diff --git a/.gitattributes b/.gitattributes
index a6344aac8c09253b3b630fb776ae94478aa0275b..f80fb862e614d58c6cf6f84dfecfb8f5d96b948c 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -33,3 +33,152 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *.zip filter=lfs diff=lfs merge=lfs -text
 *.zst filter=lfs diff=lfs merge=lfs -text
 *tfevents* filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/24_traj_1000024_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/95_traj_1000095_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/64_traj_1000064_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/65_traj_1000065_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/67_traj_1000067_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/20_traj_1000020_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/53_traj_1000053_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/97_traj_1000097_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/54_traj_1000054_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/35_traj_1000035_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/15_traj_1000015_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/37_traj_1000037_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/93_traj_1000093_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/39_traj_1000039_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/19_traj_1000019_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/29_traj_1000029_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/0_traj_1000000_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_50/104_traj_1000004_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/8_traj_1000008_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/1_traj_1000001_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_50/103_traj_1000003_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/46_traj_1000046_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_50/105_traj_1000005_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/75_traj_1000075_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/62_traj_1000062_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/44_traj_1000044_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/92_traj_1000092_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/89_traj_1000089_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/79_traj_1000079_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/10_traj_1000010_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/11_traj_1000011_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/73_traj_1000073_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/82_traj_1000082_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_50/101_traj_1000001_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/81_traj_1000081_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_50/102_traj_1000002_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_50/106_traj_1000006_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/2_traj_1000002_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/49_traj_1000049_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/22_traj_1000022_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/57_traj_1000057_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/55_traj_1000055_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/74_traj_1000074_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/80_traj_1000080_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/90_traj_1000090_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/84_traj_1000084_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/33_traj_1000033_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/36_traj_1000036_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_50/107_traj_1000007_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/94_traj_1000094_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/68_traj_1000068_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/43_traj_1000043_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/7_traj_1000007_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/72_traj_1000072_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/70_traj_1000070_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/99_traj_1000099_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/69_traj_1000069_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/21_traj_1000021_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/98_traj_1000098_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/48_traj_1000048_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/30_traj_1000030_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/60_traj_1000060_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/61_traj_1000061_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/63_traj_1000063_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/59_traj_1000059_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/17_traj_1000017_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/91_traj_1000091_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/83_traj_1000083_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/45_traj_1000045_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/87_traj_1000087_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/88_traj_1000088_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/85_traj_1000085_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/96_traj_1000096_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/66_traj_1000066_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/23_traj_1000023_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/12_traj_1000012_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/40_traj_1000040_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/41_traj_1000041_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/31_traj_1000031_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/86_traj_1000086_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/5_traj_1000005_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/76_traj_1000076_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/56_traj_1000056_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/3_traj_1000003_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/4_traj_1000004_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/71_traj_1000071_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/78_traj_1000078_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/13_traj_1000013_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/50_traj_1000050_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/34_traj_1000034_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/77_traj_1000077_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/52_traj_1000052_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/26_traj_1000026_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/38_traj_1000038_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/27_traj_1000027_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/25_traj_1000025_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/18_traj_1000018_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/16_traj_1000016_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/58_traj_1000058_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/6_traj_1000006_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/47_traj_1000047_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/32_traj_1000032_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/dm4rmta2/epoch_50/101_traj_1000001_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/dm4rmta2/epoch_50/118_traj_1000018_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/28_traj_1000028_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/dm4rmta2/epoch_50/120_traj_1000020_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/dm4rmta2/epoch_50/148_traj_1000048_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/dm4rmta2/epoch_50/114_traj_1000014_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/dm4rmta2/epoch_50/100_traj_1000000_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/dm4rmta2/epoch_50/144_traj_1000044_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/dm4rmta2/epoch_50/151_traj_1000051_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/dm4rmta2/epoch_50/113_traj_1000013_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/dm4rmta2/epoch_50/152_traj_1000052_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/14_traj_1000014_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_50/100_traj_1000000_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/dm4rmta2/epoch_50/117_traj_1000017_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/dm4rmta2/epoch_50/150_traj_1000050_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/sr907oyb/epoch_25/42_traj_1000042_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