diff --git a/.gitattributes b/.gitattributes
index a6344aac8c09253b3b630fb776ae94478aa0275b..0d00c8af344442d007bc205f44d413a0c2b6c73c 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -33,3 +33,135 @@ 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/63438_0/epoch_20/97_traj_1000097_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/28_traj_1000028_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/15_traj_1000015_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/14_traj_1000014_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/95_traj_1000095_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/35_traj_1000035_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/81_traj_1000081_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/65_traj_1000065_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/75_traj_1000075_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/37_traj_1000037_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/19_traj_1000019_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/46_traj_1000046_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/44_traj_1000044_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/89_traj_1000089_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/11_traj_1000011_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/67_traj_1000067_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/51_traj_1000051_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/21_traj_1000021_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/9_traj_1000009_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/90_traj_1000090_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/10_traj_1000010_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/79_traj_1000079_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/43_traj_1000043_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/55_traj_1000055_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/30_traj_1000030_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/33_traj_1000033_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/29_traj_1000029_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/74_traj_1000074_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/54_traj_1000054_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/57_traj_1000057_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/64_traj_1000064_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/82_traj_1000082_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/70_traj_1000070_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/80_traj_1000080_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/92_traj_1000092_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/98_traj_1000098_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/53_traj_1000053_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/62_traj_1000062_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/22_traj_1000022_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/93_traj_1000093_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/0_traj_1000000_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/73_traj_1000073_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/48_traj_1000048_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/8_traj_1000008_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/60_traj_1000060_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/99_traj_1000099_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/39_traj_1000039_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/20_traj_1000020_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/2_traj_1000002_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/1_traj_1000001_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/24_traj_1000024_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/49_traj_1000049_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/63_traj_1000063_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/72_traj_1000072_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/45_traj_1000045_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/68_traj_1000068_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/59_traj_1000059_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/17_traj_1000017_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/61_traj_1000061_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/94_traj_1000094_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/69_traj_1000069_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/36_traj_1000036_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/85_traj_1000085_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/66_traj_1000066_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/84_traj_1000084_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/31_traj_1000031_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/41_traj_1000041_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/91_traj_1000091_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/83_traj_1000083_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/7_traj_1000007_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/96_traj_1000096_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/18_traj_1000018_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/88_traj_1000088_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/5_traj_1000005_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/12_traj_1000012_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/56_traj_1000056_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/38_traj_1000038_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/40_traj_1000040_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/16_traj_1000016_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/52_traj_1000052_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/26_traj_1000026_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/78_traj_1000078_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/13_traj_1000013_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/3_traj_1000003_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/87_traj_1000087_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/76_traj_1000076_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/32_traj_1000032_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/4_traj_1000004_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/50_traj_1000050_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/34_traj_1000034_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/25_traj_1000025_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/23_traj_1000023_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/42_traj_1000042_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/27_traj_1000027_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/71_traj_1000071_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_80/351_traj_1000051_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/47_traj_1000047_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/58_traj_1000058_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_80/357_traj_1000057_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_80/345_traj_1000045_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_80/350_traj_1000050_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_80/330_traj_1000030_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_80/392_traj_1000092_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_80/372_traj_1000072_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/6_traj_1000006_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_80/347_traj_1000047_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/77_traj_1000077_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_80/399_traj_1000099_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_80/343_traj_1000043_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_80/336_traj_1000036_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_80/370_traj_1000070_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_80/356_traj_1000056_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_20/86_traj_1000086_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_80/308_traj_1000008_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_80/346_traj_1000046_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_80/307_traj_1000007_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_80/388_traj_1000088_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_80/332_traj_1000032_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_80/325_traj_1000025_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_80/337_traj_1000037_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_80/379_traj_1000079_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_80/327_traj_1000027_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_80/302_traj_1000002_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_80/333_traj_1000033_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_80/359_traj_1000059_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_80/375_traj_1000075_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_80/326_traj_1000026_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_80/319_traj_1000019_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_80/371_traj_1000071_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_80/301_traj_1000001_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_80/398_traj_1000098_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
