diff --git a/train_bsp10/checkpoints/010000/pretrained_model/config.json b/train_bsp10/checkpoints/010000/pretrained_model/config.json
new file mode 100644
index 0000000000000000000000000000000000000000..29162bf2c105e73be74560f4dce87a7c296ad7bf
--- /dev/null
+++ b/train_bsp10/checkpoints/010000/pretrained_model/config.json
@@ -0,0 +1,122 @@
+{
+    "type": "bspline",
+    "n_obs_steps": 2,
+    "input_features": {
+        "observation.state": {
+            "type": "STATE",
+            "shape": [
+                6
+            ]
+        },
+        "observation.images.front": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        },
+        "observation.images.wrist": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        },
+        "observation.images.top": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        }
+    },
+    "output_features": {
+        "action": {
+            "type": "ACTION",
+            "shape": [
+                6
+            ]
+        }
+    },
+    "device": "cuda",
+    "dtype": null,
+    "use_amp": false,
+    "use_peft": false,
+    "push_to_hub": false,
+    "repo_id": null,
+    "private": null,
+    "tags": null,
+    "license": null,
+    "pretrained_path": null,
+    "pretrained_revision": null,
+    "horizon": 16,
+    "n_action_steps": 32,
+    "normalization_mapping": {
+        "VISUAL": "MEAN_STD",
+        "STATE": "MIN_MAX",
+        "ACTION": "MIN_MAX"
+    },
+    "drop_n_last_frames": 0,
+    "vision_backbone": "resnet18",
+    "resize_shape": [
+        120,
+        160
+    ],
+    "crop_ratio": 1.0,
+    "crop_shape": null,
+    "crop_is_random": true,
+    "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
+    "use_group_norm": false,
+    "spatial_softmax_num_keypoints": 32,
+    "use_separate_rgb_encoder_per_camera": true,
+    "down_dims": [
+        512,
+        1024,
+        2048
+    ],
+    "kernel_size": 5,
+    "n_groups": 8,
+    "diffusion_step_embed_dim": 128,
+    "use_film_scale_modulation": true,
+    "gradient_checkpointing": false,
+    "noise_scheduler_type": "DDIM",
+    "num_train_timesteps": 100,
+    "beta_schedule": "squaredcos_cap_v2",
+    "beta_start": 0.0001,
+    "beta_end": 0.02,
+    "prediction_type": "epsilon",
+    "clip_sample": true,
+    "clip_sample_range": 1.5,
+    "num_inference_steps": 10,
+    "compile_model": false,
+    "compile_mode": "reduce-overhead",
+    "do_mask_loss_for_padding": false,
+    "optimizer_lr": 0.0001,
+    "optimizer_betas": [
+        0.95,
+        0.999
+    ],
+    "optimizer_eps": 1e-08,
+    "optimizer_weight_decay": 1e-06,
+    "scheduler_name": "cosine",
+    "scheduler_warmup_steps": 500,
+    "bspline_degree": 3,
+    "bspline_chunk_size": 10,
+    "bspline_window": 64,
+    "bspline_max_error": 0.01,
+    "bspline_speed_up": 1.0,
+    "bspline_fit_workers": 0,
+    "bspline_mode": "diffusion",
+    "planbind_fine_spacing": 4,
+    "planbind_subdivision": 4,
+    "planbind_max_plan_age": 32,
+    "planbind_plan_noise": 0.02,
+    "planbind_replan_threshold": 0.0,
+    "planbind_latency": 0,
+    "planbind_commit": "latency",
+    "planbind_position_limit": 0.0,
+    "planbind_velocity_limit": 0.0
+}
\ No newline at end of file
diff --git a/train_bsp10/checkpoints/010000/pretrained_model/model.safetensors b/train_bsp10/checkpoints/010000/pretrained_model/model.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..5823e2d6c0f6cfe800bb9a6e5a40d66c331da193
--- /dev/null
+++ b/train_bsp10/checkpoints/010000/pretrained_model/model.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:738386db4ffc1ba9b9a037dec4a2ed8f0e647d3ffb00bf5c6d39ec65d35a0d5d
+size 1170940540
diff --git a/train_bsp10/checkpoints/010000/pretrained_model/policy_postprocessor.json b/train_bsp10/checkpoints/010000/pretrained_model/policy_postprocessor.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2c5e6cea7850bb999ab193f96021fa0129ce4db
--- /dev/null
+++ b/train_bsp10/checkpoints/010000/pretrained_model/policy_postprocessor.json
@@ -0,0 +1,32 @@
+{
+  "name": "policy_postprocessor",
+  "steps": [
+    {
+      "registry_name": "unnormalizer_processor",
+      "config": {
+        "eps": 1e-08,
+        "features": {
+          "action": {
+            "type": "ACTION",
+            "shape": [
+              6
+            ]
+          }
+        },
+        "norm_map": {
+          "VISUAL": "MEAN_STD",
+          "STATE": "MIN_MAX",
+          "ACTION": "MIN_MAX"
+        }
+      },
+      "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cpu",
+        "float_dtype": null
+      }
+    }
+  ]
+}
\ No newline at end of file
diff --git a/train_bsp10/checkpoints/010000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors b/train_bsp10/checkpoints/010000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..ead5732518c212199e87eb8df6f0f49f32e15a1e
--- /dev/null
+++ b/train_bsp10/checkpoints/010000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55336fe114f19ef78b83ccc0926a3df66a9adc11a641f9adc0caf9c439ff8576
+size 8528
diff --git a/train_bsp10/checkpoints/010000/pretrained_model/policy_preprocessor.json b/train_bsp10/checkpoints/010000/pretrained_model/policy_preprocessor.json
new file mode 100644
index 0000000000000000000000000000000000000000..981e0dfcb58027d80f783d8905452fadeaea830e
--- /dev/null
+++ b/train_bsp10/checkpoints/010000/pretrained_model/policy_preprocessor.json
@@ -0,0 +1,72 @@
+{
+  "name": "policy_preprocessor",
+  "steps": [
+    {
+      "registry_name": "rename_observations_processor",
+      "config": {
+        "rename_map": {}
+      }
+    },
+    {
+      "registry_name": "to_batch_processor",
+      "config": {}
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cuda",
+        "float_dtype": null
+      }
+    },
+    {
+      "registry_name": "normalizer_processor",
+      "config": {
+        "eps": 1e-08,
+        "features": {
+          "observation.state": {
+            "type": "STATE",
+            "shape": [
+              6
+            ]
+          },
+          "observation.images.front": {
+            "type": "VISUAL",
+            "shape": [
+              3,
+              480,
+              640
+            ]
+          },
+          "observation.images.wrist": {
+            "type": "VISUAL",
+            "shape": [
+              3,
+              480,
+              640
+            ]
+          },
+          "observation.images.top": {
+            "type": "VISUAL",
+            "shape": [
+              3,
+              480,
+              640
+            ]
+          },
+          "action": {
+            "type": "ACTION",
+            "shape": [
+              6
+            ]
+          }
+        },
+        "norm_map": {
+          "VISUAL": "MEAN_STD",
+          "STATE": "MIN_MAX",
+          "ACTION": "MIN_MAX"
+        }
+      },
+      "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
+    }
+  ]
+}
\ No newline at end of file
diff --git a/train_bsp10/checkpoints/010000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors b/train_bsp10/checkpoints/010000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..f99bcf47b067091c10855f81f0663ca8d0f56ab8
--- /dev/null
+++ b/train_bsp10/checkpoints/010000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0f6cfea44fc7cfa8fa04ca706b89c90cce83136e90c3d0286428dfa2e1968d7
+size 8536
diff --git a/train_bsp10/checkpoints/010000/pretrained_model/train_config.json b/train_bsp10/checkpoints/010000/pretrained_model/train_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..c074a87b77cd50d8d69e41de3aad8626a547e196
--- /dev/null
+++ b/train_bsp10/checkpoints/010000/pretrained_model/train_config.json
@@ -0,0 +1,347 @@
+{
+    "dataset": {
+        "repo_id": "local/nexarm_stack_bowls",
+        "repo_type": "dataset",
+        "root": "/workspace/lerobot-nexarm/outputs/datasets/nexarm_stack_bowls",
+        "episodes": null,
+        "exclude_episodes": null,
+        "image_transforms": {
+            "enable": false,
+            "backend": "dataloader",
+            "gpu_compile": true,
+            "gpu_chunk_size": 32,
+            "max_num_transforms": 3,
+            "random_order": false,
+            "tfs": {
+                "brightness": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "brightness": [
+                            0.8,
+                            1.2
+                        ]
+                    }
+                },
+                "contrast": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "contrast": [
+                            0.8,
+                            1.2
+                        ]
+                    }
+                },
+                "saturation": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "saturation": [
+                            0.5,
+                            1.5
+                        ]
+                    }
+                },
+                "hue": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "hue": [
+                            -0.05,
+                            0.05
+                        ]
+                    }
+                },
+                "sharpness": {
+                    "weight": 1.0,
+                    "type": "SharpnessJitter",
+                    "kwargs": {
+                        "sharpness": [
+                            0.5,
+                            1.5
+                        ]
+                    }
+                },
+                "affine": {
+                    "weight": 1.0,
+                    "type": "RandomAffine",
+                    "kwargs": {
+                        "degrees": [
+                            -5.0,
+                            5.0
+                        ],
+                        "translate": [
+                            0.05,
+                            0.05
+                        ]
+                    }
+                }
+            }
+        },
+        "revision": null,
+        "use_imagenet_stats": true,
+        "video_backend": "torchcodec",
+        "return_uint8": false,
+        "depth_output_unit": "mm",
+        "streaming": false,
+        "streaming_episode_pool_size": null,
+        "streaming_sampling_strategy": "remaining",
+        "streaming_prefetch_episodes": 8,
+        "streaming_byte_budget_gb": 8.0,
+        "streaming_decode_threads": 2,
+        "streaming_decoded_queue_size": 8,
+        "streaming_native_http_connections": null,
+        "streaming_native_http_subranges": 1,
+        "streaming_sidecar_lock_timeout_s": 1800,
+        "video_decoder_cache_size": null,
+        "eval_split": 0.0
+    },
+    "env": null,
+    "policy": {
+        "type": "bspline",
+        "n_obs_steps": 2,
+        "input_features": {
+            "observation.state": {
+                "type": "STATE",
+                "shape": [
+                    6
+                ]
+            },
+            "observation.images.front": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    480,
+                    640
+                ]
+            },
+            "observation.images.wrist": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    480,
+                    640
+                ]
+            },
+            "observation.images.top": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    480,
+                    640
+                ]
+            }
+        },
+        "output_features": {
+            "action": {
+                "type": "ACTION",
+                "shape": [
+                    6
+                ]
+            }
+        },
+        "device": "cuda",
+        "dtype": null,
+        "use_amp": false,
+        "use_peft": false,
+        "push_to_hub": false,
+        "repo_id": null,
+        "private": null,
+        "tags": null,
+        "license": null,
+        "pretrained_path": null,
+        "pretrained_revision": null,
+        "horizon": 16,
+        "n_action_steps": 32,
+        "normalization_mapping": {
+            "VISUAL": "MEAN_STD",
+            "STATE": "MIN_MAX",
+            "ACTION": "MIN_MAX"
+        },
+        "drop_n_last_frames": 0,
+        "vision_backbone": "resnet18",
+        "resize_shape": [
+            120,
+            160
+        ],
+        "crop_ratio": 1.0,
+        "crop_shape": null,
+        "crop_is_random": true,
+        "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
+        "use_group_norm": false,
+        "spatial_softmax_num_keypoints": 32,
+        "use_separate_rgb_encoder_per_camera": true,
+        "down_dims": [
+            512,
+            1024,
+            2048
+        ],
+        "kernel_size": 5,
+        "n_groups": 8,
+        "diffusion_step_embed_dim": 128,
+        "use_film_scale_modulation": true,
+        "gradient_checkpointing": false,
+        "noise_scheduler_type": "DDIM",
+        "num_train_timesteps": 100,
+        "beta_schedule": "squaredcos_cap_v2",
+        "beta_start": 0.0001,
+        "beta_end": 0.02,
+        "prediction_type": "epsilon",
+        "clip_sample": true,
+        "clip_sample_range": 1.5,
+        "num_inference_steps": 10,
+        "compile_model": false,
+        "compile_mode": "reduce-overhead",
+        "do_mask_loss_for_padding": false,
+        "optimizer_lr": 0.0001,
+        "optimizer_betas": [
+            0.95,
+            0.999
+        ],
+        "optimizer_eps": 1e-08,
+        "optimizer_weight_decay": 1e-06,
+        "scheduler_name": "cosine",
+        "scheduler_warmup_steps": 500,
+        "bspline_degree": 3,
+        "bspline_chunk_size": 10,
+        "bspline_window": 64,
+        "bspline_max_error": 0.01,
+        "bspline_speed_up": 1.0,
+        "bspline_fit_workers": 0,
+        "bspline_mode": "diffusion",
+        "planbind_fine_spacing": 4,
+        "planbind_subdivision": 4,
+        "planbind_max_plan_age": 32,
+        "planbind_plan_noise": 0.02,
+        "planbind_replan_threshold": 0.0,
+        "planbind_latency": 0,
+        "planbind_commit": "latency",
+        "planbind_position_limit": 0.0,
+        "planbind_velocity_limit": 0.0
+    },
+    "reward_model": null,
+    "output_dir": "/workspace/lerobot-nexarm/experiments/261027-plan-bind-two-step/outputs/full/train_bsp10",
+    "job_name": "261027-plan-bind-bsp10",
+    "resume": false,
+    "seed": 1000,
+    "cudnn_deterministic": false,
+    "num_workers": 16,
+    "batch_size": 32,
+    "prefetch_factor": 4,
+    "persistent_workers": true,
+    "dataloader_multiprocessing_context": "spawn",
+    "steps": 60000,
+    "env_eval_freq": 0,
+    "log_freq": 100,
+    "eval_steps": 0,
+    "max_eval_samples": 0,
+    "tolerance_s": 0.0001,
+    "save_checkpoint": true,
+    "save_freq": 10000,
+    "checkpoint_format": "safetensors",
+    "use_policy_training_preset": true,
+    "optimizer": {
+        "type": "adam",
+        "lr": 0.0001,
+        "weight_decay": 1e-06,
+        "grad_clip_norm": 10.0,
+        "betas": [
+            0.95,
+            0.999
+        ],
+        "eps": 1e-08,
+        "fused": null
+    },
+    "scheduler": {
+        "type": "diffuser",
+        "num_warmup_steps": 500,
+        "name": "cosine"
+    },
+    "parallelism": {
+        "dp_replicate": 1,
+        "dp_shard": 1,
+        "context_parallel": {
+            "ring_degree": 1,
+            "ulysses_degree": 1
+        },
+        "cfg_parallel": 1
+    },
+    "accelerator": {
+        "mixed_precision": "no",
+        "gradient_accumulation": {
+            "steps": 1
+        },
+        "grad_scaler": {
+            "init_scale": 65536.0,
+            "growth_factor": 2.0,
+            "backoff_factor": 0.5,
+            "growth_interval": 2000
+        },
+        "fsdp": {
+            "reshard_after_forward": true,
+            "wrap_modules": null,
+            "min_num_params": null,
+            "cpu_offload": false,
+            "ignored_modules": null
+        },
+        "ddp": {
+            "find_unused_parameters": true,
+            "gradient_as_bucket_view": false,
+            "static_graph": false
+        },
+        "compile": {
+            "enabled": false,
+            "backend": "inductor",
+            "mode": null,
+            "regional": true
+        },
+        "activation_checkpointing": {
+            "mode": "none"
+        }
+    },
+    "eval": {
+        "n_episodes": 50,
+        "batch_size": 50,
+        "use_async_envs": true,
+        "recording": false,
+        "recording_repo_id": null,
+        "recording_private": false
+    },
+    "ema": {
+        "enable": false,
+        "decay": null,
+        "update_after_step": 0,
+        "inv_gamma": 1.0,
+        "power": 0.75,
+        "min_decay": 0.0,
+        "max_decay": 0.9999,
+        "use_for_eval": true
+    },
+    "wandb": {
+        "enable": false,
+        "disable_artifact": false,
+        "project": "lerobot-nexarm",
+        "entity": null,
+        "notes": null,
+        "run_id": null,
+        "resume": null,
+        "mode": null,
+        "console": "wrap",
+        "console_multipart": false,
+        "console_chunk_max_seconds": 0,
+        "add_tags": true
+    },
+    "peft": null,
+    "job": {
+        "target": null,
+        "image": "huggingface/lerobot-gpu:latest",
+        "timeout": "2d",
+        "detach": false,
+        "tags": []
+    },
+    "save_checkpoint_to_hub": false,
+    "sample_weighting": null,
+    "rename_map": {},
+    "checkpoint_path": null
+}
\ No newline at end of file
diff --git a/train_bsp10/checkpoints/010000/training_state/optimizer_param_groups.json b/train_bsp10/checkpoints/010000/training_state/optimizer_param_groups.json
new file mode 100644
index 0000000000000000000000000000000000000000..9216d23351e5a0405c794b99c8a44d345c40924c
--- /dev/null
+++ b/train_bsp10/checkpoints/010000/training_state/optimizer_param_groups.json
@@ -0,0 +1,361 @@
+[
+    {
+        "lr": 9.384074610206495e-05,
+        "betas": [
+            0.95,
+            0.999
+        ],
+        "eps": 1e-08,
+        "weight_decay": 1e-06,
+        "amsgrad": false,
+        "maximize": false,
+        "foreach": null,
+        "capturable": false,
+        "differentiable": false,
+        "fused": null,
+        "decoupled_weight_decay": false,
+        "initial_lr": 0.0001,
+        "params": [
+            0,
+            1,
+            2,
+            3,
+            4,
+            5,
+            6,
+            7,
+            8,
+            9,
+            10,
+            11,
+            12,
+            13,
+            14,
+            15,
+            16,
+            17,
+            18,
+            19,
+            20,
+            21,
+            22,
+            23,
+            24,
+            25,
+            26,
+            27,
+            28,
+            29,
+            30,
+            31,
+            32,
+            33,
+            34,
+            35,
+            36,
+            37,
+            38,
+            39,
+            40,
+            41,
+            42,
+            43,
+            44,
+            45,
+            46,
+            47,
+            48,
+            49,
+            50,
+            51,
+            52,
+            53,
+            54,
+            55,
+            56,
+            57,
+            58,
+            59,
+            60,
+            61,
+            62,
+            63,
+            64,
+            65,
+            66,
+            67,
+            68,
+            69,
+            70,
+            71,
+            72,
+            73,
+            74,
+            75,
+            76,
+            77,
+            78,
+            79,
+            80,
+            81,
+            82,
+            83,
+            84,
+            85,
+            86,
+            87,
+            88,
+            89,
+            90,
+            91,
+            92,
+            93,
+            94,
