diff --git a/.gitattributes b/.gitattributes
index 5f7769d9b8ce1183f680431547616f5da64bced1..84b00aa633c86235227066443564f844a3bf9620 100644
--- a/.gitattributes
+++ b/.gitattributes
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diff --git a/toppling_spray_lora/10000/_CHECKPOINT_METADATA b/toppling_spray_lora/10000/_CHECKPOINT_METADATA
new file mode 100644
index 0000000000000000000000000000000000000000..abe908b9dd4a9bbded501e52491fc3e54f2edc53
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diff --git a/toppling_spray_lora/10000/assets/ur10e/norm_stats.json b/toppling_spray_lora/10000/assets/ur10e/norm_stats.json
new file mode 100644
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--- /dev/null
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diff --git a/toppling_spray_lora/10000/params/_METADATA b/toppling_spray_lora/10000/params/_METADATA
new file mode 100644
index 0000000000000000000000000000000000000000..f69d7523cbc8dd7d464eaab4d2a8c7e77909bfed
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\ No newline at end of file
diff --git a/toppling_spray_lora/10000/params/_sharding b/toppling_spray_lora/10000/params/_sharding
new file mode 100644
index 0000000000000000000000000000000000000000..93b354c10bb6b323f7587614407cdb56b8f0e9ed
--- /dev/null
+++ b/toppling_spray_lora/10000/params/_sharding
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/toppling_spray_lora/10000/params/array_metadatas/process_0 b/toppling_spray_lora/10000/params/array_metadatas/process_0
new file mode 100644
index 0000000000000000000000000000000000000000..f9905355a94c1682c45601a7eaea2fbf4157a1f1
--- /dev/null
+++ b/toppling_spray_lora/10000/params/array_metadatas/process_0
@@ -0,0 +1 @@
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diff --git a/toppling_spray_lora/5000/params/_sharding b/toppling_spray_lora/5000/params/_sharding
new file mode 100644
index 0000000000000000000000000000000000000000..93b354c10bb6b323f7587614407cdb56b8f0e9ed
--- /dev/null
+++ b/toppling_spray_lora/5000/params/_sharding
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/toppling_spray_lora/5000/params/array_metadatas/process_0 b/toppling_spray_lora/5000/params/array_metadatas/process_0
new file mode 100644
index 0000000000000000000000000000000000000000..f9905355a94c1682c45601a7eaea2fbf4157a1f1
--- /dev/null
+++ b/toppling_spray_lora/5000/params/array_metadatas/process_0
@@ -0,0 +1 @@
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diff --git a/toppling_spray_lora/config.yaml b/toppling_spray_lora/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..0cea70f05badbebbcbf1e79c1752d29a39250dc4
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+!!python/object:openpi.training.config.TrainConfig
+name: toppling_spray_lora
+project_name: openpi
+exp_name: toppling_spray_lora
+model: !!python/object:openpi.models.pi0_config.Pi0Config
+    action_dim: 32
+    action_horizon: 50
+    max_token_len: 48
+    dtype: bfloat16
+    paligemma_variant: gemma_2b_lora
+    action_expert_variant: gemma_300m_lora
+    img_variant: So400m/14
+    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/object:flax.nnx.filterlib.All
+    predicates: !!python/tuple
+    - !!python/object:openpi.shared.nnx_utils.PathRegex
+        pattern: !!python/object/apply:re._compile
+        - .*llm.*
+        - 32
+        sep: /
+    - !!python/object:flax.nnx.filterlib.Not
+        predicate: !!python/object:openpi.shared.nnx_utils.PathRegex
+            pattern: !!python/object/apply:re._compile
+            - .*lora.*
+            - 32
+            sep: /
+data: !!python/object:openpi.training.config.LeRobotNomagicURXDataConfig
+    repo_ids: !!python/tuple
+    - robotgeneralist/toppling-spray
+    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
+        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: false
+    fourier_config: null
+assets_base_dir: ./assets
+checkpoint_base_dir: /storage_nvme_1/pzal/checkpoints
+seed: 42
+batch_size: 32
+num_workers: 2
+num_train_steps: 10001
+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
diff --git a/toppling_spray_lora/wandb_id.txt b/toppling_spray_lora/wandb_id.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d6a40001fda08af4fdc4518bcf1d7b68bc3c2033
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@@ -0,0 +1 @@
+11sj6jfz
\ No newline at end of file