/dm4rmta2/epoch_50/143_traj_1000043_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/dm4rmta2/epoch_50/154_traj_1000054_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/dm4rmta2/epoch_50/145_traj_1000045_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/dm4rmta2/epoch_50/125_traj_1000025_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/dm4rmta2/epoch_50/126_traj_1000026_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/dm4rmta2/epoch_50/119_traj_1000019_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/dm4rmta2/epoch_50/138_traj_1000038_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/dm4rmta2/epoch_50/123_traj_1000023_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/dm4rmta2/epoch_50/106_traj_1000006_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/dm4rmta2/epoch_50/153_traj_1000053_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/dm4rmta2/epoch_50/149_traj_1000049_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/dm4rmta2/epoch_50/141_traj_1000041_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/dm4rmta2/epoch_50/122_traj_1000022_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/dm4rmta2/epoch_50/136_traj_1000036_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/dm4rmta2/epoch_50/112_traj_1000012_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/dm4rmta2/epoch_50/127_traj_1000027_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/dm4rmta2/epoch_50/147_traj_1000047_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/dm4rmta2/epoch_50/102_traj_1000002_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/dm4rmta2/epoch_50/109_traj_1000009_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/dm4rmta2/epoch_50/107_traj_1000007_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/dm4rmta2/epoch_50/124_traj_1000024_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/dm4rmta2/epoch_50/110_traj_1000010_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/dm4rmta2/epoch_50/139_traj_1000039_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/dm4rmta2/epoch_50/131_traj_1000031_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/dm4rmta2/epoch_50/134_traj_1000034_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/dm4rmta2/epoch_50/121_traj_1000021_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/dm4rmta2/epoch_50/146_traj_1000046_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/dm4rmta2/epoch_50/111_traj_1000011_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/dm4rmta2/epoch_50/105_traj_1000005_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/dm4rmta2/epoch_50/142_traj_1000042_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/dm4rmta2/epoch_50/115_traj_1000015_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
diff --git a/config.yaml b/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..b142defd26747c32da0c63db082490feb248f10b
--- /dev/null
+++ b/config.yaml
@@ -0,0 +1,599 @@
+root_dir: /mnt/kostas-graid/datasets/extrinsic_contact_data
+replay_buffer_size: 150000
+replay_buffer_num_workers: 2
+nstep: 3
+batch_size: 128
+seed: 0
+dataset_shuffle_seed: ${seed}
+valid_dataset_shuffle_seed: 0
+train_dataset_shuffle_seed: 0
+device: cuda
+save_video: true
+save_train_video: true
+use_tb: true
+use_wandb: true
+wandb_run_id: '55305_0'
+wandb_notes: 55305_0_restarted_1
+eval: false
+eval_on_sim: true
+eval_on_sim_past_checkpoints: false
+simulation: true
+true_action_history: false
+train_pad_after: 4
+process_contact_features: ${eval}
+obs_type: pixels
+use_color: true
+use_depth: true
+use_masks: false
+mask_list:
+- EE_obj_mask
+mask_representation: channels
+segmentation_model_name: gt_segmentation
+crop_hw:
+- 144
+- 144
+crop_down_offset: 48
+color_crop_type: null
+depth_crop_type: null
+segmask_crop_type: null
+add_crop_binary_mask: false
+add_coord_conv_map: false
+use_context_color: false
+use_context_depth: false
+use_context_segmask: false
+context_color_crop_type: null
+context_depth_crop_type: null
+context_segmask_crop_type: null
+context_add_crop_binary_mask: false
+context_add_coord_conv_map: false
+use_contact_map: false
+use_sdf_maps: false
+use_normals_maps: false
+which_objects: both
+max_contact_prob: 1.0
+max_depth: 2.0
+grasped_dtc_max_value: 0.2
+env_dtc_max_value: 0.4
+grasped_normals_mask_max_dtc_value: 0.2
+env_normals_mask_max_dtc_value: 0.4
+clamp_dtc: true
+dtc_adaptive_normalization: false
+mask_normals_within_sdf: true
+adaptive_normals_mask: true
+learnable_contact_preprocess_params: false
+contact_model_name: gt_contact
+contact_estimation_model_ckpt_path: ~/fish_leon/contact_estimation/artifacts/175604_2/checkpoints/epoch=09-val_loss=0.00.ckpt
+encoder_type: small
+debug_timestamps: false
+open_loop: false
+action_trajectories: true
+stop_after_action: false
+interpolation_frequency: 25
+policy_frequency: 5
+wait_for_new_camera_frames: true
+baseline: false
+use_num_train_epochs_to_determine_lr_schedule: true
+train_demo_idxs_list_or_num: -1
+log_train_every_steps: 25
+name_of_expert_demo: 413_sim_demos_left_of_4th_book_20hz_act
+expert_dataset_dirpath: ${root_dir}/FISH/expert_demos/${suite.name}/${task_name}/${name_of_expert_demo}
+store_dataset_in_memory: false
+expert_dataset: ${expert_dataset_dirpath}/demos.zarr
+action_key: action
+semantic_demo_grouping_name: semantic_demo_grouping.yaml
+semantic_demo_grouping: ${expert_dataset_dirpath}/${semantic_demo_grouping_name}
+include_groups_list: all
+expert_dataset_config: ${expert_dataset_dirpath}/demo_config.yaml
+name_of_valid_demo: 413_sim_demos_left_of_4th_book_20hz_act
+train_num_groups: 380
+valid_dataset_dir: ${root_dir}/FISH/expert_demos/${suite.name}/${task_name}/${name_of_valid_demo}/demos.zarr
+valid_demo_idxs_list_or_num: null
+val_num_groups: 30
+universal_unseen_env_seed_start: 1000000
+load_bc: ${agent.load_checkpoint}
+checkpoint_epoch_list:
+- 99
+- 199
+- 299
+- 399
+- 499
+- 599
+- 699
+- 799
+- 899
+- 999
+- 1249
+- 1499
+- 1749
+- 1999
+- 2999
+- 3999
+- 4999
+- 5999
+- 6999
+- 7999
+- 8999
+- 9999
+snapshot_root_dir: /mnt/grasp_high_usage/leonmkim/contact_estimation/FISH
+save_snapshot: true
+save_last_snapshot: true
+save_snapshot_when_done: true
+top_k_checkpoints: 10
+save_snapshot_link_to_weights_dir: deprecated
+restore_missing_checkpoint: null
+restore_and_eval_all_missing_checkpoints: false
+bc_regularize: false
+bc_weight_type: qfilter
+username: leonmkim
+hostname: grasp-login1
+local_snapshot_root_dir: /mnt/bighdd/fish_contact_backup
+local_snapshot_dir: ${local_snapshot_root_dir}/exp_local/${suite.name}_${obs_type}/${task_name}
+experiment_dir: ./exp_local/${suite.name}_${obs_type}/${task_name}/${wandb_run_id}
+agent:
+  _target_: agent.diffusion_policy.DiffusionPolicyAgent
+  name: diffusion_policy
+  load_checkpoint: ${eval}
+  device: ${device}
+  n_obs_steps: ${.config.policy_cfg.n_obs_steps}
+  suite_name: ${suite.name}
+  obs_type: ${obs_type}
+  enable_arm: ${eval}
+  enable_camera: ${eval}
+  use_tb: ${use_tb}
+  desired_image_shape:
+  - 13
+  - 180
+  - 240
+  orig_cam_shape:
+  - 3
+  - 240
+  - 320
+  actions_prenormalized: ${simulation}
+  config:
+    _target_: agent.diffusion_policy.DiffusionPolicyAgentConfig
+    compile: false
+    device: ${device}
+    cam_resize_shape: ${agent.desired_image_shape}
+    orig_cam_shape: ${agent.orig_cam_shape}
+    policy_frequency: ${policy_frequency}
+    interpolation_frequency: ${interpolation_frequency}
+    deterministic_actions: true
+    deterministic_actions_seed: 0
+    policy_cfg:
+      _target_: lerobot.common.policies.diffusion.configuration_diffusion.DiffusionConfig
+      n_obs_steps: 1
+      horizon: 28
+      n_action_steps: ${agent.config.policy_cfg.horizon}
+      output_shapes:
+        action:
+        - 7
+      input_normalization_modes:
+        observation.image: mean_std
+        observation.state: min_max
+        observation.action_history: min_max
+      output_normalization_modes:
+        action: min_max
+      vision_backbone: resnet18
+      crop_distractors_tlhw: null
+      pretrained_backbone_weights: null
+      transforms:
+      - _target_: torchaug.transforms.RandomAffine
+        degrees:
+        - -5
+        - 5
+        translate:
+        - 0.05
+        - 0.05
+        batch_transform: true
+        num_chunks: -1
+        batch_inplace: true
+      - _target_: torchaug.transforms.RandomColorJitter
+        brightness: 0.3
+        contrast: 0.4
+        saturation: 0.5
+        hue: 0.08
+        batch_transform: true
+        num_chunks: -1
+        batch_inplace: true
+      use_group_norm: true
+      spatial_softmax_num_keypoints: 32
+      action_history_encoder_config:
+        _target_: lerobot.common.policies.diffusion.configuration_diffusion.Unet1dEncoderConfig
+        in_channels: 7
+        out_channels: 32
+        history_length: 4
+        kernel_size: ${agent.config.policy_cfg.kernel_size}
