffusion_unet_dino_data_augmentation/joints/100000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors
deleted file mode 100644
index ad9e18436f8f0c586020700f357c5f939d1e2626..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/100000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:89a27803b4e2ad57a700eb9917bb97a9d4cc857f094337451fa30a3ffca0dbce
-size 6560
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/100000/pretrained_model/train_config.json b/checkpoints/diffusion_unet_dino_data_augmentation/joints/100000/pretrained_model/train_config.json
deleted file mode 100644
index f8fc0ef49836809a64079818985a21e2bf489aef..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/100000/pretrained_model/train_config.json
+++ /dev/null
@@ -1,300 +0,0 @@
-{
-    "dataset": {
-        "repo_id": "local/act_collected_episodes",
-        "root": "/home/rguntz/Desktop/robot_learning/dataset/act_collected_episodes",
-        "episodes": null,
-        "image_transforms": {
-            "enable": false,
-            "max_num_transforms": 3,
-            "random_order": false,
-            "same_cloth_color": false,
-            "tfs": {
-                "color_jitter": {
-                    "weight": 1.5,
-                    "type": "ColorJitter",
-                    "kwargs": {
-                        "brightness": [
-                            0.7,
-                            1.3
-                        ],
-                        "contrast": [
-                            0.7,
-                            1.3
-                        ],
-                        "saturation": [
-                            0.4,
-                            1.6
-                        ],
-                        "hue": [
-                            -0.5,
-                            0.5
-                        ]
-                    }
-                },
-                "grayscale": {
-                    "weight": 0.5,
-                    "type": "RandomGrayscale",
-                    "kwargs": {
-                        "p": 1.0
-                    }
-                },
-                "shadow": {
-                    "weight": 0.8,
-                    "type": "RandomShadow",
-                    "kwargs": {
-                        "num_shadows": [
-                            1,
-                            2
-                        ],
-                        "intensity": [
-                            0.4,
-                            0.7
-                        ],
-                        "blur_sigma": [
-                            4.0,
-                            20.0
-                        ]
-                    }
-                },
-                "highlight": {
-                    "weight": 0.5,
-                    "type": "RandomHighlight",
-                    "kwargs": {
-                        "num_highlights": [
-                            0,
-                            1
-                        ],
-                        "intensity": [
-                            0.2,
-                            0.5
-                        ],
-                        "sigma": [
-                            20.0,
-                            60.0
-                        ]
-                    }
-                },
-                "gamma": {
-                    "weight": 0.7,
-                    "type": "RandomGamma",
-                    "kwargs": {
-                        "gamma": [
-                            0.6,
-                            1.4
-                        ]
-                    }
-                },
-                "blur": {
-                    "weight": 0.0,
-                    "type": "GaussianBlur",
-                    "kwargs": {
-                        "kernel_size": [
-                            3,
-                            3
-                        ],
-                        "sigma": [
-                            0.1,
-                            1.5
-                        ]
-                    }
-                },
-                "jpeg": {
-                    "weight": 0.0,
-                    "type": "RandomJPEG",
-                    "kwargs": {
-                        "quality": [
-                            60,
-                            95
-                        ]
-                    }
-                },
-                "crop": {
-                    "weight": 0.5,
-                    "type": "RandomCropPreserveSize",
-                    "kwargs": {
-                        "scale": [
-                            0.97,
-                            1.0
-                        ],
-                        "ratio": [
-                            0.99,
-                            1.01
-                        ]
-                    }
-                },
-                "affine": {
-                    "weight": 0.0,
-                    "type": "RandomAffine",
-                    "kwargs": {
-                        "degrees": [
-                            -5.0,
-                            5.0
-                        ],
-                        "translate": [
-                            0.05,
-                            0.05
-                        ]
-                    }
-                },
-                "sharpness": {
-                    "weight": 1.0,
-                    "type": "SharpnessJitter",
-                    "kwargs": {
-                        "sharpness": [
-                            0.5,
-                            1.5
-                        ]
-                    }
-                }
-            }
-        },
-        "revision": null,
-        "use_imagenet_stats": true,
-        "video_backend": "pyav",
-        "return_uint8": false,
-        "streaming": false
-    },
-    "env": null,
-    "policy": {
-        "type": "diffusion",
-        "n_obs_steps": 2,
-        "input_features": {
-            "observation.state": {
-                "type": "STATE",
-                "shape": [
-                    6
-                ]
-            },
-            "observation.images.front": {
-                "type": "VISUAL",
-                "shape": [
-                    3,
-                    480,
-                    640
-                ]
-            }
-        },
-        "output_features": {
-            "action": {
-                "type": "ACTION",
-                "shape": [
-                    6
-                ]
-            }
-        },
-        "device": "cuda",
-        "use_amp": false,
-        "use_peft": false,
-        "push_to_hub": false,
-        "repo_id": null,
-        "private": null,
-        "tags": null,
-        "license": null,
-        "pretrained_path": null,
-        "horizon": 16,
-        "n_action_steps": 8,
-        "normalization_mapping": {
-            "VISUAL": "MEAN_STD",
-            "STATE": "MIN_MAX",
-            "ACTION": "MIN_MAX"
-        },
-        "drop_n_last_frames": 7,
-        "vision_backbone_type": "dinov2",
-        "vision_encoder_name": "facebook/dinov2-small",
-        "freeze_vision_encoder": true,
-        "vision_backbone": "resnet18",
-        "resize_shape": [
-            224,
-            224
-        ],
-        "crop_ratio": 1.0,
-        "crop_shape": null,
-        "crop_is_random": true,
-        "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
-        "use_group_norm": false,
-        "spatial_softmax_num_keypoints": 32,
-        "use_separate_rgb_encoder_per_camera": true,
-        "down_dims": [
-            512,
-            1024,
-            2048
-        ],
-        "kernel_size": 5,
-        "n_groups": 8,
-        "diffusion_step_embed_dim": 128,
-        "use_film_scale_modulation": true,
-        "noise_scheduler_type": "DDPM",
-        "num_train_timesteps": 100,
-        "beta_schedule": "squaredcos_cap_v2",
-        "beta_start": 0.0001,
-        "beta_end": 0.02,
-        "prediction_type": "epsilon",
-        "clip_sample": true,
-        "clip_sample_range": 1.0,
-        "num_inference_steps": 100,
-        "compile_model": false,
-        "compile_mode": "reduce-overhead",
-        "do_mask_loss_for_padding": false,
-        "optimizer_lr": 0.0001,
-        "optimizer_betas": [
-            0.95,
-            0.999
-        ],
-        "optimizer_eps": 1e-08,
-        "optimizer_weight_decay": 1e-06,
-        "scheduler_name": "cosine",
-        "scheduler_warmup_steps": 500
-    },
-    "reward_model": null,
-    "output_dir": "/home/rguntz/Desktop/robot_learning/outputs/train/diffusion_laptop_20260515_200616",
-    "job_name": "diffusion_laptop_20260515_200616",
-    "resume": false,
-    "seed": 1000,
-    "cudnn_deterministic": false,
-    "num_workers": 4,
-    "batch_size": 32,
-    "prefetch_factor": 4,
-    "persistent_workers": true,
-    "steps": 200000,
-    "eval_freq": 0,
-    "log_freq": 20,
-    "tolerance_s": 0.0001,
-    "save_checkpoint": true,
-    "save_freq": 20000,
-    "use_policy_training_preset": true,
-    "optimizer": {
-        "type": "adam",
-        "lr": 0.0001,
-        "weight_decay": 1e-06,
-        "grad_clip_norm": 10.0,
-        "betas": [
-            0.95,
-            0.999
-        ],
-        "eps": 1e-08
-    },
-    "scheduler": {
-        "type": "diffuser",
-        "num_warmup_steps": 500,
-        "name": "cosine"
-    },
-    "eval": {
-        "n_episodes": 50,
-        "batch_size": 11,
-        "use_async_envs": true
-    },
-    "wandb": {
-        "enable": true,
-        "disable_artifact": false,
-        "project": "lerobot",
-        "entity": null,
-        "notes": null,
-        "run_id": "9kipd4of",
-        "mode": null,
-        "add_tags": true
-    },
-    "peft": null,
-    "sample_weighting": null,
-    "rename_map": {},
-    "checkpoint_path": null
-}
\ No newline at end of file
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/100000/training_state/optimizer_param_groups.json b/checkpoints/diffusion_unet_dino_data_augmentation/joints/100000/training_state/optimizer_param_groups.json
deleted file mode 100644
index 1b7eb2df3aa9e8c6619367422a98078178c4bf55..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/100000/training_state/optimizer_param_groups.json
+++ /dev/null
@@ -1,396 +0,0 @@
-[
-    {
-        "lr": 5.0196841136498776e-05,
-        "betas": [
-            0.95,
-            0.999
-        ],
-        "eps": 1e-08,
-        "weight_decay": 1e-06,
-        "amsgrad": false,
-        "maximize": false,
-        "foreach": null,
-        "capturable": false,
-        "differentiable": false,
-        "fused": null,
-        "decoupled_weight_decay": false,
-        "initial_lr": 0.0001,
-        "params": [
-            0,
-            1,
-            2,
-            3,
-            4,
-            5,
-            6,
-            7,
-            8,
-            9,
-            10,
-            11,
-            12,
-            13,
-            14,
-            15,
-            16,
-            17,
-            18,
-            19,
-            20,
-            21,
-            22,
-            23,
-            24,
-            25,
-            26,
-            27,
-            28,
-            29,
-            30,
-            31,
-            32,
-            33,
-            34,
-            35,
-            36,
-            37,
-            38,
-            39,
-            40,
-            41,
-            42,
-            43,
-            44,
-            45,
-            46,
-            47,
-            48,
-            49,
-            50,
-            51,
-            52,
-            53,
-            54,
-            55,
-            56,
-            57,
-            58,
-            59,
-            60,
-            61,
-            62,
-            63,
-            64,
-            65,
-            66,
-            67,
-            68,
-            69,
-            70,
-            71,
-            72,
-            73,
-            74,
-            75,
-            76,
-            77,
-            78,
-            79,
-            80,
-            81,
-            82,
-            83,
-            84,
-            85,
-            86,
-            87,
-            88,
-            89,
-            90,
-            91,
-            92,
-            93,
-            94,
-            95,
-            96,
-            97,
-            98,
-            99,
-            100,
-            101,
-            102,
-            103,
-            104,
-            105,
-            106,
-            107,
-            108,
-            109,
-            110,
-            111,
-            112,
-            113,
-            114,
-            115,
-            116,
-            117,
-            118,
-            119,
-            120,
-            121,
-            122,
-            123,
-            124,
-            125,
-            126,
-            127,
-            128,
-            129,
-            130,
-            131,
-            132,
-            133,
-            134,
-            135,
-            136,
-            137,
-            138,
-            139,
-            140,
-            141,
-            142,
-            143,
-            144,
-            145,
-            146,
-            147,
-            148,
-            149,
-            150,
-            151,
-            152,
-            153,
-            154,
-            155,
-            156,
-            157,
-            158,
-            159,
-            160,
-            161,
-            162,
-            163,
-            164,
-            165,
-            166,
-            167,
-            168,
-            169,
-            170,
-            171,
-            172,
-            173,
-            174,
-            175,
-            176,
-            177,
-            178,
-            179,
-            180,
-            181,
-            182,
-            183,
-            184,
-            185,
-            186,
-            187,
-            188,
-            189,
-            190,
-            191,
-            192,
-            193,
-            194,
-            195,
-            196,
-            197,
-            198,
-            199,
-            200,
-            201,
-            202,
-            203,
-            204,
-            205,
-            206,
-            207,
-            208,
-            209,
-            210,
-            211,
-            212,
-            213,
-            214,
-            215,
-            216,
-            217,
-            218,
-            219,
-            220,
-            221,
-            222,
-            223,
-            224,
-            225,
-            226,
-            227,
-            228,
-            229,
-            230,
-            231,
-            232,
-            233,
-            234,
-            235,
-            236,
-            237,
-            238,
-            239,
-            240,
-            241,
-            242,
-            243,
-            244,
-            245,
-            246,
-            247,
-            248,
-            249,
-            250,
-            251,
-            252,
-            253,
-            254,
-            255,
-            256,
-            257,
-            258,
-            259,
-            260,
-            261,
-            262,
-            263,
-            264,
-            265,
-            266,
-            267,
-            268,
-            269,
-            270,
-            271,
-            272,
-            273,
-            274,
-            275,
-            276,
-            277,
-            278,
-            279,
-            280,
-            281,
-            282,
-            283,
-            284,
-            285,
-            286,
-            287,
-            288,
-            289,
-            290,
-            291,
-            292,
-            293,
-            294,
-            295,
-            296,
-            297,
-            298,
-            299,
-            300,
-            301,
-            302,
-            303,
-            304,
-            305,
-            306,
-            307,
-            308,
-            309,
-            310,
-            311,
-            312,
-            313,
-            314,
-            315,
-            316,
-            317,
-            318,
-            319,
-            320,
-            321,
-            322,
-            323,
-            324,
-            325,
-            326,
-            327,
-            328,
-            329,
-            330,
-            331,
-            332,
-            333,
-            334,
-            335,
-            336,
-            337,
-            338,
-            339,
-            340,
-            341,
-            342,
-            343,
-            344,
-            345,
-            346,
-            347,
-            348,
-            349,
-            350,
-            351,
-            352,
-            353,
-            354,
-            355,
-            356,
-            357,
-            358,
-            359,
-            360,
-            361,
-            362,
-            363,
-            364,
-            365,
-            366,
-            367,
-            368,
-            369,
-            370,
-            371,
-            372,
-            373,
-            374
-        ]
-    }
-]
\ No newline at end of file
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/100000/training_state/optimizer_state.safetensors b/checkpoints/diffusion_unet_dino_data_augmentation/joints/100000/training_state/optimizer_state.safetensors
deleted file mode 100644
index 6a964e54cf86f1bf518c00b6fba1907096f29539..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/100000/training_state/optimizer_state.safetensors
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:58e8e4ad845a442279382635bfa146580fecd71e4951bcb25b0a0f6a403f5b41
-size 2014217744
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/100000/training_state/rng_state.safetensors b/checkpoints/diffusion_unet_dino_data_augmentation/joints/100000/training_state/rng_state.safetensors
deleted file mode 100644
index 697660e312b1b9555155ab514780a0ed06207797..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/100000/training_state/rng_state.safetensors
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:322b14af258a524b9a10e7930525f40160302bf9e91b20940c53a10abb562054
-size 15708
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/100000/training_state/scheduler_state.json b/checkpoints/diffusion_unet_dino_data_augmentation/joints/100000/training_state/scheduler_state.json
deleted file mode 100644
index f0b0d9e99258dc69279ec9748dbf7f82a5cd25cc..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/100000/training_state/scheduler_state.json
