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diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000000/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000000/actaug_meta.json
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--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000000/actaug_meta.json
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-{
-  "mode": "constrained",
-  "attempt_seed": 0,
-  "grasp_t": 98,
-  "release_t": 195,
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-  "weld_release_t": 195,
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-  "grasped": 1,
-  "success": 1,
-  "n_steps": 236,
-  "s_jit": 1.011,
-  "stage": "policy",
-  "episode": 0,
-  "instruction": "Pick the honey bottle from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000000/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000000/ep_meta.json
deleted file mode 100644
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--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000000/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000000__soap_dispenser__SoapDispenser010__s0",
- "source_episode": 0,
- "target": "soap_dispenser/SoapDispenser010",
- "seed0": 0,
- "instruction": "Pick the soap dispenser from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.011
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000001/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000001/actaug_meta.json
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--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000001/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
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-  "instruction": "Pick the sweet potato from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000001/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000001/ep_meta.json
deleted file mode 100644
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--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000001/ep_meta.json
+++ /dev/null
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-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000002__donut__donut_5__s200",
- "source_episode": 2,
- "target": "donut/donut_5",
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- "instruction": "Pick the donut from the counter and place it in the cabinet.",
- "stage": "policy",
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-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000002/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000002/actaug_meta.json
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--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000002/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
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-  "stage": "policy",
-  "episode": 8,
-  "instruction": "Pick the apple from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000002/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000002/ep_meta.json
deleted file mode 100644
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--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000002/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000008__measuring_cup__MeasuringCup009__s800",
- "source_episode": 8,
- "target": "measuring_cup/MeasuringCup009",
- "seed0": 800,
- "instruction": "Pick the measuring cup from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9872
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000003/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000003/actaug_meta.json
deleted file mode 100644
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--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000003/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
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-  "grasped": 1,
-  "success": 1,
-  "n_steps": 189,
-  "s_jit": 1.0017,
-  "stage": "policy",
-  "episode": 10,
-  "instruction": "Pick the bottled water from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000003/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000003/ep_meta.json
deleted file mode 100644
index 8bbd26397e1da002173ab3920733b074a82aaa88..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000003/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000010__soap_dispenser__SoapDispenser010__s1000",
- "source_episode": 10,
- "target": "soap_dispenser/SoapDispenser010",
- "seed0": 1000,
- "instruction": "Pick the soap dispenser from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0017
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000004/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000004/actaug_meta.json
deleted file mode 100644
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--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000004/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
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-  "s_jit": 1.0335,
-  "stage": "policy",
-  "episode": 13,
-  "instruction": "Pick the banana from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000004/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000004/ep_meta.json
deleted file mode 100644
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--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000004/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000013__donut__donut_5__s1300",
- "source_episode": 13,
- "target": "donut/donut_5",
- "seed0": 1300,
- "instruction": "Pick the donut from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0335
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000005/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000005/actaug_meta.json
deleted file mode 100644
index f9c72349e26d464eca2bab0e36ee4dfc578ce19e..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000005/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
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-  "success": 1,
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-  "s_jit": 0.9887,
-  "stage": "policy",
-  "episode": 14,
-  "instruction": "Pick the wine from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000005/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000005/ep_meta.json
deleted file mode 100644
index 26d3c179ab2387ccd54651c1a3fb2a8e3b679878..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000005/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000014__syrup_bottle__SyrupBottle005__s1400",
- "source_episode": 14,
- "target": "syrup_bottle/SyrupBottle005",
- "seed0": 1400,
- "instruction": "Pick the syrup bottle from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9887
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000006/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000006/actaug_meta.json
deleted file mode 100644
index dfa5c9a55f44f86ead7a22e818e6519ee6f104fe..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000006/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
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-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5292,
-  "lift_grip_m": 0.5292,
-  "rel6d": 1,
-  "weld_engage_t": 84,
-  "weld_release_t": 187,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 230,
-  "s_jit": 1.0202,
-  "stage": "policy",
-  "episode": 14,
-  "instruction": "Pick the wine from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000006/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000006/ep_meta.json
deleted file mode 100644
index f91d805d2643cca9a45a04b0623a3487e083ffad..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000006/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000014__syrup_bottle__SyrupBottle005__s1401",
- "source_episode": 14,
- "target": "syrup_bottle/SyrupBottle005",
- "seed0": 1401,
- "instruction": "Pick the syrup bottle from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0202
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000007/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000007/actaug_meta.json
deleted file mode 100644
index b6014fcc44c3b6d02641a87f8bd3b2122ccc0970..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000007/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 140205,
-  "grasp_t": 92,
-  "release_t": 187,
-  "dj7_init_deg": 84.96397785084744,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:+50.6",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5348,
-  "lift_grip_m": 0.5348,
-  "rel6d": 1,
-  "weld_engage_t": 84,
-  "weld_release_t": 187,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 235,
-  "s_jit": 0.9964,
-  "stage": "policy",
-  "episode": 14,
-  "instruction": "Pick the wine from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000007/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000007/ep_meta.json
deleted file mode 100644
index 77a5c8135a25b0f908268b99641d5af4c31078b3..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000007/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000014__syrup_bottle__SyrupBottle005__s1402",
- "source_episode": 14,
- "target": "syrup_bottle/SyrupBottle005",
- "seed0": 1402,
- "instruction": "Pick the syrup bottle from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9964
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000008/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000008/actaug_meta.json
deleted file mode 100644
index 69d4f99b6dd241e711712197e88a73b07ab4c4b5..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000008/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 140302,
-  "grasp_t": 92,
-  "release_t": 187,
-  "dj7_init_deg": -32.19529670708225,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-65.9",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5223,
-  "lift_grip_m": 0.5223,
-  "rel6d": 1,
-  "weld_engage_t": 88,
-  "weld_release_t": 187,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 227,
-  "s_jit": 0.9912,
-  "stage": "policy",
-  "episode": 14,
-  "instruction": "Pick the wine from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000008/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000008/ep_meta.json
deleted file mode 100644
index b651b95da03918050ab9b6caaa9db4c1e1cc11af..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000008/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000014__syrup_bottle__SyrupBottle005__s1403",
- "source_episode": 14,
- "target": "syrup_bottle/SyrupBottle005",
- "seed0": 1403,
- "instruction": "Pick the syrup bottle from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9912
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000009/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000009/actaug_meta.json
deleted file mode 100644
index 4391caee95539067ae538107d7ee3e3bbb5b0c87..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000009/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 140407,
-  "grasp_t": 92,
-  "release_t": 187,
-  "dj7_init_deg": 52.68243688783576,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:+20.0",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5274,
-  "lift_grip_m": 0.5274,
-  "rel6d": 1,
-  "weld_engage_t": 86,
-  "weld_release_t": 187,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 225,
-  "s_jit": 0.977,
-  "stage": "policy",
-  "episode": 14,
-  "instruction": "Pick the wine from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000009/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000009/ep_meta.json
deleted file mode 100644
index 7d16eb65746d2e42c3c338fdea9eb93e5b3d1a96..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000009/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000014__syrup_bottle__SyrupBottle005__s1404",
- "source_episode": 14,
- "target": "syrup_bottle/SyrupBottle005",
- "seed0": 1404,
- "instruction": "Pick the syrup bottle from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.977
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000010/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000010/actaug_meta.json
deleted file mode 100644
index 7eeb5cf798042d1de0eff71a75fd9bf334398c7e..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000010/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 140500,
-  "grasp_t": 92,
-  "release_t": 187,
-  "dj7_init_deg": -3.174255606619112,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-27.4",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5265,
-  "lift_grip_m": 0.5265,
-  "rel6d": 1,
-  "weld_engage_t": 90,
-  "weld_release_t": 187,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 224,
-  "s_jit": 0.9873,
-  "stage": "policy",
-  "episode": 14,
-  "instruction": "Pick the wine from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000010/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000010/ep_meta.json
deleted file mode 100644
index 89fe738690dc3ff3dc451a19fd4f33044fe5d869..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000010/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000014__syrup_bottle__SyrupBottle005__s1405",
- "source_episode": 14,
- "target": "syrup_bottle/SyrupBottle005",
- "seed0": 1405,
- "instruction": "Pick the syrup bottle from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9873
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000011/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000011/actaug_meta.json
deleted file mode 100644
index 1ed1bad7afca3d092250ad19ba91aed4ee895cd4..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000011/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 140602,
-  "grasp_t": 92,
-  "release_t": 187,
-  "dj7_init_deg": -39.033296802682095,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-72.8",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5176,
-  "lift_grip_m": 0.5176,
-  "rel6d": 1,
-  "weld_engage_t": 87,
-  "weld_release_t": 187,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 218,
-  "s_jit": 0.9639,
-  "stage": "policy",
-  "episode": 14,
-  "instruction": "Pick the wine from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000011/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000011/ep_meta.json
deleted file mode 100644
index d8325c32c6d075c43a22d0886d2102e0842f8c48..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000011/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000014__syrup_bottle__SyrupBottle005__s1406",
- "source_episode": 14,
- "target": "syrup_bottle/SyrupBottle005",
- "seed0": 1406,
- "instruction": "Pick the syrup bottle from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9639
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000012/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000012/actaug_meta.json
deleted file mode 100644
index 57db81b9baba75156ca7f6b39d1f2bdd65d20e58..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000012/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 140706,
-  "grasp_t": 92,
-  "release_t": 187,
-  "dj7_init_deg": -63.05931110910565,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-97.4",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.523,
-  "lift_grip_m": 0.523,
-  "rel6d": 1,
-  "weld_engage_t": 89,
-  "weld_release_t": 187,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 235,
-  "s_jit": 1.0064,
-  "stage": "policy",
-  "episode": 14,
-  "instruction": "Pick the wine from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000012/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000012/ep_meta.json
deleted file mode 100644
index 0a41a74445c59826a2d15ea87f72c0994414aacd..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000012/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000014__syrup_bottle__SyrupBottle005__s1407",
- "source_episode": 14,
- "target": "syrup_bottle/SyrupBottle005",
- "seed0": 1407,
- "instruction": "Pick the syrup bottle from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0064
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000013/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000013/actaug_meta.json
deleted file mode 100644
index 614fe9d13c2a1ddf91b03c555db9a9f35a73da5f..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000013/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 150000,
-  "grasp_t": 151,
-  "release_t": 314,
-  "dj7_init_deg": -8.847158164234123,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-21.2",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5227,
-  "lift_grip_m": 0.5227,
-  "rel6d": 1,
-  "weld_engage_t": 152,
-  "weld_release_t": 314,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 352,
-  "s_jit": 0.9646,
-  "stage": "policy",
-  "episode": 15,
-  "instruction": "Pick the bottled water from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000013/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000013/ep_meta.json
deleted file mode 100644
index fcebb80f1ed4eb3433a26a897fc835789e439801..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000013/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000015__soap_dispenser__SoapDispenser010__s1500",
- "source_episode": 15,
- "target": "soap_dispenser/SoapDispenser010",
- "seed0": 1500,
- "instruction": "Pick the soap dispenser from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9646
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000014/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000014/actaug_meta.json
deleted file mode 100644
index 7535f158d7aaa503386e54aa1dd7e3a528bc1b86..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000014/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 190002,
-  "grasp_t": 55,
-  "release_t": 144,
-  "dj7_init_deg": -35.71694194445135,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-69.4",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.6207,
-  "lift_grip_m": 0.6207,
-  "rel6d": 1,
-  "weld_engage_t": 58,
-  "weld_release_t": 144,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 155,
-  "s_jit": 0.9771,
-  "stage": "policy",
-  "episode": 19,
-  "instruction": "Pick the mango from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000014/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000014/ep_meta.json
deleted file mode 100644
index bb9987a97fa18a2d84600ac0d7a987f4b0117ce1..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000014/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000019__teapot__teapot_6__s1900",
- "source_episode": 19,
- "target": "teapot/teapot_6",
- "seed0": 1900,
- "instruction": "Pick the teapot from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9771
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000015/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000015/actaug_meta.json
deleted file mode 100644
index e143f191008152c6779731b902c7eded4050344a..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000015/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 260001,
-  "grasp_t": 65,
-  "release_t": 158,
-  "dj7_init_deg": 31.222171906576545,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:+5.9",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5825,
-  "lift_grip_m": 0.5825,
-  "rel6d": 1,
-  "weld_engage_t": 67,
-  "weld_release_t": 158,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 197,
-  "s_jit": 1.0049,
-  "stage": "policy",
-  "episode": 26,
-  "instruction": "Pick the jar from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000015/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000015/ep_meta.json
deleted file mode 100644
index e909660d9e8bdceba51d345a7cc13c2d8e81f880..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000015/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000026__jar__Jar023__s2600",
- "source_episode": 26,
- "target": "jar/Jar023",
- "seed0": 2600,
- "instruction": "Pick the jar from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0049
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000016/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000016/actaug_meta.json
deleted file mode 100644
index 2ef966aceb3512d866bf5d3b6e1866c575607fd5..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000016/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 260104,
-  "grasp_t": 65,
-  "release_t": 158,
-  "dj7_init_deg": -65.6105972402939,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-38.9",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5704,
-  "lift_grip_m": 0.5704,
-  "rel6d": 1,
-  "weld_engage_t": 64,
-  "weld_release_t": 158,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 173,
-  "s_jit": 0.9776,
-  "stage": "policy",
-  "episode": 26,
-  "instruction": "Pick the jar from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000016/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000016/ep_meta.json
deleted file mode 100644
index 09b86cbd34c45607c1a4c54e2db571bd177831de..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000016/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000026__jar__Jar023__s2601",
- "source_episode": 26,
- "target": "jar/Jar023",
- "seed0": 2601,
- "instruction": "Pick the jar from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9776
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000017/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000017/actaug_meta.json
deleted file mode 100644
index 12c42653eda51b89373e3ba179789d97a9273d48..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000017/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 340000,
-  "grasp_t": 65,
-  "release_t": 142,
-  "dj7_init_deg": 1.898542363101285,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-32.5",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.6025,
-  "lift_grip_m": 0.602,
-  "rel6d": 1,
-  "weld_engage_t": 79,
-  "weld_release_t": 142,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 167,
-  "s_jit": 1.0076,
-  "stage": "policy",
-  "episode": 34,
-  "instruction": "Pick the reamer from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000017/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000017/ep_meta.json
deleted file mode 100644
index 550dedd267260c98d709084b95b9850752d677b1..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000017/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000034__teapot__teapot_7__s3400",
- "source_episode": 34,
- "target": "teapot/teapot_7",
- "seed0": 3400,
- "instruction": "Pick the teapot from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0076
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000018/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000018/actaug_meta.json
deleted file mode 100644
index 36d7d1d4fbec7df7eff4e50e4704fe0c95b22416..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000018/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 360000,
-  "grasp_t": 58,
-  "release_t": 132,
-  "dj7_init_deg": -5.791245834773353,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-34.3",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5881,
-  "lift_grip_m": 0.5881,
-  "rel6d": 1,
-  "weld_engage_t": 54,
-  "weld_release_t": 132,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 161,
-  "s_jit": 0.9768,
-  "stage": "policy",
-  "episode": 36,
-  "instruction": "Pick the mushroom from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000018/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000018/ep_meta.json
deleted file mode 100644
index acb7faeb63b12ece8b4a3b07cf6a56ee1fbca295..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000018/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000036__teapot__teapot_6__s3600",
- "source_episode": 36,
- "target": "teapot/teapot_6",
- "seed0": 3600,
- "instruction": "Pick the teapot from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9768
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000019/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000019/actaug_meta.json
deleted file mode 100644
index f52be5fd380ed7e35a5291aa0c1f834fb34f0e5f..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000019/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 390003,
-  "grasp_t": 151,
-  "release_t": 358,
-  "dj7_init_deg": 63.2686479240755,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:+58.4",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5697,
-  "lift_grip_m": 0.5697,
-  "rel6d": 1,
-  "weld_engage_t": 152,
-  "weld_release_t": 358,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 411,
-  "s_jit": 1.0131,
-  "stage": "policy",
-  "episode": 39,
-  "instruction": "Pick the jam from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000019/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000019/ep_meta.json
deleted file mode 100644
index 240ef1127fee56034cdf46d33a89ce5ddd98ba69..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000019/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000039__teapot__teapot_7__s3900",
- "source_episode": 39,
- "target": "teapot/teapot_7",
- "seed0": 3900,
- "instruction": "Pick the teapot from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0131
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000020/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000020/actaug_meta.json
deleted file mode 100644
index 059b8cd5f586f556c07a52329e0d27376629e939..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000020/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 430000,
-  "grasp_t": 90,
-  "release_t": 184,
-  "dj7_init_deg": -2.889587012561785,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-36.4",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.6178,
-  "lift_grip_m": 0.6178,
-  "rel6d": 1,
-  "weld_engage_t": 89,
-  "weld_release_t": 184,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 216,
-  "s_jit": 0.9884,
-  "stage": "policy",
-  "episode": 43,
-  "instruction": "Pick the egg from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000020/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000020/ep_meta.json
deleted file mode 100644
index e3a84ac317c03f98e8b7cc8f9a0285e73cf36088..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000020/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000043__teapot__teapot_7__s4300",
- "source_episode": 43,
- "target": "teapot/teapot_7",
- "seed0": 4300,
- "instruction": "Pick the teapot from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9884
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000021/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000021/actaug_meta.json
deleted file mode 100644
index 24133f01f99d6a87786a4e9f053e88407d5c87f9..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000021/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 440000,
-  "grasp_t": 43,
-  "release_t": 145,
-  "dj7_init_deg": 5.165263343032684,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-21.7",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.6103,
-  "lift_grip_m": 0.6103,
-  "rel6d": 1,
-  "weld_engage_t": 51,
-  "weld_release_t": 145,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 173,
-  "s_jit": 1.0207,
-  "stage": "policy",
-  "episode": 44,
-  "instruction": "Pick the banana from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000021/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000021/ep_meta.json
deleted file mode 100644
index c3bcaa33b3320a6226aba3b5c01f4121589c2229..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000021/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000044__donut__donut_5__s4400",
- "source_episode": 44,
- "target": "donut/donut_5",
- "seed0": 4400,
- "instruction": "Pick the donut from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0207
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000022/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000022/actaug_meta.json
deleted file mode 100644
index 4d9c36771446b4383c0400938198d83249010549..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000022/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 460003,
-  "grasp_t": 81,
-  "release_t": 202,
-  "dj7_init_deg": 55.26474416407427,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:+20.9",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.6151,
-  "lift_grip_m": 0.5421,
-  "rel6d": 1,
-  "weld_engage_t": 92,
-  "weld_release_t": 202,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 237,
-  "s_jit": 0.9811,
-  "stage": "policy",
-  "episode": 46,
-  "instruction": "Pick the tangerine from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000022/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000022/ep_meta.json
deleted file mode 100644
index 6680efb2031a1bef6f03646b5cda6f9a6dbed52b..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000022/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000046__measuring_cup__MeasuringCup009__s4600",
- "source_episode": 46,
- "target": "measuring_cup/MeasuringCup009",
- "seed0": 4600,
- "instruction": "Pick the measuring cup from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9811
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000023/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000023/actaug_meta.json
deleted file mode 100644
index 57d7c28940b6f6eac8a5c2efce7f88760f567dff..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000023/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 470010,
-  "grasp_t": 55,
-  "release_t": 136,
-  "dj7_init_deg": 1.808406903038616,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-31.0",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5638,
-  "lift_grip_m": 0.5638,
-  "rel6d": 1,
-  "weld_engage_t": 70,
-  "weld_release_t": 136,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 167,
-  "s_jit": 1.0352,
-  "stage": "policy",
-  "episode": 47,
-  "instruction": "Pick the lemon from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000023/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000023/ep_meta.json
deleted file mode 100644
index 417fe1fcfca90d8a667142f90b938e8b5b29e3eb..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000023/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000047__measuring_cup__MeasuringCup009__s4700",
- "source_episode": 47,
- "target": "measuring_cup/MeasuringCup009",
- "seed0": 4700,
- "instruction": "Pick the measuring cup from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0352
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000024/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000024/actaug_meta.json
deleted file mode 100644
index 2719e951841b1aa7a000ef00d5c11790945c73bb..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000024/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 470000,
-  "grasp_t": 55,
-  "release_t": 136,
-  "dj7_init_deg": 8.803693040665124,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-25.4",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5808,
-  "lift_grip_m": 0.5808,
-  "rel6d": 1,
-  "weld_engage_t": 57,
-  "weld_release_t": 136,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 157,
-  "s_jit": 1.0352,
-  "stage": "policy",
-  "episode": 47,
-  "instruction": "Pick the lemon from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000024/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000024/ep_meta.json
deleted file mode 100644
index 188ada3b5bd85831714c51c18d3a560366c14d76..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000024/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000047__teapot__teapot_7__s4700",
- "source_episode": 47,
- "target": "teapot/teapot_7",
- "seed0": 4700,
- "instruction": "Pick the teapot from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0352
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000025/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000025/actaug_meta.json
deleted file mode 100644
index ee18ee8251faf87c94894362245582c7f6737b47..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000025/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 480000,
-  "grasp_t": 109,
-  "release_t": 271,
-  "dj7_init_deg": -7.301911604457585,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-35.5",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5563,
-  "lift_grip_m": 0.5563,
-  "rel6d": 1,
-  "weld_engage_t": 106,
-  "weld_release_t": 271,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 325,
-  "s_jit": 0.9708,
-  "stage": "policy",
-  "episode": 48,
-  "instruction": "Pick the eggplant from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000025/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000025/ep_meta.json
deleted file mode 100644
index cfdb7539e7bfd28e093f6d0e585aebe468f380e4..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000025/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000048__teapot__teapot_6__s4800",
- "source_episode": 48,
- "target": "teapot/teapot_6",
- "seed0": 4800,
- "instruction": "Pick the teapot from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9708
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000026/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000026/actaug_meta.json
deleted file mode 100644
index eda51f3b369d2555dd0a07feeacecb2206c780a4..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000026/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 500002,
-  "grasp_t": 81,
-  "release_t": 168,
-  "dj7_init_deg": -38.893073622851865,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-52.8",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5875,
-  "lift_grip_m": 0.5875,
-  "rel6d": 1,
-  "weld_engage_t": 89,
-  "weld_release_t": 168,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 194,
-  "s_jit": 0.9644,
-  "stage": "policy",
-  "episode": 50,
-  "instruction": "Pick the reamer from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000026/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000026/ep_meta.json
deleted file mode 100644
index a3a01ba1835e4a46dc1660c2b581037ef602fda2..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000026/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000050__teapot__teapot_7__s5000",
- "source_episode": 50,
- "target": "teapot/teapot_7",
- "seed0": 5000,
- "instruction": "Pick the teapot from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9644
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000027/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000027/actaug_meta.json
deleted file mode 100644
index 3ed5c53daea4b6a44e5b46bb1e0c5813863633aa..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000027/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 520000,
-  "grasp_t": 113,
-  "release_t": 227,
-  "dj7_init_deg": -4.311418266804394,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-22.0",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5149,
-  "lift_grip_m": 0.5149,
-  "rel6d": 1,
-  "weld_engage_t": 115,
-  "weld_release_t": 227,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 264,
-  "s_jit": 0.9828,
-  "stage": "policy",
-  "episode": 52,
-  "instruction": "Pick the soap dispenser from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000027/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000027/ep_meta.json
deleted file mode 100644
index 0c6ff53294e188fa3a2b58aa1b4dd24556ff2b38..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000027/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000052__soap_dispenser__SoapDispenser010__s5200",
- "source_episode": 52,
- "target": "soap_dispenser/SoapDispenser010",
- "seed0": 5200,
- "instruction": "Pick the soap dispenser from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9828
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000028/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000028/actaug_meta.json
deleted file mode 100644
index 54677ff9e954f2b3b1e5e586de3eb27df499bb47..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000028/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 550112,
-  "grasp_t": 101,
-  "release_t": 215,
-  "dj7_init_deg": -36.96217146862074,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-48.6",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.497,
-  "lift_grip_m": 0.4911,
-  "rel6d": 1,
-  "weld_engage_t": 157,
-  "weld_release_t": 215,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 259,
-  "s_jit": 1.0164,
-  "stage": "policy",
-  "episode": 55,
-  "instruction": "Pick the water bottle from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000028/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000028/ep_meta.json
deleted file mode 100644
index 71232deaf36e7e2ee4ba32603a37cf200b14429b..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000028/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000055__jar__Jar023__s5501",
- "source_episode": 55,
- "target": "jar/Jar023",
- "seed0": 5501,
- "instruction": "Pick the jar from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0164
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000029/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000029/actaug_meta.json
deleted file mode 100644
index f316395ab01474dfa7ef7260a475f1d661f5890c..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000029/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 550000,
-  "grasp_t": 101,
-  "release_t": 215,
-  "dj7_init_deg": -1.5470268168462447,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-24.4",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5102,
-  "lift_grip_m": 0.5102,
-  "rel6d": 1,
-  "weld_engage_t": 115,
-  "weld_release_t": 215,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 250,
-  "s_jit": 0.9938,
-  "stage": "policy",
-  "episode": 55,
-  "instruction": "Pick the water bottle from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000029/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000029/ep_meta.json
deleted file mode 100644
index 6730b4d987f3d46840823ee33778f2c919b11b36..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000029/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000055__soap_dispenser__SoapDispenser010__s5500",
- "source_episode": 55,
- "target": "soap_dispenser/SoapDispenser010",
- "seed0": 5500,
- "instruction": "Pick the soap dispenser from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9938
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000030/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000030/actaug_meta.json
deleted file mode 100644
index c805a421f29ba02e7b46032e06ba0e23cc5e6677..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000030/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 560000,
-  "grasp_t": 101,
-  "release_t": 216,
-  "dj7_init_deg": 3.3223452588496762,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-31.1",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5289,
-  "lift_grip_m": 0.5289,
-  "rel6d": 1,
-  "weld_engage_t": 95,
-  "weld_release_t": 216,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 255,
-  "s_jit": 1.0133,
-  "stage": "policy",
-  "episode": 56,
-  "instruction": "Pick the bar soap from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000030/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000030/ep_meta.json
deleted file mode 100644
index a52c46b67e7d22b3da2b88e4deba65d40f5abc58..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000030/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000056__donut__donut_5__s5600",
- "source_episode": 56,
- "target": "donut/donut_5",
- "seed0": 5600,
- "instruction": "Pick the donut from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0133
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000031/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000031/actaug_meta.json
deleted file mode 100644
index e6da1d784803d95efff7eb21a73b12a0cb636b3b..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000031/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 570001,
-  "grasp_t": 60,
-  "release_t": 181,
-  "dj7_init_deg": 21.474054809378615,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:+32.6",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5111,
-  "lift_grip_m": 0.5111,
-  "rel6d": 1,
-  "weld_engage_t": 72,
-  "weld_release_t": 181,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 222,
-  "s_jit": 0.9659,
-  "stage": "policy",
-  "episode": 57,
-  "instruction": "Pick the spray from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000031/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000031/ep_meta.json
deleted file mode 100644
index afd10e10b749e1818fb3a36e08b233bbec21d6d5..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000031/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000057__soap_dispenser__SoapDispenser010__s5700",
- "source_episode": 57,
- "target": "soap_dispenser/SoapDispenser010",
- "seed0": 5700,
- "instruction": "Pick the soap dispenser from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9659
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000032/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000032/actaug_meta.json
deleted file mode 100644
index 69c2ce080383cc0717e138cb4a32ccbe6725a8a9..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000032/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 640004,
-  "grasp_t": 58,
-  "release_t": 125,
-  "dj7_init_deg": -68.29446346629665,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-95.8",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5907,
-  "lift_grip_m": 0.5907,
-  "rel6d": 1,
-  "weld_engage_t": 50,
-  "weld_release_t": 125,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 155,
-  "s_jit": 0.9668,
-  "stage": "policy",
-  "episode": 64,
-  "instruction": "Pick the sugar cube from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000032/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000032/ep_meta.json
deleted file mode 100644
index dd82096927ec618831bf6974c890ed42829dcd45..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000032/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000064__donut__donut_5__s6400",
- "source_episode": 64,
- "target": "donut/donut_5",
- "seed0": 6400,
- "instruction": "Pick the donut from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9668
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000033/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000033/actaug_meta.json
deleted file mode 100644
index 9272753fb462b3790fc180e991a9737cd0d3991e..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000033/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 650001,
-  "grasp_t": 53,
-  "release_t": 127,
-  "dj7_init_deg": 38.48237015072219,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:+28.1",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5361,
-  "lift_grip_m": 0.5361,
-  "rel6d": 1,
-  "weld_engage_t": 50,
-  "weld_release_t": 127,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 144,
-  "s_jit": 1.0339,
-  "stage": "policy",
-  "episode": 65,
-  "instruction": "Pick the kiwi from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000033/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000033/ep_meta.json
deleted file mode 100644
index 316dd8bc85f67c5d6b49b2abb457e58b379ad8d7..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000033/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000065__teapot__teapot_7__s6500",
- "source_episode": 65,
- "target": "teapot/teapot_7",
- "seed0": 6500,
- "instruction": "Pick the teapot from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0339
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000034/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000034/actaug_meta.json
deleted file mode 100644
index 0f948a65d9e4bdda899c6912ef1315aaf263db2b..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000034/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 690000,
-  "grasp_t": 49,
-  "release_t": 127,
-  "dj7_init_deg": 7.2657316842620325,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-27.1",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.6046,
-  "lift_grip_m": 0.6046,
-  "rel6d": 1,
-  "weld_engage_t": 60,
-  "weld_release_t": 127,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 154,
-  "s_jit": 1.0291,
-  "stage": "policy",
-  "episode": 69,
-  "instruction": "Pick the kiwi from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000034/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000034/ep_meta.json
deleted file mode 100644
index 1897c47a049066a974d21d65dc3e9041fb450ab1..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000034/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000069__donut__donut_5__s6900",
- "source_episode": 69,
- "target": "donut/donut_5",
- "seed0": 6900,
- "instruction": "Pick the donut from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0291