+videos/63438_0/epoch_80/305_traj_1000005_envseed.mp4 filter=lfs diff=lfs merge=lfs -text
diff --git a/config.yaml b/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..7d230161fd3d6e210c6e969780a5e275c48f7605
--- /dev/null
+++ b/config.yaml
@@ -0,0 +1,598 @@
+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: '63438_0'
+wandb_notes: 63438_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
+spawn_new_env_books: false
+spawn_new_grasped_book: true
+shuffle_env_books_mode: none
+book_ends_dict:
+  mode: dynamic
+  height: 0.1
+  mass: 3.5
+  friction: 0.15
+  color: '#808080'
+record_sim_videos: true
+resume_wandb_run: true
+train_demo_idxs_list_or_num: -1
+log_train_every_steps: 25
+name_of_expert_demo: 240_sim_demos_left_of_4th_book_bookends_no_env_rand_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: 240_sim_demos_left_of_4th_book_bookends_no_env_rand_20hz_act
+train_num_groups: 210
+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_: torchvision.transforms.v2.Grayscale
+        num_output_channels: 3
+      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: 100
+      num_inference_steps: 100
+      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: 303000
+      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: 1000
+  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_: torchvision.transforms.v2.Grayscale
+          num_output_channels: 3
+        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: 100
+        num_inference_steps: 100
+        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: 303000
+        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: 1000
+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/63438_0/epoch_20/0_traj_1000000_envseed.mp4 b/videos/63438_0/epoch_20/0_traj_1000000_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b7ca7886da1a8c897069679ff97bc50435c6a8d7
--- /dev/null
+++ b/videos/63438_0/epoch_20/0_traj_1000000_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba62f0f8f6050d62edeb8a255633cc020c171efc1773da435da2bdf75da23042
+size 356731
diff --git a/videos/63438_0/epoch_20/10_traj_1000010_envseed.mp4 b/videos/63438_0/epoch_20/10_traj_1000010_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4a9fcbb4d68eacac0d62da45ef30af7bee109ca1
--- /dev/null
+++ b/videos/63438_0/epoch_20/10_traj_1000010_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c791ebd37b8326398167f740ccc68107a2b4680dcaf1077a8666cb526d42925c
+size 256816
diff --git a/videos/63438_0/epoch_20/11_traj_1000011_envseed.mp4 b/videos/63438_0/epoch_20/11_traj_1000011_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d4aeb29b9199988fa528992057762cffc4910fb8
--- /dev/null
+++ b/videos/63438_0/epoch_20/11_traj_1000011_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:687d6941f62b4126025ee175179a6a1fab58ce296efd019ff59055d9d511ab84
+size 389960
diff --git a/videos/63438_0/epoch_20/12_traj_1000012_envseed.mp4 b/videos/63438_0/epoch_20/12_traj_1000012_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6c0bcbdc8291290efb5bb9c6707efc6bddab35a5
--- /dev/null
+++ b/videos/63438_0/epoch_20/12_traj_1000012_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95bdec2a175841d14258d566d9ba5b63515e338d8227f791e450e98374665393
+size 334811
diff --git a/videos/63438_0/epoch_20/13_traj_1000013_envseed.mp4 b/videos/63438_0/epoch_20/13_traj_1000013_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..34cffb973a6e39d770952e7c7871d9214b441c24
--- /dev/null
+++ b/videos/63438_0/epoch_20/13_traj_1000013_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31aaa319786dc42bdaae94c98fcbffdf31af1f4e21d3a3a94532d0bade4fb792
+size 444864
diff --git a/videos/63438_0/epoch_20/14_traj_1000014_envseed.mp4 b/videos/63438_0/epoch_20/14_traj_1000014_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..58f648ae056bdbe9a2ae98c951f8a77bc7757644
--- /dev/null
+++ b/videos/63438_0/epoch_20/14_traj_1000014_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9cfdde9ea97327ace1bbc10cdf9dc172188441cd48fa3d2007fc797534a60c00
+size 280384
diff --git a/videos/63438_0/epoch_20/15_traj_1000015_envseed.mp4 b/videos/63438_0/epoch_20/15_traj_1000015_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d5afdd8b3c67bd6a07c5f59cf1ceb8c36dbdf5dc
--- /dev/null
+++ b/videos/63438_0/epoch_20/15_traj_1000015_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f099ed729c9705eb24f01bd3553334f6c709da81ca6253259de483e26cbfb928
+size 245713
diff --git a/videos/63438_0/epoch_20/16_traj_1000016_envseed.mp4 b/videos/63438_0/epoch_20/16_traj_1000016_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..50a09e7c86b972d500aa54d3257c9cb49f89ec57
--- /dev/null
+++ b/videos/63438_0/epoch_20/16_traj_1000016_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f17596bbb4b91077c7699f6bf173245db083797c35d0c05b47470869f27f2a58
+size 337688
diff --git a/videos/63438_0/epoch_20/17_traj_1000017_envseed.mp4 b/videos/63438_0/epoch_20/17_traj_1000017_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f15a18129eaaec6d65cfbffdc1f109d6d96b7f25
--- /dev/null
+++ b/videos/63438_0/epoch_20/17_traj_1000017_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2887c159e79c89860a87902e3022af077e06ed76c7d1e5ed135cbd11b24a4ba
+size 231300
diff --git a/videos/63438_0/epoch_20/18_traj_1000018_envseed.mp4 b/videos/63438_0/epoch_20/18_traj_1000018_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..88a4c55517d6708cf3ecb44e70b85b7b60ca7b4f
--- /dev/null
+++ b/videos/63438_0/epoch_20/18_traj_1000018_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f13dc62c14252cd7183b4be8bc7220cbb894737ee87bd52972b6070bcd64bd86
+size 421552
diff --git a/videos/63438_0/epoch_20/19_traj_1000019_envseed.mp4 b/videos/63438_0/epoch_20/19_traj_1000019_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0f452bf9fcf4319cea2f5d275b10aa526deec8a1
--- /dev/null
+++ b/videos/63438_0/epoch_20/19_traj_1000019_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1086ddd8f87c2d5f812084a920f5a6370853eaf5a0f948f89c5a89b8fe7cf627
+size 228387
diff --git a/videos/63438_0/epoch_20/1_traj_1000001_envseed.mp4 b/videos/63438_0/epoch_20/1_traj_1000001_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f98886ace5bda7aedcfab3412347a2b565bce67c
--- /dev/null
+++ b/videos/63438_0/epoch_20/1_traj_1000001_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37390f319fa329bf37604a4845f108865932c2c191bed029cd1a7abf6bd9bedc
+size 348605
diff --git a/videos/63438_0/epoch_20/20_traj_1000020_envseed.mp4 b/videos/63438_0/epoch_20/20_traj_1000020_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5b67ada0f30f56d0f78de41c9b56d568577b38c7
--- /dev/null
+++ b/videos/63438_0/epoch_20/20_traj_1000020_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a6ef00fcf050c0545998b20aa6209461c6e73de0d8f05ff05527bf698928700
+size 384558
diff --git a/videos/63438_0/epoch_20/21_traj_1000021_envseed.mp4 b/videos/63438_0/epoch_20/21_traj_1000021_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1c1d6c3510bf2a9298f20c39fb8f6766cb97c354
--- /dev/null
+++ b/videos/63438_0/epoch_20/21_traj_1000021_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6210afa441240b8b76da08bf673267c86217bd6fb632778f8de09eca19d36ed
+size 438968
diff --git a/videos/63438_0/epoch_20/22_traj_1000022_envseed.mp4 b/videos/63438_0/epoch_20/22_traj_1000022_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cbd352fc82a9266dd2575f3ea31b56aa2faaf336
--- /dev/null
+++ b/videos/63438_0/epoch_20/22_traj_1000022_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b20e447dd2b4b4e2296d0d93b4c3706cc7c8e26efb2e10c37e9f14d3dfcbf91