+            95,
+            96,
+            97,
+            98,
+            99,
+            100,
+            101,
+            102,
+            103,
+            104,
+            105,
+            106,
+            107,
+            108,
+            109,
+            110,
+            111,
+            112,
+            113,
+            114,
+            115,
+            116,
+            117,
+            118,
+            119,
+            120,
+            121,
+            122,
+            123,
+            124,
+            125,
+            126,
+            127,
+            128,
+            129,
+            130,
+            131,
+            132,
+            133,
+            134,
+            135,
+            136,
+            137,
+            138,
+            139,
+            140,
+            141,
+            142,
+            143,
+            144,
+            145,
+            146,
+            147,
+            148,
+            149,
+            150,
+            151,
+            152,
+            153,
+            154,
+            155,
+            156,
+            157,
+            158,
+            159,
+            160,
+            161,
+            162,
+            163,
+            164,
+            165,
+            166,
+            167,
+            168,
+            169,
+            170,
+            171,
+            172,
+            173,
+            174,
+            175,
+            176,
+            177,
+            178,
+            179,
+            180,
+            181,
+            182,
+            183,
+            184,
+            185,
+            186,
+            187,
+            188,
+            189,
+            190,
+            191,
+            192,
+            193,
+            194,
+            195,
+            196,
+            197,
+            198,
+            199,
+            200,
+            201,
+            202,
+            203,
+            204,
+            205,
+            206,
+            207,
+            208,
+            209,
+            210,
+            211,
+            212,
+            213,
+            214,
+            215,
+            216,
+            217,
+            218,
+            219,
+            220,
+            221,
+            222,
+            223,
+            224,
+            225,
+            226,
+            227,
+            228,
+            229,
+            230,
+            231,
+            232,
+            233,
+            234,
+            235,
+            236,
+            237,
+            238,
+            239,
+            240,
+            241,
+            242,
+            243,
+            244,
+            245,
+            246,
+            247,
+            248,
+            249,
+            250,
+            251,
+            252,
+            253,
+            254,
+            255,
+            256,
+            257,
+            258,
+            259,
+            260,
+            261,
+            262,
+            263,
+            264,
+            265,
+            266,
+            267,
+            268,
+            269,
+            270,
+            271,
+            272,
+            273,
+            274,
+            275,
+            276,
+            277,
+            278,
+            279,
+            280,
+            281,
+            282,
+            283,
+            284,
+            285,
+            286,
+            287,
+            288,
+            289,
+            290,
+            291,
+            292,
+            293,
+            294,
+            295,
+            296,
+            297,
+            298,
+            299,
+            300,
+            301,
+            302,
+            303,
+            304,
+            305,
+            306,
+            307,
+            308,
+            309,
+            310,
+            311,
+            312,
+            313,
+            314,
+            315,
+            316,
+            317,
+            318,
+            319,
+            320,
+            321,
+            322,
+            323,
+            324,
+            325,
+            326,
+            327,
+            328,
+            329,
+            330,
+            331,
+            332,
+            333,
+            334,
+            335,
+            336,
+            337,
+            338,
+            339
+        ]
+    }
+]
\ No newline at end of file
diff --git a/train_bsp10/checkpoints/010000/training_state/optimizer_state.safetensors b/train_bsp10/checkpoints/010000/training_state/optimizer_state.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..8a40e080aed9743319b9e5a467859c9d236da993
--- /dev/null
+++ b/train_bsp10/checkpoints/010000/training_state/optimizer_state.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45ae3b525bedbbf87eab1d54b8612c959c097737f0bd00c7d23767a0aee49dfb
+size 2341614992
diff --git a/train_bsp10/checkpoints/010000/training_state/rng_state.safetensors b/train_bsp10/checkpoints/010000/training_state/rng_state.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..7e1eec187815f057e44a0e7b2a49ab422c37d660
--- /dev/null
+++ b/train_bsp10/checkpoints/010000/training_state/rng_state.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec93f63cd17946297a641be9b0591a88e7c9aff0b8a1f9fe393cb1760fde5559
+size 15712
diff --git a/train_bsp10/checkpoints/010000/training_state/scheduler_state.json b/train_bsp10/checkpoints/010000/training_state/scheduler_state.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad7b6ff1f429d32f95bbc23a5df28b7e7fa22f3f
--- /dev/null
+++ b/train_bsp10/checkpoints/010000/training_state/scheduler_state.json
@@ -0,0 +1,15 @@
+{
+    "base_lrs": [
+        0.0001
+    ],
+    "last_epoch": 10000,
+    "_step_count": 10001,
+    "_is_initial": false,
+    "_get_lr_called_within_step": false,
+    "_last_lr": [
+        9.384074610206495e-05
+    ],
+    "lr_lambdas": [
+        null
+    ]
+}
\ No newline at end of file
diff --git a/train_bsp10/checkpoints/010000/training_state/training_step.json b/train_bsp10/checkpoints/010000/training_state/training_step.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e3f6189fd774871d4f8596147e3d6f4b21b2474
--- /dev/null
+++ b/train_bsp10/checkpoints/010000/training_state/training_step.json
@@ -0,0 +1,13 @@
+{
+    "step": 10000,
+    "dp_world_size": 1,
+    "batch_size": 32,
+    "grad_accum_steps": 1,
+    "mixed_precision": "no",
+    "parallelism": {
+        "dp_replicate": 1,
+        "dp_shard": 1,
+        "ring_degree": 1,
+        "ulysses_degree": 1
+    }
+}
\ No newline at end of file
diff --git a/train_bsp10/checkpoints/020000/pretrained_model/config.json b/train_bsp10/checkpoints/020000/pretrained_model/config.json
new file mode 100644
index 0000000000000000000000000000000000000000..29162bf2c105e73be74560f4dce87a7c296ad7bf
--- /dev/null
+++ b/train_bsp10/checkpoints/020000/pretrained_model/config.json
@@ -0,0 +1,122 @@
+{
+    "type": "bspline",
+    "n_obs_steps": 2,
+    "input_features": {
+        "observation.state": {
+            "type": "STATE",
+            "shape": [
+                6
+            ]
+        },
+        "observation.images.front": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        },
+        "observation.images.wrist": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        },
+        "observation.images.top": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        }
+    },
+    "output_features": {
+        "action": {
+            "type": "ACTION",
+            "shape": [
+                6
+            ]
+        }
+    },
+    "device": "cuda",
+    "dtype": null,
+    "use_amp": false,
+    "use_peft": false,
+    "push_to_hub": false,
+    "repo_id": null,
+    "private": null,
+    "tags": null,
+    "license": null,
+    "pretrained_path": null,
+    "pretrained_revision": null,
+    "horizon": 16,
+    "n_action_steps": 32,
+    "normalization_mapping": {
+        "VISUAL": "MEAN_STD",
+        "STATE": "MIN_MAX",
+        "ACTION": "MIN_MAX"
+    },
+    "drop_n_last_frames": 0,
+    "vision_backbone": "resnet18",
+    "resize_shape": [
+        120,
+        160
+    ],
+    "crop_ratio": 1.0,
+    "crop_shape": null,
+    "crop_is_random": true,
+    "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
+    "use_group_norm": false,
+    "spatial_softmax_num_keypoints": 32,
+    "use_separate_rgb_encoder_per_camera": true,
+    "down_dims": [
+        512,
+        1024,
+        2048
+    ],
+    "kernel_size": 5,
+    "n_groups": 8,
+    "diffusion_step_embed_dim": 128,
+    "use_film_scale_modulation": true,
+    "gradient_checkpointing": false,
+    "noise_scheduler_type": "DDIM",
+    "num_train_timesteps": 100,
+    "beta_schedule": "squaredcos_cap_v2",
+    "beta_start": 0.0001,
+    "beta_end": 0.02,
+    "prediction_type": "epsilon",
+    "clip_sample": true,
+    "clip_sample_range": 1.5,
+    "num_inference_steps": 10,
+    "compile_model": false,
+    "compile_mode": "reduce-overhead",
+    "do_mask_loss_for_padding": false,
+    "optimizer_lr": 0.0001,
+    "optimizer_betas": [
+        0.95,
+        0.999
+    ],
+    "optimizer_eps": 1e-08,
+    "optimizer_weight_decay": 1e-06,
+    "scheduler_name": "cosine",
+    "scheduler_warmup_steps": 500,
+    "bspline_degree": 3,
+    "bspline_chunk_size": 10,
+    "bspline_window": 64,
+    "bspline_max_error": 0.01,
+    "bspline_speed_up": 1.0,
+    "bspline_fit_workers": 0,
+    "bspline_mode": "diffusion",
+    "planbind_fine_spacing": 4,
+    "planbind_subdivision": 4,
+    "planbind_max_plan_age": 32,
+    "planbind_plan_noise": 0.02,
+    "planbind_replan_threshold": 0.0,
+    "planbind_latency": 0,
+    "planbind_commit": "latency",
+    "planbind_position_limit": 0.0,
+    "planbind_velocity_limit": 0.0
+}
\ No newline at end of file
diff --git a/train_bsp10/checkpoints/020000/pretrained_model/model.safetensors b/train_bsp10/checkpoints/020000/pretrained_model/model.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..9941832e875dfe80482b445e0fc7490e82f42ad1
--- /dev/null
+++ b/train_bsp10/checkpoints/020000/pretrained_model/model.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea84c51457dbf7176863003dd7ea154e1d63e3b15a8492230883836b24508146
+size 1170940540
diff --git a/train_bsp10/checkpoints/020000/pretrained_model/policy_postprocessor.json b/train_bsp10/checkpoints/020000/pretrained_model/policy_postprocessor.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2c5e6cea7850bb999ab193f96021fa0129ce4db
--- /dev/null
+++ b/train_bsp10/checkpoints/020000/pretrained_model/policy_postprocessor.json
@@ -0,0 +1,32 @@
+{
+  "name": "policy_postprocessor",
+  "steps": [
+    {
+      "registry_name": "unnormalizer_processor",
+      "config": {
+        "eps": 1e-08,
+        "features": {
+          "action": {
+            "type": "ACTION",
+            "shape": [
+              6
+            ]
+          }
+        },
+        "norm_map": {
+          "VISUAL": "MEAN_STD",
+          "STATE": "MIN_MAX",
+          "ACTION": "MIN_MAX"
+        }
+      },
+      "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cpu",
+        "float_dtype": null
+      }
+    }
+  ]
+}
\ No newline at end of file
diff --git a/train_bsp10/checkpoints/020000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors b/train_bsp10/checkpoints/020000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..ead5732518c212199e87eb8df6f0f49f32e15a1e
--- /dev/null
+++ b/train_bsp10/checkpoints/020000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55336fe114f19ef78b83ccc0926a3df66a9adc11a641f9adc0caf9c439ff8576
+size 8528
diff --git a/train_bsp10/checkpoints/020000/pretrained_model/policy_preprocessor.json b/train_bsp10/checkpoints/020000/pretrained_model/policy_preprocessor.json
new file mode 100644
index 0000000000000000000000000000000000000000..981e0dfcb58027d80f783d8905452fadeaea830e
--- /dev/null
+++ b/train_bsp10/checkpoints/020000/pretrained_model/policy_preprocessor.json
@@ -0,0 +1,72 @@
+{
+  "name": "policy_preprocessor",
+  "steps": [
+    {
+      "registry_name": "rename_observations_processor",
+      "config": {
+        "rename_map": {}
+      }
+    },
+    {
+      "registry_name": "to_batch_processor",
+      "config": {}
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cuda",
+        "float_dtype": null
+      }
+    },
+    {
+      "registry_name": "normalizer_processor",
+      "config": {
+        "eps": 1e-08,
+        "features": {
+          "observation.state": {
+            "type": "STATE",
+            "shape": [
+              6
+            ]
+          },
+          "observation.images.front": {
+            "type": "VISUAL",
+            "shape": [
+              3,
+              480,
+              640
+            ]
+          },
+          "observation.images.wrist": {
+            "type": "VISUAL",
+            "shape": [
+              3,
+              480,
+              640
+            ]
+          },
+          "observation.images.top": {
+            "type": "VISUAL",
+            "shape": [
+              3,
+              480,
+              640
+            ]
+          },
+          "action": {
+            "type": "ACTION",
+            "shape": [
+              6
+            ]
+          }
+        },
+        "norm_map": {
+          "VISUAL": "MEAN_STD",
+          "STATE": "MIN_MAX",
+          "ACTION": "MIN_MAX"
+        }
+      },
+      "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
+    }
+  ]
+}
\ No newline at end of file
diff --git a/train_bsp10/checkpoints/020000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors b/train_bsp10/checkpoints/020000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..f99bcf47b067091c10855f81f0663ca8d0f56ab8
--- /dev/null
+++ b/train_bsp10/checkpoints/020000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0f6cfea44fc7cfa8fa04ca706b89c90cce83136e90c3d0286428dfa2e1968d7
+size 8536
diff --git a/train_bsp10/checkpoints/020000/pretrained_model/train_config.json b/train_bsp10/checkpoints/020000/pretrained_model/train_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..c074a87b77cd50d8d69e41de3aad8626a547e196
--- /dev/null
+++ b/train_bsp10/checkpoints/020000/pretrained_model/train_config.json
@@ -0,0 +1,347 @@
+{
+    "dataset": {
+        "repo_id": "local/nexarm_stack_bowls",
+        "repo_type": "dataset",
+        "root": "/workspace/lerobot-nexarm/outputs/datasets/nexarm_stack_bowls",
+        "episodes": null,
+        "exclude_episodes": null,
+        "image_transforms": {
+            "enable": false,
+            "backend": "dataloader",
+            "gpu_compile": true,
+            "gpu_chunk_size": 32,
+            "max_num_transforms": 3,
+            "random_order": false,
+            "tfs": {
+                "brightness": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "brightness": [
+                            0.8,
+                            1.2
+                        ]
+                    }
+                },
+                "contrast": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "contrast": [
+                            0.8,
+                            1.2
+                        ]
+                    }
+                },
+                "saturation": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "saturation": [
+                            0.5,
+                            1.5
+                        ]
+                    }
+                },
+                "hue": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "hue": [
+                            -0.05,
+                            0.05
+                        ]
+                    }
+                },
+                "sharpness": {
+                    "weight": 1.0,
+                    "type": "SharpnessJitter",
+                    "kwargs": {
+                        "sharpness": [
+                            0.5,
+                            1.5
+                        ]
+                    }
+                },
+                "affine": {
+                    "weight": 1.0,
+                    "type": "RandomAffine",
+                    "kwargs": {
+                        "degrees": [
+                            -5.0,
+                            5.0
+                        ],
+                        "translate": [
+                            0.05,
+                            0.05
+                        ]
+                    }
+                }
+            }
+        },
+        "revision": null,
+        "use_imagenet_stats": true,
+        "video_backend": "torchcodec",
+        "return_uint8": false,
+        "depth_output_unit": "mm",
+        "streaming": false,
+        "streaming_episode_pool_size": null,
+        "streaming_sampling_strategy": "remaining",
+        "streaming_prefetch_episodes": 8,
+        "streaming_byte_budget_gb": 8.0,
+        "streaming_decode_threads": 2,
+        "streaming_decoded_queue_size": 8,
+        "streaming_native_http_connections": null,
+        "streaming_native_http_subranges": 1,
+        "streaming_sidecar_lock_timeout_s": 1800,
+        "video_decoder_cache_size": null,
+        "eval_split": 0.0
+    },
+    "env": null,
+    "policy": {
+        "type": "bspline",
+        "n_obs_steps": 2,
+        "input_features": {
+            "observation.state": {
+                "type": "STATE",
+                "shape": [
+                    6
+                ]
+            },
+            "observation.images.front": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    480,
+                    640
+                ]
+            },
+            "observation.images.wrist": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    480,
+                    640
+                ]
+            },
+            "observation.images.top": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    480,
+                    640
+                ]
+            }
+        },
+        "output_features": {
+            "action": {
+                "type": "ACTION",
+                "shape": [
+                    6
+                ]
+            }
+        },
+        "device": "cuda",
+        "dtype": null,
+        "use_amp": false,
+        "use_peft": false,
+        "push_to_hub": false,
+        "repo_id": null,
+        "private": null,
+        "tags": null,
+        "license": null,
+        "pretrained_path": null,
+        "pretrained_revision": null,
+        "horizon": 16,
+        "n_action_steps": 32,
+        "normalization_mapping": {
+            "VISUAL": "MEAN_STD",
+            "STATE": "MIN_MAX",
+            "ACTION": "MIN_MAX"
+        },
+        "drop_n_last_frames": 0,
+        "vision_backbone": "resnet18",
+        "resize_shape": [
+            120,
+            160
+        ],
+        "crop_ratio": 1.0,
+        "crop_shape": null,
+        "crop_is_random": true,
+        "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
+        "use_group_norm": false,
+        "spatial_softmax_num_keypoints": 32,
+        "use_separate_rgb_encoder_per_camera": true,
+        "down_dims": [
+            512,
+            1024,
+            2048
+        ],
+        "kernel_size": 5,
+        "n_groups": 8,
+        "diffusion_step_embed_dim": 128,
+        "use_film_scale_modulation": true,
+        "gradient_checkpointing": false,
+        "noise_scheduler_type": "DDIM",
+        "num_train_timesteps": 100,
+        "beta_schedule": "squaredcos_cap_v2",
+        "beta_start": 0.0001,
+        "beta_end": 0.02,
+        "prediction_type": "epsilon",
+        "clip_sample": true,
+        "clip_sample_range": 1.5,
+        "num_inference_steps": 10,
+        "compile_model": false,
+        "compile_mode": "reduce-overhead",
+        "do_mask_loss_for_padding": false,
+        "optimizer_lr": 0.0001,
