diff --git a/.gitattributes b/.gitattributes
index d9c962b204afa8e2dc591f9bd8f8f9d7a6ba07f6..39f568ae055b6022c047361d2b6701000377b5e8 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -1415,3 +1415,12 @@ pp__test_per_index_stats_after_unpad_fix/25000/params/ocdbt.process_0/d/608edccf
 pp__test_per_index_stats_after_unpad_fix/25000/params/ocdbt.process_0/d/8e8aa061bc8eb972145f18959a1b0bbf filter=lfs diff=lfs merge=lfs -text
 pp__test_per_index_stats_after_unpad_fix/25000/params/ocdbt.process_0/d/7d7262f2c5f2d22260233d02a331073f filter=lfs diff=lfs merge=lfs -text
 pp__test_per_index_stats_after_unpad_fix/25000/params/ocdbt.process_0/d/8f85d3aa68900bdacc29c0dbcc31ac97 filter=lfs diff=lfs merge=lfs -text
+pp__test_baseline_raw_actions/13000/params/ocdbt.process_0/d/d0c9066c47872825c4891e13cdb5680c filter=lfs diff=lfs merge=lfs -text
+pp__test_baseline_raw_actions/5000/params/ocdbt.process_0/d/bd6d04c79be8e20b6fd1a9347311bccd filter=lfs diff=lfs merge=lfs -text
+pp__test_baseline_raw_actions/5000/params/ocdbt.process_0/d/969f048653eea7924c026d1e3a727208 filter=lfs diff=lfs merge=lfs -text
+pp__test_baseline_raw_actions/5000/params/ocdbt.process_0/d/e493e179b0b98155cbc63d30e1432c2b filter=lfs diff=lfs merge=lfs -text
+pp__test_baseline_raw_actions/5000/params/ocdbt.process_0/d/635b250b54ec0533317a78412f423ec5 filter=lfs diff=lfs merge=lfs -text
+pp__test_baseline_raw_actions/5000/params/ocdbt.process_0/d/bd10feec67fb40cb9e6807da9825e86c filter=lfs diff=lfs merge=lfs -text
+pp__test_baseline_raw_actions/5000/params/ocdbt.process_0/d/f8f9ded2103c6e8ce0e25b463e00b33e filter=lfs diff=lfs merge=lfs -text
+pp__test_baseline_raw_actions/5000/params/ocdbt.process_0/d/f89c72d8876f0a8aad9d7b3f5f888ab5 filter=lfs diff=lfs merge=lfs -text
+pp__test_baseline_raw_actions/5000/params/ocdbt.process_0/d/13318c96d161c7e998a999eb5031247a filter=lfs diff=lfs merge=lfs -text
diff --git a/pp__test_baseline_raw_actions/10000/_CHECKPOINT_METADATA b/pp__test_baseline_raw_actions/10000/_CHECKPOINT_METADATA
new file mode 100644
index 0000000000000000000000000000000000000000..64a1ad00fb975e10750f498b0eae81503d855268
--- /dev/null
+++ b/pp__test_baseline_raw_actions/10000/_CHECKPOINT_METADATA
@@ -0,0 +1 @@
+{"item_handlers": {"assets": "openpi.training.checkpoints.CallbackHandler", "params": "orbax.checkpoint._src.handlers.pytree_checkpoint_handler.PyTreeCheckpointHandler", "train_state": "orbax.checkpoint._src.handlers.pytree_checkpoint_handler.PyTreeCheckpointHandler"}, "metrics": {}, "performance_metrics": {}, "init_timestamp_nsecs": 1766942570769631038, "commit_timestamp_nsecs": 1766942615924516729, "custom_metadata": {}}
\ No newline at end of file
diff --git a/pp__test_baseline_raw_actions/10000/assets/ur10e/norm_stats.json b/pp__test_baseline_raw_actions/10000/assets/ur10e/norm_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a1b886d6b668da778297b91b3d82381c2eab28a
--- /dev/null
+++ b/pp__test_baseline_raw_actions/10000/assets/ur10e/norm_stats.json
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\ No newline at end of file
diff --git a/pp__test_baseline_raw_actions/10000/params/_METADATA b/pp__test_baseline_raw_actions/10000/params/_METADATA
new file mode 100644
index 0000000000000000000000000000000000000000..9eb73624158f4514d49041e0806d2d702c62eee1
--- /dev/null
+++ b/pp__test_baseline_raw_actions/10000/params/_METADATA
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/pp__test_baseline_raw_actions/10000/params/_sharding b/pp__test_baseline_raw_actions/10000/params/_sharding
new file mode 100644
index 0000000000000000000000000000000000000000..924608abdcb99abb3c864bb9d1bfca6eb60f780e
--- /dev/null
+++ b/pp__test_baseline_raw_actions/10000/params/_sharding
@@ -0,0 +1 @@
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diff --git a/pp__test_baseline_raw_actions/10000/params/array_metadatas/process_0 b/pp__test_baseline_raw_actions/10000/params/array_metadatas/process_0
new file mode 100644
index 0000000000000000000000000000000000000000..6aa9fd1decf72607133eb54664d98802bf563b5c
--- /dev/null
+++ b/pp__test_baseline_raw_actions/10000/params/array_metadatas/process_0
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diff --git a/pp__test_baseline_raw_actions/13000/params/_METADATA b/pp__test_baseline_raw_actions/13000/params/_METADATA
new file mode 100644
index 0000000000000000000000000000000000000000..9eb73624158f4514d49041e0806d2d702c62eee1
--- /dev/null
+++ b/pp__test_baseline_raw_actions/13000/params/_METADATA
@@ -0,0 +1 @@
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diff --git a/pp__test_baseline_raw_actions/13000/params/_sharding b/pp__test_baseline_raw_actions/13000/params/_sharding
new file mode 100644
index 0000000000000000000000000000000000000000..924608abdcb99abb3c864bb9d1bfca6eb60f780e
--- /dev/null
+++ b/pp__test_baseline_raw_actions/13000/params/_sharding