+        downsample_kernel_size: 3
+        downsample_stride: 2
+        downsample_padding: 1
+      down_dims:
+      - 128
+      - 256
+      - 512
+      kernel_size: 5
+      n_groups: 8
+      diffusion_step_embed_dim: 128
+      use_film_scale_modulation: true
+      noise_scheduler_type: DDIM
+      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_train_timesteps: 50
+      num_inference_steps: 10
+      do_mask_loss_for_padding: false
+      start_horizon_at_current_step: true
+      input_shapes:
+        observation.image:
+        - 13
+        - 180
+        - 240
+        context_observation.image:
+        - 13
+        - 180
+        - 240
+        observation.state:
+        - 8
+        observation.action_history:
+        - 7
+    train_cfg:
+      _target_: utils.TrainConfig
+      lr: 0.0001
+      lr_scheduler: cosine
+      lr_warmup_steps: 500
+      adam_betas:
+      - 0.95
+      - 0.999
+      adam_eps: 1.0e-08
+      adam_weight_decay: 1.0e-06
+      grad_clip_norm: 10
+      offline_steps: 337000
+      use_amp: true
+      optimizer: adamw
+    observation_cfg:
+      _target_: agent.encoder.VisualFeatureSet
+      use_depth: ${use_depth}
+      use_color: ${use_color}
+      mask_input_dict:
+        _target_: agent.encoder.MaskInputDict
+        enable: ${use_masks}
+        representation: ${mask_representation}
+        mask_list: ${mask_list}
+        segmentation_model_name: ${segmentation_model_name}
+      crop_input_config:
+        _target_: agent.encoder.CropInputConfig
+        color_crop_type: ${color_crop_type}
+        depth_crop_type: ${depth_crop_type}
+        segmask_crop_type: ${segmask_crop_type}
+        crop_hw: ${crop_hw}
+        crop_down_offset: ${crop_down_offset}
+        add_crop_binary_mask: ${add_crop_binary_mask}
+        add_coord_conv_map: ${add_coord_conv_map}
+      context_input_config:
+        _target_: agent.encoder.ContextInputConfig
+        use_color: ${use_context_color}
+        use_depth: ${use_context_depth}
+        mask_input_dict:
+          _target_: agent.encoder.MaskInputDict
+          enable: ${use_context_segmask}
+          representation: ${mask_representation}
+          mask_list: ${mask_list}
+          segmentation_model_name: ${segmentation_model_name}
+        crop_input_config:
+          _target_: agent.encoder.CropInputConfig
+          color_crop_type: ${context_color_crop_type}
+          depth_crop_type: ${context_depth_crop_type}
+          segmask_crop_type: ${context_segmask_crop_type}
+          crop_hw: ${crop_hw}
+          crop_down_offset: ${crop_down_offset}
+          add_crop_binary_mask: ${context_add_crop_binary_mask}
+          add_coord_conv_map: ${context_add_coord_conv_map}
+      mask_soft_approx_scheduler_config:
+        _target_: agent.encoder.MaskSoftApproxSchedulerConfig
+        num_steps: 40000
+        initial_value: 10.0
+        final_value: 1000.0
+        interpolation_scheme: cosine
+      use_contact_map: ${use_contact_map}
+      use_sdf_maps: ${use_sdf_maps}
+      use_normals_maps: ${use_normals_maps}
+      which_objects: ${which_objects}
+      grasped_dtc_max_value: ${grasped_dtc_max_value}
+      env_dtc_max_value: ${env_dtc_max_value}
+      grasped_normals_mask_max_dtc_value: ${grasped_normals_mask_max_dtc_value}
+      env_normals_mask_max_dtc_value: ${env_normals_mask_max_dtc_value}
+      clamp_dtc: ${clamp_dtc}
+      max_contact_prob: ${max_contact_prob}
+      mask_normals_within_sdf: ${mask_normals_within_sdf}
+      dtc_adaptive_normalization: ${dtc_adaptive_normalization}
+      adaptive_normals_mask: ${adaptive_normals_mask}
+      max_depth: ${max_depth}
+      image_shape: ${agent.desired_image_shape}
+      learnable_contact_preprocess_params: ${learnable_contact_preprocess_params}
+      learning_rate: 0.0001
+      weight_decay: 0.0
+      contact_model_name: ${contact_model_name}
+      zero_centered: false
+      crop_distractors_tlhw: ${agent.config.policy_cfg.crop_distractors_tlhw}
+suite:
+  suite: frankagym
+  name: frankagym
+  frame_stack: ${agent.n_obs_steps}
+  action_repeat: 1
+  discount: 0.99
+  hidden_dim: 1024
+  num_train_frames: 1000000
+  num_seed_frames: 0
+  num_train_epochs: 500
+  validate_every_epochs: 20
+  eval_on_sim_every_epochs: 20
+  validate_diffusion_on_action_loss_every_epochs: 20
+  eval_on_sim_every_epochs_diffusion: 500
+  train_eval_diffusion_on_action_loss_every_epochs: 20
+  check_topk_every_epochs: 20
+  save_snapshot_every_epochs: 25
+  num_seen_eval_envs: 0
+  num_unseen_eval_envs: 100
+  evals_per_env: 1
+  eval_every_frames: 2000
+  num_eval_episodes: 5
+  save_snapshot: true
+  wait_for_user_to_start_episode: true
+  task_make_fn:
+    _target_: suite.frankagym.make
+    name: ${task_name}
+    height: 240
+    width: 320
+    frame_stack: ${suite.frame_stack}
+    action_repeat: ${suite.action_repeat}
+    seed: ${seed}
+    enable_arm: ${agent.enable_arm}
+    enable_gripper: ${enable_gripper}
+    start_with_gripper_open: ${start_with_gripper_open}
+    enable_camera: ${agent.enable_camera}
+    path_to_depth_extrinsics: ${path_to_depth_extrinsics}
+    contact_estimation_model_ckpt_path: ${contact_estimation_model_ckpt_path}
+    x_limit: ${x_limit}
+    y_limit: ${y_limit}
+    z_limit: ${z_limit}
+    device: ${device}
+    interpolation_frequency: ${interpolation_frequency}
+    policy_frequency: ${policy_frequency}
+    debug_timestamps: ${debug_timestamps}
+    stop_after_action: ${stop_after_action}
+    open_loop: ${open_loop}
+    wait_for_new_camera_frames: ${wait_for_new_camera_frames}
+    action_key: ${action_key}
+    action_trajectory_horizon: ${agent.config.policy_cfg.horizon}
+    action_trajectories: ${action_trajectories}
+    path_to_zarr_dataset: ${expert_dataset}
+    agent_policy_cfg:
+      _target_: agent.diffusion_policy.DiffusionPolicyAgentConfig
+      compile: false
+      device: ${device}
+      cam_resize_shape: ${agent.desired_image_shape}
+      orig_cam_shape: ${agent.orig_cam_shape}
+      policy_frequency: ${policy_frequency}
+      interpolation_frequency: ${interpolation_frequency}
+      deterministic_actions: true
+      deterministic_actions_seed: 0
+      policy_cfg:
+        _target_: lerobot.common.policies.diffusion.configuration_diffusion.DiffusionConfig
+        n_obs_steps: 1
+        horizon: 28
+        n_action_steps: ${agent.config.policy_cfg.horizon}
+        output_shapes:
+          action:
+          - 7
+        input_normalization_modes:
+          observation.image: mean_std
+          observation.state: min_max
+          observation.action_history: min_max
+        output_normalization_modes:
+          action: min_max
+        vision_backbone: resnet18
+        crop_distractors_tlhw: null
+        pretrained_backbone_weights: null
+        transforms:
+        - _target_: torchaug.transforms.RandomAffine
+          degrees:
+          - -5
+          - 5
+          translate:
+          - 0.05
+          - 0.05
+          batch_transform: true
+          num_chunks: -1
+          batch_inplace: true
+        - _target_: torchaug.transforms.RandomColorJitter
+          brightness: 0.3
+          contrast: 0.4
+          saturation: 0.5
+          hue: 0.08
+          batch_transform: true
+          num_chunks: -1
+          batch_inplace: true
+        use_group_norm: true
+        spatial_softmax_num_keypoints: 32
+        action_history_encoder_config:
+          _target_: lerobot.common.policies.diffusion.configuration_diffusion.Unet1dEncoderConfig
+          in_channels: 7
+          out_channels: 32
+          history_length: 4
+          kernel_size: ${agent.config.policy_cfg.kernel_size}
+          downsample_kernel_size: 3
+          downsample_stride: 2
+          downsample_padding: 1
+        down_dims:
+        - 128
+        - 256
+        - 512
+        kernel_size: 5
+        n_groups: 8
+        diffusion_step_embed_dim: 128
+        use_film_scale_modulation: true
+        noise_scheduler_type: DDIM
+        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_train_timesteps: 50
+        num_inference_steps: 10
+        do_mask_loss_for_padding: false
+        start_horizon_at_current_step: true
+        input_shapes:
+          observation.image:
+          - 13
+          - 180
+          - 240
+          context_observation.image:
+          - 13
+          - 180
+          - 240
+          observation.state:
+          - 8
+          observation.action_history:
+          - 7
+      train_cfg:
+        _target_: utils.TrainConfig
+        lr: 0.0001
+        lr_scheduler: cosine
+        lr_warmup_steps: 500
+        adam_betas:
+        - 0.95
+        - 0.999
+        adam_eps: 1.0e-08
+        adam_weight_decay: 1.0e-06
+        grad_clip_norm: 10
+        offline_steps: 337000
+        use_amp: true
+        optimizer: adamw
+      observation_cfg:
+        _target_: agent.encoder.VisualFeatureSet
+        use_depth: ${use_depth}
+        use_color: ${use_color}
+        mask_input_dict:
+          _target_: agent.encoder.MaskInputDict
+          enable: ${use_masks}
+          representation: ${mask_representation}
+          mask_list: ${mask_list}
+          segmentation_model_name: ${segmentation_model_name}
+        crop_input_config:
+          _target_: agent.encoder.CropInputConfig
+          color_crop_type: ${color_crop_type}
+          depth_crop_type: ${depth_crop_type}
+          segmask_crop_type: ${segmask_crop_type}
+          crop_hw: ${crop_hw}
+          crop_down_offset: ${crop_down_offset}
+          add_crop_binary_mask: ${add_crop_binary_mask}
+          add_coord_conv_map: ${add_coord_conv_map}
+        context_input_config:
+          _target_: agent.encoder.ContextInputConfig
+          use_color: ${use_context_color}
+          use_depth: ${use_context_depth}
+          mask_input_dict:
+            _target_: agent.encoder.MaskInputDict
+            enable: ${use_context_segmask}
+            representation: ${mask_representation}
+            mask_list: ${mask_list}
+            segmentation_model_name: ${segmentation_model_name}
+          crop_input_config:
+            _target_: agent.encoder.CropInputConfig
+            color_crop_type: ${context_color_crop_type}
+            depth_crop_type: ${context_depth_crop_type}
+            segmask_crop_type: ${context_segmask_crop_type}
+            crop_hw: ${crop_hw}
+            crop_down_offset: ${crop_down_offset}
+            add_crop_binary_mask: ${context_add_crop_binary_mask}
+            add_coord_conv_map: ${context_add_coord_conv_map}
+        mask_soft_approx_scheduler_config:
+          _target_: agent.encoder.MaskSoftApproxSchedulerConfig
+          num_steps: 40000
+          initial_value: 10.0
+          final_value: 1000.0
+          interpolation_scheme: cosine
+        use_contact_map: ${use_contact_map}
+        use_sdf_maps: ${use_sdf_maps}
+        use_normals_maps: ${use_normals_maps}
+        which_objects: ${which_objects}
+        grasped_dtc_max_value: ${grasped_dtc_max_value}
+        env_dtc_max_value: ${env_dtc_max_value}
+        grasped_normals_mask_max_dtc_value: ${grasped_normals_mask_max_dtc_value}
+        env_normals_mask_max_dtc_value: ${env_normals_mask_max_dtc_value}
+        clamp_dtc: ${clamp_dtc}
+        max_contact_prob: ${max_contact_prob}
+        mask_normals_within_sdf: ${mask_normals_within_sdf}
+        dtc_adaptive_normalization: ${dtc_adaptive_normalization}
+        adaptive_normals_mask: ${adaptive_normals_mask}
+        max_depth: ${max_depth}
+        image_shape: ${agent.desired_image_shape}
+        learnable_contact_preprocess_params: ${learnable_contact_preprocess_params}
+        learning_rate: 0.0001
+        weight_decay: 0.0
+        contact_model_name: ${contact_model_name}
+        zero_centered: false
+        crop_distractors_tlhw: ${agent.config.policy_cfg.crop_distractors_tlhw}
+    true_action_history: ${true_action_history}
+num_train_frames_bc: 50000
+num_train_frames_drq: 1100000
+stddev_schedule_drq: linear(1.0,0.1,100000)
+task_name: FrankaInsertion-v1
+num_train_frames_vinn: 25000
+num_train_frames_diffusion: 1000000
+num_train_epochs_bc: 5000
+num_train_epochs_diffusion: 500
+validate_every_epochs_bc: 5
+validate_every_epochs_diffusion: 20
+validate_diffusion_on_action_loss_every_epochs: 20
+train_eval_diffusion_on_action_loss_every_epochs: 20
+eval_on_sim_every_epochs_diffusion: 20
+check_topk_every_epochs: 5
+check_topk_every_epochs_diffusion: 20
+save_snapshot_every_epochs_diffusion: 25
+x_limit:
+- 0.2
+- 0.7
+y_limit:
+- -0.4
+- 0.4
+z_limit:
+- -0.05
+- 0.55
+home_displacement:
+- 0.55
+- 0.0
+- 0.55
+- 180.0
+- 0.0
+- 0.0
+enable_gripper: true
+start_with_gripper_open: true
+offset_mask:
+- 1
+- 1
+- 1
+- 1
+- 1
+- 1
+path_to_depth_extrinsics: ~/fish_leon/FISH/cfgs/camera_poses/camera_poses_L515/20240904-122305/color_tf_world.npy
+test:
+  username: leonmkim
+  hostname: grasp-login1
+  name_of_expert_demo: 112_240x320_all_twodim_left_to_right_annotated_start_idx_5hz_zstd7_EE_pxl_coords_expert_demos_imp_act
+  root_dir: ~/fish_leon
+  expert_dataset_dirpath: ${test.root_dir}/FISH/expert_demos/${suite.name}/${task_name}/${test.name_of_expert_demo}
+  expert_dataset: ${test.expert_dataset_dirpath}/demos.zarr
+  semantic_demo_grouping_name: semantic_demo_grouping.yaml
+  semantic_demo_grouping: ${test.expert_dataset_dirpath}/${test.semantic_demo_grouping_name}
+  include_groups_list: all
+  batch_size: 128
+  store_dataset_in_memory: false
+  use_tb: true
+  local_snapshot_root_dir: /mnt/bighdd/fish_contact_backup
+  local_snapshot_dir: ${test.local_snapshot_root_dir}/exp_local/${suite.name}_${obs_type}/${task_name}
+  resume_wandb_run: false
+feature_type: 180x240_1_RGB_D_2.0_acthist_hst4_out32_dwnkrnl3_dwnstrd2_dwnpd1
diff --git a/videos/dm4rmta2/epoch_50/100_traj_1000000_envseed.mp4 b/videos/dm4rmta2/epoch_50/100_traj_1000000_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8d2acde28f448e4709b760ea10449d57abf055a9
--- /dev/null
+++ b/videos/dm4rmta2/epoch_50/100_traj_1000000_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90cb934362fa235658e3f4150a0290d12913f65cfa311be6510d06536eca648d
+size 387670
diff --git a/videos/dm4rmta2/epoch_50/101_traj_1000001_envseed.mp4 b/videos/dm4rmta2/epoch_50/101_traj_1000001_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0206f90063e4f888b62c5273bc041a1aa501b79d
--- /dev/null
+++ b/videos/dm4rmta2/epoch_50/101_traj_1000001_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:219dca58127f5d3f6b92356d17b768d4712231a72e1ffd43f6443f5d5239d834
+size 389743
diff --git a/videos/dm4rmta2/epoch_50/102_traj_1000002_envseed.mp4 b/videos/dm4rmta2/epoch_50/102_traj_1000002_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fb5ec7d75c6362d38f86378767fe909be53232e3
--- /dev/null
+++ b/videos/dm4rmta2/epoch_50/102_traj_1000002_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:347c8ec9a24cb60a2ce3bc497ab847ef3d5f4a6d2a886563e6660e4c7503af52
+size 378639
diff --git a/videos/dm4rmta2/epoch_50/105_traj_1000005_envseed.mp4 b/videos/dm4rmta2/epoch_50/105_traj_1000005_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8a2240b7d7b991c4863401dcdbcc1d6f5676a3ed
--- /dev/null
+++ b/videos/dm4rmta2/epoch_50/105_traj_1000005_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20d91211e000ef52a654867078831ea7bd33a3f4b5030759a394d57d0ae43240
+size 328475
diff --git a/videos/dm4rmta2/epoch_50/106_traj_1000006_envseed.mp4 b/videos/dm4rmta2/epoch_50/106_traj_1000006_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d5d76999af23d114a17a30515383cefbbd62c145
--- /dev/null
+++ b/videos/dm4rmta2/epoch_50/106_traj_1000006_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cfa67ed179e30d7442995644082038c7daf59ec22b84542df3c92aff555b38f4
+size 329725
diff --git a/videos/dm4rmta2/epoch_50/107_traj_1000007_envseed.mp4 b/videos/dm4rmta2/epoch_50/107_traj_1000007_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8e6448c14f54a6ab2d586979a049d87bc46b314b
--- /dev/null
+++ b/videos/dm4rmta2/epoch_50/107_traj_1000007_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1970149c85044d5375d7934372f408801ae1576a76a32aad21c807f45a48b29a
+size 356432
diff --git a/videos/dm4rmta2/epoch_50/109_traj_1000009_envseed.mp4 b/videos/dm4rmta2/epoch_50/109_traj_1000009_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c0dd071a966144825a0d7c40956571903da60b2f
--- /dev/null
+++ b/videos/dm4rmta2/epoch_50/109_traj_1000009_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18a00285a7f1981400b066cb9107331947e8508b6f121a48d582b9fd42af9e84
+size 382203
diff --git a/videos/dm4rmta2/epoch_50/110_traj_1000010_envseed.mp4 b/videos/dm4rmta2/epoch_50/110_traj_1000010_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9f94ec25d5f06733d51a9228b59adfe68866e858
--- /dev/null
+++ b/videos/dm4rmta2/epoch_50/110_traj_1000010_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:878ca02baa2a4702f623e818f02a850f398a5efc8ed5d55d8a1d810f91c0f5fc
+size 332800
diff --git a/videos/dm4rmta2/epoch_50/111_traj_1000011_envseed.mp4 b/videos/dm4rmta2/epoch_50/111_traj_1000011_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..911c22f954e0f9cfaf4ca5f036dedaba507ff7bf
--- /dev/null
+++ b/videos/dm4rmta2/epoch_50/111_traj_1000011_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20ace76562c47ba16e5ab18da9192dd999da5058b717ec7a99eed56a2b185403
+size 396029
diff --git a/videos/dm4rmta2/epoch_50/112_traj_1000012_envseed.mp4 b/videos/dm4rmta2/epoch_50/112_traj_1000012_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ec6073f2be157424ca4d7f51e3e9f5708d7926c3
--- /dev/null
+++ b/videos/dm4rmta2/epoch_50/112_traj_1000012_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f142755631a2d4bdbd9683fdf07ae7dee63f8c619ffc5904d21809ba3374989
+size 397443