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000035/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000035/actaug_meta.json
deleted file mode 100644
index 5ee3b81e610ac1a1c2ff8c96f0f9a16d822fcc59..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000035/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 710010,
-  "grasp_t": 126,
-  "release_t": 243,
-  "dj7_init_deg": -5.149485332641575,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-39.5",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5261,
-  "lift_grip_m": 0.5261,
-  "rel6d": 1,
-  "weld_engage_t": 137,
-  "weld_release_t": 243,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 294,
-  "s_jit": 0.9823,
-  "stage": "policy",
-  "episode": 71,
-  "instruction": "Pick the hotdog bun from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000035/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000035/ep_meta.json
deleted file mode 100644
index f079e7e14d52a425a8669e4d1b98b989e31888ea..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000035/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000071__measuring_cup__MeasuringCup009__s7100",
- "source_episode": 71,
- "target": "measuring_cup/MeasuringCup009",
- "seed0": 7100,
- "instruction": "Pick the measuring cup from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9823
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000036/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000036/actaug_meta.json
deleted file mode 100644
index eccd3d6581eee207ab0296f80f0dc8f67d6e1c86..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000036/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 760000,
-  "grasp_t": 66,
-  "release_t": 153,
-  "dj7_init_deg": -8.598186887475467,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-43.0",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5538,
-  "lift_grip_m": 0.5538,
-  "rel6d": 1,
-  "weld_engage_t": 78,
-  "weld_release_t": 153,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 180,
-  "s_jit": 0.9656,
-  "stage": "policy",
-  "episode": 76,
-  "instruction": "Pick the marshmallow from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000036/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000036/ep_meta.json
deleted file mode 100644
index cd869c9b71aa3a4d71f0766801eb634996822855..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000036/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000076__steak__steak_8__s7600",
- "source_episode": 76,
- "target": "steak/steak_8",
- "seed0": 7600,
- "instruction": "Pick the steak from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9656
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000037/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000037/actaug_meta.json
deleted file mode 100644
index bcde788d1be55af372de75cee32d7fc7e99a048d..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000037/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 780004,
-  "grasp_t": 160,
-  "release_t": 315,
-  "dj7_init_deg": -62.21508562848914,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-48.9",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5735,
-  "lift_grip_m": 0.5735,
-  "rel6d": 1,
-  "weld_engage_t": 166,
-  "weld_release_t": 315,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 334,
-  "s_jit": 0.9911,
-  "stage": "policy",
-  "episode": 78,
-  "instruction": "Pick the mustard from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000037/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000037/ep_meta.json
deleted file mode 100644
index f02b33b538b0191450be21fc9cbabc20907b0598..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000037/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000078__jar__Jar023__s7800",
- "source_episode": 78,
- "target": "jar/Jar023",
- "seed0": 7800,
- "instruction": "Pick the jar from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9911
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000038/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000038/actaug_meta.json
deleted file mode 100644
index c82ef7a2235f7bedd5e8254870d9f773b23a39be..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000038/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 780004,
-  "grasp_t": 160,
-  "release_t": 315,
-  "dj7_init_deg": -62.21508562848914,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-47.8",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5757,
-  "lift_grip_m": 0.5757,
-  "rel6d": 1,
-  "weld_engage_t": 171,
-  "weld_release_t": 315,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 345,
-  "s_jit": 0.9911,
-  "stage": "policy",
-  "episode": 78,
-  "instruction": "Pick the mustard from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000038/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000038/ep_meta.json
deleted file mode 100644
index b4064d8c2876b6a2ba4796fc5eda26b1aca2b6ca..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000038/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000078__soap_dispenser__SoapDispenser010__s7800",
- "source_episode": 78,
- "target": "soap_dispenser/SoapDispenser010",
- "seed0": 7800,
- "instruction": "Pick the soap dispenser from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9911
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000039/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000039/actaug_meta.json
deleted file mode 100644
index e61191384b96349da81d668edb9fdcdfd9fda63b..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000039/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 790004,
-  "grasp_t": 75,
-  "release_t": 144,
-  "dj7_init_deg": -63.03293289375276,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-97.4",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5586,
-  "lift_grip_m": 0.5586,
-  "rel6d": 1,
-  "weld_engage_t": 84,
-  "weld_release_t": 144,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 174,
-  "s_jit": 0.9879,
-  "stage": "policy",
-  "episode": 79,
-  "instruction": "Pick the croissant from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000039/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000039/ep_meta.json
deleted file mode 100644
index 672b967b4b12dddf5994b42ca535d1d2d3b0f806..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000039/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000079__donut__donut_5__s7900",
- "source_episode": 79,
- "target": "donut/donut_5",
- "seed0": 7900,
- "instruction": "Pick the donut from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9879
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000040/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000040/actaug_meta.json
deleted file mode 100644
index 28057f4a2e6a0fc51a5234029df97d66a49e1c5e..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000040/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 810007,
-  "grasp_t": 67,
-  "release_t": 175,
-  "dj7_init_deg": 55.1698272210795,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:+31.1",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.4902,
-  "lift_grip_m": 0.4902,
-  "rel6d": 1,
-  "weld_engage_t": 83,
-  "weld_release_t": 175,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 202,
-  "s_jit": 0.9984,
-  "stage": "policy",
-  "episode": 81,
-  "instruction": "Pick the pitcher from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000040/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000040/ep_meta.json
deleted file mode 100644
index b5371f1dcb6438cefdfa47a750bb71114b7e7624..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000040/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000081__jar__Jar023__s8100",
- "source_episode": 81,
- "target": "jar/Jar023",
- "seed0": 8100,
- "instruction": "Pick the jar from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9984
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000041/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000041/actaug_meta.json
deleted file mode 100644
index 910bbbdf6c3851f460a642718b2167d639a6bc34..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000041/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 840000,
-  "grasp_t": 74,
-  "release_t": 197,
-  "dj7_init_deg": 5.986024673500303,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-28.4",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5847,
-  "lift_grip_m": 0.5847,
-  "rel6d": 1,
-  "weld_engage_t": 83,
-  "weld_release_t": 197,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 234,
-  "s_jit": 1.0239,
-  "stage": "policy",
-  "episode": 84,
-  "instruction": "Pick the onion from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000041/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000041/ep_meta.json
deleted file mode 100644
index 9d32b7d05e50db7f45680836b46a654827adb502..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000041/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000084__teapot__teapot_6__s8400",
- "source_episode": 84,
- "target": "teapot/teapot_6",
- "seed0": 8400,
- "instruction": "Pick the teapot from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0239
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000042/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000042/actaug_meta.json
deleted file mode 100644
index 3f7d3cf8d89677440dd9833e26f96938814ac379..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000042/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 850000,
-  "grasp_t": 82,
-  "release_t": 179,
-  "dj7_init_deg": -0.7340478976159215,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-26.0",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5352,
-  "lift_grip_m": 0.5352,
-  "rel6d": 1,
-  "weld_engage_t": 78,
-  "weld_release_t": 179,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 208,
-  "s_jit": 0.9971,
-  "stage": "policy",
-  "episode": 85,
-  "instruction": "Pick the bell pepper from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000042/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000042/ep_meta.json
deleted file mode 100644
index 2f9b0bee9cb3b39bc49bff38014d9d008f2cb5c9..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000042/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000085__teapot__teapot_6__s8500",
- "source_episode": 85,
- "target": "teapot/teapot_6",
- "seed0": 8500,
- "instruction": "Pick the teapot from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9971
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000043/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000043/actaug_meta.json
deleted file mode 100644
index df87595190fa8122dcd71c0a46a175c837f89954..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000043/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 860002,
-  "grasp_t": 112,
-  "release_t": 233,
-  "dj7_init_deg": -26.35116888430202,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-57.5",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.531,
-  "lift_grip_m": 0.531,
-  "rel6d": 1,
-  "weld_engage_t": 125,
-  "weld_release_t": 233,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 269,
-  "s_jit": 1.0146,
-  "stage": "policy",
-  "episode": 86,
-  "instruction": "Pick the sugar cube from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000043/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000043/ep_meta.json
deleted file mode 100644
index 56a3bfdb33d049f1e364e501a5f6eda1eb344c5d..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000043/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000086__donut__donut_5__s8600",
- "source_episode": 86,
- "target": "donut/donut_5",
- "seed0": 8600,
- "instruction": "Pick the donut from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0146
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000044/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000044/actaug_meta.json
deleted file mode 100644
index 20f4a96b020062d0a667025ea2462073339a27d6..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000044/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 870001,
-  "grasp_t": 104,
-  "release_t": 225,
-  "dj7_init_deg": 32.10049795253788,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:+22.6",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.6151,
-  "lift_grip_m": 0.5473,
-  "rel6d": 1,
-  "weld_engage_t": 124,
-  "weld_release_t": 225,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 232,
-  "s_jit": 1.0084,
-  "stage": "policy",
-  "episode": 87,
-  "instruction": "Pick the cookie dough ball from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000044/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000044/ep_meta.json
deleted file mode 100644
index a635e11aa9b5122f386bb5df532d04ab26d07f43..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000044/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000087__donut__donut_5__s8700",
- "source_episode": 87,
- "target": "donut/donut_5",
- "seed0": 8700,
- "instruction": "Pick the donut from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0084
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000045/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000045/actaug_meta.json
deleted file mode 100644
index 4f52847ea2dd6344fc54cb1f125f973aee17c447..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000045/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 880000,
-  "grasp_t": 69,
-  "release_t": 144,
-  "dj7_init_deg": -4.755455491567968,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-39.1",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.6114,
-  "lift_grip_m": 0.6114,
-  "rel6d": 1,
-  "weld_engage_t": 70,
-  "weld_release_t": 144,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 179,
-  "s_jit": 0.981,
-  "stage": "policy",
-  "episode": 88,
-  "instruction": "Pick the shrimp from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000045/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000045/ep_meta.json
deleted file mode 100644
index c1e47ce2a0b4ed6bcbc8f470ffb92df0af496f2e..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000045/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000088__steak__steak_8__s8800",
- "source_episode": 88,
- "target": "steak/steak_8",
- "seed0": 8800,
- "instruction": "Pick the steak from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.981
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000046/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000046/actaug_meta.json
deleted file mode 100644
index 337e17534fb85a40d0c5b587574caacdd15a8993..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000046/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 950001,
-  "grasp_t": 51,
-  "release_t": 118,
-  "dj7_init_deg": 34.3262037078124,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-0.1",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5682,
-  "lift_grip_m": 0.5682,
-  "rel6d": 1,
-  "weld_engage_t": 58,
-  "weld_release_t": 118,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 150,
-  "s_jit": 1.0173,
-  "stage": "policy",
-  "episode": 95,
-  "instruction": "Pick the sponge from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000046/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000046/ep_meta.json
deleted file mode 100644
index eb61c4a00169dd203ec7cee427e5473af3f46d19..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000046/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000095__steak__steak_8__s9500",
- "source_episode": 95,
- "target": "steak/steak_8",
- "seed0": 9500,
- "instruction": "Pick the steak from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0173
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000047/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000047/actaug_meta.json
deleted file mode 100644
index 636cffb5dce1d998615e0204919df8cfba42629c..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000047/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 960000,
-  "grasp_t": 117,
-  "release_t": 244,
-  "dj7_init_deg": 3.8315520874752824,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-21.1",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5745,
-  "lift_grip_m": 0.5745,
-  "rel6d": 1,
-  "weld_engage_t": 122,
-  "weld_release_t": 244,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 285,
-  "s_jit": 1.0153,
-  "stage": "policy",
-  "episode": 96,
-  "instruction": "Pick the mug from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000047/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000047/ep_meta.json
deleted file mode 100644
index a74ab11b815e9a4aae4b5d97c0b3124c9fcb196f..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000047/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000096__soap_dispenser__SoapDispenser010__s9600",
- "source_episode": 96,
- "target": "soap_dispenser/SoapDispenser010",
- "seed0": 9600,
- "instruction": "Pick the soap dispenser from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0153
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000048/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000048/actaug_meta.json
deleted file mode 100644
index f7c53b29eb9033f794df86d1c3de5c1af87ebabe..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000048/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 1000000,
-  "grasp_t": 79,
-  "release_t": 204,
-  "dj7_init_deg": 0.33380804660924923,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-25.5",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5239,
-  "lift_grip_m": 0.5239,
-  "rel6d": 1,
-  "weld_engage_t": 98,
-  "weld_release_t": 204,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 244,
-  "s_jit": 1.0013,
-  "stage": "policy",
-  "episode": 100,
-  "instruction": "Pick the tangerine from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000048/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000048/ep_meta.json
deleted file mode 100644
index ca2cf1b5b55dd1a74c699779714dbdbdfb068a6a..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000048/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000100__measuring_cup__MeasuringCup009__s10000",
- "source_episode": 100,
- "target": "measuring_cup/MeasuringCup009",
- "seed0": 10000,
- "instruction": "Pick the measuring cup from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0013
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000049/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000049/actaug_meta.json
deleted file mode 100644
index 92b76350ae57ee84d3e796a9389fdcf6a10d7ee8..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000049/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 1020000,
-  "grasp_t": 116,
-  "release_t": 266,
-  "dj7_init_deg": -2.752902285348111,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-33.7",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5587,
-  "lift_grip_m": 0.5587,
-  "rel6d": 1,
-  "weld_engage_t": 113,
-  "weld_release_t": 266,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 303,
-  "s_jit": 0.989,
-  "stage": "policy",
-  "episode": 102,
-  "instruction": "Pick the reamer from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000049/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000049/ep_meta.json
deleted file mode 100644
index fed3695e07c316a4c7094ed5b459606ab9ef73c5..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000049/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000102__teapot__teapot_7__s10200",
- "source_episode": 102,
- "target": "teapot/teapot_7",
- "seed0": 10200,
- "instruction": "Pick the teapot from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.989
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000050/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000050/actaug_meta.json
deleted file mode 100644
index 89c46cb007471b5b8172e80ef324752c8ba617d3..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000050/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 1090004,
-  "grasp_t": 82,
-  "release_t": 188,
-  "dj7_init_deg": -51.12866620626309,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-85.5",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5244,
-  "lift_grip_m": 0.5244,
-  "rel6d": 1,
-  "weld_engage_t": 77,
-  "weld_release_t": 188,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 228,
-  "s_jit": 1.0355,
-  "stage": "policy",
-  "episode": 109,
-  "instruction": "Pick the jam from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000050/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000050/ep_meta.json
deleted file mode 100644
index 92572f0165498b5da545ff5f12e03fc18ffa1a55..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000050/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000109__teapot__teapot_7__s10900",
- "source_episode": 109,
- "target": "teapot/teapot_7",
- "seed0": 10900,
- "instruction": "Pick the teapot from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0355
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000051/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000051/actaug_meta.json
deleted file mode 100644
index f7daa98ff0f4bb65bf07e8997805b1d5797b13ad..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000051/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 1100002,
-  "grasp_t": 86,
-  "release_t": 212,
-  "dj7_init_deg": -27.280847645240694,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-58.1",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.547,
-  "lift_grip_m": 0.547,
-  "rel6d": 1,
-  "weld_engage_t": 83,
-  "weld_release_t": 212,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 260,
-  "s_jit": 1.0109,
-  "stage": "policy",
-  "episode": 110,
-  "instruction": "Pick the fish from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000051/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000051/ep_meta.json
deleted file mode 100644
index 6ec727d60f690a727797629963ac8cf4c6784241..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000051/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000110__measuring_cup__MeasuringCup009__s11000",
- "source_episode": 110,
- "target": "measuring_cup/MeasuringCup009",
- "seed0": 11000,
- "instruction": "Pick the measuring cup from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0109
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000052/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000052/actaug_meta.json
deleted file mode 100644
index 1aa87b2d0e70af753b3e7b67f52d3ca858b014d7..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000052/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 1130000,
-  "grasp_t": 81,
-  "release_t": 266,
-  "dj7_init_deg": -3.30538847502128,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-35.1",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5136,
-  "lift_grip_m": 0.5129,
-  "rel6d": 1,
-  "weld_engage_t": 98,
-  "weld_release_t": 266,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 339,
-  "s_jit": 0.9868,
-  "stage": "policy",
-  "episode": 113,
-  "instruction": "Pick the cake from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000052/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000052/ep_meta.json
deleted file mode 100644
index 691ed73610d79f60eb4514a01c1b2d4db2648077..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000052/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000113__measuring_cup__MeasuringCup009__s11300",
- "source_episode": 113,
- "target": "measuring_cup/MeasuringCup009",
- "seed0": 11300,
- "instruction": "Pick the measuring cup from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9868
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000053/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000053/actaug_meta.json
deleted file mode 100644
index 960cc218255480b08d084992e74934271f7c8f9b..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000053/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 1150002,
-  "grasp_t": 89,
-  "release_t": 216,
-  "dj7_init_deg": -27.827343674925732,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-47.2",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5825,
-  "lift_grip_m": 0.5825,
-  "rel6d": 1,
-  "weld_engage_t": 92,
-  "weld_release_t": 216,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 235,
-  "s_jit": 1.0087,
-  "stage": "policy",
-  "episode": 115,
-  "instruction": "Pick the peeler from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000053/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000053/ep_meta.json
deleted file mode 100644
index 64900570f30cd761c0f8ba39e9baf7bd8cd5fefd..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000053/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000115__steak__steak_8__s11500",
- "source_episode": 115,
- "target": "steak/steak_8",
- "seed0": 11500,
- "instruction": "Pick the steak from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0087
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000054/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000054/actaug_meta.json
deleted file mode 100644
index 4f9ff9d1212b4c11df3ae632f9d6ec061a593ad0..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000054/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 1160008,
-  "grasp_t": 83,
-  "release_t": 282,
-  "dj7_init_deg": -26.580556404786904,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-54.9",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5168,
-  "lift_grip_m": 0.5168,
-  "rel6d": 1,
-  "weld_engage_t": 89,
-  "weld_release_t": 282,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 315,
-  "s_jit": 1.0109,
-  "stage": "policy",
-  "episode": 116,
-  "instruction": "Pick the pitcher from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000054/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000054/ep_meta.json
deleted file mode 100644
index 3fd385ba9cc3108c7fc0ab8126fdfb54f1a7993c..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000054/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000116__syrup_bottle__SyrupBottle005__s11600",
- "source_episode": 116,
- "target": "syrup_bottle/SyrupBottle005",
- "seed0": 11600,
- "instruction": "Pick the syrup bottle from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0109
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000055/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000055/actaug_meta.json
deleted file mode 100644
index 5410ff3900e96f4d87c495c6fff0a6b44a7678de..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000055/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 1160108,
-  "grasp_t": 83,
-  "release_t": 282,
-  "dj7_init_deg": -25.37953080468887,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-42.7",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5277,
-  "lift_grip_m": 0.5277,
-  "rel6d": 1,
-  "weld_engage_t": 93,
-  "weld_release_t": 282,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 316,
-  "s_jit": 1.0381,
-  "stage": "policy",
-  "episode": 116,
-  "instruction": "Pick the pitcher from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000055/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000055/ep_meta.json
deleted file mode 100644
index 20c599811184bfb3550fe484b598a311bf17472f..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000055/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000116__syrup_bottle__SyrupBottle005__s11601",
- "source_episode": 116,
- "target": "syrup_bottle/SyrupBottle005",
- "seed0": 11601,
- "instruction": "Pick the syrup bottle from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0381
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000056/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000056/actaug_meta.json
deleted file mode 100644
index 8637c7e942dbfc60b7ac18046afe5e1d56fd5152..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000056/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 1160709,
-  "grasp_t": 83,
-  "release_t": 282,
-  "dj7_init_deg": 21.388629762980614,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-9.8",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5384,
-  "lift_grip_m": 0.5384,
-  "rel6d": 1,
-  "weld_engage_t": 80,
-  "weld_release_t": 282,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 313,
-  "s_jit": 1.0336,
-  "stage": "policy",
-  "episode": 116,
-  "instruction": "Pick the pitcher from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000056/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000056/ep_meta.json
deleted file mode 100644
index a3bfb4fffdc1448a9663b0f61dae18b1e07d4c69..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000056/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000116__syrup_bottle__SyrupBottle005__s11607",
- "source_episode": 116,
- "target": "syrup_bottle/SyrupBottle005",
- "seed0": 11607,
- "instruction": "Pick the syrup bottle from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0336
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000057/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000057/actaug_meta.json
deleted file mode 100644
index 459050816f276c44030277509de113f12d3afe2e..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000057/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 1160811,
-  "grasp_t": 83,
-  "release_t": 282,
-  "dj7_init_deg": 37.26995301896392,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:+5.4",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5562,
-  "lift_grip_m": 0.5562,
-  "rel6d": 1,
-  "weld_engage_t": 83,
-  "weld_release_t": 282,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 322,
-  "s_jit": 1.0275,
-  "stage": "policy",
-  "episode": 116,
-  "instruction": "Pick the pitcher from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000057/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000057/ep_meta.json
deleted file mode 100644
index 4f6330dae38781f7e3b98ed355e111949c6deb2a..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000057/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000116__syrup_bottle__SyrupBottle005__s11608",
- "source_episode": 116,
- "target": "syrup_bottle/SyrupBottle005",
- "seed0": 11608,
- "instruction": "Pick the syrup bottle from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0275
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000058/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000058/actaug_meta.json
deleted file mode 100644
index 289cc85610f02f19edd8c4c163ce39afdd97ef2f..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000058/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 1180008,
-  "grasp_t": 49,
-  "release_t": 139,
-  "dj7_init_deg": -29.327776580726265,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-60.5",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.587,
-  "lift_grip_m": 0.587,
-  "rel6d": 1,
-  "weld_engage_t": 61,
-  "weld_release_t": 139,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 176,
-  "s_jit": 0.9848,
-  "stage": "policy",
-  "episode": 118,
-  "instruction": "Pick the mango from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000058/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000058/ep_meta.json
deleted file mode 100644
index 024d2353af81838063b562be456e83922e6b4b7c..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000058/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000118__measuring_cup__MeasuringCup009__s11800",
- "source_episode": 118,
- "target": "measuring_cup/MeasuringCup009",
- "seed0": 11800,
- "instruction": "Pick the measuring cup from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9848
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000059/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000059/actaug_meta.json
deleted file mode 100644
index 08a9f09d0c734a921cfae7fb3c19f5afd3a9f261..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000059/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 1220009,
-  "grasp_t": 62,
-  "release_t": 153,
-  "dj7_init_deg": 24.946067024580316,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:+8.3",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5811,
-  "lift_grip_m": 0.5811,
-  "rel6d": 1,
-  "weld_engage_t": 71,
-  "weld_release_t": 153,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 183,
-  "s_jit": 1.0312,
-  "stage": "policy",
-  "episode": 122,
-  "instruction": "Pick the peach from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000059/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000059/ep_meta.json
deleted file mode 100644
index 35a83764cec654d15bc6e3009dcd9ad4c37f9303..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000059/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000122__measuring_cup__MeasuringCup009__s12200",
- "source_episode": 122,
- "target": "measuring_cup/MeasuringCup009",
- "seed0": 12200,
- "instruction": "Pick the measuring cup from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0312
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000060/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000060/actaug_meta.json
deleted file mode 100644
index c9114fe4212a60c6e4dbc9ce28ea0f1241c82541..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000060/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 1230001,
-  "grasp_t": 117,
-  "release_t": 247,
-  "dj7_init_deg": 30.660935529165197,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:+4.7",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5512,
-  "lift_grip_m": 0.5512,
-  "rel6d": 1,
-  "weld_engage_t": 134,
-  "weld_release_t": 247,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 288,
-  "s_jit": 1.0026,
-  "stage": "policy",
-  "episode": 123,
-  "instruction": "Pick the cupcake from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000060/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000060/ep_meta.json
deleted file mode 100644
index 32133ca7773d88164f8f6fe78ec60766d1540780..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000060/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000123__teapot__teapot_6__s12300",
- "source_episode": 123,
- "target": "teapot/teapot_6",
- "seed0": 12300,
- "instruction": "Pick the teapot from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0026
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000061/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000061/actaug_meta.json
deleted file mode 100644
index 25661a142c7e8dfd5da329c131d88d4749f64b13..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000061/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 1260009,
-  "grasp_t": 72,
-  "release_t": 177,
-  "dj7_init_deg": 28.421449471113334,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-5.9",
-  "grip_handoff": 0.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.6123,
-  "lift_grip_m": 0.6123,
-  "rel6d": 1,
-  "weld_engage_t": null,
-  "weld_release_t": null,
-  "n_weld_engage": 0,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 195,
-  "s_jit": 0.9952,
-  "stage": "policy",
-  "episode": 126,
-  "instruction": "Pick the lemon from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000061/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000061/ep_meta.json
deleted file mode 100644
index 89802014b863940f89dad0e0ed5c3afec8031b42..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000061/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000126__measuring_cup__MeasuringCup009__s12600",
- "source_episode": 126,
- "target": "measuring_cup/MeasuringCup009",
- "seed0": 12600,
- "instruction": "Pick the measuring cup from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9952
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000062/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000062/actaug_meta.json
deleted file mode 100644
index 19189837e669c48854276f583fdd0bd6cb0e8570..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000062/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 1320005,
-  "grasp_t": 98,
-  "release_t": 259,
-  "dj7_init_deg": -83.16071856859955,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-114.2",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5449,
-  "lift_grip_m": 0.5449,
-  "rel6d": 1,
-  "weld_engage_t": 121,
-  "weld_release_t": 259,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 292,
-  "s_jit": 1.008,
-  "stage": "policy",
-  "episode": 132,
-  "instruction": "Pick the rolling pin from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000062/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000062/ep_meta.json
deleted file mode 100644
index 916ee92e4cb3648bc7cff801584af73c9fb19ef9..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000062/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000132__steak__steak_8__s13200",
- "source_episode": 132,
- "target": "steak/steak_8",
- "seed0": 13200,
- "instruction": "Pick the steak from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.008
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000063/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000063/actaug_meta.json
deleted file mode 100644
index 8ca758eeee9ae2ca5dc3eba1ae7481deb0a71d8c..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000063/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 1330000,
-  "grasp_t": 150,
-  "release_t": 318,
-  "dj7_init_deg": -5.739802511085124,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-40.1",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5158,
-  "lift_grip_m": 0.5158,
-  "rel6d": 1,
-  "weld_engage_t": 150,
-  "weld_release_t": 318,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 360,
-  "s_jit": 0.977,
-  "stage": "policy",
-  "episode": 133,
-  "instruction": "Pick the wine from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000063/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000063/ep_meta.json
deleted file mode 100644
index 0ff99f5c93bc4330e64e65eee6316e8490e8a695..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000063/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000133__syrup_bottle__SyrupBottle005__s13300",
- "source_episode": 133,
- "target": "syrup_bottle/SyrupBottle005",
- "seed0": 13300,
- "instruction": "Pick the syrup bottle from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.977
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000064/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000064/actaug_meta.json
deleted file mode 100644
index 5db8d7822009f37be83ef245bcef2b9f2ce4f0af..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000064/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 1330100,
-  "grasp_t": 150,
-  "release_t": 318,
-  "dj7_init_deg": -4.3798611023483875,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-34.4",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5068,
-  "lift_grip_m": 0.5068,
-  "rel6d": 1,
-  "weld_engage_t": 147,
-  "weld_release_t": 318,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 363,
-  "s_jit": 0.9825,
-  "stage": "policy",
-  "episode": 133,
-  "instruction": "Pick the wine from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000064/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000064/ep_meta.json
deleted file mode 100644
index 22daaabb255dd03e39ea29c0118506205a0210b9..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000064/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000133__syrup_bottle__SyrupBottle005__s13301",
- "source_episode": 133,
- "target": "syrup_bottle/SyrupBottle005",
- "seed0": 13301,
- "instruction": "Pick the syrup bottle from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9825
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000065/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000065/actaug_meta.json
deleted file mode 100644
index 8e5a848fa79ae586fe36a58f23e80bc2ae4798b0..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000065/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 1330200,
-  "grasp_t": 150,
-  "release_t": 318,
-  "dj7_init_deg": -5.402255521513748,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-39.8",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5138,
-  "lift_grip_m": 0.5127,
-  "rel6d": 1,
-  "weld_engage_t": 150,
-  "weld_release_t": 318,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 359,
-  "s_jit": 0.9784,
-  "stage": "policy",
-  "episode": 133,
-  "instruction": "Pick the wine from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000065/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000065/ep_meta.json
deleted file mode 100644
index 6d3d05d4a1e870f6004abba2ce7fe8be74cb80bd..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000065/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000133__syrup_bottle__SyrupBottle005__s13302",
- "source_episode": 133,
- "target": "syrup_bottle/SyrupBottle005",
- "seed0": 13302,
- "instruction": "Pick the syrup bottle from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9784
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000066/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000066/actaug_meta.json
deleted file mode 100644
index 0d0ba3a95bf515de502b741aa342b777bdc34a7f..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000066/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 1330310,
-  "grasp_t": 150,
-  "release_t": 318,
-  "dj7_init_deg": -2.7839499189604737,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-37.2",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.511,
-  "lift_grip_m": 0.511,
-  "rel6d": 1,
-  "weld_engage_t": 145,
-  "weld_release_t": 318,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 363,
-  "s_jit": 1.001,
-  "stage": "policy",
-  "episode": 133,
-  "instruction": "Pick the wine from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000066/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000066/ep_meta.json
deleted file mode 100644
index bf7dcab869c43a9ede57ab258790e47a17a17254..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000066/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000133__syrup_bottle__SyrupBottle005__s13303",
- "source_episode": 133,
- "target": "syrup_bottle/SyrupBottle005",
- "seed0": 13303,
- "instruction": "Pick the syrup bottle from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.001
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000067/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000067/actaug_meta.json
deleted file mode 100644
index 3b94d8d5d4b2f2e472bd0af452f67b7c116d13de..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000067/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 1330410,
-  "grasp_t": 150,
-  "release_t": 318,
-  "dj7_init_deg": -6.4343083384844135,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-29.1",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5071,
-  "lift_grip_m": 0.507,
-  "rel6d": 1,
-  "weld_engage_t": 148,
-  "weld_release_t": 318,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 356,
-  "s_jit": 0.9673,
-  "stage": "policy",
-  "episode": 133,
-  "instruction": "Pick the wine from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000067/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000067/ep_meta.json
deleted file mode 100644
index 61f88ec88f54ea705726cbbfbcf16e2cdce5337b..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000067/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000133__syrup_bottle__SyrupBottle005__s13304",
- "source_episode": 133,
- "target": "syrup_bottle/SyrupBottle005",
- "seed0": 13304,
- "instruction": "Pick the syrup bottle from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9673
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000068/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000068/actaug_meta.json
deleted file mode 100644
index c97211a490e04905987fea688c1172ac3ba0c7df..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000068/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 1330500,
-  "grasp_t": 150,
-  "release_t": 318,
-  "dj7_init_deg": -1.4077022589909465,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-33.2",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5085,
-  "lift_grip_m": 0.5085,
-  "rel6d": 1,
-  "weld_engage_t": 145,
-  "weld_release_t": 318,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 359,
-  "s_jit": 0.9944,
-  "stage": "policy",
-  "episode": 133,
-  "instruction": "Pick the wine from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000068/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000068/ep_meta.json
deleted file mode 100644