+++ /dev/null
@@ -1,15 +0,0 @@
-{
-    "base_lrs": [
-        0.0001
-    ],
-    "last_epoch": 100000,
-    "_step_count": 100001,
-    "_is_initial": false,
-    "_get_lr_called_within_step": false,
-    "_last_lr": [
-        5.0196841136498776e-05
-    ],
-    "lr_lambdas": [
-        null
-    ]
-}
\ No newline at end of file
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/100000/training_state/training_step.json b/checkpoints/diffusion_unet_dino_data_augmentation/joints/100000/training_state/training_step.json
deleted file mode 100644
index 8eb73c13d28bca88058c08796abbf931c3f9b012..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/100000/training_state/training_step.json
+++ /dev/null
@@ -1,3 +0,0 @@
-{
-    "step": 100000
-}
\ No newline at end of file
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/120000/pretrained_model/config.json b/checkpoints/diffusion_unet_dino_data_augmentation/joints/120000/pretrained_model/config.json
deleted file mode 100644
index 2fa3687b3b250787f09885f221d1cebc81f4fe1e..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/120000/pretrained_model/config.json
+++ /dev/null
@@ -1,90 +0,0 @@
-{
-    "type": "diffusion",
-    "n_obs_steps": 2,
-    "input_features": {
-        "observation.state": {
-            "type": "STATE",
-            "shape": [
-                6
-            ]
-        },
-        "observation.images.front": {
-            "type": "VISUAL",
-            "shape": [
-                3,
-                480,
-                640
-            ]
-        }
-    },
-    "output_features": {
-        "action": {
-            "type": "ACTION",
-            "shape": [
-                6
-            ]
-        }
-    },
-    "device": "cuda",
-    "use_amp": false,
-    "use_peft": false,
-    "push_to_hub": false,
-    "repo_id": null,
-    "private": null,
-    "tags": null,
-    "license": null,
-    "pretrained_path": null,
-    "horizon": 16,
-    "n_action_steps": 8,
-    "normalization_mapping": {
-        "VISUAL": "MEAN_STD",
-        "STATE": "MIN_MAX",
-        "ACTION": "MIN_MAX"
-    },
-    "drop_n_last_frames": 7,
-    "vision_backbone_type": "dinov2",
-    "vision_encoder_name": "facebook/dinov2-small",
-    "freeze_vision_encoder": true,
-    "vision_backbone": "resnet18",
-    "resize_shape": [
-        224,
-        224
-    ],
-    "crop_ratio": 1.0,
-    "crop_shape": null,
-    "crop_is_random": true,
-    "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
-    "use_group_norm": false,
-    "spatial_softmax_num_keypoints": 32,
-    "use_separate_rgb_encoder_per_camera": true,
-    "down_dims": [
-        512,
-        1024,
-        2048
-    ],
-    "kernel_size": 5,
-    "n_groups": 8,
-    "diffusion_step_embed_dim": 128,
-    "use_film_scale_modulation": true,
-    "noise_scheduler_type": "DDPM",
-    "num_train_timesteps": 100,
-    "beta_schedule": "squaredcos_cap_v2",
-    "beta_start": 0.0001,
-    "beta_end": 0.02,
-    "prediction_type": "epsilon",
-    "clip_sample": true,
-    "clip_sample_range": 1.0,
-    "num_inference_steps": 100,
-    "compile_model": false,
-    "compile_mode": "reduce-overhead",
-    "do_mask_loss_for_padding": false,
-    "optimizer_lr": 0.0001,
-    "optimizer_betas": [
-        0.95,
-        0.999
-    ],
-    "optimizer_eps": 1e-08,
-    "optimizer_weight_decay": 1e-06,
-    "scheduler_name": "cosine",
-    "scheduler_warmup_steps": 500
-}
\ No newline at end of file
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/120000/pretrained_model/model.safetensors b/checkpoints/diffusion_unet_dino_data_augmentation/joints/120000/pretrained_model/model.safetensors
deleted file mode 100644
index dcf1e0cbcfedbfdbb498be3434a422042e6fcb9b..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/120000/pretrained_model/model.safetensors
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:a8a20c426a5f1165ec5819e825d7475c3e91b92486a0c88c9759526720edb3cd
-size 1095367712
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/120000/pretrained_model/policy_postprocessor.json b/checkpoints/diffusion_unet_dino_data_augmentation/joints/120000/pretrained_model/policy_postprocessor.json
deleted file mode 100644
index f2c5e6cea7850bb999ab193f96021fa0129ce4db..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/120000/pretrained_model/policy_postprocessor.json
+++ /dev/null
@@ -1,32 +0,0 @@
-{
-  "name": "policy_postprocessor",
-  "steps": [
-    {
-      "registry_name": "unnormalizer_processor",
-      "config": {
-        "eps": 1e-08,
-        "features": {
-          "action": {
-            "type": "ACTION",
-            "shape": [
-              6
-            ]
-          }
-        },
-        "norm_map": {
-          "VISUAL": "MEAN_STD",
-          "STATE": "MIN_MAX",
-          "ACTION": "MIN_MAX"
-        }
-      },
-      "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
-    },
-    {
-      "registry_name": "device_processor",
-      "config": {
-        "device": "cpu",
-        "float_dtype": null
-      }
-    }
-  ]
-}
\ No newline at end of file
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/120000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors b/checkpoints/diffusion_unet_dino_data_augmentation/joints/120000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors
deleted file mode 100644
index ad9e18436f8f0c586020700f357c5f939d1e2626..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/120000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:89a27803b4e2ad57a700eb9917bb97a9d4cc857f094337451fa30a3ffca0dbce
-size 6560
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/120000/pretrained_model/policy_preprocessor.json b/checkpoints/diffusion_unet_dino_data_augmentation/joints/120000/pretrained_model/policy_preprocessor.json
deleted file mode 100644
index a6f57e6242af17f882bc107c602ca76393c57d55..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/120000/pretrained_model/policy_preprocessor.json
+++ /dev/null
@@ -1,56 +0,0 @@
-{
-  "name": "policy_preprocessor",
-  "steps": [
-    {
-      "registry_name": "rename_observations_processor",
-      "config": {
-        "rename_map": {}
-      }
-    },
-    {
-      "registry_name": "to_batch_processor",
-      "config": {}
-    },
-    {
-      "registry_name": "device_processor",
-      "config": {
-        "device": "cuda",
-        "float_dtype": null
-      }
-    },
-    {
-      "registry_name": "normalizer_processor",
-      "config": {
-        "eps": 1e-08,
-        "features": {
-          "observation.state": {
-            "type": "STATE",
-            "shape": [
-              6
-            ]
-          },
-          "observation.images.front": {
-            "type": "VISUAL",
-            "shape": [
-              3,
-              480,
-              640
-            ]
-          },
-          "action": {
-            "type": "ACTION",
-            "shape": [
-              6
-            ]
-          }
-        },
-        "norm_map": {
-          "VISUAL": "MEAN_STD",
-          "STATE": "MIN_MAX",
-          "ACTION": "MIN_MAX"
-        }
-      },
-      "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
-    }
-  ]
-}
\ No newline at end of file
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/120000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors b/checkpoints/diffusion_unet_dino_data_augmentation/joints/120000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors
deleted file mode 100644
index ad9e18436f8f0c586020700f357c5f939d1e2626..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/120000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:89a27803b4e2ad57a700eb9917bb97a9d4cc857f094337451fa30a3ffca0dbce
-size 6560
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/120000/pretrained_model/train_config.json b/checkpoints/diffusion_unet_dino_data_augmentation/joints/120000/pretrained_model/train_config.json
deleted file mode 100644
index f8fc0ef49836809a64079818985a21e2bf489aef..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/120000/pretrained_model/train_config.json
+++ /dev/null
@@ -1,300 +0,0 @@
-{
-    "dataset": {
-        "repo_id": "local/act_collected_episodes",
-        "root": "/home/rguntz/Desktop/robot_learning/dataset/act_collected_episodes",
-        "episodes": null,
-        "image_transforms": {
-            "enable": false,
-            "max_num_transforms": 3,
-            "random_order": false,
-            "same_cloth_color": false,
-            "tfs": {
-                "color_jitter": {
-                    "weight": 1.5,
-                    "type": "ColorJitter",
-                    "kwargs": {
-                        "brightness": [
-                            0.7,
-                            1.3
-                        ],
-                        "contrast": [
-                            0.7,
-                            1.3
-                        ],
-                        "saturation": [
-                            0.4,
-                            1.6
-                        ],
-                        "hue": [
-                            -0.5,
-                            0.5
-                        ]
-                    }
-                },
-                "grayscale": {
-                    "weight": 0.5,
-                    "type": "RandomGrayscale",
-                    "kwargs": {
-                        "p": 1.0
-                    }
-                },
-                "shadow": {
-                    "weight": 0.8,
-                    "type": "RandomShadow",
-                    "kwargs": {
-                        "num_shadows": [
-                            1,
-                            2
-                        ],
-                        "intensity": [
-                            0.4,
-                            0.7
-                        ],
-                        "blur_sigma": [
-                            4.0,
-                            20.0
-                        ]
-                    }
-                },
-                "highlight": {
-                    "weight": 0.5,
-                    "type": "RandomHighlight",
-                    "kwargs": {
-                        "num_highlights": [
-                            0,
-                            1
-                        ],
-                        "intensity": [
-                            0.2,
-                            0.5
-                        ],
-                        "sigma": [
-                            20.0,
-                            60.0
-                        ]
-                    }
-                },
-                "gamma": {
-                    "weight": 0.7,
-                    "type": "RandomGamma",
-                    "kwargs": {
-                        "gamma": [
-                            0.6,
-                            1.4
-                        ]
-                    }
-                },
-                "blur": {
-                    "weight": 0.0,
-                    "type": "GaussianBlur",
-                    "kwargs": {
-                        "kernel_size": [
-                            3,
-                            3
-                        ],
-                        "sigma": [
-                            0.1,
-                            1.5
-                        ]
-                    }
-                },
-                "jpeg": {
-                    "weight": 0.0,
-                    "type": "RandomJPEG",
-                    "kwargs": {
-                        "quality": [
-                            60,
-                            95
-                        ]
-                    }
-                },
-                "crop": {
-                    "weight": 0.5,
-                    "type": "RandomCropPreserveSize",
-                    "kwargs": {
-                        "scale": [
-                            0.97,
-                            1.0
-                        ],
-                        "ratio": [
-                            0.99,
-                            1.01
-                        ]
-                    }
-                },
-                "affine": {
-                    "weight": 0.0,
-                    "type": "RandomAffine",
-                    "kwargs": {
-                        "degrees": [
-                            -5.0,
-                            5.0
-                        ],
-                        "translate": [
-                            0.05,
-                            0.05
-                        ]
-                    }
-                },
-                "sharpness": {
-                    "weight": 1.0,
-                    "type": "SharpnessJitter",
-                    "kwargs": {
-                        "sharpness": [
-                            0.5,
-                            1.5
-                        ]
-                    }
-                }
-            }
-        },
-        "revision": null,
-        "use_imagenet_stats": true,
-        "video_backend": "pyav",
-        "return_uint8": false,
-        "streaming": false
-    },
-    "env": null,
-    "policy": {
-        "type": "diffusion",
-        "n_obs_steps": 2,
-        "input_features": {
-            "observation.state": {
-                "type": "STATE",
-                "shape": [
-                    6
-                ]
-            },
-            "observation.images.front": {
-                "type": "VISUAL",
-                "shape": [
-                    3,
-                    480,
-                    640
-                ]
-            }
-        },
-        "output_features": {
-            "action": {
-                "type": "ACTION",
-                "shape": [
-                    6
-                ]
-            }
-        },
-        "device": "cuda",
-        "use_amp": false,
-        "use_peft": false,
-        "push_to_hub": false,
-        "repo_id": null,
-        "private": null,
-        "tags": null,
-        "license": null,
-        "pretrained_path": null,
-        "horizon": 16,
-        "n_action_steps": 8,
-        "normalization_mapping": {
-            "VISUAL": "MEAN_STD",
-            "STATE": "MIN_MAX",
-            "ACTION": "MIN_MAX"
-        },
-        "drop_n_last_frames": 7,
-        "vision_backbone_type": "dinov2",
-        "vision_encoder_name": "facebook/dinov2-small",
-        "freeze_vision_encoder": true,
-        "vision_backbone": "resnet18",
-        "resize_shape": [
-            224,
-            224
-        ],
-        "crop_ratio": 1.0,
-        "crop_shape": null,
-        "crop_is_random": true,
-        "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
-        "use_group_norm": false,
-        "spatial_softmax_num_keypoints": 32,
-        "use_separate_rgb_encoder_per_camera": true,
-        "down_dims": [
-            512,
-            1024,
-            2048
-        ],
-        "kernel_size": 5,
-        "n_groups": 8,
-        "diffusion_step_embed_dim": 128,
-        "use_film_scale_modulation": true,
-        "noise_scheduler_type": "DDPM",
-        "num_train_timesteps": 100,
-        "beta_schedule": "squaredcos_cap_v2",
-        "beta_start": 0.0001,
-        "beta_end": 0.02,
-        "prediction_type": "epsilon",
-        "clip_sample": true,
-        "clip_sample_range": 1.0,
-        "num_inference_steps": 100,
-        "compile_model": false,
-        "compile_mode": "reduce-overhead",
-        "do_mask_loss_for_padding": false,
-        "optimizer_lr": 0.0001,
-        "optimizer_betas": [
-            0.95,
-            0.999
-        ],
-        "optimizer_eps": 1e-08,
-        "optimizer_weight_decay": 1e-06,
-        "scheduler_name": "cosine",
-        "scheduler_warmup_steps": 500
-    },
-    "reward_model": null,
-    "output_dir": "/home/rguntz/Desktop/robot_learning/outputs/train/diffusion_laptop_20260515_200616",
-    "job_name": "diffusion_laptop_20260515_200616",
-    "resume": false,
-    "seed": 1000,
-    "cudnn_deterministic": false,
-    "num_workers": 4,
-    "batch_size": 32,
-    "prefetch_factor": 4,
-    "persistent_workers": true,
-    "steps": 200000,
-    "eval_freq": 0,
-    "log_freq": 20,
-    "tolerance_s": 0.0001,
-    "save_checkpoint": true,
-    "save_freq": 20000,
-    "use_policy_training_preset": true,
-    "optimizer": {
-        "type": "adam",
-        "lr": 0.0001,
-        "weight_decay": 1e-06,
-        "grad_clip_norm": 10.0,
-        "betas": [
-            0.95,
-            0.999
-        ],
-        "eps": 1e-08
-    },
-    "scheduler": {
-        "type": "diffuser",
-        "num_warmup_steps": 500,
-        "name": "cosine"
-    },
-    "eval": {
-        "n_episodes": 50,
-        "batch_size": 11,
-        "use_async_envs": true
-    },
-    "wandb": {
-        "enable": true,
-        "disable_artifact": false,
-        "project": "lerobot",
-        "entity": null,
-        "notes": null,
-        "run_id": "9kipd4of",
-        "mode": null,
-        "add_tags": true
-    },
-    "peft": null,
-    "sample_weighting": null,
-    "rename_map": {},
-    "checkpoint_path": null
-}
\ No newline at end of file
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/120000/training_state/optimizer_param_groups.json b/checkpoints/diffusion_unet_dino_data_augmentation/joints/120000/training_state/optimizer_param_groups.json
deleted file mode 100644
index a6673f3fdb1c38b1c7b7d53e3e4c39c6b40a1bc0..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/120000/training_state/optimizer_param_groups.json
+++ /dev/null
@@ -1,396 +0,0 @@
-[
-    {
-        "lr": 3.4698992686449127e-05,
-        "betas": [
-            0.95,
-            0.999
-        ],
-        "eps": 1e-08,
-        "weight_decay": 1e-06,
-        "amsgrad": false,
-        "maximize": false,
-        "foreach": null,
-        "capturable": false,
-        "differentiable": false,
-        "fused": null,
-        "decoupled_weight_decay": false,
-        "initial_lr": 0.0001,
-        "params": [
-            0,
-            1,
-            2,
-            3,
-            4,
-            5,
-            6,
-            7,
-            8,
-            9,
-            10,
-            11,
-            12,
-            13,
-            14,
-            15,
-            16,
-            17,
-            18,
-            19,
-            20,
-            21,
-            22,
-            23,
-            24,
-            25,
-            26,
-            27,
-            28,
-            29,
-            30,
-            31,
-            32,
-            33,
-            34,
-            35,
-            36,
-            37,
-            38,
-            39,
-            40,
-            41,
-            42,
