diff --git a/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/010000/pretrained_model/config.json b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/010000/pretrained_model/config.json
new file mode 100644
index 0000000000000000000000000000000000000000..4901d07bd8678ba38d60b87c2c73ac022708adce
--- /dev/null
+++ b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/010000/pretrained_model/config.json
@@ -0,0 +1,92 @@
+{
+    "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": "/home/shadeform/Desktop/robot_learning/checkpoints/diffusion_780_new_dataset_dino/checkpoints/400000/pretrained_model",
+    "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,
+    "vit_pool_type": "spatial_softmax",
+    "vit_feature_dim": 512,
+    "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": 1e-05,
+    "optimizer_betas": [
+        0.95,
+        0.999
+    ],
+    "optimizer_eps": 1e-08,
+    "optimizer_weight_decay": 1e-06,
+    "scheduler_name": "cosine",
+    "scheduler_warmup_steps": 100
+}
\ No newline at end of file
diff --git a/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/010000/pretrained_model/model.safetensors b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/010000/pretrained_model/model.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..fb07002087f4bd2ec650463bb4c481f0bd4a1d7a
--- /dev/null
+++ b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/010000/pretrained_model/model.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac4d35d6918e5156be6e0c031b8f3520ba50dc18fcfabee324b9f07717d25ccc
+size 1095367712
diff --git a/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/010000/pretrained_model/policy_postprocessor.json b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/010000/pretrained_model/policy_postprocessor.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2c5e6cea7850bb999ab193f96021fa0129ce4db
--- /dev/null
+++ b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/010000/pretrained_model/policy_postprocessor.json
@@ -0,0 +1,32 @@
+{
+  "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_specialized_302_dataset_base_from_dino_780_new_dataset/010000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/010000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..4235e688ff2255d5012ce210658ac7889246c0a2
--- /dev/null
+++ b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/010000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a7c038c0023c958fd3b39d6e2bc3ac3056490758f11fae13cc9d0a607912de1
+size 6560
diff --git a/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/010000/pretrained_model/policy_preprocessor.json b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/010000/pretrained_model/policy_preprocessor.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6f57e6242af17f882bc107c602ca76393c57d55
--- /dev/null
+++ b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/010000/pretrained_model/policy_preprocessor.json
@@ -0,0 +1,56 @@
+{
+  "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_specialized_302_dataset_base_from_dino_780_new_dataset/010000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/010000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..4235e688ff2255d5012ce210658ac7889246c0a2
--- /dev/null
+++ b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/010000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a7c038c0023c958fd3b39d6e2bc3ac3056490758f11fae13cc9d0a607912de1
+size 6560
diff --git a/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/010000/pretrained_model/train_config.json b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/010000/pretrained_model/train_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..7dd636fd7535e0e24d2704d9d8adc4c3d7c8dfd2
--- /dev/null
+++ b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/010000/pretrained_model/train_config.json
@@ -0,0 +1,302 @@
+{
+    "dataset": {
+        "repo_id": "local/act_collected_episodes",
+        "root": "/home/shadeform/Desktop/robot_learning/base_new_dataset_302",
+        "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": "/home/shadeform/Desktop/robot_learning/checkpoints/diffusion_780_new_dataset_dino/checkpoints/400000/pretrained_model",
+        "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,
+        "vit_pool_type": "spatial_softmax",
+        "vit_feature_dim": 512,
+        "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": 1e-05,
+        "optimizer_betas": [
+            0.95,
+            0.999
+        ],
+        "optimizer_eps": 1e-08,
+        "optimizer_weight_decay": 1e-06,
+        "scheduler_name": "cosine",
+        "scheduler_warmup_steps": 100
+    },
+    "reward_model": null,
+    "output_dir": "/home/shadeform/Desktop/robot_learning/outputs/train/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset",
+    "job_name": "diffusion_specialized_302_dataset_base_from_dino_780_new_dataset",
+    "resume": false,
+    "seed": 1000,
+    "cudnn_deterministic": false,
+    "num_workers": 4,
+    "batch_size": 32,
+    "prefetch_factor": 4,
+    "persistent_workers": true,
+    "steps": 100000,
+    "eval_freq": 0,
+    "log_freq": 20,
+    "tolerance_s": 0.0001,
+    "save_checkpoint": true,
+    "save_freq": 10000,
+    "use_policy_training_preset": true,
+    "optimizer": {
+        "type": "adam",
+        "lr": 1e-05,
+        "weight_decay": 1e-06,
+        "grad_clip_norm": 10.0,
+        "betas": [
+            0.95,
+            0.999
+        ],
+        "eps": 1e-08
+    },
+    "scheduler": {
+        "type": "diffuser",
+        "num_warmup_steps": 100,
+        "name": "cosine"
+    },
+    "eval": {
+        "n_episodes": 50,
+        "batch_size": 19,
+        "use_async_envs": true
+    },
+    "wandb": {
+        "enable": true,
+        "disable_artifact": false,
+        "project": "lerobot",
+        "entity": null,
+        "notes": null,
+        "run_id": "xruhoymg",
+        "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_specialized_302_dataset_base_from_dino_780_new_dataset/010000/training_state/optimizer_param_groups.json b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/010000/training_state/optimizer_param_groups.json
new file mode 100644
index 0000000000000000000000000000000000000000..81f0415415017f85093ab679bf805f5cb53016fb
--- /dev/null
+++ b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/010000/training_state/optimizer_param_groups.json
@@ -0,0 +1,396 @@
+[
+    {
+        "lr": 9.759636527645633e-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": 1e-05,