index 0cb411f4da01eef15ecb28aed3e177b123df6f36..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000068/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000133__syrup_bottle__SyrupBottle005__s13305",
- "source_episode": 133,
- "target": "syrup_bottle/SyrupBottle005",
- "seed0": 13305,
- "instruction": "Pick the syrup bottle from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9944
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000069/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000069/actaug_meta.json
deleted file mode 100644
index 8033ff23a601f92b226b7e6963e523c792af0d55..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000069/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 1330600,
-  "grasp_t": 150,
-  "release_t": 318,
-  "dj7_init_deg": 2.7056345975824403,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-31.7",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5133,
-  "lift_grip_m": 0.5126,
-  "rel6d": 1,
-  "weld_engage_t": 148,
-  "weld_release_t": 318,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 356,
-  "s_jit": 1.0108,
-  "stage": "policy",
-  "episode": 133,
-  "instruction": "Pick the wine from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000069/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000069/ep_meta.json
deleted file mode 100644
index a03f715c52214071cc33de1c3fd80c514bf1b6ea..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000069/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000133__syrup_bottle__SyrupBottle005__s13306",
- "source_episode": 133,
- "target": "syrup_bottle/SyrupBottle005",
- "seed0": 13306,
- "instruction": "Pick the syrup bottle from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0108
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000070/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000070/actaug_meta.json
deleted file mode 100644
index 71eff57440a176590bb5fa763ce352284b79337c..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000070/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 1330710,
-  "grasp_t": 150,
-  "release_t": 318,
-  "dj7_init_deg": 1.3963771601977442,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-30.5",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5083,
-  "lift_grip_m": 0.5083,
-  "rel6d": 1,
-  "weld_engage_t": 148,
-  "weld_release_t": 318,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 364,
-  "s_jit": 1.0136,
-  "stage": "policy",
-  "episode": 133,
-  "instruction": "Pick the wine from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000070/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000070/ep_meta.json
deleted file mode 100644
index e6dfdc8c4cc680101b3cc0c2291f068e8a59c8d0..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000070/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000133__syrup_bottle__SyrupBottle005__s13307",
- "source_episode": 133,
- "target": "syrup_bottle/SyrupBottle005",
- "seed0": 13307,
- "instruction": "Pick the syrup bottle from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0136
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000071/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000071/actaug_meta.json
deleted file mode 100644
index 2c956fa0b4c72b8499cf4c05b4d5ef15697bcbba..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000071/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 1380001,
-  "grasp_t": 63,
-  "release_t": 156,
-  "dj7_init_deg": 24.658703022509272,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-9.5",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5473,
-  "lift_grip_m": 0.5473,
-  "rel6d": 1,
-  "weld_engage_t": 77,
-  "weld_release_t": 156,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 189,
-  "s_jit": 0.9786,
-  "stage": "policy",
-  "episode": 138,
-  "instruction": "Pick the marshmallow from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000071/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000071/ep_meta.json
deleted file mode 100644
index 0d2d9b37ad3fb18ed46bc929119a853e9a2cdc5c..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000071/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000138__steak__steak_8__s13800",
- "source_episode": 138,
- "target": "steak/steak_8",
- "seed0": 13800,
- "instruction": "Pick the steak from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9786
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000072/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000072/actaug_meta.json
deleted file mode 100644
index 1b8fb3d3f3074231243bf48845b2a87a67c2117b..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000072/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 1390003,
-  "grasp_t": 92,
-  "release_t": 172,
-  "dj7_init_deg": 57.3851276128276,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:+23.0",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.569,
-  "lift_grip_m": 0.569,
-  "rel6d": 1,
-  "weld_engage_t": 96,
-  "weld_release_t": 172,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 200,
-  "s_jit": 0.9895,
-  "stage": "policy",
-  "episode": 139,
-  "instruction": "Pick the sponge from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000072/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000072/ep_meta.json
deleted file mode 100644
index 6326322871870899e3c6950facbe94aed164f42b..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000072/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000139__steak__steak_8__s13900",
- "source_episode": 139,
- "target": "steak/steak_8",
- "seed0": 13900,
- "instruction": "Pick the steak from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9895
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000073/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000073/actaug_meta.json
deleted file mode 100644
index 2f56f083d904e2f962ad32b4fc12bb89bd3f589b..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000073/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 1400010,
-  "grasp_t": 91,
-  "release_t": 293,
-  "dj7_init_deg": -1.9612280974928638,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-36.3",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5536,
-  "lift_grip_m": 0.5536,
-  "rel6d": 1,
-  "weld_engage_t": 110,
-  "weld_release_t": 293,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 331,
-  "s_jit": 1.0152,
-  "stage": "policy",
-  "episode": 140,
-  "instruction": "Pick the whisk from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000073/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000073/ep_meta.json
deleted file mode 100644
index 40ec7d53ee1fd953e4c2d0b4b909e8e386c7f964..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000073/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000140__measuring_cup__MeasuringCup009__s14000",
- "source_episode": 140,
- "target": "measuring_cup/MeasuringCup009",
- "seed0": 14000,
- "instruction": "Pick the measuring cup from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0152
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000074/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000074/actaug_meta.json
deleted file mode 100644
index 99c1c81192a5d611229b45c167f6a4d0c0719b9c..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000074/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 1440010,
-  "grasp_t": 50,
-  "release_t": 147,
-  "dj7_init_deg": -7.242134776816528,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-27.5",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5689,
-  "lift_grip_m": 0.5689,
-  "rel6d": 1,
-  "weld_engage_t": 63,
-  "weld_release_t": 147,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 173,
-  "s_jit": 1.0185,
-  "stage": "policy",
-  "episode": 144,
-  "instruction": "Pick the orange from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000074/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000074/ep_meta.json
deleted file mode 100644
index e99c3d239a62e005dac8de21bfd6834909f86369..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000074/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000144__measuring_cup__MeasuringCup009__s14400",
- "source_episode": 144,
- "target": "measuring_cup/MeasuringCup009",
- "seed0": 14400,
- "instruction": "Pick the measuring cup from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0185
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000075/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000075/actaug_meta.json
deleted file mode 100644
index 2b767bd3f24de71c11bb887ec413391421c8f911..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000075/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 1440000,
-  "grasp_t": 50,
-  "release_t": 147,
-  "dj7_init_deg": 4.63389989046393,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-17.4",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5813,
-  "lift_grip_m": 0.5813,
-  "rel6d": 1,
-  "weld_engage_t": 52,
-  "weld_release_t": 147,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 180,
-  "s_jit": 1.0185,
-  "stage": "policy",
-  "episode": 144,
-  "instruction": "Pick the orange from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000075/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000075/ep_meta.json
deleted file mode 100644
index 92cb2cf0c18bbec303b6e841e394f4e38386cb6d..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000075/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000144__teapot__teapot_7__s14400",
- "source_episode": 144,
- "target": "teapot/teapot_7",
- "seed0": 14400,
- "instruction": "Pick the teapot from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0185
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000076/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000076/actaug_meta.json
deleted file mode 100644
index 9f9b3a15a28502bcafe9bd026c5c4055c398b748..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000076/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 1470103,
-  "grasp_t": 93,
-  "release_t": 268,
-  "dj7_init_deg": 68.18447966767448,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:+33.8",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5939,
-  "lift_grip_m": 0.5939,
-  "rel6d": 1,
-  "weld_engage_t": 100,
-  "weld_release_t": 268,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 306,
-  "s_jit": 1.0327,
-  "stage": "policy",
-  "episode": 147,
-  "instruction": "Pick the syrup bottle from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000076/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000076/ep_meta.json
deleted file mode 100644
index 0765387af5d52fd7796db45f0da90e771b2b9d6c..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000076/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000147__jar__Jar023__s14701",
- "source_episode": 147,
- "target": "jar/Jar023",
- "seed0": 14701,
- "instruction": "Pick the jar from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0327
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000077/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000077/actaug_meta.json
deleted file mode 100644
index c9c48c241dd86939d7983a626ad417cc04571fd2..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000077/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 1470013,
-  "grasp_t": 93,
-  "release_t": 268,
-  "dj7_init_deg": 62.194475935294406,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:+27.8",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.565,
-  "lift_grip_m": 0.565,
-  "rel6d": 1,
-  "weld_engage_t": 96,
-  "weld_release_t": 268,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 303,
-  "s_jit": 1.0069,
-  "stage": "policy",
-  "episode": 147,
-  "instruction": "Pick the syrup bottle from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000077/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000077/ep_meta.json
deleted file mode 100644
index a98d15ee6fe75cd6590d9c3f8d019cedba948029..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000077/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000147__soap_dispenser__SoapDispenser010__s14700",
- "source_episode": 147,
- "target": "soap_dispenser/SoapDispenser010",
- "seed0": 14700,
- "instruction": "Pick the soap dispenser from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0069
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000078/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000078/actaug_meta.json
deleted file mode 100644
index a3de6ea22f13ee3517e7b218ac6da797e7cd4b7e..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000078/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 1500000,
-  "grasp_t": 54,
-  "release_t": 135,
-  "dj7_init_deg": -5.165880639057563,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-39.5",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5606,
-  "lift_grip_m": 0.5606,
-  "rel6d": 1,
-  "weld_engage_t": 63,
-  "weld_release_t": 135,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 170,
-  "s_jit": 0.9793,
-  "stage": "policy",
-  "episode": 150,
-  "instruction": "Pick the bar soap from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000078/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000078/ep_meta.json
deleted file mode 100644
index 363502d8022eb053c48157027bc0e6caabbedb5d..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000078/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000150__donut__donut_5__s15000",
- "source_episode": 150,
- "target": "donut/donut_5",
- "seed0": 15000,
- "instruction": "Pick the donut from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9793
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000079/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000079/actaug_meta.json
deleted file mode 100644
index ed734449cdd847088f91b4012821ea6d881b77c4..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000079/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 1510000,
-  "grasp_t": 124,
-  "release_t": 275,
-  "dj7_init_deg": 8.746538887488807,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-25.6",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5299,
-  "lift_grip_m": 0.5297,
-  "rel6d": 1,
-  "weld_engage_t": 121,
-  "weld_release_t": 275,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 304,
-  "s_jit": 1.035,
-  "stage": "policy",
-  "episode": 151,
-  "instruction": "Pick the donut from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000079/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000079/ep_meta.json
deleted file mode 100644
index caa276031b6e4ca678092767625a851fdae937a1..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000079/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000151__teapot__teapot_6__s15100",
- "source_episode": 151,
- "target": "teapot/teapot_6",
- "seed0": 15100,
- "instruction": "Pick the teapot from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.035
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000080/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000080/actaug_meta.json
deleted file mode 100644
index ff828d66e2cb9cebd12b07395be5b827b3bfd3cd..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000080/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 1560005,
-  "grasp_t": 44,
-  "release_t": 110,
-  "dj7_init_deg": 82.76410176096653,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:+64.7",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5771,
-  "lift_grip_m": 0.5771,
-  "rel6d": 1,
-  "weld_engage_t": 38,
-  "weld_release_t": 110,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 141,
-  "s_jit": 0.9638,
-  "stage": "policy",
-  "episode": 156,
-  "instruction": "Pick the potato from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000080/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000080/ep_meta.json
deleted file mode 100644
index d820365422cd68c310c531847736b5bb2b1e64d2..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000080/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000156__teapot__teapot_7__s15600",
- "source_episode": 156,
- "target": "teapot/teapot_7",
- "seed0": 15600,
- "instruction": "Pick the teapot from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9638
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000081/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000081/actaug_meta.json
deleted file mode 100644
index 32d392ba9b2933574a9ac4d512b3dad476286ff4..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000081/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 1590001,
-  "grasp_t": 121,
-  "release_t": 242,
-  "dj7_init_deg": 39.95453061007804,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:+22.4",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5375,
-  "lift_grip_m": 0.5375,
-  "rel6d": 1,
-  "weld_engage_t": 119,
-  "weld_release_t": 242,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 280,
-  "s_jit": 1.0398,
-  "stage": "policy",
-  "episode": 159,
-  "instruction": "Pick the jam from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000081/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000081/ep_meta.json
deleted file mode 100644
index 24cfb9425d11d74428900ecf83d8233215ca6f1a..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000081/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000159__teapot__teapot_7__s15900",
- "source_episode": 159,
- "target": "teapot/teapot_7",
- "seed0": 15900,
- "instruction": "Pick the teapot from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0398
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000082/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000082/actaug_meta.json
deleted file mode 100644
index 8e227db33c8a72c3ec79076f9aaafe3a62eff288..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000082/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 1600001,
-  "grasp_t": 41,
-  "release_t": 119,
-  "dj7_init_deg": 28.05592476119006,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:+9.0",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5699,
-  "lift_grip_m": 0.5699,
-  "rel6d": 1,
-  "weld_engage_t": 38,
-  "weld_release_t": 119,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 152,
-  "s_jit": 0.9922,
-  "stage": "policy",
-  "episode": 160,
-  "instruction": "Pick the bell pepper from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000082/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000082/ep_meta.json
deleted file mode 100644
index 311bac392a63ba04a42ffb584948104dbb3d9253..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000082/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000160__teapot__teapot_6__s16000",
- "source_episode": 160,
- "target": "teapot/teapot_6",
- "seed0": 16000,
- "instruction": "Pick the teapot from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9922
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000083/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000083/actaug_meta.json
deleted file mode 100644
index 321f8a4dafe92445ef6aefbbc18edb87f4ffd092..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000083/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 1660000,
-  "grasp_t": 68,
-  "release_t": 171,
-  "dj7_init_deg": -5.588810341192758,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-38.0",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5455,
-  "lift_grip_m": 0.5455,
-  "rel6d": 1,
-  "weld_engage_t": 69,
-  "weld_release_t": 171,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 205,
-  "s_jit": 0.9776,
-  "stage": "policy",
-  "episode": 166,
-  "instruction": "Pick the croissant from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000083/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000083/ep_meta.json
deleted file mode 100644
index 4bbc02cf87f4489abb417635bf6fa5b2ef208f6f..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000083/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000166__donut__donut_5__s16600",
- "source_episode": 166,
- "target": "donut/donut_5",
- "seed0": 16600,
- "instruction": "Pick the donut from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9776
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000084/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000084/actaug_meta.json
deleted file mode 100644
index 783f86c0a84f1369c31ea482e2547c36d4ff8221..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000084/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 1680000,
-  "grasp_t": 88,
-  "release_t": 171,
-  "dj7_init_deg": -0.15832104909911848,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-17.4",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5737,
-  "lift_grip_m": 0.5737,
-  "rel6d": 1,
-  "weld_engage_t": 84,
-  "weld_release_t": 171,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 202,
-  "s_jit": 0.9994,
-  "stage": "policy",
-  "episode": 168,
-  "instruction": "Pick the sugar cube from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000084/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000084/ep_meta.json
deleted file mode 100644
index 2237213e4f1807b7a030c994b3fac6fab665d95e..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000084/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000168__steak__steak_8__s16800",
- "source_episode": 168,
- "target": "steak/steak_8",
- "seed0": 16800,
- "instruction": "Pick the steak from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9994
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000085/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000085/actaug_meta.json
deleted file mode 100644
index a0a848dbbe8bc51f565ba8e58fc25065d1106831..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000085/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 1690004,
-  "grasp_t": 89,
-  "release_t": 181,
-  "dj7_init_deg": -66.69669245570162,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-91.9",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5706,
-  "lift_grip_m": 0.5706,
-  "rel6d": 1,
-  "weld_engage_t": 105,
-  "weld_release_t": 181,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 215,
-  "s_jit": 0.9732,
-  "stage": "policy",
-  "episode": 169,
-  "instruction": "Pick the marshmallow from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000085/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000085/ep_meta.json
deleted file mode 100644
index ff2058dbc82588cfcdb36254357992e333ed8dc1..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000085/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000169__steak__steak_8__s16900",
- "source_episode": 169,
- "target": "steak/steak_8",
- "seed0": 16900,
- "instruction": "Pick the steak from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9732
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000086/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000086/actaug_meta.json
deleted file mode 100644
index 19fc5ad4c71eda417a1d0a48de711477ed96ed79..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000086/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 1780000,
-  "grasp_t": 173,
-  "release_t": 389,
-  "dj7_init_deg": 5.882384078177054,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:+6.3",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.59,
-  "lift_grip_m": 0.59,
-  "rel6d": 1,
-  "weld_engage_t": 167,
-  "weld_release_t": 389,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 465,
-  "s_jit": 1.0235,
-  "stage": "policy",
-  "episode": 178,
-  "instruction": "Pick the yogurt from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000086/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000086/ep_meta.json
deleted file mode 100644
index 31d7af25a4b28c764e93ef1957ccf0575dbfeaeb..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000086/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000178__teapot__teapot_6__s17800",
- "source_episode": 178,
- "target": "teapot/teapot_6",
- "seed0": 17800,
- "instruction": "Pick the teapot from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0235
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000087/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000087/actaug_meta.json
deleted file mode 100644
index 2ccd54ce231b120b6bcf495496e83e56cdafbd34..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000087/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 1790007,
-  "grasp_t": 57,
-  "release_t": 133,
-  "dj7_init_deg": 53.83931366302065,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:+37.0",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5604,
-  "lift_grip_m": 0.5604,
-  "rel6d": 1,
-  "weld_engage_t": 68,
-  "weld_release_t": 133,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 160,
-  "s_jit": 0.9817,
-  "stage": "policy",
-  "episode": 179,
-  "instruction": "Pick the eggplant from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000087/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000087/ep_meta.json
deleted file mode 100644
index 5597eabe5d9e0331d0fabcf9ce5621fecdbb5b95..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000087/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000179__teapot__teapot_6__s17900",
- "source_episode": 179,
- "target": "teapot/teapot_6",
- "seed0": 17900,
- "instruction": "Pick the teapot from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9817
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000088/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000088/actaug_meta.json
deleted file mode 100644
index 94d68e0721863588f68abeb7b7bb5ddf4847eb9c..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000088/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 1800000,
-  "grasp_t": 107,
-  "release_t": 217,
-  "dj7_init_deg": -9.481577188606602,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-31.4",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5533,
-  "lift_grip_m": 0.5533,
-  "rel6d": 1,
-  "weld_engage_t": 99,
-  "weld_release_t": 217,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 251,
-  "s_jit": 0.9621,
-  "stage": "policy",
-  "episode": 180,
-  "instruction": "Pick the sponge from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000088/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000088/ep_meta.json
deleted file mode 100644
index dbdf4def204edc65a2af47369d00852b6b14091c..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000088/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000180__steak__steak_8__s18000",
- "source_episode": 180,
- "target": "steak/steak_8",
- "seed0": 18000,
- "instruction": "Pick the steak from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9621
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000089/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000089/actaug_meta.json
deleted file mode 100644
index 334c36d830eb13210af847998e5cb5d45b08e58d..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000089/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 1810000,
-  "grasp_t": 57,
-  "release_t": 136,
-  "dj7_init_deg": 0.4721211555861178,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-18.3",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5442,
-  "lift_grip_m": 0.5442,
-  "rel6d": 1,
-  "weld_engage_t": 69,
-  "weld_release_t": 136,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 167,
-  "s_jit": 1.0019,
-  "stage": "policy",
-  "episode": 181,
-  "instruction": "Pick the garlic from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000089/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000089/ep_meta.json
deleted file mode 100644
index 899ba411798928d2ba093fff7df0b68f150b4226..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000089/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000181__donut__donut_5__s18100",
- "source_episode": 181,
- "target": "donut/donut_5",
- "seed0": 18100,
- "instruction": "Pick the donut from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0019
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000090/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000090/actaug_meta.json
deleted file mode 100644
index 62655f1595bf51e6ad43ea169008e4b750da1c9b..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000090/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 1830002,
-  "grasp_t": 108,
-  "release_t": 265,
-  "dj7_init_deg": -30.811245579792065,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-62.9",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5332,
-  "lift_grip_m": 0.5332,
-  "rel6d": 1,
-  "weld_engage_t": 124,
-  "weld_release_t": 265,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 297,
-  "s_jit": 0.9968,
-  "stage": "policy",
-  "episode": 183,
-  "instruction": "Pick the ice cube from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000090/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000090/ep_meta.json
deleted file mode 100644
index 0e34b4444dc37c1cb170167f0533ba022ade10b7..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000090/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000183__steak__steak_8__s18300",
- "source_episode": 183,
- "target": "steak/steak_8",
- "seed0": 18300,
- "instruction": "Pick the steak from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9968
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000091/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000091/actaug_meta.json
deleted file mode 100644
index 8d05f37a6b1c9f5c11dbbe455d4c29f5b64d5e0e..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000091/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 1860000,
-  "grasp_t": 145,
-  "release_t": 306,
-  "dj7_init_deg": -6.052804048299006,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-40.4",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5402,
-  "lift_grip_m": 0.5402,
-  "rel6d": 1,
-  "weld_engage_t": 158,
-  "weld_release_t": 306,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 356,
-  "s_jit": 0.9758,
-  "stage": "policy",
-  "episode": 186,
-  "instruction": "Pick the paprika from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000091/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000091/ep_meta.json
deleted file mode 100644
index ad9965168ad872020acf1b146c07711eb52c7436..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000091/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000186__jar__Jar023__s18600",
- "source_episode": 186,
- "target": "jar/Jar023",
- "seed0": 18600,
- "instruction": "Pick the jar from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9758
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000092/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000092/actaug_meta.json
deleted file mode 100644
index 0b23b7cf26ae0f8a22d5fdfaed432d9c017fa82c..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000092/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 1860101,
-  "grasp_t": 145,
-  "release_t": 306,
-  "dj7_init_deg": 22.54335771460275,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-11.8",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5452,
-  "lift_grip_m": 0.5452,
-  "rel6d": 1,
-  "weld_engage_t": 139,
-  "weld_release_t": 306,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 351,
-  "s_jit": 0.9702,
-  "stage": "policy",
-  "episode": 186,
-  "instruction": "Pick the paprika from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000092/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000092/ep_meta.json
deleted file mode 100644
index c5aecf3fd7e7a679cecc586056155c13de52d8c2..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000092/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000186__jar__Jar023__s18601",
- "source_episode": 186,
- "target": "jar/Jar023",
- "seed0": 18601,
- "instruction": "Pick the jar from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9702
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000093/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000093/actaug_meta.json
deleted file mode 100644
index 02eaa03302601cd5b15ba1ff87c0c1f5849f246a..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000093/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 1870000,
-  "grasp_t": 86,
-  "release_t": 210,
-  "dj7_init_deg": 3.512737666360195,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-10.9",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5688,
-  "lift_grip_m": 0.5688,
-  "rel6d": 1,
-  "weld_engage_t": 82,
-  "weld_release_t": 210,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 250,
-  "s_jit": 1.0141,
-  "stage": "policy",
-  "episode": 187,
-  "instruction": "Pick the milk from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000093/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000093/ep_meta.json
deleted file mode 100644
index f8d898f45e36543470b5a360632f326b882ec440..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000093/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000187__soap_dispenser__SoapDispenser010__s18700",
- "source_episode": 187,
- "target": "soap_dispenser/SoapDispenser010",
- "seed0": 18700,
- "instruction": "Pick the soap dispenser from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0141
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000094/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000094/actaug_meta.json
deleted file mode 100644
index 2f9c3680fe067a31a030f9a1a27a6c9ad0f0df52..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000094/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 1880003,
-  "grasp_t": 79,
-  "release_t": 186,
-  "dj7_init_deg": 63.32581154033965,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:+28.9",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5515,
-  "lift_grip_m": 0.5515,
-  "rel6d": 1,
-  "weld_engage_t": 80,
-  "weld_release_t": 186,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 202,
-  "s_jit": 1.0133,
-  "stage": "policy",
-  "episode": 188,
-  "instruction": "Pick the beer from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000094/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000094/ep_meta.json
deleted file mode 100644
index e0298130862ca57d23285f7f6514583ef8cd9a37..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000094/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000188__jar__Jar023__s18800",
- "source_episode": 188,
- "target": "jar/Jar023",
- "seed0": 18800,
- "instruction": "Pick the jar from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0133
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000095/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000095/actaug_meta.json
deleted file mode 100644
index f480451e00e239c9d5f7e2e6119cf5ce8124e745..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000095/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 1880103,
-  "grasp_t": 79,
-  "release_t": 186,
-  "dj7_init_deg": 63.1043543646256,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:+28.7",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.543,
-  "lift_grip_m": 0.543,
-  "rel6d": 1,
-  "weld_engage_t": 77,
-  "weld_release_t": 186,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 229,
-  "s_jit": 1.0124,
-  "stage": "policy",
-  "episode": 188,
-  "instruction": "Pick the beer from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000095/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000095/ep_meta.json
deleted file mode 100644
index 7b433733b000e08be93f25c14fa8c7e22700e38f..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000095/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000188__jar__Jar023__s18801",
- "source_episode": 188,
- "target": "jar/Jar023",
- "seed0": 18801,
- "instruction": "Pick the jar from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0124
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000096/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000096/actaug_meta.json
deleted file mode 100644
index a87b377027eb5f9ff78dd3de257fb1cd2cf116be..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000096/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 1880000,
-  "grasp_t": 79,
-  "release_t": 186,
-  "dj7_init_deg": 3.325811540339652,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-4.9",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5265,
-  "lift_grip_m": 0.5265,
-  "rel6d": 1,
-  "weld_engage_t": 89,
-  "weld_release_t": 186,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 243,
-  "s_jit": 1.0133,
-  "stage": "policy",
-  "episode": 188,
-  "instruction": "Pick the beer from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000096/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000096/ep_meta.json
deleted file mode 100644
index 54c241458785b9990e3244d348d20bf7c4d4ba30..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000096/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000188__soap_dispenser__SoapDispenser010__s18800",
- "source_episode": 188,
- "target": "soap_dispenser/SoapDispenser010",
- "seed0": 18800,
- "instruction": "Pick the soap dispenser from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0133
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000097/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000097/actaug_meta.json
deleted file mode 100644
index dd1b9a7cdfe72e6effad5b1959e5d0166b19289e..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000097/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 1900003,
-  "grasp_t": 68,
-  "release_t": 160,
-  "dj7_init_deg": 59.15330333812098,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:+35.6",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.6192,
-  "lift_grip_m": 0.6192,
-  "rel6d": 1,
-  "weld_engage_t": 62,
-  "weld_release_t": 160,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 191,
-  "s_jit": 0.9966,
-  "stage": "policy",
-  "episode": 190,
-  "instruction": "Pick the mango from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000097/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000097/ep_meta.json
deleted file mode 100644
index 252a3a2c061b3542e9369edcab6f51fe873645b1..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000097/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000190__teapot__teapot_6__s19000",
- "source_episode": 190,
- "target": "teapot/teapot_6",
- "seed0": 19000,
- "instruction": "Pick the teapot from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9966
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000098/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000098/actaug_meta.json
deleted file mode 100644
index 06979f49f783f48ff62dabe0528c4e85dead9286..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000098/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 2000001,
-  "grasp_t": 95,
-  "release_t": 219,
-  "dj7_init_deg": 30.53578853961741,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:+4.9",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5378,
-  "lift_grip_m": 0.5378,
-  "rel6d": 1,
-  "weld_engage_t": 91,
-  "weld_release_t": 219,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 254,
-  "s_jit": 1.0021,
-  "stage": "policy",
-  "episode": 200,
-  "instruction": "Pick the squash from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000098/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000098/ep_meta.json
deleted file mode 100644
index cd6ab170835d10f57b9fed53ea8b8bf5b8ccf2e5..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000098/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000200__teapot__teapot_6__s20000",
- "source_episode": 200,
- "target": "teapot/teapot_6",
- "seed0": 20000,
- "instruction": "Pick the teapot from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0021
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000099/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000099/actaug_meta.json
deleted file mode 100644
index 522c5ba50a31210fd3a00c0a9fbec201ea9485a8..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000099/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 2010010,
-  "grasp_t": 57,
-  "release_t": 136,
-  "dj7_init_deg": -4.293366370076598,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-32.9",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5696,
-  "lift_grip_m": 0.5696,
-  "rel6d": 1,
-  "weld_engage_t": 62,
-  "weld_release_t": 136,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 167,
-  "s_jit": 0.9865,
-  "stage": "policy",
-  "episode": 201,
-  "instruction": "Pick the garlic from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000099/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000099/ep_meta.json
deleted file mode 100644
index 207c0dc2aa0289d3a11371435f06d90974540ea8..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000099/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000201__donut__donut_5__s20100",
- "source_episode": 201,
- "target": "donut/donut_5",
- "seed0": 20100,
- "instruction": "Pick the donut from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9865
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000100/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000100/actaug_meta.json
deleted file mode 100644
index 31980aa6b1ed3b6aa2eecc95d6bd5977cfba1043..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000100/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 2020010,
-  "grasp_t": 72,
-  "release_t": 149,
-  "dj7_init_deg": -4.303243101599634,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-36.0",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5419,
-  "lift_grip_m": 0.5419,
-  "rel6d": 1,
-  "weld_engage_t": 82,
-  "weld_release_t": 149,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 180,
-  "s_jit": 0.982,
-  "stage": "policy",
-  "episode": 202,
-  "instruction": "Pick the tangerine from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000100/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000100/ep_meta.json
deleted file mode 100644
index 9c9053dbd26cd9a9411abb50fa8c0881a6c40f23..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000100/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000202__measuring_cup__MeasuringCup009__s20200",
- "source_episode": 202,
- "target": "measuring_cup/MeasuringCup009",
- "seed0": 20200,
- "instruction": "Pick the measuring cup from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.982
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000101/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000101/actaug_meta.json
deleted file mode 100644
index 192e4e71b16717209d8bf9a920812b528fe9ac58..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000101/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 2030010,
-  "grasp_t": 89,
-  "release_t": 187,
-  "dj7_init_deg": -1.0372098026168715,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-22.5",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.6368,
-  "lift_grip_m": 0.6368,
-  "rel6d": 1,
-  "weld_engage_t": 98,
-  "weld_release_t": 187,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 218,
-  "s_jit": 0.9861,
-  "stage": "policy",
-  "episode": 203,
-  "instruction": "Pick the apple from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000101/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000101/ep_meta.json
deleted file mode 100644
index b83bd117c555ade6a084195fe802fb82cfb35251..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000101/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000203__measuring_cup__MeasuringCup009__s20300",
- "source_episode": 203,
- "target": "measuring_cup/MeasuringCup009",
- "seed0": 20300,
- "instruction": "Pick the measuring cup from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9861
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000102/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000102/actaug_meta.json
deleted file mode 100644
index 6cefa7f7082ee6e3606eb1b283b8d4f0f5dffc4c..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000102/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 2050000,
-  "grasp_t": 93,
-  "release_t": 210,
-  "dj7_init_deg": 0.535124531317269,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-31.0",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5444,
-  "lift_grip_m": 0.5444,
-  "rel6d": 1,
-  "weld_engage_t": 85,
-  "weld_release_t": 210,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 242,
-  "s_jit": 1.0021,
-  "stage": "policy",
-  "episode": 205,
-  "instruction": "Pick the shrimp from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000102/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000102/ep_meta.json
deleted file mode 100644