-            43,
-            44,
-            45,
-            46,
-            47,
-            48,
-            49,
-            50,
-            51,
-            52,
-            53,
-            54,
-            55,
-            56,
-            57,
-            58,
-            59,
-            60,
-            61,
-            62,
-            63,
-            64,
-            65,
-            66,
-            67,
-            68,
-            69,
-            70,
-            71,
-            72,
-            73,
-            74,
-            75,
-            76,
-            77,
-            78,
-            79,
-            80,
-            81,
-            82,
-            83,
-            84,
-            85,
-            86,
-            87,
-            88,
-            89,
-            90,
-            91,
-            92,
-            93,
-            94,
-            95,
-            96,
-            97,
-            98,
-            99,
-            100,
-            101,
-            102,
-            103,
-            104,
-            105,
-            106,
-            107,
-            108,
-            109,
-            110,
-            111,
-            112,
-            113,
-            114,
-            115,
-            116,
-            117,
-            118,
-            119,
-            120,
-            121,
-            122,
-            123,
-            124,
-            125,
-            126,
-            127,
-            128,
-            129,
-            130,
-            131,
-            132,
-            133,
-            134,
-            135,
-            136,
-            137,
-            138,
-            139,
-            140,
-            141,
-            142,
-            143,
-            144,
-            145,
-            146,
-            147,
-            148,
-            149,
-            150,
-            151,
-            152,
-            153,
-            154,
-            155,
-            156,
-            157,
-            158,
-            159,
-            160,
-            161,
-            162,
-            163,
-            164,
-            165,
-            166,
-            167,
-            168,
-            169,
-            170,
-            171,
-            172,
-            173,
-            174,
-            175,
-            176,
-            177,
-            178,
-            179,
-            180,
-            181,
-            182,
-            183,
-            184,
-            185,
-            186,
-            187,
-            188,
-            189,
-            190,
-            191,
-            192,
-            193,
-            194,
-            195,
-            196,
-            197,
-            198,
-            199,
-            200,
-            201,
-            202,
-            203,
-            204,
-            205,
-            206,
-            207,
-            208,
-            209,
-            210,
-            211,
-            212,
-            213,
-            214,
-            215,
-            216,
-            217,
-            218,
-            219,
-            220,
-            221,
-            222,
-            223,
-            224,
-            225,
-            226,
-            227,
-            228,
-            229,
-            230,
-            231,
-            232,
-            233,
-            234,
-            235,
-            236,
-            237,
-            238,
-            239,
-            240,
-            241,
-            242,
-            243,
-            244,
-            245,
-            246,
-            247,
-            248,
-            249,
-            250,
-            251,
-            252,
-            253,
-            254,
-            255,
-            256,
-            257,
-            258,
-            259,
-            260,
-            261,
-            262,
-            263,
-            264,
-            265,
-            266,
-            267,
-            268,
-            269,
-            270,
-            271,
-            272,
-            273,
-            274,
-            275,
-            276,
-            277,
-            278,
-            279,
-            280,
-            281,
-            282,
-            283,
-            284,
-            285,
-            286,
-            287,
-            288,
-            289,
-            290,
-            291,
-            292,
-            293,
-            294,
-            295,
-            296,
-            297,
-            298,
-            299,
-            300,
-            301,
-            302,
-            303,
-            304,
-            305,
-            306,
-            307,
-            308,
-            309,
-            310,
-            311,
-            312,
-            313,
-            314,
-            315,
-            316,
-            317,
-            318,
-            319,
-            320,
-            321,
-            322,
-            323,
-            324,
-            325,
-            326,
-            327,
-            328,
-            329,
-            330,
-            331,
-            332,
-            333,
-            334,
-            335,
-            336,
-            337,
-            338,
-            339,
-            340,
-            341,
-            342,
-            343,
-            344,
-            345,
-            346,
-            347,
-            348,
-            349,
-            350,
-            351,
-            352,
-            353,
-            354,
-            355,
-            356,
-            357,
-            358,
-            359,
-            360,
-            361,
-            362,
-            363,
-            364,
-            365,
-            366,
-            367,
-            368,
-            369,
-            370,
-            371,
-            372,
-            373,
-            374
-        ]
-    }
-]
\ No newline at end of file
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/120000/training_state/optimizer_state.safetensors b/checkpoints/diffusion_unet_dino_data_augmentation/joints/120000/training_state/optimizer_state.safetensors
deleted file mode 100644
index 68202af89ee13c15c2cb37955688f73cb1134502..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/120000/training_state/optimizer_state.safetensors
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:d0ec413287864332b1a578b5a288522313897b926581df9034ebdc7bf5ef01b4
-size 2014217744
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/120000/training_state/rng_state.safetensors b/checkpoints/diffusion_unet_dino_data_augmentation/joints/120000/training_state/rng_state.safetensors
deleted file mode 100644
index e0f0ce5a28501708246486619735788a465caf5c..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/120000/training_state/rng_state.safetensors
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:8ebfcfe4b8e79345c58b1aa265931cf88b67bcd0769c8e11e55f3940eb31b829
-size 15708
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/120000/training_state/scheduler_state.json b/checkpoints/diffusion_unet_dino_data_augmentation/joints/120000/training_state/scheduler_state.json
deleted file mode 100644
index d6455435f8b29ad5daaacb689ba88a6e947b6861..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/120000/training_state/scheduler_state.json
+++ /dev/null
@@ -1,15 +0,0 @@
-{
-    "base_lrs": [
-        0.0001
-    ],
-    "last_epoch": 120000,
-    "_step_count": 120001,
-    "_is_initial": false,
-    "_get_lr_called_within_step": false,
-    "_last_lr": [
-        3.4698992686449127e-05
-    ],
-    "lr_lambdas": [
-        null
-    ]
-}
\ No newline at end of file
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/120000/training_state/training_step.json b/checkpoints/diffusion_unet_dino_data_augmentation/joints/120000/training_state/training_step.json
deleted file mode 100644
index 6bbb8719463d819c865c104597046a0165eea278..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/120000/training_state/training_step.json
+++ /dev/null
@@ -1,3 +0,0 @@
-{
-    "step": 120000
-}
\ No newline at end of file
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/140000/pretrained_model/config.json b/checkpoints/diffusion_unet_dino_data_augmentation/joints/140000/pretrained_model/config.json
deleted file mode 100644
index 2fa3687b3b250787f09885f221d1cebc81f4fe1e..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/140000/pretrained_model/config.json
+++ /dev/null
@@ -1,90 +0,0 @@
-{
-    "type": "diffusion",
-    "n_obs_steps": 2,
-    "input_features": {
-        "observation.state": {
-            "type": "STATE",
-            "shape": [
-                6
-            ]
-        },
-        "observation.images.front": {
-            "type": "VISUAL",
-            "shape": [
-                3,
-                480,
-                640
-            ]
-        }
-    },
-    "output_features": {
-        "action": {
-            "type": "ACTION",
-            "shape": [
-                6
-            ]
-        }
-    },
-    "device": "cuda",
-    "use_amp": false,
-    "use_peft": false,
-    "push_to_hub": false,
-    "repo_id": null,
-    "private": null,
-    "tags": null,
-    "license": null,
-    "pretrained_path": null,
-    "horizon": 16,
-    "n_action_steps": 8,
-    "normalization_mapping": {
-        "VISUAL": "MEAN_STD",
-        "STATE": "MIN_MAX",
-        "ACTION": "MIN_MAX"
-    },
-    "drop_n_last_frames": 7,
-    "vision_backbone_type": "dinov2",
-    "vision_encoder_name": "facebook/dinov2-small",
-    "freeze_vision_encoder": true,
-    "vision_backbone": "resnet18",
-    "resize_shape": [
-        224,
-        224
-    ],
-    "crop_ratio": 1.0,
-    "crop_shape": null,
-    "crop_is_random": true,
-    "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
-    "use_group_norm": false,
-    "spatial_softmax_num_keypoints": 32,
-    "use_separate_rgb_encoder_per_camera": true,
-    "down_dims": [
-        512,
-        1024,
-        2048
-    ],
-    "kernel_size": 5,
-    "n_groups": 8,
-    "diffusion_step_embed_dim": 128,
-    "use_film_scale_modulation": true,
-    "noise_scheduler_type": "DDPM",
-    "num_train_timesteps": 100,
-    "beta_schedule": "squaredcos_cap_v2",
-    "beta_start": 0.0001,
-    "beta_end": 0.02,
-    "prediction_type": "epsilon",
-    "clip_sample": true,
-    "clip_sample_range": 1.0,
-    "num_inference_steps": 100,
-    "compile_model": false,
-    "compile_mode": "reduce-overhead",
-    "do_mask_loss_for_padding": false,
-    "optimizer_lr": 0.0001,
-    "optimizer_betas": [
-        0.95,
-        0.999
-    ],
-    "optimizer_eps": 1e-08,
-    "optimizer_weight_decay": 1e-06,
-    "scheduler_name": "cosine",
-    "scheduler_warmup_steps": 500
-}
\ No newline at end of file
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/140000/pretrained_model/model.safetensors b/checkpoints/diffusion_unet_dino_data_augmentation/joints/140000/pretrained_model/model.safetensors
deleted file mode 100644
index 02c46e7ca2230215dfa6eecee1d2e0e7dff98639..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/140000/pretrained_model/model.safetensors
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:bcee85293bffdac06ed3afe99c81f34a36ca7cd0795d5d7016ee0db92ff8aae5
-size 1095367712
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/140000/pretrained_model/policy_postprocessor.json b/checkpoints/diffusion_unet_dino_data_augmentation/joints/140000/pretrained_model/policy_postprocessor.json
deleted file mode 100644
index f2c5e6cea7850bb999ab193f96021fa0129ce4db..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/140000/pretrained_model/policy_postprocessor.json
+++ /dev/null
@@ -1,32 +0,0 @@
-{
-  "name": "policy_postprocessor",
-  "steps": [
-    {
-      "registry_name": "unnormalizer_processor",
-      "config": {
-        "eps": 1e-08,
-        "features": {
-          "action": {
-            "type": "ACTION",
-            "shape": [
-              6
-            ]
-          }
-        },
-        "norm_map": {
-          "VISUAL": "MEAN_STD",
-          "STATE": "MIN_MAX",
-          "ACTION": "MIN_MAX"
-        }
-      },
-      "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
-    },
-    {
-      "registry_name": "device_processor",
-      "config": {
-        "device": "cpu",
-        "float_dtype": null
-      }
-    }
-  ]
-}
\ No newline at end of file
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/140000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors b/checkpoints/diffusion_unet_dino_data_augmentation/joints/140000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors
deleted file mode 100644
index ad9e18436f8f0c586020700f357c5f939d1e2626..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/140000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:89a27803b4e2ad57a700eb9917bb97a9d4cc857f094337451fa30a3ffca0dbce
-size 6560
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/140000/pretrained_model/policy_preprocessor.json b/checkpoints/diffusion_unet_dino_data_augmentation/joints/140000/pretrained_model/policy_preprocessor.json
deleted file mode 100644
index a6f57e6242af17f882bc107c602ca76393c57d55..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/140000/pretrained_model/policy_preprocessor.json
+++ /dev/null
@@ -1,56 +0,0 @@
-{
-  "name": "policy_preprocessor",
-  "steps": [
-    {
-      "registry_name": "rename_observations_processor",
-      "config": {
-        "rename_map": {}
-      }
-    },
-    {
-      "registry_name": "to_batch_processor",
-      "config": {}
-    },
-    {
-      "registry_name": "device_processor",
-      "config": {
-        "device": "cuda",
-        "float_dtype": null
-      }
-    },
-    {
-      "registry_name": "normalizer_processor",
-      "config": {
-        "eps": 1e-08,
-        "features": {
-          "observation.state": {
-            "type": "STATE",
-            "shape": [
-              6
-            ]
-          },
-          "observation.images.front": {
-            "type": "VISUAL",
-            "shape": [
-              3,
-              480,
-              640
-            ]
-          },
-          "action": {
-            "type": "ACTION",
-            "shape": [
-              6
-            ]
-          }
-        },
-        "norm_map": {
-          "VISUAL": "MEAN_STD",
-          "STATE": "MIN_MAX",
-          "ACTION": "MIN_MAX"
-        }
-      },
-      "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
-    }
-  ]
-}
\ No newline at end of file
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/140000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors b/checkpoints/diffusion_unet_dino_data_augmentation/joints/140000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors
deleted file mode 100644
index ad9e18436f8f0c586020700f357c5f939d1e2626..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/140000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:89a27803b4e2ad57a700eb9917bb97a9d4cc857f094337451fa30a3ffca0dbce
-size 6560
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/140000/pretrained_model/train_config.json b/checkpoints/diffusion_unet_dino_data_augmentation/joints/140000/pretrained_model/train_config.json
deleted file mode 100644
index f8fc0ef49836809a64079818985a21e2bf489aef..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/140000/pretrained_model/train_config.json
+++ /dev/null
@@ -1,300 +0,0 @@
-{
-    "dataset": {
-        "repo_id": "local/act_collected_episodes",
-        "root": "/home/rguntz/Desktop/robot_learning/dataset/act_collected_episodes",
-        "episodes": null,
-        "image_transforms": {
-            "enable": false,
-            "max_num_transforms": 3,
-            "random_order": false,
-            "same_cloth_color": false,
-            "tfs": {
-                "color_jitter": {
-                    "weight": 1.5,
-                    "type": "ColorJitter",
-                    "kwargs": {
-                        "brightness": [
-                            0.7,
-                            1.3
-                        ],
-                        "contrast": [
-                            0.7,
-                            1.3
-                        ],
-                        "saturation": [
-                            0.4,
-                            1.6
-                        ],
-                        "hue": [
-                            -0.5,
-                            0.5
-                        ]
-                    }
-                },
-                "grayscale": {
-                    "weight": 0.5,
-                    "type": "RandomGrayscale",
-                    "kwargs": {
-                        "p": 1.0
-                    }
-                },
-                "shadow": {
-                    "weight": 0.8,
-                    "type": "RandomShadow",
-                    "kwargs": {
-                        "num_shadows": [
-                            1,
-                            2
-                        ],
-                        "intensity": [
-                            0.4,
-                            0.7
-                        ],
-                        "blur_sigma": [
-                            4.0,
-                            20.0
-                        ]
-                    }
-                },
-                "highlight": {
-                    "weight": 0.5,
-                    "type": "RandomHighlight",
-                    "kwargs": {
-                        "num_highlights": [
-                            0,
-                            1
-                        ],
-                        "intensity": [
-                            0.2,
-                            0.5
-                        ],
-                        "sigma": [
-                            20.0,
-                            60.0
-                        ]
-                    }
-                },
-                "gamma": {
-                    "weight": 0.7,
-                    "type": "RandomGamma",
-                    "kwargs": {
-                        "gamma": [
-                            0.6,
-                            1.4
-                        ]
-                    }
-                },
-                "blur": {
-                    "weight": 0.0,
-                    "type": "GaussianBlur",
-                    "kwargs": {
-                        "kernel_size": [
-                            3,
-                            3
-                        ],
-                        "sigma": [
-                            0.1,
-                            1.5
-                        ]
-                    }
-                },
-                "jpeg": {