diff --git a/videos/dm4rmta2/epoch_50/113_traj_1000013_envseed.mp4 b/videos/dm4rmta2/epoch_50/113_traj_1000013_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a728f26c50ed6fd1e5168099866b41db9cb976ee
--- /dev/null
+++ b/videos/dm4rmta2/epoch_50/113_traj_1000013_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:598767f91c75bf8d19810d3db1b7c388d039d928e60dfe7227db4ff92fb50b22
+size 357073
diff --git a/videos/dm4rmta2/epoch_50/114_traj_1000014_envseed.mp4 b/videos/dm4rmta2/epoch_50/114_traj_1000014_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..40ccc5135e77b06eb4e9d3ae95ec79a338609310
--- /dev/null
+++ b/videos/dm4rmta2/epoch_50/114_traj_1000014_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77bbc6f891b39b0516463a4faca23dcf585a9854d3180d309b9e6a72ec57e29f
+size 354196
diff --git a/videos/dm4rmta2/epoch_50/115_traj_1000015_envseed.mp4 b/videos/dm4rmta2/epoch_50/115_traj_1000015_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b51c475ca3566b000839571bcb783de712b79312
--- /dev/null
+++ b/videos/dm4rmta2/epoch_50/115_traj_1000015_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a70f1ae5ef7eebdbd3b0e3ec1734d13d6d890414f117e859a127cf196e2d4ee4
+size 332398
diff --git a/videos/dm4rmta2/epoch_50/117_traj_1000017_envseed.mp4 b/videos/dm4rmta2/epoch_50/117_traj_1000017_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..44fbd5e427bdc6e0d5bb80c60aa1afaf1c4a9ebd
--- /dev/null
+++ b/videos/dm4rmta2/epoch_50/117_traj_1000017_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72859a4ace86e64ab21dbcff8207659b7d8c4575d9c67902bd25038858d8e325
+size 321568
diff --git a/videos/dm4rmta2/epoch_50/118_traj_1000018_envseed.mp4 b/videos/dm4rmta2/epoch_50/118_traj_1000018_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b625f25f5bc145cddf96dfeeeec40ce7dfdc24c3
--- /dev/null
+++ b/videos/dm4rmta2/epoch_50/118_traj_1000018_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60062533d2efff41f763090dcdecaa29e847021af27eb22a1043642318f59a84
+size 361201
diff --git a/videos/dm4rmta2/epoch_50/119_traj_1000019_envseed.mp4 b/videos/dm4rmta2/epoch_50/119_traj_1000019_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..403aff805ee0b4667bbabc0d25a28c4ff4dad330
--- /dev/null
+++ b/videos/dm4rmta2/epoch_50/119_traj_1000019_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2a663ac0162e04ade441a1a9ff837a90065ac7e0d3b93272aca02c243899bf9
+size 318245
diff --git a/videos/dm4rmta2/epoch_50/120_traj_1000020_envseed.mp4 b/videos/dm4rmta2/epoch_50/120_traj_1000020_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..eeb76de3649cc29f3d4beb9795b3046f49e240af
--- /dev/null
+++ b/videos/dm4rmta2/epoch_50/120_traj_1000020_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:818db0425e66b89af8cbce85dce14e8a6c217e61cab259bdbdcc9af89fd271ae
+size 332502
diff --git a/videos/dm4rmta2/epoch_50/121_traj_1000021_envseed.mp4 b/videos/dm4rmta2/epoch_50/121_traj_1000021_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..615c1ec6e6cdebf94492d5850acce2f79316283d
--- /dev/null
+++ b/videos/dm4rmta2/epoch_50/121_traj_1000021_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7ac3512fcfef3806f17d73030465e37561cdaa3b5593e96589684ba864298de
+size 371493
diff --git a/videos/dm4rmta2/epoch_50/122_traj_1000022_envseed.mp4 b/videos/dm4rmta2/epoch_50/122_traj_1000022_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..304163d27cbf76973673c94b130426871094e9cf
--- /dev/null
+++ b/videos/dm4rmta2/epoch_50/122_traj_1000022_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4df51457442a1c2bbcd35b7fcfc73ae554fa696c4e82971083fa29f4c3ca6d3e
+size 317119
diff --git a/videos/dm4rmta2/epoch_50/123_traj_1000023_envseed.mp4 b/videos/dm4rmta2/epoch_50/123_traj_1000023_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a6c30039896eb57219eadf19a96500c7c36f9dd8
--- /dev/null
+++ b/videos/dm4rmta2/epoch_50/123_traj_1000023_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52623d09fa9dab6658f44d8640e1757345e85e710cb3e7875284eb919154ab7b
+size 378181
diff --git a/videos/dm4rmta2/epoch_50/124_traj_1000024_envseed.mp4 b/videos/dm4rmta2/epoch_50/124_traj_1000024_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6c6068d3f828bcfcd3356fe85cccb9397c20e927
--- /dev/null
+++ b/videos/dm4rmta2/epoch_50/124_traj_1000024_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce322f00e7057879017e3614c614535e2b3f91da39737e744b9b4cc3b380ed3d
+size 311158
diff --git a/videos/dm4rmta2/epoch_50/125_traj_1000025_envseed.mp4 b/videos/dm4rmta2/epoch_50/125_traj_1000025_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cf89707110e44272cb122f178d14ba125712b468
--- /dev/null
+++ b/videos/dm4rmta2/epoch_50/125_traj_1000025_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6284fd07498194a4b8fbda77b3f3fe5a8472312bfba1cb5127deda1bee26891
+size 318597
diff --git a/videos/dm4rmta2/epoch_50/126_traj_1000026_envseed.mp4 b/videos/dm4rmta2/epoch_50/126_traj_1000026_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..682afd7cbced8891bc50b714a94f6913834293a8
--- /dev/null
+++ b/videos/dm4rmta2/epoch_50/126_traj_1000026_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d959c5173d0a1e29b10a21ac386eafed06e02118c0b3791c57c851ff68a6f11c
+size 355403
diff --git a/videos/dm4rmta2/epoch_50/127_traj_1000027_envseed.mp4 b/videos/dm4rmta2/epoch_50/127_traj_1000027_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..74e1abf2d2fd809e6f2d8adef6017f2af5ea0614
--- /dev/null
+++ b/videos/dm4rmta2/epoch_50/127_traj_1000027_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25670dd5a23fb1f9c102292360bf6c9a85a80b3129baf44849bfde400d9fa36b
+size 406766
diff --git a/videos/dm4rmta2/epoch_50/131_traj_1000031_envseed.mp4 b/videos/dm4rmta2/epoch_50/131_traj_1000031_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c828bcd14108b396cd59c0229055efd1ec7207dd
--- /dev/null
+++ b/videos/dm4rmta2/epoch_50/131_traj_1000031_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a96994909cd5c1958899efed0973229a943e63ef78c4b07a0d5bb1976e295e5c
+size 385159
diff --git a/videos/dm4rmta2/epoch_50/134_traj_1000034_envseed.mp4 b/videos/dm4rmta2/epoch_50/134_traj_1000034_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..72ff7a9c287dea8149c80c6b734a9a79327ef6d7
--- /dev/null
+++ b/videos/dm4rmta2/epoch_50/134_traj_1000034_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40c0aa68f355f1eed11acb672122d70f5e3091c17feb664b6ef5d8cd10094171
+size 375630
diff --git a/videos/dm4rmta2/epoch_50/136_traj_1000036_envseed.mp4 b/videos/dm4rmta2/epoch_50/136_traj_1000036_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..81c587fb92b149152b849025a613a7f8b2d9774b
--- /dev/null
+++ b/videos/dm4rmta2/epoch_50/136_traj_1000036_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6bbd5f05fec946476abb184e4d4ffc38f07c238187a1b0487d3618fd49a03d19
+size 318009
diff --git a/videos/dm4rmta2/epoch_50/138_traj_1000038_envseed.mp4 b/videos/dm4rmta2/epoch_50/138_traj_1000038_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..90728b152f639adbc4c47df810e1d3aba34c90d6
--- /dev/null
+++ b/videos/dm4rmta2/epoch_50/138_traj_1000038_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c084534d3917956d7355e5e0daba07f61092ae5a5c321155ea4402f2ad235188
+size 341510
diff --git a/videos/dm4rmta2/epoch_50/139_traj_1000039_envseed.mp4 b/videos/dm4rmta2/epoch_50/139_traj_1000039_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..920dc1c464a678a022d24b5eb5e6d6f174f6189f
--- /dev/null
+++ b/videos/dm4rmta2/epoch_50/139_traj_1000039_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9541b3b178c2bd67b5c2408613fcf8a8ac1c92b933fc714fcc18619366f465d
+size 381389
diff --git a/videos/dm4rmta2/epoch_50/141_traj_1000041_envseed.mp4 b/videos/dm4rmta2/epoch_50/141_traj_1000041_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a594f681919923550c33fe8d7bfbf725dadc0cb7
--- /dev/null
+++ b/videos/dm4rmta2/epoch_50/141_traj_1000041_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b67908590233d69f0343ad0cb6bd2f76e26b9c7b0dc2a9793c3ba812942751cf
+size 334703
diff --git a/videos/dm4rmta2/epoch_50/142_traj_1000042_envseed.mp4 b/videos/dm4rmta2/epoch_50/142_traj_1000042_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..85899f03e39c8f3d4565bc32439f70c809d2b56e
--- /dev/null
+++ b/videos/dm4rmta2/epoch_50/142_traj_1000042_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:adcb7b5b7c224f5038b211810dead3016c796fac969b10b893bd52ce55692e4b
+size 149315
diff --git a/videos/dm4rmta2/epoch_50/143_traj_1000043_envseed.mp4 b/videos/dm4rmta2/epoch_50/143_traj_1000043_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f5a03ec3eb6a07e3935b3501ede2fd4b4498dcc0
--- /dev/null
+++ b/videos/dm4rmta2/epoch_50/143_traj_1000043_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a607544be6ae34ad902a2d1f1c6fa1e75f487db294f6f31d6d058f2c7c063ea
+size 329544
diff --git a/videos/dm4rmta2/epoch_50/144_traj_1000044_envseed.mp4 b/videos/dm4rmta2/epoch_50/144_traj_1000044_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..32ff9d27b72fdedf94ee226ca7739ecca6886908