index f95f5124ce696419d7d1b3dfab2734f0e2a38ea7..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000102/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000205__steak__steak_8__s20500",
- "source_episode": 205,
- "target": "steak/steak_8",
- "seed0": 20500,
- "instruction": "Pick the steak from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0021
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000103/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000103/actaug_meta.json
deleted file mode 100644
index 9681c3db16fa8e04f59597ec11b4e757002a5273..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000103/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 2070001,
-  "grasp_t": 50,
-  "release_t": 119,
-  "dj7_init_deg": 29.921929857091463,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:+2.2",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.6081,
-  "lift_grip_m": 0.6081,
-  "rel6d": 1,
-  "weld_engage_t": 48,
-  "weld_release_t": 119,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 156,
-  "s_jit": 0.9997,
-  "stage": "policy",
-  "episode": 207,
-  "instruction": "Pick the bread from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000103/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000103/ep_meta.json
deleted file mode 100644
index dff95be4c72bd775fe3dd696e83bc79d634f4058..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000103/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000207__steak__steak_8__s20700",
- "source_episode": 207,
- "target": "steak/steak_8",
- "seed0": 20700,
- "instruction": "Pick the steak from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9997
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000104/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000104/actaug_meta.json
deleted file mode 100644
index 182eeabc97a83c1e7dddbcc24ec352df113befa3..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000104/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 2080000,
-  "grasp_t": 60,
-  "release_t": 137,
-  "dj7_init_deg": 6.749762777775075,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-26.7",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5294,
-  "lift_grip_m": 0.5294,
-  "rel6d": 1,
-  "weld_engage_t": 69,
-  "weld_release_t": 137,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 173,
-  "s_jit": 1.027,
-  "stage": "policy",
-  "episode": 208,
-  "instruction": "Pick the yogurt from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000104/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000104/ep_meta.json
deleted file mode 100644
index 9cb5a9f0bee8986ca4986fd1603b1df5a7633307..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000104/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000208__teapot__teapot_6__s20800",
- "source_episode": 208,
- "target": "teapot/teapot_6",
- "seed0": 20800,
- "instruction": "Pick the teapot from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.027
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000105/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000105/actaug_meta.json
deleted file mode 100644
index 3cb82fb0d5225dc66757b162e362ae0659574e49..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000105/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 2090003,
-  "grasp_t": 36,
-  "release_t": 114,
-  "dj7_init_deg": 55.089593821300575,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:+48.3",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.614,
-  "lift_grip_m": 0.614,
-  "rel6d": 1,
-  "weld_engage_t": 46,
-  "weld_release_t": 114,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 132,
-  "s_jit": 0.9804,
-  "stage": "policy",
-  "episode": 209,
-  "instruction": "Pick the kettle from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000105/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000105/ep_meta.json
deleted file mode 100644
index 90c2e16e459d65c3930a90dbdefa43bd79f54a2c..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000105/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000209__jar__Jar023__s20900",
- "source_episode": 209,
- "target": "jar/Jar023",
- "seed0": 20900,
- "instruction": "Pick the jar from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9804
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000106/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000106/actaug_meta.json
deleted file mode 100644
index 5ac3164706c40b0499774e018d706206c5de8c81..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000106/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 2100000,
-  "grasp_t": 70,
-  "release_t": 142,
-  "dj7_init_deg": -0.44939972185409793,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-34.8",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5504,
-  "lift_grip_m": 0.5504,
-  "rel6d": 1,
-  "weld_engage_t": 63,
-  "weld_release_t": 142,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 178,
-  "s_jit": 0.9982,
-  "stage": "policy",
-  "episode": 210,
-  "instruction": "Pick the mango from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000106/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000106/ep_meta.json
deleted file mode 100644
index ebae8113215ca947b4dffe94002b50b7d2880534..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000106/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000210__teapot__teapot_7__s21000",
- "source_episode": 210,
- "target": "teapot/teapot_7",
- "seed0": 21000,
- "instruction": "Pick the teapot from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9982
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000107/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000107/actaug_meta.json
deleted file mode 100644
index 80c995969a6d6614e6eb14aee11e96c16dade74a..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000107/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 2130010,
-  "grasp_t": 102,
-  "release_t": 212,
-  "dj7_init_deg": 2.49341694430359,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-18.0",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5527,
-  "lift_grip_m": 0.5527,
-  "rel6d": 1,
-  "weld_engage_t": 94,
-  "weld_release_t": 212,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 242,
-  "s_jit": 1.0192,
-  "stage": "policy",
-  "episode": 213,
-  "instruction": "Pick the beer from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000107/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000107/ep_meta.json
deleted file mode 100644
index 5113a92c2d374095010da57e1c0eacfc362a95dc..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000107/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000213__jar__Jar023__s21300",
- "source_episode": 213,
- "target": "jar/Jar023",
- "seed0": 21300,
- "instruction": "Pick the jar from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0192
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000108/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000108/actaug_meta.json
deleted file mode 100644
index 79c3881f05f146bbfb45ad3420c10882e08a2776..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000108/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 2130000,
-  "grasp_t": 102,
-  "release_t": 212,
-  "dj7_init_deg": 4.8061765910831085,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-15.8",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5504,
-  "lift_grip_m": 0.5504,
-  "rel6d": 1,
-  "weld_engage_t": 101,
-  "weld_release_t": 212,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 245,
-  "s_jit": 1.0192,
-  "stage": "policy",
-  "episode": 213,
-  "instruction": "Pick the beer from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000108/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000108/ep_meta.json
deleted file mode 100644
index 99da0f6d4e6fb21d9c73ed1f65ae45bb97374eb4..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000108/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000213__soap_dispenser__SoapDispenser010__s21300",
- "source_episode": 213,
- "target": "soap_dispenser/SoapDispenser010",
- "seed0": 21300,
- "instruction": "Pick the soap dispenser from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0192
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000109/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000109/actaug_meta.json
deleted file mode 100644
index d249d01fe4f6e88c9adbdf7941bc36296d858c43..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000109/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 2150005,
-  "grasp_t": 56,
-  "release_t": 126,
-  "dj7_init_deg": -81.50494459202184,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-115.9",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5028,
-  "lift_grip_m": 0.5028,
-  "rel6d": 1,
-  "weld_engage_t": 67,
-  "weld_release_t": 126,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 162,
-  "s_jit": 0.9813,
-  "stage": "policy",
-  "episode": 215,
-  "instruction": "Pick the paprika from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000109/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000109/ep_meta.json
deleted file mode 100644
index ecb8a791def31769eff23576ef563006f2aefd01..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000109/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000215__jar__Jar023__s21500",
- "source_episode": 215,
- "target": "jar/Jar023",
- "seed0": 21500,
- "instruction": "Pick the jar from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9813
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000110/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000110/actaug_meta.json
deleted file mode 100644
index 63aadb3ecb4f2fe8e3f9914d1883a82f5be12eb5..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000110/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 2190000,
-  "grasp_t": 69,
-  "release_t": 185,
-  "dj7_init_deg": 0.9863900988854937,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-25.1",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.6161,
-  "lift_grip_m": 0.6161,
-  "rel6d": 1,
-  "weld_engage_t": 63,
-  "weld_release_t": 185,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 203,
-  "s_jit": 1.0039,
-  "stage": "policy",
-  "episode": 219,
-  "instruction": "Pick the kettle from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000110/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000110/ep_meta.json
deleted file mode 100644
index d5243b4fc99b01932e6550c79aa374cb9eb135df..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000110/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000219__jar__Jar023__s21900",
- "source_episode": 219,
- "target": "jar/Jar023",
- "seed0": 21900,
- "instruction": "Pick the jar from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0039
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000111/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000111/actaug_meta.json
deleted file mode 100644
index 6b4663be7dfc4b6726a5b927096cdf2cc6dc9416..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000111/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 2190100,
-  "grasp_t": 69,
-  "release_t": 185,
-  "dj7_init_deg": 2.3515530984565878,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-26.8",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.6188,
-  "lift_grip_m": 0.6188,
-  "rel6d": 1,
-  "weld_engage_t": 62,
-  "weld_release_t": 185,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 202,
-  "s_jit": 1.0094,
-  "stage": "policy",
-  "episode": 219,
-  "instruction": "Pick the kettle from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000111/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000111/ep_meta.json
deleted file mode 100644
index 6177631978c6b0e645f6477590c12abec998dfe3..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000111/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000219__jar__Jar023__s21901",
- "source_episode": 219,
- "target": "jar/Jar023",
- "seed0": 21901,
- "instruction": "Pick the jar from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0094
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000112/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000112/actaug_meta.json
deleted file mode 100644
index fdb72e952f1e9a2d732a1305371857b4d1da2ddf..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000112/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 2190000,
-  "grasp_t": 69,
-  "release_t": 185,
-  "dj7_init_deg": 0.9863900988854937,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-12.9",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5784,
-  "lift_grip_m": 0.5784,
-  "rel6d": 1,
-  "weld_engage_t": 68,
-  "weld_release_t": 185,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 209,
-  "s_jit": 1.0039,
-  "stage": "policy",
-  "episode": 219,
-  "instruction": "Pick the kettle from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000112/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000112/ep_meta.json
deleted file mode 100644
index a4d384589416b279a4cfe690f9b3e9e764388824..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000112/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000219__soap_dispenser__SoapDispenser010__s21900",
- "source_episode": 219,
- "target": "soap_dispenser/SoapDispenser010",
- "seed0": 21900,
- "instruction": "Pick the soap dispenser from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0039
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000113/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000113/actaug_meta.json
deleted file mode 100644
index 64975ff20611626ffaba02a16d106149c4a51fb0..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000113/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 2220002,
-  "grasp_t": 59,
-  "release_t": 143,
-  "dj7_init_deg": -27.289180491206963,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-61.3",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5577,
-  "lift_grip_m": 0.5577,
-  "rel6d": 1,
-  "weld_engage_t": 68,
-  "weld_release_t": 143,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 176,
-  "s_jit": 1.0108,
-  "stage": "policy",
-  "episode": 222,
-  "instruction": "Pick the jam from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000113/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000113/ep_meta.json
deleted file mode 100644
index aa8621aca6e0d827936787e8eb66236f760c53b8..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000113/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000222__teapot__teapot_7__s22200",
- "source_episode": 222,
- "target": "teapot/teapot_7",
- "seed0": 22200,
- "instruction": "Pick the teapot from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0108
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000114/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000114/actaug_meta.json
deleted file mode 100644
index f80730b202d624d4e538c766a666f79c129fcb5f..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000114/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 2270006,
-  "grasp_t": 60,
-  "release_t": 143,
-  "dj7_init_deg": -59.7240208957206,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-94.1",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.6056,
-  "lift_grip_m": 0.6044,
-  "rel6d": 1,
-  "weld_engage_t": 74,
-  "weld_release_t": 143,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 146,
-  "s_jit": 0.9905,
-  "stage": "policy",
-  "episode": 227,
-  "instruction": "Pick the bread from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000114/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000114/ep_meta.json
deleted file mode 100644
index 6b96908de489e2bdb2a4fa1a2904b126fc0df3f1..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000114/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000227__steak__steak_8__s22700",
- "source_episode": 227,
- "target": "steak/steak_8",
- "seed0": 22700,
- "instruction": "Pick the steak from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9905
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000115/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000115/actaug_meta.json
deleted file mode 100644
index 8767133a1cab1faae43ddb00016137f516fbf98e..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000115/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 2280014,
-  "grasp_t": 43,
-  "release_t": 130,
-  "dj7_init_deg": -64.87142178828529,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-92.5",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5725,
-  "lift_grip_m": 0.5725,
-  "rel6d": 1,
-  "weld_engage_t": 52,
-  "weld_release_t": 130,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 160,
-  "s_jit": 1.0047,
-  "stage": "policy",
-  "episode": 228,
-  "instruction": "Pick the cup from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000115/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000115/ep_meta.json
deleted file mode 100644
index 43642f5214361e3606ecbf720e34b16f1e8763d9..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000115/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000228__measuring_cup__MeasuringCup009__s22800",
- "source_episode": 228,
- "target": "measuring_cup/MeasuringCup009",
- "seed0": 22800,
- "instruction": "Pick the measuring cup from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0047
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000116/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000116/actaug_meta.json
deleted file mode 100644
index 38d79ec3f51965ec4e0140b3fda85551f4e14a21..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000116/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 2310000,
-  "grasp_t": 59,
-  "release_t": 130,
-  "dj7_init_deg": 2.8794168238132407,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:+20.1",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5423,
-  "lift_grip_m": 0.5423,
-  "rel6d": 1,
-  "weld_engage_t": 58,
-  "weld_release_t": 130,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 171,
-  "s_jit": 1.0115,
-  "stage": "policy",
-  "episode": 231,
-  "instruction": "Pick the shaker from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000116/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000116/ep_meta.json
deleted file mode 100644
index 14538d296462aa24a6099fa58f4933efa9ae8630..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000116/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000231__teapot__teapot_6__s23100",
- "source_episode": 231,
- "target": "teapot/teapot_6",
- "seed0": 23100,
- "instruction": "Pick the teapot from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0115
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000117/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000117/actaug_meta.json
deleted file mode 100644
index 7565077be415ed8af00380065eadefbe5e508714..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000117/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 2320000,
-  "grasp_t": 77,
-  "release_t": 204,
-  "dj7_init_deg": -2.2497849360721744,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-33.0",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.549,
-  "lift_grip_m": 0.549,
-  "rel6d": 1,
-  "weld_engage_t": 76,
-  "weld_release_t": 204,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 236,
-  "s_jit": 0.991,
-  "stage": "policy",
-  "episode": 232,
-  "instruction": "Pick the sweet potato from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000117/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000117/ep_meta.json
deleted file mode 100644
index a36dda587e389481f688c6098fc977a27051cfd7..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000117/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000232__donut__donut_5__s23200",
- "source_episode": 232,
- "target": "donut/donut_5",
- "seed0": 23200,
- "instruction": "Pick the donut from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.991
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000118/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000118/actaug_meta.json
deleted file mode 100644
index 8907b7155eef58fe0251a48053ff91093c3cbec9..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000118/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 2340005,
-  "grasp_t": 93,
-  "release_t": 267,
-  "dj7_init_deg": 81.89806388080672,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:+48.5",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5668,
-  "lift_grip_m": 0.561,
-  "rel6d": 1,
-  "weld_engage_t": 119,
-  "weld_release_t": 267,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 290,
-  "s_jit": 1.0077,
-  "stage": "policy",
-  "episode": 234,
-  "instruction": "Pick the pizza cutter from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000118/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000118/ep_meta.json
deleted file mode 100644
index b5e6c1feef1ff5b0f6e0c2b7709b597cfb1a826d..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000118/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000234__steak__steak_8__s23400",
- "source_episode": 234,
- "target": "steak/steak_8",
- "seed0": 23400,
- "instruction": "Pick the steak from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0077
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000119/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000119/actaug_meta.json
deleted file mode 100644
index ed3872898004d7d42ffe5cad21b4407ca6e4f385..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000119/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 2350000,
-  "grasp_t": 150,
-  "release_t": 282,
-  "dj7_init_deg": 2.0423926026303576,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-32.3",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5512,
-  "lift_grip_m": 0.5512,
-  "rel6d": 1,
-  "weld_engage_t": 147,
-  "weld_release_t": 282,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 359,
-  "s_jit": 1.0082,
-  "stage": "policy",
-  "episode": 235,
-  "instruction": "Pick the jam from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000119/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000119/ep_meta.json
deleted file mode 100644
index 19680b279b9f2d25206af0c8f48275db443ba79a..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000119/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000235__teapot__teapot_7__s23500",
- "source_episode": 235,
- "target": "teapot/teapot_7",
- "seed0": 23500,
- "instruction": "Pick the teapot from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0082
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000120/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000120/actaug_meta.json
deleted file mode 100644
index d34a4a16ff7a8b1efac2b382eb042a32951b0c6b..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000120/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 2390001,
-  "grasp_t": 82,
-  "release_t": 200,
-  "dj7_init_deg": 26.374147867485352,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-8.0",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5659,
-  "lift_grip_m": 0.5659,
-  "rel6d": 1,
-  "weld_engage_t": 92,
-  "weld_release_t": 200,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 240,
-  "s_jit": 0.9855,
-  "stage": "policy",
-  "episode": 239,
-  "instruction": "Pick the bread from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000120/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000120/ep_meta.json
deleted file mode 100644
index b24bf9979a1ef2ff9f617096357b50d83ba5a14f..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000120/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000239__steak__steak_8__s23900",
- "source_episode": 239,
- "target": "steak/steak_8",
- "seed0": 23900,
- "instruction": "Pick the steak from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9855
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000121/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000121/actaug_meta.json
deleted file mode 100644
index 02da557aba410f7b92890e6dc30a631488feba3d..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000121/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 2400000,
-  "grasp_t": 65,
-  "release_t": 174,
-  "dj7_init_deg": -4.963384548516137,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-37.6",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5324,
-  "lift_grip_m": 0.5324,
-  "rel6d": 1,
-  "weld_engage_t": 75,
-  "weld_release_t": 174,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 214,
-  "s_jit": 0.9801,
-  "stage": "policy",
-  "episode": 240,
-  "instruction": "Pick the kiwi from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000121/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000121/ep_meta.json
deleted file mode 100644
index b9f2e0fb021bac35c43c6772ef77741b7c28807c..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000121/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000240__donut__donut_5__s24000",
- "source_episode": 240,
- "target": "donut/donut_5",
- "seed0": 24000,
- "instruction": "Pick the donut from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9801
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000122/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000122/actaug_meta.json
deleted file mode 100644
index 3441ad868f56af2c91186b4148d85e45e3e67f57..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000122/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 2420003,
-  "grasp_t": 108,
-  "release_t": 234,
-  "dj7_init_deg": 66.11051333681479,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:+46.9",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5073,
-  "lift_grip_m": 0.5073,
-  "rel6d": 1,
-  "weld_engage_t": 126,
-  "weld_release_t": 234,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 308,
-  "s_jit": 1.0244,
-  "stage": "policy",
-  "episode": 242,
-  "instruction": "Pick the apple from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000122/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000122/ep_meta.json
deleted file mode 100644
index 9be322eb2c271fa38fc493268da6e5342e3165a8..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000122/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000242__measuring_cup__MeasuringCup009__s24200",
- "source_episode": 242,
- "target": "measuring_cup/MeasuringCup009",
- "seed0": 24200,
- "instruction": "Pick the measuring cup from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0244
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000123/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000123/actaug_meta.json
deleted file mode 100644
index 1cfac969609e6430234b3022a2080c2931f87008..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000123/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 2430000,
-  "grasp_t": 81,
-  "release_t": 181,
-  "dj7_init_deg": -3.0355388651351722,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-37.4",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5825,
-  "lift_grip_m": 0.5825,
-  "rel6d": 1,
-  "weld_engage_t": 91,
-  "weld_release_t": 181,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 198,
-  "s_jit": 0.9879,
-  "stage": "policy",
-  "episode": 243,
-  "instruction": "Pick the apple from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000123/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000123/ep_meta.json
deleted file mode 100644
index 48646441da273a29d84bc19887d757269062d485..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000123/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000243__measuring_cup__MeasuringCup009__s24300",
- "source_episode": 243,
- "target": "measuring_cup/MeasuringCup009",
- "seed0": 24300,
- "instruction": "Pick the measuring cup from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9879
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000124/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000124/actaug_meta.json
deleted file mode 100644
index c0165b13f2e939bf9f092fb26641e3076c80c81f..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000124/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 2490000,
-  "grasp_t": 78,
-  "release_t": 168,
-  "dj7_init_deg": -2.572338007265616,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-22.7",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.602,
-  "lift_grip_m": 0.602,
-  "rel6d": 1,
-  "weld_engage_t": 89,
-  "weld_release_t": 168,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 202,
-  "s_jit": 0.9897,
-  "stage": "policy",
-  "episode": 249,
-  "instruction": "Pick the tangerine from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000124/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000124/ep_meta.json
deleted file mode 100644
index cafa07dce45a47ab8c1e08c758a1418b4fb41250..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000124/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000249__donut__donut_5__s24900",
- "source_episode": 249,
- "target": "donut/donut_5",
- "seed0": 24900,
- "instruction": "Pick the donut from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9897
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000125/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000125/actaug_meta.json
deleted file mode 100644
index 33b0a28cf5bea09b0475899767c56dde089e7014..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000125/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 2530005,
-  "grasp_t": 63,
-  "release_t": 148,
-  "dj7_init_deg": -87.26896359098288,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-120.7",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5891,
-  "lift_grip_m": 0.5891,
-  "rel6d": 1,
-  "weld_engage_t": 72,
-  "weld_release_t": 148,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 174,
-  "s_jit": 0.981,
-  "stage": "policy",
-  "episode": 253,
-  "instruction": "Pick the steak from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000125/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000125/ep_meta.json
deleted file mode 100644
index 46ebeef587c888e513682d8cb9217291d88ea447..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000125/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000253__steak__steak_8__s25300",
- "source_episode": 253,
- "target": "steak/steak_8",
- "seed0": 25300,
- "instruction": "Pick the steak from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.981
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000126/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000126/actaug_meta.json
deleted file mode 100644
index 7042104f35851248181becae52f9e388cc66abd9..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000126/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 2600000,
-  "grasp_t": 62,
-  "release_t": 144,
-  "dj7_init_deg": -6.824346000845695,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-37.2",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5703,
-  "lift_grip_m": 0.5703,
-  "rel6d": 1,
-  "weld_engage_t": 71,
-  "weld_release_t": 144,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 174,
-  "s_jit": 0.9727,
-  "stage": "policy",
-  "episode": 260,
-  "instruction": "Pick the cookie dough ball from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000126/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000126/ep_meta.json
deleted file mode 100644
index ce57c7f8f58a3da7c065e54bb82c9f51bbc9d714..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000126/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000260__donut__donut_5__s26000",
- "source_episode": 260,
- "target": "donut/donut_5",
- "seed0": 26000,
- "instruction": "Pick the donut from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9727
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000127/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000127/actaug_meta.json
deleted file mode 100644
index 87d969f6cbed5fa62ef35118c1a6d64135777b1d..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000127/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 2610108,
-  "grasp_t": 102,
-  "release_t": 210,
-  "dj7_init_deg": -25.214866646874327,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-48.7",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5842,
-  "lift_grip_m": 0.5842,
-  "rel6d": 1,
-  "weld_engage_t": 104,
-  "weld_release_t": 210,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 229,
-  "s_jit": 0.9701,
-  "stage": "policy",
-  "episode": 261,
-  "instruction": "Pick the wine from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000127/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000127/ep_meta.json
deleted file mode 100644
index f40c774b546cf19dfe517f0ec1d5a355e07178e4..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000127/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000261__syrup_bottle__SyrupBottle005__s26101",
- "source_episode": 261,
- "target": "syrup_bottle/SyrupBottle005",
- "seed0": 26101,
- "instruction": "Pick the syrup bottle from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9701
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000128/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000128/actaug_meta.json
deleted file mode 100644
index 0f63b26cad745faad1fa66d7efdb2acf6cccd048..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000128/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 2610204,
-  "grasp_t": 102,
-  "release_t": 210,
-  "dj7_init_deg": -69.58708505275791,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-52.7",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.6025,
-  "lift_grip_m": 0.6025,
-  "rel6d": 1,
-  "weld_engage_t": 98,
-  "weld_release_t": 210,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 215,
-  "s_jit": 0.9617,
-  "stage": "policy",
-  "episode": 261,
-  "instruction": "Pick the wine from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000128/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000128/ep_meta.json
deleted file mode 100644
index 19c2eaa61745145d6a7e5d3b890a28c501d1f9a7..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000128/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000261__syrup_bottle__SyrupBottle005__s26102",
- "source_episode": 261,
- "target": "syrup_bottle/SyrupBottle005",
- "seed0": 26102,
- "instruction": "Pick the syrup bottle from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9617
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000129/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000129/actaug_meta.json
deleted file mode 100644
index 2b638f2cf5ac1caf1e98cc3ff3280c894571da6f..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000129/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 2610408,
-  "grasp_t": 102,
-  "release_t": 210,
-  "dj7_init_deg": -21.026902333673462,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-55.4",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5875,
-  "lift_grip_m": 0.5875,
-  "rel6d": 1,
-  "weld_engage_t": 101,
-  "weld_release_t": 210,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 230,
-  "s_jit": 0.9958,
-  "stage": "policy",
-  "episode": 261,
-  "instruction": "Pick the wine from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000129/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000129/ep_meta.json
deleted file mode 100644
index 3e372fa501ecfd47865f70f4fc8b78abe5a969b5..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000129/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000261__syrup_bottle__SyrupBottle005__s26104",
- "source_episode": 261,
- "target": "syrup_bottle/SyrupBottle005",
- "seed0": 26104,
- "instruction": "Pick the syrup bottle from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9958
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000130/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000130/actaug_meta.json
deleted file mode 100644
index 9d154072393bdb7e50749a44b0e61192a04327b9..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000130/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 2610508,
-  "grasp_t": 102,
-  "release_t": 210,
-  "dj7_init_deg": -37.345702008317915,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-55.2",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5936,
-  "lift_grip_m": 0.5936,
-  "rel6d": 1,
-  "weld_engage_t": 101,
-  "weld_release_t": 210,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 235,
-  "s_jit": 1.0091,
-  "stage": "policy",
-  "episode": 261,
-  "instruction": "Pick the wine from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000130/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000130/ep_meta.json
deleted file mode 100644
index a6385ce33d4f6a89c37e6657ba8bb1283428347a..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000130/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000261__syrup_bottle__SyrupBottle005__s26105",
- "source_episode": 261,
- "target": "syrup_bottle/SyrupBottle005",
- "seed0": 26105,
- "instruction": "Pick the syrup bottle from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0091
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000131/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000131/actaug_meta.json
deleted file mode 100644
index d4a168ddcbcb5b16d3190482a7be4b9e9c7f2008..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000131/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 2610600,
-  "grasp_t": 102,
-  "release_t": 210,
-  "dj7_init_deg": 6.457312230082934,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-11.7",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5884,
-  "lift_grip_m": 0.5884,
-  "rel6d": 1,
-  "weld_engage_t": 100,
-  "weld_release_t": 210,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 234,
-  "s_jit": 1.0258,
-  "stage": "policy",
-  "episode": 261,
-  "instruction": "Pick the wine from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000131/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000131/ep_meta.json
deleted file mode 100644
index 587e33dce105967b8f3d320dca9dc30f2c12bb22..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000131/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000261__syrup_bottle__SyrupBottle005__s26106",
- "source_episode": 261,
- "target": "syrup_bottle/SyrupBottle005",
- "seed0": 26106,
- "instruction": "Pick the syrup bottle from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0258
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000132/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000132/actaug_meta.json
deleted file mode 100644
index 60c830ae5df7e33daafc75721780b9ed798d0093..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000132/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 2610708,
-  "grasp_t": 102,
-  "release_t": 210,
-  "dj7_init_deg": -23.030964502873644,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-57.4",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5886,
-  "lift_grip_m": 0.5886,
-  "rel6d": 1,
-  "weld_engage_t": 98,
-  "weld_release_t": 210,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 225,
-  "s_jit": 1.008,
-  "stage": "policy",
-  "episode": 261,
-  "instruction": "Pick the wine from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000132/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000132/ep_meta.json
deleted file mode 100644
index f23089ac1048b816e3db063929fc1f85f1ad9af7..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000132/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000261__syrup_bottle__SyrupBottle005__s26107",
- "source_episode": 261,
- "target": "syrup_bottle/SyrupBottle005",
- "seed0": 26107,
- "instruction": "Pick the syrup bottle from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.008
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000133/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000133/actaug_meta.json
deleted file mode 100644
index e227026cb7d16e1b3c6db5c351b671bfee9ad0b2..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000133/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 2640000,
-  "grasp_t": 95,
-  "release_t": 231,
-  "dj7_init_deg": 7.686655058555367,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-20.1",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5677,
-  "lift_grip_m": 0.5677,
-  "rel6d": 1,
-  "weld_engage_t": 91,
-  "weld_release_t": 231,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 265,
-  "s_jit": 1.0307,
-  "stage": "policy",
-  "episode": 264,
-  "instruction": "Pick the sugar cube from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000133/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000133/ep_meta.json
deleted file mode 100644
index 5307301b7fc3327a900ee52efe24f7a2df90f288..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000133/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000264__steak__steak_8__s26400",
- "source_episode": 264,
- "target": "steak/steak_8",
- "seed0": 26400,
- "instruction": "Pick the steak from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0307
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000134/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000134/actaug_meta.json
deleted file mode 100644
index f1f40154733a0ee5227413a2671614e520b3bd82..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000134/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 2660000,
-  "grasp_t": 79,
-  "release_t": 227,
-  "dj7_init_deg": -7.667845248386613,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-30.9",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5564,
-  "lift_grip_m": 0.5564,
-  "rel6d": 1,
-  "weld_engage_t": 90,
-  "weld_release_t": 227,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 276,
-  "s_jit": 0.9693,
-  "stage": "policy",
-  "episode": 266,
-  "instruction": "Pick the sweet potato from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000134/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000134/ep_meta.json
deleted file mode 100644
index 2f64b3ef1981ff268fdfac81e7c2867a16af9171..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000134/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000266__donut__donut_5__s26600",
- "source_episode": 266,
- "target": "donut/donut_5",
- "seed0": 26600,
- "instruction": "Pick the donut from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9693
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000135/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000135/actaug_meta.json
deleted file mode 100644
index 3e16972ccebce2930c6c60625be1f74ac42f005f..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000135/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 2680009,
-  "grasp_t": 67,
-  "release_t": 154,
-  "dj7_init_deg": 36.62032569956372,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:+6.0",
-  "grip_handoff": 0.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5538,
-  "lift_grip_m": 0.5538,
-  "rel6d": 1,
-  "weld_engage_t": null,
-  "weld_release_t": null,
-  "n_weld_engage": 0,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 220,
-  "s_jit": 1.0081,
-  "stage": "policy",
-  "episode": 268,
-  "instruction": "Pick the beer from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000135/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000135/ep_meta.json
deleted file mode 100644
index 2b83a83275ec72a35299c480a3cf4b9296c3919b..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000135/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000268__jar__Jar023__s26800",
- "source_episode": 268,
- "target": "jar/Jar023",
- "seed0": 26800,
- "instruction": "Pick the jar from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0081
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000136/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000136/actaug_meta.json
deleted file mode 100644
index 80420d90569c73d4e843378a54b0b17ddf7329fd..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000136/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 2680101,
-  "grasp_t": 67,
-  "release_t": 154,
-  "dj7_init_deg": 23.609871201398455,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-3.3",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5495,
-  "lift_grip_m": 0.5495,
-  "rel6d": 1,
-  "weld_engage_t": 68,
-  "weld_release_t": 154,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 210,
-  "s_jit": 0.9744,
-  "stage": "policy",
-  "episode": 268,
-  "instruction": "Pick the beer from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000136/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000136/ep_meta.json
deleted file mode 100644