-                    "weight": 0.0,
-                    "type": "RandomJPEG",
-                    "kwargs": {
-                        "quality": [
-                            60,
-                            95
-                        ]
-                    }
-                },
-                "crop": {
-                    "weight": 0.5,
-                    "type": "RandomCropPreserveSize",
-                    "kwargs": {
-                        "scale": [
-                            0.97,
-                            1.0
-                        ],
-                        "ratio": [
-                            0.99,
-                            1.01
-                        ]
-                    }
-                },
-                "affine": {
-                    "weight": 0.0,
-                    "type": "RandomAffine",
-                    "kwargs": {
-                        "degrees": [
-                            -5.0,
-                            5.0
-                        ],
-                        "translate": [
-                            0.05,
-                            0.05
-                        ]
-                    }
-                },
-                "sharpness": {
-                    "weight": 1.0,
-                    "type": "SharpnessJitter",
-                    "kwargs": {
-                        "sharpness": [
-                            0.5,
-                            1.5
-                        ]
-                    }
-                }
-            }
-        },
-        "revision": null,
-        "use_imagenet_stats": true,
-        "video_backend": "pyav",
-        "return_uint8": false,
-        "streaming": false
-    },
-    "env": null,
-    "policy": {
-        "type": "diffusion",
-        "n_obs_steps": 2,
-        "input_features": {
-            "observation.state": {
-                "type": "STATE",
-                "shape": [
-                    6
-                ]
-            },
-            "observation.images.front": {
-                "type": "VISUAL",
-                "shape": [
-                    3,
-                    480,
-                    640
-                ]
-            }
-        },
-        "output_features": {
-            "action": {
-                "type": "ACTION",
-                "shape": [
-                    6
-                ]
-            }
-        },
-        "device": "cuda",
-        "use_amp": false,
-        "use_peft": false,
-        "push_to_hub": false,
-        "repo_id": null,
-        "private": null,
-        "tags": null,
-        "license": null,
-        "pretrained_path": null,
-        "horizon": 16,
-        "n_action_steps": 8,
-        "normalization_mapping": {
-            "VISUAL": "MEAN_STD",
-            "STATE": "MIN_MAX",
-            "ACTION": "MIN_MAX"
-        },
-        "drop_n_last_frames": 7,
-        "vision_backbone_type": "dinov2",
-        "vision_encoder_name": "facebook/dinov2-small",
-        "freeze_vision_encoder": true,
-        "vision_backbone": "resnet18",
-        "resize_shape": [
-            224,
-            224
-        ],
-        "crop_ratio": 1.0,
-        "crop_shape": null,
-        "crop_is_random": true,
-        "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
-        "use_group_norm": false,
-        "spatial_softmax_num_keypoints": 32,
-        "use_separate_rgb_encoder_per_camera": true,
-        "down_dims": [
-            512,
-            1024,
-            2048
-        ],
-        "kernel_size": 5,
-        "n_groups": 8,
-        "diffusion_step_embed_dim": 128,
-        "use_film_scale_modulation": true,
-        "noise_scheduler_type": "DDPM",
-        "num_train_timesteps": 100,
-        "beta_schedule": "squaredcos_cap_v2",
-        "beta_start": 0.0001,
-        "beta_end": 0.02,
-        "prediction_type": "epsilon",
-        "clip_sample": true,
-        "clip_sample_range": 1.0,
-        "num_inference_steps": 100,
-        "compile_model": false,
-        "compile_mode": "reduce-overhead",
-        "do_mask_loss_for_padding": false,
-        "optimizer_lr": 0.0001,
-        "optimizer_betas": [
-            0.95,
-            0.999
-        ],
-        "optimizer_eps": 1e-08,
-        "optimizer_weight_decay": 1e-06,
-        "scheduler_name": "cosine",
-        "scheduler_warmup_steps": 500
-    },
-    "reward_model": null,
-    "output_dir": "/home/rguntz/Desktop/robot_learning/outputs/train/diffusion_laptop_20260515_200616",
-    "job_name": "diffusion_laptop_20260515_200616",
-    "resume": false,
-    "seed": 1000,
-    "cudnn_deterministic": false,
-    "num_workers": 4,
-    "batch_size": 32,
-    "prefetch_factor": 4,
-    "persistent_workers": true,
-    "steps": 200000,
-    "eval_freq": 0,
-    "log_freq": 20,
-    "tolerance_s": 0.0001,
-    "save_checkpoint": true,
-    "save_freq": 20000,
-    "use_policy_training_preset": true,
-    "optimizer": {
-        "type": "adam",
-        "lr": 0.0001,
-        "weight_decay": 1e-06,
-        "grad_clip_norm": 10.0,
-        "betas": [
-            0.95,
-            0.999
-        ],
-        "eps": 1e-08
-    },
-    "scheduler": {
-        "type": "diffuser",
-        "num_warmup_steps": 500,
-        "name": "cosine"
-    },
-    "eval": {
-        "n_episodes": 50,
-        "batch_size": 11,
-        "use_async_envs": true
-    },
-    "wandb": {
-        "enable": true,
-        "disable_artifact": false,
-        "project": "lerobot",
-        "entity": null,
-        "notes": null,
-        "run_id": "9kipd4of",
-        "mode": null,
-        "add_tags": true
-    },
-    "peft": null,
-    "sample_weighting": null,
-    "rename_map": {},
-    "checkpoint_path": null
-}
\ No newline at end of file
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/140000/training_state/optimizer_param_groups.json b/checkpoints/diffusion_unet_dino_data_augmentation/joints/140000/training_state/optimizer_param_groups.json
deleted file mode 100644
index 46911d9c8dc555fb318278cb76032cfa9eb40eb6..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/140000/training_state/optimizer_param_groups.json
+++ /dev/null
@@ -1,396 +0,0 @@
-[
-    {
-        "lr": 2.070636822698877e-05,
-        "betas": [
-            0.95,
-            0.999
-        ],
-        "eps": 1e-08,
-        "weight_decay": 1e-06,
-        "amsgrad": false,
-        "maximize": false,
-        "foreach": null,
-        "capturable": false,
-        "differentiable": false,
-        "fused": null,
-        "decoupled_weight_decay": false,
-        "initial_lr": 0.0001,
-        "params": [
-            0,
-            1,
-            2,
-            3,
-            4,
-            5,
-            6,
-            7,
-            8,
-            9,
-            10,
-            11,
-            12,
-            13,
-            14,
-            15,
-            16,
-            17,
-            18,
-            19,
-            20,
-            21,
-            22,
-            23,
-            24,
-            25,
-            26,
-            27,
-            28,
-            29,
-            30,
-            31,
-            32,
-            33,
-            34,
-            35,
-            36,
-            37,
-            38,
-            39,
-            40,
-            41,
-            42,
-            43,
-            44,
-            45,
-            46,
-            47,
-            48,
-            49,
-            50,
-            51,
-            52,
-            53,
-            54,
-            55,
-            56,
-            57,
-            58,
-            59,
-            60,
-            61,
-            62,
-            63,
-            64,
-            65,
-            66,
-            67,
-            68,
-            69,
-            70,
-            71,
-            72,
-            73,
-            74,
-            75,
-            76,
-            77,
-            78,
-            79,
-            80,
-            81,
-            82,
-            83,
-            84,
-            85,
-            86,
-            87,
-            88,
-            89,
-            90,
-            91,
-            92,
-            93,
-            94,
-            95,
-            96,
-            97,
-            98,
-            99,
-            100,
-            101,
-            102,
-            103,
-            104,
-            105,
-            106,
-            107,
-            108,
-            109,
-            110,
-            111,
-            112,
-            113,
-            114,
-            115,
-            116,
-            117,
-            118,
-            119,
-            120,
-            121,
-            122,
-            123,
-            124,
-            125,
-            126,
-            127,
-            128,
-            129,
-            130,
-            131,
-            132,
-            133,
-            134,
-            135,
-            136,
-            137,
-            138,
-            139,
-            140,
-            141,
-            142,
-            143,
-            144,
-            145,
-            146,
-            147,
-            148,
-            149,
-            150,
-            151,
-            152,
-            153,
-            154,
-            155,
-            156,
-            157,
-            158,
-            159,
-            160,
-            161,
-            162,
-            163,
-            164,
-            165,
-            166,
-            167,
-            168,
-            169,
-            170,
-            171,
-            172,
-            173,
-            174,
-            175,
-            176,
-            177,
-            178,
-            179,
-            180,
-            181,
-            182,
-            183,
-            184,
-            185,
-            186,
-            187,
-            188,
-            189,
-            190,
-            191,
-            192,
-            193,
-            194,
-            195,
-            196,
-            197,
-            198,
-            199,
-            200,
-            201,
-            202,
-            203,
-            204,
-            205,
-            206,
-            207,
-            208,
-            209,
-            210,
-            211,
-            212,
-            213,
-            214,
-            215,
-            216,
-            217,
-            218,
-            219,
-            220,
-            221,
-            222,
-            223,
-            224,
-            225,
-            226,
-            227,
-            228,
-            229,
-            230,
-            231,
-            232,
-            233,
-            234,
-            235,
-            236,
-            237,
-            238,
-            239,
-            240,
-            241,
-            242,
-            243,
-            244,
-            245,
-            246,
-            247,
-            248,
-            249,
-            250,
-            251,
-            252,
-            253,
-            254,
-            255,
-            256,
-            257,
-            258,
-            259,
-            260,
-            261,
-            262,
-            263,
-            264,
-            265,
-            266,
-            267,
-            268,
-            269,
-            270,
-            271,
-            272,
-            273,
-            274,
-            275,
-            276,
-            277,
-            278,
-            279,
-            280,
-            281,
-            282,
-            283,
-            284,
-            285,
-            286,
-            287,
-            288,
-            289,
-            290,
-            291,
-            292,
-            293,
-            294,
-            295,
-            296,
-            297,
-            298,
-            299,
-            300,
-            301,
-            302,
-            303,
-            304,
-            305,
-            306,
-            307,
-            308,
-            309,
-            310,
-            311,
-            312,
-            313,
-            314,
-            315,
-            316,
-            317,
-            318,
-            319,
-            320,
-            321,
-            322,
-            323,
-            324,
-            325,
-            326,
-            327,
-            328,
-            329,
-            330,
-            331,
-            332,
-            333,
-            334,
-            335,
-            336,
-            337,
-            338,
-            339,
-            340,
-            341,
-            342,
-            343,
-            344,
-            345,
-            346,
-            347,
-            348,
-            349,
-            350,
-            351,
-            352,
-            353,
-            354,
-            355,
-            356,
-            357,
-            358,
-            359,
-            360,
-            361,
-            362,
-            363,
-            364,
-            365,
-            366,
-            367,
-            368,
-            369,
-            370,
-            371,
-            372,
-            373,
-            374
-        ]
-    }
-]
\ No newline at end of file
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/140000/training_state/optimizer_state.safetensors b/checkpoints/diffusion_unet_dino_data_augmentation/joints/140000/training_state/optimizer_state.safetensors
deleted file mode 100644
index 0595a0a80b8954655aa42d12cdff5a8b718ce6c8..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/140000/training_state/optimizer_state.safetensors
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:6ce07121f7e0a0d0391dabe1ddf2cf2d36799b0a63d953dd35d09f0922a00935
-size 2014217744
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/140000/training_state/rng_state.safetensors b/checkpoints/diffusion_unet_dino_data_augmentation/joints/140000/training_state/rng_state.safetensors
deleted file mode 100644
index 98e3809aa37a08b3a50f80cad1250bfe0d417fd9..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/140000/training_state/rng_state.safetensors
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:e40b527372cb972e7f24a3da03a5de7813ea752734e072ab298789cac7c1f4ee
-size 15708
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/140000/training_state/scheduler_state.json b/checkpoints/diffusion_unet_dino_data_augmentation/joints/140000/training_state/scheduler_state.json
deleted file mode 100644
index 7347da9db9bc9ac0bd7b99d35be76b26a9016d27..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/140000/training_state/scheduler_state.json
+++ /dev/null
@@ -1,15 +0,0 @@
-{
-    "base_lrs": [
-        0.0001
-    ],
-    "last_epoch": 140000,
-    "_step_count": 140001,
-    "_is_initial": false,
-    "_get_lr_called_within_step": false,
-    "_last_lr": [
-        2.070636822698877e-05
-    ],
-    "lr_lambdas": [
-        null
-    ]
-}
\ No newline at end of file
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/140000/training_state/training_step.json b/checkpoints/diffusion_unet_dino_data_augmentation/joints/140000/training_state/training_step.json
deleted file mode 100644
index f3695dfae1578a72a581cd61c827ae9be8dcaa64..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/140000/training_state/training_step.json
+++ /dev/null
@@ -1,3 +0,0 @@
-{
-    "step": 140000
-}
\ No newline at end of file
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/160000/pretrained_model/config.json b/checkpoints/diffusion_unet_dino_data_augmentation/joints/160000/pretrained_model/config.json
deleted file mode 100644
index 2fa3687b3b250787f09885f221d1cebc81f4fe1e..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/160000/pretrained_model/config.json
+++ /dev/null
@@ -1,90 +0,0 @@
-{
-    "type": "diffusion",
-    "n_obs_steps": 2,
-    "input_features": {
-        "observation.state": {
-            "type": "STATE",
-            "shape": [
-                6
-            ]
-        },
-        "observation.images.front": {
-            "type": "VISUAL",
-            "shape": [
-                3,
-                480,
-                640
-            ]
-        }
-    },
-    "output_features": {
-        "action": {
-            "type": "ACTION",
-            "shape": [
-                6
-            ]
-        }
-    },
-    "device": "cuda",
-    "use_amp": false,
-    "use_peft": false,
-    "push_to_hub": false,
-    "repo_id": null,
-    "private": null,
-    "tags": null,
-    "license": null,
-    "pretrained_path": null,
-    "horizon": 16,
-    "n_action_steps": 8,
-    "normalization_mapping": {
-        "VISUAL": "MEAN_STD",
-        "STATE": "MIN_MAX",
-        "ACTION": "MIN_MAX"
-    },
-    "drop_n_last_frames": 7,
-    "vision_backbone_type": "dinov2",
-    "vision_encoder_name": "facebook/dinov2-small",
-    "freeze_vision_encoder": true,
-    "vision_backbone": "resnet18",
-    "resize_shape": [
-        224,
-        224
-    ],
-    "crop_ratio": 1.0,
-    "crop_shape": null,
-    "crop_is_random": true,
-    "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
-    "use_group_norm": false,
-    "spatial_softmax_num_keypoints": 32,
-    "use_separate_rgb_encoder_per_camera": true,
-    "down_dims": [
-        512,
-        1024,
-        2048
-    ],
-    "kernel_size": 5,
-    "n_groups": 8,
-    "diffusion_step_embed_dim": 128,
-    "use_film_scale_modulation": true,
-    "noise_scheduler_type": "DDPM",
-    "num_train_timesteps": 100,
-    "beta_schedule": "squaredcos_cap_v2",
-    "beta_start": 0.0001,
-    "beta_end": 0.02,
-    "prediction_type": "epsilon",
-    "clip_sample": true,
-    "clip_sample_range": 1.0,
-    "num_inference_steps": 100,
-    "compile_model": false,
-    "compile_mode": "reduce-overhead",
-    "do_mask_loss_for_padding": false,
-    "optimizer_lr": 0.0001,
-    "optimizer_betas": [
-        0.95,
-        0.999
-    ],
-    "optimizer_eps": 1e-08,
-    "optimizer_weight_decay": 1e-06,
-    "scheduler_name": "cosine",
-    "scheduler_warmup_steps": 500
-}
\ No newline at end of file
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/160000/pretrained_model/model.safetensors b/checkpoints/diffusion_unet_dino_data_augmentation/joints/160000/pretrained_model/model.safetensors
deleted file mode 100644
index b1f73ac7b349ed47264de4c31e45b0c21f1bd383..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/160000/pretrained_model/model.safetensors
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:9a121f1d7fea8139145f938417a760784eeefe4ae617e592a3c54f895def88aa
-size 1095367712
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/160000/pretrained_model/policy_postprocessor.json b/checkpoints/diffusion_unet_dino_data_augmentation/joints/160000/pretrained_model/policy_postprocessor.json