+size 247493
diff --git a/videos/63438_0/epoch_20/23_traj_1000023_envseed.mp4 b/videos/63438_0/epoch_20/23_traj_1000023_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..818a6ecfc09d50366f14c7428da10e49becca749
--- /dev/null
+++ b/videos/63438_0/epoch_20/23_traj_1000023_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f30c7892fd8fae6b5a053ce5d57ed523e4ef778375333cf6b74730a24c0ea9e
+size 347689
diff --git a/videos/63438_0/epoch_20/24_traj_1000024_envseed.mp4 b/videos/63438_0/epoch_20/24_traj_1000024_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6a2c3ff5a6f95ec133428354a516936fc6080712
--- /dev/null
+++ b/videos/63438_0/epoch_20/24_traj_1000024_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a4093742e49d9e3a9842c8247289da39103495719d3d5eb002399ad6c2332ab
+size 236268
diff --git a/videos/63438_0/epoch_20/25_traj_1000025_envseed.mp4 b/videos/63438_0/epoch_20/25_traj_1000025_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f59373b3ee1aa950ab9098c6e61ccd030ba0d425
--- /dev/null
+++ b/videos/63438_0/epoch_20/25_traj_1000025_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef8d60cca3f104b6df05db8325eca2011b55b664732d1d52c0b05b9974b77db9
+size 228655
diff --git a/videos/63438_0/epoch_20/26_traj_1000026_envseed.mp4 b/videos/63438_0/epoch_20/26_traj_1000026_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1fb7a1410a62a4929b9322cfdb28912d44bb5f5a
--- /dev/null
+++ b/videos/63438_0/epoch_20/26_traj_1000026_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:770446c564a2aa9e29d0962d5e05138dd59ac141bf194f0da8e11deeb8696fa7
+size 383349
diff --git a/videos/63438_0/epoch_20/27_traj_1000027_envseed.mp4 b/videos/63438_0/epoch_20/27_traj_1000027_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..060efe19c92d2bf2c6613dc2ccb405d6330ea20e
--- /dev/null
+++ b/videos/63438_0/epoch_20/27_traj_1000027_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b5c616f2bc582968932461178152c225aff8232b977de837dbcb459f2aed184
+size 335449
diff --git a/videos/63438_0/epoch_20/28_traj_1000028_envseed.mp4 b/videos/63438_0/epoch_20/28_traj_1000028_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6abfc5a5249573afe39ebc5fa6839afca4d437ec
--- /dev/null
+++ b/videos/63438_0/epoch_20/28_traj_1000028_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53a29444b088a98048a9174509f79fbc49e086d58715d63ab5e086bd3e2cc399
+size 315900
diff --git a/videos/63438_0/epoch_20/29_traj_1000029_envseed.mp4 b/videos/63438_0/epoch_20/29_traj_1000029_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..81beb849d412bd5ad8bb43be1968c33d3cebdd83
--- /dev/null
+++ b/videos/63438_0/epoch_20/29_traj_1000029_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c0f55efe6f499807886b4bd8487d3e298af06c68d9778ddbb52a553ab31408c
+size 371807
diff --git a/videos/63438_0/epoch_20/2_traj_1000002_envseed.mp4 b/videos/63438_0/epoch_20/2_traj_1000002_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..117f9b34ed95aaf123d92e7b0c9531ae1ff6e6f2
--- /dev/null
+++ b/videos/63438_0/epoch_20/2_traj_1000002_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:343659c0cf76eb3c70731526483f872e333f9bfec31d49f3acdf75c28bec66e5
+size 386840
diff --git a/videos/63438_0/epoch_20/30_traj_1000030_envseed.mp4 b/videos/63438_0/epoch_20/30_traj_1000030_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..68cc24ed92acf91312e26d36be52c7cc711ae9fe
--- /dev/null
+++ b/videos/63438_0/epoch_20/30_traj_1000030_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3f0c42682ce40a9272dd1d9e61d52565a3c38c67bbb6b66fa21e55057279280
+size 242906
diff --git a/videos/63438_0/epoch_20/31_traj_1000031_envseed.mp4 b/videos/63438_0/epoch_20/31_traj_1000031_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..416ef584340f8d6459b986955f594901135493fa
--- /dev/null
+++ b/videos/63438_0/epoch_20/31_traj_1000031_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b134930be32ff9810960170410a8b8cc3ecc2a3ea790db50bb0f5bc530aa585d
+size 333056
diff --git a/videos/63438_0/epoch_20/32_traj_1000032_envseed.mp4 b/videos/63438_0/epoch_20/32_traj_1000032_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1e2bceeb1b935c04a9c75a15e9d256ee17fd3249
--- /dev/null
+++ b/videos/63438_0/epoch_20/32_traj_1000032_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75ab166eae1b96adf9906a9ba9023513924898ee8292e06641eb9a64e5270db9
+size 147677
diff --git a/videos/63438_0/epoch_20/33_traj_1000033_envseed.mp4 b/videos/63438_0/epoch_20/33_traj_1000033_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cf6178da2c59053b4559012b17eb74d6dd5a6d67
--- /dev/null
+++ b/videos/63438_0/epoch_20/33_traj_1000033_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:edf28cd7ba3c22cb07b5a94b82a076407ca444d1a9d6b23eae26835855cc034f
+size 344607
diff --git a/videos/63438_0/epoch_20/34_traj_1000034_envseed.mp4 b/videos/63438_0/epoch_20/34_traj_1000034_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..772a6babee8c8e41421c13cc606b7d8e998c1eb5
--- /dev/null
+++ b/videos/63438_0/epoch_20/34_traj_1000034_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b67e3234184e9bb6dcd7ada12e8f9b4ccbb533cb54705521738adde745e70fd7
+size 447619
diff --git a/videos/63438_0/epoch_20/35_traj_1000035_envseed.mp4 b/videos/63438_0/epoch_20/35_traj_1000035_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bc1f67986e8953bfc00efd6b3eb642e042414bd7
--- /dev/null
+++ b/videos/63438_0/epoch_20/35_traj_1000035_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21724281f2683e23666b5a8a8362ba8a836bade06b80380cee2204bc70064c49
+size 427702
diff --git a/videos/63438_0/epoch_20/36_traj_1000036_envseed.mp4 b/videos/63438_0/epoch_20/36_traj_1000036_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3599febc4555263aa0b53b7e3585004c1ec0b3dc
--- /dev/null
+++ b/videos/63438_0/epoch_20/36_traj_1000036_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54f61117ca235a6076177da8a59e839ac55bcfe0fca739f3257ec28bca9ab4a5
+size 240424
diff --git a/videos/63438_0/epoch_20/37_traj_1000037_envseed.mp4 b/videos/63438_0/epoch_20/37_traj_1000037_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9c86ce64ddf31585537e5426bebbfb2a370e338c
--- /dev/null
+++ b/videos/63438_0/epoch_20/37_traj_1000037_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf33289a53bb598873d752a750bcedbd54d16505e5ecd1cf784571119e9d41d9
+size 453776
diff --git a/videos/63438_0/epoch_20/38_traj_1000038_envseed.mp4 b/videos/63438_0/epoch_20/38_traj_1000038_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6b5521e220487ca10cf4233350ab1eb8fb78d91d
--- /dev/null
+++ b/videos/63438_0/epoch_20/38_traj_1000038_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3decd4f1bb0631d22c4def2c28a719d1de3dcbc65ff1c38a6466b0736503cdb2
+size 278027
diff --git a/videos/63438_0/epoch_20/39_traj_1000039_envseed.mp4 b/videos/63438_0/epoch_20/39_traj_1000039_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c3131b6b42b20455835a5e2f6537832e166e77dd
--- /dev/null
+++ b/videos/63438_0/epoch_20/39_traj_1000039_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b44fe7f2a5955fb340222008de8a6ba3f305bf66ed809525d52b6dc86b21b35a
+size 339146
diff --git a/videos/63438_0/epoch_20/3_traj_1000003_envseed.mp4 b/videos/63438_0/epoch_20/3_traj_1000003_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..19f617b6f123b1159c6c9495c9e8a2514d1c813f
--- /dev/null
+++ b/videos/63438_0/epoch_20/3_traj_1000003_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb65ccbe340173214996b8b693da190acb1be6218d964964fb422e310236217a
+size 386206
diff --git a/videos/63438_0/epoch_20/40_traj_1000040_envseed.mp4 b/videos/63438_0/epoch_20/40_traj_1000040_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bfe0dd57572266e7b7f764105239cdce5f9c94fd
--- /dev/null
+++ b/videos/63438_0/epoch_20/40_traj_1000040_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4a90ac87508a47222f92b455252177b129b32119d5d2fcca82408078f5147f9
+size 344830
diff --git a/videos/63438_0/epoch_20/41_traj_1000041_envseed.mp4 b/videos/63438_0/epoch_20/41_traj_1000041_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c2f7fe989536036d205e1e918502d3264fe844a7
--- /dev/null
+++ b/videos/63438_0/epoch_20/41_traj_1000041_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:017f04ae2b7ad857cb27b27c8231868a24a40bedd05169aece3d255ddd55dc54
+size 252672
diff --git a/videos/63438_0/epoch_20/42_traj_1000042_envseed.mp4 b/videos/63438_0/epoch_20/42_traj_1000042_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..43b41e35c44aca66b2beda1a4083ea875c94ff3a