index e18410409205127946bc688826ed470413be6983..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000136/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000268__jar__Jar023__s26801",
- "source_episode": 268,
- "target": "jar/Jar023",
- "seed0": 26801,
- "instruction": "Pick the jar from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9744
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000137/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000137/actaug_meta.json
deleted file mode 100644
index 6e0eef5fe0614dea4abea7b43c9e2dee524cbb35..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000137/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 2680000,
-  "grasp_t": 67,
-  "release_t": 154,
-  "dj7_init_deg": 2.030273800513033,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-22.8",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5076,
-  "lift_grip_m": 0.4986,
-  "rel6d": 1,
-  "weld_engage_t": 83,
-  "weld_release_t": 154,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 216,
-  "s_jit": 1.0081,
-  "stage": "policy",
-  "episode": 268,
-  "instruction": "Pick the beer from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000137/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000137/ep_meta.json
deleted file mode 100644
index f82dc085a2bc571944a42a1ad37940cd3aab6386..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000137/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000268__soap_dispenser__SoapDispenser010__s26800",
- "source_episode": 268,
- "target": "soap_dispenser/SoapDispenser010",
- "seed0": 26800,
- "instruction": "Pick the soap dispenser from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0081
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000138/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000138/actaug_meta.json
deleted file mode 100644
index 8db9f1f77ada081afdd1d7b6b8a8346ec29aa50f..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000138/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 2690003,
-  "grasp_t": 56,
-  "release_t": 164,
-  "dj7_init_deg": 62.58426001273848,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:+40.0",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5829,
-  "lift_grip_m": 0.5829,
-  "rel6d": 1,
-  "weld_engage_t": 75,
-  "weld_release_t": 164,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 189,
-  "s_jit": 1.0103,
-  "stage": "policy",
-  "episode": 269,
-  "instruction": "Pick the yogurt from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000138/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000138/ep_meta.json
deleted file mode 100644
index d110eca93f827ba73aab225ff98161a7fcf1706d..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000138/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000269__teapot__teapot_6__s26900",
- "source_episode": 269,
- "target": "teapot/teapot_6",
- "seed0": 26900,
- "instruction": "Pick the teapot from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0103
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000139/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000139/actaug_meta.json
deleted file mode 100644
index 211bc8eec01d0e240e34f984ce7272463a30ca89..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000139/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 2700009,
-  "grasp_t": 92,
-  "release_t": 266,
-  "dj7_init_deg": 26.74721943875899,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:+1.8",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5967,
-  "lift_grip_m": 0.5967,
-  "rel6d": 1,
-  "weld_engage_t": 115,
-  "weld_release_t": 266,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 305,
-  "s_jit": 1.0044,
-  "stage": "policy",
-  "episode": 270,
-  "instruction": "Pick the cucumber from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000139/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000139/ep_meta.json
deleted file mode 100644
index e88b6127e2161335b8df9a189fc21cb28e34f4ac..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000139/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000270__measuring_cup__MeasuringCup009__s27000",
- "source_episode": 270,
- "target": "measuring_cup/MeasuringCup009",
- "seed0": 27000,
- "instruction": "Pick the measuring cup from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0044
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000140/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000140/actaug_meta.json
deleted file mode 100644
index 7d6d4b0d50e09a025500e2988c4fd0c4802c17fb..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000140/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 2700001,
-  "grasp_t": 92,
-  "release_t": 266,
-  "dj7_init_deg": 31.094788103781642,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:+11.0",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5766,
-  "lift_grip_m": 0.5766,
-  "rel6d": 1,
-  "weld_engage_t": 114,
-  "weld_release_t": 266,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 307,
-  "s_jit": 1.0044,
-  "stage": "policy",
-  "episode": 270,
-  "instruction": "Pick the cucumber from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000140/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000140/ep_meta.json
deleted file mode 100644
index a03681250de098f26f0e048311f2f5ae58c80bc9..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000140/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000270__teapot__teapot_7__s27000",
- "source_episode": 270,
- "target": "teapot/teapot_7",
- "seed0": 27000,
- "instruction": "Pick the teapot from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0044
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000141/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000141/actaug_meta.json
deleted file mode 100644
index 42ba89232dfdbfa1329afee169b33b66953409dd..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000141/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 2710008,
-  "grasp_t": 110,
-  "release_t": 267,
-  "dj7_init_deg": -23.111214339837375,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-51.4",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5462,
-  "lift_grip_m": 0.5462,
-  "rel6d": 1,
-  "weld_engage_t": 126,
-  "weld_release_t": 267,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 294,
-  "s_jit": 0.982,
-  "stage": "policy",
-  "episode": 271,
-  "instruction": "Pick the tupperware from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000141/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000141/ep_meta.json
deleted file mode 100644
index 7b9e765a9d0dfed15ee19d5b10afef5e7cfa1497..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000141/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000271__teapot__teapot_6__s27100",
- "source_episode": 271,
- "target": "teapot/teapot_6",
- "seed0": 27100,
- "instruction": "Pick the teapot from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.982
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000142/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000142/actaug_meta.json
deleted file mode 100644
index 01b60e400f41a31738e6317049432f8d91158a88..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000142/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 2730001,
-  "grasp_t": 58,
-  "release_t": 144,
-  "dj7_init_deg": 28.753471267500306,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:+8.1",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5943,
-  "lift_grip_m": 0.5943,
-  "rel6d": 1,
-  "weld_engage_t": 60,
-  "weld_release_t": 144,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 170,
-  "s_jit": 0.995,
-  "stage": "policy",
-  "episode": 273,
-  "instruction": "Pick the carrot from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000142/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000142/ep_meta.json
deleted file mode 100644
index c9c1d921d66a1f9e160839373134cb5bed6a4860..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000142/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000273__steak__steak_8__s27300",
- "source_episode": 273,
- "target": "steak/steak_8",
- "seed0": 27300,
- "instruction": "Pick the steak from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.995
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000143/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000143/actaug_meta.json
deleted file mode 100644
index a8c02897d88de328b24f9dd1dd75ae15ccea879c..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000143/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 2740008,
-  "grasp_t": 90,
-  "release_t": 214,
-  "dj7_init_deg": -39.16608525188758,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-73.5",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5692,
-  "lift_grip_m": 0.5692,
-  "rel6d": 1,
-  "weld_engage_t": 101,
-  "weld_release_t": 214,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 253,
-  "s_jit": 0.9984,
-  "stage": "policy",
-  "episode": 274,
-  "instruction": "Pick the bell pepper from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000143/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000143/ep_meta.json
deleted file mode 100644
index c485af69ed8c30f487257aa5089245cd40afe3e7..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000143/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000274__teapot__teapot_6__s27400",
- "source_episode": 274,
- "target": "teapot/teapot_6",
- "seed0": 27400,
- "instruction": "Pick the teapot from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9984
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000144/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000144/actaug_meta.json
deleted file mode 100644
index c0b6e8a946065f8638caf6dec99f2296852e88f4..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000144/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 2760000,
-  "grasp_t": 100,
-  "release_t": 223,
-  "dj7_init_deg": 0.4385160235845085,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-23.6",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5791,
-  "lift_grip_m": 0.5791,
-  "rel6d": 1,
-  "weld_engage_t": 98,
-  "weld_release_t": 223,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 262,
-  "s_jit": 1.0018,
-  "stage": "policy",
-  "episode": 276,
-  "instruction": "Pick the sweet potato from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000144/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000144/ep_meta.json
deleted file mode 100644
index 5a511940f57031178e1bc449a5eda5681f45a59b..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000144/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000276__donut__donut_5__s27600",
- "source_episode": 276,
- "target": "donut/donut_5",
- "seed0": 27600,
- "instruction": "Pick the donut from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0018
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000145/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000145/actaug_meta.json
deleted file mode 100644
index 22162ab1f8e56d618a325ee4579419e658a174b4..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000145/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 2820001,
-  "grasp_t": 105,
-  "release_t": 278,
-  "dj7_init_deg": 33.03657586399722,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-0.5",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5596,
-  "lift_grip_m": 0.5596,
-  "rel6d": 1,
-  "weld_engage_t": 118,
-  "weld_release_t": 278,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 316,
-  "s_jit": 1.0121,
-  "stage": "policy",
-  "episode": 282,
-  "instruction": "Pick the mango from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000145/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000145/ep_meta.json
deleted file mode 100644
index a4880cd560f297aec0c7b4285772183098f67df0..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000145/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000282__teapot__teapot_7__s28200",
- "source_episode": 282,
- "target": "teapot/teapot_7",
- "seed0": 28200,
- "instruction": "Pick the teapot from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0121
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000146/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000146/actaug_meta.json
deleted file mode 100644
index 8b9cba9a6ac844b15f0e4ca65771646a3142ba45..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000146/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 2840000,
-  "grasp_t": 52,
-  "release_t": 122,
-  "dj7_init_deg": -3.297267774857662,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-37.7",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.543,
-  "lift_grip_m": 0.543,
-  "rel6d": 1,
-  "weld_engage_t": 57,
-  "weld_release_t": 122,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 156,
-  "s_jit": 0.9868,
-  "stage": "policy",
-  "episode": 284,
-  "instruction": "Pick the cupcake from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000146/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000146/ep_meta.json
deleted file mode 100644
index 4ed34c34047651d223104fe5b94be54799b2d0ca..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000146/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000284__teapot__teapot_6__s28400",
- "source_episode": 284,
- "target": "teapot/teapot_6",
- "seed0": 28400,
- "instruction": "Pick the teapot from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9868
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000147/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000147/actaug_meta.json
deleted file mode 100644
index c5fdd075138781c22444b537fc31f01db38f4cec..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000147/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 2870012,
-  "grasp_t": 78,
-  "release_t": 165,
-  "dj7_init_deg": -39.80875223408023,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-74.2",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.6082,
-  "lift_grip_m": 0.6082,
-  "rel6d": 1,
-  "weld_engage_t": 76,
-  "weld_release_t": 165,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 196,
-  "s_jit": 1.0236,
-  "stage": "policy",
-  "episode": 287,
-  "instruction": "Pick the cheese from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000147/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000147/ep_meta.json
deleted file mode 100644
index 721ea6f72c4e9cf2640e89b0a27f26bff92e4c5e..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000147/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000287__measuring_cup__MeasuringCup009__s28700",
- "source_episode": 287,
- "target": "measuring_cup/MeasuringCup009",
- "seed0": 28700,
- "instruction": "Pick the measuring cup from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0236
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000148/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000148/actaug_meta.json
deleted file mode 100644
index 09f352d2a140fcb60e675db5e78cbece6c50448b..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000148/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 2870001,
-  "grasp_t": 78,
-  "release_t": 165,
-  "dj7_init_deg": 35.89599173533982,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:+4.2",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.637,
-  "lift_grip_m": 0.637,
-  "rel6d": 1,
-  "weld_engage_t": 82,
-  "weld_release_t": 165,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 198,
-  "s_jit": 1.0236,
-  "stage": "policy",
-  "episode": 287,
-  "instruction": "Pick the cheese from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000148/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000148/ep_meta.json
deleted file mode 100644
index 3afb804052cf98546151b4127cc61325978a74a1..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000148/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000287__teapot__teapot_7__s28700",
- "source_episode": 287,
- "target": "teapot/teapot_7",
- "seed0": 28700,
- "instruction": "Pick the teapot from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0236
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000149/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000149/actaug_meta.json
deleted file mode 100644
index 410afe203034bb18685bb9a29f451d25ff22ccd9..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000149/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 2900000,
-  "grasp_t": 178,
-  "release_t": 351,
-  "dj7_init_deg": 3.8238341788888484,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:+18.0",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5318,
-  "lift_grip_m": 0.5318,
-  "rel6d": 1,
-  "weld_engage_t": 338,
-  "weld_release_t": 351,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 455,
-  "s_jit": 1.0153,
-  "stage": "policy",
-  "episode": 290,
-  "instruction": "Pick the syrup bottle from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000149/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000149/ep_meta.json
deleted file mode 100644
index 1700a0d9704f3878f9d9a99871879e6da5bdfedb..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000149/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000290__jar__Jar023__s29000",
- "source_episode": 290,
- "target": "jar/Jar023",
- "seed0": 29000,
- "instruction": "Pick the jar from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0153
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000150/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000150/actaug_meta.json
deleted file mode 100644
index 1a4e8713bee81ea898fdea2c80d56cf77ca472e9..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000150/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 2900101,
-  "grasp_t": 178,
-  "release_t": 351,
-  "dj7_init_deg": 28.27392829469913,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:+21.8",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5435,
-  "lift_grip_m": 0.5435,
-  "rel6d": 1,
-  "weld_engage_t": 170,
-  "weld_release_t": 351,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 452,
-  "s_jit": 0.9931,
-  "stage": "policy",
-  "episode": 290,
-  "instruction": "Pick the syrup bottle from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000150/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000150/ep_meta.json
deleted file mode 100644
index 5c0247728aba5342a3a7ebe45ce6523dc31bd60f..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000150/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000290__jar__Jar023__s29001",
- "source_episode": 290,
- "target": "jar/Jar023",
- "seed0": 29001,
- "instruction": "Pick the jar from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9931
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000151/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000151/actaug_meta.json
deleted file mode 100644
index 30e16f7a5be4ec2d44698e76f36e30116a79d829..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000151/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 2900001,
-  "grasp_t": 178,
-  "release_t": 351,
-  "dj7_init_deg": 33.823834178888845,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:+16.9",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5203,
-  "lift_grip_m": 0.5203,
-  "rel6d": 1,
-  "weld_engage_t": 176,
-  "weld_release_t": 351,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 458,
-  "s_jit": 1.0153,
-  "stage": "policy",
-  "episode": 290,
-  "instruction": "Pick the syrup bottle from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000151/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000151/ep_meta.json
deleted file mode 100644
index 023cc55786867869164a74400f969b9182f39019..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000151/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000290__soap_dispenser__SoapDispenser010__s29000",
- "source_episode": 290,
- "target": "soap_dispenser/SoapDispenser010",
- "seed0": 29000,
- "instruction": "Pick the soap dispenser from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0153
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000152/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000152/actaug_meta.json
deleted file mode 100644
index e52ef74369d741731a54906c73eb0e6e2d78f9be..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000152/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 2920014,
-  "grasp_t": 63,
-  "release_t": 140,
-  "dj7_init_deg": -51.43687010832349,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-85.8",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5944,
-  "lift_grip_m": 0.5944,
-  "rel6d": 1,
-  "weld_engage_t": 72,
-  "weld_release_t": 140,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 155,
-  "s_jit": 0.9877,
-  "stage": "policy",
-  "episode": 292,
-  "instruction": "Pick the bread from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000152/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000152/ep_meta.json
deleted file mode 100644
index 4af7c257fc10dc7f346dba8a63df296a1c2297fa..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000152/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000292__measuring_cup__MeasuringCup009__s29200",
- "source_episode": 292,
- "target": "measuring_cup/MeasuringCup009",
- "seed0": 29200,
- "instruction": "Pick the measuring cup from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9877
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000153/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000153/actaug_meta.json
deleted file mode 100644
index f9273d5e0b363005ff55bfd83d1a0cae3809f429..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000153/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 2950004,
-  "grasp_t": 89,
-  "release_t": 187,
-  "dj7_init_deg": -63.151802255570566,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-97.5",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5197,
-  "lift_grip_m": 0.5192,
-  "rel6d": 1,
-  "weld_engage_t": 107,
-  "weld_release_t": 187,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 223,
-  "s_jit": 0.9874,
-  "stage": "policy",
-  "episode": 295,
-  "instruction": "Pick the liquor from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000153/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000153/ep_meta.json
deleted file mode 100644
index 2e0052dea765a2804ee7a978aa10142fc58a832e..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000153/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000295__jar__Jar023__s29500",
- "source_episode": 295,
- "target": "jar/Jar023",
- "seed0": 29500,
- "instruction": "Pick the jar from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9874
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000154/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000154/actaug_meta.json
deleted file mode 100644
index 9234b384cb2cd791d1c739dbf0dc54a13bf8da2a..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000154/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 2950001,
-  "grasp_t": 89,
-  "release_t": 187,
-  "dj7_init_deg": 26.848197744429434,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:+14.9",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.4789,
-  "lift_grip_m": 0.4285,
-  "rel6d": 1,
-  "weld_engage_t": 106,
-  "weld_release_t": 187,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 217,
-  "s_jit": 0.9874,
-  "stage": "policy",
-  "episode": 295,
-  "instruction": "Pick the liquor from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000154/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000154/ep_meta.json
deleted file mode 100644
index 2ac4208e9f7c7b447a0d07bb94e3031d4c031691..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000154/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000295__soap_dispenser__SoapDispenser010__s29500",
- "source_episode": 295,
- "target": "soap_dispenser/SoapDispenser010",
- "seed0": 29500,
- "instruction": "Pick the soap dispenser from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9874
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000155/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000155/actaug_meta.json
deleted file mode 100644
index 5f00910adb712aefb9278c983fe66e9511e456b4..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000155/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 2990006,
-  "grasp_t": 68,
-  "release_t": 143,
-  "dj7_init_deg": -63.714372804669665,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-98.1",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5915,
-  "lift_grip_m": 0.5915,
-  "rel6d": 1,
-  "weld_engage_t": 67,
-  "weld_release_t": 143,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 171,
-  "s_jit": 0.9845,
-  "stage": "policy",
-  "episode": 299,
-  "instruction": "Pick the bread from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000155/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000155/ep_meta.json
deleted file mode 100644
index e820149154f3f274edfae73349bf6378bbb327a5..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000155/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000299__steak__steak_8__s29900",
- "source_episode": 299,
- "target": "steak/steak_8",
- "seed0": 29900,
- "instruction": "Pick the steak from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9845
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000156/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000156/actaug_meta.json
deleted file mode 100644
index adcc2b758affcf722809614b7aaf2996b625f69d..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000156/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 3010009,
-  "grasp_t": 99,
-  "release_t": 203,
-  "dj7_init_deg": 25.464218919964154,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-7.6",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.552,
-  "lift_grip_m": 0.552,
-  "rel6d": 1,
-  "weld_engage_t": 111,
-  "weld_release_t": 203,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 236,
-  "s_jit": 0.9676,
-  "stage": "policy",
-  "episode": 301,
-  "instruction": "Pick the peeler from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000156/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000156/ep_meta.json
deleted file mode 100644
index 881ec39c527c0fd1058e3b3f093b95d43c9dfeda..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000156/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000301__steak__steak_8__s30100",
- "source_episode": 301,
- "target": "steak/steak_8",
- "seed0": 30100,
- "instruction": "Pick the steak from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9676
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000157/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000157/actaug_meta.json
deleted file mode 100644
index 0b07df645b759d002ff0adafd9af54a893ea0e48..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000157/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 3020001,
-  "grasp_t": 104,
-  "release_t": 239,
-  "dj7_init_deg": 32.63468118655483,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:+8.0",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5457,
-  "lift_grip_m": 0.5288,
-  "rel6d": 1,
-  "weld_engage_t": 123,
-  "weld_release_t": 239,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 282,
-  "s_jit": 1.0105,
-  "stage": "policy",
-  "episode": 302,
-  "instruction": "Pick the beer from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000157/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000157/ep_meta.json
deleted file mode 100644
index 5b048f67a0c2d1afeae420a5d9aa38b92f44f1f9..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000157/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000302__jar__Jar023__s30200",
- "source_episode": 302,
- "target": "jar/Jar023",
- "seed0": 30200,
- "instruction": "Pick the jar from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0105
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000158/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000158/actaug_meta.json
deleted file mode 100644
index 14732426f1102dd92c0996cd52811799b1d77774..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000158/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 3020101,
-  "grasp_t": 104,
-  "release_t": 239,
-  "dj7_init_deg": 33.33458148615125,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:+11.6",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5391,
-  "lift_grip_m": 0.5284,
-  "rel6d": 1,
-  "weld_engage_t": 131,
-  "weld_release_t": 239,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 283,
-  "s_jit": 1.0133,
-  "stage": "policy",
-  "episode": 302,
-  "instruction": "Pick the beer from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000158/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000158/ep_meta.json
deleted file mode 100644
index 9088240587444cbe006135134f7e5c063fe0cfbf..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000158/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000302__jar__Jar023__s30201",
- "source_episode": 302,
- "target": "jar/Jar023",
- "seed0": 30201,
- "instruction": "Pick the jar from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0133
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000159/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000159/actaug_meta.json
deleted file mode 100644
index f11360aa085630cd75a530ae75990cd9b4edb73e..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000159/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 3020000,
-  "grasp_t": 104,
-  "release_t": 239,
-  "dj7_init_deg": 2.634681186554829,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-9.1",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5266,
-  "lift_grip_m": 0.5266,
-  "rel6d": 1,
-  "weld_engage_t": 116,
-  "weld_release_t": 239,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 288,
-  "s_jit": 1.0105,
-  "stage": "policy",
-  "episode": 302,
-  "instruction": "Pick the beer from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000159/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000159/ep_meta.json
deleted file mode 100644
index b983b3b7d9467abf6bb6b22dd606f86e74502ac6..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000159/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000302__soap_dispenser__SoapDispenser010__s30200",
- "source_episode": 302,
- "target": "soap_dispenser/SoapDispenser010",
- "seed0": 30200,
- "instruction": "Pick the soap dispenser from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0105
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000160/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000160/actaug_meta.json
deleted file mode 100644
index c0ef758060ddd52fde7eca369ea0d8179364c664..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000160/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 3030001,
-  "grasp_t": 109,
-  "release_t": 263,
-  "dj7_init_deg": 31.209039539927208,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:+3.0",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5112,
-  "lift_grip_m": 0.5112,
-  "rel6d": 1,
-  "weld_engage_t": 125,
-  "weld_release_t": 263,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 315,
-  "s_jit": 1.0048,
-  "stage": "policy",
-  "episode": 303,
-  "instruction": "Pick the liquor from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000160/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000160/ep_meta.json
deleted file mode 100644
index 8361fa80292b29faf7ec9913d75da48aedcc42f0..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000160/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000303__soap_dispenser__SoapDispenser010__s30300",
- "source_episode": 303,
- "target": "soap_dispenser/SoapDispenser010",
- "seed0": 30300,
- "instruction": "Pick the soap dispenser from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0048
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000161/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000161/actaug_meta.json
deleted file mode 100644
index 647b71fde2e0d5199c0b41214767a046100d9263..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000161/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 3040001,
-  "grasp_t": 78,
-  "release_t": 158,
-  "dj7_init_deg": 28.506673544652585,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:+11.7",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5801,
-  "lift_grip_m": 0.5801,
-  "rel6d": 1,
-  "weld_engage_t": 72,
-  "weld_release_t": 158,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 191,
-  "s_jit": 0.994,
-  "stage": "policy",
-  "episode": 304,
-  "instruction": "Pick the bread from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000161/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000161/ep_meta.json
deleted file mode 100644
index aa95e717c7d68d3161a8b3d5927c49c9f59a9bff..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000161/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000304__steak__steak_8__s30400",
- "source_episode": 304,
- "target": "steak/steak_8",
- "seed0": 30400,
- "instruction": "Pick the steak from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.994
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000162/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000162/actaug_meta.json
deleted file mode 100644
index f3b0279f9db4deeda34622a9012a23e8392d36cc..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000162/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 3130000,
-  "grasp_t": 55,
-  "release_t": 141,
-  "dj7_init_deg": -0.7106467957691986,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-12.8",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5787,
-  "lift_grip_m": 0.5787,
-  "rel6d": 1,
-  "weld_engage_t": 65,
-  "weld_release_t": 141,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 173,
-  "s_jit": 0.9972,
-  "stage": "policy",
-  "episode": 313,
-  "instruction": "Pick the lime from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000162/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000162/ep_meta.json
deleted file mode 100644
index c2b2c570bf4ea3c23aac5eb1962485f3b43a15fb..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000162/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000313__teapot__teapot_6__s31300",
- "source_episode": 313,
- "target": "teapot/teapot_6",
- "seed0": 31300,
- "instruction": "Pick the teapot from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9972
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000163/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000163/actaug_meta.json
deleted file mode 100644
index 6486f48803cf2223a724e82acabf3281729aad5b..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000163/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 3160000,
-  "grasp_t": 92,
-  "release_t": 222,
-  "dj7_init_deg": 2.6559333575648996,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-31.7",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5258,
-  "lift_grip_m": 0.5258,
-  "rel6d": 1,
-  "weld_engage_t": 91,
-  "weld_release_t": 222,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 263,
-  "s_jit": 1.0106,
-  "stage": "policy",
-  "episode": 316,
-  "instruction": "Pick the peach from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000163/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000163/ep_meta.json
deleted file mode 100644
index 67db9beb75988a6362ab08726bfb8d68c7fee6f1..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000163/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000316__teapot__teapot_7__s31600",
- "source_episode": 316,
- "target": "teapot/teapot_7",
- "seed0": 31600,
- "instruction": "Pick the teapot from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0106
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000164/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000164/actaug_meta.json
deleted file mode 100644
index 213db2d4b2a9237d6ae3ad30a7e00d8513d7bb52..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000164/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 3170002,
-  "grasp_t": 83,
-  "release_t": 182,
-  "dj7_init_deg": -30.94700957337494,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-59.9",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5854,
-  "lift_grip_m": 0.5854,
-  "rel6d": 1,
-  "weld_engage_t": 90,
-  "weld_release_t": 182,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 210,
-  "s_jit": 0.9962,
-  "stage": "policy",
-  "episode": 317,
-  "instruction": "Pick the kiwi from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000164/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000164/ep_meta.json
deleted file mode 100644
index 0a5dea755132b85c3e042554e4f402bc6d66895b..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000164/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000317__donut__donut_5__s31700",
- "source_episode": 317,
- "target": "donut/donut_5",
- "seed0": 31700,
- "instruction": "Pick the donut from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9962
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000165/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000165/actaug_meta.json
deleted file mode 100644
index 66869569b4ecf9c93d6ade0fe85921727fd180a9..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000165/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 3240006,
-  "grasp_t": 74,
-  "release_t": 165,
-  "dj7_init_deg": -52.174489817520495,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-85.8",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5796,
-  "lift_grip_m": 0.5796,
-  "rel6d": 1,
-  "weld_engage_t": 84,
-  "weld_release_t": 165,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 189,
-  "s_jit": 0.9628,
-  "stage": "policy",
-  "episode": 324,
-  "instruction": "Pick the peach from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000165/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000165/ep_meta.json
deleted file mode 100644
index f69c95e38e8145a7993089e4c3bf693e1e5326e5..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000165/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000324__measuring_cup__MeasuringCup009__s32400",
- "source_episode": 324,
- "target": "measuring_cup/MeasuringCup009",
- "seed0": 32400,
- "instruction": "Pick the measuring cup from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9628
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000166/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000166/actaug_meta.json
deleted file mode 100644
index 0292cf58a971bd1d13a8f0647a7da81d9917512b..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000166/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 3250010,
-  "grasp_t": 77,
-  "release_t": 203,
-  "dj7_init_deg": 9.285783672863829,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-7.0",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5504,
-  "lift_grip_m": 0.5504,
-  "rel6d": 1,
-  "weld_engage_t": 75,
-  "weld_release_t": 203,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 244,
-  "s_jit": 0.9779,
-  "stage": "policy",
-  "episode": 325,
-  "instruction": "Pick the cucumber from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000166/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000166/ep_meta.json
deleted file mode 100644
index 0e7ade7c96f331fe13a05b3392858701e950480f..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000166/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000325__teapot__teapot_7__s32500",
- "source_episode": 325,
- "target": "teapot/teapot_7",
- "seed0": 32500,
- "instruction": "Pick the teapot from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9779
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000167/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000167/actaug_meta.json
deleted file mode 100644
index bf658ed9f72548a90e3716200bb8702e076f57b2..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000167/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 3270001,
-  "grasp_t": 50,
-  "release_t": 121,
-  "dj7_init_deg": 26.963690702128183,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-7.4",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5646,
-  "lift_grip_m": 0.5646,
-  "rel6d": 1,
-  "weld_engage_t": 49,
-  "weld_release_t": 121,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 156,
-  "s_jit": 0.9879,
-  "stage": "policy",
-  "episode": 327,
-  "instruction": "Pick the peach from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000167/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000167/ep_meta.json
deleted file mode 100644
index 0ce087c94631abe7d9987bc7a5cbfe4cb04bf25a..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000167/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000327__teapot__teapot_7__s32700",
- "source_episode": 327,
- "target": "teapot/teapot_7",
- "seed0": 32700,
- "instruction": "Pick the teapot from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9879
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000168/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000168/actaug_meta.json
deleted file mode 100644
index e9acf13fcbfa38f2b61b2af180772523c4e1f883..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000168/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 3280009,
-  "grasp_t": 34,
-  "release_t": 110,
-  "dj7_init_deg": 27.03308480021269,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-3.5",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5592,
-  "lift_grip_m": 0.5592,
-  "rel6d": 1,
-  "weld_engage_t": 40,
-  "weld_release_t": 110,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 133,
-  "s_jit": 1.0179,
-  "stage": "policy",
-  "episode": 328,
-  "instruction": "Pick the mustard from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000168/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000168/ep_meta.json
deleted file mode 100644
index 60101909d833d6d9686658ff5973a0a5662ffbb3..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000168/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000328__soap_dispenser__SoapDispenser010__s32800",
- "source_episode": 328,
- "target": "soap_dispenser/SoapDispenser010",
- "seed0": 32800,
- "instruction": "Pick the soap dispenser from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0179
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000169/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000169/actaug_meta.json
deleted file mode 100644
index dcbc94554bd7292d38b2fed72a4ffac321e09c86..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000169/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 3320007,
-  "grasp_t": 77,
-  "release_t": 236,
-  "dj7_init_deg": 54.849821089650916,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:+55.3",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5833,
-  "lift_grip_m": 0.5833,
-  "rel6d": 1,
-  "weld_engage_t": 170,
-  "weld_release_t": 236,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 266,
-  "s_jit": 1.017,
-  "stage": "policy",
-  "episode": 332,
-  "instruction": "Pick the fish from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000169/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000169/ep_meta.json
deleted file mode 100644
index b63ce93b5888a84792a45911b0a06e06d421a557..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000169/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000332__teapot__teapot_6__s33200",
- "source_episode": 332,
- "target": "teapot/teapot_6",
- "seed0": 33200,
- "instruction": "Pick the teapot from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.017
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000170/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000170/actaug_meta.json
deleted file mode 100644
index d4eda4c268d8abe3a5f09a7ea259654d7b4e9ace..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000170/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 3330010,
-  "grasp_t": 155,
-  "release_t": 269,
-  "dj7_init_deg": 7.378790251102856,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-27.0",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5391,
-  "lift_grip_m": 0.5391,
-  "rel6d": 1,
-  "weld_engage_t": 156,
-  "weld_release_t": 269,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 298,
-  "s_jit": 0.9814,
-  "stage": "policy",
-  "episode": 333,
-  "instruction": "Pick the cake from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000170/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000170/ep_meta.json
deleted file mode 100644