+        "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_specialized_302_dataset_base_from_dino_780_new_dataset/010000/training_state/optimizer_state.safetensors b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/010000/training_state/optimizer_state.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..8dee311ccab9a973eb00928fdcac2f1ea6fcdc80
--- /dev/null
+++ b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/010000/training_state/optimizer_state.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14a74c3e1a9ed0cbc06c6a06d89e4a98921db68159ea3f7aa2c98ddc35efc8b4
+size 2014217744
diff --git a/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/010000/training_state/rng_state.safetensors b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/010000/training_state/rng_state.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..97265f2f951d597ce6fb615e502069b9872be74d
--- /dev/null
+++ b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/010000/training_state/rng_state.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7cc30241de1736d3fb14e74cca1cbaf89bebfaf2bf7d047c95ed5720bb02bb6
+size 15708
diff --git a/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/010000/training_state/scheduler_state.json b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/010000/training_state/scheduler_state.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc4dcfe5d6065a878e4934ad6384c2472a7cdf01
--- /dev/null
+++ b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/010000/training_state/scheduler_state.json
@@ -0,0 +1,15 @@
+{
+    "base_lrs": [
+        1e-05
+    ],
+    "last_epoch": 10000,
+    "_step_count": 10001,
+    "_is_initial": false,
+    "_get_lr_called_within_step": false,
+    "_last_lr": [
+        9.759636527645633e-06
+    ],
+    "lr_lambdas": [
+        null
+    ]
+}
\ No newline at end of file
diff --git a/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/010000/training_state/training_step.json b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/010000/training_state/training_step.json
new file mode 100644
index 0000000000000000000000000000000000000000..7cb7c0986e9e7461ca851ce71e95d235ae3d2732
--- /dev/null
+++ b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/010000/training_state/training_step.json
@@ -0,0 +1,3 @@
+{
+    "step": 10000
+}
\ No newline at end of file
diff --git a/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/020000/pretrained_model/config.json b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/020000/pretrained_model/config.json
new file mode 100644
index 0000000000000000000000000000000000000000..4901d07bd8678ba38d60b87c2c73ac022708adce
--- /dev/null
+++ b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/020000/pretrained_model/config.json
@@ -0,0 +1,92 @@
+{
+    "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": "/home/shadeform/Desktop/robot_learning/checkpoints/diffusion_780_new_dataset_dino/checkpoints/400000/pretrained_model",
+    "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,
+    "vit_pool_type": "spatial_softmax",
+    "vit_feature_dim": 512,
+    "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": 1e-05,
+    "optimizer_betas": [
+        0.95,
+        0.999
+    ],
+    "optimizer_eps": 1e-08,
+    "optimizer_weight_decay": 1e-06,
+    "scheduler_name": "cosine",
+    "scheduler_warmup_steps": 100
+}
\ No newline at end of file
diff --git a/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/020000/pretrained_model/model.safetensors b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/020000/pretrained_model/model.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..35d1aa8cca55bfe7903bdec0ec6f48c9cc7a5f7c
--- /dev/null
+++ b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/020000/pretrained_model/model.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14174cecec46e68db21c103337f135d57ce2c82f974642005bbdf2dfe8774777
+size 1095367712
diff --git a/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/020000/pretrained_model/policy_postprocessor.json b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/020000/pretrained_model/policy_postprocessor.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2c5e6cea7850bb999ab193f96021fa0129ce4db
--- /dev/null
+++ b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/020000/pretrained_model/policy_postprocessor.json
@@ -0,0 +1,32 @@
+{
+  "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_specialized_302_dataset_base_from_dino_780_new_dataset/020000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/020000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..4235e688ff2255d5012ce210658ac7889246c0a2
--- /dev/null
+++ b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/020000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a7c038c0023c958fd3b39d6e2bc3ac3056490758f11fae13cc9d0a607912de1
+size 6560
diff --git a/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/020000/pretrained_model/policy_preprocessor.json b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/020000/pretrained_model/policy_preprocessor.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6f57e6242af17f882bc107c602ca76393c57d55
--- /dev/null
+++ b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/020000/pretrained_model/policy_preprocessor.json
@@ -0,0 +1,56 @@
+{
+  "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_specialized_302_dataset_base_from_dino_780_new_dataset/020000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/020000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..4235e688ff2255d5012ce210658ac7889246c0a2
--- /dev/null
+++ b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/020000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a7c038c0023c958fd3b39d6e2bc3ac3056490758f11fae13cc9d0a607912de1
+size 6560
diff --git a/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/020000/pretrained_model/train_config.json b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/020000/pretrained_model/train_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..7dd636fd7535e0e24d2704d9d8adc4c3d7c8dfd2
--- /dev/null
+++ b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/020000/pretrained_model/train_config.json
@@ -0,0 +1,302 @@
+{
+    "dataset": {
+        "repo_id": "local/act_collected_episodes",
+        "root": "/home/shadeform/Desktop/robot_learning/base_new_dataset_302",
+        "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": "/home/shadeform/Desktop/robot_learning/checkpoints/diffusion_780_new_dataset_dino/checkpoints/400000/pretrained_model",
+        "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,
+        "vit_pool_type": "spatial_softmax",
+        "vit_feature_dim": 512,
+        "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": 1e-05,
+        "optimizer_betas": [