deleted file mode 100644
index f2c5e6cea7850bb999ab193f96021fa0129ce4db..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/160000/pretrained_model/policy_postprocessor.json
+++ /dev/null
@@ -1,32 +0,0 @@
-{
-  "name": "policy_postprocessor",
-  "steps": [
-    {
-      "registry_name": "unnormalizer_processor",
-      "config": {
-        "eps": 1e-08,
-        "features": {
-          "action": {
-            "type": "ACTION",
-            "shape": [
-              6
-            ]
-          }
-        },
-        "norm_map": {
-          "VISUAL": "MEAN_STD",
-          "STATE": "MIN_MAX",
-          "ACTION": "MIN_MAX"
-        }
-      },
-      "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
-    },
-    {
-      "registry_name": "device_processor",
-      "config": {
-        "device": "cpu",
-        "float_dtype": null
-      }
-    }
-  ]
-}
\ No newline at end of file
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/160000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors b/checkpoints/diffusion_unet_dino_data_augmentation/joints/160000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors
deleted file mode 100644
index ad9e18436f8f0c586020700f357c5f939d1e2626..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/160000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:89a27803b4e2ad57a700eb9917bb97a9d4cc857f094337451fa30a3ffca0dbce
-size 6560
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/160000/pretrained_model/policy_preprocessor.json b/checkpoints/diffusion_unet_dino_data_augmentation/joints/160000/pretrained_model/policy_preprocessor.json
deleted file mode 100644
index a6f57e6242af17f882bc107c602ca76393c57d55..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/160000/pretrained_model/policy_preprocessor.json
+++ /dev/null
@@ -1,56 +0,0 @@
-{
-  "name": "policy_preprocessor",
-  "steps": [
-    {
-      "registry_name": "rename_observations_processor",
-      "config": {
-        "rename_map": {}
-      }
-    },
-    {
-      "registry_name": "to_batch_processor",
-      "config": {}
-    },
-    {
-      "registry_name": "device_processor",
-      "config": {
-        "device": "cuda",
-        "float_dtype": null
-      }
-    },
-    {
-      "registry_name": "normalizer_processor",
-      "config": {
-        "eps": 1e-08,
-        "features": {
-          "observation.state": {
-            "type": "STATE",
-            "shape": [
-              6
-            ]
-          },
-          "observation.images.front": {
-            "type": "VISUAL",
-            "shape": [
-              3,
-              480,
-              640
-            ]
-          },
-          "action": {
-            "type": "ACTION",
-            "shape": [
-              6
-            ]
-          }
-        },
-        "norm_map": {
-          "VISUAL": "MEAN_STD",
-          "STATE": "MIN_MAX",
-          "ACTION": "MIN_MAX"
-        }
-      },
-      "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
-    }
-  ]
-}
\ No newline at end of file
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/160000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors b/checkpoints/diffusion_unet_dino_data_augmentation/joints/160000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors
deleted file mode 100644
index ad9e18436f8f0c586020700f357c5f939d1e2626..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/160000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:89a27803b4e2ad57a700eb9917bb97a9d4cc857f094337451fa30a3ffca0dbce
-size 6560
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/160000/pretrained_model/train_config.json b/checkpoints/diffusion_unet_dino_data_augmentation/joints/160000/pretrained_model/train_config.json
deleted file mode 100644
index f8fc0ef49836809a64079818985a21e2bf489aef..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/160000/pretrained_model/train_config.json
+++ /dev/null
@@ -1,300 +0,0 @@
-{
-    "dataset": {
-        "repo_id": "local/act_collected_episodes",
-        "root": "/home/rguntz/Desktop/robot_learning/dataset/act_collected_episodes",
-        "episodes": null,
-        "image_transforms": {
-            "enable": false,
-            "max_num_transforms": 3,
-            "random_order": false,
-            "same_cloth_color": false,
-            "tfs": {
-                "color_jitter": {
-                    "weight": 1.5,
-                    "type": "ColorJitter",
-                    "kwargs": {
-                        "brightness": [
-                            0.7,
-                            1.3
-                        ],
-                        "contrast": [
-                            0.7,
-                            1.3
-                        ],
-                        "saturation": [
-                            0.4,
-                            1.6
-                        ],
-                        "hue": [
-                            -0.5,
-                            0.5
-                        ]
-                    }
-                },
-                "grayscale": {
-                    "weight": 0.5,
-                    "type": "RandomGrayscale",
-                    "kwargs": {
-                        "p": 1.0
-                    }
-                },
-                "shadow": {
-                    "weight": 0.8,
-                    "type": "RandomShadow",
-                    "kwargs": {
-                        "num_shadows": [
-                            1,
-                            2
-                        ],
-                        "intensity": [
-                            0.4,
-                            0.7
-                        ],
-                        "blur_sigma": [
-                            4.0,
-                            20.0
-                        ]
-                    }
-                },
-                "highlight": {
-                    "weight": 0.5,
-                    "type": "RandomHighlight",
-                    "kwargs": {
-                        "num_highlights": [
-                            0,
-                            1
-                        ],
-                        "intensity": [
-                            0.2,
-                            0.5
-                        ],
-                        "sigma": [
-                            20.0,
-                            60.0
-                        ]
-                    }
-                },
-                "gamma": {
-                    "weight": 0.7,
-                    "type": "RandomGamma",
-                    "kwargs": {
-                        "gamma": [
-                            0.6,
-                            1.4
-                        ]
-                    }
-                },
-                "blur": {
-                    "weight": 0.0,
-                    "type": "GaussianBlur",
-                    "kwargs": {
-                        "kernel_size": [
-                            3,
-                            3
-                        ],
-                        "sigma": [
-                            0.1,
-                            1.5
-                        ]
-                    }
-                },
-                "jpeg": {
-                    "weight": 0.0,
-                    "type": "RandomJPEG",
-                    "kwargs": {
-                        "quality": [
-                            60,
-                            95
-                        ]
-                    }
-                },
-                "crop": {
-                    "weight": 0.5,
-                    "type": "RandomCropPreserveSize",
-                    "kwargs": {
-                        "scale": [
-                            0.97,
-                            1.0
-                        ],
-                        "ratio": [
-                            0.99,
-                            1.01
-                        ]
-                    }
-                },
-                "affine": {
-                    "weight": 0.0,
-                    "type": "RandomAffine",
-                    "kwargs": {
-                        "degrees": [
-                            -5.0,
-                            5.0
-                        ],
-                        "translate": [
-                            0.05,
-                            0.05
-                        ]
-                    }
-                },
-                "sharpness": {
-                    "weight": 1.0,
-                    "type": "SharpnessJitter",
-                    "kwargs": {
-                        "sharpness": [
-                            0.5,
-                            1.5
-                        ]
-                    }
-                }
-            }
-        },
-        "revision": null,
-        "use_imagenet_stats": true,
-        "video_backend": "pyav",
-        "return_uint8": false,
-        "streaming": false
-    },
-    "env": null,
-    "policy": {
-        "type": "diffusion",
-        "n_obs_steps": 2,
-        "input_features": {
-            "observation.state": {
-                "type": "STATE",
-                "shape": [
-                    6
-                ]
-            },
-            "observation.images.front": {
-                "type": "VISUAL",
-                "shape": [
-                    3,
-                    480,
-                    640
-                ]
-            }
-        },
-        "output_features": {
-            "action": {
-                "type": "ACTION",
-                "shape": [
-                    6
-                ]
-            }
-        },
-        "device": "cuda",
-        "use_amp": false,
-        "use_peft": false,
-        "push_to_hub": false,
-        "repo_id": null,
-        "private": null,
-        "tags": null,
-        "license": null,
-        "pretrained_path": null,
-        "horizon": 16,
-        "n_action_steps": 8,
-        "normalization_mapping": {
-            "VISUAL": "MEAN_STD",
-            "STATE": "MIN_MAX",
-            "ACTION": "MIN_MAX"
-        },
-        "drop_n_last_frames": 7,
-        "vision_backbone_type": "dinov2",
-        "vision_encoder_name": "facebook/dinov2-small",
-        "freeze_vision_encoder": true,
-        "vision_backbone": "resnet18",
-        "resize_shape": [
-            224,
-            224
-        ],
-        "crop_ratio": 1.0,
-        "crop_shape": null,
-        "crop_is_random": true,
-        "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
-        "use_group_norm": false,
-        "spatial_softmax_num_keypoints": 32,
-        "use_separate_rgb_encoder_per_camera": true,
-        "down_dims": [
-            512,
-            1024,
-            2048
-        ],
-        "kernel_size": 5,
-        "n_groups": 8,
-        "diffusion_step_embed_dim": 128,
-        "use_film_scale_modulation": true,
-        "noise_scheduler_type": "DDPM",
-        "num_train_timesteps": 100,
-        "beta_schedule": "squaredcos_cap_v2",
-        "beta_start": 0.0001,
-        "beta_end": 0.02,
-        "prediction_type": "epsilon",
-        "clip_sample": true,
-        "clip_sample_range": 1.0,
-        "num_inference_steps": 100,
-        "compile_model": false,
-        "compile_mode": "reduce-overhead",
-        "do_mask_loss_for_padding": false,
-        "optimizer_lr": 0.0001,
-        "optimizer_betas": [
-            0.95,
-            0.999
-        ],
-        "optimizer_eps": 1e-08,
-        "optimizer_weight_decay": 1e-06,
-        "scheduler_name": "cosine",
-        "scheduler_warmup_steps": 500
-    },
-    "reward_model": null,
-    "output_dir": "/home/rguntz/Desktop/robot_learning/outputs/train/diffusion_laptop_20260515_200616",
-    "job_name": "diffusion_laptop_20260515_200616",
-    "resume": false,
-    "seed": 1000,
-    "cudnn_deterministic": false,
-    "num_workers": 4,
-    "batch_size": 32,
-    "prefetch_factor": 4,
-    "persistent_workers": true,
-    "steps": 200000,
-    "eval_freq": 0,
-    "log_freq": 20,
-    "tolerance_s": 0.0001,
-    "save_checkpoint": true,
-    "save_freq": 20000,
-    "use_policy_training_preset": true,
-    "optimizer": {
-        "type": "adam",
-        "lr": 0.0001,
-        "weight_decay": 1e-06,
-        "grad_clip_norm": 10.0,
-        "betas": [
-            0.95,
-            0.999
-        ],
-        "eps": 1e-08
-    },
-    "scheduler": {
-        "type": "diffuser",
-        "num_warmup_steps": 500,
-        "name": "cosine"
-    },
-    "eval": {
-        "n_episodes": 50,
-        "batch_size": 11,
-        "use_async_envs": true
-    },
-    "wandb": {
-        "enable": true,
-        "disable_artifact": false,
-        "project": "lerobot",
-        "entity": null,
-        "notes": null,
-        "run_id": "9kipd4of",
-        "mode": null,
-        "add_tags": true
-    },
-    "peft": null,
-    "sample_weighting": null,
-    "rename_map": {},
-    "checkpoint_path": null
-}
\ No newline at end of file
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/160000/training_state/optimizer_param_groups.json b/checkpoints/diffusion_unet_dino_data_augmentation/joints/160000/training_state/optimizer_param_groups.json
deleted file mode 100644
index 3dc52ca6a4b545d67f6c09772bb984805a430fd4..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/160000/training_state/optimizer_param_groups.json
+++ /dev/null
@@ -1,396 +0,0 @@
-[
-    {
-        "lr": 9.595480663188527e-06,
-        "betas": [
-            0.95,
-            0.999
-        ],
-        "eps": 1e-08,
-        "weight_decay": 1e-06,
-        "amsgrad": false,
-        "maximize": false,
-        "foreach": null,
-        "capturable": false,
-        "differentiable": false,
-        "fused": null,
-        "decoupled_weight_decay": false,
-        "initial_lr": 0.0001,
-        "params": [
-            0,
-            1,
-            2,
-            3,
-            4,
-            5,
-            6,
-            7,
-            8,
-            9,
-            10,
-            11,
-            12,
-            13,
-            14,
-            15,
-            16,
-            17,
-            18,
-            19,
-            20,
-            21,
-            22,
-            23,
-            24,
-            25,
-            26,
-            27,
-            28,
-            29,
-            30,
-            31,
-            32,
-            33,
-            34,
-            35,
-            36,
-            37,
-            38,
-            39,
-            40,
-            41,
-            42,
-            43,
-            44,
-            45,
-            46,
-            47,
-            48,
-            49,
-            50,
-            51,
-            52,
-            53,
-            54,
-            55,
-            56,
-            57,
-            58,
-            59,
-            60,
-            61,
-            62,
-            63,
-            64,
-            65,
-            66,
-            67,
-            68,
-            69,
-            70,
-            71,
-            72,
-            73,
-            74,
-            75,
-            76,
-            77,
-            78,
-            79,
-            80,
-            81,
-            82,
-            83,
-            84,
-            85,
-            86,
-            87,
-            88,
-            89,
-            90,
-            91,
-            92,
-            93,
-            94,
-            95,
-            96,
-            97,
-            98,
-            99,
-            100,
-            101,
-            102,
-            103,
-            104,
-            105,
-            106,
-            107,
-            108,
-            109,
-            110,
-            111,
-            112,
-            113,
-            114,
-            115,
-            116,
-            117,
-            118,
-            119,
-            120,
-            121,
-            122,
-            123,
-            124,
-            125,
-            126,
-            127,
-            128,
-            129,
-            130,
-            131,
-            132,
-            133,
-            134,
-            135,
-            136,
-            137,
-            138,
-            139,
-            140,
-            141,
-            142,
-            143,
-            144,
-            145,
-            146,
-            147,
-            148,
-            149,
-            150,
-            151,
-            152,
-            153,
-            154,
-            155,
-            156,
-            157,
-            158,
-            159,
-            160,
-            161,
-            162,
-            163,
-            164,
-            165,
-            166,
-            167,
-            168,
-            169,
-            170,
-            171,
-            172,
-            173,
-            174,
-            175,
-            176,
-            177,
-            178,
-            179,
-            180,
-            181,
-            182,
-            183,
-            184,
-            185,
-            186,
-            187,
-            188,
-            189,
-            190,
-            191,
-            192,
-            193,
-            194,
-            195,
-            196,
-            197,
-            198,
-            199,
-            200,
-            201,
-            202,
-            203,
-            204,
-            205,
-            206,
-            207,
-            208,
-            209,
-            210,
-            211,
-            212,
-            213,
-            214,
-            215,
-            216,
-            217,
-            218,
-            219,
-            220,
-            221,
-            222,
-            223,
-            224,
-            225,
-            226,
-            227,
-            228,
-            229,
-            230,
-            231,
-            232,
-            233,
-            234,
-            235,
-            236,
-            237,
-            238,
-            239,
-            240,
-            241,
-            242,
-            243,
-            244,
-            245,
-            246,
-            247,
-            248,
-            249,
-            250,
-            251,
-            252,
-            253,
-            254,
-            255,
-            256,
-            257,
-            258,
-            259,
-            260,
-            261,
-            262,
-            263,
-            264,
-            265,
-            266,
-            267,
-            268,
-            269,
-            270,
-            271,
-            272,