--- /dev/null
+++ b/videos/63438_0/epoch_20/42_traj_1000042_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09d797a502ec55091a23634cf64493cdca87f148990158b6c1bf8db9c7c11916
+size 408710
diff --git a/videos/63438_0/epoch_20/43_traj_1000043_envseed.mp4 b/videos/63438_0/epoch_20/43_traj_1000043_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..be421b2e036dc57f688c5ab2bb1d6ac144e7a881
--- /dev/null
+++ b/videos/63438_0/epoch_20/43_traj_1000043_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a302d92cee33548798c4f4a63e1eb2a6409644915d5931f624ac7025d920ad3
+size 271540
diff --git a/videos/63438_0/epoch_20/44_traj_1000044_envseed.mp4 b/videos/63438_0/epoch_20/44_traj_1000044_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5933b5f322ee7c4bd37274f8c55d0499197fb006
--- /dev/null
+++ b/videos/63438_0/epoch_20/44_traj_1000044_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d981023afc2d6323899f9cdf5ea0c54bd62319e0a474f1ea316a245eaab6c79
+size 420480
diff --git a/videos/63438_0/epoch_20/45_traj_1000045_envseed.mp4 b/videos/63438_0/epoch_20/45_traj_1000045_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4bd8fcc9f67a07bedecdf7bd13689883fe339166
--- /dev/null
+++ b/videos/63438_0/epoch_20/45_traj_1000045_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d57c3314f8f71a415c5c3a530d7f492505f4f6e5b656733537881a28a7e6b202
+size 364383
diff --git a/videos/63438_0/epoch_20/46_traj_1000046_envseed.mp4 b/videos/63438_0/epoch_20/46_traj_1000046_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9b5be9861d2e11d0820625736f0cd665634a0df5
--- /dev/null
+++ b/videos/63438_0/epoch_20/46_traj_1000046_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce033b958adbc11048ad2508185f21962699a1d9a766042d207ad40b5adf0c45
+size 364730
diff --git a/videos/63438_0/epoch_20/47_traj_1000047_envseed.mp4 b/videos/63438_0/epoch_20/47_traj_1000047_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e46ecbb9626644b7d2828869c8f073043f2c0b73
--- /dev/null
+++ b/videos/63438_0/epoch_20/47_traj_1000047_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2d64afa407eccf59e73573ed4cb721018524bdef9046ecaad2fa8f95ba1f2e1
+size 423553
diff --git a/videos/63438_0/epoch_20/48_traj_1000048_envseed.mp4 b/videos/63438_0/epoch_20/48_traj_1000048_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3d3d81d032ce06b6f255a821098e218dd31ca1e1
--- /dev/null
+++ b/videos/63438_0/epoch_20/48_traj_1000048_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16287832dae8a347b34c82359059868966a4b14fce767452a867e11a4801c090
+size 289365
diff --git a/videos/63438_0/epoch_20/49_traj_1000049_envseed.mp4 b/videos/63438_0/epoch_20/49_traj_1000049_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..207b4cb29440ef81d220068ff996f33b6a4996da
--- /dev/null
+++ b/videos/63438_0/epoch_20/49_traj_1000049_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4071aa6fb20980a87abb38347a6428f1c48c9e4efcec62ed343a9f994c4c3be
+size 339694
diff --git a/videos/63438_0/epoch_20/4_traj_1000004_envseed.mp4 b/videos/63438_0/epoch_20/4_traj_1000004_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4331fbb22dcbf2f21af7036c3ab110e69ec4fd03
--- /dev/null
+++ b/videos/63438_0/epoch_20/4_traj_1000004_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3305fd6206a2a9d99ddd897bb597443d54643998fa371b7b54226ad4267c81e0
+size 430581
diff --git a/videos/63438_0/epoch_20/50_traj_1000050_envseed.mp4 b/videos/63438_0/epoch_20/50_traj_1000050_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..505850cabb1d4b4c73b0608414e69e6ee64746f8
--- /dev/null
+++ b/videos/63438_0/epoch_20/50_traj_1000050_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c749bd7c4cfec467c4a35b3ea98c13c4629fdfc93ca67fecf496a71821beb0c
+size 346655
diff --git a/videos/63438_0/epoch_20/51_traj_1000051_envseed.mp4 b/videos/63438_0/epoch_20/51_traj_1000051_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d630f32fc142dae8b199707ae93dbcdbd258834d
--- /dev/null
+++ b/videos/63438_0/epoch_20/51_traj_1000051_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa66bbedf18cc80a33063d6068f860968e5b3b5db0a539992b417e7ca2cbc609
+size 423061
diff --git a/videos/63438_0/epoch_20/52_traj_1000052_envseed.mp4 b/videos/63438_0/epoch_20/52_traj_1000052_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..319a01f8c092e712219007cd94c3eff32cbdd64f
--- /dev/null
+++ b/videos/63438_0/epoch_20/52_traj_1000052_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:760b071d05b6a12184b8f2e0ba151b40563493650b1b28bec8c94800b4f95af5
+size 388587
diff --git a/videos/63438_0/epoch_20/53_traj_1000053_envseed.mp4 b/videos/63438_0/epoch_20/53_traj_1000053_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ba8eeb71273510e9ecb0f31461f189ce60a83ff1
--- /dev/null
+++ b/videos/63438_0/epoch_20/53_traj_1000053_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0231c0f2a977cd660600cf910a32dd12187e7344b54c496a286ff620e1c683ec
+size 372089
diff --git a/videos/63438_0/epoch_20/54_traj_1000054_envseed.mp4 b/videos/63438_0/epoch_20/54_traj_1000054_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b9340b8aa744339cb4b577fa891764b635d230df
--- /dev/null
+++ b/videos/63438_0/epoch_20/54_traj_1000054_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7ea65c6b0b86e75cc673af7ff07f791ccbcbf093c58ce91e1aca8129052b6a2
+size 409842
diff --git a/videos/63438_0/epoch_20/55_traj_1000055_envseed.mp4 b/videos/63438_0/epoch_20/55_traj_1000055_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..aa9afcdbd40d9be5afcf607a11794749d47d6eae
--- /dev/null
+++ b/videos/63438_0/epoch_20/55_traj_1000055_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff7f7d429e08168b72cf32a5b567827fdca7fcb7d116f99d10144d585021e382
+size 328720
diff --git a/videos/63438_0/epoch_20/56_traj_1000056_envseed.mp4 b/videos/63438_0/epoch_20/56_traj_1000056_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b34cbb3bbfd8d5d8ed6ccf5e0bdffcba483c0bc4
--- /dev/null
+++ b/videos/63438_0/epoch_20/56_traj_1000056_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ba29989b53ba5d31fe250f8528031a0015b40aeeee7ebb7581ffa5caea36ff5
+size 366940
diff --git a/videos/63438_0/epoch_20/57_traj_1000057_envseed.mp4 b/videos/63438_0/epoch_20/57_traj_1000057_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d88e66c2dcdeb5b99e4ea44f944685ce8162757d
--- /dev/null
+++ b/videos/63438_0/epoch_20/57_traj_1000057_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94ca54d53d373b6cff46473be7b1e9ed0886e7afe6cf414c0cb6f4d436adc58a
+size 261661
diff --git a/videos/63438_0/epoch_20/58_traj_1000058_envseed.mp4 b/videos/63438_0/epoch_20/58_traj_1000058_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e74beb72763fb452633cfcc82a676937d5cbf666
--- /dev/null
+++ b/videos/63438_0/epoch_20/58_traj_1000058_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f614ebc9a84a32b62467e9ca61b2d669ee71f35258e12573a8541bce82e3c801
+size 344719
diff --git a/videos/63438_0/epoch_20/59_traj_1000059_envseed.mp4 b/videos/63438_0/epoch_20/59_traj_1000059_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..96f20ab0864fb1c341804c875089f08376bd35fd
--- /dev/null
+++ b/videos/63438_0/epoch_20/59_traj_1000059_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d72c2be49035adbfd16cc8deb5832fd64843071d63c9b9c1427ee56c581e62b
+size 434371
diff --git a/videos/63438_0/epoch_20/5_traj_1000005_envseed.mp4 b/videos/63438_0/epoch_20/5_traj_1000005_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5aac9ef4bd76f7bc182888f91ed1e2eca6b37073
--- /dev/null
+++ b/videos/63438_0/epoch_20/5_traj_1000005_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef57d681a725db43ce6ca054b467cf6140c7e3d299bb48b0a78d0c460515ae00
+size 231907
diff --git a/videos/63438_0/epoch_20/60_traj_1000060_envseed.mp4 b/videos/63438_0/epoch_20/60_traj_1000060_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3f23e6e2d3e196d430882fac46b6f97065528c14
--- /dev/null
+++ b/videos/63438_0/epoch_20/60_traj_1000060_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f07afd287345900ea98e26700edfa8ea002da8d9e37635e672ee7c16025fa46d
+size 341372
diff --git a/videos/63438_0/epoch_20/61_traj_1000061_envseed.mp4 b/videos/63438_0/epoch_20/61_traj_1000061_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a826325762536d710b4bdff72be6dd669915dec8
--- /dev/null
+++ b/videos/63438_0/epoch_20/61_traj_1000061_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:644d077b1f3b566f1ff494e59dd2e56516a9b154cd6e599b32137ec45348450e
+size 339670