+        "optimizer_betas": [
+            0.95,
+            0.999
+        ],
+        "optimizer_eps": 1e-08,
+        "optimizer_weight_decay": 1e-06,
+        "scheduler_name": "cosine",
+        "scheduler_warmup_steps": 500,
+        "bspline_degree": 3,
+        "bspline_chunk_size": 10,
+        "bspline_window": 64,
+        "bspline_max_error": 0.01,
+        "bspline_speed_up": 1.0,
+        "bspline_fit_workers": 0,
+        "bspline_mode": "diffusion",
+        "planbind_fine_spacing": 4,
+        "planbind_subdivision": 4,
+        "planbind_max_plan_age": 32,
+        "planbind_plan_noise": 0.02,
+        "planbind_replan_threshold": 0.0,
+        "planbind_latency": 0,
+        "planbind_commit": "latency",
+        "planbind_position_limit": 0.0,
+        "planbind_velocity_limit": 0.0
+    },
+    "reward_model": null,
+    "output_dir": "/workspace/lerobot-nexarm/experiments/261027-plan-bind-two-step/outputs/full/train_bsp10",
+    "job_name": "261027-plan-bind-bsp10",
+    "resume": false,
+    "seed": 1000,
+    "cudnn_deterministic": false,
+    "num_workers": 16,
+    "batch_size": 32,
+    "prefetch_factor": 4,
+    "persistent_workers": true,
+    "dataloader_multiprocessing_context": "spawn",
+    "steps": 60000,
+    "env_eval_freq": 0,
+    "log_freq": 100,
+    "eval_steps": 0,
+    "max_eval_samples": 0,
+    "tolerance_s": 0.0001,
+    "save_checkpoint": true,
+    "save_freq": 10000,
+    "checkpoint_format": "safetensors",
+    "use_policy_training_preset": true,
+    "optimizer": {
+        "type": "adam",
+        "lr": 0.0001,
+        "weight_decay": 1e-06,
+        "grad_clip_norm": 10.0,
+        "betas": [
+            0.95,
+            0.999
+        ],
+        "eps": 1e-08,
+        "fused": null
+    },
+    "scheduler": {
+        "type": "diffuser",
+        "num_warmup_steps": 500,
+        "name": "cosine"
+    },
+    "parallelism": {
+        "dp_replicate": 1,
+        "dp_shard": 1,
+        "context_parallel": {
+            "ring_degree": 1,
+            "ulysses_degree": 1
+        },
+        "cfg_parallel": 1
+    },
+    "accelerator": {
+        "mixed_precision": "no",
+        "gradient_accumulation": {
+            "steps": 1
+        },
+        "grad_scaler": {
+            "init_scale": 65536.0,
+            "growth_factor": 2.0,
+            "backoff_factor": 0.5,
+            "growth_interval": 2000
+        },
+        "fsdp": {
+            "reshard_after_forward": true,
+            "wrap_modules": null,
+            "min_num_params": null,
+            "cpu_offload": false,
+            "ignored_modules": null
+        },
+        "ddp": {
+            "find_unused_parameters": true,
+            "gradient_as_bucket_view": false,
+            "static_graph": false
+        },
+        "compile": {
+            "enabled": false,
+            "backend": "inductor",
+            "mode": null,
+            "regional": true
+        },
+        "activation_checkpointing": {
+            "mode": "none"
+        }
+    },
+    "eval": {
+        "n_episodes": 50,
+        "batch_size": 50,
+        "use_async_envs": true,
+        "recording": false,
+        "recording_repo_id": null,
+        "recording_private": false
+    },
+    "ema": {
+        "enable": false,
+        "decay": null,
+        "update_after_step": 0,
+        "inv_gamma": 1.0,
+        "power": 0.75,
+        "min_decay": 0.0,
+        "max_decay": 0.9999,
+        "use_for_eval": true
+    },
+    "wandb": {
+        "enable": false,
+        "disable_artifact": false,
+        "project": "lerobot-nexarm",
+        "entity": null,
+        "notes": null,
+        "run_id": null,
+        "resume": null,
+        "mode": null,
+        "console": "wrap",
+        "console_multipart": false,
+        "console_chunk_max_seconds": 0,
+        "add_tags": true
+    },
+    "peft": null,
+    "job": {
+        "target": null,
+        "image": "huggingface/lerobot-gpu:latest",
+        "timeout": "2d",
+        "detach": false,
+        "tags": []
+    },
+    "save_checkpoint_to_hub": false,
+    "sample_weighting": null,
+    "rename_map": {},
+    "checkpoint_path": null
+}
\ No newline at end of file
diff --git a/train_bsp10/checkpoints/020000/training_state/optimizer_param_groups.json b/train_bsp10/checkpoints/020000/training_state/optimizer_param_groups.json
new file mode 100644
index 0000000000000000000000000000000000000000..640aa9d5a99b7ffceceb0003deafd91f577ca5de
--- /dev/null
+++ b/train_bsp10/checkpoints/020000/training_state/optimizer_param_groups.json
@@ -0,0 +1,361 @@
+[
+    {
+        "lr": 7.57581893473448e-05,
+        "betas": [
+            0.95,
+            0.999
+        ],
+        "eps": 1e-08,
+        "weight_decay": 1e-06,
+        "amsgrad": false,
+        "maximize": false,
+        "foreach": null,
+        "capturable": false,
+        "differentiable": false,
+        "fused": null,
+        "decoupled_weight_decay": false,
+        "initial_lr": 0.0001,
+        "params": [
+            0,
+            1,
+            2,
+            3,
+            4,
+            5,
+            6,
+            7,
+            8,
+            9,
+            10,
+            11,
+            12,
+            13,
+            14,
+            15,
+            16,
+            17,
+            18,
+            19,
+            20,
+            21,
+            22,
+            23,
+            24,
+            25,
+            26,
+            27,
+            28,
+            29,
+            30,
+            31,
+            32,
+            33,
+            34,
+            35,
+            36,
+            37,
+            38,
+            39,
+            40,
+            41,
+            42,
+            43,
+            44,
+            45,
+            46,
+            47,
+            48,
+            49,
+            50,
+            51,
+            52,
+            53,
+            54,
+            55,
+            56,
+            57,
+            58,
+            59,
+            60,
+            61,
+            62,
+            63,
+            64,
+            65,
+            66,
+            67,
+            68,
+            69,
+            70,
+            71,
+            72,
+            73,
+            74,
+            75,
+            76,
+            77,
+            78,
+            79,
+            80,
+            81,
+            82,
+            83,
+            84,
+            85,
+            86,
+            87,
+            88,
+            89,
+            90,
+            91,
+            92,
+            93,
+            94,
+            95,
+            96,
+            97,
+            98,
+            99,
+            100,
+            101,
+            102,
+            103,
+            104,
+            105,
+            106,
+            107,
+            108,
+            109,
+            110,
+            111,
+            112,
+            113,
+            114,
+            115,
+            116,
+            117,
+            118,
+            119,
+            120,
+            121,
+            122,
+            123,
+            124,
+            125,
+            126,
+            127,
+            128,
+            129,
+            130,
+            131,
+            132,
+            133,
+            134,
+            135,
+            136,
+            137,
+            138,
+            139,
+            140,
+            141,
+            142,
+            143,
+            144,
+            145,
+            146,
+            147,
+            148,
+            149,
+            150,
+            151,
+            152,
+            153,
+            154,
+            155,
+            156,
+            157,
+            158,
+            159,
+            160,
+            161,
+            162,
+            163,
+            164,
+            165,
+            166,
+            167,
+            168,
+            169,
+            170,
+            171,
+            172,
+            173,
+            174,
+            175,
+            176,
+            177,
+            178,
+            179,
+            180,
+            181,
+            182,
+            183,
+            184,
+            185,
+            186,
+            187,
+            188,
+            189,
+            190,
+            191,
+            192,
+            193,
+            194,
+            195,
+            196,
+            197,
+            198,
+            199,
+            200,
+            201,
+            202,
+            203,
+            204,
+            205,
+            206,
+            207,
+            208,
+            209,
+            210,
+            211,
+            212,
+            213,
+            214,
+            215,
+            216,
+            217,
+            218,
+            219,
+            220,
+            221,
+            222,
+            223,
+            224,
+            225,
+            226,
+            227,
+            228,
+            229,
+            230,
+            231,
+            232,
+            233,
+            234,
+            235,
+            236,
+            237,
+            238,
+            239,
+            240,
+            241,
+            242,
+            243,
+            244,
+            245,
+            246,
+            247,
+            248,
+            249,
+            250,
+            251,
+            252,
+            253,
+            254,
+            255,
+            256,
+            257,
+            258,
+            259,
+            260,
+            261,
+            262,
+            263,
+            264,
+            265,
+            266,
+            267,
+            268,
+            269,
+            270,
+            271,
+            272,
+            273,
+            274,
+            275,
+            276,
+            277,
+            278,
+            279,
+            280,
+            281,
+            282,
+            283,
+            284,
+            285,
+            286,
+            287,
+            288,
+            289,
+            290,
+            291,
+            292,
+            293,
+            294,
+            295,
+            296,
+            297,
+            298,
+            299,
+            300,
+            301,
+            302,
+            303,
+            304,
+            305,
+            306,
+            307,
+            308,
+            309,
+            310,
+            311,
+            312,
+            313,
+            314,
+            315,
+            316,
+            317,
+            318,
+            319,
+            320,
+            321,
+            322,
+            323,
+            324,
+            325,
+            326,
+            327,
+            328,
+            329,
+            330,
+            331,
+            332,
+            333,
+            334,
+            335,
+            336,
+            337,
+            338,
+            339
+        ]
+    }
+]
\ No newline at end of file
diff --git a/train_bsp10/checkpoints/020000/training_state/optimizer_state.safetensors b/train_bsp10/checkpoints/020000/training_state/optimizer_state.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..858b28dce62f0d8b0b5f59a7df8172edc4c28938
--- /dev/null
+++ b/train_bsp10/checkpoints/020000/training_state/optimizer_state.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a057607b24eced86b08b15ee733d8c548ca3ab2255f1f3486393e30eb404742f
+size 2341614992
diff --git a/train_bsp10/checkpoints/020000/training_state/rng_state.safetensors b/train_bsp10/checkpoints/020000/training_state/rng_state.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..c4e487196d48f578f3271d1d04a5fc779a5ebbb9
--- /dev/null
+++ b/train_bsp10/checkpoints/020000/training_state/rng_state.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e21b4125a095d344fb18538f45745cb73ff81a6cd3d96f3b79d084a81024137
+size 15712
diff --git a/train_bsp10/checkpoints/020000/training_state/scheduler_state.json b/train_bsp10/checkpoints/020000/training_state/scheduler_state.json
new file mode 100644
index 0000000000000000000000000000000000000000..703da730043074dddcd2d1f88fdea38f195ce3ee
--- /dev/null
+++ b/train_bsp10/checkpoints/020000/training_state/scheduler_state.json
@@ -0,0 +1,15 @@
+{
+    "base_lrs": [
+        0.0001
+    ],
+    "last_epoch": 20000,
+    "_step_count": 20001,
+    "_is_initial": false,
+    "_get_lr_called_within_step": false,
+    "_last_lr": [
+        7.57581893473448e-05
+    ],
+    "lr_lambdas": [
+        null
+    ]
+}
\ No newline at end of file
diff --git a/train_bsp10/checkpoints/020000/training_state/training_step.json b/train_bsp10/checkpoints/020000/training_state/training_step.json
new file mode 100644
index 0000000000000000000000000000000000000000..79cc396869d8aa4a40c8c0369eb032edf5d69e78
--- /dev/null
+++ b/train_bsp10/checkpoints/020000/training_state/training_step.json
@@ -0,0 +1,13 @@
+{
+    "step": 20000,
+    "dp_world_size": 1,
+    "batch_size": 32,
+    "grad_accum_steps": 1,
+    "mixed_precision": "no",
+    "parallelism": {
+        "dp_replicate": 1,
+        "dp_shard": 1,
+        "ring_degree": 1,
+        "ulysses_degree": 1
+    }
+}
\ No newline at end of file
diff --git a/train_bsp10/checkpoints/030000/pretrained_model/config.json b/train_bsp10/checkpoints/030000/pretrained_model/config.json
new file mode 100644
index 0000000000000000000000000000000000000000..29162bf2c105e73be74560f4dce87a7c296ad7bf
--- /dev/null
+++ b/train_bsp10/checkpoints/030000/pretrained_model/config.json
@@ -0,0 +1,122 @@
+{
+    "type": "bspline",
+    "n_obs_steps": 2,
+    "input_features": {
+        "observation.state": {
+            "type": "STATE",
+            "shape": [
+                6
+            ]
+        },
+        "observation.images.front": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        },
+        "observation.images.wrist": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        },
+        "observation.images.top": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        }
+    },
+    "output_features": {
+        "action": {
+            "type": "ACTION",
+            "shape": [
+                6
+            ]
+        }
+    },
+    "device": "cuda",
+    "dtype": null,
+    "use_amp": false,
+    "use_peft": false,
+    "push_to_hub": false,
+    "repo_id": null,
+    "private": null,
+    "tags": null,
+    "license": null,
+    "pretrained_path": null,
+    "pretrained_revision": null,
+    "horizon": 16,
+    "n_action_steps": 32,
+    "normalization_mapping": {
+        "VISUAL": "MEAN_STD",
+        "STATE": "MIN_MAX",
+        "ACTION": "MIN_MAX"
+    },
+    "drop_n_last_frames": 0,
+    "vision_backbone": "resnet18",
+    "resize_shape": [
+        120,
+        160
+    ],
+    "crop_ratio": 1.0,
+    "crop_shape": null,
+    "crop_is_random": true,
+    "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
+    "use_group_norm": false,
+    "spatial_softmax_num_keypoints": 32,
+    "use_separate_rgb_encoder_per_camera": true,
+    "down_dims": [
+        512,
+        1024,
+        2048
+    ],
+    "kernel_size": 5,
+    "n_groups": 8,
+    "diffusion_step_embed_dim": 128,
+    "use_film_scale_modulation": true,
+    "gradient_checkpointing": false,
+    "noise_scheduler_type": "DDIM",
+    "num_train_timesteps": 100,
+    "beta_schedule": "squaredcos_cap_v2",
+    "beta_start": 0.0001,
+    "beta_end": 0.02,
+    "prediction_type": "epsilon",
+    "clip_sample": true,
+    "clip_sample_range": 1.5,
+    "num_inference_steps": 10,
+    "compile_model": false,
+    "compile_mode": "reduce-overhead",
+    "do_mask_loss_for_padding": false,
+    "optimizer_lr": 0.0001,
+    "optimizer_betas": [
+        0.95,
+        0.999
+    ],
+    "optimizer_eps": 1e-08,
+    "optimizer_weight_decay": 1e-06,
+    "scheduler_name": "cosine",
+    "scheduler_warmup_steps": 500,
+    "bspline_degree": 3,
+    "bspline_chunk_size": 10,
+    "bspline_window": 64,
+    "bspline_max_error": 0.01,
+    "bspline_speed_up": 1.0,
+    "bspline_fit_workers": 0,
+    "bspline_mode": "diffusion",
+    "planbind_fine_spacing": 4,
+    "planbind_subdivision": 4,
+    "planbind_max_plan_age": 32,
+    "planbind_plan_noise": 0.02,
+    "planbind_replan_threshold": 0.0,
+    "planbind_latency": 0,
+    "planbind_commit": "latency",
+    "planbind_position_limit": 0.0,
+    "planbind_velocity_limit": 0.0
+}
\ No newline at end of file
diff --git a/train_bsp10/checkpoints/030000/pretrained_model/model.safetensors b/train_bsp10/checkpoints/030000/pretrained_model/model.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..447faccb83a7a3534c6de9f82f317e7fe2fef575
--- /dev/null
+++ b/train_bsp10/checkpoints/030000/pretrained_model/model.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f1509164ff045a4e1fa7d146a8d4b2402cf7c66c64410653e3ae438b036d49c
+size 1170940540
diff --git a/train_bsp10/checkpoints/030000/pretrained_model/policy_postprocessor.json b/train_bsp10/checkpoints/030000/pretrained_model/policy_postprocessor.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2c5e6cea7850bb999ab193f96021fa0129ce4db
--- /dev/null
+++ b/train_bsp10/checkpoints/030000/pretrained_model/policy_postprocessor.json
@@ -0,0 +1,32 @@
+{
+  "name": "policy_postprocessor",
+  "steps": [
+    {
+      "registry_name": "unnormalizer_processor",
+      "config": {
+        "eps": 1e-08,
+        "features": {
+          "action": {
+            "type": "ACTION",
+            "shape": [
+              6
+            ]
+          }
+        },
+        "norm_map": {
+          "VISUAL": "MEAN_STD",
+          "STATE": "MIN_MAX",
+          "ACTION": "MIN_MAX"
+        }
+      },
+      "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cpu",
+        "float_dtype": null
+      }
+    }
+  ]
+}
\ No newline at end of file
diff --git a/train_bsp10/checkpoints/030000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors b/train_bsp10/checkpoints/030000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..ead5732518c212199e87eb8df6f0f49f32e15a1e
--- /dev/null
+++ b/train_bsp10/checkpoints/030000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55336fe114f19ef78b83ccc0926a3df66a9adc11a641f9adc0caf9c439ff8576
+size 8528
diff --git a/train_bsp10/checkpoints/030000/pretrained_model/policy_preprocessor.json b/train_bsp10/checkpoints/030000/pretrained_model/policy_preprocessor.json
new file mode 100644
index 0000000000000000000000000000000000000000..981e0dfcb58027d80f783d8905452fadeaea830e
--- /dev/null
+++ b/train_bsp10/checkpoints/030000/pretrained_model/policy_preprocessor.json
@@ -0,0 +1,72 @@
+{
+  "name": "policy_preprocessor",
+  "steps": [
+    {
+      "registry_name": "rename_observations_processor",
+      "config": {
+        "rename_map": {}
+      }
+    },
+    {
+      "registry_name": "to_batch_processor",
+      "config": {}
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cuda",
+        "float_dtype": null
+      }
+    },
+    {
+      "registry_name": "normalizer_processor",
+      "config": {
+        "eps": 1e-08,
+        "features": {
+          "observation.state": {
+            "type": "STATE",
+            "shape": [
+              6
+            ]
+          },
+          "observation.images.front": {
+            "type": "VISUAL",
+            "shape": [
+              3,
+              480,
+              640
+            ]
+          },
+          "observation.images.wrist": {
+            "type": "VISUAL",
+            "shape": [
+              3,
+              480,
+              640
+            ]
+          },
+          "observation.images.top": {
+            "type": "VISUAL",
+            "shape": [
+              3,
+              480,
+              640
+            ]
+          },
+          "action": {
+            "type": "ACTION",