index 8b0cf0e4f2ccc804a020fdf676f3866542c82eb4..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000170/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000333__measuring_cup__MeasuringCup009__s33300",
- "source_episode": 333,
- "target": "measuring_cup/MeasuringCup009",
- "seed0": 33300,
- "instruction": "Pick the measuring cup from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9814
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000171/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000171/actaug_meta.json
deleted file mode 100644
index 242e8c7a7f681f03667a1742d8c8dee65ff9c0b3..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000171/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 3340003,
-  "grasp_t": 167,
-  "release_t": 307,
-  "dj7_init_deg": 67.26832101574234,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:+32.9",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5272,
-  "lift_grip_m": 0.5272,
-  "rel6d": 1,
-  "weld_engage_t": 174,
-  "weld_release_t": 307,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 353,
-  "s_jit": 1.0291,
-  "stage": "policy",
-  "episode": 334,
-  "instruction": "Pick the croissant from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000171/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000171/ep_meta.json
deleted file mode 100644
index c3379841f7f9772cc4016b0d553dc21a50bda4a2..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000171/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000334__measuring_cup__MeasuringCup009__s33400",
- "source_episode": 334,
- "target": "measuring_cup/MeasuringCup009",
- "seed0": 33400,
- "instruction": "Pick the measuring cup from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0291
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000172/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000172/actaug_meta.json
deleted file mode 100644
index 04b8b350ab52ba75d93b0a13d5922d268eb13c1c..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000172/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 3350003,
-  "grasp_t": 93,
-  "release_t": 236,
-  "dj7_init_deg": 50.25091609973159,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:+15.9",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5226,
-  "lift_grip_m": 0.5226,
-  "rel6d": 1,
-  "weld_engage_t": 106,
-  "weld_release_t": 236,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 280,
-  "s_jit": 0.961,
-  "stage": "policy",
-  "episode": 335,
-  "instruction": "Pick the cake from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000172/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000172/ep_meta.json
deleted file mode 100644
index 850f9775228c97d3509fe9c5f2629dae40d55824..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000172/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000335__measuring_cup__MeasuringCup009__s33500",
- "source_episode": 335,
- "target": "measuring_cup/MeasuringCup009",
- "seed0": 33500,
- "instruction": "Pick the measuring cup from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.961
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000173/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000173/actaug_meta.json
deleted file mode 100644
index c918a03fa13caef7db995fd848abbf0651a49043..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000173/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 3410001,
-  "grasp_t": 85,
-  "release_t": 208,
-  "dj7_init_deg": 35.42943300060509,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:+31.9",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5624,
-  "lift_grip_m": 0.5624,
-  "rel6d": 1,
-  "weld_engage_t": 88,
-  "weld_release_t": 208,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 250,
-  "s_jit": 1.0217,
-  "stage": "policy",
-  "episode": 341,
-  "instruction": "Pick the bottled water from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000173/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000173/ep_meta.json
deleted file mode 100644
index 3edbdf03f82a8c2f9767cbb2fda0577262eccb28..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000173/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000341__soap_dispenser__SoapDispenser010__s34100",
- "source_episode": 341,
- "target": "soap_dispenser/SoapDispenser010",
- "seed0": 34100,
- "instruction": "Pick the soap dispenser from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0217
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000174/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000174/actaug_meta.json
deleted file mode 100644
index bab94e63f2bd67d0975dfaafb8ff64947721dc1b..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000174/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 3430003,
-  "grasp_t": 110,
-  "release_t": 236,
-  "dj7_init_deg": 61.8562708193696,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:+27.5",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5346,
-  "lift_grip_m": 0.5346,
-  "rel6d": 1,
-  "weld_engage_t": 121,
-  "weld_release_t": 236,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 309,
-  "s_jit": 1.0074,
-  "stage": "policy",
-  "episode": 343,
-  "instruction": "Pick the bread from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000174/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000174/ep_meta.json
deleted file mode 100644
index d35ef9d616f306f4e71cf13c778efd0f153525c4..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000174/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000343__teapot__teapot_6__s34300",
- "source_episode": 343,
- "target": "teapot/teapot_6",
- "seed0": 34300,
- "instruction": "Pick the teapot from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0074
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000175/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000175/actaug_meta.json
deleted file mode 100644
index fa7dfe01a4f70a5b838344de8a35ac71d1ebb4cd..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000175/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 3460000,
-  "grasp_t": 121,
-  "release_t": 228,
-  "dj7_init_deg": -9.447965300715532,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-11.1",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5047,
-  "lift_grip_m": 0.5047,
-  "rel6d": 1,
-  "weld_engage_t": 136,
-  "weld_release_t": 228,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 258,
-  "s_jit": 0.9622,
-  "stage": "policy",
-  "episode": 346,
-  "instruction": "Pick the soap dispenser from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000175/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000175/ep_meta.json
deleted file mode 100644
index 87ffdde351ada33389976dbe54845436ef34d7e8..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000175/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000346__jar__Jar023__s34600",
- "source_episode": 346,
- "target": "jar/Jar023",
- "seed0": 34600,
- "instruction": "Pick the jar from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9622
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000176/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000176/actaug_meta.json
deleted file mode 100644
index 7a969731f177e52a797ba70e3a25da4690a4f353..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000176/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 3460000,
-  "grasp_t": 121,
-  "release_t": 228,
-  "dj7_init_deg": -9.447965300715532,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-2.8",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5165,
-  "lift_grip_m": 0.5163,
-  "rel6d": 1,
-  "weld_engage_t": 135,
-  "weld_release_t": 228,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 256,
-  "s_jit": 0.9622,
-  "stage": "policy",
-  "episode": 346,
-  "instruction": "Pick the soap dispenser from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000176/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000176/ep_meta.json
deleted file mode 100644
index 0bc739032cfea0bed56d52db8fdc347d8b1100aa..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000176/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000346__soap_dispenser__SoapDispenser010__s34600",
- "source_episode": 346,
- "target": "soap_dispenser/SoapDispenser010",
- "seed0": 34600,
- "instruction": "Pick the soap dispenser from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9622
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000177/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000177/actaug_meta.json
deleted file mode 100644
index 39499a322e654741f8dbb0900d97ea3b19d18c64..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000177/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 3480000,
-  "grasp_t": 133,
-  "release_t": 265,
-  "dj7_init_deg": -8.795406344131944,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-23.8",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5718,
-  "lift_grip_m": 0.5718,
-  "rel6d": 1,
-  "weld_engage_t": 132,
-  "weld_release_t": 265,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 299,
-  "s_jit": 0.9648,
-  "stage": "policy",
-  "episode": 348,
-  "instruction": "Pick the egg from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000177/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000177/ep_meta.json
deleted file mode 100644
index 2e4947f3a00d0f64c72259ef398792de8bb0be30..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000177/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000348__teapot__teapot_7__s34800",
- "source_episode": 348,
- "target": "teapot/teapot_7",
- "seed0": 34800,
- "instruction": "Pick the teapot from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9648
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000178/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000178/actaug_meta.json
deleted file mode 100644
index c1c59ff515281a00a34b941a669a2eefe546bb4e..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000178/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 3510010,
-  "grasp_t": 52,
-  "release_t": 142,
-  "dj7_init_deg": -2.8872340408046,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-29.2",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5879,
-  "lift_grip_m": 0.5879,
-  "rel6d": 1,
-  "weld_engage_t": 53,
-  "weld_release_t": 142,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 166,
-  "s_jit": 0.9884,
-  "stage": "policy",
-  "episode": 351,
-  "instruction": "Pick the tongs from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000178/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000178/ep_meta.json
deleted file mode 100644
index 64f33b939159594ccc0ab90f53858cd2383707e3..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000178/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000351__measuring_cup__MeasuringCup009__s35100",
- "source_episode": 351,
- "target": "measuring_cup/MeasuringCup009",
- "seed0": 35100,
- "instruction": "Pick the measuring cup from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9884
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000179/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000179/actaug_meta.json
deleted file mode 100644
index 924e24164aeb9837bf2e340bd9991357bf9b563d..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000179/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 3510009,
-  "grasp_t": 52,
-  "release_t": 142,
-  "dj7_init_deg": 30.48333695400325,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:+7.4",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.6189,
-  "lift_grip_m": 0.6189,
-  "rel6d": 1,
-  "weld_engage_t": 65,
-  "weld_release_t": 142,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 159,
-  "s_jit": 0.9884,
-  "stage": "policy",
-  "episode": 351,
-  "instruction": "Pick the tongs from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000179/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000179/ep_meta.json
deleted file mode 100644
index e09e7996506c29ccbc21563eb3ae43f7ee6ec4ef..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000179/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000351__teapot__teapot_7__s35100",
- "source_episode": 351,
- "target": "teapot/teapot_7",
- "seed0": 35100,
- "instruction": "Pick the teapot from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9884
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000180/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000180/actaug_meta.json
deleted file mode 100644
index 901a98bd3d8995ffcb6df53c8a7ebc5ccb84cc75..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000180/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 3550000,
-  "grasp_t": 73,
-  "release_t": 143,
-  "dj7_init_deg": 8.390534432609861,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-19.6",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5623,
-  "lift_grip_m": 0.5623,
-  "rel6d": 1,
-  "weld_engage_t": 71,
-  "weld_release_t": 143,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 179,
-  "s_jit": 1.0336,
-  "stage": "policy",
-  "episode": 355,
-  "instruction": "Pick the jam from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000180/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000180/ep_meta.json
deleted file mode 100644
index 0bc709e00f3074b391acd486f64f482c85d0325d..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000180/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000355__teapot__teapot_7__s35500",
- "source_episode": 355,
- "target": "teapot/teapot_7",
- "seed0": 35500,
- "instruction": "Pick the teapot from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0336
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000181/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000181/actaug_meta.json
deleted file mode 100644
index 1378fd15551048e61b931b3853721e49d10ab2ed..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000181/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 3580003,
-  "grasp_t": 79,
-  "release_t": 185,
-  "dj7_init_deg": 66.32604253613687,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:+75.1",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5683,
-  "lift_grip_m": 0.5683,
-  "rel6d": 1,
-  "weld_engage_t": 75,
-  "weld_release_t": 185,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 210,
-  "s_jit": 1.0253,
-  "stage": "policy",
-  "episode": 358,
-  "instruction": "Pick the mustard from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000181/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000181/ep_meta.json
deleted file mode 100644
index 0b9274d2e9869798f39adda5f570a239fa8bc1ee..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000181/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000358__jar__Jar023__s35800",
- "source_episode": 358,
- "target": "jar/Jar023",
- "seed0": 35800,
- "instruction": "Pick the jar from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0253
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000182/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000182/actaug_meta.json
deleted file mode 100644
index b782ed56e5706abc40df26140f1e3b2c25e4db59..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000182/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 3580002,
-  "grasp_t": 79,
-  "release_t": 185,
-  "dj7_init_deg": -23.67395746386314,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-20.2",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5658,
-  "lift_grip_m": 0.5658,
-  "rel6d": 1,
-  "weld_engage_t": 83,
-  "weld_release_t": 185,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 205,
-  "s_jit": 1.0253,
-  "stage": "policy",
-  "episode": 358,
-  "instruction": "Pick the mustard from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000182/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000182/ep_meta.json
deleted file mode 100644
index 53be723a9ccc6a4b015705ebcaabf53dfab1f690..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000182/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000358__soap_dispenser__SoapDispenser010__s35800",
- "source_episode": 358,
- "target": "soap_dispenser/SoapDispenser010",
- "seed0": 35800,
- "instruction": "Pick the soap dispenser from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0253
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000183/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000183/actaug_meta.json
deleted file mode 100644
index 041f15f556c21ec505e23e104711125a1f771e81..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000183/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 3610008,
-  "grasp_t": 47,
-  "release_t": 126,
-  "dj7_init_deg": -31.482634222606578,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-61.8",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5838,
-  "lift_grip_m": 0.5838,
-  "rel6d": 1,
-  "weld_engage_t": 59,
-  "weld_release_t": 126,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 183,
-  "s_jit": 0.9757,
-  "stage": "policy",
-  "episode": 361,
-  "instruction": "Pick the bread from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000183/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000183/ep_meta.json
deleted file mode 100644
index 73f30a81fd92f7bf427f5565d8344e509e1b5d57..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000183/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000361__measuring_cup__MeasuringCup009__s36100",
- "source_episode": 361,
- "target": "measuring_cup/MeasuringCup009",
- "seed0": 36100,
- "instruction": "Pick the measuring cup from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9757
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000184/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000184/actaug_meta.json
deleted file mode 100644
index 6877b00a53face07835c5446e2cd6cca58c92e86..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000184/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 3610000,
-  "grasp_t": 47,
-  "release_t": 126,
-  "dj7_init_deg": -6.06621505727124,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-37.0",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.6099,
-  "lift_grip_m": 0.6099,
-  "rel6d": 1,
-  "weld_engage_t": 51,
-  "weld_release_t": 126,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 178,
-  "s_jit": 0.9757,
-  "stage": "policy",
-  "episode": 361,
-  "instruction": "Pick the bread from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000184/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000184/ep_meta.json
deleted file mode 100644
index 90368e15bba33e40c80aecf09b4c6c25dc15b6de..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000184/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000361__teapot__teapot_7__s36100",
- "source_episode": 361,
- "target": "teapot/teapot_7",
- "seed0": 36100,
- "instruction": "Pick the teapot from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9757
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000185/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000185/actaug_meta.json
deleted file mode 100644
index 25450628355128ceb956b23502d2e24b1e2327bb..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000185/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 3620010,
-  "grasp_t": 74,
-  "release_t": 182,
-  "dj7_init_deg": -5.367180031492239,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-34.1",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.553,
-  "lift_grip_m": 0.553,
-  "rel6d": 1,
-  "weld_engage_t": 88,
-  "weld_release_t": 182,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 224,
-  "s_jit": 1.0374,
-  "stage": "policy",
-  "episode": 362,
-  "instruction": "Pick the cheese from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000185/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000185/ep_meta.json
deleted file mode 100644
index 6d614c0e7ea315737c4b0a10b8cf7058cb455a0c..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000185/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000362__measuring_cup__MeasuringCup009__s36200",
- "source_episode": 362,
- "target": "measuring_cup/MeasuringCup009",
- "seed0": 36200,
- "instruction": "Pick the measuring cup from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0374
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000186/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000186/actaug_meta.json
deleted file mode 100644
index bc96b85d14200799629c005c9b0e4575586a6bf2..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000186/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 3620000,
-  "grasp_t": 74,
-  "release_t": 182,
-  "dj7_init_deg": 9.3570141283451,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-19.6",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.546,
-  "lift_grip_m": 0.546,
-  "rel6d": 1,
-  "weld_engage_t": 71,
-  "weld_release_t": 182,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 225,
-  "s_jit": 1.0374,
-  "stage": "policy",
-  "episode": 362,
-  "instruction": "Pick the cheese from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000186/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000186/ep_meta.json
deleted file mode 100644
index ea7dcc6ae11eec936036072028b52a9cb3951679..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000186/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000362__teapot__teapot_7__s36200",
- "source_episode": 362,
- "target": "teapot/teapot_7",
- "seed0": 36200,
- "instruction": "Pick the teapot from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0374
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000187/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000187/actaug_meta.json
deleted file mode 100644
index aec042da64989423a8049393acc4436728b8ddb3..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000187/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 3640003,
-  "grasp_t": 101,
-  "release_t": 210,
-  "dj7_init_deg": 59.28279987133326,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:+65.2",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.6687,
-  "lift_grip_m": 0.6687,
-  "rel6d": 1,
-  "weld_engage_t": 118,
-  "weld_release_t": 210,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 235,
-  "s_jit": 0.9971,
-  "stage": "policy",
-  "episode": 364,
-  "instruction": "Pick the fish from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000187/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000187/ep_meta.json
deleted file mode 100644
index 6818d6216e10c5611ac56d572e113137ec4ee254..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000187/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000364__teapot__teapot_6__s36400",
- "source_episode": 364,
- "target": "teapot/teapot_6",
- "seed0": 36400,
- "instruction": "Pick the teapot from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9971
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000188/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000188/actaug_meta.json
deleted file mode 100644
index 815a8e71aab43d1812ca5f62efb4746a68a427fd..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000188/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 3660001,
-  "grasp_t": 39,
-  "release_t": 111,
-  "dj7_init_deg": 36.42211492997361,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:+3.9",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5399,
-  "lift_grip_m": 0.5197,
-  "rel6d": 1,
-  "weld_engage_t": 46,
-  "weld_release_t": 111,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 158,
-  "s_jit": 1.0257,
-  "stage": "policy",
-  "episode": 366,
-  "instruction": "Pick the honey bottle from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000188/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000188/ep_meta.json
deleted file mode 100644
index 6376ecf3cbf9e656723f279dbd6cb51c34803c2f..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000188/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000366__soap_dispenser__SoapDispenser010__s36600",
- "source_episode": 366,
- "target": "soap_dispenser/SoapDispenser010",
- "seed0": 36600,
- "instruction": "Pick the soap dispenser from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0257
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000189/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000189/actaug_meta.json
deleted file mode 100644
index 9f365ec129258a91c227a0a671c875b7b391e363..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000189/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 3670001,
-  "grasp_t": 94,
-  "release_t": 207,
-  "dj7_init_deg": 33.394320255242405,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:+1.7",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5163,
-  "lift_grip_m": 0.5112,
-  "rel6d": 1,
-  "weld_engage_t": 106,
-  "weld_release_t": 207,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 248,
-  "s_jit": 1.0136,
-  "stage": "policy",
-  "episode": 367,
-  "instruction": "Pick the garlic from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000189/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000189/ep_meta.json
deleted file mode 100644
index a06f6add5ac1c07385980e89bddd35cbb8cf290e..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000189/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000367__donut__donut_5__s36700",
- "source_episode": 367,
- "target": "donut/donut_5",
- "seed0": 36700,
- "instruction": "Pick the donut from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0136
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000190/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000190/actaug_meta.json
deleted file mode 100644
index 076c1b99f9268f819beeec1e982115a1b578eeca..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000190/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 3680003,
-  "grasp_t": 67,
-  "release_t": 155,
-  "dj7_init_deg": 50.792655947557385,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:+41.0",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5969,
-  "lift_grip_m": 0.5969,
-  "rel6d": 1,
-  "weld_engage_t": 79,
-  "weld_release_t": 155,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 182,
-  "s_jit": 0.9632,
-  "stage": "policy",
-  "episode": 368,
-  "instruction": "Pick the marshmallow from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000190/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000190/ep_meta.json
deleted file mode 100644
index 544d0351499711e56b2ffa107c8f8ae86eda9ee1..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000190/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000368__steak__steak_8__s36800",
- "source_episode": 368,
- "target": "steak/steak_8",
- "seed0": 36800,
- "instruction": "Pick the steak from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9632
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000191/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000191/actaug_meta.json
deleted file mode 100644
index 105c3300c82c3a1aedd86b6f678752d860cd260e..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000191/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 3710005,
-  "grasp_t": 102,
-  "release_t": 242,
-  "dj7_init_deg": 89.53527599448365,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:+74.9",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.4912,
-  "lift_grip_m": 0.4911,
-  "rel6d": 1,
-  "weld_engage_t": 123,
-  "weld_release_t": 242,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 283,
-  "s_jit": 1.0295,
-  "stage": "policy",
-  "episode": 371,
-  "instruction": "Pick the teapot from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000191/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000191/ep_meta.json
deleted file mode 100644
index 9cdc8c1f81548b6a6eb2d57df16bae836abaf669..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000191/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000371__teapot__teapot_6__s37100",
- "source_episode": 371,
- "target": "teapot/teapot_6",
- "seed0": 37100,
- "instruction": "Pick the teapot from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0295
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000192/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000192/actaug_meta.json
deleted file mode 100644
index a9785f0c059b894e75bbbe6cb0d1c4cfc159dddb..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000192/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 3720007,
-  "grasp_t": 122,
-  "release_t": 239,
-  "dj7_init_deg": 51.727895567618205,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:+32.1",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5139,
-  "lift_grip_m": 0.5139,
-  "rel6d": 1,
-  "weld_engage_t": 129,
-  "weld_release_t": 239,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 282,
-  "s_jit": 1.0341,
-  "stage": "policy",
-  "episode": 372,
-  "instruction": "Pick the mug from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000192/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000192/ep_meta.json
deleted file mode 100644
index 62e8d291249c161c656a3e9423feaa9c2be52311..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000192/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000372__measuring_cup__MeasuringCup009__s37200",
- "source_episode": 372,
- "target": "measuring_cup/MeasuringCup009",
- "seed0": 37200,
- "instruction": "Pick the measuring cup from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0341
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000193/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000193/actaug_meta.json
deleted file mode 100644
index aaad1941c96cd68ed843d43dccb14ee55df3058c..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000193/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 3730001,
-  "grasp_t": 78,
-  "release_t": 165,
-  "dj7_init_deg": 39.35077132359564,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:+14.1",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5244,
-  "lift_grip_m": 0.5244,
-  "rel6d": 1,
-  "weld_engage_t": 85,
-  "weld_release_t": 165,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 197,
-  "s_jit": 1.0374,
-  "stage": "policy",
-  "episode": 373,
-  "instruction": "Pick the tupperware from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000193/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000193/ep_meta.json
deleted file mode 100644
index 992e19db658713e0464d956d9096919a1188db2a..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000193/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000373__teapot__teapot_6__s37300",
- "source_episode": 373,
- "target": "teapot/teapot_6",
- "seed0": 37300,
- "instruction": "Pick the teapot from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0374
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000194/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000194/actaug_meta.json
deleted file mode 100644
index c5ec196b06f59393046069bca506f490bdb197f9..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000194/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 3740000,
-  "grasp_t": 107,
-  "release_t": 290,
-  "dj7_init_deg": -5.94453966115327,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-38.5",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.6468,
-  "lift_grip_m": 0.6468,
-  "rel6d": 1,
-  "weld_engage_t": 121,
-  "weld_release_t": 290,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 333,
-  "s_jit": 0.9762,
-  "stage": "policy",
-  "episode": 374,
-  "instruction": "Pick the marshmallow from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000194/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000194/ep_meta.json
deleted file mode 100644
index 063aff01d95c1fb217e39f78d84ce214a83c0cac..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000194/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000374__steak__steak_8__s37400",
- "source_episode": 374,
- "target": "steak/steak_8",
- "seed0": 37400,
- "instruction": "Pick the steak from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9762
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000195/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000195/actaug_meta.json
deleted file mode 100644
index 6eb149fdd180465f97c261f73e47dc68bc68dbae..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000195/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 3750005,
-  "grasp_t": 67,
-  "release_t": 144,
-  "dj7_init_deg": 83.00228647427545,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:+70.5",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5604,
-  "lift_grip_m": 0.5604,
-  "rel6d": 1,
-  "weld_engage_t": 77,
-  "weld_release_t": 144,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 160,
-  "s_jit": 0.9768,
-  "stage": "policy",
-  "episode": 375,
-  "instruction": "Pick the tangerine from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000195/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000195/ep_meta.json
deleted file mode 100644
index 27870136b002e49d1ffac7a2fa78098a6eee051e..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000195/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000375__donut__donut_5__s37500",
- "source_episode": 375,
- "target": "donut/donut_5",
- "seed0": 37500,
- "instruction": "Pick the donut from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9768
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000196/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000196/actaug_meta.json
deleted file mode 100644
index 45e896db4642325626c367e8b9bc600c5c8b197e..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000196/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 3770002,
-  "grasp_t": 57,
-  "release_t": 143,
-  "dj7_init_deg": -21.80039939452744,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-56.2",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5502,
-  "lift_grip_m": 0.5502,
-  "rel6d": 1,
-  "weld_engage_t": 55,
-  "weld_release_t": 143,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 165,
-  "s_jit": 1.0328,
-  "stage": "policy",
-  "episode": 377,
-  "instruction": "Pick the marshmallow from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000196/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000196/ep_meta.json
deleted file mode 100644
index c6c48553e8c0b1fccbf74d0828a83d4604f8da87..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000196/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000377__steak__steak_8__s37700",
- "source_episode": 377,
- "target": "steak/steak_8",
- "seed0": 37700,
- "instruction": "Pick the steak from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0328
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000197/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000197/actaug_meta.json
deleted file mode 100644
index f25fcf4b1783d7fd217e4fb9e37ec6734eef42b6..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000197/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 3840002,
-  "grasp_t": 74,
-  "release_t": 150,
-  "dj7_init_deg": -39.592448500342385,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-74.0",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5552,
-  "lift_grip_m": 0.5552,
-  "rel6d": 1,
-  "weld_engage_t": 72,
-  "weld_release_t": 150,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 181,
-  "s_jit": 0.9616,
-  "stage": "policy",
-  "episode": 384,
-  "instruction": "Pick the sugar cube from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000197/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000197/ep_meta.json
deleted file mode 100644
index 6cc4f837825d961c13f9d7b78be071b1e049b6f5..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000197/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000384__steak__steak_8__s38400",
- "source_episode": 384,
- "target": "steak/steak_8",
- "seed0": 38400,
- "instruction": "Pick the steak from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9616
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000198/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000198/actaug_meta.json
deleted file mode 100644
index e860e924dc27864eb499fbf976e2bb0354782e98..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000198/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 3870000,
-  "grasp_t": 112,
-  "release_t": 201,
-  "dj7_init_deg": -0.4558094797516077,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-32.7",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.596,
-  "lift_grip_m": 0.596,
-  "rel6d": 1,
-  "weld_engage_t": 112,
-  "weld_release_t": 201,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 233,
-  "s_jit": 0.9982,
-  "stage": "policy",
-  "episode": 387,
-  "instruction": "Pick the sugar cube from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000198/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000198/ep_meta.json
deleted file mode 100644
index 9e5d6a1c6b3fb3f598ae9413276ec52ed32eeaf2..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000198/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000387__donut__donut_5__s38700",
- "source_episode": 387,
- "target": "donut/donut_5",
- "seed0": 38700,
- "instruction": "Pick the donut from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9982
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000199/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000199/actaug_meta.json
deleted file mode 100644
index d94b02494caef70dc4200e0ea9dc4282659d1e5d..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000199/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 3910003,
-  "grasp_t": 104,
-  "release_t": 265,
-  "dj7_init_deg": 61.898435865734584,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:+33.4",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.6005,
-  "lift_grip_m": 0.6005,
-  "rel6d": 1,
-  "weld_engage_t": 96,
-  "weld_release_t": 265,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 312,
-  "s_jit": 1.0076,
-  "stage": "policy",
-  "episode": 391,
-  "instruction": "Pick the carrot from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000199/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000199/ep_meta.json
deleted file mode 100644
index 70ecfd4ff5f93749d6981ecc048c114a5d7ed25b..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000199/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000391__steak__steak_8__s39100",
- "source_episode": 391,
- "target": "steak/steak_8",
- "seed0": 39100,
- "instruction": "Pick the steak from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0076
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000200/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000200/actaug_meta.json
deleted file mode 100644
index c7056a4558f5e5c5e01e9c529c69cea564246516..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000200/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 3920000,
-  "grasp_t": 112,
-  "release_t": 299,
-  "dj7_init_deg": -4.858608138348927,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-39.2",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.6351,
-  "lift_grip_m": 0.6224,
-  "rel6d": 1,
-  "weld_engage_t": 112,
-  "weld_release_t": 299,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 340,
-  "s_jit": 0.9806,
-  "stage": "policy",
-  "episode": 392,
-  "instruction": "Pick the beer from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000200/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000200/ep_meta.json
deleted file mode 100644
index 20c4bb47b1d454d09fe6c3bf51c75c9a53385357..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000200/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000392__jar__Jar023__s39200",
- "source_episode": 392,
- "target": "jar/Jar023",
- "seed0": 39200,
- "instruction": "Pick the jar from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9806
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000201/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000201/actaug_meta.json
deleted file mode 100644
index c6398abd46a814ea83913adc4b260eb9e24624e4..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000201/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 3920000,
-  "grasp_t": 112,
-  "release_t": 299,
-  "dj7_init_deg": -4.858608138348927,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-24.3",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5684,
-  "lift_grip_m": 0.5684,
-  "rel6d": 1,
-  "weld_engage_t": 121,
-  "weld_release_t": 299,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 355,
-  "s_jit": 0.9806,
-  "stage": "policy",
-  "episode": 392,
-  "instruction": "Pick the beer from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000201/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000201/ep_meta.json
deleted file mode 100644
index a9c3ac7b541c8770f8e23050e8dc2068323bc6b6..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000201/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000392__soap_dispenser__SoapDispenser010__s39200",
- "source_episode": 392,
- "target": "soap_dispenser/SoapDispenser010",
- "seed0": 39200,
- "instruction": "Pick the soap dispenser from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9806
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000202/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000202/actaug_meta.json
deleted file mode 100644
index d8cd20f1a56d6d10230851a57faadeb0ec739264..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000202/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 3930007,
-  "grasp_t": 111,
-  "release_t": 219,
-  "dj7_init_deg": 51.997033424173566,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:+17.6",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5676,
-  "lift_grip_m": 0.5676,
-  "rel6d": 1,
-  "weld_engage_t": 109,
-  "weld_release_t": 219,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 245,
-  "s_jit": 0.9704,
-  "stage": "policy",
-  "episode": 393,
-  "instruction": "Pick the bar soap from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000202/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000202/ep_meta.json
deleted file mode 100644
index 03b46f0d2d01a427ec78f2dfa4037858cf9569d4..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000202/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000393__donut__donut_5__s39300",
- "source_episode": 393,
- "target": "donut/donut_5",
- "seed0": 39300,
- "instruction": "Pick the donut from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9704
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000203/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000203/actaug_meta.json
deleted file mode 100644
index 64a3ae1878d64dcbadf978116cbb973760698d86..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000203/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 3940000,
-  "grasp_t": 82,
-  "release_t": 177,
-  "dj7_init_deg": 7.961276496692847,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-22.5",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5873,
-  "lift_grip_m": 0.5873,
-  "rel6d": 1,
-  "weld_engage_t": 98,
-  "weld_release_t": 177,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 210,
-  "s_jit": 1.0318,
-  "stage": "policy",
-  "episode": 394,
-  "instruction": "Pick the sweet potato from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000203/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000203/ep_meta.json
deleted file mode 100644
index 3cfdcfb5a6555f4a3e7745eecba560fc0d3e1145..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000203/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000394__donut__donut_5__s39400",
- "source_episode": 394,
- "target": "donut/donut_5",
- "seed0": 39400,
- "instruction": "Pick the donut from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0318
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000204/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000204/actaug_meta.json
deleted file mode 100644
index 87700e5de44eb3e8faf89c3f45520fc5d9171647..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000204/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 3950009,
-  "grasp_t": 64,
-  "release_t": 210,
-  "dj7_init_deg": 26.03404159342911,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-8.3",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.6014,
-  "lift_grip_m": 0.6014,
-  "rel6d": 1,
-  "weld_engage_t": 67,
-  "weld_release_t": 210,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 244,
-  "s_jit": 1.0154,
-  "stage": "policy",
-  "episode": 395,