--- /dev/null
+++ b/videos/dm4rmta2/epoch_50/144_traj_1000044_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:344b5fa8e7ad265cc8a3b158d3bfde90aa31670b3d08c2f79744492a5e1b5798
+size 368444
diff --git a/videos/dm4rmta2/epoch_50/145_traj_1000045_envseed.mp4 b/videos/dm4rmta2/epoch_50/145_traj_1000045_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..25e8a76b9da40797de788d93fb6309f799b3f2e6
--- /dev/null
+++ b/videos/dm4rmta2/epoch_50/145_traj_1000045_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10f729facd8de60cd341684abcd4e4539a3996db8c043c06c8adac5d7cd6e626
+size 368476
diff --git a/videos/dm4rmta2/epoch_50/146_traj_1000046_envseed.mp4 b/videos/dm4rmta2/epoch_50/146_traj_1000046_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f0fd1b661e28d204cfc90d53837dab0cc18d902c
--- /dev/null
+++ b/videos/dm4rmta2/epoch_50/146_traj_1000046_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af1744fae08b21de066ea577545f791704f2594afa5d2ea1c284c97cad817822
+size 368543
diff --git a/videos/dm4rmta2/epoch_50/147_traj_1000047_envseed.mp4 b/videos/dm4rmta2/epoch_50/147_traj_1000047_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a48c4da1d6e559dee7360fb11de4a9c369546298
--- /dev/null
+++ b/videos/dm4rmta2/epoch_50/147_traj_1000047_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1589baa0089724f84e9013d007c33400d0be58a6b8d769a4b68fdaad6d765f1f
+size 365644
diff --git a/videos/dm4rmta2/epoch_50/148_traj_1000048_envseed.mp4 b/videos/dm4rmta2/epoch_50/148_traj_1000048_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..14f38566e1c8ac5d6184fbda7041f28c3dec2fcc
--- /dev/null
+++ b/videos/dm4rmta2/epoch_50/148_traj_1000048_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08974b2f49819b4246b9dc66650c1616f43e79267c33988821c610d995e23032
+size 324483
diff --git a/videos/dm4rmta2/epoch_50/149_traj_1000049_envseed.mp4 b/videos/dm4rmta2/epoch_50/149_traj_1000049_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3c044d2dd448dff596a9fd871181ebfc7fe20973
--- /dev/null
+++ b/videos/dm4rmta2/epoch_50/149_traj_1000049_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85eeb504afa18e09d92304f9467ad9d16a53cca3eb3f8eac3320a3b53c1822d3
+size 367359
diff --git a/videos/dm4rmta2/epoch_50/150_traj_1000050_envseed.mp4 b/videos/dm4rmta2/epoch_50/150_traj_1000050_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..20a96f568cb67359f3e848438de53766d5e3e95d
--- /dev/null
+++ b/videos/dm4rmta2/epoch_50/150_traj_1000050_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28ef667604ee1056d8a16be369449cc1ede56b10e10d505159743043f2de15b3
+size 396378
diff --git a/videos/dm4rmta2/epoch_50/151_traj_1000051_envseed.mp4 b/videos/dm4rmta2/epoch_50/151_traj_1000051_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b5c4c29d0fb6ad8b76aac396354a4da8ab687163
--- /dev/null
+++ b/videos/dm4rmta2/epoch_50/151_traj_1000051_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d53887359912ac33dae14b05e16146f2fb428d5f64b3946a081f38f343188381
+size 362331
diff --git a/videos/dm4rmta2/epoch_50/152_traj_1000052_envseed.mp4 b/videos/dm4rmta2/epoch_50/152_traj_1000052_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4da6e14efd1c1e5e0010fb0a5b6c0a06ec2f1a47
--- /dev/null
+++ b/videos/dm4rmta2/epoch_50/152_traj_1000052_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9c197b8e401e0c71eb11e2b648115ee9b9df4f854b31e8042e49d94c3058d4a
+size 375930
diff --git a/videos/dm4rmta2/epoch_50/153_traj_1000053_envseed.mp4 b/videos/dm4rmta2/epoch_50/153_traj_1000053_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..39ff95e094142f0364566bd61daa931edc31fba5
--- /dev/null
+++ b/videos/dm4rmta2/epoch_50/153_traj_1000053_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f138276bf1c6ae0ac4b0f3edd47adb7f57e644fc6362e9093ef2102843080502
+size 388313
diff --git a/videos/dm4rmta2/epoch_50/154_traj_1000054_envseed.mp4 b/videos/dm4rmta2/epoch_50/154_traj_1000054_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..59f794faf777814b32abaa9f0ce9f86c65f997cb
--- /dev/null
+++ b/videos/dm4rmta2/epoch_50/154_traj_1000054_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f37473919821c290b5a990c398c615afc6a1375fe815428cf7d099d150fea291
+size 384725
diff --git a/videos/sr907oyb/epoch_25/0_traj_1000000_envseed.mp4 b/videos/sr907oyb/epoch_25/0_traj_1000000_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/0_traj_1000000_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/10_traj_1000010_envseed.mp4 b/videos/sr907oyb/epoch_25/10_traj_1000010_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/10_traj_1000010_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/11_traj_1000011_envseed.mp4 b/videos/sr907oyb/epoch_25/11_traj_1000011_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/11_traj_1000011_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/12_traj_1000012_envseed.mp4 b/videos/sr907oyb/epoch_25/12_traj_1000012_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/12_traj_1000012_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/13_traj_1000013_envseed.mp4 b/videos/sr907oyb/epoch_25/13_traj_1000013_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/13_traj_1000013_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/14_traj_1000014_envseed.mp4 b/videos/sr907oyb/epoch_25/14_traj_1000014_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/14_traj_1000014_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/15_traj_1000015_envseed.mp4 b/videos/sr907oyb/epoch_25/15_traj_1000015_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/15_traj_1000015_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/16_traj_1000016_envseed.mp4 b/videos/sr907oyb/epoch_25/16_traj_1000016_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/16_traj_1000016_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/17_traj_1000017_envseed.mp4 b/videos/sr907oyb/epoch_25/17_traj_1000017_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/17_traj_1000017_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/18_traj_1000018_envseed.mp4 b/videos/sr907oyb/epoch_25/18_traj_1000018_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/18_traj_1000018_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/19_traj_1000019_envseed.mp4 b/videos/sr907oyb/epoch_25/19_traj_1000019_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/19_traj_1000019_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/1_traj_1000001_envseed.mp4 b/videos/sr907oyb/epoch_25/1_traj_1000001_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/1_traj_1000001_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/20_traj_1000020_envseed.mp4 b/videos/sr907oyb/epoch_25/20_traj_1000020_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/20_traj_1000020_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/21_traj_1000021_envseed.mp4 b/videos/sr907oyb/epoch_25/21_traj_1000021_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/21_traj_1000021_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/22_traj_1000022_envseed.mp4 b/videos/sr907oyb/epoch_25/22_traj_1000022_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/22_traj_1000022_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/23_traj_1000023_envseed.mp4 b/videos/sr907oyb/epoch_25/23_traj_1000023_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/23_traj_1000023_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/24_traj_1000024_envseed.mp4 b/videos/sr907oyb/epoch_25/24_traj_1000024_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/24_traj_1000024_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/25_traj_1000025_envseed.mp4 b/videos/sr907oyb/epoch_25/25_traj_1000025_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/25_traj_1000025_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/26_traj_1000026_envseed.mp4 b/videos/sr907oyb/epoch_25/26_traj_1000026_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/26_traj_1000026_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/27_traj_1000027_envseed.mp4 b/videos/sr907oyb/epoch_25/27_traj_1000027_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/27_traj_1000027_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/28_traj_1000028_envseed.mp4 b/videos/sr907oyb/epoch_25/28_traj_1000028_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/28_traj_1000028_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/29_traj_1000029_envseed.mp4 b/videos/sr907oyb/epoch_25/29_traj_1000029_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/29_traj_1000029_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/2_traj_1000002_envseed.mp4 b/videos/sr907oyb/epoch_25/2_traj_1000002_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/2_traj_1000002_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/30_traj_1000030_envseed.mp4 b/videos/sr907oyb/epoch_25/30_traj_1000030_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/30_traj_1000030_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/31_traj_1000031_envseed.mp4 