+            "shape": [
+              6
+            ]
+          }
+        },
+        "norm_map": {
+          "VISUAL": "MEAN_STD",
+          "STATE": "MIN_MAX",
+          "ACTION": "MIN_MAX"
+        }
+      },
+      "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
+    }
+  ]
+}
\ No newline at end of file
diff --git a/train_bsp10/checkpoints/030000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors b/train_bsp10/checkpoints/030000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..f99bcf47b067091c10855f81f0663ca8d0f56ab8
--- /dev/null
+++ b/train_bsp10/checkpoints/030000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0f6cfea44fc7cfa8fa04ca706b89c90cce83136e90c3d0286428dfa2e1968d7
+size 8536
diff --git a/train_bsp10/checkpoints/030000/pretrained_model/train_config.json b/train_bsp10/checkpoints/030000/pretrained_model/train_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..c074a87b77cd50d8d69e41de3aad8626a547e196
--- /dev/null
+++ b/train_bsp10/checkpoints/030000/pretrained_model/train_config.json
@@ -0,0 +1,347 @@
+{
+    "dataset": {
+        "repo_id": "local/nexarm_stack_bowls",
+        "repo_type": "dataset",
+        "root": "/workspace/lerobot-nexarm/outputs/datasets/nexarm_stack_bowls",
+        "episodes": null,
+        "exclude_episodes": null,
+        "image_transforms": {
+            "enable": false,
+            "backend": "dataloader",
+            "gpu_compile": true,
+            "gpu_chunk_size": 32,
+            "max_num_transforms": 3,
+            "random_order": false,
+            "tfs": {
+                "brightness": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "brightness": [
+                            0.8,
+                            1.2
+                        ]
+                    }
+                },
+                "contrast": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "contrast": [
+                            0.8,
+                            1.2
+                        ]
+                    }
+                },
+                "saturation": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "saturation": [
+                            0.5,
+                            1.5
+                        ]
+                    }
+                },
+                "hue": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "hue": [
+                            -0.05,
+                            0.05
+                        ]
+                    }
+                },
+                "sharpness": {
+                    "weight": 1.0,
+                    "type": "SharpnessJitter",
+                    "kwargs": {
+                        "sharpness": [
+                            0.5,
+                            1.5
+                        ]
+                    }
+                },
+                "affine": {
+                    "weight": 1.0,
+                    "type": "RandomAffine",
+                    "kwargs": {
+                        "degrees": [
+                            -5.0,
+                            5.0
+                        ],
+                        "translate": [
+                            0.05,
+                            0.05
+                        ]
+                    }
+                }
+            }
+        },
+        "revision": null,
+        "use_imagenet_stats": true,
+        "video_backend": "torchcodec",
+        "return_uint8": false,
+        "depth_output_unit": "mm",
+        "streaming": false,
+        "streaming_episode_pool_size": null,
+        "streaming_sampling_strategy": "remaining",
+        "streaming_prefetch_episodes": 8,
+        "streaming_byte_budget_gb": 8.0,
+        "streaming_decode_threads": 2,
+        "streaming_decoded_queue_size": 8,
+        "streaming_native_http_connections": null,
+        "streaming_native_http_subranges": 1,
+        "streaming_sidecar_lock_timeout_s": 1800,
+        "video_decoder_cache_size": null,
+        "eval_split": 0.0
+    },
+    "env": null,
+    "policy": {
+        "type": "bspline",
+        "n_obs_steps": 2,
+        "input_features": {
+            "observation.state": {
+                "type": "STATE",
+                "shape": [
+                    6
+                ]
+            },
+            "observation.images.front": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    480,
+                    640
+                ]
+            },
+            "observation.images.wrist": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    480,
+                    640
+                ]
+            },
+            "observation.images.top": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    480,
+                    640
+                ]
+            }
+        },
+        "output_features": {
+            "action": {
+                "type": "ACTION",
+                "shape": [
+                    6
+                ]
+            }
+        },
+        "device": "cuda",
+        "dtype": null,
+        "use_amp": false,
+        "use_peft": false,
+        "push_to_hub": false,
+        "repo_id": null,
+        "private": null,
+        "tags": null,
+        "license": null,
+        "pretrained_path": null,
+        "pretrained_revision": null,
+        "horizon": 16,
+        "n_action_steps": 32,
+        "normalization_mapping": {
+            "VISUAL": "MEAN_STD",
+            "STATE": "MIN_MAX",
+            "ACTION": "MIN_MAX"
+        },
+        "drop_n_last_frames": 0,
+        "vision_backbone": "resnet18",
+        "resize_shape": [
+            120,
+            160
+        ],
+        "crop_ratio": 1.0,
+        "crop_shape": null,
+        "crop_is_random": true,
+        "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
+        "use_group_norm": false,
+        "spatial_softmax_num_keypoints": 32,
+        "use_separate_rgb_encoder_per_camera": true,
+        "down_dims": [
+            512,
+            1024,
+            2048
+        ],
+        "kernel_size": 5,
+        "n_groups": 8,
+        "diffusion_step_embed_dim": 128,
+        "use_film_scale_modulation": true,
+        "gradient_checkpointing": false,
+        "noise_scheduler_type": "DDIM",
+        "num_train_timesteps": 100,
+        "beta_schedule": "squaredcos_cap_v2",
+        "beta_start": 0.0001,
+        "beta_end": 0.02,
+        "prediction_type": "epsilon",
+        "clip_sample": true,
+        "clip_sample_range": 1.5,
+        "num_inference_steps": 10,
+        "compile_model": false,
+        "compile_mode": "reduce-overhead",
+        "do_mask_loss_for_padding": false,
+        "optimizer_lr": 0.0001,
+        "optimizer_betas": [
+            0.95,
+            0.999
+        ],
+        "optimizer_eps": 1e-08,
+        "optimizer_weight_decay": 1e-06,
+        "scheduler_name": "cosine",
+        "scheduler_warmup_steps": 500,
+        "bspline_degree": 3,
+        "bspline_chunk_size": 10,
+        "bspline_window": 64,
+        "bspline_max_error": 0.01,
+        "bspline_speed_up": 1.0,
+        "bspline_fit_workers": 0,
+        "bspline_mode": "diffusion",
+        "planbind_fine_spacing": 4,
+        "planbind_subdivision": 4,
+        "planbind_max_plan_age": 32,
+        "planbind_plan_noise": 0.02,
+        "planbind_replan_threshold": 0.0,
+        "planbind_latency": 0,
+        "planbind_commit": "latency",
+        "planbind_position_limit": 0.0,
+        "planbind_velocity_limit": 0.0
+    },
+    "reward_model": null,
+    "output_dir": "/workspace/lerobot-nexarm/experiments/261027-plan-bind-two-step/outputs/full/train_bsp10",
+    "job_name": "261027-plan-bind-bsp10",
+    "resume": false,
+    "seed": 1000,
+    "cudnn_deterministic": false,
+    "num_workers": 16,
+    "batch_size": 32,
+    "prefetch_factor": 4,
+    "persistent_workers": true,
+    "dataloader_multiprocessing_context": "spawn",
+    "steps": 60000,
+    "env_eval_freq": 0,
+    "log_freq": 100,
+    "eval_steps": 0,
+    "max_eval_samples": 0,
+    "tolerance_s": 0.0001,
+    "save_checkpoint": true,
+    "save_freq": 10000,
+    "checkpoint_format": "safetensors",
+    "use_policy_training_preset": true,
+    "optimizer": {
+        "type": "adam",
+        "lr": 0.0001,
+        "weight_decay": 1e-06,
+        "grad_clip_norm": 10.0,
+        "betas": [
+            0.95,
+            0.999
+        ],
+        "eps": 1e-08,
+        "fused": null
+    },
+    "scheduler": {
+        "type": "diffuser",
+        "num_warmup_steps": 500,
+        "name": "cosine"
+    },
+    "parallelism": {
+        "dp_replicate": 1,
+        "dp_shard": 1,
+        "context_parallel": {
+            "ring_degree": 1,
+            "ulysses_degree": 1
+        },
+        "cfg_parallel": 1
+    },
+    "accelerator": {
+        "mixed_precision": "no",
+        "gradient_accumulation": {
+            "steps": 1
+        },
+        "grad_scaler": {
+            "init_scale": 65536.0,
+            "growth_factor": 2.0,
+            "backoff_factor": 0.5,
+            "growth_interval": 2000
+        },
+        "fsdp": {
+            "reshard_after_forward": true,
+            "wrap_modules": null,
+            "min_num_params": null,
+            "cpu_offload": false,
+            "ignored_modules": null
+        },
+        "ddp": {
+            "find_unused_parameters": true,
+            "gradient_as_bucket_view": false,
+            "static_graph": false
+        },
+        "compile": {
+            "enabled": false,
+            "backend": "inductor",
+            "mode": null,
+            "regional": true
+        },
+        "activation_checkpointing": {
+            "mode": "none"
+        }
+    },
+    "eval": {
+        "n_episodes": 50,
+        "batch_size": 50,
+        "use_async_envs": true,
+        "recording": false,
+        "recording_repo_id": null,
+        "recording_private": false
+    },
+    "ema": {
+        "enable": false,
+        "decay": null,
+        "update_after_step": 0,
+        "inv_gamma": 1.0,
+        "power": 0.75,
+        "min_decay": 0.0,
+        "max_decay": 0.9999,
+        "use_for_eval": true
+    },
+    "wandb": {
+        "enable": false,
+        "disable_artifact": false,
+        "project": "lerobot-nexarm",
+        "entity": null,
+        "notes": null,
+        "run_id": null,
+        "resume": null,
+        "mode": null,
+        "console": "wrap",
+        "console_multipart": false,
+        "console_chunk_max_seconds": 0,
+        "add_tags": true
+    },
+    "peft": null,
+    "job": {
+        "target": null,
+        "image": "huggingface/lerobot-gpu:latest",
+        "timeout": "2d",
+        "detach": false,
+        "tags": []
+    },
+    "save_checkpoint_to_hub": false,
+    "sample_weighting": null,
+    "rename_map": {},
+    "checkpoint_path": null
+}
\ No newline at end of file
diff --git a/train_bsp10/checkpoints/030000/training_state/optimizer_param_groups.json b/train_bsp10/checkpoints/030000/training_state/optimizer_param_groups.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e65d4fa7397591ca9a71c24645f4817b6492be7
--- /dev/null
+++ b/train_bsp10/checkpoints/030000/training_state/optimizer_param_groups.json
@@ -0,0 +1,361 @@
+[
+    {
+        "lr": 5.0659979290537954e-05,
+        "betas": [
+            0.95,
+            0.999
+        ],
+        "eps": 1e-08,
+        "weight_decay": 1e-06,
+        "amsgrad": false,
+        "maximize": false,
+        "foreach": null,
+        "capturable": false,
+        "differentiable": false,
+        "fused": null,
+        "decoupled_weight_decay": false,
+        "initial_lr": 0.0001,
+        "params": [
+            0,
+            1,
+            2,
+            3,
+            4,
+            5,
+            6,
+            7,
+            8,
+            9,
+            10,
+            11,
+            12,
+            13,
+            14,
+            15,
+            16,
+            17,
+            18,
+            19,
+            20,
+            21,
+            22,
+            23,
+            24,
+            25,
+            26,
+            27,
+            28,
+            29,
+            30,
+            31,
+            32,
+            33,
+            34,
+            35,
+            36,
+            37,
+            38,
+            39,
+            40,
+            41,
+            42,
+            43,
+            44,
+            45,
+            46,
+            47,
+            48,
+            49,
+            50,
+            51,
+            52,
+            53,
+            54,
+            55,
+            56,
+            57,
+            58,
+            59,
+            60,
+            61,
+            62,
+            63,
+            64,
+            65,
+            66,
+            67,
+            68,
+            69,
+            70,
+            71,
+            72,
+            73,
+            74,
+            75,
+            76,
+            77,
+            78,
+            79,
+            80,
+            81,
+            82,
+            83,
+            84,
+            85,
+            86,
+            87,
+            88,
+            89,
+            90,
+            91,
+            92,
+            93,
+            94,
+            95,
+            96,
+            97,
+            98,
+            99,
+            100,
+            101,
+            102,
+            103,
+            104,
+            105,
+            106,
+            107,
+            108,
+            109,
+            110,
+            111,
+            112,
+            113,
+            114,
+            115,
+            116,
+            117,
+            118,
+            119,
+            120,
+            121,
+            122,
+            123,
+            124,
+            125,
+            126,
+            127,
+            128,
+            129,
+            130,
+            131,
+            132,
+            133,
+            134,
+            135,
+            136,
+            137,
+            138,
+            139,
+            140,
+            141,
+            142,
+            143,
+            144,
+            145,
+            146,
+            147,
+            148,
+            149,
+            150,
+            151,
+            152,
+            153,
+            154,
+            155,
+            156,
+            157,
+            158,
+            159,
+            160,
+            161,
+            162,
+            163,
+            164,
+            165,
+            166,
+            167,
+            168,
+            169,
+            170,
+            171,
+            172,
+            173,
+            174,
+            175,
+            176,
+            177,
+            178,
+            179,
+            180,
+            181,
+            182,
+            183,
+            184,
+            185,
+            186,
+            187,
+            188,
+            189,
+            190,
+            191,
+            192,
+            193,
+            194,
+            195,
+            196,
+            197,
+            198,
+            199,
+            200,
+            201,
+            202,
+            203,
+            204,
+            205,
+            206,
+            207,
+            208,
+            209,
+            210,
+            211,
+            212,
+            213,
+            214,
+            215,
+            216,
+            217,
+            218,
+            219,
+            220,
+            221,
+            222,
+            223,
+            224,
+            225,
+            226,
+            227,
+            228,
+            229,
+            230,
+            231,
+            232,
+            233,
+            234,
+            235,
+            236,
+            237,
+            238,
+            239,
+            240,
+            241,
+            242,
+            243,
+            244,
+            245,
+            246,
+            247,
+            248,
+            249,
+            250,
+            251,
+            252,
+            253,
+            254,
+            255,
+            256,
+            257,
+            258,
+            259,
+            260,
+            261,
+            262,
+            263,
+            264,
+            265,
+            266,
+            267,
+            268,
+            269,
+            270,
+            271,
+            272,
+            273,
+            274,
+            275,
+            276,
+            277,
+            278,
+            279,
+            280,
+            281,
+            282,
+            283,
+            284,
+            285,
+            286,
+            287,
+            288,
+            289,
+            290,
+            291,
+            292,
+            293,
+            294,
+            295,
+            296,
+            297,
+            298,
+            299,
+            300,
+            301,
+            302,
+            303,
+            304,
+            305,
+            306,
+            307,
+            308,
+            309,
+            310,
+            311,
+            312,
+            313,
+            314,
+            315,
+            316,
+            317,
+            318,
+            319,
+            320,
+            321,
+            322,
+            323,
+            324,
+            325,
+            326,
+            327,
+            328,
+            329,
+            330,
+            331,
+            332,
+            333,
+            334,
+            335,
+            336,
+            337,
+            338,
+            339
+        ]
+    }
+]
\ No newline at end of file
diff --git a/train_bsp10/checkpoints/030000/training_state/optimizer_state.safetensors b/train_bsp10/checkpoints/030000/training_state/optimizer_state.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..e5c0b68e696eaee9e80433dcb3508ac50702f9d0
--- /dev/null
+++ b/train_bsp10/checkpoints/030000/training_state/optimizer_state.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:edffbb21df7692486d242dafb85d5b156bbf606791ec7edf44af3730908e85b7
+size 2341614992
diff --git a/train_bsp10/checkpoints/030000/training_state/rng_state.safetensors b/train_bsp10/checkpoints/030000/training_state/rng_state.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..5197db2c79c74ecbde1d97d69647589a727da188
--- /dev/null
+++ b/train_bsp10/checkpoints/030000/training_state/rng_state.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0fa2590dae55a570fa46905c969d3fbc69218ae12820ffbc9d3cad8a6f85a84b
+size 15712
diff --git a/train_bsp10/checkpoints/030000/training_state/scheduler_state.json b/train_bsp10/checkpoints/030000/training_state/scheduler_state.json
new file mode 100644
index 0000000000000000000000000000000000000000..18610eb37081452a6ecc2e858583500e0ad76d58
--- /dev/null
+++ b/train_bsp10/checkpoints/030000/training_state/scheduler_state.json
@@ -0,0 +1,15 @@
+{
+    "base_lrs": [
+        0.0001
+    ],
+    "last_epoch": 30000,
+    "_step_count": 30001,
+    "_is_initial": false,
+    "_get_lr_called_within_step": false,
+    "_last_lr": [
+        5.0659979290537954e-05
+    ],
+    "lr_lambdas": [
+        null
+    ]
+}
\ No newline at end of file
diff --git a/train_bsp10/checkpoints/030000/training_state/training_step.json b/train_bsp10/checkpoints/030000/training_state/training_step.json
new file mode 100644
index 0000000000000000000000000000000000000000..b90b0a337eea7f2c3dc1f6f7c3954155e67e35ff
--- /dev/null
+++ b/train_bsp10/checkpoints/030000/training_state/training_step.json
@@ -0,0 +1,13 @@
+{
+    "step": 30000,
+    "dp_world_size": 1,
+    "batch_size": 32,
+    "grad_accum_steps": 1,
+    "mixed_precision": "no",
+    "parallelism": {
+        "dp_replicate": 1,
+        "dp_shard": 1,
+        "ring_degree": 1,
+        "ulysses_degree": 1
+    }
+}