+            0.95,
+            0.999
+        ],
+        "optimizer_eps": 1e-08,
+        "optimizer_weight_decay": 1e-06,
+        "scheduler_name": "cosine",
+        "scheduler_warmup_steps": 100
+    },
+    "reward_model": null,
+    "output_dir": "/home/shadeform/Desktop/robot_learning/outputs/train/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset",
+    "job_name": "diffusion_specialized_302_dataset_base_from_dino_780_new_dataset",
+    "resume": false,
+    "seed": 1000,
+    "cudnn_deterministic": false,
+    "num_workers": 4,
+    "batch_size": 32,
+    "prefetch_factor": 4,
+    "persistent_workers": true,
+    "steps": 100000,
+    "eval_freq": 0,
+    "log_freq": 20,
+    "tolerance_s": 0.0001,
+    "save_checkpoint": true,
+    "save_freq": 10000,
+    "use_policy_training_preset": true,
+    "optimizer": {
+        "type": "adam",
+        "lr": 1e-05,
+        "weight_decay": 1e-06,
+        "grad_clip_norm": 10.0,
+        "betas": [
+            0.95,
+            0.999
+        ],
+        "eps": 1e-08
+    },
+    "scheduler": {
+        "type": "diffuser",
+        "num_warmup_steps": 100,
+        "name": "cosine"
+    },
+    "eval": {
+        "n_episodes": 50,
+        "batch_size": 19,
+        "use_async_envs": true
+    },
+    "wandb": {
+        "enable": true,
+        "disable_artifact": false,
+        "project": "lerobot",
+        "entity": null,
+        "notes": null,
+        "run_id": "xruhoymg",
+        "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_specialized_302_dataset_base_from_dino_780_new_dataset/020000/training_state/optimizer_param_groups.json b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/020000/training_state/optimizer_param_groups.json
new file mode 100644
index 0000000000000000000000000000000000000000..1fc88bad48467183243ffcb9689b18c0d89026b2
--- /dev/null
+++ b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/020000/training_state/optimizer_param_groups.json
@@ -0,0 +1,396 @@
+[
+    {
+        "lr": 9.05246588405146e-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": 1e-05,
+        "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_specialized_302_dataset_base_from_dino_780_new_dataset/020000/training_state/optimizer_state.safetensors b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/020000/training_state/optimizer_state.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..347f9d085c37ddd76902491a6948fe082021cf00
--- /dev/null
+++ b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/020000/training_state/optimizer_state.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e1f376fdf45d686e57e6531254b1a54ab44e814c91367dd0e4354fcdddef344
+size 2014217744
diff --git a/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/020000/training_state/rng_state.safetensors b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/020000/training_state/rng_state.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..99e786b177b747bbbc90abe80dfc92c8b3bf4d7a
--- /dev/null
+++ b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/020000/training_state/rng_state.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c6847b4c0dc32fd9e518ab2ee588fa478966abf67182f6de2bea4ac8fc17269
+size 15708
diff --git a/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/020000/training_state/scheduler_state.json b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/020000/training_state/scheduler_state.json
new file mode 100644
index 0000000000000000000000000000000000000000..aec1e7b6a1f7098b6574d836983e61480e758573
--- /dev/null
+++ b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/020000/training_state/scheduler_state.json
@@ -0,0 +1,15 @@
+{
+    "base_lrs": [
+        1e-05
+    ],
+    "last_epoch": 20000,
+    "_step_count": 20001,
+    "_is_initial": false,
+    "_get_lr_called_within_step": false,
+    "_last_lr": [
+        9.05246588405146e-06
+    ],
+    "lr_lambdas": [
+        null
+    ]
+}
\ No newline at end of file
diff --git a/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/020000/training_state/training_step.json b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/020000/training_state/training_step.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc9bb47026c5d5237ca6fc5dbff6020dd122ea05
--- /dev/null
+++ b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/020000/training_state/training_step.json
@@ -0,0 +1,3 @@
+{
+    "step": 20000
+}
\ No newline at end of file
diff --git a/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/030000/pretrained_model/config.json b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/030000/pretrained_model/config.json
new file mode 100644
index 0000000000000000000000000000000000000000..4901d07bd8678ba38d60b87c2c73ac022708adce
--- /dev/null
+++ b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/030000/pretrained_model/config.json
@@ -0,0 +1,92 @@
+{
+    "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": "/home/shadeform/Desktop/robot_learning/checkpoints/diffusion_780_new_dataset_dino/checkpoints/400000/pretrained_model",
+    "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,
+    "vit_pool_type": "spatial_softmax",
+    "vit_feature_dim": 512,
+    "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": 1e-05,
+    "optimizer_betas": [
+        0.95,
+        0.999
+    ],
+    "optimizer_eps": 1e-08,
+    "optimizer_weight_decay": 1e-06,
+    "scheduler_name": "cosine",
+    "scheduler_warmup_steps": 100
+}
\ No newline at end of file
diff --git a/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/030000/pretrained_model/model.safetensors b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/030000/pretrained_model/model.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..750c3e92b539ca5008025713b1bfb928aee984dd
--- /dev/null
+++ b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/030000/pretrained_model/model.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2fdb03e05602b1b05158c848538f1f5bf90c2f0dacebe31044dd3c0cb1c1342
+size 1095367712
diff --git a/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/030000/pretrained_model/policy_postprocessor.json b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/030000/pretrained_model/policy_postprocessor.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2c5e6cea7850bb999ab193f96021fa0129ce4db
--- /dev/null
+++ b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/030000/pretrained_model/policy_postprocessor.json
@@ -0,0 +1,32 @@
+{
+  "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_specialized_302_dataset_base_from_dino_780_new_dataset/030000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/030000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..4235e688ff2255d5012ce210658ac7889246c0a2