diff --git a/videos/63438_0/epoch_20/62_traj_1000062_envseed.mp4 b/videos/63438_0/epoch_20/62_traj_1000062_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2ab2701c7f20ab3578c327428f58744f7518e3db
--- /dev/null
+++ b/videos/63438_0/epoch_20/62_traj_1000062_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b38d0125d75f6a82538d4dac15ad316e606d766100bc4b80d064bc1a2cb24b5
+size 473855
diff --git a/videos/63438_0/epoch_20/63_traj_1000063_envseed.mp4 b/videos/63438_0/epoch_20/63_traj_1000063_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6aaf4cf5c5fbeb14321c7f2842258fd45eb8e2c0
--- /dev/null
+++ b/videos/63438_0/epoch_20/63_traj_1000063_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87ed2ae5dbc61ab7e10308b04d2c83994ed0b001bab247e4e81e59842fa305da
+size 352633
diff --git a/videos/63438_0/epoch_20/64_traj_1000064_envseed.mp4 b/videos/63438_0/epoch_20/64_traj_1000064_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5bf5aadb0bd688662e6afa1bebb86b064a2c15c2
--- /dev/null
+++ b/videos/63438_0/epoch_20/64_traj_1000064_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22507fc7f30cf1938be0e8d57a6bf1e58628d8880d190417aec293de22e1314c
+size 296924
diff --git a/videos/63438_0/epoch_20/65_traj_1000065_envseed.mp4 b/videos/63438_0/epoch_20/65_traj_1000065_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ca2759225e97b7880049c80b4ddd2366d05d4a72
--- /dev/null
+++ b/videos/63438_0/epoch_20/65_traj_1000065_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0403c07c13a7a316d66d54d9433a04a5dd34d59b76f1169d66d9047af33f7ed0
+size 282978
diff --git a/videos/63438_0/epoch_20/66_traj_1000066_envseed.mp4 b/videos/63438_0/epoch_20/66_traj_1000066_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d203a826ef7b29f111d3b31cb6c99464c558c08f
--- /dev/null
+++ b/videos/63438_0/epoch_20/66_traj_1000066_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9b1777bc3f22930c491a24e66244913a5588a77d3dbfa5218629f52ade3ecb3
+size 302175
diff --git a/videos/63438_0/epoch_20/67_traj_1000067_envseed.mp4 b/videos/63438_0/epoch_20/67_traj_1000067_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..52f9c7772f9f30ac91cad1673266445d39ee2e88
--- /dev/null
+++ b/videos/63438_0/epoch_20/67_traj_1000067_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:764a94a73a2ffd500a43d5e0b36585262914f03a10ed897e102a586ece04eb8b
+size 370513
diff --git a/videos/63438_0/epoch_20/68_traj_1000068_envseed.mp4 b/videos/63438_0/epoch_20/68_traj_1000068_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ef426a676d0027d8c425a3a5b363450b1704e354
--- /dev/null
+++ b/videos/63438_0/epoch_20/68_traj_1000068_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75f4f6f4ac09041a0c5d522d0d83ed64629f0179ea35c97189426079b2d658b8
+size 332953
diff --git a/videos/63438_0/epoch_20/69_traj_1000069_envseed.mp4 b/videos/63438_0/epoch_20/69_traj_1000069_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b458e185a30fdfe9bb03dbd5a2755247fec2a1af
--- /dev/null
+++ b/videos/63438_0/epoch_20/69_traj_1000069_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f14ff8dea924038c219a9809280888dc0e01827e61e7252197d032b0ccd6a173
+size 418891
diff --git a/videos/63438_0/epoch_20/6_traj_1000006_envseed.mp4 b/videos/63438_0/epoch_20/6_traj_1000006_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d95ed8ad526edbcfe1c07a8524c15f6afc8a8bc2
--- /dev/null
+++ b/videos/63438_0/epoch_20/6_traj_1000006_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7b388f2ff6aed8c8d76b0b48951be40a1099decf17c4e1ae9ffbc26faff3273
+size 309883
diff --git a/videos/63438_0/epoch_20/70_traj_1000070_envseed.mp4 b/videos/63438_0/epoch_20/70_traj_1000070_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4efe1db208df79023a628137a770e692d921bb78
--- /dev/null
+++ b/videos/63438_0/epoch_20/70_traj_1000070_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:447ae9a7441f523add8ce8516d215abf76db3e58831c8d490aefcf2aa6968746
+size 331592
diff --git a/videos/63438_0/epoch_20/71_traj_1000071_envseed.mp4 b/videos/63438_0/epoch_20/71_traj_1000071_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..09dc563c071f863b1cd8e13997b63e443a8d3a12
--- /dev/null
+++ b/videos/63438_0/epoch_20/71_traj_1000071_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77ba8d6c5beb37add7a3078fab3218f2cb81a18bb11eb3ab1a090254c3aecfed
+size 448038
diff --git a/videos/63438_0/epoch_20/72_traj_1000072_envseed.mp4 b/videos/63438_0/epoch_20/72_traj_1000072_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..492e84e638b2177358f555aa5e46f6b77a275d4e
--- /dev/null
+++ b/videos/63438_0/epoch_20/72_traj_1000072_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d81e343c530cb5ccd613aa2d310e1c8853b29630e60a95e3dd87d9e734adb807
+size 267500
diff --git a/videos/63438_0/epoch_20/73_traj_1000073_envseed.mp4 b/videos/63438_0/epoch_20/73_traj_1000073_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..782bc3370f90be179c5670c26c62e7d646b06c91
--- /dev/null
+++ b/videos/63438_0/epoch_20/73_traj_1000073_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93b23858f6e86d22e933b67f6efe59cc8a27550f1c4c93725f0e5336265a9208
+size 371258
diff --git a/videos/63438_0/epoch_20/74_traj_1000074_envseed.mp4 b/videos/63438_0/epoch_20/74_traj_1000074_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..05a4852faf8e3760d1ec0cb4694580e7c191c93b
--- /dev/null
+++ b/videos/63438_0/epoch_20/74_traj_1000074_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce85643dcdb5d426c038acf22be766b20b239c30463b8f271c35aeff52860274
+size 347320
diff --git a/videos/63438_0/epoch_20/75_traj_1000075_envseed.mp4 b/videos/63438_0/epoch_20/75_traj_1000075_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7c8d988bad075d37285ba5a71e3f66eaff9af82b
--- /dev/null
+++ b/videos/63438_0/epoch_20/75_traj_1000075_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9184e2637015931c6318702dc08602693f800c81134324b6334df6375bcefc90
+size 470112
diff --git a/videos/63438_0/epoch_20/76_traj_1000076_envseed.mp4 b/videos/63438_0/epoch_20/76_traj_1000076_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6b15923b1c34caff34756083cffc80d9fcde8b36
--- /dev/null
+++ b/videos/63438_0/epoch_20/76_traj_1000076_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9e54deb7ca7b3f58b5a748a868b1b56a595c3f5200b79e62546085f43d8f239
+size 368280
diff --git a/videos/63438_0/epoch_20/77_traj_1000077_envseed.mp4 b/videos/63438_0/epoch_20/77_traj_1000077_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e7be609c2b604cf4479221111368ed8fc85690f1
--- /dev/null
+++ b/videos/63438_0/epoch_20/77_traj_1000077_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12e822c882ad4ae3d2f91f1203a89252672d42d166fcd0d3c8912a3efc195c73
+size 339766
diff --git a/videos/63438_0/epoch_20/78_traj_1000078_envseed.mp4 b/videos/63438_0/epoch_20/78_traj_1000078_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1b5a6f3e65c18c68119d53f2cc28351ab1f964ac
--- /dev/null
+++ b/videos/63438_0/epoch_20/78_traj_1000078_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36f08a7b030ae05c740d6e0fa4511250a92298fdddb3efce58bf63e3efe1f9ff
+size 380137
diff --git a/videos/63438_0/epoch_20/79_traj_1000079_envseed.mp4 b/videos/63438_0/epoch_20/79_traj_1000079_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ac65032fdfc3c23ac3620213ed9b257bc5816f1a
--- /dev/null
+++ b/videos/63438_0/epoch_20/79_traj_1000079_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e45af458c14864497f6b5ed2b65741fcb917d38879fb961e839776bef8cd70f9
+size 345590
diff --git a/videos/63438_0/epoch_20/7_traj_1000007_envseed.mp4 b/videos/63438_0/epoch_20/7_traj_1000007_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..08365e02e7ccc9ace9d8997961dd9140030ab66f
--- /dev/null
+++ b/videos/63438_0/epoch_20/7_traj_1000007_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcaa33fe65f53d39040c065a356298eb0288d37c7f179068efcf4b89017406b4
+size 393176
diff --git a/videos/63438_0/epoch_20/80_traj_1000080_envseed.mp4 b/videos/63438_0/epoch_20/80_traj_1000080_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5ac964050bdbdda3064304b228f2cae0368b01ea
--- /dev/null
+++ b/videos/63438_0/epoch_20/80_traj_1000080_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:150a3d4c07a54bf8919626005a9a2b40e6724aba6b0ed25f5134ed933959377e
+size 255301
diff --git a/videos/63438_0/epoch_20/81_traj_1000081_envseed.mp4 b/videos/63438_0/epoch_20/81_traj_1000081_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..02eade1e2d074ec4f391119e085ff143f6ac7131
--- /dev/null
+++ b/videos/63438_0/epoch_20/81_traj_1000081_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:272279fb8786e04d279d00df27e62f9318e67d3e5af7282df7079048a00f214c