\ No newline at end of file
diff --git a/train_bsp10/checkpoints/040000/pretrained_model/config.json b/train_bsp10/checkpoints/040000/pretrained_model/config.json
new file mode 100644
index 0000000000000000000000000000000000000000..29162bf2c105e73be74560f4dce87a7c296ad7bf
--- /dev/null
+++ b/train_bsp10/checkpoints/040000/pretrained_model/config.json
@@ -0,0 +1,122 @@
+{
+    "type": "bspline",
+    "n_obs_steps": 2,
+    "input_features": {
+        "observation.state": {
+            "type": "STATE",
+            "shape": [
+                6
+            ]
+        },
+        "observation.images.front": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        },
+        "observation.images.wrist": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        },
+        "observation.images.top": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        }
+    },
+    "output_features": {
+        "action": {
+            "type": "ACTION",
+            "shape": [
+                6
+            ]
+        }
+    },
+    "device": "cuda",
+    "dtype": null,
+    "use_amp": false,
+    "use_peft": false,
+    "push_to_hub": false,
+    "repo_id": null,
+    "private": null,
+    "tags": null,
+    "license": null,
+    "pretrained_path": null,
+    "pretrained_revision": null,
+    "horizon": 16,
+    "n_action_steps": 32,
+    "normalization_mapping": {
+        "VISUAL": "MEAN_STD",
+        "STATE": "MIN_MAX",
+        "ACTION": "MIN_MAX"
+    },
+    "drop_n_last_frames": 0,
+    "vision_backbone": "resnet18",
+    "resize_shape": [
+        120,
+        160
+    ],
+    "crop_ratio": 1.0,
+    "crop_shape": null,
+    "crop_is_random": true,
+    "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
+    "use_group_norm": false,
+    "spatial_softmax_num_keypoints": 32,
+    "use_separate_rgb_encoder_per_camera": true,
+    "down_dims": [
+        512,
+        1024,
+        2048
+    ],
+    "kernel_size": 5,
+    "n_groups": 8,
+    "diffusion_step_embed_dim": 128,
+    "use_film_scale_modulation": true,
+    "gradient_checkpointing": false,
+    "noise_scheduler_type": "DDIM",
+    "num_train_timesteps": 100,
+    "beta_schedule": "squaredcos_cap_v2",
+    "beta_start": 0.0001,
+    "beta_end": 0.02,
+    "prediction_type": "epsilon",
+    "clip_sample": true,
+    "clip_sample_range": 1.5,
+    "num_inference_steps": 10,
+    "compile_model": false,
+    "compile_mode": "reduce-overhead",
+    "do_mask_loss_for_padding": false,
+    "optimizer_lr": 0.0001,
+    "optimizer_betas": [
+        0.95,
+        0.999
+    ],
+    "optimizer_eps": 1e-08,
+    "optimizer_weight_decay": 1e-06,
+    "scheduler_name": "cosine",
+    "scheduler_warmup_steps": 500,
+    "bspline_degree": 3,
+    "bspline_chunk_size": 10,
+    "bspline_window": 64,
+    "bspline_max_error": 0.01,
+    "bspline_speed_up": 1.0,
+    "bspline_fit_workers": 0,
+    "bspline_mode": "diffusion",
+    "planbind_fine_spacing": 4,
+    "planbind_subdivision": 4,
+    "planbind_max_plan_age": 32,
+    "planbind_plan_noise": 0.02,
+    "planbind_replan_threshold": 0.0,
+    "planbind_latency": 0,
+    "planbind_commit": "latency",
+    "planbind_position_limit": 0.0,
+    "planbind_velocity_limit": 0.0
+}
\ No newline at end of file
diff --git a/train_bsp10/checkpoints/040000/pretrained_model/model.safetensors b/train_bsp10/checkpoints/040000/pretrained_model/model.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..ab0ba27172ae1f1331e5402af8be8892ea0b8697
--- /dev/null
+++ b/train_bsp10/checkpoints/040000/pretrained_model/model.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:044bf12183dd7fd90effa05bb0294f9c10e0cd2a429aa86ca1e2aef1487fb7be
+size 1170940540
diff --git a/train_bsp10/checkpoints/040000/pretrained_model/policy_postprocessor.json b/train_bsp10/checkpoints/040000/pretrained_model/policy_postprocessor.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2c5e6cea7850bb999ab193f96021fa0129ce4db
--- /dev/null
+++ b/train_bsp10/checkpoints/040000/pretrained_model/policy_postprocessor.json
@@ -0,0 +1,32 @@
+{
+  "name": "policy_postprocessor",
+  "steps": [
+    {
+      "registry_name": "unnormalizer_processor",
+      "config": {
+        "eps": 1e-08,
+        "features": {
+          "action": {
+            "type": "ACTION",
+            "shape": [
+              6
+            ]
+          }
+        },
+        "norm_map": {
+          "VISUAL": "MEAN_STD",
+          "STATE": "MIN_MAX",
+          "ACTION": "MIN_MAX"
+        }
+      },
+      "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cpu",
+        "float_dtype": null
+      }
+    }
+  ]
+}
\ No newline at end of file
diff --git a/train_bsp10/checkpoints/040000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors b/train_bsp10/checkpoints/040000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..ead5732518c212199e87eb8df6f0f49f32e15a1e
--- /dev/null
+++ b/train_bsp10/checkpoints/040000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55336fe114f19ef78b83ccc0926a3df66a9adc11a641f9adc0caf9c439ff8576
+size 8528
diff --git a/train_bsp10/checkpoints/040000/pretrained_model/policy_preprocessor.json b/train_bsp10/checkpoints/040000/pretrained_model/policy_preprocessor.json
new file mode 100644
index 0000000000000000000000000000000000000000..981e0dfcb58027d80f783d8905452fadeaea830e
--- /dev/null
+++ b/train_bsp10/checkpoints/040000/pretrained_model/policy_preprocessor.json
@@ -0,0 +1,72 @@
+{
+  "name": "policy_preprocessor",
+  "steps": [
+    {
+      "registry_name": "rename_observations_processor",
+      "config": {
+        "rename_map": {}
+      }
+    },
+    {
+      "registry_name": "to_batch_processor",
+      "config": {}
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cuda",
+        "float_dtype": null
+      }
+    },
+    {
+      "registry_name": "normalizer_processor",
+      "config": {
+        "eps": 1e-08,
+        "features": {
+          "observation.state": {
+            "type": "STATE",
+            "shape": [
+              6
+            ]
+          },
+          "observation.images.front": {
+            "type": "VISUAL",
+            "shape": [
+              3,
+              480,
+              640
+            ]
+          },
+          "observation.images.wrist": {
+            "type": "VISUAL",
+            "shape": [
+              3,
+              480,
+              640
+            ]
+          },
+          "observation.images.top": {
+            "type": "VISUAL",
+            "shape": [
+              3,
+              480,
+              640
+            ]
+          },
+          "action": {
+            "type": "ACTION",
+            "shape": [
+              6
+            ]
+          }
+        },
+        "norm_map": {
+          "VISUAL": "MEAN_STD",
+          "STATE": "MIN_MAX",
+          "ACTION": "MIN_MAX"
+        }
+      },
+      "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
+    }
+  ]
+}
\ No newline at end of file
diff --git a/train_bsp10/checkpoints/040000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors b/train_bsp10/checkpoints/040000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..f99bcf47b067091c10855f81f0663ca8d0f56ab8
--- /dev/null
+++ b/train_bsp10/checkpoints/040000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0f6cfea44fc7cfa8fa04ca706b89c90cce83136e90c3d0286428dfa2e1968d7
+size 8536
diff --git a/train_bsp10/checkpoints/040000/pretrained_model/train_config.json b/train_bsp10/checkpoints/040000/pretrained_model/train_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..c074a87b77cd50d8d69e41de3aad8626a547e196
--- /dev/null
+++ b/train_bsp10/checkpoints/040000/pretrained_model/train_config.json
@@ -0,0 +1,347 @@
+{
+    "dataset": {
+        "repo_id": "local/nexarm_stack_bowls",
+        "repo_type": "dataset",
+        "root": "/workspace/lerobot-nexarm/outputs/datasets/nexarm_stack_bowls",
+        "episodes": null,
+        "exclude_episodes": null,
+        "image_transforms": {
+            "enable": false,
+            "backend": "dataloader",
+            "gpu_compile": true,
+            "gpu_chunk_size": 32,
+            "max_num_transforms": 3,
+            "random_order": false,
+            "tfs": {
+                "brightness": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "brightness": [
+                            0.8,
+                            1.2
+                        ]
+                    }
+                },
+                "contrast": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "contrast": [
+                            0.8,
+                            1.2
+                        ]
+                    }
+                },
+                "saturation": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "saturation": [
+                            0.5,
+                            1.5
+                        ]
+                    }
+                },
+                "hue": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "hue": [
+                            -0.05,
+                            0.05
+                        ]
+                    }
+                },
+                "sharpness": {
+                    "weight": 1.0,
+                    "type": "SharpnessJitter",
+                    "kwargs": {
+                        "sharpness": [
+                            0.5,
+                            1.5
+                        ]
+                    }
+                },
+                "affine": {
+                    "weight": 1.0,
+                    "type": "RandomAffine",
+                    "kwargs": {
+                        "degrees": [
+                            -5.0,
+                            5.0
+                        ],
+                        "translate": [
+                            0.05,
+                            0.05
+                        ]
+                    }
+                }
+            }
+        },
+        "revision": null,
+        "use_imagenet_stats": true,
+        "video_backend": "torchcodec",
+        "return_uint8": false,
+        "depth_output_unit": "mm",
+        "streaming": false,
+        "streaming_episode_pool_size": null,
+        "streaming_sampling_strategy": "remaining",
+        "streaming_prefetch_episodes": 8,
+        "streaming_byte_budget_gb": 8.0,
+        "streaming_decode_threads": 2,
+        "streaming_decoded_queue_size": 8,
+        "streaming_native_http_connections": null,
+        "streaming_native_http_subranges": 1,
+        "streaming_sidecar_lock_timeout_s": 1800,
+        "video_decoder_cache_size": null,
+        "eval_split": 0.0
+    },
+    "env": null,
+    "policy": {
+        "type": "bspline",
+        "n_obs_steps": 2,
+        "input_features": {
+            "observation.state": {
+                "type": "STATE",
+                "shape": [
+                    6
+                ]
+            },
+            "observation.images.front": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    480,
+                    640
+                ]
+            },
+            "observation.images.wrist": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    480,
+                    640
+                ]
+            },
+            "observation.images.top": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    480,
+                    640
+                ]
+            }
+        },
+        "output_features": {
+            "action": {
+                "type": "ACTION",
+                "shape": [
+                    6
+                ]
+            }
+        },
+        "device": "cuda",
+        "dtype": null,
+        "use_amp": false,
+        "use_peft": false,
+        "push_to_hub": false,
+        "repo_id": null,
+        "private": null,
+        "tags": null,
+        "license": null,
+        "pretrained_path": null,
+        "pretrained_revision": null,
+        "horizon": 16,
+        "n_action_steps": 32,
+        "normalization_mapping": {
+            "VISUAL": "MEAN_STD",
+            "STATE": "MIN_MAX",
+            "ACTION": "MIN_MAX"
+        },
+        "drop_n_last_frames": 0,
+        "vision_backbone": "resnet18",
+        "resize_shape": [
+            120,
+            160
+        ],
+        "crop_ratio": 1.0,
+        "crop_shape": null,
+        "crop_is_random": true,
+        "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
+        "use_group_norm": false,
+        "spatial_softmax_num_keypoints": 32,
+        "use_separate_rgb_encoder_per_camera": true,
+        "down_dims": [
+            512,
+            1024,
+            2048
+        ],
+        "kernel_size": 5,
+        "n_groups": 8,
+        "diffusion_step_embed_dim": 128,
+        "use_film_scale_modulation": true,
+        "gradient_checkpointing": false,
+        "noise_scheduler_type": "DDIM",
+        "num_train_timesteps": 100,
+        "beta_schedule": "squaredcos_cap_v2",
+        "beta_start": 0.0001,
+        "beta_end": 0.02,
+        "prediction_type": "epsilon",
+        "clip_sample": true,
+        "clip_sample_range": 1.5,
+        "num_inference_steps": 10,
+        "compile_model": false,
+        "compile_mode": "reduce-overhead",
+        "do_mask_loss_for_padding": false,
+        "optimizer_lr": 0.0001,
+        "optimizer_betas": [
+            0.95,
+            0.999
+        ],
+        "optimizer_eps": 1e-08,
+        "optimizer_weight_decay": 1e-06,
+        "scheduler_name": "cosine",
+        "scheduler_warmup_steps": 500,
+        "bspline_degree": 3,
+        "bspline_chunk_size": 10,
+        "bspline_window": 64,
+        "bspline_max_error": 0.01,
+        "bspline_speed_up": 1.0,
+        "bspline_fit_workers": 0,
+        "bspline_mode": "diffusion",
+        "planbind_fine_spacing": 4,
+        "planbind_subdivision": 4,
+        "planbind_max_plan_age": 32,
+        "planbind_plan_noise": 0.02,
+        "planbind_replan_threshold": 0.0,
+        "planbind_latency": 0,
+        "planbind_commit": "latency",
+        "planbind_position_limit": 0.0,
+        "planbind_velocity_limit": 0.0
+    },
+    "reward_model": null,
+    "output_dir": "/workspace/lerobot-nexarm/experiments/261027-plan-bind-two-step/outputs/full/train_bsp10",
+    "job_name": "261027-plan-bind-bsp10",
+    "resume": false,
+    "seed": 1000,
+    "cudnn_deterministic": false,
+    "num_workers": 16,
+    "batch_size": 32,
+    "prefetch_factor": 4,
+    "persistent_workers": true,
+    "dataloader_multiprocessing_context": "spawn",
+    "steps": 60000,
+    "env_eval_freq": 0,
+    "log_freq": 100,
+    "eval_steps": 0,
+    "max_eval_samples": 0,
+    "tolerance_s": 0.0001,
+    "save_checkpoint": true,
+    "save_freq": 10000,
+    "checkpoint_format": "safetensors",
+    "use_policy_training_preset": true,
+    "optimizer": {
+        "type": "adam",
+        "lr": 0.0001,
+        "weight_decay": 1e-06,
+        "grad_clip_norm": 10.0,
+        "betas": [
+            0.95,
+            0.999
+        ],
+        "eps": 1e-08,
+        "fused": null
+    },
+    "scheduler": {
+        "type": "diffuser",
+        "num_warmup_steps": 500,
+        "name": "cosine"
+    },
+    "parallelism": {
+        "dp_replicate": 1,
+        "dp_shard": 1,
+        "context_parallel": {
+            "ring_degree": 1,
+            "ulysses_degree": 1
+        },
+        "cfg_parallel": 1
+    },
+    "accelerator": {
+        "mixed_precision": "no",
+        "gradient_accumulation": {
+            "steps": 1
+        },
+        "grad_scaler": {
+            "init_scale": 65536.0,
+            "growth_factor": 2.0,
+            "backoff_factor": 0.5,
+            "growth_interval": 2000
+        },
+        "fsdp": {
+            "reshard_after_forward": true,
+            "wrap_modules": null,
+            "min_num_params": null,
+            "cpu_offload": false,
+            "ignored_modules": null
+        },
+        "ddp": {
+            "find_unused_parameters": true,
+            "gradient_as_bucket_view": false,
+            "static_graph": false
+        },
+        "compile": {
+            "enabled": false,
+            "backend": "inductor",
+            "mode": null,
+            "regional": true
+        },
+        "activation_checkpointing": {
+            "mode": "none"
+        }
+    },
+    "eval": {
+        "n_episodes": 50,
+        "batch_size": 50,
+        "use_async_envs": true,
+        "recording": false,
+        "recording_repo_id": null,
+        "recording_private": false
+    },
+    "ema": {
+        "enable": false,
+        "decay": null,
+        "update_after_step": 0,
+        "inv_gamma": 1.0,
+        "power": 0.75,
+        "min_decay": 0.0,
+        "max_decay": 0.9999,
+        "use_for_eval": true
+    },
+    "wandb": {
+        "enable": false,
+        "disable_artifact": false,
+        "project": "lerobot-nexarm",
+        "entity": null,
+        "notes": null,
+        "run_id": null,
+        "resume": null,
+        "mode": null,
+        "console": "wrap",
+        "console_multipart": false,
+        "console_chunk_max_seconds": 0,
+        "add_tags": true
+    },
+    "peft": null,
+    "job": {
+        "target": null,
+        "image": "huggingface/lerobot-gpu:latest",
+        "timeout": "2d",
+        "detach": false,
+        "tags": []
+    },
+    "save_checkpoint_to_hub": false,
+    "sample_weighting": null,
+    "rename_map": {},
+    "checkpoint_path": null
+}
\ No newline at end of file
diff --git a/train_bsp10/checkpoints/040000/training_state/optimizer_param_groups.json b/train_bsp10/checkpoints/040000/training_state/optimizer_param_groups.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab49b07a4bc14a7a219cfcb6611ba784bef4323f
--- /dev/null
+++ b/train_bsp10/checkpoints/040000/training_state/optimizer_param_groups.json
@@ -0,0 +1,361 @@
+[
+    {
+        "lr": 2.5382013357782893e-05,
+        "betas": [
+            0.95,
+            0.999
+        ],
+        "eps": 1e-08,
+        "weight_decay": 1e-06,
+        "amsgrad": false,
+        "maximize": false,
+        "foreach": null,
+        "capturable": false,
+        "differentiable": false,
+        "fused": null,
+        "decoupled_weight_decay": false,
+        "initial_lr": 0.0001,
+        "params": [
+            0,
+            1,
+            2,
+            3,
+            4,
+            5,
+            6,
+            7,
+            8,
+            9,
+            10,
+            11,
+            12,
+            13,
+            14,
+            15,
+            16,
+            17,
+            18,
+            19,
+            20,
+            21,
+            22,
+            23,
+            24,
+            25,
+            26,
+            27,
+            28,
+            29,
+            30,
+            31,
+            32,
+            33,
+            34,
+            35,
+            36,
+            37,
+            38,
+            39,
+            40,
+            41,
+            42,
+            43,
+            44,
+            45,
+            46,
+            47,
+            48,
+            49,
+            50,
+            51,
+            52,
+            53,
+            54,
+            55,
+            56,
+            57,
+            58,
+            59,
+            60,
+            61,
+            62,
+            63,
+            64,
+            65,
+            66,
+            67,
+            68,
+            69,
+            70,
+            71,
+            72,
+            73,
+            74,
+            75,
+            76,
+            77,
+            78,
+            79,
+            80,
+            81,
+            82,
+            83,
+            84,
+            85,
+            86,
+            87,
+            88,
+            89,
+            90,
+            91,
+            92,
+            93,
+            94,