--- /dev/null
+++ b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/030000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a7c038c0023c958fd3b39d6e2bc3ac3056490758f11fae13cc9d0a607912de1
+size 6560
diff --git a/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/030000/pretrained_model/policy_preprocessor.json b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/030000/pretrained_model/policy_preprocessor.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6f57e6242af17f882bc107c602ca76393c57d55
--- /dev/null
+++ b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/030000/pretrained_model/policy_preprocessor.json
@@ -0,0 +1,56 @@
+{
+  "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_specialized_302_dataset_base_from_dino_780_new_dataset/030000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/030000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..4235e688ff2255d5012ce210658ac7889246c0a2
--- /dev/null
+++ b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/030000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a7c038c0023c958fd3b39d6e2bc3ac3056490758f11fae13cc9d0a607912de1
+size 6560
diff --git a/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/030000/pretrained_model/train_config.json b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/030000/pretrained_model/train_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..7dd636fd7535e0e24d2704d9d8adc4c3d7c8dfd2
--- /dev/null
+++ b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/030000/pretrained_model/train_config.json
@@ -0,0 +1,302 @@
+{
+    "dataset": {
+        "repo_id": "local/act_collected_episodes",
+        "root": "/home/shadeform/Desktop/robot_learning/base_new_dataset_302",
+        "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": "/home/shadeform/Desktop/robot_learning/checkpoints/diffusion_780_new_dataset_dino/checkpoints/400000/pretrained_model",
+        "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,
+        "vit_pool_type": "spatial_softmax",
+        "vit_feature_dim": 512,
+        "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": 1e-05,
+        "optimizer_betas": [
+            0.95,
+            0.999
+        ],
+        "optimizer_eps": 1e-08,
+        "optimizer_weight_decay": 1e-06,
+        "scheduler_name": "cosine",
+        "scheduler_warmup_steps": 100
+    },
+    "reward_model": null,
+    "output_dir": "/home/shadeform/Desktop/robot_learning/outputs/train/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset",
+    "job_name": "diffusion_specialized_302_dataset_base_from_dino_780_new_dataset",
+    "resume": false,
+    "seed": 1000,
+    "cudnn_deterministic": false,
+    "num_workers": 4,
+    "batch_size": 32,
+    "prefetch_factor": 4,
+    "persistent_workers": true,
+    "steps": 100000,
+    "eval_freq": 0,
+    "log_freq": 20,
+    "tolerance_s": 0.0001,
+    "save_checkpoint": true,
+    "save_freq": 10000,
+    "use_policy_training_preset": true,
+    "optimizer": {
+        "type": "adam",
+        "lr": 1e-05,
+        "weight_decay": 1e-06,
+        "grad_clip_norm": 10.0,
+        "betas": [
+            0.95,
+            0.999
+        ],
+        "eps": 1e-08
+    },
+    "scheduler": {
+        "type": "diffuser",
+        "num_warmup_steps": 100,
+        "name": "cosine"
+    },
+    "eval": {
+        "n_episodes": 50,
+        "batch_size": 19,
+        "use_async_envs": true
+    },
+    "wandb": {
+        "enable": true,
+        "disable_artifact": false,
+        "project": "lerobot",
+        "entity": null,
+        "notes": null,
+        "run_id": "xruhoymg",
+        "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_specialized_302_dataset_base_from_dino_780_new_dataset/030000/training_state/optimizer_param_groups.json b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/030000/training_state/optimizer_param_groups.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ef7d5f3ee28e0f5be81ecd70fced1eb3d639093
--- /dev/null
+++ b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/030000/training_state/optimizer_param_groups.json
@@ -0,0 +1,396 @@
+[
+    {
+        "lr": 7.947823644532198e-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": 1e-05,
+        "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_specialized_302_dataset_base_from_dino_780_new_dataset/030000/training_state/optimizer_state.safetensors b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/030000/training_state/optimizer_state.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..ff9c7fb56d4816a25c313ccc812743bc1ddab3a1
--- /dev/null
+++ b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/030000/training_state/optimizer_state.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6b38625c91112f4d3eb0168b6fb84e1068594f32553b1caf792d3cb97d602c1
+size 2014217744
diff --git a/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/030000/training_state/rng_state.safetensors b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/030000/training_state/rng_state.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..459c9d14cfbd3e4828aad138f09963090f165020
--- /dev/null
+++ b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/030000/training_state/rng_state.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29cf5a2096221355f29a8d81df0017e3f858642f5290d9c49361359fb34b4450
+size 15708
diff --git a/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/030000/training_state/scheduler_state.json b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/030000/training_state/scheduler_state.json
new file mode 100644
index 0000000000000000000000000000000000000000..207cc8e0593d9ded888c37406806e7b5e47cf007
--- /dev/null
+++ b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/030000/training_state/scheduler_state.json
@@ -0,0 +1,15 @@
+{
+    "base_lrs": [
+        1e-05
+    ],
+    "last_epoch": 30000,
+    "_step_count": 30001,
+    "_is_initial": false,
+    "_get_lr_called_within_step": false,
+    "_last_lr": [
+        7.947823644532198e-06
+    ],
+    "lr_lambdas": [
+        null
+    ]
+}
\ No newline at end of file
diff --git a/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/030000/training_state/training_step.json b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/030000/training_state/training_step.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4945f660f45b332883dccfccf18d8b8815d916a
--- /dev/null
+++ b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/030000/training_state/training_step.json
@@ -0,0 +1,3 @@
+{
+    "step": 30000
+}
\ No newline at end of file