-            273,
-            274,
-            275,
-            276,
-            277,
-            278,
-            279,
-            280,
-            281,
-            282,
-            283,
-            284,
-            285,
-            286,
-            287,
-            288,
-            289,
-            290,
-            291,
-            292,
-            293,
-            294,
-            295,
-            296,
-            297,
-            298,
-            299,
-            300,
-            301,
-            302,
-            303,
-            304,
-            305,
-            306,
-            307,
-            308,
-            309,
-            310,
-            311,
-            312,
-            313,
-            314,
-            315,
-            316,
-            317,
-            318,
-            319,
-            320,
-            321,
-            322,
-            323,
-            324,
-            325,
-            326,
-            327,
-            328,
-            329,
-            330,
-            331,
-            332,
-            333,
-            334,
-            335,
-            336,
-            337,
-            338,
-            339,
-            340,
-            341,
-            342,
-            343,
-            344,
-            345,
-            346,
-            347,
-            348,
-            349,
-            350,
-            351,
-            352,
-            353,
-            354,
-            355,
-            356,
-            357,
-            358,
-            359,
-            360,
-            361,
-            362,
-            363,
-            364,
-            365,
-            366,
-            367,
-            368,
-            369,
-            370,
-            371,
-            372,
-            373,
-            374
-        ]
-    }
-]
\ No newline at end of file
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/160000/training_state/optimizer_state.safetensors b/checkpoints/diffusion_unet_dino_data_augmentation/joints/160000/training_state/optimizer_state.safetensors
deleted file mode 100644
index 1b53351da66c98ea5f853238c292c52cc6b7e72f..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/160000/training_state/optimizer_state.safetensors
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:923058653d2ad0cdaecf6fa3ee148de4c8099641448c1b9831aee1c03898fffb
-size 2014217744
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/160000/training_state/rng_state.safetensors b/checkpoints/diffusion_unet_dino_data_augmentation/joints/160000/training_state/rng_state.safetensors
deleted file mode 100644
index b73ca6619f9f08a5135d81091451f82f74d879fd..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/160000/training_state/rng_state.safetensors
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:ba3869a9ee444234b7182fd6490ba9b7553770a86ce1b43ce7a58dc59e6641cf
-size 15708
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/160000/training_state/scheduler_state.json b/checkpoints/diffusion_unet_dino_data_augmentation/joints/160000/training_state/scheduler_state.json
deleted file mode 100644
index 959c7fc6d427ec1af8694cdf354a7d6354d8c9dc..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/160000/training_state/scheduler_state.json
+++ /dev/null
@@ -1,15 +0,0 @@
-{
-    "base_lrs": [
-        0.0001
-    ],
-    "last_epoch": 160000,
-    "_step_count": 160001,
-    "_is_initial": false,
-    "_get_lr_called_within_step": false,
-    "_last_lr": [
-        9.595480663188527e-06
-    ],
-    "lr_lambdas": [
-        null
-    ]
-}
\ No newline at end of file
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/160000/training_state/training_step.json b/checkpoints/diffusion_unet_dino_data_augmentation/joints/160000/training_state/training_step.json
deleted file mode 100644
index 18f112ab3b2ba641c0049e21daf4fb129368a0a0..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/160000/training_state/training_step.json
+++ /dev/null
@@ -1,3 +0,0 @@
-{
-    "step": 160000
-}
\ No newline at end of file
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/180000/pretrained_model/config.json b/checkpoints/diffusion_unet_dino_data_augmentation/joints/180000/pretrained_model/config.json
deleted file mode 100644
index 2fa3687b3b250787f09885f221d1cebc81f4fe1e..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/180000/pretrained_model/config.json
+++ /dev/null
@@ -1,90 +0,0 @@
-{
-    "type": "diffusion",
-    "n_obs_steps": 2,
-    "input_features": {
-        "observation.state": {
-            "type": "STATE",
-            "shape": [
-                6
-            ]
-        },
-        "observation.images.front": {
-            "type": "VISUAL",
-            "shape": [
-                3,
-                480,
-                640
-            ]
-        }
-    },
-    "output_features": {
-        "action": {
-            "type": "ACTION",
-            "shape": [
-                6
-            ]
-        }
-    },
-    "device": "cuda",
-    "use_amp": false,
-    "use_peft": false,
-    "push_to_hub": false,
-    "repo_id": null,
-    "private": null,
-    "tags": null,
-    "license": null,
-    "pretrained_path": null,
-    "horizon": 16,
-    "n_action_steps": 8,
-    "normalization_mapping": {
-        "VISUAL": "MEAN_STD",
-        "STATE": "MIN_MAX",
-        "ACTION": "MIN_MAX"
-    },
-    "drop_n_last_frames": 7,
-    "vision_backbone_type": "dinov2",
-    "vision_encoder_name": "facebook/dinov2-small",
-    "freeze_vision_encoder": true,
-    "vision_backbone": "resnet18",
-    "resize_shape": [
-        224,
-        224
-    ],
-    "crop_ratio": 1.0,
-    "crop_shape": null,
-    "crop_is_random": true,
-    "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
-    "use_group_norm": false,
-    "spatial_softmax_num_keypoints": 32,
-    "use_separate_rgb_encoder_per_camera": true,
-    "down_dims": [
-        512,
-        1024,
-        2048
-    ],
-    "kernel_size": 5,
-    "n_groups": 8,
-    "diffusion_step_embed_dim": 128,
-    "use_film_scale_modulation": true,
-    "noise_scheduler_type": "DDPM",
-    "num_train_timesteps": 100,
-    "beta_schedule": "squaredcos_cap_v2",
-    "beta_start": 0.0001,
-    "beta_end": 0.02,
-    "prediction_type": "epsilon",
-    "clip_sample": true,
-    "clip_sample_range": 1.0,
-    "num_inference_steps": 100,
-    "compile_model": false,
-    "compile_mode": "reduce-overhead",
-    "do_mask_loss_for_padding": false,
-    "optimizer_lr": 0.0001,
-    "optimizer_betas": [
-        0.95,
-        0.999
-    ],
-    "optimizer_eps": 1e-08,
-    "optimizer_weight_decay": 1e-06,
-    "scheduler_name": "cosine",
-    "scheduler_warmup_steps": 500
-}
\ No newline at end of file
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/180000/pretrained_model/model.safetensors b/checkpoints/diffusion_unet_dino_data_augmentation/joints/180000/pretrained_model/model.safetensors
deleted file mode 100644
index 92f321f2afc521078b39a545e62209a1367c00bd..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/180000/pretrained_model/model.safetensors
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:427cc9034926988d26b2c37b684a8ffb347ae4e5a0c55178208093d7482778c0
-size 1095367712
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/180000/pretrained_model/policy_postprocessor.json b/checkpoints/diffusion_unet_dino_data_augmentation/joints/180000/pretrained_model/policy_postprocessor.json
deleted file mode 100644
index f2c5e6cea7850bb999ab193f96021fa0129ce4db..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/180000/pretrained_model/policy_postprocessor.json
+++ /dev/null
@@ -1,32 +0,0 @@
-{
-  "name": "policy_postprocessor",
-  "steps": [
-    {
-      "registry_name": "unnormalizer_processor",
-      "config": {
-        "eps": 1e-08,
-        "features": {
-          "action": {
-            "type": "ACTION",
-            "shape": [
-              6
-            ]
-          }
-        },
-        "norm_map": {
-          "VISUAL": "MEAN_STD",
-          "STATE": "MIN_MAX",
-          "ACTION": "MIN_MAX"
-        }
-      },
-      "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
-    },
-    {
-      "registry_name": "device_processor",
-      "config": {
-        "device": "cpu",
-        "float_dtype": null
-      }
-    }
-  ]
-}
\ No newline at end of file
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/180000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors b/checkpoints/diffusion_unet_dino_data_augmentation/joints/180000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors
deleted file mode 100644
index ad9e18436f8f0c586020700f357c5f939d1e2626..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/180000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:89a27803b4e2ad57a700eb9917bb97a9d4cc857f094337451fa30a3ffca0dbce
-size 6560
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/180000/pretrained_model/policy_preprocessor.json b/checkpoints/diffusion_unet_dino_data_augmentation/joints/180000/pretrained_model/policy_preprocessor.json
deleted file mode 100644
index a6f57e6242af17f882bc107c602ca76393c57d55..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/180000/pretrained_model/policy_preprocessor.json
+++ /dev/null
@@ -1,56 +0,0 @@
-{
-  "name": "policy_preprocessor",
-  "steps": [
-    {
-      "registry_name": "rename_observations_processor",
-      "config": {
-        "rename_map": {}
-      }
-    },
-    {
-      "registry_name": "to_batch_processor",
-      "config": {}
-    },
-    {
-      "registry_name": "device_processor",
-      "config": {
-        "device": "cuda",
-        "float_dtype": null
-      }
-    },
-    {
-      "registry_name": "normalizer_processor",
-      "config": {
-        "eps": 1e-08,
-        "features": {
-          "observation.state": {
-            "type": "STATE",
-            "shape": [
-              6
-            ]
-          },
-          "observation.images.front": {
-            "type": "VISUAL",
-            "shape": [
-              3,
-              480,
-              640
-            ]
-          },
-          "action": {
-            "type": "ACTION",
-            "shape": [
-              6
-            ]
-          }
-        },
-        "norm_map": {
-          "VISUAL": "MEAN_STD",
-          "STATE": "MIN_MAX",
-          "ACTION": "MIN_MAX"
-        }
-      },
-      "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
-    }
-  ]
-}
\ No newline at end of file
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/180000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors b/checkpoints/diffusion_unet_dino_data_augmentation/joints/180000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors
deleted file mode 100644
index ad9e18436f8f0c586020700f357c5f939d1e2626..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/180000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:89a27803b4e2ad57a700eb9917bb97a9d4cc857f094337451fa30a3ffca0dbce
-size 6560
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/180000/pretrained_model/train_config.json b/checkpoints/diffusion_unet_dino_data_augmentation/joints/180000/pretrained_model/train_config.json
deleted file mode 100644
index f8fc0ef49836809a64079818985a21e2bf489aef..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/180000/pretrained_model/train_config.json
+++ /dev/null
@@ -1,300 +0,0 @@
-{
-    "dataset": {
-        "repo_id": "local/act_collected_episodes",
-        "root": "/home/rguntz/Desktop/robot_learning/dataset/act_collected_episodes",
-        "episodes": null,
-        "image_transforms": {
-            "enable": false,
-            "max_num_transforms": 3,
-            "random_order": false,
-            "same_cloth_color": false,
-            "tfs": {
-                "color_jitter": {
-                    "weight": 1.5,
-                    "type": "ColorJitter",
-                    "kwargs": {
-                        "brightness": [
-                            0.7,
-                            1.3
-                        ],
-                        "contrast": [
-                            0.7,
-                            1.3
-                        ],
-                        "saturation": [
-                            0.4,
-                            1.6
-                        ],
-                        "hue": [
-                            -0.5,
-                            0.5
-                        ]
-                    }
-                },
-                "grayscale": {
-                    "weight": 0.5,
-                    "type": "RandomGrayscale",
-                    "kwargs": {
-                        "p": 1.0
-                    }
-                },
-                "shadow": {
-                    "weight": 0.8,
-                    "type": "RandomShadow",
-                    "kwargs": {
-                        "num_shadows": [
-                            1,
-                            2
-                        ],
-                        "intensity": [
-                            0.4,
-                            0.7
-                        ],
-                        "blur_sigma": [
-                            4.0,
-                            20.0
-                        ]
-                    }
-                },
-                "highlight": {
-                    "weight": 0.5,
-                    "type": "RandomHighlight",
-                    "kwargs": {
-                        "num_highlights": [
-                            0,
-                            1
-                        ],
-                        "intensity": [
-                            0.2,
-                            0.5
-                        ],
-                        "sigma": [
-                            20.0,
-                            60.0
-                        ]
-                    }
-                },
-                "gamma": {
-                    "weight": 0.7,
-                    "type": "RandomGamma",
-                    "kwargs": {
-                        "gamma": [
-                            0.6,
-                            1.4
-                        ]
-                    }
-                },
-                "blur": {
-                    "weight": 0.0,
-                    "type": "GaussianBlur",
-                    "kwargs": {
-                        "kernel_size": [
-                            3,
-                            3
-                        ],
-                        "sigma": [
-                            0.1,
-                            1.5
-                        ]
-                    }
-                },
-                "jpeg": {
-                    "weight": 0.0,
-                    "type": "RandomJPEG",
-                    "kwargs": {
-                        "quality": [
-                            60,
-                            95
-                        ]
-                    }
-                },
-                "crop": {
-                    "weight": 0.5,
-                    "type": "RandomCropPreserveSize",
-                    "kwargs": {
-                        "scale": [
-                            0.97,
-                            1.0
-                        ],
-                        "ratio": [
-                            0.99,
-                            1.01
-                        ]
-                    }
-                },
-                "affine": {
-                    "weight": 0.0,
-                    "type": "RandomAffine",
-                    "kwargs": {
-                        "degrees": [
-                            -5.0,
-                            5.0
-                        ],
-                        "translate": [
-                            0.05,
-                            0.05
-                        ]
-                    }
-                },
-                "sharpness": {
-                    "weight": 1.0,
-                    "type": "SharpnessJitter",
-                    "kwargs": {
-                        "sharpness": [
-                            0.5,
-                            1.5
-                        ]
-                    }
-                }
-            }
-        },
-        "revision": null,
-        "use_imagenet_stats": true,
-        "video_backend": "pyav",
-        "return_uint8": false,
-        "streaming": false
-    },
-    "env": null,
-    "policy": {
-        "type": "diffusion",
-        "n_obs_steps": 2,
-        "input_features": {
-            "observation.state": {
-                "type": "STATE",
-                "shape": [
-                    6
-                ]
-            },
-            "observation.images.front": {
-                "type": "VISUAL",
-                "shape": [
-                    3,
-                    480,
-                    640
-                ]
-            }
-        },
-        "output_features": {
-            "action": {
-                "type": "ACTION",
-                "shape": [
-                    6
-                ]
-            }
-        },
-        "device": "cuda",
-        "use_amp": false,
-        "use_peft": false,
-        "push_to_hub": false,
-        "repo_id": null,
-        "private": null,
-        "tags": null,
-        "license": null,
-        "pretrained_path": null,
-        "horizon": 16,
-        "n_action_steps": 8,
-        "normalization_mapping": {
-            "VISUAL": "MEAN_STD",
-            "STATE": "MIN_MAX",
-            "ACTION": "MIN_MAX"
-        },
-        "drop_n_last_frames": 7,
-        "vision_backbone_type": "dinov2",
-        "vision_encoder_name": "facebook/dinov2-small",
-        "freeze_vision_encoder": true,
-        "vision_backbone": "resnet18",
-        "resize_shape": [
-            224,
-            224
-        ],
-        "crop_ratio": 1.0,
-        "crop_shape": null,
-        "crop_is_random": true,
-        "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
-        "use_group_norm": false,
-        "spatial_softmax_num_keypoints": 32,
-        "use_separate_rgb_encoder_per_camera": true,
-        "down_dims": [
-            512,
-            1024,
-            2048
-        ],
-        "kernel_size": 5,
-        "n_groups": 8,
-        "diffusion_step_embed_dim": 128,
-        "use_film_scale_modulation": true,
-        "noise_scheduler_type": "DDPM",
-        "num_train_timesteps": 100,
-        "beta_schedule": "squaredcos_cap_v2",
-        "beta_start": 0.0001,
-        "beta_end": 0.02,
-        "prediction_type": "epsilon",
-        "clip_sample": true,
-        "clip_sample_range": 1.0,
-        "num_inference_steps": 100,
-        "compile_model": false,
-        "compile_mode": "reduce-overhead",
-        "do_mask_loss_for_padding": false,