+size 129574
diff --git a/videos/63438_0/epoch_20/82_traj_1000082_envseed.mp4 b/videos/63438_0/epoch_20/82_traj_1000082_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..53fe836a45a7616e24ee31638585f4f4183ddf86
--- /dev/null
+++ b/videos/63438_0/epoch_20/82_traj_1000082_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbea5c8731af137a7e5b09904b0520cd2940ec6471d47d932ec6137921bb2dec
+size 297176
diff --git a/videos/63438_0/epoch_20/83_traj_1000083_envseed.mp4 b/videos/63438_0/epoch_20/83_traj_1000083_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0f879d4958b5e07dd0255ae9e0d5d6dc2a0a996d
--- /dev/null
+++ b/videos/63438_0/epoch_20/83_traj_1000083_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f2098d7aa6def3d61fe98f94777da11edd101db069de2de56ef04e8517c7930
+size 354636
diff --git a/videos/63438_0/epoch_20/84_traj_1000084_envseed.mp4 b/videos/63438_0/epoch_20/84_traj_1000084_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c6567757e9258d39ade44ac73aea6a01d6cf17df
--- /dev/null
+++ b/videos/63438_0/epoch_20/84_traj_1000084_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b4153800a6e3fdffd51d90f2af1795caf6ef77c148d19fb7c6e79049d44bf44
+size 337382
diff --git a/videos/63438_0/epoch_20/85_traj_1000085_envseed.mp4 b/videos/63438_0/epoch_20/85_traj_1000085_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cef8b4075f76f256bf40513afe6c8f4748e7ed15
--- /dev/null
+++ b/videos/63438_0/epoch_20/85_traj_1000085_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3caf61fb5c209404aed49a73f273102716d3049e097efe10c3c6d2df1c2c422e
+size 343887
diff --git a/videos/63438_0/epoch_20/86_traj_1000086_envseed.mp4 b/videos/63438_0/epoch_20/86_traj_1000086_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7f10f58f549e02a0e79af6881d6596a8aa14731f
--- /dev/null
+++ b/videos/63438_0/epoch_20/86_traj_1000086_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:521b74c72b8b10d5788f95925438f6b6ef3ddd8319b4752da80ad2103d1fa564
+size 340160
diff --git a/videos/63438_0/epoch_20/87_traj_1000087_envseed.mp4 b/videos/63438_0/epoch_20/87_traj_1000087_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..01039ad741e62b2b17c0358520df2219254d25ba
--- /dev/null
+++ b/videos/63438_0/epoch_20/87_traj_1000087_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:636fab9eab16cbc2c179e2c9619652c304fb5315a295be83be8913a61a4f0d47
+size 420308
diff --git a/videos/63438_0/epoch_20/88_traj_1000088_envseed.mp4 b/videos/63438_0/epoch_20/88_traj_1000088_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c1106159c5a1ca24d388863d30f3b052532e4c7f
--- /dev/null
+++ b/videos/63438_0/epoch_20/88_traj_1000088_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d2d9e28cd32a725c6bd913884265bf3b94fab77e17f7bf5508ad5654f425c08
+size 357572
diff --git a/videos/63438_0/epoch_20/89_traj_1000089_envseed.mp4 b/videos/63438_0/epoch_20/89_traj_1000089_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..65f9721e1af2950e715906b2088bc55d8b46bcc9
--- /dev/null
+++ b/videos/63438_0/epoch_20/89_traj_1000089_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69729569fd1a9a153aedf3289e132ef4a0e12a473da43c462752238955df569e
+size 444469
diff --git a/videos/63438_0/epoch_20/8_traj_1000008_envseed.mp4 b/videos/63438_0/epoch_20/8_traj_1000008_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0ef2ea65be8de0cd0fdbb280ae79346999bb22c2
--- /dev/null
+++ b/videos/63438_0/epoch_20/8_traj_1000008_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac2e1cf8b4dc366e429ceacab59d3f422a8a1937454593666ce30e1c6a9572ee
+size 358618
diff --git a/videos/63438_0/epoch_20/90_traj_1000090_envseed.mp4 b/videos/63438_0/epoch_20/90_traj_1000090_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..31f488b920989412279e4009dcdf1ef14d3f305d
--- /dev/null
+++ b/videos/63438_0/epoch_20/90_traj_1000090_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b19971edbd756b9c4631cdb2a858f7f0e9019aa64765c383ef43c1f8249c3ce2
+size 336228
diff --git a/videos/63438_0/epoch_20/91_traj_1000091_envseed.mp4 b/videos/63438_0/epoch_20/91_traj_1000091_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9125d32a48ae99e429446acaf3e952e737dea701
--- /dev/null
+++ b/videos/63438_0/epoch_20/91_traj_1000091_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5160f8b0b9aff1bd7db0d9c53ed263fe14657151e22ff4debb64ae964caf04d2
+size 347025
diff --git a/videos/63438_0/epoch_20/92_traj_1000092_envseed.mp4 b/videos/63438_0/epoch_20/92_traj_1000092_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c2335e516d4ddc9ebe48b350c159878d767c6a94
--- /dev/null
+++ b/videos/63438_0/epoch_20/92_traj_1000092_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9e13e82ed6f96ad57182a3f703fd8c295880556d3e0d17a2fea29e107fe0cd1
+size 388656
diff --git a/videos/63438_0/epoch_20/93_traj_1000093_envseed.mp4 b/videos/63438_0/epoch_20/93_traj_1000093_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3de7fe2269d739aa842a08b3b60fd9f6eb29c07f
--- /dev/null
+++ b/videos/63438_0/epoch_20/93_traj_1000093_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0565e51a6d325c6ba5c0a643c729e18c85dcd16d3d89cae2017448bcc8d5b08
+size 431061
diff --git a/videos/63438_0/epoch_20/94_traj_1000094_envseed.mp4 b/videos/63438_0/epoch_20/94_traj_1000094_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..324f49494d8b5ad0a7ec2b112b0ed1744ac5bc48
--- /dev/null
+++ b/videos/63438_0/epoch_20/94_traj_1000094_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6942c5136f1ebd12480f9b867758d01084a406dacc01c9d37de3ea48ab98973
+size 332781
diff --git a/videos/63438_0/epoch_20/95_traj_1000095_envseed.mp4 b/videos/63438_0/epoch_20/95_traj_1000095_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d186d0ce3f69499054a3822dde46224faf6b8676
--- /dev/null
+++ b/videos/63438_0/epoch_20/95_traj_1000095_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:750009a85883aab1c46eb1144561f310fd96b7bb1fdac5a44f90638b5ba2ca11
+size 368266
diff --git a/videos/63438_0/epoch_20/96_traj_1000096_envseed.mp4 b/videos/63438_0/epoch_20/96_traj_1000096_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..76aa1404a3c16811d107beabf98558db7b4afa0f
--- /dev/null
+++ b/videos/63438_0/epoch_20/96_traj_1000096_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:016a10bf15c28fc8c34939315f7995096272f2dad61d6b5ea4585e835c37a67f
+size 328162
diff --git a/videos/63438_0/epoch_20/97_traj_1000097_envseed.mp4 b/videos/63438_0/epoch_20/97_traj_1000097_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5db10c80311050e766f9e1c0a282b0fa0019b9ea
--- /dev/null
+++ b/videos/63438_0/epoch_20/97_traj_1000097_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ce0a0823761cbd39a56932d7168617303e350661a8fdfa4f9ce365639a1c54b
+size 343013
diff --git a/videos/63438_0/epoch_20/98_traj_1000098_envseed.mp4 b/videos/63438_0/epoch_20/98_traj_1000098_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..48618274816f23fee1fdf65c5de02f27874d517a
--- /dev/null
+++ b/videos/63438_0/epoch_20/98_traj_1000098_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91744fd5748d214d1db7e71c0317cc3bf3e61f86f81f88e41a5bef894b94800d
+size 300891
diff --git a/videos/63438_0/epoch_20/99_traj_1000099_envseed.mp4 b/videos/63438_0/epoch_20/99_traj_1000099_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..61dcd1fa1efe5fc76dc1261fa3dccae3f7d0dd93
--- /dev/null
+++ b/videos/63438_0/epoch_20/99_traj_1000099_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03d14421f79b0cea9f90583070f2f2680e17cd1c560f45efddbfa938b5aad705
+size 377305
diff --git a/videos/63438_0/epoch_20/9_traj_1000009_envseed.mp4 b/videos/63438_0/epoch_20/9_traj_1000009_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..57105a6e384cd2fd9c1b78db0ca269d7ba839e88
--- /dev/null
+++ b/videos/63438_0/epoch_20/9_traj_1000009_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5b3d328e60c8322f6690fa9ffe45c93a325aed9deb7f8a85b63350dad9507b0
+size 349048
diff --git a/videos/63438_0/epoch_60/205_traj_1000005_envseed.mp4 b/videos/63438_0/epoch_60/205_traj_1000005_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..46f935a6a662414368d2f9a041ba1de630c5fcaa
Binary files /dev/null and b/videos/63438_0/epoch_60/205_traj_1000005_envseed.mp4 differ
diff --git a/videos/63438_0/epoch_60/206_traj_1000006_envseed.mp4 b/videos/63438_0/epoch_60/206_traj_1000006_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..80e44e9abec80f19e56d1095e3c5882d5b42abd2
Binary files /dev/null and b/videos/63438_0/epoch_60/206_traj_1000006_envseed.mp4 differ