diff --git a/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/040000/pretrained_model/config.json b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/040000/pretrained_model/config.json
new file mode 100644
index 0000000000000000000000000000000000000000..4901d07bd8678ba38d60b87c2c73ac022708adce
--- /dev/null
+++ b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/040000/pretrained_model/config.json
@@ -0,0 +1,92 @@
+{
+    "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": "/home/shadeform/Desktop/robot_learning/checkpoints/diffusion_780_new_dataset_dino/checkpoints/400000/pretrained_model",
+    "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,
+    "vit_pool_type": "spatial_softmax",
+    "vit_feature_dim": 512,
+    "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": 1e-05,
+    "optimizer_betas": [
+        0.95,
+        0.999
+    ],
+    "optimizer_eps": 1e-08,
+    "optimizer_weight_decay": 1e-06,
+    "scheduler_name": "cosine",
+    "scheduler_warmup_steps": 100
+}
\ No newline at end of file
diff --git a/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/040000/pretrained_model/model.safetensors b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/040000/pretrained_model/model.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..c0c00616d9896d0a122f96659540b36812f7af0b
--- /dev/null
+++ b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/040000/pretrained_model/model.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85bb99f98155b4204be0f6644124618f4f5b0894a0b7a40d05391265fc8f2026
+size 1095367712
diff --git a/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/040000/pretrained_model/policy_postprocessor.json b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/040000/pretrained_model/policy_postprocessor.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2c5e6cea7850bb999ab193f96021fa0129ce4db
--- /dev/null
+++ b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/040000/pretrained_model/policy_postprocessor.json
@@ -0,0 +1,32 @@
+{
+  "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_specialized_302_dataset_base_from_dino_780_new_dataset/040000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/040000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..4235e688ff2255d5012ce210658ac7889246c0a2
--- /dev/null
+++ b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/040000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a7c038c0023c958fd3b39d6e2bc3ac3056490758f11fae13cc9d0a607912de1
+size 6560
diff --git a/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/040000/pretrained_model/policy_preprocessor.json b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/040000/pretrained_model/policy_preprocessor.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6f57e6242af17f882bc107c602ca76393c57d55
--- /dev/null
+++ b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/040000/pretrained_model/policy_preprocessor.json
@@ -0,0 +1,56 @@
+{
+  "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_specialized_302_dataset_base_from_dino_780_new_dataset/040000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/040000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..4235e688ff2255d5012ce210658ac7889246c0a2
--- /dev/null
+++ b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/040000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a7c038c0023c958fd3b39d6e2bc3ac3056490758f11fae13cc9d0a607912de1
+size 6560
diff --git a/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/040000/pretrained_model/train_config.json b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/040000/pretrained_model/train_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..7dd636fd7535e0e24d2704d9d8adc4c3d7c8dfd2
--- /dev/null
+++ b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/040000/pretrained_model/train_config.json
@@ -0,0 +1,302 @@
+{
+    "dataset": {
+        "repo_id": "local/act_collected_episodes",
+        "root": "/home/shadeform/Desktop/robot_learning/base_new_dataset_302",
+        "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": "/home/shadeform/Desktop/robot_learning/checkpoints/diffusion_780_new_dataset_dino/checkpoints/400000/pretrained_model",
+        "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,
+        "vit_pool_type": "spatial_softmax",
+        "vit_feature_dim": 512,
+        "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": 1e-05,
+        "optimizer_betas": [
+            0.95,
+            0.999
+        ],
+        "optimizer_eps": 1e-08,
+        "optimizer_weight_decay": 1e-06,
+        "scheduler_name": "cosine",
+        "scheduler_warmup_steps": 100
+    },
+    "reward_model": null,
+    "output_dir": "/home/shadeform/Desktop/robot_learning/outputs/train/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset",
+    "job_name": "diffusion_specialized_302_dataset_base_from_dino_780_new_dataset",
+    "resume": false,
+    "seed": 1000,
+    "cudnn_deterministic": false,
+    "num_workers": 4,
+    "batch_size": 32,
+    "prefetch_factor": 4,
+    "persistent_workers": true,
+    "steps": 100000,
+    "eval_freq": 0,
+    "log_freq": 20,
+    "tolerance_s": 0.0001,
+    "save_checkpoint": true,
+    "save_freq": 10000,
+    "use_policy_training_preset": true,
+    "optimizer": {
+        "type": "adam",
+        "lr": 1e-05,
+        "weight_decay": 1e-06,
+        "grad_clip_norm": 10.0,
+        "betas": [
+            0.95,
+            0.999
+        ],
+        "eps": 1e-08
+    },
+    "scheduler": {
+        "type": "diffuser",
+        "num_warmup_steps": 100,
+        "name": "cosine"
+    },
+    "eval": {
+        "n_episodes": 50,
+        "batch_size": 19,
+        "use_async_envs": true
+    },
+    "wandb": {
+        "enable": true,
+        "disable_artifact": false,
+        "project": "lerobot",
+        "entity": null,
+        "notes": null,
+        "run_id": "xruhoymg",
+        "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_specialized_302_dataset_base_from_dino_780_new_dataset/040000/training_state/optimizer_param_groups.json b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/040000/training_state/optimizer_param_groups.json
new file mode 100644
index 0000000000000000000000000000000000000000..315bb985ecdc48209e055fc15b0c2fddc56774cd
--- /dev/null
+++ b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/040000/training_state/optimizer_param_groups.json
@@ -0,0 +1,396 @@
+[
+    {
+        "lr": 6.554054685128857e-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": 1e-05,