b/videos/sr907oyb/epoch_25/31_traj_1000031_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/31_traj_1000031_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/32_traj_1000032_envseed.mp4 b/videos/sr907oyb/epoch_25/32_traj_1000032_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/32_traj_1000032_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/33_traj_1000033_envseed.mp4 b/videos/sr907oyb/epoch_25/33_traj_1000033_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/33_traj_1000033_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/34_traj_1000034_envseed.mp4 b/videos/sr907oyb/epoch_25/34_traj_1000034_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/34_traj_1000034_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/35_traj_1000035_envseed.mp4 b/videos/sr907oyb/epoch_25/35_traj_1000035_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/35_traj_1000035_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/36_traj_1000036_envseed.mp4 b/videos/sr907oyb/epoch_25/36_traj_1000036_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/36_traj_1000036_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/37_traj_1000037_envseed.mp4 b/videos/sr907oyb/epoch_25/37_traj_1000037_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/37_traj_1000037_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/38_traj_1000038_envseed.mp4 b/videos/sr907oyb/epoch_25/38_traj_1000038_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/38_traj_1000038_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/39_traj_1000039_envseed.mp4 b/videos/sr907oyb/epoch_25/39_traj_1000039_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/39_traj_1000039_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/3_traj_1000003_envseed.mp4 b/videos/sr907oyb/epoch_25/3_traj_1000003_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/3_traj_1000003_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/40_traj_1000040_envseed.mp4 b/videos/sr907oyb/epoch_25/40_traj_1000040_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/40_traj_1000040_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/41_traj_1000041_envseed.mp4 b/videos/sr907oyb/epoch_25/41_traj_1000041_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/41_traj_1000041_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/42_traj_1000042_envseed.mp4 b/videos/sr907oyb/epoch_25/42_traj_1000042_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/42_traj_1000042_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/43_traj_1000043_envseed.mp4 b/videos/sr907oyb/epoch_25/43_traj_1000043_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/43_traj_1000043_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/44_traj_1000044_envseed.mp4 b/videos/sr907oyb/epoch_25/44_traj_1000044_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/44_traj_1000044_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/45_traj_1000045_envseed.mp4 b/videos/sr907oyb/epoch_25/45_traj_1000045_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/45_traj_1000045_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/46_traj_1000046_envseed.mp4 b/videos/sr907oyb/epoch_25/46_traj_1000046_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/46_traj_1000046_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/47_traj_1000047_envseed.mp4 b/videos/sr907oyb/epoch_25/47_traj_1000047_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/47_traj_1000047_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/48_traj_1000048_envseed.mp4 b/videos/sr907oyb/epoch_25/48_traj_1000048_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/48_traj_1000048_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/49_traj_1000049_envseed.mp4 b/videos/sr907oyb/epoch_25/49_traj_1000049_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/49_traj_1000049_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/4_traj_1000004_envseed.mp4 b/videos/sr907oyb/epoch_25/4_traj_1000004_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/4_traj_1000004_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/50_traj_1000050_envseed.mp4 b/videos/sr907oyb/epoch_25/50_traj_1000050_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/50_traj_1000050_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/52_traj_1000052_envseed.mp4 b/videos/sr907oyb/epoch_25/52_traj_1000052_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/52_traj_1000052_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/53_traj_1000053_envseed.mp4 b/videos/sr907oyb/epoch_25/53_traj_1000053_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/53_traj_1000053_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/54_traj_1000054_envseed.mp4 b/videos/sr907oyb/epoch_25/54_traj_1000054_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/54_traj_1000054_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/55_traj_1000055_envseed.mp4 b/videos/sr907oyb/epoch_25/55_traj_1000055_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/55_traj_1000055_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/56_traj_1000056_envseed.mp4 b/videos/sr907oyb/epoch_25/56_traj_1000056_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/56_traj_1000056_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/57_traj_1000057_envseed.mp4 b/videos/sr907oyb/epoch_25/57_traj_1000057_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/57_traj_1000057_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/58_traj_1000058_envseed.mp4 b/videos/sr907oyb/epoch_25/58_traj_1000058_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/58_traj_1000058_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/59_traj_1000059_envseed.mp4 b/videos/sr907oyb/epoch_25/59_traj_1000059_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/59_traj_1000059_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/5_traj_1000005_envseed.mp4 b/videos/sr907oyb/epoch_25/5_traj_1000005_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/5_traj_1000005_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/60_traj_1000060_envseed.mp4 b/videos/sr907oyb/epoch_25/60_traj_1000060_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/60_traj_1000060_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/61_traj_1000061_envseed.mp4 b/videos/sr907oyb/epoch_25/61_traj_1000061_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/61_traj_1000061_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/62_traj_1000062_envseed.mp4 b/videos/sr907oyb/epoch_25/62_traj_1000062_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/62_traj_1000062_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/63_traj_1000063_envseed.mp4 b/videos/sr907oyb/epoch_25/63_traj_1000063_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/63_traj_1000063_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/64_traj_1000064_envseed.mp4 b/videos/sr907oyb/epoch_25/64_traj_1000064_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/64_traj_1000064_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/65_traj_1000065_envseed.mp4 b/videos/sr907oyb/epoch_25/65_traj_1000065_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/65_traj_1000065_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/66_traj_1000066_envseed.mp4 b/videos/sr907oyb/epoch_25/66_traj_1000066_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/66_traj_1000066_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/67_traj_1000067_envseed.mp4 b/videos/sr907oyb/epoch_25/67_traj_1000067_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/67_traj_1000067_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/68_traj_1000068_envseed.mp4 b/videos/sr907oyb/epoch_25/68_traj_1000068_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/68_traj_1000068_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/69_traj_1000069_envseed.mp4 b/videos/sr907oyb/epoch_25/69_traj_1000069_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/69_traj_1000069_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/6_traj_1000006_envseed.mp4 b/videos/sr907oyb/epoch_25/6_traj_1000006_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/6_traj_1000006_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/70_traj_1000070_envseed.mp4 b/videos/sr907oyb/epoch_25/70_traj_1000070_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/70_traj_1000070_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/71_traj_1000071_envseed.mp4 b/videos/sr907oyb/epoch_25/71_traj_1000071_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/71_traj_1000071_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/72_traj_1000072_envseed.mp4 b/videos/sr907oyb/epoch_25/72_traj_1000072_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/72_traj_1000072_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/73_traj_1000073_envseed.mp4 