-        "optimizer_lr": 0.0001,
-        "optimizer_betas": [
-            0.95,
-            0.999
-        ],
-        "optimizer_eps": 1e-08,
-        "optimizer_weight_decay": 1e-06,
-        "scheduler_name": "cosine",
-        "scheduler_warmup_steps": 500
-    },
-    "reward_model": null,
-    "output_dir": "/home/rguntz/Desktop/robot_learning/outputs/train/diffusion_laptop_20260515_200616",
-    "job_name": "diffusion_laptop_20260515_200616",
-    "resume": false,
-    "seed": 1000,
-    "cudnn_deterministic": false,
-    "num_workers": 4,
-    "batch_size": 32,
-    "prefetch_factor": 4,
-    "persistent_workers": true,
-    "steps": 200000,
-    "eval_freq": 0,
-    "log_freq": 20,
-    "tolerance_s": 0.0001,
-    "save_checkpoint": true,
-    "save_freq": 20000,
-    "use_policy_training_preset": true,
-    "optimizer": {
-        "type": "adam",
-        "lr": 0.0001,
-        "weight_decay": 1e-06,
-        "grad_clip_norm": 10.0,
-        "betas": [
-            0.95,
-            0.999
-        ],
-        "eps": 1e-08
-    },
-    "scheduler": {
-        "type": "diffuser",
-        "num_warmup_steps": 500,
-        "name": "cosine"
-    },
-    "eval": {
-        "n_episodes": 50,
-        "batch_size": 11,
-        "use_async_envs": true
-    },
-    "wandb": {
-        "enable": true,
-        "disable_artifact": false,
-        "project": "lerobot",
-        "entity": null,
-        "notes": null,
-        "run_id": "9kipd4of",
-        "mode": null,
-        "add_tags": true
-    },
-    "peft": null,
-    "sample_weighting": null,
-    "rename_map": {},
-    "checkpoint_path": null
-}
\ No newline at end of file
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/180000/training_state/optimizer_param_groups.json b/checkpoints/diffusion_unet_dino_data_augmentation/joints/180000/training_state/optimizer_param_groups.json
deleted file mode 100644
index f9406540670b276d0decd93c027d24ed2892cb33..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/180000/training_state/optimizer_param_groups.json
+++ /dev/null
@@ -1,396 +0,0 @@
-[
-    {
-        "lr": 2.4593544067785466e-06,
-        "betas": [
-            0.95,
-            0.999
-        ],
-        "eps": 1e-08,
-        "weight_decay": 1e-06,
-        "amsgrad": false,
-        "maximize": false,
-        "foreach": null,
-        "capturable": false,
-        "differentiable": false,
-        "fused": null,
-        "decoupled_weight_decay": false,
-        "initial_lr": 0.0001,
-        "params": [
-            0,
-            1,
-            2,
-            3,
-            4,
-            5,
-            6,
-            7,
-            8,
-            9,
-            10,
-            11,
-            12,
-            13,
-            14,
-            15,
-            16,
-            17,
-            18,
-            19,
-            20,
-            21,
-            22,
-            23,
-            24,
-            25,
-            26,
-            27,
-            28,
-            29,
-            30,
-            31,
-            32,
-            33,
-            34,
-            35,
-            36,
-            37,
-            38,
-            39,
-            40,
-            41,
-            42,
-            43,
-            44,
-            45,
-            46,
-            47,
-            48,
-            49,
-            50,
-            51,
-            52,
-            53,
-            54,
-            55,
-            56,
-            57,
-            58,
-            59,
-            60,
-            61,
-            62,
-            63,
-            64,
-            65,
-            66,
-            67,
-            68,
-            69,
-            70,
-            71,
-            72,
-            73,
-            74,
-            75,
-            76,
-            77,
-            78,
-            79,
-            80,
-            81,
-            82,
-            83,
-            84,
-            85,
-            86,
-            87,
-            88,
-            89,
-            90,
-            91,
-            92,
-            93,
-            94,
-            95,
-            96,
-            97,
-            98,
-            99,
-            100,
-            101,
-            102,
-            103,
-            104,
-            105,
-            106,
-            107,
-            108,
-            109,
-            110,
-            111,
-            112,
-            113,
-            114,
-            115,
-            116,
-            117,
-            118,
-            119,
-            120,
-            121,
-            122,
-            123,
-            124,
-            125,
-            126,
-            127,
-            128,
-            129,
-            130,
-            131,
-            132,
-            133,
-            134,
-            135,
-            136,
-            137,
-            138,
-            139,
-            140,
-            141,
-            142,
-            143,
-            144,
-            145,
-            146,
-            147,
-            148,
-            149,
-            150,
-            151,
-            152,
-            153,
-            154,
-            155,
-            156,
-            157,
-            158,
-            159,
-            160,
-            161,
-            162,
-            163,
-            164,
-            165,
-            166,
-            167,
-            168,
-            169,
-            170,
-            171,
-            172,
-            173,
-            174,
-            175,
-            176,
-            177,
-            178,
-            179,
-            180,
-            181,
-            182,
-            183,
-            184,
-            185,
-            186,
-            187,
-            188,
-            189,
-            190,
-            191,
-            192,
-            193,
-            194,
-            195,
-            196,
-            197,
-            198,
-            199,
-            200,
-            201,
-            202,
-            203,
-            204,
-            205,
-            206,
-            207,
-            208,
-            209,
-            210,
-            211,
-            212,
-            213,
-            214,
-            215,
-            216,
-            217,
-            218,
-            219,
-            220,
-            221,
-            222,
-            223,
-            224,
-            225,
-            226,
-            227,
-            228,
-            229,
-            230,
-            231,
-            232,
-            233,
-            234,
-            235,
-            236,
-            237,
-            238,
-            239,
-            240,
-            241,
-            242,
-            243,
-            244,
-            245,
-            246,
-            247,
-            248,
-            249,
-            250,
-            251,
-            252,
-            253,
-            254,
-            255,
-            256,
-            257,
-            258,
-            259,
-            260,
-            261,
-            262,
-            263,
-            264,
-            265,
-            266,
-            267,
-            268,
-            269,
-            270,
-            271,
-            272,
-            273,
-            274,
-            275,
-            276,
-            277,
-            278,
-            279,
-            280,
-            281,
-            282,
-            283,
-            284,
-            285,
-            286,
-            287,
-            288,
-            289,
-            290,
-            291,
-            292,
-            293,
-            294,
-            295,
-            296,
-            297,
-            298,
-            299,
-            300,
-            301,
-            302,
-            303,
-            304,
-            305,
-            306,
-            307,
-            308,
-            309,
-            310,
-            311,
-            312,
-            313,
-            314,
-            315,
-            316,
-            317,
-            318,
-            319,
-            320,
-            321,
-            322,
-            323,
-            324,
-            325,
-            326,
-            327,
-            328,
-            329,
-            330,
-            331,
-            332,
-            333,
-            334,
-            335,
-            336,
-            337,
-            338,
-            339,
-            340,
-            341,
-            342,
-            343,
-            344,
-            345,
-            346,
-            347,
-            348,
-            349,
-            350,
-            351,
-            352,
-            353,
-            354,
-            355,
-            356,
-            357,
-            358,
-            359,
-            360,
-            361,
-            362,
-            363,
-            364,
-            365,
-            366,
-            367,
-            368,
-            369,
-            370,
-            371,
-            372,
-            373,
-            374
-        ]
-    }
-]
\ No newline at end of file
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/180000/training_state/optimizer_state.safetensors b/checkpoints/diffusion_unet_dino_data_augmentation/joints/180000/training_state/optimizer_state.safetensors
deleted file mode 100644
index 39914a4a036825ce3ff699266ac6256f1684eb0c..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/180000/training_state/optimizer_state.safetensors
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:ee0913d53eee2553b7d42e89747449d55395fc35d34167669d1f5bd9031f9e02
-size 2014217744
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/180000/training_state/rng_state.safetensors b/checkpoints/diffusion_unet_dino_data_augmentation/joints/180000/training_state/rng_state.safetensors
deleted file mode 100644
index eb2bdfd2077f63e1bb543609505ed5dfe1af7db4..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/180000/training_state/rng_state.safetensors
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:2571117b0b6420b4000e826554a050fc6ec42566165c75117a0dd0ee48fdf82a
-size 15708
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/180000/training_state/scheduler_state.json b/checkpoints/diffusion_unet_dino_data_augmentation/joints/180000/training_state/scheduler_state.json
deleted file mode 100644
index 7fc8da19266860db5160db88bf4588d2bbf714d1..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/180000/training_state/scheduler_state.json
+++ /dev/null
@@ -1,15 +0,0 @@
-{
-    "base_lrs": [
-        0.0001
-    ],
-    "last_epoch": 180000,
-    "_step_count": 180001,
-    "_is_initial": false,
-    "_get_lr_called_within_step": false,
-    "_last_lr": [
-        2.4593544067785466e-06
-    ],
-    "lr_lambdas": [
-        null
-    ]
-}
\ No newline at end of file
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/180000/training_state/training_step.json b/checkpoints/diffusion_unet_dino_data_augmentation/joints/180000/training_state/training_step.json
deleted file mode 100644
index 3da013f3092359f6c4ebb97dfc69e8300dbb32e4..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/180000/training_state/training_step.json
+++ /dev/null
@@ -1,3 +0,0 @@
-{
-    "step": 180000
-}
\ No newline at end of file
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/200000/pretrained_model/config.json b/checkpoints/diffusion_unet_dino_data_augmentation/joints/200000/pretrained_model/config.json
deleted file mode 100644
index 2fa3687b3b250787f09885f221d1cebc81f4fe1e..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/200000/pretrained_model/config.json
+++ /dev/null
@@ -1,90 +0,0 @@
-{
-    "type": "diffusion",
-    "n_obs_steps": 2,
-    "input_features": {
-        "observation.state": {
-            "type": "STATE",
-            "shape": [
-                6
-            ]
-        },
-        "observation.images.front": {
-            "type": "VISUAL",
-            "shape": [
-                3,
-                480,
-                640
-            ]
-        }
-    },
-    "output_features": {
-        "action": {
-            "type": "ACTION",
-            "shape": [
-                6
-            ]
-        }
-    },
-    "device": "cuda",
-    "use_amp": false,
-    "use_peft": false,
-    "push_to_hub": false,
-    "repo_id": null,
-    "private": null,
-    "tags": null,
-    "license": null,
-    "pretrained_path": null,
-    "horizon": 16,
-    "n_action_steps": 8,
-    "normalization_mapping": {
-        "VISUAL": "MEAN_STD",
-        "STATE": "MIN_MAX",
-        "ACTION": "MIN_MAX"
-    },
-    "drop_n_last_frames": 7,
-    "vision_backbone_type": "dinov2",
-    "vision_encoder_name": "facebook/dinov2-small",
-    "freeze_vision_encoder": true,
-    "vision_backbone": "resnet18",
-    "resize_shape": [
-        224,
-        224
-    ],
-    "crop_ratio": 1.0,
-    "crop_shape": null,
-    "crop_is_random": true,
-    "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
-    "use_group_norm": false,
-    "spatial_softmax_num_keypoints": 32,
-    "use_separate_rgb_encoder_per_camera": true,
-    "down_dims": [
-        512,
-        1024,
-        2048
-    ],
-    "kernel_size": 5,
-    "n_groups": 8,
-    "diffusion_step_embed_dim": 128,
-    "use_film_scale_modulation": true,
-    "noise_scheduler_type": "DDPM",
-    "num_train_timesteps": 100,
-    "beta_schedule": "squaredcos_cap_v2",
-    "beta_start": 0.0001,
-    "beta_end": 0.02,
-    "prediction_type": "epsilon",
-    "clip_sample": true,
-    "clip_sample_range": 1.0,
-    "num_inference_steps": 100,
-    "compile_model": false,
-    "compile_mode": "reduce-overhead",
-    "do_mask_loss_for_padding": false,
-    "optimizer_lr": 0.0001,
-    "optimizer_betas": [
-        0.95,
-        0.999
-    ],
-    "optimizer_eps": 1e-08,
-    "optimizer_weight_decay": 1e-06,
-    "scheduler_name": "cosine",
-    "scheduler_warmup_steps": 500
-}
\ No newline at end of file
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/200000/pretrained_model/model.safetensors b/checkpoints/diffusion_unet_dino_data_augmentation/joints/200000/pretrained_model/model.safetensors
deleted file mode 100644
index 9e9a67ef3e890e6fd41bf1eb85dde052efcebd31..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/200000/pretrained_model/model.safetensors
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:f62691fc5d17034024828988b75085add36e93452e3cb1edc930234b551e1500
-size 1095367712
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/200000/pretrained_model/policy_postprocessor.json b/checkpoints/diffusion_unet_dino_data_augmentation/joints/200000/pretrained_model/policy_postprocessor.json
deleted file mode 100644
index f2c5e6cea7850bb999ab193f96021fa0129ce4db..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/200000/pretrained_model/policy_postprocessor.json
+++ /dev/null
@@ -1,32 +0,0 @@
-{
-  "name": "policy_postprocessor",
-  "steps": [
-    {
-      "registry_name": "unnormalizer_processor",
-      "config": {
-        "eps": 1e-08,
-        "features": {
-          "action": {
-            "type": "ACTION",
-            "shape": [
-              6
-            ]
-          }
-        },
-        "norm_map": {
-          "VISUAL": "MEAN_STD",
-          "STATE": "MIN_MAX",
-          "ACTION": "MIN_MAX"
-        }
-      },
-      "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
-    },
-    {
-      "registry_name": "device_processor",
-      "config": {
-        "device": "cpu",
-        "float_dtype": null
-      }
-    }
-  ]
-}
\ No newline at end of file
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/200000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors b/checkpoints/diffusion_unet_dino_data_augmentation/joints/200000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors
deleted file mode 100644
index ad9e18436f8f0c586020700f357c5f939d1e2626..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/200000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:89a27803b4e2ad57a700eb9917bb97a9d4cc857f094337451fa30a3ffca0dbce
-size 6560
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/200000/pretrained_model/policy_preprocessor.json b/checkpoints/diffusion_unet_dino_data_augmentation/joints/200000/pretrained_model/policy_preprocessor.json
deleted file mode 100644
index a6f57e6242af17f882bc107c602ca76393c57d55..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/200000/pretrained_model/policy_preprocessor.json
+++ /dev/null
@@ -1,56 +0,0 @@
-{
-  "name": "policy_preprocessor",
-  "steps": [
-    {
-      "registry_name": "rename_observations_processor",
-      "config": {
-        "rename_map": {}
-      }
-    },
-    {
-      "registry_name": "to_batch_processor",
-      "config": {}
-    },
-    {
-      "registry_name": "device_processor",
-      "config": {
-        "device": "cuda",
-        "float_dtype": null
-      }
-    },
-    {
-      "registry_name": "normalizer_processor",
-      "config": {
-        "eps": 1e-08,
-        "features": {
-          "observation.state": {
-            "type": "STATE",
-            "shape": [
-              6
-            ]
-          },
-          "observation.images.front": {
-            "type": "VISUAL",
-            "shape": [
-              3,
-              480,
-              640
-            ]
-          },
-          "action": {
-            "type": "ACTION",
-            "shape": [
-              6
-            ]
-          }
-        },
-        "norm_map": {
-          "VISUAL": "MEAN_STD",
-          "STATE": "MIN_MAX",
-          "ACTION": "MIN_MAX"
-        }
-      },
-      "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
-    }
-  ]
-}
\ No newline at end of file
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/200000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors b/checkpoints/diffusion_unet_dino_data_augmentation/joints/200000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors
deleted file mode 100644
index ad9e18436f8f0c586020700f357c5f939d1e2626..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/200000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:89a27803b4e2ad57a700eb9917bb97a9d4cc857f094337451fa30a3ffca0dbce
-size 6560
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/200000/pretrained_model/train_config.json b/checkpoints/diffusion_unet_dino_data_augmentation/joints/200000/pretrained_model/train_config.json
deleted file mode 100644
index f8fc0ef49836809a64079818985a21e2bf489aef..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/200000/pretrained_model/train_config.json
+++ /dev/null
@@ -1,300 +0,0 @@
-{
-    "dataset": {