+        "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_specialized_302_dataset_base_from_dino_780_new_dataset/040000/training_state/optimizer_state.safetensors b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/040000/training_state/optimizer_state.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..23ddec9dc1b53dc9fcdad0c9ecff51b4b70d1b13
--- /dev/null
+++ b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/040000/training_state/optimizer_state.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25c0ad4263276ff05758be5bf444eacdbaef370abae6461cedd27479497ffd78
+size 2014217744
diff --git a/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/040000/training_state/rng_state.safetensors b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/040000/training_state/rng_state.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..991b0e36cb85b9107d5069dc863fab7067fc2e10
--- /dev/null
+++ b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/040000/training_state/rng_state.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28a008b2be845aeee0fce7eb650f26916ecab800aa022638c079982967ead6be
+size 15708
diff --git a/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/040000/training_state/scheduler_state.json b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/040000/training_state/scheduler_state.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a5683653b50cf97ab8be4c56491dbc6e94faa0e
--- /dev/null
+++ b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/040000/training_state/scheduler_state.json
@@ -0,0 +1,15 @@
+{
+    "base_lrs": [
+        1e-05
+    ],
+    "last_epoch": 40000,
+    "_step_count": 40001,
+    "_is_initial": false,
+    "_get_lr_called_within_step": false,
+    "_last_lr": [
+        6.554054685128857e-06
+    ],
+    "lr_lambdas": [
+        null
+    ]
+}
\ No newline at end of file
diff --git a/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/040000/training_state/training_step.json b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/040000/training_state/training_step.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe40d8ff4312c7e5a8fba9bcc932a43a1384ba77
--- /dev/null
+++ b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/040000/training_state/training_step.json
@@ -0,0 +1,3 @@
+{
+    "step": 40000
+}
\ No newline at end of file
diff --git a/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/050000/pretrained_model/config.json b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/050000/pretrained_model/config.json
new file mode 100644
index 0000000000000000000000000000000000000000..4901d07bd8678ba38d60b87c2c73ac022708adce
--- /dev/null
+++ b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/050000/pretrained_model/config.json
@@ -0,0 +1,92 @@
+{
+    "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": "/home/shadeform/Desktop/robot_learning/checkpoints/diffusion_780_new_dataset_dino/checkpoints/400000/pretrained_model",
+    "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,
+    "vit_pool_type": "spatial_softmax",
+    "vit_feature_dim": 512,
+    "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": 1e-05,
+    "optimizer_betas": [
+        0.95,
+        0.999
+    ],
+    "optimizer_eps": 1e-08,
+    "optimizer_weight_decay": 1e-06,
+    "scheduler_name": "cosine",
+    "scheduler_warmup_steps": 100
+}
\ No newline at end of file
diff --git a/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/050000/pretrained_model/model.safetensors b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/050000/pretrained_model/model.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..ead4e27a13023a005c45b42e4ba5db71add0ff83
--- /dev/null
+++ b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/050000/pretrained_model/model.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23751f6aca30708966ecae0a54b5e11ecdb080cafb70428cef5e822f9d76bf91
+size 1095367712
diff --git a/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/050000/pretrained_model/policy_postprocessor.json b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/050000/pretrained_model/policy_postprocessor.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2c5e6cea7850bb999ab193f96021fa0129ce4db
--- /dev/null
+++ b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/050000/pretrained_model/policy_postprocessor.json
@@ -0,0 +1,32 @@
+{
+  "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_specialized_302_dataset_base_from_dino_780_new_dataset/050000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/050000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..4235e688ff2255d5012ce210658ac7889246c0a2
--- /dev/null
+++ b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/050000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a7c038c0023c958fd3b39d6e2bc3ac3056490758f11fae13cc9d0a607912de1
+size 6560
diff --git a/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/050000/pretrained_model/policy_preprocessor.json b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/050000/pretrained_model/policy_preprocessor.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6f57e6242af17f882bc107c602ca76393c57d55
--- /dev/null
+++ b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/050000/pretrained_model/policy_preprocessor.json
@@ -0,0 +1,56 @@
+{
+  "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_specialized_302_dataset_base_from_dino_780_new_dataset/050000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/050000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..4235e688ff2255d5012ce210658ac7889246c0a2
--- /dev/null
+++ b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/050000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a7c038c0023c958fd3b39d6e2bc3ac3056490758f11fae13cc9d0a607912de1
+size 6560
diff --git a/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/050000/pretrained_model/train_config.json b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/050000/pretrained_model/train_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..7dd636fd7535e0e24d2704d9d8adc4c3d7c8dfd2
--- /dev/null
+++ b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/050000/pretrained_model/train_config.json
@@ -0,0 +1,302 @@
+{
+    "dataset": {
+        "repo_id": "local/act_collected_episodes",
+        "root": "/home/shadeform/Desktop/robot_learning/base_new_dataset_302",
+        "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": "/home/shadeform/Desktop/robot_learning/checkpoints/diffusion_780_new_dataset_dino/checkpoints/400000/pretrained_model",
+        "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,
+        "vit_pool_type": "spatial_softmax",
+        "vit_feature_dim": 512,
+        "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": 1e-05,
+        "optimizer_betas": [
+            0.95,
+            0.999