+            95,
+            96,
+            97,
+            98,
+            99,
+            100,
+            101,
+            102,
+            103,
+            104,
+            105,
+            106,
+            107,
+            108,
+            109,
+            110,
+            111,
+            112,
+            113,
+            114,
+            115,
+            116,
+            117,
+            118,
+            119,
+            120,
+            121,
+            122,
+            123,
+            124,
+            125,
+            126,
+            127,
+            128,
+            129,
+            130,
+            131,
+            132,
+            133,
+            134,
+            135,
+            136,
+            137,
+            138,
+            139,
+            140,
+            141,
+            142,
+            143,
+            144,
+            145,
+            146,
+            147,
+            148,
+            149,
+            150,
+            151,
+            152,
+            153,
+            154,
+            155,
+            156,
+            157,
+            158,
+            159,
+            160,
+            161,
+            162,
+            163,
+            164,
+            165,
+            166,
+            167,
+            168,
+            169,
+            170,
+            171,
+            172,
+            173,
+            174,
+            175,
+            176,
+            177,
+            178,
+            179,
+            180,
+            181,
+            182,
+            183,
+            184,
+            185,
+            186,
+            187,
+            188,
+            189,
+            190,
+            191,
+            192,
+            193,
+            194,
+            195,
+            196,
+            197,
+            198,
+            199,
+            200,
+            201,
+            202,
+            203,
+            204,
+            205,
+            206,
+            207,
+            208,
+            209,
+            210,
+            211,
+            212,
+            213,
+            214,
+            215,
+            216,
+            217,
+            218,
+            219,
+            220,
+            221,
+            222,
+            223,
+            224,
+            225,
+            226,
+            227,
+            228,
+            229,
+            230,
+            231,
+            232,
+            233,
+            234,
+            235,
+            236,
+            237,
+            238,
+            239,
+            240,
+            241,
+            242,
+            243,
+            244,
+            245,
+            246,
+            247,
+            248,
+            249,
+            250,
+            251,
+            252,
+            253,
+            254,
+            255,
+            256,
+            257,
+            258,
+            259,
+            260,
+            261,
+            262,
+            263,
+            264,
+            265,
+            266,
+            267,
+            268,
+            269,
+            270,
+            271,
+            272,
+            273,
+            274,
+            275,
+            276,
+            277,
+            278,
+            279,
+            280,
+            281,
+            282,
+            283,
+            284,
+            285,
+            286,
+            287,
+            288,
+            289,
+            290,
+            291,
+            292,
+            293,
+            294,
+            295,
+            296,
+            297,
+            298,
+            299,
+            300,
+            301,
+            302,
+            303,
+            304,
+            305,
+            306,
+            307,
+            308,
+            309,
+            310,
+            311,
+            312,
+            313,
+            314,
+            315,
+            316,
+            317,
+            318,
+            319,
+            320,
+            321,
+            322,
+            323,
+            324,
+            325,
+            326,
+            327,
+            328,
+            329,
+            330,
+            331,
+            332,
+            333,
+            334,
+            335,
+            336,
+            337,
+            338,
+            339
+        ]
+    }
+]
\ No newline at end of file
diff --git a/train_bsp10/checkpoints/040000/training_state/optimizer_state.safetensors b/train_bsp10/checkpoints/040000/training_state/optimizer_state.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..c4e551344b17c3267baf3910d245ec51df7697dd
--- /dev/null
+++ b/train_bsp10/checkpoints/040000/training_state/optimizer_state.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a48666104970d4ec44e281e496f3a7010c389dc724f7563f1a7cfee1b37c289
+size 2341614992
diff --git a/train_bsp10/checkpoints/040000/training_state/rng_state.safetensors b/train_bsp10/checkpoints/040000/training_state/rng_state.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..f58ef510395f2c45c1d0bad0a3e1400be123e013
--- /dev/null
+++ b/train_bsp10/checkpoints/040000/training_state/rng_state.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46c794652ed7ffddac7d330c051b40956690034b4a9a1d7a1a47b8b231c10d48
+size 15712
diff --git a/train_bsp10/checkpoints/040000/training_state/scheduler_state.json b/train_bsp10/checkpoints/040000/training_state/scheduler_state.json
new file mode 100644
index 0000000000000000000000000000000000000000..57516318c0fbc503a08ada720c8e48a64fb460ba
--- /dev/null
+++ b/train_bsp10/checkpoints/040000/training_state/scheduler_state.json
@@ -0,0 +1,15 @@
+{
+    "base_lrs": [
+        0.0001
+    ],
+    "last_epoch": 40000,
+    "_step_count": 40001,
+    "_is_initial": false,
+    "_get_lr_called_within_step": false,
+    "_last_lr": [
+        2.5382013357782893e-05
+    ],
+    "lr_lambdas": [
+        null
+    ]
+}
\ No newline at end of file
diff --git a/train_bsp10/checkpoints/040000/training_state/training_step.json b/train_bsp10/checkpoints/040000/training_state/training_step.json
new file mode 100644
index 0000000000000000000000000000000000000000..986d2ecdfcf0680c6602a1fd26360fb009bc16fb
--- /dev/null
+++ b/train_bsp10/checkpoints/040000/training_state/training_step.json
@@ -0,0 +1,13 @@
+{
+    "step": 40000,
+    "dp_world_size": 1,
+    "batch_size": 32,
+    "grad_accum_steps": 1,
+    "mixed_precision": "no",
+    "parallelism": {
+        "dp_replicate": 1,
+        "dp_shard": 1,
+        "ring_degree": 1,
+        "ulysses_degree": 1
+    }
+}
\ No newline at end of file
diff --git a/train_bsp10/checkpoints/050000/pretrained_model/config.json b/train_bsp10/checkpoints/050000/pretrained_model/config.json
new file mode 100644
index 0000000000000000000000000000000000000000..29162bf2c105e73be74560f4dce87a7c296ad7bf
--- /dev/null
+++ b/train_bsp10/checkpoints/050000/pretrained_model/config.json
@@ -0,0 +1,122 @@
+{
+    "type": "bspline",
+    "n_obs_steps": 2,
+    "input_features": {
+        "observation.state": {
+            "type": "STATE",
+            "shape": [
+                6
+            ]
+        },
+        "observation.images.front": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        },
+        "observation.images.wrist": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        },
+        "observation.images.top": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        }
+    },
+    "output_features": {
+        "action": {
+            "type": "ACTION",
+            "shape": [
+                6
+            ]
+        }
+    },
+    "device": "cuda",
+    "dtype": null,
+    "use_amp": false,
+    "use_peft": false,
+    "push_to_hub": false,
+    "repo_id": null,
+    "private": null,
+    "tags": null,
+    "license": null,
+    "pretrained_path": null,
+    "pretrained_revision": null,
+    "horizon": 16,
+    "n_action_steps": 32,
+    "normalization_mapping": {
+        "VISUAL": "MEAN_STD",
+        "STATE": "MIN_MAX",
+        "ACTION": "MIN_MAX"
+    },
+    "drop_n_last_frames": 0,
+    "vision_backbone": "resnet18",
+    "resize_shape": [
+        120,
+        160
+    ],
+    "crop_ratio": 1.0,
+    "crop_shape": null,
+    "crop_is_random": true,
+    "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
+    "use_group_norm": false,
+    "spatial_softmax_num_keypoints": 32,
+    "use_separate_rgb_encoder_per_camera": true,
+    "down_dims": [
+        512,
+        1024,
+        2048
+    ],
+    "kernel_size": 5,
+    "n_groups": 8,
+    "diffusion_step_embed_dim": 128,
+    "use_film_scale_modulation": true,
+    "gradient_checkpointing": false,
+    "noise_scheduler_type": "DDIM",
+    "num_train_timesteps": 100,
+    "beta_schedule": "squaredcos_cap_v2",
+    "beta_start": 0.0001,
+    "beta_end": 0.02,
+    "prediction_type": "epsilon",
+    "clip_sample": true,
+    "clip_sample_range": 1.5,
+    "num_inference_steps": 10,
+    "compile_model": false,
+    "compile_mode": "reduce-overhead",
+    "do_mask_loss_for_padding": false,
+    "optimizer_lr": 0.0001,
+    "optimizer_betas": [
+        0.95,
+        0.999
+    ],
+    "optimizer_eps": 1e-08,
+    "optimizer_weight_decay": 1e-06,
+    "scheduler_name": "cosine",
+    "scheduler_warmup_steps": 500,
+    "bspline_degree": 3,
+    "bspline_chunk_size": 10,
+    "bspline_window": 64,
+    "bspline_max_error": 0.01,
+    "bspline_speed_up": 1.0,
+    "bspline_fit_workers": 0,
+    "bspline_mode": "diffusion",
+    "planbind_fine_spacing": 4,
+    "planbind_subdivision": 4,
+    "planbind_max_plan_age": 32,
+    "planbind_plan_noise": 0.02,
+    "planbind_replan_threshold": 0.0,
+    "planbind_latency": 0,
+    "planbind_commit": "latency",
+    "planbind_position_limit": 0.0,
+    "planbind_velocity_limit": 0.0
+}
\ No newline at end of file
diff --git a/train_bsp10/checkpoints/050000/pretrained_model/model.safetensors b/train_bsp10/checkpoints/050000/pretrained_model/model.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..618d70761a0242493f545c8a2e856c98f1753913
--- /dev/null
+++ b/train_bsp10/checkpoints/050000/pretrained_model/model.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f157b83f20847df97550c23f1f747afa2489a52536d8aba43b5edc179e2ba9f6
+size 1170940540
diff --git a/train_bsp10/checkpoints/050000/pretrained_model/policy_postprocessor.json b/train_bsp10/checkpoints/050000/pretrained_model/policy_postprocessor.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2c5e6cea7850bb999ab193f96021fa0129ce4db
--- /dev/null
+++ b/train_bsp10/checkpoints/050000/pretrained_model/policy_postprocessor.json
@@ -0,0 +1,32 @@
+{
+  "name": "policy_postprocessor",
+  "steps": [
+    {
+      "registry_name": "unnormalizer_processor",
+      "config": {
+        "eps": 1e-08,
+        "features": {
+          "action": {
+            "type": "ACTION",
+            "shape": [
+              6
+            ]
+          }
+        },
+        "norm_map": {
+          "VISUAL": "MEAN_STD",
+          "STATE": "MIN_MAX",
+          "ACTION": "MIN_MAX"
+        }
+      },
+      "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cpu",
+        "float_dtype": null
+      }
+    }
+  ]
+}
\ No newline at end of file
diff --git a/train_bsp10/checkpoints/050000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors b/train_bsp10/checkpoints/050000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..ead5732518c212199e87eb8df6f0f49f32e15a1e
--- /dev/null
+++ b/train_bsp10/checkpoints/050000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55336fe114f19ef78b83ccc0926a3df66a9adc11a641f9adc0caf9c439ff8576
+size 8528
diff --git a/train_bsp10/checkpoints/050000/pretrained_model/policy_preprocessor.json b/train_bsp10/checkpoints/050000/pretrained_model/policy_preprocessor.json
new file mode 100644
index 0000000000000000000000000000000000000000..981e0dfcb58027d80f783d8905452fadeaea830e
--- /dev/null
+++ b/train_bsp10/checkpoints/050000/pretrained_model/policy_preprocessor.json
@@ -0,0 +1,72 @@
+{
+  "name": "policy_preprocessor",
+  "steps": [
+    {
+      "registry_name": "rename_observations_processor",
+      "config": {
+        "rename_map": {}
+      }
+    },
+    {
+      "registry_name": "to_batch_processor",
+      "config": {}
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cuda",
+        "float_dtype": null
+      }
+    },
+    {
+      "registry_name": "normalizer_processor",
+      "config": {
+        "eps": 1e-08,
+        "features": {
+          "observation.state": {
+            "type": "STATE",
+            "shape": [
+              6
+            ]
+          },
+          "observation.images.front": {
+            "type": "VISUAL",
+            "shape": [
+              3,
+              480,
+              640
+            ]
+          },
+          "observation.images.wrist": {
+            "type": "VISUAL",
+            "shape": [
+              3,
+              480,
+              640
+            ]
+          },
+          "observation.images.top": {
+            "type": "VISUAL",
+            "shape": [
+              3,
+              480,
+              640
+            ]
+          },
+          "action": {
+            "type": "ACTION",
+            "shape": [
+              6
+            ]
+          }
+        },
+        "norm_map": {
+          "VISUAL": "MEAN_STD",
+          "STATE": "MIN_MAX",
+          "ACTION": "MIN_MAX"
+        }
+      },
+      "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
+    }
+  ]
+}
\ No newline at end of file
diff --git a/train_bsp10/checkpoints/050000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors b/train_bsp10/checkpoints/050000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..f99bcf47b067091c10855f81f0663ca8d0f56ab8
--- /dev/null
+++ b/train_bsp10/checkpoints/050000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0f6cfea44fc7cfa8fa04ca706b89c90cce83136e90c3d0286428dfa2e1968d7
+size 8536
diff --git a/train_bsp10/checkpoints/050000/pretrained_model/train_config.json b/train_bsp10/checkpoints/050000/pretrained_model/train_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..c074a87b77cd50d8d69e41de3aad8626a547e196
--- /dev/null
+++ b/train_bsp10/checkpoints/050000/pretrained_model/train_config.json
@@ -0,0 +1,347 @@
+{
+    "dataset": {
+        "repo_id": "local/nexarm_stack_bowls",
+        "repo_type": "dataset",
+        "root": "/workspace/lerobot-nexarm/outputs/datasets/nexarm_stack_bowls",
+        "episodes": null,
+        "exclude_episodes": null,
+        "image_transforms": {
+            "enable": false,
+            "backend": "dataloader",
+            "gpu_compile": true,
+            "gpu_chunk_size": 32,
+            "max_num_transforms": 3,
+            "random_order": false,
+            "tfs": {
+                "brightness": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "brightness": [
+                            0.8,
+                            1.2
+                        ]
+                    }
+                },
+                "contrast": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "contrast": [
+                            0.8,
+                            1.2
+                        ]
+                    }
+                },
+                "saturation": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "saturation": [
+                            0.5,
+                            1.5
+                        ]
+                    }
+                },
+                "hue": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "hue": [
+                            -0.05,
+                            0.05
+                        ]
+                    }
+                },
+                "sharpness": {
+                    "weight": 1.0,
+                    "type": "SharpnessJitter",
+                    "kwargs": {
+                        "sharpness": [
+                            0.5,
+                            1.5
+                        ]
+                    }
+                },
+                "affine": {
+                    "weight": 1.0,
+                    "type": "RandomAffine",
+                    "kwargs": {
+                        "degrees": [
+                            -5.0,
+                            5.0
+                        ],
+                        "translate": [
+                            0.05,
+                            0.05
+                        ]
+                    }
+                }
+            }
+        },
+        "revision": null,
+        "use_imagenet_stats": true,
+        "video_backend": "torchcodec",
+        "return_uint8": false,
+        "depth_output_unit": "mm",
+        "streaming": false,
+        "streaming_episode_pool_size": null,
+        "streaming_sampling_strategy": "remaining",
+        "streaming_prefetch_episodes": 8,
+        "streaming_byte_budget_gb": 8.0,
+        "streaming_decode_threads": 2,
+        "streaming_decoded_queue_size": 8,
+        "streaming_native_http_connections": null,
+        "streaming_native_http_subranges": 1,
+        "streaming_sidecar_lock_timeout_s": 1800,
+        "video_decoder_cache_size": null,
+        "eval_split": 0.0
+    },
+    "env": null,
+    "policy": {
+        "type": "bspline",
+        "n_obs_steps": 2,
+        "input_features": {
+            "observation.state": {
+                "type": "STATE",
+                "shape": [
+                    6
+                ]
+            },
+            "observation.images.front": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    480,
+                    640
+                ]
+            },
+            "observation.images.wrist": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    480,
+                    640
+                ]
+            },
+            "observation.images.top": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    480,
+                    640
+                ]
+            }
+        },
+        "output_features": {
+            "action": {
+                "type": "ACTION",
+                "shape": [
+                    6
+                ]
+            }
+        },
+        "device": "cuda",
+        "dtype": null,
+        "use_amp": false,
+        "use_peft": false,
+        "push_to_hub": false,
+        "repo_id": null,
+        "private": null,
+        "tags": null,
+        "license": null,
+        "pretrained_path": null,
+        "pretrained_revision": null,
+        "horizon": 16,
+        "n_action_steps": 32,
+        "normalization_mapping": {
+            "VISUAL": "MEAN_STD",
+            "STATE": "MIN_MAX",
+            "ACTION": "MIN_MAX"
+        },
+        "drop_n_last_frames": 0,
+        "vision_backbone": "resnet18",
+        "resize_shape": [
+            120,
+            160
+        ],
+        "crop_ratio": 1.0,
+        "crop_shape": null,
+        "crop_is_random": true,
+        "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
+        "use_group_norm": false,
+        "spatial_softmax_num_keypoints": 32,
+        "use_separate_rgb_encoder_per_camera": true,
+        "down_dims": [
+            512,
+            1024,
+            2048
+        ],
+        "kernel_size": 5,
+        "n_groups": 8,
+        "diffusion_step_embed_dim": 128,
+        "use_film_scale_modulation": true,
+        "gradient_checkpointing": false,
+        "noise_scheduler_type": "DDIM",
+        "num_train_timesteps": 100,
+        "beta_schedule": "squaredcos_cap_v2",
+        "beta_start": 0.0001,
+        "beta_end": 0.02,
+        "prediction_type": "epsilon",
+        "clip_sample": true,
+        "clip_sample_range": 1.5,
+        "num_inference_steps": 10,
+        "compile_model": false,
+        "compile_mode": "reduce-overhead",
+        "do_mask_loss_for_padding": false,