-        "repo_id": "local/act_collected_episodes",
-        "root": "/home/rguntz/Desktop/robot_learning/dataset/act_collected_episodes",
-        "episodes": null,
-        "image_transforms": {
-            "enable": false,
-            "max_num_transforms": 3,
-            "random_order": false,
-            "same_cloth_color": false,
-            "tfs": {
-                "color_jitter": {
-                    "weight": 1.5,
-                    "type": "ColorJitter",
-                    "kwargs": {
-                        "brightness": [
-                            0.7,
-                            1.3
-                        ],
-                        "contrast": [
-                            0.7,
-                            1.3
-                        ],
-                        "saturation": [
-                            0.4,
-                            1.6
-                        ],
-                        "hue": [
-                            -0.5,
-                            0.5
-                        ]
-                    }
-                },
-                "grayscale": {
-                    "weight": 0.5,
-                    "type": "RandomGrayscale",
-                    "kwargs": {
-                        "p": 1.0
-                    }
-                },
-                "shadow": {
-                    "weight": 0.8,
-                    "type": "RandomShadow",
-                    "kwargs": {
-                        "num_shadows": [
-                            1,
-                            2
-                        ],
-                        "intensity": [
-                            0.4,
-                            0.7
-                        ],
-                        "blur_sigma": [
-                            4.0,
-                            20.0
-                        ]
-                    }
-                },
-                "highlight": {
-                    "weight": 0.5,
-                    "type": "RandomHighlight",
-                    "kwargs": {
-                        "num_highlights": [
-                            0,
-                            1
-                        ],
-                        "intensity": [
-                            0.2,
-                            0.5
-                        ],
-                        "sigma": [
-                            20.0,
-                            60.0
-                        ]
-                    }
-                },
-                "gamma": {
-                    "weight": 0.7,
-                    "type": "RandomGamma",
-                    "kwargs": {
-                        "gamma": [
-                            0.6,
-                            1.4
-                        ]
-                    }
-                },
-                "blur": {
-                    "weight": 0.0,
-                    "type": "GaussianBlur",
-                    "kwargs": {
-                        "kernel_size": [
-                            3,
-                            3
-                        ],
-                        "sigma": [
-                            0.1,
-                            1.5
-                        ]
-                    }
-                },
-                "jpeg": {
-                    "weight": 0.0,
-                    "type": "RandomJPEG",
-                    "kwargs": {
-                        "quality": [
-                            60,
-                            95
-                        ]
-                    }
-                },
-                "crop": {
-                    "weight": 0.5,
-                    "type": "RandomCropPreserveSize",
-                    "kwargs": {
-                        "scale": [
-                            0.97,
-                            1.0
-                        ],
-                        "ratio": [
-                            0.99,
-                            1.01
-                        ]
-                    }
-                },
-                "affine": {
-                    "weight": 0.0,
-                    "type": "RandomAffine",
-                    "kwargs": {
-                        "degrees": [
-                            -5.0,
-                            5.0
-                        ],
-                        "translate": [
-                            0.05,
-                            0.05
-                        ]
-                    }
-                },
-                "sharpness": {
-                    "weight": 1.0,
-                    "type": "SharpnessJitter",
-                    "kwargs": {
-                        "sharpness": [
-                            0.5,
-                            1.5
-                        ]
-                    }
-                }
-            }
-        },
-        "revision": null,
-        "use_imagenet_stats": true,
-        "video_backend": "pyav",
-        "return_uint8": false,
-        "streaming": false
-    },
-    "env": null,
-    "policy": {
-        "type": "diffusion",
-        "n_obs_steps": 2,
-        "input_features": {
-            "observation.state": {
-                "type": "STATE",
-                "shape": [
-                    6
-                ]
-            },
-            "observation.images.front": {
-                "type": "VISUAL",
-                "shape": [
-                    3,
-                    480,
-                    640
-                ]
-            }
-        },
-        "output_features": {
-            "action": {
-                "type": "ACTION",
-                "shape": [
-                    6
-                ]
-            }
-        },
-        "device": "cuda",
-        "use_amp": false,
-        "use_peft": false,
-        "push_to_hub": false,
-        "repo_id": null,
-        "private": null,
-        "tags": null,
-        "license": null,
-        "pretrained_path": null,
-        "horizon": 16,
-        "n_action_steps": 8,
-        "normalization_mapping": {
-            "VISUAL": "MEAN_STD",
-            "STATE": "MIN_MAX",
-            "ACTION": "MIN_MAX"
-        },
-        "drop_n_last_frames": 7,
-        "vision_backbone_type": "dinov2",
-        "vision_encoder_name": "facebook/dinov2-small",
-        "freeze_vision_encoder": true,
-        "vision_backbone": "resnet18",
-        "resize_shape": [
-            224,
-            224
-        ],
-        "crop_ratio": 1.0,
-        "crop_shape": null,
-        "crop_is_random": true,
-        "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
-        "use_group_norm": false,
-        "spatial_softmax_num_keypoints": 32,
-        "use_separate_rgb_encoder_per_camera": true,
-        "down_dims": [
-            512,
-            1024,
-            2048
-        ],
-        "kernel_size": 5,
-        "n_groups": 8,
-        "diffusion_step_embed_dim": 128,
-        "use_film_scale_modulation": true,
-        "noise_scheduler_type": "DDPM",
-        "num_train_timesteps": 100,
-        "beta_schedule": "squaredcos_cap_v2",
-        "beta_start": 0.0001,
-        "beta_end": 0.02,
-        "prediction_type": "epsilon",
-        "clip_sample": true,
-        "clip_sample_range": 1.0,
-        "num_inference_steps": 100,
-        "compile_model": false,
-        "compile_mode": "reduce-overhead",
-        "do_mask_loss_for_padding": false,
-        "optimizer_lr": 0.0001,
-        "optimizer_betas": [
-            0.95,
-            0.999
-        ],
-        "optimizer_eps": 1e-08,
-        "optimizer_weight_decay": 1e-06,
-        "scheduler_name": "cosine",
-        "scheduler_warmup_steps": 500
-    },
-    "reward_model": null,
-    "output_dir": "/home/rguntz/Desktop/robot_learning/outputs/train/diffusion_laptop_20260515_200616",
-    "job_name": "diffusion_laptop_20260515_200616",
-    "resume": false,
-    "seed": 1000,
-    "cudnn_deterministic": false,
-    "num_workers": 4,
-    "batch_size": 32,
-    "prefetch_factor": 4,
-    "persistent_workers": true,
-    "steps": 200000,
-    "eval_freq": 0,
-    "log_freq": 20,
-    "tolerance_s": 0.0001,
-    "save_checkpoint": true,
-    "save_freq": 20000,
-    "use_policy_training_preset": true,
-    "optimizer": {
-        "type": "adam",
-        "lr": 0.0001,
-        "weight_decay": 1e-06,
-        "grad_clip_norm": 10.0,
-        "betas": [
-            0.95,
-            0.999
-        ],
-        "eps": 1e-08
-    },
-    "scheduler": {
-        "type": "diffuser",
-        "num_warmup_steps": 500,
-        "name": "cosine"
-    },
-    "eval": {
-        "n_episodes": 50,
-        "batch_size": 11,
-        "use_async_envs": true
-    },
-    "wandb": {
-        "enable": true,
-        "disable_artifact": false,
-        "project": "lerobot",
-        "entity": null,
-        "notes": null,
-        "run_id": "9kipd4of",
-        "mode": null,
-        "add_tags": true
-    },
-    "peft": null,
-    "sample_weighting": null,
-    "rename_map": {},
-    "checkpoint_path": null
-}
\ No newline at end of file
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/200000/training_state/optimizer_param_groups.json b/checkpoints/diffusion_unet_dino_data_augmentation/joints/200000/training_state/optimizer_param_groups.json
deleted file mode 100644
index 7bf9a806e0668906a3e3731c8a59789e48ebbdb0..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/200000/training_state/optimizer_param_groups.json
+++ /dev/null
@@ -1,396 +0,0 @@
-[
-    {
-        "lr": 0.0,
-        "betas": [
-            0.95,
-            0.999
-        ],
-        "eps": 1e-08,
-        "weight_decay": 1e-06,
-        "amsgrad": false,
-        "maximize": false,
-        "foreach": null,
-        "capturable": false,
-        "differentiable": false,
-        "fused": null,
-        "decoupled_weight_decay": false,
-        "initial_lr": 0.0001,
-        "params": [
-            0,
-            1,
-            2,
-            3,
-            4,
-            5,
-            6,
-            7,
-            8,
-            9,
-            10,
-            11,
-            12,
-            13,
-            14,
-            15,
-            16,
-            17,
-            18,
-            19,
-            20,
-            21,
-            22,
-            23,
-            24,
-            25,
-            26,
-            27,
-            28,
-            29,
-            30,
-            31,
-            32,
-            33,
-            34,
-            35,
-            36,
-            37,
-            38,
-            39,
-            40,
-            41,
-            42,
-            43,
-            44,
-            45,
-            46,
-            47,
-            48,
-            49,
-            50,
-            51,
-            52,
-            53,
-            54,
-            55,
-            56,
-            57,
-            58,
-            59,
-            60,
-            61,
-            62,
-            63,
-            64,
-            65,
-            66,
-            67,
-            68,
-            69,
-            70,
-            71,
-            72,
-            73,
-            74,
-            75,
-            76,
-            77,
-            78,
-            79,
-            80,
-            81,
-            82,
-            83,
-            84,
-            85,
-            86,
-            87,
-            88,
-            89,
-            90,
-            91,
-            92,
-            93,
-            94,
-            95,
-            96,
-            97,
-            98,
-            99,
-            100,
-            101,
-            102,
-            103,
-            104,
-            105,
-            106,
-            107,
-            108,
-            109,
-            110,
-            111,
-            112,
-            113,
-            114,
-            115,
-            116,
-            117,
-            118,
-            119,
-            120,
-            121,
-            122,
-            123,
-            124,
-            125,
-            126,
-            127,
-            128,
-            129,
-            130,
-            131,
-            132,
-            133,
-            134,
-            135,
-            136,
-            137,
-            138,
-            139,
-            140,
-            141,
-            142,
-            143,
-            144,
-            145,
-            146,
-            147,
-            148,
-            149,
-            150,
-            151,
-            152,
-            153,
-            154,
-            155,
-            156,
-            157,
-            158,
-            159,
-            160,
-            161,
-            162,
-            163,
-            164,
-            165,
-            166,
-            167,
-            168,
-            169,
-            170,
-            171,
-            172,
-            173,
-            174,
-            175,
-            176,
-            177,
-            178,
-            179,
-            180,
-            181,
-            182,
-            183,
-            184,
-            185,
-            186,
-            187,
-            188,
-            189,
-            190,
-            191,
-            192,
-            193,
-            194,
-            195,
-            196,
-            197,
-            198,
-            199,
-            200,
-            201,
-            202,
-            203,
-            204,
-            205,
-            206,
-            207,
-            208,
-            209,
-            210,
-            211,
-            212,
-            213,
-            214,
-            215,
-            216,
-            217,
-            218,
-            219,
-            220,
-            221,
-            222,
-            223,
-            224,
-            225,
-            226,
-            227,
-            228,
-            229,
-            230,
-            231,
-            232,
-            233,
-            234,
-            235,
-            236,
-            237,
-            238,
-            239,
-            240,
-            241,
-            242,
-            243,
-            244,
-            245,
-            246,
-            247,
-            248,
-            249,
-            250,
-            251,
-            252,
-            253,
-            254,
-            255,
-            256,
-            257,
-            258,
-            259,
-            260,
-            261,
-            262,
-            263,
-            264,
-            265,
-            266,
-            267,
-            268,
-            269,
-            270,
-            271,
-            272,
-            273,
-            274,
-            275,
-            276,
-            277,
-            278,
-            279,
-            280,
-            281,
-            282,
-            283,
-            284,
-            285,
-            286,
-            287,
-            288,
-            289,
-            290,
-            291,
-            292,
-            293,
-            294,
-            295,
-            296,
-            297,
-            298,
-            299,
-            300,
-            301,
-            302,
-            303,
-            304,
-            305,
-            306,
-            307,
-            308,
-            309,
-            310,
-            311,
-            312,
-            313,
-            314,
-            315,
-            316,
-            317,
-            318,
-            319,
-            320,
-            321,
-            322,
-            323,
-            324,
-            325,
-            326,
-            327,
-            328,
-            329,
-            330,
-            331,
-            332,
-            333,
-            334,
-            335,
-            336,
-            337,
-            338,
-            339,
-            340,
-            341,
-            342,
-            343,
-            344,
-            345,
-            346,
-            347,
-            348,
-            349,
-            350,
-            351,
-            352,
-            353,
-            354,
-            355,
-            356,
-            357,
-            358,
-            359,
-            360,
-            361,
-            362,
-            363,
-            364,
-            365,
-            366,
-            367,
-            368,
-            369,
-            370,
-            371,
-            372,
-            373,
-            374
-        ]
-    }
-]
\ No newline at end of file
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/200000/training_state/optimizer_state.safetensors b/checkpoints/diffusion_unet_dino_data_augmentation/joints/200000/training_state/optimizer_state.safetensors
deleted file mode 100644
index 858c5fca4aab75044e860c05923f870b2d0581ff..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/200000/training_state/optimizer_state.safetensors
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:ebba00074a12ecbfaf9037a72f793cd6027b6ccb3f12641825d414383ad1c6dc
-size 2014217744
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/200000/training_state/rng_state.safetensors b/checkpoints/diffusion_unet_dino_data_augmentation/joints/200000/training_state/rng_state.safetensors
deleted file mode 100644
index d66bf6c2860e25c9b2b748398fe9eac79559d9aa..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/200000/training_state/rng_state.safetensors
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:2c2f75a787c28faf8df92f74a92c651aa00459ef3156169ff0fd8acabfb91c52
-size 15708
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/200000/training_state/scheduler_state.json b/checkpoints/diffusion_unet_dino_data_augmentation/joints/200000/training_state/scheduler_state.json
deleted file mode 100644
index ebeb5e218c0a3e73559a74ead254ad4f8e30632e..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/200000/training_state/scheduler_state.json
+++ /dev/null
@@ -1,15 +0,0 @@
-{
-    "base_lrs": [
-        0.0001
-    ],
-    "last_epoch": 200000,
-    "_step_count": 200001,
-    "_is_initial": false,
-    "_get_lr_called_within_step": false,
-    "_last_lr": [
-        0.0
-    ],
-    "lr_lambdas": [
-        null
-    ]
-}
\ No newline at end of file
diff --git a/checkpoints/diffusion_unet_dino_data_augmentation/joints/200000/training_state/training_step.json b/checkpoints/diffusion_unet_dino_data_augmentation/joints/200000/training_state/training_step.json
deleted file mode 100644
index bcef8d8b05253341579ace0987c46cee6885c961..0000000000000000000000000000000000000000
--- a/checkpoints/diffusion_unet_dino_data_augmentation/joints/200000/training_state/training_step.json
+++ /dev/null
@@ -1,3 +0,0 @@
-{
-    "step": 200000
-}
\ No newline at end of file