+        ],
+        "optimizer_eps": 1e-08,
+        "optimizer_weight_decay": 1e-06,
+        "scheduler_name": "cosine",
+        "scheduler_warmup_steps": 100
+    },
+    "reward_model": null,
+    "output_dir": "/home/shadeform/Desktop/robot_learning/outputs/train/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset",
+    "job_name": "diffusion_specialized_302_dataset_base_from_dino_780_new_dataset",
+    "resume": false,
+    "seed": 1000,
+    "cudnn_deterministic": false,
+    "num_workers": 4,
+    "batch_size": 32,
+    "prefetch_factor": 4,
+    "persistent_workers": true,
+    "steps": 100000,
+    "eval_freq": 0,
+    "log_freq": 20,
+    "tolerance_s": 0.0001,
+    "save_checkpoint": true,
+    "save_freq": 10000,
+    "use_policy_training_preset": true,
+    "optimizer": {
+        "type": "adam",
+        "lr": 1e-05,
+        "weight_decay": 1e-06,
+        "grad_clip_norm": 10.0,
+        "betas": [
+            0.95,
+            0.999
+        ],
+        "eps": 1e-08
+    },
+    "scheduler": {
+        "type": "diffuser",
+        "num_warmup_steps": 100,
+        "name": "cosine"
+    },
+    "eval": {
+        "n_episodes": 50,
+        "batch_size": 19,
+        "use_async_envs": true
+    },
+    "wandb": {
+        "enable": true,
+        "disable_artifact": false,
+        "project": "lerobot",
+        "entity": null,
+        "notes": null,
+        "run_id": "xruhoymg",
+        "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_specialized_302_dataset_base_from_dino_780_new_dataset/050000/training_state/optimizer_param_groups.json b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/050000/training_state/optimizer_param_groups.json
new file mode 100644
index 0000000000000000000000000000000000000000..93e6bb2b7522804d38afda1d8644e8e70c9222ff
--- /dev/null
+++ b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/050000/training_state/optimizer_param_groups.json
@@ -0,0 +1,396 @@
+[
+    {
+        "lr": 5.0078618402379235e-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": 1e-05,
+        "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_specialized_302_dataset_base_from_dino_780_new_dataset/050000/training_state/optimizer_state.safetensors b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/050000/training_state/optimizer_state.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..5a92eac5d16b0cf8589ec1ec6b0285e9eafaf82d
--- /dev/null
+++ b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/050000/training_state/optimizer_state.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76e4098102241858b149f6054c19c4a766f4ad84cfaf697425d6685ec3758c4b
+size 2014217744
diff --git a/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/050000/training_state/rng_state.safetensors b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/050000/training_state/rng_state.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..7381f9bfabf7611a37c4cc531d043be4792b0d5e
--- /dev/null
+++ b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/050000/training_state/rng_state.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ec7b5b53824b8f4480e9d5a49dd2f8aaa296e5f4733f51e6f845d6a1c79a449
+size 15708
diff --git a/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/050000/training_state/scheduler_state.json b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/050000/training_state/scheduler_state.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f0f458cd26867ed76dc9002bb04c24c227429a3
--- /dev/null
+++ b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/050000/training_state/scheduler_state.json
@@ -0,0 +1,15 @@
+{
+    "base_lrs": [
+        1e-05
+    ],
+    "last_epoch": 50000,
+    "_step_count": 50001,
+    "_is_initial": false,
+    "_get_lr_called_within_step": false,
+    "_last_lr": [
+        5.0078618402379235e-06
+    ],
+    "lr_lambdas": [
+        null
+    ]
+}
\ No newline at end of file
diff --git a/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/050000/training_state/training_step.json b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/050000/training_state/training_step.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3c03563f17d6d98552117ccf00705b693aa3fbd
--- /dev/null
+++ b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/050000/training_state/training_step.json
@@ -0,0 +1,3 @@
+{
+    "step": 50000
+}
\ No newline at end of file
diff --git a/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/060000/pretrained_model/config.json b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/060000/pretrained_model/config.json
new file mode 100644
index 0000000000000000000000000000000000000000..4901d07bd8678ba38d60b87c2c73ac022708adce
--- /dev/null
+++ b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/060000/pretrained_model/config.json
@@ -0,0 +1,92 @@
+{
+    "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": "/home/shadeform/Desktop/robot_learning/checkpoints/diffusion_780_new_dataset_dino/checkpoints/400000/pretrained_model",
+    "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,
+    "vit_pool_type": "spatial_softmax",
+    "vit_feature_dim": 512,
+    "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": 1e-05,
+    "optimizer_betas": [
+        0.95,
+        0.999
+    ],
+    "optimizer_eps": 1e-08,
+    "optimizer_weight_decay": 1e-06,
+    "scheduler_name": "cosine",
+    "scheduler_warmup_steps": 100
+}
\ No newline at end of file
diff --git a/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/060000/pretrained_model/model.safetensors b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/060000/pretrained_model/model.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..fcb3b30a8b0aee4efed913655512a29b4872c544
--- /dev/null
+++ b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/060000/pretrained_model/model.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e92e8730fdee53aacbf78206c10accf66a784b4ba67232bb7ab2d7b1b0b8694
+size 1095367712
diff --git a/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/060000/pretrained_model/policy_postprocessor.json b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/060000/pretrained_model/policy_postprocessor.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2c5e6cea7850bb999ab193f96021fa0129ce4db
--- /dev/null
+++ b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/060000/pretrained_model/policy_postprocessor.json
@@ -0,0 +1,32 @@
+{
+  "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_specialized_302_dataset_base_from_dino_780_new_dataset/060000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/060000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..4235e688ff2255d5012ce210658ac7889246c0a2