-  "instruction": "Pick the jug wide opening from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000204/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000204/ep_meta.json
deleted file mode 100644
index f564a778706b3384b05bb75248c4104c5abc990e..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000204/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000395__jar__Jar023__s39500",
- "source_episode": 395,
- "target": "jar/Jar023",
- "seed0": 39500,
- "instruction": "Pick the jar from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0154
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000205/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000205/actaug_meta.json
deleted file mode 100644
index 4d393c85f47ba810414b7a7dc53d69c6ac65a7b8..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000205/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 3970000,
-  "grasp_t": 135,
-  "release_t": 302,
-  "dj7_init_deg": -9.800291242408372,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-32.9",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5434,
-  "lift_grip_m": 0.5434,
-  "rel6d": 1,
-  "weld_engage_t": 129,
-  "weld_release_t": 302,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 340,
-  "s_jit": 0.9608,
-  "stage": "policy",
-  "episode": 397,
-  "instruction": "Pick the cucumber from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000205/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000205/ep_meta.json
deleted file mode 100644
index 83d5c5cd5fc847efb05e754d1406b1a641d1b497..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000205/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000397__teapot__teapot_7__s39700",
- "source_episode": 397,
- "target": "teapot/teapot_7",
- "seed0": 39700,
- "instruction": "Pick the teapot from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9608
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000206/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000206/actaug_meta.json
deleted file mode 100644
index 97b9b22fdd26eb04e1fc412b2d787188334fdd9d..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000206/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 3980013,
-  "grasp_t": 68,
-  "release_t": 215,
-  "dj7_init_deg": 65.06989091586891,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:+37.7",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5508,
-  "lift_grip_m": 0.5508,
-  "rel6d": 1,
-  "weld_engage_t": 87,
-  "weld_release_t": 215,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 257,
-  "s_jit": 0.9636,
-  "stage": "policy",
-  "episode": 398,
-  "instruction": "Pick the beer from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000206/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000206/ep_meta.json
deleted file mode 100644
index 7aa9f0aa317e3c23badf4a36df0557c8950d8d0e..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000206/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000398__jar__Jar023__s39800",
- "source_episode": 398,
- "target": "jar/Jar023",
- "seed0": 39800,
- "instruction": "Pick the jar from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9636
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000207/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000207/actaug_meta.json
deleted file mode 100644
index af7a034f3a9b0f75eaa0bc0bd81884fd88008a86..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000207/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 3980107,
-  "grasp_t": 68,
-  "release_t": 215,
-  "dj7_init_deg": 51.00544400494766,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:+16.7",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5517,
-  "lift_grip_m": 0.5517,
-  "rel6d": 1,
-  "weld_engage_t": null,
-  "weld_release_t": null,
-  "n_weld_engage": 0,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 255,
-  "s_jit": 0.9938,
-  "stage": "policy",
-  "episode": 398,
-  "instruction": "Pick the beer from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000207/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000207/ep_meta.json
deleted file mode 100644
index f9889039f11781b932f5606c641dc8d5b1090b80..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000207/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000398__jar__Jar023__s39801",
- "source_episode": 398,
- "target": "jar/Jar023",
- "seed0": 39801,
- "instruction": "Pick the jar from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9938
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000208/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000208/actaug_meta.json
deleted file mode 100644
index 1a1e0a6474cead450ee26e5e81a624b2dcc641b9..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000208/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 3980000,
-  "grasp_t": 68,
-  "release_t": 215,
-  "dj7_init_deg": -9.10067422911261,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-28.2",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5296,
-  "lift_grip_m": 0.5296,
-  "rel6d": 1,
-  "weld_engage_t": 86,
-  "weld_release_t": 215,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 254,
-  "s_jit": 0.9636,
-  "stage": "policy",
-  "episode": 398,
-  "instruction": "Pick the beer from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000208/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000208/ep_meta.json
deleted file mode 100644
index eac3ebbacd224a3268d8ad689bcee0b842ceda09..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000208/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000398__soap_dispenser__SoapDispenser010__s39800",
- "source_episode": 398,
- "target": "soap_dispenser/SoapDispenser010",
- "seed0": 39800,
- "instruction": "Pick the soap dispenser from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9636
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000209/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000209/actaug_meta.json
deleted file mode 100644
index 7f360da2f1c4d183c9b69d3c6f1a42c722d7d8a2..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000209/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 3990001,
-  "grasp_t": 75,
-  "release_t": 171,
-  "dj7_init_deg": 39.42506824407354,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:+15.4",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5969,
-  "lift_grip_m": 0.5969,
-  "rel6d": 1,
-  "weld_engage_t": 78,
-  "weld_release_t": 171,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 201,
-  "s_jit": 1.0377,
-  "stage": "policy",
-  "episode": 399,
-  "instruction": "Pick the tomato from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000209/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000209/ep_meta.json
deleted file mode 100644
index 7ed7fb3aa0a74ef198548a284bd94a55cd7b4d73..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000209/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000399__teapot__teapot_6__s39900",
- "source_episode": 399,
- "target": "teapot/teapot_6",
- "seed0": 39900,
- "instruction": "Pick the teapot from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0377
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000210/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000210/actaug_meta.json
deleted file mode 100644
index cda646377252bc83c228d7ebd445fdbe158a41d8..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000210/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 4030001,
-  "grasp_t": 54,
-  "release_t": 144,
-  "dj7_init_deg": 25.486111944856894,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:+2.5",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.597,
-  "lift_grip_m": 0.597,
-  "rel6d": 1,
-  "weld_engage_t": 56,
-  "weld_release_t": 144,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 173,
-  "s_jit": 0.9819,
-  "stage": "policy",
-  "episode": 403,
-  "instruction": "Pick the sweet potato from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000210/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000210/ep_meta.json
deleted file mode 100644
index 987ccf64ffaf2919ad1c19ad1ca5f7b674db70a7..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000210/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000403__donut__donut_5__s40300",
- "source_episode": 403,
- "target": "donut/donut_5",
- "seed0": 40300,
- "instruction": "Pick the donut from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9819
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000211/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000211/actaug_meta.json
deleted file mode 100644
index bfc8a79f26e04fa20b2a6590639a4f83804370d3..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000211/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 4110001,
-  "grasp_t": 70,
-  "release_t": 159,
-  "dj7_init_deg": 36.386896989883056,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:+9.0",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5705,
-  "lift_grip_m": 0.5705,
-  "rel6d": 1,
-  "weld_engage_t": 69,
-  "weld_release_t": 159,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 199,
-  "s_jit": 1.0255,
-  "stage": "policy",
-  "episode": 411,
-  "instruction": "Pick the liquor from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000211/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000211/ep_meta.json
deleted file mode 100644
index c34c57cbac7aae7ccbc6c1efe91dc6df50848d31..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000211/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000411__jar__Jar023__s41100",
- "source_episode": 411,
- "target": "jar/Jar023",
- "seed0": 41100,
- "instruction": "Pick the jar from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0255
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000212/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000212/actaug_meta.json
deleted file mode 100644
index 7455a2a9f03004da444767da6a30840b6692b7f1..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000212/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 4110000,
-  "grasp_t": 70,
-  "release_t": 159,
-  "dj7_init_deg": 6.386896989883059,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-11.1",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5389,
-  "lift_grip_m": 0.5381,
-  "rel6d": 1,
-  "weld_engage_t": 70,
-  "weld_release_t": 159,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 207,
-  "s_jit": 1.0255,
-  "stage": "policy",
-  "episode": 411,
-  "instruction": "Pick the liquor from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000212/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000212/ep_meta.json
deleted file mode 100644
index 7517fad1bd2e7d9364b974f30c04e0277ee31880..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000212/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000411__soap_dispenser__SoapDispenser010__s41100",
- "source_episode": 411,
- "target": "soap_dispenser/SoapDispenser010",
- "seed0": 41100,
- "instruction": "Pick the soap dispenser from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0255
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000213/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000213/actaug_meta.json
deleted file mode 100644
index 3e9974c51ef6366510a885faf935d8dc9b92d45b..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000213/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 4120000,
-  "grasp_t": 79,
-  "release_t": 213,
-  "dj7_init_deg": 7.290176177217418,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-19.3",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.6211,
-  "lift_grip_m": 0.6211,
-  "rel6d": 1,
-  "weld_engage_t": 79,
-  "weld_release_t": 213,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 245,
-  "s_jit": 1.0292,
-  "stage": "policy",
-  "episode": 412,
-  "instruction": "Pick the bread from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000213/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000213/ep_meta.json
deleted file mode 100644
index c8b8b024a9960c7d71eab9168b7bd0170b673208..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000213/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000412__steak__steak_8__s41200",
- "source_episode": 412,
- "target": "steak/steak_8",
- "seed0": 41200,
- "instruction": "Pick the steak from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0292
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000214/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000214/actaug_meta.json
deleted file mode 100644
index 3184a954db05490682b972252a9d2aa6d29fdc4f..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000214/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 4160002,
-  "grasp_t": 140,
-  "release_t": 337,
-  "dj7_init_deg": -36.4995100186551,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-52.5",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5492,
-  "lift_grip_m": 0.5492,
-  "rel6d": 1,
-  "weld_engage_t": 136,
-  "weld_release_t": 337,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 378,
-  "s_jit": 0.974,
-  "stage": "policy",
-  "episode": 416,
-  "instruction": "Pick the garlic from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000214/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000214/ep_meta.json
deleted file mode 100644
index 21b6f4c196200fdd05e13d60527b477064ef6ebc..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000214/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000416__donut__donut_5__s41600",
- "source_episode": 416,
- "target": "donut/donut_5",
- "seed0": 41600,
- "instruction": "Pick the donut from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.974
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000215/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000215/actaug_meta.json
deleted file mode 100644
index b05d469d3d274f5daf82eda0e1785db06bc08eb5..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000215/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 4170000,
-  "grasp_t": 133,
-  "release_t": 340,
-  "dj7_init_deg": 1.1906355690075863,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-14.0",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5535,
-  "lift_grip_m": 0.5535,
-  "rel6d": 1,
-  "weld_engage_t": 153,
-  "weld_release_t": 340,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 376,
-  "s_jit": 1.0048,
-  "stage": "policy",
-  "episode": 417,
-  "instruction": "Pick the potato from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000215/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000215/ep_meta.json
deleted file mode 100644
index cdc0ba83ab3148195975d39c77cf0da3898974fe..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000215/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000417__teapot__teapot_7__s41700",
- "source_episode": 417,
- "target": "teapot/teapot_7",
- "seed0": 41700,
- "instruction": "Pick the teapot from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0048
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000216/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000216/actaug_meta.json
deleted file mode 100644
index a27841bf7c5e45aac2d6b6715b0cb236efe0b35c..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000216/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 4200001,
-  "grasp_t": 73,
-  "release_t": 207,
-  "dj7_init_deg": 26.30067005737716,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-8.1",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5561,
-  "lift_grip_m": 0.5561,
-  "rel6d": 1,
-  "weld_engage_t": 89,
-  "weld_release_t": 207,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 247,
-  "s_jit": 0.9852,
-  "stage": "policy",
-  "episode": 420,
-  "instruction": "Pick the cucumber from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000216/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000216/ep_meta.json
deleted file mode 100644
index 95963a4fdffd886331148d423d98fe1e3c5da96a..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000216/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000420__teapot__teapot_7__s42000",
- "source_episode": 420,
- "target": "teapot/teapot_7",
- "seed0": 42000,
- "instruction": "Pick the teapot from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9852
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000217/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000217/actaug_meta.json
deleted file mode 100644
index d1a4d9547681f6cde46a32202c8d1e817ce56b28..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000217/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 4210000,
-  "grasp_t": 79,
-  "release_t": 191,
-  "dj7_init_deg": -9.978430634959857,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-44.4",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5255,
-  "lift_grip_m": 0.5255,
-  "rel6d": 1,
-  "weld_engage_t": 79,
-  "weld_release_t": 191,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 263,
-  "s_jit": 0.9601,
-  "stage": "policy",
-  "episode": 421,
-  "instruction": "Pick the jam from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000217/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000217/ep_meta.json
deleted file mode 100644
index 244d81bf586ff6d18add181d57c4bb67e405528b..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000217/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000421__teapot__teapot_7__s42100",
- "source_episode": 421,
- "target": "teapot/teapot_7",
- "seed0": 42100,
- "instruction": "Pick the teapot from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9601
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000218/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000218/actaug_meta.json
deleted file mode 100644
index 91fad48c75e90de5273c164e1da206ed728bc70b..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000218/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 4220004,
-  "grasp_t": 81,
-  "release_t": 205,
-  "dj7_init_deg": -60.16984000150255,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-84.2",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5941,
-  "lift_grip_m": 0.5941,
-  "rel6d": 1,
-  "weld_engage_t": 96,
-  "weld_release_t": 205,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 235,
-  "s_jit": 0.9993,
-  "stage": "policy",
-  "episode": 422,
-  "instruction": "Pick the garlic from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000218/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000218/ep_meta.json
deleted file mode 100644
index cda5cc8deb8eeb0c38d153de1a59eb65f5c6a9b7..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000218/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000422__donut__donut_5__s42200",
- "source_episode": 422,
- "target": "donut/donut_5",
- "seed0": 42200,
- "instruction": "Pick the donut from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9993
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000219/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000219/actaug_meta.json
deleted file mode 100644
index 2facef6e0e1b56dbf1e045234849e51373bac510..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000219/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 4240006,
-  "grasp_t": 83,
-  "release_t": 167,
-  "dj7_init_deg": -52.479659627077666,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-52.7",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5653,
-  "lift_grip_m": 0.5653,
-  "rel6d": 1,
-  "weld_engage_t": 77,
-  "weld_release_t": 167,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 198,
-  "s_jit": 1.0368,
-  "stage": "policy",
-  "episode": 424,
-  "instruction": "Pick the sugar cube from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000219/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000219/ep_meta.json
deleted file mode 100644
index b3d877d0c4f51abdf58215411ae64e2fd1710270..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000219/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000424__donut__donut_5__s42400",
- "source_episode": 424,
- "target": "donut/donut_5",
- "seed0": 42400,
- "instruction": "Pick the donut from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0368
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000220/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000220/actaug_meta.json
deleted file mode 100644
index 49d072a202ab24b4f177ab5a7cce07d1256e5e5a..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000220/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 4270000,
-  "grasp_t": 93,
-  "release_t": 256,
-  "dj7_init_deg": -6.069563544496321,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-40.4",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5447,
-  "lift_grip_m": 0.5447,
-  "rel6d": 1,
-  "weld_engage_t": 118,
-  "weld_release_t": 256,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 297,
-  "s_jit": 0.9757,
-  "stage": "policy",
-  "episode": 427,
-  "instruction": "Pick the shaker from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000220/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000220/ep_meta.json
deleted file mode 100644
index 9f98ea30f785673602e6c3159d2954a2a6f149e5..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000220/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000427__teapot__teapot_6__s42700",
- "source_episode": 427,
- "target": "teapot/teapot_6",
- "seed0": 42700,
- "instruction": "Pick the teapot from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9757
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000221/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000221/actaug_meta.json
deleted file mode 100644
index 735706752ba00ccaab43f5e3e1b98b2c924a1c11..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000221/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 4280005,
-  "grasp_t": 66,
-  "release_t": 152,
-  "dj7_init_deg": 88.15893947707364,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:+53.8",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5392,
-  "lift_grip_m": 0.5392,
-  "rel6d": 1,
-  "weld_engage_t": 81,
-  "weld_release_t": 152,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 180,
-  "s_jit": 0.9665,
-  "stage": "policy",
-  "episode": 428,
-  "instruction": "Pick the peeler from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000221/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000221/ep_meta.json
deleted file mode 100644
index becbbd52922a41d0564673cd17bc0f0bf834a0c8..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000221/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000428__steak__steak_8__s42800",
- "source_episode": 428,
- "target": "steak/steak_8",
- "seed0": 42800,
- "instruction": "Pick the steak from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9665
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000222/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000222/actaug_meta.json
deleted file mode 100644
index 8ffd86934201ddf4746a4cd40a7cce7ffc016dec..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000222/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 4290009,
-  "grasp_t": 101,
-  "release_t": 242,
-  "dj7_init_deg": 20.475228127366336,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-13.9",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5701,
-  "lift_grip_m": 0.5701,
-  "rel6d": 1,
-  "weld_engage_t": 96,
-  "weld_release_t": 242,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 281,
-  "s_jit": 1.0137,
-  "stage": "policy",
-  "episode": 429,
-  "instruction": "Pick the soap dispenser from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000222/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000222/ep_meta.json
deleted file mode 100644
index 626a21eb2d67ebb157f5299b1bf7ffd1a389e06f..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000222/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000429__jar__Jar023__s42900",
- "source_episode": 429,
- "target": "jar/Jar023",
- "seed0": 42900,
- "instruction": "Pick the jar from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0137
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000223/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000223/actaug_meta.json
deleted file mode 100644
index f47a2b9425a4fe06e3bc4d52faccefe10226821d..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000223/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 4290000,
-  "grasp_t": 101,
-  "release_t": 242,
-  "dj7_init_deg": 3.418755055836506,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-29.9",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5357,
-  "lift_grip_m": 0.5357,
-  "rel6d": 1,
-  "weld_engage_t": 100,
-  "weld_release_t": 242,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 283,
-  "s_jit": 1.0137,
-  "stage": "policy",
-  "episode": 429,
-  "instruction": "Pick the soap dispenser from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000223/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000223/ep_meta.json
deleted file mode 100644
index e64ea118abf38c35361a6765bbb1ad04fe75f441..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000223/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000429__soap_dispenser__SoapDispenser010__s42900",
- "source_episode": 429,
- "target": "soap_dispenser/SoapDispenser010",
- "seed0": 42900,
- "instruction": "Pick the soap dispenser from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0137
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000224/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000224/actaug_meta.json
deleted file mode 100644
index d209bff01cf8533afcde97cb147a136e4b670453..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000224/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 4310010,
-  "grasp_t": 73,
-  "release_t": 170,
-  "dj7_init_deg": -6.354477386753729,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-40.7",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.546,
-  "lift_grip_m": 0.546,
-  "rel6d": 1,
-  "weld_engage_t": 72,
-  "weld_release_t": 170,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 208,
-  "s_jit": 1.0022,
-  "stage": "policy",
-  "episode": 431,
-  "instruction": "Pick the bread from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000224/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000224/ep_meta.json
deleted file mode 100644
index 7219f8833bc3a8f4e8f0225f7ee661e6257a6bd5..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000224/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000431__teapot__teapot_6__s43100",
- "source_episode": 431,
- "target": "teapot/teapot_6",
- "seed0": 43100,
- "instruction": "Pick the teapot from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0022
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000225/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000225/actaug_meta.json
deleted file mode 100644
index 00ecf52452373426db6983fff11dd54f2c10038c..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000225/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 4330001,
-  "grasp_t": 159,
-  "release_t": 369,
-  "dj7_init_deg": 22.692129131661154,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:+15.1",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.547,
-  "lift_grip_m": 0.545,
-  "rel6d": 1,
-  "weld_engage_t": 169,
-  "weld_release_t": 369,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 412,
-  "s_jit": 0.9708,
-  "stage": "policy",
-  "episode": 433,
-  "instruction": "Pick the jug from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000225/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000225/ep_meta.json
deleted file mode 100644
index c54489cb3d9e2dcfce0cbbb8b601bd9ec6b81752..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000225/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000433__soap_dispenser__SoapDispenser010__s43300",
- "source_episode": 433,
- "target": "soap_dispenser/SoapDispenser010",
- "seed0": 43300,
- "instruction": "Pick the soap dispenser from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9708
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000226/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000226/actaug_meta.json
deleted file mode 100644
index b168cb38e42cfdde449d6e626e98736bb250ab88..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000226/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 4420000,
-  "grasp_t": 92,
-  "release_t": 219,
-  "dj7_init_deg": 8.333664344137791,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-18.5",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.6073,
-  "lift_grip_m": 0.6073,
-  "rel6d": 1,
-  "weld_engage_t": 100,
-  "weld_release_t": 219,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 246,
-  "s_jit": 1.0333,
-  "stage": "policy",
-  "episode": 442,
-  "instruction": "Pick the reamer from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000226/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000226/ep_meta.json
deleted file mode 100644
index 259589cbfcfdec02db1091ea31a44f82e17487ea..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000226/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000442__teapot__teapot_7__s44200",
- "source_episode": 442,
- "target": "teapot/teapot_7",
- "seed0": 44200,
- "instruction": "Pick the teapot from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0333
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000227/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000227/actaug_meta.json
deleted file mode 100644
index e3b6a9d804d290d768bbbe9a48d03ad5852ddc2c..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000227/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 4440001,
-  "grasp_t": 44,
-  "release_t": 123,
-  "dj7_init_deg": 35.43683519763813,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:+17.5",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.6068,
-  "lift_grip_m": 0.6068,
-  "rel6d": 1,
-  "weld_engage_t": 51,
-  "weld_release_t": 123,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 153,
-  "s_jit": 1.0217,
-  "stage": "policy",
-  "episode": 444,
-  "instruction": "Pick the onion from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000227/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000227/ep_meta.json
deleted file mode 100644
index aaae137da71e3b4d6ed0b926d8ac24aead7ef3c7..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000227/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000444__teapot__teapot_6__s44400",
- "source_episode": 444,
- "target": "teapot/teapot_6",
- "seed0": 44400,
- "instruction": "Pick the teapot from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0217
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000228/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000228/actaug_meta.json
deleted file mode 100644
index 60ab5bf9e1c93ddaf224545d00322460b7743078..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000228/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 4460000,
-  "grasp_t": 58,
-  "release_t": 161,
-  "dj7_init_deg": 4.2292677520929995,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-2.4",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.6533,
-  "lift_grip_m": 0.6533,
-  "rel6d": 1,
-  "weld_engage_t": 64,
-  "weld_release_t": 161,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 181,
-  "s_jit": 1.0169,
-  "stage": "policy",
-  "episode": 446,
-  "instruction": "Pick the mug from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000228/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000228/ep_meta.json
deleted file mode 100644
index 1d82a1a06d4941754f7413dd9092a4bcad4b8e74..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000228/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000446__soap_dispenser__SoapDispenser010__s44600",
- "source_episode": 446,
- "target": "soap_dispenser/SoapDispenser010",
- "seed0": 44600,
- "instruction": "Pick the soap dispenser from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0169
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000229/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000229/actaug_meta.json
deleted file mode 100644
index ade13bbdaf920889038011277a752c9329512569..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000229/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 4500000,
-  "grasp_t": 78,
-  "release_t": 170,
-  "dj7_init_deg": -0.11680977653492874,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-34.5",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5759,
-  "lift_grip_m": 0.5759,
-  "rel6d": 1,
-  "weld_engage_t": 94,
-  "weld_release_t": 170,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 209,
-  "s_jit": 0.9995,
-  "stage": "policy",
-  "episode": 450,
-  "instruction": "Pick the tangerine from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000229/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000229/ep_meta.json
deleted file mode 100644
index 32c3f2136145e536a5bbfe1e6d1373a68b46cba8..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000229/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000450__donut__donut_5__s45000",
- "source_episode": 450,
- "target": "donut/donut_5",
- "seed0": 45000,
- "instruction": "Pick the donut from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9995
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000230/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000230/actaug_meta.json
deleted file mode 100644
index f7154206596f30d2a12b9c88f191ef2b72a7685f..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000230/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 4520202,
-  "grasp_t": 67,
-  "release_t": 211,
-  "dj7_init_deg": -24.8440425235323,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-54.3",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5492,
-  "lift_grip_m": 0.5488,
-  "rel6d": 1,
-  "weld_engage_t": 70,
-  "weld_release_t": 211,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 244,
-  "s_jit": 1.0206,
-  "stage": "policy",
-  "episode": 452,
-  "instruction": "Pick the spray from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000230/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000230/ep_meta.json
deleted file mode 100644
index 5660eaeb6ea165cebc19531314e88af199431b23..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000230/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000452__syrup_bottle__SyrupBottle005__s45202",
- "source_episode": 452,
- "target": "syrup_bottle/SyrupBottle005",
- "seed0": 45202,
- "instruction": "Pick the syrup bottle from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0206
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000231/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000231/actaug_meta.json
deleted file mode 100644
index 6d6decacec5823efab7bc44d65943e901c491d3f..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000231/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 4520304,
-  "grasp_t": 67,
-  "release_t": 211,
-  "dj7_init_deg": -59.774650924066265,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-91.5",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5447,
-  "lift_grip_m": 0.5442,
-  "rel6d": 1,
-  "weld_engage_t": 70,
-  "weld_release_t": 211,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 234,
-  "s_jit": 1.0009,
-  "stage": "policy",
-  "episode": 452,
-  "instruction": "Pick the spray from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000231/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000231/ep_meta.json
deleted file mode 100644
index 8b742d6c167e4e4ffbb9d4259fa8f765979eb57f..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000231/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000452__syrup_bottle__SyrupBottle005__s45203",
- "source_episode": 452,
- "target": "syrup_bottle/SyrupBottle005",
- "seed0": 45203,
- "instruction": "Pick the syrup bottle from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0009
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000232/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000232/actaug_meta.json
deleted file mode 100644
index 075129a5eded2ea2a727494217f9b7d109bcae38..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000232/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 4520402,
-  "grasp_t": 67,
-  "release_t": 211,
-  "dj7_init_deg": -25.33212074574558,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-59.5",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5587,
-  "lift_grip_m": 0.5446,
-  "rel6d": 1,
-  "weld_engage_t": 67,
-  "weld_release_t": 211,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 229,
-  "s_jit": 1.0187,
-  "stage": "policy",
-  "episode": 452,
-  "instruction": "Pick the spray from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000232/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000232/ep_meta.json
deleted file mode 100644
index e006dc5e66f7a7292e481d73647aaee54f2fee77..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000232/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000452__syrup_bottle__SyrupBottle005__s45204",
- "source_episode": 452,
- "target": "syrup_bottle/SyrupBottle005",
- "seed0": 45204,
- "instruction": "Pick the syrup bottle from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0187
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000233/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000233/actaug_meta.json
deleted file mode 100644
index e2ce96054e028e23f389eec731d1c73bb48651c3..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000233/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 4520504,
-  "grasp_t": 67,
-  "release_t": 211,
-  "dj7_init_deg": -52.970099496189675,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-85.9",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5441,
-  "lift_grip_m": 0.5435,
-  "rel6d": 1,
-  "weld_engage_t": 68,
-  "weld_release_t": 211,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 236,
-  "s_jit": 1.0281,
-  "stage": "policy",
-  "episode": 452,
-  "instruction": "Pick the spray from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000233/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000233/ep_meta.json
deleted file mode 100644
index 6a35ff5864f367e04392f94b5d1626216d01feed..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000233/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000452__syrup_bottle__SyrupBottle005__s45205",
- "source_episode": 452,
- "target": "syrup_bottle/SyrupBottle005",
- "seed0": 45205,
- "instruction": "Pick the syrup bottle from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0281
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000234/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000234/actaug_meta.json
deleted file mode 100644
index 5464b83da1af42c64ff4549b4d1188cb558e6a2b..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000234/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 4520604,
-  "grasp_t": 67,
-  "release_t": 211,
-  "dj7_init_deg": -52.29815073748375,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-85.3",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5462,
-  "lift_grip_m": 0.5458,
-  "rel6d": 1,
-  "weld_engage_t": 68,
-  "weld_release_t": 211,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 227,
-  "s_jit": 1.0308,
-  "stage": "policy",
-  "episode": 452,
-  "instruction": "Pick the spray from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000234/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000234/ep_meta.json
deleted file mode 100644
index 53cd5de6d4a52001e3f8b248250e8a473a063bc9..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000234/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000452__syrup_bottle__SyrupBottle005__s45206",
- "source_episode": 452,
- "target": "syrup_bottle/SyrupBottle005",
- "seed0": 45206,
- "instruction": "Pick the syrup bottle from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0308
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000235/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000235/actaug_meta.json
deleted file mode 100644
index 59bb7691dc100c012df2c2f1bfc33ff5eb2eead7..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000235/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 4520700,
-  "grasp_t": 67,
-  "release_t": 211,
-  "dj7_init_deg": 5.4790035338709036,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-28.9",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5607,
-  "lift_grip_m": 0.5607,
-  "rel6d": 1,
-  "weld_engage_t": 69,
-  "weld_release_t": 211,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 241,
-  "s_jit": 1.0219,
-  "stage": "policy",
-  "episode": 452,
-  "instruction": "Pick the spray from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000235/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000235/ep_meta.json
deleted file mode 100644
index 648f31fc8a34be2a5a1b39ed3222fa6551f2bf92..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000235/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000452__syrup_bottle__SyrupBottle005__s45207",
- "source_episode": 452,
- "target": "syrup_bottle/SyrupBottle005",
- "seed0": 45207,
- "instruction": "Pick the syrup bottle from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0219
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000236/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000236/actaug_meta.json
deleted file mode 100644
index 8f214ba1188d1c60c2c66a81f80810c3846b5934..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000236/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 4540000,
-  "grasp_t": 75,
-  "release_t": 232,
-  "dj7_init_deg": -4.115456539897703,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-35.8",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5175,
-  "lift_grip_m": 0.5175,
-  "rel6d": 1,
-  "weld_engage_t": 84,
-  "weld_release_t": 232,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 263,
-  "s_jit": 0.9835,
-  "stage": "policy",
-  "episode": 454,
-  "instruction": "Pick the honey bottle from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000236/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000236/ep_meta.json
deleted file mode 100644
index 5d8c495a1055df0a2b5d2b3446774d20e7506e3c..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000236/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000454__soap_dispenser__SoapDispenser010__s45400",
- "source_episode": 454,
- "target": "soap_dispenser/SoapDispenser010",
- "seed0": 45400,
- "instruction": "Pick the soap dispenser from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9835
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000237/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000237/actaug_meta.json
deleted file mode 100644
index ed9adaebda6b9569e5d5fa15f008ad9acb08f52a..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000237/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 4550002,
-  "grasp_t": 84,
-  "release_t": 163,
-  "dj7_init_deg": -30.255385791694223,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-64.6",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5792,
-  "lift_grip_m": 0.5792,
-  "rel6d": 1,
-  "weld_engage_t": 85,
-  "weld_release_t": 163,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 188,
-  "s_jit": 0.999,
-  "stage": "policy",
-  "episode": 455,
-  "instruction": "Pick the donut from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000237/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000237/ep_meta.json
deleted file mode 100644
index dcfab16237d677b8e00548a2063eadddcee87466..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000237/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000455__teapot__teapot_6__s45500",
- "source_episode": 455,
- "target": "teapot/teapot_6",
- "seed0": 45500,
- "instruction": "Pick the teapot from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.999
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000238/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000238/actaug_meta.json
deleted file mode 100644
index 70e2beff37ce18aeb3b5cbb0b71c8c6db981716c..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000238/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 4560000,
-  "grasp_t": 62,
-  "release_t": 142,
-  "dj7_init_deg": -2.3410761836934117,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-36.7",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5903,
-  "lift_grip_m": 0.5903,
-  "rel6d": 1,
-  "weld_engage_t": 54,
-  "weld_release_t": 142,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 173,