b/videos/sr907oyb/epoch_25/73_traj_1000073_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/73_traj_1000073_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/74_traj_1000074_envseed.mp4 b/videos/sr907oyb/epoch_25/74_traj_1000074_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/74_traj_1000074_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/75_traj_1000075_envseed.mp4 b/videos/sr907oyb/epoch_25/75_traj_1000075_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/75_traj_1000075_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/76_traj_1000076_envseed.mp4 b/videos/sr907oyb/epoch_25/76_traj_1000076_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/76_traj_1000076_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/77_traj_1000077_envseed.mp4 b/videos/sr907oyb/epoch_25/77_traj_1000077_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/77_traj_1000077_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/78_traj_1000078_envseed.mp4 b/videos/sr907oyb/epoch_25/78_traj_1000078_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/78_traj_1000078_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/79_traj_1000079_envseed.mp4 b/videos/sr907oyb/epoch_25/79_traj_1000079_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/79_traj_1000079_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/7_traj_1000007_envseed.mp4 b/videos/sr907oyb/epoch_25/7_traj_1000007_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/7_traj_1000007_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/80_traj_1000080_envseed.mp4 b/videos/sr907oyb/epoch_25/80_traj_1000080_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/80_traj_1000080_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/81_traj_1000081_envseed.mp4 b/videos/sr907oyb/epoch_25/81_traj_1000081_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/81_traj_1000081_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/82_traj_1000082_envseed.mp4 b/videos/sr907oyb/epoch_25/82_traj_1000082_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/82_traj_1000082_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/83_traj_1000083_envseed.mp4 b/videos/sr907oyb/epoch_25/83_traj_1000083_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/83_traj_1000083_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/84_traj_1000084_envseed.mp4 b/videos/sr907oyb/epoch_25/84_traj_1000084_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/84_traj_1000084_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/85_traj_1000085_envseed.mp4 b/videos/sr907oyb/epoch_25/85_traj_1000085_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/85_traj_1000085_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/86_traj_1000086_envseed.mp4 b/videos/sr907oyb/epoch_25/86_traj_1000086_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/86_traj_1000086_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/87_traj_1000087_envseed.mp4 b/videos/sr907oyb/epoch_25/87_traj_1000087_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/87_traj_1000087_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/88_traj_1000088_envseed.mp4 b/videos/sr907oyb/epoch_25/88_traj_1000088_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/88_traj_1000088_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/89_traj_1000089_envseed.mp4 b/videos/sr907oyb/epoch_25/89_traj_1000089_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/89_traj_1000089_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/8_traj_1000008_envseed.mp4 b/videos/sr907oyb/epoch_25/8_traj_1000008_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/8_traj_1000008_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/90_traj_1000090_envseed.mp4 b/videos/sr907oyb/epoch_25/90_traj_1000090_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/90_traj_1000090_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/91_traj_1000091_envseed.mp4 b/videos/sr907oyb/epoch_25/91_traj_1000091_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/91_traj_1000091_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/92_traj_1000092_envseed.mp4 b/videos/sr907oyb/epoch_25/92_traj_1000092_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/92_traj_1000092_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/93_traj_1000093_envseed.mp4 b/videos/sr907oyb/epoch_25/93_traj_1000093_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/93_traj_1000093_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/94_traj_1000094_envseed.mp4 b/videos/sr907oyb/epoch_25/94_traj_1000094_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/94_traj_1000094_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/95_traj_1000095_envseed.mp4 b/videos/sr907oyb/epoch_25/95_traj_1000095_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/95_traj_1000095_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/96_traj_1000096_envseed.mp4 b/videos/sr907oyb/epoch_25/96_traj_1000096_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/96_traj_1000096_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/97_traj_1000097_envseed.mp4 b/videos/sr907oyb/epoch_25/97_traj_1000097_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/97_traj_1000097_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/98_traj_1000098_envseed.mp4 b/videos/sr907oyb/epoch_25/98_traj_1000098_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/98_traj_1000098_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_25/99_traj_1000099_envseed.mp4 b/videos/sr907oyb/epoch_25/99_traj_1000099_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..beca6cbec89a155aef860b88ba0f99490d3f88e1
--- /dev/null
+++ b/videos/sr907oyb/epoch_25/99_traj_1000099_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baa38d9e14e7a431d40247c6ca2a4c4357fd02b579ba1e61336fedb6a971ae
+size 410345
diff --git a/videos/sr907oyb/epoch_50/100_traj_1000000_envseed.mp4 b/videos/sr907oyb/epoch_50/100_traj_1000000_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..aa7af91d5406dc8e90d35ff6ceff19f2af7a95b8
--- /dev/null
+++ b/videos/sr907oyb/epoch_50/100_traj_1000000_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7100bd16ba906bc4ecc3cb816efff7cc99128ad7d8966c6b67674f4a8591af72
+size 376226
diff --git a/videos/sr907oyb/epoch_50/101_traj_1000001_envseed.mp4 b/videos/sr907oyb/epoch_50/101_traj_1000001_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..aa7af91d5406dc8e90d35ff6ceff19f2af7a95b8
--- /dev/null
+++ b/videos/sr907oyb/epoch_50/101_traj_1000001_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7100bd16ba906bc4ecc3cb816efff7cc99128ad7d8966c6b67674f4a8591af72
+size 376226
diff --git a/videos/sr907oyb/epoch_50/102_traj_1000002_envseed.mp4 b/videos/sr907oyb/epoch_50/102_traj_1000002_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..aa7af91d5406dc8e90d35ff6ceff19f2af7a95b8
--- /dev/null
+++ b/videos/sr907oyb/epoch_50/102_traj_1000002_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7100bd16ba906bc4ecc3cb816efff7cc99128ad7d8966c6b67674f4a8591af72
+size 376226
diff --git a/videos/sr907oyb/epoch_50/103_traj_1000003_envseed.mp4 b/videos/sr907oyb/epoch_50/103_traj_1000003_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..aa7af91d5406dc8e90d35ff6ceff19f2af7a95b8
--- /dev/null
+++ b/videos/sr907oyb/epoch_50/103_traj_1000003_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7100bd16ba906bc4ecc3cb816efff7cc99128ad7d8966c6b67674f4a8591af72
+size 376226
diff --git a/videos/sr907oyb/epoch_50/104_traj_1000004_envseed.mp4 b/videos/sr907oyb/epoch_50/104_traj_1000004_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..aa7af91d5406dc8e90d35ff6ceff19f2af7a95b8
--- /dev/null
+++ b/videos/sr907oyb/epoch_50/104_traj_1000004_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7100bd16ba906bc4ecc3cb816efff7cc99128ad7d8966c6b67674f4a8591af72
+size 376226
diff --git a/videos/sr907oyb/epoch_50/105_traj_1000005_envseed.mp4 b/videos/sr907oyb/epoch_50/105_traj_1000005_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..aa7af91d5406dc8e90d35ff6ceff19f2af7a95b8
--- /dev/null
+++ b/videos/sr907oyb/epoch_50/105_traj_1000005_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7100bd16ba906bc4ecc3cb816efff7cc99128ad7d8966c6b67674f4a8591af72
+size 376226
diff --git a/videos/sr907oyb/epoch_50/106_traj_1000006_envseed.mp4 b/videos/sr907oyb/epoch_50/106_traj_1000006_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..aa7af91d5406dc8e90d35ff6ceff19f2af7a95b8
--- /dev/null
+++ b/videos/sr907oyb/epoch_50/106_traj_1000006_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7100bd16ba906bc4ecc3cb816efff7cc99128ad7d8966c6b67674f4a8591af72
+size 376226
diff --git a/videos/sr907oyb/epoch_50/107_traj_1000007_envseed.mp4 b/videos/sr907oyb/epoch_50/107_traj_1000007_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..aa7af91d5406dc8e90d35ff6ceff19f2af7a95b8
--- /dev/null
+++ b/videos/sr907oyb/epoch_50/107_traj_1000007_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7100bd16ba906bc4ecc3cb816efff7cc99128ad7d8966c6b67674f4a8591af72
+size 376226