diff --git a/videos/63438_0/epoch_60/208_traj_1000008_envseed.mp4 b/videos/63438_0/epoch_60/208_traj_1000008_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6368208b54f55c5c1c6bc92e83f8ec899500e6fc
Binary files /dev/null and b/videos/63438_0/epoch_60/208_traj_1000008_envseed.mp4 differ
diff --git a/videos/63438_0/epoch_60/210_traj_1000010_envseed.mp4 b/videos/63438_0/epoch_60/210_traj_1000010_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..aec6b7ad863cb6297942d38f13a70b0a0fdeac59
Binary files /dev/null and b/videos/63438_0/epoch_60/210_traj_1000010_envseed.mp4 differ
diff --git a/videos/63438_0/epoch_60/217_traj_1000017_envseed.mp4 b/videos/63438_0/epoch_60/217_traj_1000017_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5ae7536ea3f27152d22bd67614b6176148958fb5
Binary files /dev/null and b/videos/63438_0/epoch_60/217_traj_1000017_envseed.mp4 differ
diff --git a/videos/63438_0/epoch_60/219_traj_1000019_envseed.mp4 b/videos/63438_0/epoch_60/219_traj_1000019_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..02108aecaff2f6e808748cc803f93c66d4219300
Binary files /dev/null and b/videos/63438_0/epoch_60/219_traj_1000019_envseed.mp4 differ
diff --git a/videos/63438_0/epoch_60/222_traj_1000022_envseed.mp4 b/videos/63438_0/epoch_60/222_traj_1000022_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1d1d239b86722300267278f946172c33cdd0b633
Binary files /dev/null and b/videos/63438_0/epoch_60/222_traj_1000022_envseed.mp4 differ
diff --git a/videos/63438_0/epoch_60/224_traj_1000024_envseed.mp4 b/videos/63438_0/epoch_60/224_traj_1000024_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..aec6b2d6501da6549934efb8872ef455ba92a9db
Binary files /dev/null and b/videos/63438_0/epoch_60/224_traj_1000024_envseed.mp4 differ
diff --git a/videos/63438_0/epoch_60/225_traj_1000025_envseed.mp4 b/videos/63438_0/epoch_60/225_traj_1000025_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9175c0e6d35a67c923a0025e768e9f1ca6228863
Binary files /dev/null and b/videos/63438_0/epoch_60/225_traj_1000025_envseed.mp4 differ
diff --git a/videos/63438_0/epoch_60/228_traj_1000028_envseed.mp4 b/videos/63438_0/epoch_60/228_traj_1000028_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..969102f205fa7af56313df62be2adc47d50b56f7
Binary files /dev/null and b/videos/63438_0/epoch_60/228_traj_1000028_envseed.mp4 differ
diff --git a/videos/63438_0/epoch_60/241_traj_1000041_envseed.mp4 b/videos/63438_0/epoch_60/241_traj_1000041_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..18cea076a2e81ac88ccb1beb0645638b5e18acc0
Binary files /dev/null and b/videos/63438_0/epoch_60/241_traj_1000041_envseed.mp4 differ
diff --git a/videos/63438_0/epoch_60/243_traj_1000043_envseed.mp4 b/videos/63438_0/epoch_60/243_traj_1000043_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1347a5b9f758bd3f6f060b19dd83158fbea1992d
Binary files /dev/null and b/videos/63438_0/epoch_60/243_traj_1000043_envseed.mp4 differ
diff --git a/videos/63438_0/epoch_60/248_traj_1000048_envseed.mp4 b/videos/63438_0/epoch_60/248_traj_1000048_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..aefc2964f8b39ef1bf552c4e6bb3c62067aa59be
Binary files /dev/null and b/videos/63438_0/epoch_60/248_traj_1000048_envseed.mp4 differ
diff --git a/videos/63438_0/epoch_60/255_traj_1000055_envseed.mp4 b/videos/63438_0/epoch_60/255_traj_1000055_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d0e1841165732f8adeda51cbbf474b0f9bcb97e9
Binary files /dev/null and b/videos/63438_0/epoch_60/255_traj_1000055_envseed.mp4 differ
diff --git a/videos/63438_0/epoch_60/272_traj_1000072_envseed.mp4 b/videos/63438_0/epoch_60/272_traj_1000072_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0a5439dca5aab414a8001b1a18c4d9a3a00c0b41
Binary files /dev/null and b/videos/63438_0/epoch_60/272_traj_1000072_envseed.mp4 differ
diff --git a/videos/63438_0/epoch_60/280_traj_1000080_envseed.mp4 b/videos/63438_0/epoch_60/280_traj_1000080_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2cd88f3df48da1385d0d93d3c2b915b283a2cf3f
Binary files /dev/null and b/videos/63438_0/epoch_60/280_traj_1000080_envseed.mp4 differ
diff --git a/videos/63438_0/epoch_60/282_traj_1000082_envseed.mp4 b/videos/63438_0/epoch_60/282_traj_1000082_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c65c7faf66da330b490e4c9465af16b3ae381e73
Binary files /dev/null and b/videos/63438_0/epoch_60/282_traj_1000082_envseed.mp4 differ
diff --git a/videos/63438_0/epoch_80/301_traj_1000001_envseed.mp4 b/videos/63438_0/epoch_80/301_traj_1000001_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..208b36655db937f2e6a70977050b49b3721dd6ad
--- /dev/null
+++ b/videos/63438_0/epoch_80/301_traj_1000001_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:058cc562bf7131acbf0e27308c90c1e7fb2c127457677a1b1fe8aa302c7e10a6
+size 189947
diff --git a/videos/63438_0/epoch_80/302_traj_1000002_envseed.mp4 b/videos/63438_0/epoch_80/302_traj_1000002_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d9ea77f0d0783611d33a9f85e69480d6ca236791
--- /dev/null
+++ b/videos/63438_0/epoch_80/302_traj_1000002_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b536cb2fcdc90085d32758782c55d5326fe407986df3ff71ad15e98a08643700
+size 185148
diff --git a/videos/63438_0/epoch_80/305_traj_1000005_envseed.mp4 b/videos/63438_0/epoch_80/305_traj_1000005_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c454b4b91405df554df57dd21e06807a93d44a5d
--- /dev/null
+++ b/videos/63438_0/epoch_80/305_traj_1000005_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7bc45f18942dc9ee04d951b6709ef96f867b22323b60c5710d5451f5c888b05
+size 187779
diff --git a/videos/63438_0/epoch_80/307_traj_1000007_envseed.mp4 b/videos/63438_0/epoch_80/307_traj_1000007_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f7d4a0ceb2042dfbb17c8daa953460ec8a1a9838
--- /dev/null
+++ b/videos/63438_0/epoch_80/307_traj_1000007_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84aaf9cf3d7281cf1c62facf7bdf39572968e9ca4fac60502f02dc363529e133
+size 193164
diff --git a/videos/63438_0/epoch_80/308_traj_1000008_envseed.mp4 b/videos/63438_0/epoch_80/308_traj_1000008_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..02c521b84818531764cfff88e62404529ce890b2
--- /dev/null
+++ b/videos/63438_0/epoch_80/308_traj_1000008_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be46e948f3e461d42ee199652cadfd28db62877e4b54f296091e3d233f56b8ae
+size 183827
diff --git a/videos/63438_0/epoch_80/319_traj_1000019_envseed.mp4 b/videos/63438_0/epoch_80/319_traj_1000019_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..90bba8990870a6be58e47be55f01a1211f4fa824
--- /dev/null
+++ b/videos/63438_0/epoch_80/319_traj_1000019_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aebaf48971b2d5fc3415d5f97040864916f563d7c63ce8c1a3e56cc59b8c72da
+size 195399
diff --git a/videos/63438_0/epoch_80/325_traj_1000025_envseed.mp4 b/videos/63438_0/epoch_80/325_traj_1000025_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..be1f1adec21dbdbe03f73681b2e274aa14c832cc
--- /dev/null
+++ b/videos/63438_0/epoch_80/325_traj_1000025_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:346e6b5cf098dfea69b895e2aa6e0dd76225fd1a2383eb2c8797f4ffa7d8b8bb
+size 179245
diff --git a/videos/63438_0/epoch_80/326_traj_1000026_envseed.mp4 b/videos/63438_0/epoch_80/326_traj_1000026_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..93ce9e620d47aeec56db12a1fef40a3f37b4e701
--- /dev/null
+++ b/videos/63438_0/epoch_80/326_traj_1000026_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a0da424751ac83d9c6aea38d13d130bc6d9a56a4fe3a980f0b85b456edf3f53
+size 191318
diff --git a/videos/63438_0/epoch_80/327_traj_1000027_envseed.mp4 b/videos/63438_0/epoch_80/327_traj_1000027_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..425663bf61f01ad0211fcc53493da43727a180e1
--- /dev/null
+++ b/videos/63438_0/epoch_80/327_traj_1000027_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33b069eb2c8b6c5306c0979d696052c7155834a9db32bf3d617b69e53e93c618
+size 197360
diff --git a/videos/63438_0/epoch_80/330_traj_1000030_envseed.mp4 b/videos/63438_0/epoch_80/330_traj_1000030_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2123681dd3834ae5f66f10087b091514f8bc04c5
--- /dev/null
+++ b/videos/63438_0/epoch_80/330_traj_1000030_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:533f80993a4693c61fa2f799aa008a77e90ec4f164647d0227da2e5af71ad4ec
+size 182447
diff --git a/videos/63438_0/epoch_80/332_traj_1000032_envseed.mp4 b/videos/63438_0/epoch_80/332_traj_1000032_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3a01eb209979d32148435fe433eea5898df70c4a