+        "optimizer_lr": 0.0001,
+        "optimizer_betas": [
+            0.95,
+            0.999
+        ],
+        "optimizer_eps": 1e-08,
+        "optimizer_weight_decay": 1e-06,
+        "scheduler_name": "cosine",
+        "scheduler_warmup_steps": 500,
+        "bspline_degree": 3,
+        "bspline_chunk_size": 10,
+        "bspline_window": 64,
+        "bspline_max_error": 0.01,
+        "bspline_speed_up": 1.0,
+        "bspline_fit_workers": 0,
+        "bspline_mode": "diffusion",
+        "planbind_fine_spacing": 4,
+        "planbind_subdivision": 4,
+        "planbind_max_plan_age": 32,
+        "planbind_plan_noise": 0.02,
+        "planbind_replan_threshold": 0.0,
+        "planbind_latency": 0,
+        "planbind_commit": "latency",
+        "planbind_position_limit": 0.0,
+        "planbind_velocity_limit": 0.0
+    },
+    "reward_model": null,
+    "output_dir": "/workspace/lerobot-nexarm/experiments/261027-plan-bind-two-step/outputs/full/train_bsp10",
+    "job_name": "261027-plan-bind-bsp10",
+    "resume": false,
+    "seed": 1000,
+    "cudnn_deterministic": false,
+    "num_workers": 16,
+    "batch_size": 32,
+    "prefetch_factor": 4,
+    "persistent_workers": true,
+    "dataloader_multiprocessing_context": "spawn",
+    "steps": 60000,
+    "env_eval_freq": 0,
+    "log_freq": 100,
+    "eval_steps": 0,
+    "max_eval_samples": 0,
+    "tolerance_s": 0.0001,
+    "save_checkpoint": true,
+    "save_freq": 10000,
+    "checkpoint_format": "safetensors",
+    "use_policy_training_preset": true,
+    "optimizer": {
+        "type": "adam",
+        "lr": 0.0001,
+        "weight_decay": 1e-06,
+        "grad_clip_norm": 10.0,
+        "betas": [
+            0.95,
+            0.999
+        ],
+        "eps": 1e-08,
+        "fused": null
+    },
+    "scheduler": {
+        "type": "diffuser",
+        "num_warmup_steps": 500,
+        "name": "cosine"
+    },
+    "parallelism": {
+        "dp_replicate": 1,
+        "dp_shard": 1,
+        "context_parallel": {
+            "ring_degree": 1,
+            "ulysses_degree": 1
+        },
+        "cfg_parallel": 1
+    },
+    "accelerator": {
+        "mixed_precision": "no",
+        "gradient_accumulation": {
+            "steps": 1
+        },
+        "grad_scaler": {
+            "init_scale": 65536.0,
+            "growth_factor": 2.0,
+            "backoff_factor": 0.5,
+            "growth_interval": 2000
+        },
+        "fsdp": {
+            "reshard_after_forward": true,
+            "wrap_modules": null,
+            "min_num_params": null,
+            "cpu_offload": false,
+            "ignored_modules": null
+        },
+        "ddp": {
+            "find_unused_parameters": true,
+            "gradient_as_bucket_view": false,
+            "static_graph": false
+        },
+        "compile": {
+            "enabled": false,
+            "backend": "inductor",
+            "mode": null,
+            "regional": true
+        },
+        "activation_checkpointing": {
+            "mode": "none"
+        }
+    },
+    "eval": {
+        "n_episodes": 50,
+        "batch_size": 50,
+        "use_async_envs": true,
+        "recording": false,
+        "recording_repo_id": null,
+        "recording_private": false
+    },
+    "ema": {
+        "enable": false,
+        "decay": null,
+        "update_after_step": 0,
+        "inv_gamma": 1.0,
+        "power": 0.75,
+        "min_decay": 0.0,
+        "max_decay": 0.9999,
+        "use_for_eval": true
+    },
+    "wandb": {
+        "enable": false,
+        "disable_artifact": false,
+        "project": "lerobot-nexarm",
+        "entity": null,
+        "notes": null,
+        "run_id": null,
+        "resume": null,
+        "mode": null,
+        "console": "wrap",
+        "console_multipart": false,
+        "console_chunk_max_seconds": 0,
+        "add_tags": true
+    },
+    "peft": null,
+    "job": {
+        "target": null,
+        "image": "huggingface/lerobot-gpu:latest",
+        "timeout": "2d",
+        "detach": false,
+        "tags": []
+    },
+    "save_checkpoint_to_hub": false,
+    "sample_weighting": null,
+    "rename_map": {},
+    "checkpoint_path": null
+}
\ No newline at end of file
diff --git a/train_bsp10/checkpoints/050000/training_state/optimizer_param_groups.json b/train_bsp10/checkpoints/050000/training_state/optimizer_param_groups.json
new file mode 100644
index 0000000000000000000000000000000000000000..9695e26d3e848963853a1dfb787c5ee385cdde18
--- /dev/null
+++ b/train_bsp10/checkpoints/050000/training_state/optimizer_param_groups.json
@@ -0,0 +1,361 @@
+[
+    {
+        "lr": 6.809148352279182e-06,
+        "betas": [
+            0.95,
+            0.999
+        ],
+        "eps": 1e-08,
+        "weight_decay": 1e-06,
+        "amsgrad": false,
+        "maximize": false,
+        "foreach": null,
+        "capturable": false,
+        "differentiable": false,
+        "fused": null,
+        "decoupled_weight_decay": false,
+        "initial_lr": 0.0001,
+        "params": [
+            0,
+            1,
+            2,
+            3,
+            4,
+            5,
+            6,
+            7,
+            8,
+            9,
+            10,
+            11,
+            12,
+            13,
+            14,
+            15,
+            16,
+            17,
+            18,
+            19,
+            20,
+            21,
+            22,
+            23,
+            24,
+            25,
+            26,
+            27,
+            28,
+            29,
+            30,
+            31,
+            32,
+            33,
+            34,
+            35,
+            36,
+            37,
+            38,
+            39,
+            40,
+            41,
+            42,
+            43,
+            44,
+            45,
+            46,
+            47,
+            48,
+            49,
+            50,
+            51,
+            52,
+            53,
+            54,
+            55,
+            56,
+            57,
+            58,
+            59,
+            60,
+            61,
+            62,
+            63,
+            64,
+            65,
+            66,
+            67,
+            68,
+            69,
+            70,
+            71,
+            72,
+            73,
+            74,
+            75,
+            76,
+            77,
+            78,
+            79,
+            80,
+            81,
+            82,
+            83,
+            84,
+            85,
+            86,
+            87,
+            88,
+            89,
+            90,
+            91,
+            92,
+            93,
+            94,
+            95,
+            96,
+            97,
+            98,
+            99,
+            100,
+            101,
+            102,
+            103,
+            104,
+            105,
+            106,
+            107,
+            108,
+            109,
+            110,
+            111,
+            112,
+            113,
+            114,
+            115,
+            116,
+            117,
+            118,
+            119,
+            120,
+            121,
+            122,
+            123,
+            124,
+            125,
+            126,
+            127,
+            128,
+            129,
+            130,
+            131,
+            132,
+            133,
+            134,
+            135,
+            136,
+            137,
+            138,
+            139,
+            140,
+            141,
+            142,
+            143,
+            144,
+            145,
+            146,
+            147,
+            148,
+            149,
+            150,
+            151,
+            152,
+            153,
+            154,
+            155,
+            156,
+            157,
+            158,
+            159,
+            160,
+            161,
+            162,
+            163,
+            164,
+            165,
+            166,
+            167,
+            168,
+            169,
+            170,
+            171,
+            172,
+            173,
+            174,
+            175,
+            176,
+            177,
+            178,
+            179,
+            180,
+            181,
+            182,
+            183,
+            184,
+            185,
+            186,
+            187,
+            188,
+            189,
+            190,
+            191,
+            192,
+            193,
+            194,
+            195,
+            196,
+            197,
+            198,
+            199,
+            200,
+            201,
+            202,
+            203,
+            204,
+            205,
+            206,
+            207,
+            208,
+            209,
+            210,
+            211,
+            212,
+            213,
+            214,
+            215,
+            216,
+            217,
+            218,
+            219,
+            220,
+            221,
+            222,
+            223,
+            224,
+            225,
+            226,
+            227,
+            228,
+            229,
+            230,
+            231,
+            232,
+            233,
+            234,
+            235,
+            236,
+            237,
+            238,
+            239,
+            240,
+            241,
+            242,
+            243,
+            244,
+            245,
+            246,
+            247,
+            248,
+            249,
+            250,
+            251,
+            252,
+            253,
+            254,
+            255,
+            256,
+            257,
+            258,
+            259,
+            260,
+            261,
+            262,
+            263,
+            264,
+            265,
+            266,
+            267,
+            268,
+            269,
+            270,
+            271,
+            272,
+            273,
+            274,
+            275,
+            276,
+            277,
+            278,
+            279,
+            280,
+            281,
+            282,
+            283,
+            284,
+            285,
+            286,
+            287,
+            288,
+            289,
+            290,
+            291,
+            292,
+            293,
+            294,
+            295,
+            296,
+            297,
+            298,
+            299,
+            300,
+            301,
+            302,
+            303,
+            304,
+            305,
+            306,
+            307,
+            308,
+            309,
+            310,
+            311,
+            312,
+            313,
+            314,
+            315,
+            316,
+            317,
+            318,
+            319,
+            320,
+            321,
+            322,
+            323,
+            324,
+            325,
+            326,
+            327,
+            328,
+            329,
+            330,
+            331,
+            332,
+            333,
+            334,
+            335,
+            336,
+            337,
+            338,
+            339
+        ]
+    }
+]
\ No newline at end of file
diff --git a/train_bsp10/checkpoints/050000/training_state/optimizer_state.safetensors b/train_bsp10/checkpoints/050000/training_state/optimizer_state.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..222974fa58f03f60b203dcc9b53a663929c2354b
--- /dev/null
+++ b/train_bsp10/checkpoints/050000/training_state/optimizer_state.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:afba1fb0f2843dffbda845a9aa4bc55d45f5252af717dd22cf7faf7aef163df5
+size 2341614992
diff --git a/train_bsp10/checkpoints/050000/training_state/rng_state.safetensors b/train_bsp10/checkpoints/050000/training_state/rng_state.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..a24bcd6793e232dd5ced5b8ebacc47686f6189c0
--- /dev/null
+++ b/train_bsp10/checkpoints/050000/training_state/rng_state.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfc7f809d9ebf3752ab7f8b50ad528674f029e37c284a3a84aa007082e4ecaad
+size 15712
diff --git a/train_bsp10/checkpoints/050000/training_state/scheduler_state.json b/train_bsp10/checkpoints/050000/training_state/scheduler_state.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e59b68452b09f32fc0e0c1eb6738185ce9cada3
--- /dev/null
+++ b/train_bsp10/checkpoints/050000/training_state/scheduler_state.json
@@ -0,0 +1,15 @@
+{
+    "base_lrs": [
+        0.0001
+    ],
+    "last_epoch": 50000,
+    "_step_count": 50001,
+    "_is_initial": false,
+    "_get_lr_called_within_step": false,
+    "_last_lr": [
+        6.809148352279182e-06
+    ],
+    "lr_lambdas": [
+        null
+    ]
+}
\ No newline at end of file
diff --git a/train_bsp10/checkpoints/050000/training_state/training_step.json b/train_bsp10/checkpoints/050000/training_state/training_step.json
new file mode 100644
index 0000000000000000000000000000000000000000..4208859fafb2985f0f94531a63bc9fb7ca9786bb
--- /dev/null
+++ b/train_bsp10/checkpoints/050000/training_state/training_step.json
@@ -0,0 +1,13 @@
+{
+    "step": 50000,
+    "dp_world_size": 1,
+    "batch_size": 32,
+    "grad_accum_steps": 1,
+    "mixed_precision": "no",
+    "parallelism": {
+        "dp_replicate": 1,
+        "dp_shard": 1,
+        "ring_degree": 1,
+        "ulysses_degree": 1
+    }
+}
\ No newline at end of file
diff --git a/train_bsp10/checkpoints/060000/pretrained_model/config.json b/train_bsp10/checkpoints/060000/pretrained_model/config.json
new file mode 100644
index 0000000000000000000000000000000000000000..29162bf2c105e73be74560f4dce87a7c296ad7bf
--- /dev/null
+++ b/train_bsp10/checkpoints/060000/pretrained_model/config.json
@@ -0,0 +1,122 @@
+{
+    "type": "bspline",
+    "n_obs_steps": 2,
+    "input_features": {
+        "observation.state": {
+            "type": "STATE",
+            "shape": [
+                6
+            ]
+        },
+        "observation.images.front": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        },
+        "observation.images.wrist": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        },
+        "observation.images.top": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        }
+    },
+    "output_features": {
+        "action": {
+            "type": "ACTION",
+            "shape": [
+                6
+            ]
+        }
+    },
+    "device": "cuda",
+    "dtype": null,
+    "use_amp": false,
+    "use_peft": false,
+    "push_to_hub": false,
+    "repo_id": null,
+    "private": null,
+    "tags": null,
+    "license": null,
+    "pretrained_path": null,
+    "pretrained_revision": null,
+    "horizon": 16,
+    "n_action_steps": 32,
+    "normalization_mapping": {
+        "VISUAL": "MEAN_STD",
+        "STATE": "MIN_MAX",
+        "ACTION": "MIN_MAX"
+    },
+    "drop_n_last_frames": 0,
+    "vision_backbone": "resnet18",
+    "resize_shape": [
+        120,
+        160
+    ],
+    "crop_ratio": 1.0,
+    "crop_shape": null,
+    "crop_is_random": true,
+    "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
+    "use_group_norm": false,
+    "spatial_softmax_num_keypoints": 32,
+    "use_separate_rgb_encoder_per_camera": true,
+    "down_dims": [
+        512,
+        1024,
+        2048
+    ],
+    "kernel_size": 5,
+    "n_groups": 8,
+    "diffusion_step_embed_dim": 128,
+    "use_film_scale_modulation": true,
+    "gradient_checkpointing": false,
+    "noise_scheduler_type": "DDIM",
+    "num_train_timesteps": 100,
+    "beta_schedule": "squaredcos_cap_v2",
+    "beta_start": 0.0001,
+    "beta_end": 0.02,
+    "prediction_type": "epsilon",
+    "clip_sample": true,
+    "clip_sample_range": 1.5,
+    "num_inference_steps": 10,
+    "compile_model": false,
+    "compile_mode": "reduce-overhead",
+    "do_mask_loss_for_padding": false,
+    "optimizer_lr": 0.0001,
+    "optimizer_betas": [
+        0.95,
+        0.999
+    ],
+    "optimizer_eps": 1e-08,
+    "optimizer_weight_decay": 1e-06,
+    "scheduler_name": "cosine",
+    "scheduler_warmup_steps": 500,
+    "bspline_degree": 3,
+    "bspline_chunk_size": 10,
+    "bspline_window": 64,
+    "bspline_max_error": 0.01,
+    "bspline_speed_up": 1.0,
+    "bspline_fit_workers": 0,
+    "bspline_mode": "diffusion",
+    "planbind_fine_spacing": 4,
+    "planbind_subdivision": 4,
+    "planbind_max_plan_age": 32,
+    "planbind_plan_noise": 0.02,
+    "planbind_replan_threshold": 0.0,
+    "planbind_latency": 0,
+    "planbind_commit": "latency",
+    "planbind_position_limit": 0.0,
+    "planbind_velocity_limit": 0.0
+}
\ No newline at end of file
diff --git a/train_bsp10/checkpoints/060000/pretrained_model/model.safetensors b/train_bsp10/checkpoints/060000/pretrained_model/model.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..bc4e2fe2249bf59555e21e23816944b6eb4d5a08
--- /dev/null
+++ b/train_bsp10/checkpoints/060000/pretrained_model/model.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09319960d2f864466006e709b198f7fe75d1a744699c93fc14de1bf1c0e69b39
+size 1170940540
diff --git a/train_bsp10/checkpoints/060000/pretrained_model/policy_postprocessor.json b/train_bsp10/checkpoints/060000/pretrained_model/policy_postprocessor.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2c5e6cea7850bb999ab193f96021fa0129ce4db
--- /dev/null
+++ b/train_bsp10/checkpoints/060000/pretrained_model/policy_postprocessor.json
@@ -0,0 +1,32 @@
+{
+  "name": "policy_postprocessor",
+  "steps": [
+    {
+      "registry_name": "unnormalizer_processor",
+      "config": {
+        "eps": 1e-08,
+        "features": {
+          "action": {
+            "type": "ACTION",
+            "shape": [
+              6
+            ]
+          }
+        },
+        "norm_map": {
+          "VISUAL": "MEAN_STD",
+          "STATE": "MIN_MAX",
+          "ACTION": "MIN_MAX"
+        }
+      },
+      "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cpu",
+        "float_dtype": null
+      }
+    }
+  ]
+}
\ No newline at end of file
diff --git a/train_bsp10/checkpoints/060000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors b/train_bsp10/checkpoints/060000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..ead5732518c212199e87eb8df6f0f49f32e15a1e
--- /dev/null
+++ b/train_bsp10/checkpoints/060000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55336fe114f19ef78b83ccc0926a3df66a9adc11a641f9adc0caf9c439ff8576
+size 8528
diff --git a/train_bsp10/checkpoints/060000/pretrained_model/policy_preprocessor.json b/train_bsp10/checkpoints/060000/pretrained_model/policy_preprocessor.json
new file mode 100644
index 0000000000000000000000000000000000000000..981e0dfcb58027d80f783d8905452fadeaea830e
--- /dev/null
+++ b/train_bsp10/checkpoints/060000/pretrained_model/policy_preprocessor.json
@@ -0,0 +1,72 @@
+{
+  "name": "policy_preprocessor",
+  "steps": [
+    {
+      "registry_name": "rename_observations_processor",
+      "config": {
+        "rename_map": {}
+      }
+    },
+    {
+      "registry_name": "to_batch_processor",
+      "config": {}
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cuda",
+        "float_dtype": null
+      }
+    },
+    {
+      "registry_name": "normalizer_processor",
+      "config": {
+        "eps": 1e-08,
+        "features": {
+          "observation.state": {
+            "type": "STATE",
+            "shape": [
+              6
+            ]
+          },
+          "observation.images.front": {
+            "type": "VISUAL",
+            "shape": [
+              3,
+              480,
+              640
+            ]
+          },
+          "observation.images.wrist": {
+            "type": "VISUAL",
+            "shape": [
+              3,
+              480,
+              640
+            ]
+          },
+          "observation.images.top": {
+            "type": "VISUAL",
+            "shape": [
+              3,
+              480,
+              640
+            ]
+          },
+          "action": {