--- /dev/null
+++ b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/060000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a7c038c0023c958fd3b39d6e2bc3ac3056490758f11fae13cc9d0a607912de1
+size 6560
diff --git a/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/060000/pretrained_model/policy_preprocessor.json b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/060000/pretrained_model/policy_preprocessor.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6f57e6242af17f882bc107c602ca76393c57d55
--- /dev/null
+++ b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/060000/pretrained_model/policy_preprocessor.json
@@ -0,0 +1,56 @@
+{
+  "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_specialized_302_dataset_base_from_dino_780_new_dataset/060000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/060000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..4235e688ff2255d5012ce210658ac7889246c0a2
--- /dev/null
+++ b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/060000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a7c038c0023c958fd3b39d6e2bc3ac3056490758f11fae13cc9d0a607912de1
+size 6560
diff --git a/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/060000/pretrained_model/train_config.json b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/060000/pretrained_model/train_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..7dd636fd7535e0e24d2704d9d8adc4c3d7c8dfd2
--- /dev/null
+++ b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/060000/pretrained_model/train_config.json
@@ -0,0 +1,302 @@
+{
+    "dataset": {
+        "repo_id": "local/act_collected_episodes",
+        "root": "/home/shadeform/Desktop/robot_learning/base_new_dataset_302",
+        "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": "/home/shadeform/Desktop/robot_learning/checkpoints/diffusion_780_new_dataset_dino/checkpoints/400000/pretrained_model",
+        "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,
+        "vit_pool_type": "spatial_softmax",
+        "vit_feature_dim": 512,
+        "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": 1e-05,
+        "optimizer_betas": [
+            0.95,
+            0.999
+        ],
+        "optimizer_eps": 1e-08,
+        "optimizer_weight_decay": 1e-06,
+        "scheduler_name": "cosine",
+        "scheduler_warmup_steps": 100
+    },
+    "reward_model": null,
+    "output_dir": "/home/shadeform/Desktop/robot_learning/outputs/train/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset",
+    "job_name": "diffusion_specialized_302_dataset_base_from_dino_780_new_dataset",
+    "resume": false,
+    "seed": 1000,
+    "cudnn_deterministic": false,
+    "num_workers": 4,
+    "batch_size": 32,
+    "prefetch_factor": 4,
+    "persistent_workers": true,
+    "steps": 100000,
+    "eval_freq": 0,
+    "log_freq": 20,
+    "tolerance_s": 0.0001,
+    "save_checkpoint": true,
+    "save_freq": 10000,
+    "use_policy_training_preset": true,
+    "optimizer": {
+        "type": "adam",
+        "lr": 1e-05,
+        "weight_decay": 1e-06,
+        "grad_clip_norm": 10.0,
+        "betas": [
+            0.95,
+            0.999
+        ],
+        "eps": 1e-08
+    },
+    "scheduler": {
+        "type": "diffuser",
+        "num_warmup_steps": 100,
+        "name": "cosine"
+    },
+    "eval": {
+        "n_episodes": 50,
+        "batch_size": 19,
+        "use_async_envs": true
+    },
+    "wandb": {
+        "enable": true,
+        "disable_artifact": false,
+        "project": "lerobot",
+        "entity": null,
+        "notes": null,
+        "run_id": "xruhoymg",
+        "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_specialized_302_dataset_base_from_dino_780_new_dataset/060000/training_state/optimizer_param_groups.json b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/060000/training_state/optimizer_param_groups.json
new file mode 100644
index 0000000000000000000000000000000000000000..7132d2eed8594256ce0f721923a0afa9ee7fa254
--- /dev/null
+++ b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/060000/training_state/optimizer_param_groups.json
@@ -0,0 +1,396 @@
+[
+    {
+        "lr": 3.4608978949168615e-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": 1e-05,
+        "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_specialized_302_dataset_base_from_dino_780_new_dataset/060000/training_state/optimizer_state.safetensors b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/060000/training_state/optimizer_state.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..01656b2f349f9048afe0aea0ce520ce460158872
--- /dev/null
+++ b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/060000/training_state/optimizer_state.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1c3bd7980800587d0c6484cdee3fbf988ca2e42dd67eb502c4091e6f35988c7
+size 2014217744
diff --git a/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/060000/training_state/rng_state.safetensors b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/060000/training_state/rng_state.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..cc2ca66d71c49d2f7cdfd35d8a0cd786f2bb1774
--- /dev/null
+++ b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/060000/training_state/rng_state.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1217b70c1988e546486dd3259b414511fb745ea92df45566c00059f22f14e4a1
+size 15708
diff --git a/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/060000/training_state/scheduler_state.json b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/060000/training_state/scheduler_state.json
new file mode 100644
index 0000000000000000000000000000000000000000..fdab814690b536dc23b7a3eb198e638d0de42d15
--- /dev/null
+++ b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/060000/training_state/scheduler_state.json
@@ -0,0 +1,15 @@
+{
+    "base_lrs": [
+        1e-05
+    ],
+    "last_epoch": 60000,
+    "_step_count": 60001,
+    "_is_initial": false,
+    "_get_lr_called_within_step": false,
+    "_last_lr": [
+        3.4608978949168615e-06
+    ],
+    "lr_lambdas": [
+        null
+    ]
+}
\ No newline at end of file
diff --git a/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/060000/training_state/training_step.json b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/060000/training_state/training_step.json
new file mode 100644
index 0000000000000000000000000000000000000000..d360b6037f1c8c2c85d38e951160eb02ace507dd
--- /dev/null
+++ b/checkpoints/diffusion_specialized_302_dataset_base_from_dino_780_new_dataset/060000/training_state/training_step.json
@@ -0,0 +1,3 @@
+{
+    "step": 60000
+}
\ No newline at end of file