--- /dev/null
+++ b/videos/63438_0/epoch_80/332_traj_1000032_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a62c715966655e5a08821cf8090cb51dd4d29e616cd540fc4fae260f53d5abb
+size 182092
diff --git a/videos/63438_0/epoch_80/333_traj_1000033_envseed.mp4 b/videos/63438_0/epoch_80/333_traj_1000033_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6dc53291913adfcb232e123914a6ec2efbd85edf
--- /dev/null
+++ b/videos/63438_0/epoch_80/333_traj_1000033_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f1277ec511bfa1ff07595149136788df900a14aeebfd29c09d8ff149c0ff8d5
+size 188779
diff --git a/videos/63438_0/epoch_80/336_traj_1000036_envseed.mp4 b/videos/63438_0/epoch_80/336_traj_1000036_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..93883a915b911c275c3b567a9d5d6540fb994784
--- /dev/null
+++ b/videos/63438_0/epoch_80/336_traj_1000036_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10bbae0dc3a33b73193e8b6262370793c2aab86faff9f44b22b6373dc688ae30
+size 181490
diff --git a/videos/63438_0/epoch_80/337_traj_1000037_envseed.mp4 b/videos/63438_0/epoch_80/337_traj_1000037_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a9c01da961593d71b9ed58c8e45ad72166f7d3da
--- /dev/null
+++ b/videos/63438_0/epoch_80/337_traj_1000037_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c40f5d9ccaf6014a75b29a362501ff88816787adeb00a7e99bd09da6c7ac56b
+size 178232
diff --git a/videos/63438_0/epoch_80/343_traj_1000043_envseed.mp4 b/videos/63438_0/epoch_80/343_traj_1000043_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0ebed37683b1a661b5fe5018e9a103c3ffcaebae
--- /dev/null
+++ b/videos/63438_0/epoch_80/343_traj_1000043_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5d1992f39172cf44edeaa38ffe80e32520f75947648202599d93537df34f131
+size 178933
diff --git a/videos/63438_0/epoch_80/345_traj_1000045_envseed.mp4 b/videos/63438_0/epoch_80/345_traj_1000045_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..43a8ed805f24380d741210daf0bb3aede6bda62a
--- /dev/null
+++ b/videos/63438_0/epoch_80/345_traj_1000045_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc6047aee1142dd6c88925f1670f8493ace16a01b8cca39a54b54253fd5350ba
+size 187241
diff --git a/videos/63438_0/epoch_80/346_traj_1000046_envseed.mp4 b/videos/63438_0/epoch_80/346_traj_1000046_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d235233583ef0b7117cd6fdb080ba6cc469f5a13
--- /dev/null
+++ b/videos/63438_0/epoch_80/346_traj_1000046_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a13455bed0037139a3bd0b4344e308c39abf922b5c9cd8c7aa81678f804f95ce
+size 179121
diff --git a/videos/63438_0/epoch_80/347_traj_1000047_envseed.mp4 b/videos/63438_0/epoch_80/347_traj_1000047_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..626226706448e8541f395617bce0c5c26e28b6f6
--- /dev/null
+++ b/videos/63438_0/epoch_80/347_traj_1000047_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa823a426fcb2af700e31cd042cd3e86a2ff935783009019e635d617168a65e6
+size 183132
diff --git a/videos/63438_0/epoch_80/350_traj_1000050_envseed.mp4 b/videos/63438_0/epoch_80/350_traj_1000050_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0528c7888a1a5b6b8530645dcf1bdf159d32df59
--- /dev/null
+++ b/videos/63438_0/epoch_80/350_traj_1000050_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4324977c56d53182313d429dfa33a886731fb22d748a66a987872c85dd231136
+size 322932
diff --git a/videos/63438_0/epoch_80/351_traj_1000051_envseed.mp4 b/videos/63438_0/epoch_80/351_traj_1000051_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..255fe80b29cce81b120389d54baffc21fa8046de
--- /dev/null
+++ b/videos/63438_0/epoch_80/351_traj_1000051_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1375be22ceb376d663f3dfe20465662ab23e7e606d454946d798d7d3ddbe1991
+size 175471
diff --git a/videos/63438_0/epoch_80/356_traj_1000056_envseed.mp4 b/videos/63438_0/epoch_80/356_traj_1000056_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a67876ebeceb107ea318dd35bd005af27f07b143
--- /dev/null
+++ b/videos/63438_0/epoch_80/356_traj_1000056_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de8f7810f997786bc1ad73fe8af8740f5d2b3073537aca3f5ffbbadb6128215f
+size 197439
diff --git a/videos/63438_0/epoch_80/357_traj_1000057_envseed.mp4 b/videos/63438_0/epoch_80/357_traj_1000057_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4883e947f545ce0d35900344849dd99c074a38bc
--- /dev/null
+++ b/videos/63438_0/epoch_80/357_traj_1000057_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c605a0ab17d296eb43cb99c1623760f052e2d162c622ca50ce1bb9503edc82f
+size 206704
diff --git a/videos/63438_0/epoch_80/359_traj_1000059_envseed.mp4 b/videos/63438_0/epoch_80/359_traj_1000059_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..84e3533f1231aada62210e82f0548cba70b362a4
--- /dev/null
+++ b/videos/63438_0/epoch_80/359_traj_1000059_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31baf7bddb00ca9b30bc15dc8e7d8b31c08e169f99e561c060349956e0e5da33
+size 185177
diff --git a/videos/63438_0/epoch_80/370_traj_1000070_envseed.mp4 b/videos/63438_0/epoch_80/370_traj_1000070_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2526a056e8a1f84cb57136d92222356ad18dce2b
--- /dev/null
+++ b/videos/63438_0/epoch_80/370_traj_1000070_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac3147ba6895ee93d4d8f7fd5ec6fdc5c224d966051724a229e444c5d437a169
+size 169411
diff --git a/videos/63438_0/epoch_80/371_traj_1000071_envseed.mp4 b/videos/63438_0/epoch_80/371_traj_1000071_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ea7e6544e5cc07ec5f1c5318efcb040a35e27bd7
--- /dev/null
+++ b/videos/63438_0/epoch_80/371_traj_1000071_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7644a4086fc723080723619a48743618202eaa519e90e1edb05fee0fbc8e6ad
+size 190957
diff --git a/videos/63438_0/epoch_80/372_traj_1000072_envseed.mp4 b/videos/63438_0/epoch_80/372_traj_1000072_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9e40052593c26e1491e088f6347588ceafba93d8
--- /dev/null
+++ b/videos/63438_0/epoch_80/372_traj_1000072_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f68ce9419c5981535ec498473f2e5ed703bec13522a33f24ff83534d73691b6
+size 171703
diff --git a/videos/63438_0/epoch_80/375_traj_1000075_envseed.mp4 b/videos/63438_0/epoch_80/375_traj_1000075_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8f99411c2d56dcff2dbf7b2cd5e0aa71a95280d3
--- /dev/null
+++ b/videos/63438_0/epoch_80/375_traj_1000075_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58eacdf1aacb78410a42274e59f2cca4dc938ddb2dde94465a5687a37245356c
+size 189669
diff --git a/videos/63438_0/epoch_80/379_traj_1000079_envseed.mp4 b/videos/63438_0/epoch_80/379_traj_1000079_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a0fd779a6d35c19fcbc7d8995fe257edfba3a677
--- /dev/null
+++ b/videos/63438_0/epoch_80/379_traj_1000079_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:840cda92c59aaae764f67bf1607b6cb14b73931be428e08e1449f23047156289
+size 287982
diff --git a/videos/63438_0/epoch_80/388_traj_1000088_envseed.mp4 b/videos/63438_0/epoch_80/388_traj_1000088_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ffb76f79c790790a10c9404c9ecf9ca6e91c748a
--- /dev/null
+++ b/videos/63438_0/epoch_80/388_traj_1000088_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3cbf200664f8d5104464dbb9535c8a020bc2761af99371ad3062c60255bd7a07
+size 175686
diff --git a/videos/63438_0/epoch_80/392_traj_1000092_envseed.mp4 b/videos/63438_0/epoch_80/392_traj_1000092_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..baade7a354c79d8cd52550419796f74646d9e7f8
--- /dev/null
+++ b/videos/63438_0/epoch_80/392_traj_1000092_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d940d9f01bfa31f5cd3a1924db555d7a7b107b5cfa586267db4a156c1567ba6c
+size 186340
diff --git a/videos/63438_0/epoch_80/398_traj_1000098_envseed.mp4 b/videos/63438_0/epoch_80/398_traj_1000098_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d49e73d0b2e71f6dd580484c0265595ee17d373f
--- /dev/null
+++ b/videos/63438_0/epoch_80/398_traj_1000098_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3166d4342983e9ae8d9bbed68cb01ed2778c35fac139ce8d8552677638e1db25
+size 190621
diff --git a/videos/63438_0/epoch_80/399_traj_1000099_envseed.mp4 b/videos/63438_0/epoch_80/399_traj_1000099_envseed.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7aea7a0c4771bec24f9878001bf3feaa2c6f8571
--- /dev/null
+++ b/videos/63438_0/epoch_80/399_traj_1000099_envseed.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbc0c5d3f7fcceedfea1cc3efbd75c5ec0deacc8b71c1b71a382d59b3005b5bc
+size 190816