+            "type": "ACTION",
+            "shape": [
+              6
+            ]
+          }
+        },
+        "norm_map": {
+          "VISUAL": "MEAN_STD",
+          "STATE": "MIN_MAX",
+          "ACTION": "MIN_MAX"
+        }
+      },
+      "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
+    }
+  ]
+}
\ No newline at end of file
diff --git a/train_bsp10/checkpoints/060000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors b/train_bsp10/checkpoints/060000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..f99bcf47b067091c10855f81f0663ca8d0f56ab8
--- /dev/null
+++ b/train_bsp10/checkpoints/060000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0f6cfea44fc7cfa8fa04ca706b89c90cce83136e90c3d0286428dfa2e1968d7
+size 8536
diff --git a/train_bsp10/checkpoints/060000/pretrained_model/train_config.json b/train_bsp10/checkpoints/060000/pretrained_model/train_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..c074a87b77cd50d8d69e41de3aad8626a547e196
--- /dev/null
+++ b/train_bsp10/checkpoints/060000/pretrained_model/train_config.json
@@ -0,0 +1,347 @@
+{
+    "dataset": {
+        "repo_id": "local/nexarm_stack_bowls",
+        "repo_type": "dataset",
+        "root": "/workspace/lerobot-nexarm/outputs/datasets/nexarm_stack_bowls",
+        "episodes": null,
+        "exclude_episodes": null,
+        "image_transforms": {
+            "enable": false,
+            "backend": "dataloader",
+            "gpu_compile": true,
+            "gpu_chunk_size": 32,
+            "max_num_transforms": 3,
+            "random_order": false,
+            "tfs": {
+                "brightness": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "brightness": [
+                            0.8,
+                            1.2
+                        ]
+                    }
+                },
+                "contrast": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "contrast": [
+                            0.8,
+                            1.2
+                        ]
+                    }
+                },
+                "saturation": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "saturation": [
+                            0.5,
+                            1.5
+                        ]
+                    }
+                },
+                "hue": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "hue": [
+                            -0.05,
+                            0.05
+                        ]
+                    }
+                },
+                "sharpness": {
+                    "weight": 1.0,
+                    "type": "SharpnessJitter",
+                    "kwargs": {
+                        "sharpness": [
+                            0.5,
+                            1.5
+                        ]
+                    }
+                },
+                "affine": {
+                    "weight": 1.0,
+                    "type": "RandomAffine",
+                    "kwargs": {
+                        "degrees": [
+                            -5.0,
+                            5.0
+                        ],
+                        "translate": [
+                            0.05,
+                            0.05
+                        ]
+                    }
+                }
+            }
+        },
+        "revision": null,
+        "use_imagenet_stats": true,
+        "video_backend": "torchcodec",
+        "return_uint8": false,
+        "depth_output_unit": "mm",
+        "streaming": false,
+        "streaming_episode_pool_size": null,
+        "streaming_sampling_strategy": "remaining",
+        "streaming_prefetch_episodes": 8,
+        "streaming_byte_budget_gb": 8.0,
+        "streaming_decode_threads": 2,
+        "streaming_decoded_queue_size": 8,
+        "streaming_native_http_connections": null,
+        "streaming_native_http_subranges": 1,
+        "streaming_sidecar_lock_timeout_s": 1800,
+        "video_decoder_cache_size": null,
+        "eval_split": 0.0
+    },
+    "env": null,
+    "policy": {
+        "type": "bspline",
+        "n_obs_steps": 2,
+        "input_features": {
+            "observation.state": {
+                "type": "STATE",
+                "shape": [
+                    6
+                ]
+            },
+            "observation.images.front": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    480,
+                    640
+                ]
+            },
+            "observation.images.wrist": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    480,
+                    640
+                ]
+            },
+            "observation.images.top": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    480,
+                    640
+                ]
+            }
+        },
+        "output_features": {
+            "action": {
+                "type": "ACTION",
+                "shape": [
+                    6
+                ]
+            }
+        },
+        "device": "cuda",
+        "dtype": null,
+        "use_amp": false,
+        "use_peft": false,
+        "push_to_hub": false,
+        "repo_id": null,
+        "private": null,
+        "tags": null,
+        "license": null,
+        "pretrained_path": null,
+        "pretrained_revision": null,
+        "horizon": 16,
+        "n_action_steps": 32,
+        "normalization_mapping": {
+            "VISUAL": "MEAN_STD",
+            "STATE": "MIN_MAX",
+            "ACTION": "MIN_MAX"
+        },
+        "drop_n_last_frames": 0,
+        "vision_backbone": "resnet18",
+        "resize_shape": [
+            120,
+            160
+        ],
+        "crop_ratio": 1.0,
+        "crop_shape": null,
+        "crop_is_random": true,
+        "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
+        "use_group_norm": false,
+        "spatial_softmax_num_keypoints": 32,
+        "use_separate_rgb_encoder_per_camera": true,
+        "down_dims": [
+            512,
+            1024,
+            2048
+        ],
+        "kernel_size": 5,
+        "n_groups": 8,
+        "diffusion_step_embed_dim": 128,
+        "use_film_scale_modulation": true,
+        "gradient_checkpointing": false,
+        "noise_scheduler_type": "DDIM",
+        "num_train_timesteps": 100,
+        "beta_schedule": "squaredcos_cap_v2",
+        "beta_start": 0.0001,
+        "beta_end": 0.02,
+        "prediction_type": "epsilon",
+        "clip_sample": true,
+        "clip_sample_range": 1.5,
+        "num_inference_steps": 10,
+        "compile_model": false,
+        "compile_mode": "reduce-overhead",
+        "do_mask_loss_for_padding": false,
+        "optimizer_lr": 0.0001,
+        "optimizer_betas": [
+            0.95,
+            0.999
+        ],
+        "optimizer_eps": 1e-08,
+        "optimizer_weight_decay": 1e-06,
+        "scheduler_name": "cosine",
+        "scheduler_warmup_steps": 500,
+        "bspline_degree": 3,
+        "bspline_chunk_size": 10,
+        "bspline_window": 64,
+        "bspline_max_error": 0.01,
+        "bspline_speed_up": 1.0,
+        "bspline_fit_workers": 0,
+        "bspline_mode": "diffusion",
+        "planbind_fine_spacing": 4,
+        "planbind_subdivision": 4,
+        "planbind_max_plan_age": 32,
+        "planbind_plan_noise": 0.02,
+        "planbind_replan_threshold": 0.0,
+        "planbind_latency": 0,
+        "planbind_commit": "latency",
+        "planbind_position_limit": 0.0,
+        "planbind_velocity_limit": 0.0
+    },
+    "reward_model": null,
+    "output_dir": "/workspace/lerobot-nexarm/experiments/261027-plan-bind-two-step/outputs/full/train_bsp10",
+    "job_name": "261027-plan-bind-bsp10",
+    "resume": false,
+    "seed": 1000,
+    "cudnn_deterministic": false,
+    "num_workers": 16,
+    "batch_size": 32,
+    "prefetch_factor": 4,
+    "persistent_workers": true,
+    "dataloader_multiprocessing_context": "spawn",
+    "steps": 60000,
+    "env_eval_freq": 0,
+    "log_freq": 100,
+    "eval_steps": 0,
+    "max_eval_samples": 0,
+    "tolerance_s": 0.0001,
+    "save_checkpoint": true,
+    "save_freq": 10000,
+    "checkpoint_format": "safetensors",
+    "use_policy_training_preset": true,
+    "optimizer": {
+        "type": "adam",
+        "lr": 0.0001,
+        "weight_decay": 1e-06,
+        "grad_clip_norm": 10.0,
+        "betas": [
+            0.95,
+            0.999
+        ],
+        "eps": 1e-08,
+        "fused": null
+    },
+    "scheduler": {
+        "type": "diffuser",
+        "num_warmup_steps": 500,
+        "name": "cosine"
+    },
+    "parallelism": {
+        "dp_replicate": 1,
+        "dp_shard": 1,
+        "context_parallel": {
+            "ring_degree": 1,
+            "ulysses_degree": 1
+        },
+        "cfg_parallel": 1
+    },
+    "accelerator": {
+        "mixed_precision": "no",
+        "gradient_accumulation": {
+            "steps": 1
+        },
+        "grad_scaler": {
+            "init_scale": 65536.0,
+            "growth_factor": 2.0,
+            "backoff_factor": 0.5,
+            "growth_interval": 2000
+        },
+        "fsdp": {
+            "reshard_after_forward": true,
+            "wrap_modules": null,
+            "min_num_params": null,
+            "cpu_offload": false,
+            "ignored_modules": null
+        },
+        "ddp": {
+            "find_unused_parameters": true,
+            "gradient_as_bucket_view": false,
+            "static_graph": false
+        },
+        "compile": {
+            "enabled": false,
+            "backend": "inductor",
+            "mode": null,
+            "regional": true
+        },
+        "activation_checkpointing": {
+            "mode": "none"
+        }
+    },
+    "eval": {
+        "n_episodes": 50,
+        "batch_size": 50,
+        "use_async_envs": true,
+        "recording": false,
+        "recording_repo_id": null,
+        "recording_private": false
+    },
+    "ema": {
+        "enable": false,
+        "decay": null,
+        "update_after_step": 0,
+        "inv_gamma": 1.0,
+        "power": 0.75,
+        "min_decay": 0.0,
+        "max_decay": 0.9999,
+        "use_for_eval": true
+    },
+    "wandb": {
+        "enable": false,
+        "disable_artifact": false,
+        "project": "lerobot-nexarm",
+        "entity": null,
+        "notes": null,
+        "run_id": null,
+        "resume": null,
+        "mode": null,
+        "console": "wrap",
+        "console_multipart": false,
+        "console_chunk_max_seconds": 0,
+        "add_tags": true
+    },
+    "peft": null,
+    "job": {
+        "target": null,
+        "image": "huggingface/lerobot-gpu:latest",
+        "timeout": "2d",
+        "detach": false,
+        "tags": []
+    },
+    "save_checkpoint_to_hub": false,
+    "sample_weighting": null,
+    "rename_map": {},
+    "checkpoint_path": null
+}
\ No newline at end of file
diff --git a/train_bsp10/checkpoints/060000/training_state/optimizer_param_groups.json b/train_bsp10/checkpoints/060000/training_state/optimizer_param_groups.json
new file mode 100644
index 0000000000000000000000000000000000000000..befd92911309b87adcf9e11a8472b9db509a6130
--- /dev/null
+++ b/train_bsp10/checkpoints/060000/training_state/optimizer_param_groups.json
@@ -0,0 +1,361 @@
+[
+    {
+        "lr": 0.0,
+        "betas": [
+            0.95,
+            0.999
+        ],
+        "eps": 1e-08,
+        "weight_decay": 1e-06,
+        "amsgrad": false,
+        "maximize": false,
+        "foreach": null,
+        "capturable": false,
+        "differentiable": false,
+        "fused": null,
+        "decoupled_weight_decay": false,
+        "initial_lr": 0.0001,
+        "params": [
+            0,
+            1,
+            2,
+            3,
+            4,
+            5,
+            6,
+            7,
+            8,
+            9,
+            10,
+            11,
+            12,
+            13,
+            14,
+            15,
+            16,
+            17,
+            18,
+            19,
+            20,
+            21,
+            22,
+            23,
+            24,
+            25,
+            26,
+            27,
+            28,
+            29,
+            30,
+            31,
+            32,
+            33,
+            34,
+            35,
+            36,
+            37,
+            38,
+            39,
+            40,
+            41,
+            42,
+            43,
+            44,
+            45,
+            46,
+            47,
+            48,
+            49,
+            50,
+            51,
+            52,
+            53,
+            54,
+            55,
+            56,
+            57,
+            58,
+            59,
+            60,
+            61,
+            62,
+            63,
+            64,
+            65,
+            66,
+            67,
+            68,
+            69,
+            70,
+            71,
+            72,
+            73,
+            74,
+            75,
+            76,
+            77,
+            78,
+            79,
+            80,
+            81,
+            82,
+            83,
+            84,
+            85,
+            86,
+            87,
+            88,
+            89,
+            90,
+            91,
+            92,
+            93,
+            94,
+            95,
+            96,
+            97,
+            98,
+            99,
+            100,
+            101,
+            102,
+            103,
+            104,
+            105,
+            106,
+            107,
+            108,
+            109,
+            110,
+            111,
+            112,
+            113,
+            114,
+            115,
+            116,
+            117,
+            118,
+            119,
+            120,
+            121,
+            122,
+            123,
+            124,
+            125,
+            126,
+            127,
+            128,
+            129,
+            130,
+            131,
+            132,
+            133,
+            134,
+            135,
+            136,
+            137,
+            138,
+            139,
+            140,
+            141,
+            142,
+            143,
+            144,
+            145,
+            146,
+            147,
+            148,
+            149,
+            150,
+            151,
+            152,
+            153,
+            154,
+            155,
+            156,
+            157,
+            158,
+            159,
+            160,
+            161,
+            162,
+            163,
+            164,
+            165,
+            166,
+            167,
+            168,
+            169,
+            170,
+            171,
+            172,
+            173,
+            174,
+            175,
+            176,
+            177,
+            178,
+            179,
+            180,
+            181,
+            182,
+            183,
+            184,
+            185,
+            186,
+            187,
+            188,
+            189,
+            190,
+            191,
+            192,
+            193,
+            194,
+            195,
+            196,
+            197,
+            198,
+            199,
+            200,
+            201,
+            202,
+            203,
+            204,
+            205,
+            206,
+            207,
+            208,
+            209,
+            210,
+            211,
+            212,
+            213,
+            214,
+            215,
+            216,
+            217,
+            218,
+            219,
+            220,
+            221,
+            222,
+            223,
+            224,
+            225,
+            226,
+            227,
+            228,
+            229,
+            230,
+            231,
+            232,
+            233,
+            234,
+            235,
+            236,
+            237,
+            238,
+            239,
+            240,
+            241,
+            242,
+            243,
+            244,
+            245,
+            246,
+            247,
+            248,
+            249,
+            250,
+            251,
+            252,
+            253,
+            254,
+            255,
+            256,
+            257,
+            258,
+            259,
+            260,
+            261,
+            262,
+            263,
+            264,
+            265,
+            266,
+            267,
+            268,
+            269,
+            270,
+            271,
+            272,
+            273,
+            274,
+            275,
+            276,
+            277,
+            278,
+            279,
+            280,
+            281,
+            282,
+            283,
+            284,
+            285,
+            286,
+            287,
+            288,
+            289,
+            290,
+            291,
+            292,
+            293,
+            294,
+            295,
+            296,
+            297,
+            298,
+            299,
+            300,
+            301,
+            302,
+            303,
+            304,
+            305,
+            306,
+            307,
+            308,
+            309,
+            310,
+            311,
+            312,
+            313,
+            314,
+            315,
+            316,
+            317,
+            318,
+            319,
+            320,
+            321,
+            322,
+            323,
+            324,
+            325,
+            326,
+            327,
+            328,
+            329,
+            330,
+            331,
+            332,
+            333,
+            334,
+            335,
+            336,
+            337,
+            338,
+            339
+        ]
+    }
+]
\ No newline at end of file
diff --git a/train_bsp10/checkpoints/060000/training_state/optimizer_state.safetensors b/train_bsp10/checkpoints/060000/training_state/optimizer_state.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..1d13db8879516905493625db41bbb56a3c41eaad
--- /dev/null
+++ b/train_bsp10/checkpoints/060000/training_state/optimizer_state.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28ba6fb9cf4e4254a077c7f0073a85139184e85dce0bb408e412efe259ad2039
+size 2341614992
diff --git a/train_bsp10/checkpoints/060000/training_state/rng_state.safetensors b/train_bsp10/checkpoints/060000/training_state/rng_state.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..ab5b79be900458cf1ccb25e94afb5fb3b7dd1f61
--- /dev/null
+++ b/train_bsp10/checkpoints/060000/training_state/rng_state.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b246dc5151cd6acc6abf045df7b8d9e70d9403a4f58911d2bf351a7d5c9783a
+size 15712
diff --git a/train_bsp10/checkpoints/060000/training_state/scheduler_state.json b/train_bsp10/checkpoints/060000/training_state/scheduler_state.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1d94a2da0059b2247243e3e57c356e0766e60e1
--- /dev/null
+++ b/train_bsp10/checkpoints/060000/training_state/scheduler_state.json
@@ -0,0 +1,15 @@
+{
+    "base_lrs": [
+        0.0001
+    ],
+    "last_epoch": 60000,
+    "_step_count": 60001,
+    "_is_initial": false,
+    "_get_lr_called_within_step": false,
+    "_last_lr": [
+        0.0
+    ],
+    "lr_lambdas": [
+        null
+    ]
+}
\ No newline at end of file
diff --git a/train_bsp10/checkpoints/060000/training_state/training_step.json b/train_bsp10/checkpoints/060000/training_state/training_step.json
new file mode 100644
index 0000000000000000000000000000000000000000..126d1aab238e63998ab623bfa93c304b1070c5cf
--- /dev/null
+++ b/train_bsp10/checkpoints/060000/training_state/training_step.json
@@ -0,0 +1,13 @@
+{
+    "step": 60000,
+    "dp_world_size": 1,
+    "batch_size": 32,
+    "grad_accum_steps": 1,
+    "mixed_precision": "no",
+    "parallelism": {
+        "dp_replicate": 1,
+        "dp_shard": 1,
+        "ring_degree": 1,
+        "ulysses_degree": 1
+    }
+}
\ No newline at end of file