-  "s_jit": 0.9906,
-  "stage": "policy",
-  "episode": 456,
-  "instruction": "Pick the egg from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000238/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000238/ep_meta.json
deleted file mode 100644
index ec868fe6e47b617c1d21df2feeb1eaeae2f73b6a..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000238/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000456__teapot__teapot_7__s45600",
- "source_episode": 456,
- "target": "teapot/teapot_7",
- "seed0": 45600,
- "instruction": "Pick the teapot from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9906
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000239/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000239/actaug_meta.json
deleted file mode 100644
index 6d89c8b8271b15f426a556a647051bf9ad8a84bb..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000239/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 4600001,
-  "grasp_t": 94,
-  "release_t": 229,
-  "dj7_init_deg": 29.604684275217135,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:+49.8",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5524,
-  "lift_grip_m": 0.5524,
-  "rel6d": 1,
-  "weld_engage_t": 105,
-  "weld_release_t": 229,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 296,
-  "s_jit": 0.9984,
-  "stage": "policy",
-  "episode": 460,
-  "instruction": "Pick the jar from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000239/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000239/ep_meta.json
deleted file mode 100644
index e8dead12098b6f46ca12bd975a2747c41fd3fbe5..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000239/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000460__jar__Jar023__s46000",
- "source_episode": 460,
- "target": "jar/Jar023",
- "seed0": 46000,
- "instruction": "Pick the jar from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9984
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000240/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000240/actaug_meta.json
deleted file mode 100644
index 66ad26d8177521babe1335becb8c159bf0570907..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000240/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 4600106,
-  "grasp_t": 94,
-  "release_t": 229,
-  "dj7_init_deg": -51.67511002878172,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-86.1",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.57,
-  "lift_grip_m": 0.57,
-  "rel6d": 1,
-  "weld_engage_t": 93,
-  "weld_release_t": 229,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 288,
-  "s_jit": 1.0101,
-  "stage": "policy",
-  "episode": 460,
-  "instruction": "Pick the jar from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000240/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000240/ep_meta.json
deleted file mode 100644
index cbd25025a4c87e852996fa8902b07bfbe5829fd7..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000240/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000460__jar__Jar023__s46001",
- "source_episode": 460,
- "target": "jar/Jar023",
- "seed0": 46001,
- "instruction": "Pick the jar from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0101
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000241/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000241/actaug_meta.json
deleted file mode 100644
index 8e598604ab6c1c8b9f6994caa21e2411b5aa195f..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000241/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 4610005,
-  "grasp_t": 44,
-  "release_t": 125,
-  "dj7_init_deg": 88.13356707168649,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:+87.1",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.6255,
-  "lift_grip_m": 0.6255,
-  "rel6d": 1,
-  "weld_engage_t": 40,
-  "weld_release_t": 125,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 158,
-  "s_jit": 1.0376,
-  "stage": "policy",
-  "episode": 461,
-  "instruction": "Pick the lime from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000241/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000241/ep_meta.json
deleted file mode 100644
index 86efb3e8131d0965a351c77de8f51364b2adae84..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000241/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000461__teapot__teapot_6__s46100",
- "source_episode": 461,
- "target": "teapot/teapot_6",
- "seed0": 46100,
- "instruction": "Pick the teapot from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0376
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000242/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000242/actaug_meta.json
deleted file mode 100644
index e6bde8643cdd40f180b16e338e1d3b110afcd235..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000242/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 4620001,
-  "grasp_t": 100,
-  "release_t": 243,
-  "dj7_init_deg": 37.85075238395921,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:+6.9",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5608,
-  "lift_grip_m": 0.5608,
-  "rel6d": 1,
-  "weld_engage_t": 107,
-  "weld_release_t": 243,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 280,
-  "s_jit": 1.0314,
-  "stage": "policy",
-  "episode": 462,
-  "instruction": "Pick the egg from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000242/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000242/ep_meta.json
deleted file mode 100644
index c012ccc52cd896e670b1451449d5f0e53f4e51bf..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000242/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000462__teapot__teapot_7__s46200",
- "source_episode": 462,
- "target": "teapot/teapot_7",
- "seed0": 46200,
- "instruction": "Pick the teapot from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0314
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000243/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000243/actaug_meta.json
deleted file mode 100644
index 6e37df03812882a3b6679060efcfd45cf3cb08d1..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000243/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 4680002,
-  "grasp_t": 48,
-  "release_t": 136,
-  "dj7_init_deg": -20.81836427942983,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-40.9",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5781,
-  "lift_grip_m": 0.5781,
-  "rel6d": 1,
-  "weld_engage_t": 62,
-  "weld_release_t": 136,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 164,
-  "s_jit": 1.0367,
-  "stage": "policy",
-  "episode": 468,
-  "instruction": "Pick the donut from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000243/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000243/ep_meta.json
deleted file mode 100644
index 114cdd1fe1cb8f66adff3683dff29f1676252d87..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000243/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000468__teapot__teapot_6__s46800",
- "source_episode": 468,
- "target": "teapot/teapot_6",
- "seed0": 46800,
- "instruction": "Pick the teapot from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0367
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000244/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000244/actaug_meta.json
deleted file mode 100644
index 90334bde6b1ab15662a3bd62ab6f3154053d8426..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000244/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 4690009,
-  "grasp_t": 69,
-  "release_t": 150,
-  "dj7_init_deg": 20.95331685392756,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-13.4",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.585,
-  "lift_grip_m": 0.585,
-  "rel6d": 1,
-  "weld_engage_t": 63,
-  "weld_release_t": 150,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 184,
-  "s_jit": 0.9999,
-  "stage": "policy",
-  "episode": 469,
-  "instruction": "Pick the bread from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000244/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000244/ep_meta.json
deleted file mode 100644
index 939c7abc30eb0ec58b7ecd163eef4856b3d4383a..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000244/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000469__steak__steak_8__s46900",
- "source_episode": 469,
- "target": "steak/steak_8",
- "seed0": 46900,
- "instruction": "Pick the steak from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9999
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000245/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000245/actaug_meta.json
deleted file mode 100644
index 68ac6b2b94d0b6cf321e0af3bb92ed8f876defa6..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000245/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 4720000,
-  "grasp_t": 121,
-  "release_t": 250,
-  "dj7_init_deg": -8.038656055740564,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-38.3",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5134,
-  "lift_grip_m": 0.5134,
-  "rel6d": 1,
-  "weld_engage_t": 117,
-  "weld_release_t": 250,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 292,
-  "s_jit": 0.9678,
-  "stage": "policy",
-  "episode": 472,
-  "instruction": "Pick the beer from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000245/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000245/ep_meta.json
deleted file mode 100644
index bd76c67cee4e2a34a382083c209b7a0e65a80ceb..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000245/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000472__soap_dispenser__SoapDispenser010__s47200",
- "source_episode": 472,
- "target": "soap_dispenser/SoapDispenser010",
- "seed0": 47200,
- "instruction": "Pick the soap dispenser from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9678
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000246/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000246/actaug_meta.json
deleted file mode 100644
index 4760741aa7464f0c86af282157cc7863795640b0..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000246/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 4750002,
-  "grasp_t": 60,
-  "release_t": 138,
-  "dj7_init_deg": -24.885354820474557,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-59.3",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5574,
-  "lift_grip_m": 0.5574,
-  "rel6d": 1,
-  "weld_engage_t": 72,
-  "weld_release_t": 138,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 171,
-  "s_jit": 1.0205,
-  "stage": "policy",
-  "episode": 475,
-  "instruction": "Pick the cheese from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000246/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000246/ep_meta.json
deleted file mode 100644
index 7b0acc56c3b97c666cd224bda12113b02c152572..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000246/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000475__measuring_cup__MeasuringCup009__s47500",
- "source_episode": 475,
- "target": "measuring_cup/MeasuringCup009",
- "seed0": 47500,
- "instruction": "Pick the measuring cup from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0205
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000247/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000247/actaug_meta.json
deleted file mode 100644
index 0cd6413a307b2de064d75e2c9919bd275eae69ab..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000247/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 4820000,
-  "grasp_t": 97,
-  "release_t": 208,
-  "dj7_init_deg": 4.6873307031505735,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-20.3",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5304,
-  "lift_grip_m": 0.5304,
-  "rel6d": 1,
-  "weld_engage_t": 102,
-  "weld_release_t": 208,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 246,
-  "s_jit": 1.0187,
-  "stage": "policy",
-  "episode": 482,
-  "instruction": "Pick the lime from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000247/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000247/ep_meta.json
deleted file mode 100644
index dd2d82ac81c035e657484209b02e79bbf2dc9a5d..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000247/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000482__measuring_cup__MeasuringCup009__s48200",
- "source_episode": 482,
- "target": "measuring_cup/MeasuringCup009",
- "seed0": 48200,
- "instruction": "Pick the measuring cup from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0187
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000248/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000248/actaug_meta.json
deleted file mode 100644
index bbf86ce79289d853984e319da4cfc3cf570ac34b..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000248/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 4830010,
-  "grasp_t": 74,
-  "release_t": 223,
-  "dj7_init_deg": -0.05783025111605866,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-28.9",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5872,
-  "lift_grip_m": 0.5872,
-  "rel6d": 1,
-  "weld_engage_t": 90,
-  "weld_release_t": 223,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 281,
-  "s_jit": 1.0206,
-  "stage": "policy",
-  "episode": 483,
-  "instruction": "Pick the carrot from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000248/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000248/ep_meta.json
deleted file mode 100644
index 60f3aee2f6f76b4184535992c34b89f52ebf8887..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000248/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000483__steak__steak_8__s48300",
- "source_episode": 483,
- "target": "steak/steak_8",
- "seed0": 48300,
- "instruction": "Pick the steak from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0206
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000249/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000249/actaug_meta.json
deleted file mode 100644
index 44bbc40d5f9170bcb43fb0143748d4e640fc4412..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000249/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 4850008,
-  "grasp_t": 87,
-  "release_t": 249,
-  "dj7_init_deg": -27.204657231544417,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-25.8",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5345,
-  "lift_grip_m": 0.5345,
-  "rel6d": 1,
-  "weld_engage_t": 87,
-  "weld_release_t": 249,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 311,
-  "s_jit": 0.9785,
-  "stage": "policy",
-  "episode": 485,
-  "instruction": "Pick the fish from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000249/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000249/ep_meta.json
deleted file mode 100644
index 452bfafe1ee305cc3fefc23c24838ed970e3b54f..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000249/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000485__teapot__teapot_6__s48500",
- "source_episode": 485,
- "target": "teapot/teapot_6",
- "seed0": 48500,
- "instruction": "Pick the teapot from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9785
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000250/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000250/actaug_meta.json
deleted file mode 100644
index 6b3fc5a2e97eaa58ed2e24805ec4290cc324d1df..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000250/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 4860000,
-  "grasp_t": 49,
-  "release_t": 125,
-  "dj7_init_deg": 3.4514169547838094,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-23.2",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5364,
-  "lift_grip_m": 0.5364,
-  "rel6d": 1,
-  "weld_engage_t": 57,
-  "weld_release_t": 125,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 159,
-  "s_jit": 1.0138,
-  "stage": "policy",
-  "episode": 486,
-  "instruction": "Pick the kiwi from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000250/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000250/ep_meta.json
deleted file mode 100644
index 2fe999be32c124c36c9752785cf63550b4d42538..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000250/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000486__donut__donut_5__s48600",
- "source_episode": 486,
- "target": "donut/donut_5",
- "seed0": 48600,
- "instruction": "Pick the donut from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 1.0138
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000251/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000251/actaug_meta.json
deleted file mode 100644
index bd2c2362ed20bc7aa6d31f63659bb41282ec8f1f..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000251/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 4870000,
-  "grasp_t": 84,
-  "release_t": 180,
-  "dj7_init_deg": -0.3409856330864507,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-34.7",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5859,
-  "lift_grip_m": 0.5859,
-  "rel6d": 1,
-  "weld_engage_t": 90,
-  "weld_release_t": 180,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 209,
-  "s_jit": 0.9986,
-  "stage": "policy",
-  "episode": 487,
-  "instruction": "Pick the sugar cube from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000251/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000251/ep_meta.json
deleted file mode 100644
index aee5a2bc1b32d233107714c0bef004ad2ddb33a9..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000251/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000487__donut__donut_5__s48700",
- "source_episode": 487,
- "target": "donut/donut_5",
- "seed0": 48700,
- "instruction": "Pick the donut from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9986
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000252/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000252/actaug_meta.json
deleted file mode 100644
index cbd31161b77c51724e84ccdf616d2cf8f3407c1e..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000252/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 4880007,
-  "grasp_t": 103,
-  "release_t": 188,
-  "dj7_init_deg": 50.64686439023528,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:+31.7",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.6109,
-  "lift_grip_m": 0.6109,
-  "rel6d": 1,
-  "weld_engage_t": 111,
-  "weld_release_t": 188,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 229,
-  "s_jit": 0.9743,
-  "stage": "policy",
-  "episode": 488,
-  "instruction": "Pick the apple from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000252/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000252/ep_meta.json
deleted file mode 100644
index 432697e87547d8700c1327f4d300a79fa7d48995..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000252/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000488__measuring_cup__MeasuringCup009__s48800",
- "source_episode": 488,
- "target": "measuring_cup/MeasuringCup009",
- "seed0": 48800,
- "instruction": "Pick the measuring cup from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9743
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000253/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000253/actaug_meta.json
deleted file mode 100644
index ef69ea8f9ec79b5a64f372c951e8cfa7320cf07c..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000253/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 4910000,
-  "grasp_t": 59,
-  "release_t": 184,
-  "dj7_init_deg": -1.759134184072055,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-34.5",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5507,
-  "lift_grip_m": 0.5507,
-  "rel6d": 1,
-  "weld_engage_t": 51,
-  "weld_release_t": 184,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 224,
-  "s_jit": 0.993,
-  "stage": "policy",
-  "episode": 491,
-  "instruction": "Pick the shrimp from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000253/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000253/ep_meta.json
deleted file mode 100644
index a45fe6d071e3ffe090c0cbecb6d27ad0aff4fe7e..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000253/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000491__steak__steak_8__s49100",
- "source_episode": 491,
- "target": "steak/steak_8",
- "seed0": 49100,
- "instruction": "Pick the steak from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.993
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000254/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000254/actaug_meta.json
deleted file mode 100644
index 1816442182fd5ae3e05be02f2a9c988edd0f1ed5..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000254/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 4960004,
-  "grasp_t": 90,
-  "release_t": 229,
-  "dj7_init_deg": -69.77194557460976,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-99.7",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5448,
-  "lift_grip_m": 0.5443,
-  "rel6d": 1,
-  "weld_engage_t": 98,
-  "weld_release_t": 229,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 240,
-  "s_jit": 0.9609,
-  "stage": "policy",
-  "episode": 496,
-  "instruction": "Pick the bread from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000254/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000254/ep_meta.json
deleted file mode 100644
index fc473067c91803c1ec1391e182a14f9b85dd56e1..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000254/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000496__measuring_cup__MeasuringCup009__s49600",
- "source_episode": 496,
- "target": "measuring_cup/MeasuringCup009",
- "seed0": 49600,
- "instruction": "Pick the measuring cup from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9609
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000255/actaug_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000255/actaug_meta.json
deleted file mode 100644
index d1fdfa43acabe559452b466161f380f4389c8df9..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000255/actaug_meta.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "mode": "constrained",
-  "attempt_seed": 5010010,
-  "grasp_t": 55,
-  "release_t": 132,
-  "dj7_init_deg": 8.265435860879506,
-  "policy_joints": "[7]",
-  "dj_handoff_deg": "7:-15.2",
-  "grip_handoff": 1.0,
-  "gripper_mode": "threshold",
-  "n_infer": 3,
-  "policy_steps": 21,
-  "peak_lift_m": 0.5116,
-  "lift_grip_m": 0.5069,
-  "rel6d": 1,
-  "weld_engage_t": 68,
-  "weld_release_t": 132,
-  "n_weld_engage": 1,
-  "grasped": 1,
-  "success": 1,
-  "n_steps": 166,
-  "s_jit": 0.9998,
-  "stage": "policy",
-  "episode": 501,
-  "instruction": "Pick the liquor from the counter and place it in the cabinet.",
-  "cameras": [
-    "robot0_agentview_left",
-    "robot0_agentview_right",
-    "robot0_eye_in_hand"
-  ]
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000255/ep_meta.json b/dataset/lerobot_actaug256_prio_pi05/extras/episode_000255/ep_meta.json
deleted file mode 100644
index eb658dd76b093402add82c9a41d1ec69610c36a3..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/extras/episode_000255/ep_meta.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "dump": "/lp-dev/jonghoon/actaug/outputs/robocasa_aug1024_prio_pi05/ep000501__soap_dispenser__SoapDispenser010__s50100",
- "source_episode": 501,
- "target": "soap_dispenser/SoapDispenser010",
- "seed0": 50100,
- "instruction": "Pick the soap dispenser from the counter and place it in the cabinet.",
- "stage": "policy",
- "s_jit": 0.9998
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/meta/episodes.jsonl b/dataset/lerobot_actaug256_prio_pi05/meta/episodes.jsonl
deleted file mode 100644
index db86bb2e454f6d44e467a7530d6faec65d931405..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/meta/episodes.jsonl
+++ /dev/null
@@ -1,256 +0,0 @@
-{"episode_index": 0, "tasks": ["Pick the soap dispenser from the counter and place it in the cabinet."], "length": 236}
-{"episode_index": 1, "tasks": ["Pick the donut from the counter and place it in the cabinet."], "length": 162}
-{"episode_index": 2, "tasks": ["Pick the measuring cup from the counter and place it in the cabinet."], "length": 167}
-{"episode_index": 3, "tasks": ["Pick the soap dispenser from the counter and place it in the cabinet."], "length": 189}
-{"episode_index": 4, "tasks": ["Pick the donut from the counter and place it in the cabinet."], "length": 145}
-{"episode_index": 5, "tasks": ["Pick the syrup bottle from the counter and place it in the cabinet."], "length": 222}
-{"episode_index": 6, "tasks": ["Pick the syrup bottle from the counter and place it in the cabinet."], "length": 230}
-{"episode_index": 7, "tasks": ["Pick the syrup bottle from the counter and place it in the cabinet."], "length": 235}
-{"episode_index": 8, "tasks": ["Pick the syrup bottle from the counter and place it in the cabinet."], "length": 227}
-{"episode_index": 9, "tasks": ["Pick the syrup bottle from the counter and place it in the cabinet."], "length": 225}
-{"episode_index": 10, "tasks": ["Pick the syrup bottle from the counter and place it in the cabinet."], "length": 224}
-{"episode_index": 11, "tasks": ["Pick the syrup bottle from the counter and place it in the cabinet."], "length": 218}
-{"episode_index": 12, "tasks": ["Pick the syrup bottle from the counter and place it in the cabinet."], "length": 235}
-{"episode_index": 13, "tasks": ["Pick the soap dispenser from the counter and place it in the cabinet."], "length": 352}
-{"episode_index": 14, "tasks": ["Pick the teapot from the counter and place it in the cabinet."], "length": 155}
-{"episode_index": 15, "tasks": ["Pick the jar from the counter and place it in the cabinet."], "length": 197}
-{"episode_index": 16, "tasks": ["Pick the jar from the counter and place it in the cabinet."], "length": 173}
-{"episode_index": 17, "tasks": ["Pick the teapot from the counter and place it in the cabinet."], "length": 167}
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-{"episode_index": 251, "tasks": ["Pick the donut from the counter and place it in the cabinet."], "length": 209}
-{"episode_index": 252, "tasks": ["Pick the measuring cup from the counter and place it in the cabinet."], "length": 229}
-{"episode_index": 253, "tasks": ["Pick the steak from the counter and place it in the cabinet."], "length": 224}
-{"episode_index": 254, "tasks": ["Pick the measuring cup from the counter and place it in the cabinet."], "length": 240}
-{"episode_index": 255, "tasks": ["Pick the soap dispenser from the counter and place it in the cabinet."], "length": 166}
diff --git a/dataset/lerobot_actaug256_prio_pi05/meta/info.json b/dataset/lerobot_actaug256_prio_pi05/meta/info.json
deleted file mode 100644
index 1086c6915ce420f2a1d49d4c30a8c99fe8578c31..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/meta/info.json
+++ /dev/null
@@ -1,179 +0,0 @@
-{
-    "codebase_version": "v2.1",
-    "robot_type": "PandaOmron",
-    "total_episodes": 256,
-    "total_frames": 61169,
-    "total_tasks": 106,
-    "total_videos": 768,
-    "total_chunks": 1,
-    "chunks_size": 1000,
-    "fps": 20,
-    "splits": {
-        "train": "0:256"
-    },
-    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
-    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
-    "features": {
-        "observation.images.robot0_eye_in_hand": {
-            "dtype": "video",
-            "shape": [
-                256,
-                256,
-                3
-            ],
-            "names": [
-                "height",
-                "width",
-                "channel"
-            ],
-            "video_info": {
-                "video.fps": 20,
-                "video.codec": "h264",
-                "video.pix_fmt": "yuv420p",
-                "video.is_depth_map": false,
-                "has_audio": false
-            },
-            "info": {
-                "video.height": 256,
-                "video.width": 256,
-                "video.codec": "h264",
-                "video.pix_fmt": "yuv420p",
-                "video.is_depth_map": false,
-                "video.fps": 20,
-                "video.channels": 3,
-                "has_audio": false
-            }
-        },
-        "observation.images.robot0_agentview_left": {
-            "dtype": "video",
-            "shape": [
-                256,
-                256,
-                3
-            ],
-            "names": [
-                "height",
-                "width",
-                "channel"
-            ],
-            "video_info": {
-                "video.fps": 20,
-                "video.codec": "h264",
-                "video.pix_fmt": "yuv420p",
-                "video.is_depth_map": false,
-                "has_audio": false
-            },
-            "info": {
-                "video.height": 256,
-                "video.width": 256,
-                "video.codec": "h264",
-                "video.pix_fmt": "yuv420p",
-                "video.is_depth_map": false,
-                "video.fps": 20,
-                "video.channels": 3,
-                "has_audio": false
-            }
-        },
-        "observation.images.robot0_agentview_right": {
-            "dtype": "video",
-            "shape": [
-                256,
-                256,
-                3
-            ],
-            "names": [
-                "height",
-                "width",
-                "channel"
-            ],
-            "video_info": {
-                "video.fps": 20,
-                "video.codec": "h264",
-                "video.pix_fmt": "yuv420p",
-                "video.is_depth_map": false,
-                "has_audio": false
-            },
-            "info": {
-                "video.height": 256,
-                "video.width": 256,
-                "video.codec": "h264",
-                "video.pix_fmt": "yuv420p",
-                "video.is_depth_map": false,
-                "video.fps": 20,
-                "video.channels": 3,
-                "has_audio": false
-            }
-        },
-        "annotation.human.task_description": {
-            "dtype": "int64",
-            "shape": [
-                1
-            ]
-        },
-        "annotation.human.task_name": {
-            "dtype": "int64",
-            "shape": [
-                1
-            ]
-        },
-        "observation.state": {
-            "dtype": "float64",
-            "shape": [
-                16
-            ]
-        },
-        "action": {
-            "dtype": "float64",
-            "shape": [
-                12
-            ]
-        },
-        "next.reward": {
-            "dtype": "float32",
-            "shape": [
-                1
-            ]
-        },
-        "next.done": {
-            "dtype": "bool",
-            "shape": [
-                1
-            ]
-        },
-        "timestamp": {
-            "dtype": "float32",
-            "shape": [
-                1
-            ],
-            "names": null
-        },
-        "frame_index": {
-            "dtype": "int64",
-            "shape": [
-                1
-            ],
-            "names": null
-        },
-        "episode_index": {
-            "dtype": "int64",
-            "shape": [
-                1
-            ],
-            "names": null
-        },
-        "index": {
-            "dtype": "int64",
-            "shape": [
-                1
-            ],
-            "names": null
-        },
-        "task_index": {
-            "dtype": "int64",
-            "shape": [
-                1
-            ],
-            "names": null
-        }
-    }
-}
\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/meta/modality.json b/dataset/lerobot_actaug256_prio_pi05/meta/modality.json
deleted file mode 100644
index 56282f9b9c03169b8b3fd1e84ae52bc8f056818e..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/meta/modality.json
+++ /dev/null
@@ -1,74 +0,0 @@
-{
-  "state": {
-    "base_position": {
-      "original_key": "observation.state",
-      "start": 0,
-      "end": 3
-    },
-    "base_rotation": {
-      "original_key": "observation.state",
-      "start": 3,
-      "end": 7,
-      "rotation_type": "quaternion"
-    },
-    "end_effector_position_relative": {
-      "original_key": "observation.state",
-      "start": 7,
-      "end": 10
-    },
-    "end_effector_rotation_relative": {
-      "original_key": "observation.state",
-      "start": 10,
-      "end": 14,
-      "rotation_type": "quaternion"
-    },
-    "gripper_qpos": {
-      "original_key": "observation.state",
-      "start": 14,
-      "end": 16
-    }
-  },
-  "action": {
-    "base_motion": {
-      "original_key": "action",
-      "start": 0,
-      "end": 4
-    },
-    "control_mode": {
-      "original_key": "action",
-      "start": 4,
-      "end": 5
-    },
-    "end_effector_position": {
-      "original_key": "action",
-      "start": 5,
-      "end": 8
-    },
-    "end_effector_rotation": {
-      "original_key": "action",
-      "start": 8,
-      "end": 11
-    },
-    "gripper_close": {
-      "original_key": "action",
-      "start": 11,
-      "end": 12
-    }
-  },
-  "video": {
-    "left_view": {
-      "original_key": "observation.images.robot0_agentview_left"
-    },
-    "right_view": {
-      "original_key": "observation.images.robot0_agentview_right"
-    },
-    "wrist_view": {
-      "original_key": "observation.images.robot0_eye_in_hand"
-    }
-  },
-  "annotation": {
-    "human.action.task_description": {
-      "original_key": "annotation.human.task_description"
-    }
-  }
-}
diff --git a/dataset/lerobot_actaug256_prio_pi05/meta/stats.json b/dataset/lerobot_actaug256_prio_pi05/meta/stats.json
deleted file mode 100644
index ac01698e7cd22b6d59ff765733b6530c627e581d..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/meta/stats.json
+++ /dev/null
@@ -1,198 +0,0 @@
-{
- "observation.state": {
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\ No newline at end of file
diff --git a/dataset/lerobot_actaug256_prio_pi05/meta/tasks.jsonl b/dataset/lerobot_actaug256_prio_pi05/meta/tasks.jsonl
deleted file mode 100644
index 5c947538003e51f44ab51de68e67b6592bfd9fd6..0000000000000000000000000000000000000000
--- a/dataset/lerobot_actaug256_prio_pi05/meta/tasks.jsonl
+++ /dev/null
@@ -1,106 +0,0 @@
-{"task_index": 0, "task": "Pick the honey bottle from the counter and place it in the cabinet."}
-{"task_index": 1, "task": "Pick the milk from the counter and place it in the cabinet."}
-{"task_index": 2, "task": "Pick the sweet potato from the counter and place it in the cabinet."}
-{"task_index": 3, "task": "Pick the cheese from the counter and place it in the cabinet."}
-{"task_index": 4, "task": "Pick the carrot from the counter and place it in the cabinet."}
-{"task_index": 5, "task": "Pick the whisk from the counter and place it in the cabinet."}
-{"task_index": 6, "task": "Pick the ketchup from the counter and place it in the cabinet."}
-{"task_index": 7, "task": "Pick the corn from the counter and place it in the cabinet."}
-{"task_index": 8, "task": "Pick the apple from the counter and place it in the cabinet."}
-{"task_index": 9, "task": "Pick the peach from the counter and place it in the cabinet."}
-{"task_index": 10, "task": "Pick the bottled water from the counter and place it in the cabinet."}
-{"task_index": 11, "task": "Pick the broccoli from the counter and place it in the cabinet."}
-{"task_index": 12, "task": "Pick the salt and pepper shaker from the counter and place it in the cabinet."}
-{"task_index": 13, "task": "Pick the banana from the counter and place it in the cabinet."}
-{"task_index": 14, "task": "Pick the wine from the counter and place it in the cabinet."}
-{"task_index": 15, "task": "Pick the orange from the counter and place it in the cabinet."}
-{"task_index": 16, "task": "Pick the potato from the counter and place it in the cabinet."}
-{"task_index": 17, "task": "Pick the tupperware from the counter and place it in the cabinet."}
-{"task_index": 18, "task": "Pick the mango from the counter and place it in the cabinet."}
-{"task_index": 19, "task": "Pick the squash from the counter and place it in the cabinet."}
-{"task_index": 20, "task": "Pick the jar from the counter and place it in the cabinet."}
-{"task_index": 21, "task": "Pick the tongs from the counter and place it in the cabinet."}
-{"task_index": 22, "task": "Pick the mayonnaise from the counter and place it in the cabinet."}
-{"task_index": 23, "task": "Pick the reamer from the counter and place it in the cabinet."}
-{"task_index": 24, "task": "Pick the can from the counter and place it in the cabinet."}
-{"task_index": 25, "task": "Pick the hot dog from the counter and place it in the cabinet."}
-{"task_index": 26, "task": "Pick the pear from the counter and place it in the cabinet."}
-{"task_index": 27, "task": "Pick the bar from the counter and place it in the cabinet."}
-{"task_index": 28, "task": "Pick the mushroom from the counter and place it in the cabinet."}
-{"task_index": 29, "task": "Pick the cereal from the counter and place it in the cabinet."}
-{"task_index": 30, "task": "Pick the jam from the counter and place it in the cabinet."}
-{"task_index": 31, "task": "Pick the ladle from the counter and place it in the cabinet."}
-{"task_index": 32, "task": "Pick the cupcake from the counter and place it in the cabinet."}
-{"task_index": 33, "task": "Pick the jug wide opening from the counter and place it in the cabinet."}
-{"task_index": 34, "task": "Pick the egg from the counter and place it in the cabinet."}
-{"task_index": 35, "task": "Pick the mug from the counter and place it in the cabinet."}
-{"task_index": 36, "task": "Pick the tangerine from the counter and place it in the cabinet."}
-{"task_index": 37, "task": "Pick the lemon from the counter and place it in the cabinet."}
-{"task_index": 38, "task": "Pick the eggplant from the counter and place it in the cabinet."}
-{"task_index": 39, "task": "Pick the fish from the counter and place it in the cabinet."}
-{"task_index": 40, "task": "Pick the kettle from the counter and place it in the cabinet."}
-{"task_index": 41, "task": "Pick the soap dispenser from the counter and place it in the cabinet."}
-{"task_index": 42, "task": "Pick the water bottle from the counter and place it in the cabinet."}
-{"task_index": 43, "task": "Pick the bar soap from the counter and place it in the cabinet."}
-{"task_index": 44, "task": "Pick the spray from the counter and place it in the cabinet."}
-{"task_index": 45, "task": "Pick the boxed food from the counter and place it in the cabinet."}
-{"task_index": 46, "task": "Pick the teapot from the counter and place it in the cabinet."}
-{"task_index": 47, "task": "Pick the cream cheese stick from the counter and place it in the cabinet."}
-{"task_index": 48, "task": "Pick the lime from the counter and place it in the cabinet."}
-{"task_index": 49, "task": "Pick the sugar cube from the counter and place it in the cabinet."}
-{"task_index": 50, "task": "Pick the kiwi from the counter and place it in the cabinet."}
-{"task_index": 51, "task": "Pick the turkey slice from the counter and place it in the cabinet."}
-{"task_index": 52, "task": "Pick the turmeric from the counter and place it in the cabinet."}
-{"task_index": 53, "task": "Pick the cheese grater from the counter and place it in the cabinet."}
-{"task_index": 54, "task": "Pick the hotdog bun from the counter and place it in the cabinet."}
-{"task_index": 55, "task": "Pick the colander from the counter and place it in the cabinet."}
-{"task_index": 56, "task": "Pick the marshmallow from the counter and place it in the cabinet."}
-{"task_index": 57, "task": "Pick the mustard from the counter and place it in the cabinet."}
-{"task_index": 58, "task": "Pick the croissant from the counter and place it in the cabinet."}
-{"task_index": 59, "task": "Pick the tomato from the counter and place it in the cabinet."}
-{"task_index": 60, "task": "Pick the pitcher from the counter and place it in the cabinet."}
-{"task_index": 61, "task": "Pick the chicken drumstick from the counter and place it in the cabinet."}
-{"task_index": 62, "task": "Pick the onion from the counter and place it in the cabinet."}
-{"task_index": 63, "task": "Pick the bell pepper from the counter and place it in the cabinet."}
-{"task_index": 64, "task": "Pick the cookie dough ball from the counter and place it in the cabinet."}
-{"task_index": 65, "task": "Pick the shrimp from the counter and place it in the cabinet."}
-{"task_index": 66, "task": "Pick the boxed drink from the counter and place it in the cabinet."}
-{"task_index": 67, "task": "Pick the pizza cutter from the counter and place it in the cabinet."}
-{"task_index": 68, "task": "Pick the sponge from the counter and place it in the cabinet."}
-{"task_index": 69, "task": "Pick the cup from the counter and place it in the cabinet."}
-{"task_index": 70, "task": "Pick the wooden spoon from the counter and place it in the cabinet."}
-{"task_index": 71, "task": "Pick the cake from the counter and place it in the cabinet."}
-{"task_index": 72, "task": "Pick the peeler from the counter and place it in the cabinet."}
-{"task_index": 73, "task": "Pick the straw from the counter and place it in the cabinet."}
-{"task_index": 74, "task": "Pick the dish brush from the counter and place it in the cabinet."}
-{"task_index": 75, "task": "Pick the baguette from the counter and place it in the cabinet."}
-{"task_index": 76, "task": "Pick the condiment bottle from the counter and place it in the cabinet."}
-{"task_index": 77, "task": "Pick the lemon wedge from the counter and place it in the cabinet."}
-{"task_index": 78, "task": "Pick the rolling pin from the counter and place it in the cabinet."}
-{"task_index": 79, "task": "Pick the bottled drink from the counter and place it in the cabinet."}
-{"task_index": 80, "task": "Pick the syrup bottle from the counter and place it in the cabinet."}
-{"task_index": 81, "task": "Pick the donut from the counter and place it in the cabinet."}
-{"task_index": 82, "task": "Pick the yogurt from the counter and place it in the cabinet."}
-{"task_index": 83, "task": "Pick the garlic from the counter and place it in the cabinet."}
-{"task_index": 84, "task": "Pick the candle from the counter and place it in the cabinet."}
-{"task_index": 85, "task": "Pick the ice cube from the counter and place it in the cabinet."}
-{"task_index": 86, "task": "Pick the paprika from the counter and place it in the cabinet."}
-{"task_index": 87, "task": "Pick the beer from the counter and place it in the cabinet."}
-{"task_index": 88, "task": "Pick the avocado from the counter and place it in the cabinet."}
-{"task_index": 89, "task": "Pick the oil and vinegar bottle from the counter and place it in the cabinet."}
-{"task_index": 90, "task": "Pick the canned food from the counter and place it in the cabinet."}
-{"task_index": 91, "task": "Pick the bread from the counter and place it in the cabinet."}
-{"task_index": 92, "task": "Pick the strainer from the counter and place it in the cabinet."}
-{"task_index": 93, "task": "Pick the cinnamon from the counter and place it in the cabinet."}
-{"task_index": 94, "task": "Pick the cucumber from the counter and place it in the cabinet."}
-{"task_index": 95, "task": "Pick the shaker from the counter and place it in the cabinet."}
-{"task_index": 96, "task": "Pick the bowl from the counter and place it in the cabinet."}
-{"task_index": 97, "task": "Pick the glass cup from the counter and place it in the cabinet."}
-{"task_index": 98, "task": "Pick the measuring cup from the counter and place it in the cabinet."}
-{"task_index": 99, "task": "Pick the steak from the counter and place it in the cabinet."}
-{"task_index": 100, "task": "Pick the coffee cup from the counter and place it in the cabinet."}
-{"task_index": 101, "task": "Pick the jug from the counter and place it in the cabinet."}
-{"task_index": 102, "task": "Pick the liquor from the counter and place it in the cabinet."}
-{"task_index": 103, "task": "Pick the kebab skewer from the counter and place it in the cabinet."}
-{"task_index": 104, "task": "Pick the juice from the counter and place it in the cabinet."}
-{"task_index": 105, "task": "PickPlaceCounterToCabinet"}
diff --git a/dataset/lerobot_actaug256_prio_pi05/meta/view_manifest.json b/dataset/lerobot_actaug256_prio_pi05/meta/view_manifest.json
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-{
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-}
\ No newline at end of file
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