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/pp__test_baseline_raw_actions/5000/params/_METADATA b/pp__test_baseline_raw_actions/5000/params/_METADATA
new file mode 100644
index 0000000000000000000000000000000000000000..9eb73624158f4514d49041e0806d2d702c62eee1
--- /dev/null
+++ b/pp__test_baseline_raw_actions/5000/params/_METADATA
@@ -0,0 +1 @@
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diff --git a/pp__test_baseline_raw_actions/5000/params/_sharding b/pp__test_baseline_raw_actions/5000/params/_sharding
new file mode 100644
index 0000000000000000000000000000000000000000..924608abdcb99abb3c864bb9d1bfca6eb60f780e
--- /dev/null
+++ b/pp__test_baseline_raw_actions/5000/params/_sharding
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/pp__test_baseline_raw_actions/5000/params/array_metadatas/process_0 b/pp__test_baseline_raw_actions/5000/params/array_metadatas/process_0
new file mode 100644
index 0000000000000000000000000000000000000000..6aa9fd1decf72607133eb54664d98802bf563b5c
--- /dev/null
+++ b/pp__test_baseline_raw_actions/5000/params/array_metadatas/process_0
@@ -0,0 +1 @@
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+!!python/object:openpi.training.config.TrainConfig
+name: precise_packing_baseline
+project_name: openpi
+exp_name: pp__test_baseline_raw_actions
+model: !!python/object:openpi.models.pi0_config.Pi0Config
+    action_dim: 32
+    action_horizon: 50
+    max_token_len: 48
+    dtype: bfloat16
+    paligemma_variant: gemma_2b
+    action_expert_variant: gemma_300m
+    img_variant: So400m/14
+    action_loss_horizon: null
+    pi05: false
+    discrete_state_input: false
+weight_loader: !!python/object:openpi.training.weight_loaders.CheckpointWeightLoader
+    local_dir: null
+    repo_id: robotgeneralist/openpi_checkpoint_mirrors
+    revision: main
+    checkpoint_path: pi0_base
+pytorch_weight_path: null
+pytorch_training_precision: bfloat16
+lr_schedule: !!python/object:openpi.training.optimizer.CosineDecaySchedule
+    warmup_steps: 1000
+    peak_lr: 2.5e-05
+    decay_steps: 30000
+    decay_lr: 2.5e-06
+optimizer: !!python/object:openpi.training.optimizer.AdamW
+    b1: 0.9
+    b2: 0.95
+    eps: 1.0e-08
+    weight_decay: 1.0e-10
+    clip_gradient_norm: 1.0
+ema_decay: 0.99
+freeze_filter: !!python/name:flax.nnx.filterlib.Nothing ''
+data: !!python/object:openpi.training.config.LeRobotNomagicURXDataConfig
+    repo_ids: !!python/tuple
+    - robotgeneralist/pp__1
+    - robotgeneralist/pp__1__adversarial
+    - robotgeneralist/pp__2
+    - robotgeneralist/pp__2__rotations
+    - robotgeneralist/pp__3__with_ft
+    - robotgeneralist/pp__3__with_ft__rotations
+    - robotgeneralist/pp__3__with_ft__adversarial_start
+    - robotgeneralist/pp__4__with_ft
+    - robotgeneralist/pp__5__with_ft__adversarial_target
+    - robotgeneralist/pp__6__with_ft
+    - robotgeneralist/precise-packing-2025-10-22-part-1
+    - robotgeneralist/precise-packing-2025-10-22-part-2
+    - robotgeneralist/precise-packing-2025-10-22-part-3
+    - robotgeneralist/precise-packing-2025-10-22-part-4
+    assets: !!python/object:openpi.training.config.AssetsConfig
+        assets_dir: null
+        asset_id: ur10e
+    norm_stats_sample_ratio: 0.05
+    base_config: !!python/object:openpi.training.config.DataConfig
+        repo_ids: null
+        asset_id: null
+        norm_stats_data: null
+        norm_stats_sample_ratio: 1.0
+        norm_stats_dir: null
+        tolerance_s: 0.0001
+        per_action_index_norm_stats: false
+        repack_transforms: !!python/object:openpi.transforms.Group
+            inputs: !!python/tuple []
+            outputs: !!python/tuple []
+        data_transforms: !!python/object:openpi.transforms.Group
+            inputs: !!python/tuple []
+            outputs: !!python/tuple []
+        model_transforms: !!python/object:openpi.transforms.Group
+            inputs: !!python/tuple []
+            outputs: !!python/tuple []
+        use_quantile_norm: false
+        action_sequence_keys: !!python/tuple
+        - actions
+        fourier_config: null
+        prompt_from_task: true
+        rlds_data_dir: null
+        action_space: null
+        filter_dict_path: null
+    default_prompt: null
+    use_poses: true
+    end_effector_frame: true
+    per_action_index_norm_stats: true
+    fourier_config: null
+    tolerance_s: 0.0001
+assets_base_dir: ./assets
+checkpoint_base_dir: /storage_nvme_1/robotgeneralist/checkpoints
+seed: 42
+batch_size: 32
+num_workers: 2
+num_train_steps: 25001
+log_interval: 100
+save_interval: 1000
+keep_period: 5000
+overwrite: false
+resume: true
+wandb_enabled: true
+policy_metadata: null
+fsdp_devices: 1
+test_split_ratio: 0.05
+test_eval_interval: 1000
+test_eval_use_train_mode: false
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+pndzp4hi
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