diff --git a/.gitattributes b/.gitattributes
index 5b3fad8e625816c27f51ee0d8b27607361a15f1b..5e58fff282b6e8d74c6b4993f4b1f901870e1872 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2243,3 +2243,12 @@ eval/YAM/V2/dp/bowl_handoff/data/round_0005/action/executed_action_dict.pkl filt
 eval/YAM/V2/dp/bowl_handoff/data/round_0008/robot/robot_state_dict.pkl filter=lfs diff=lfs merge=lfs -text
 eval/YAM/V2/dp/spatula_handoff/data/round_0010/robot/robot_state_dict.pkl filter=lfs diff=lfs merge=lfs -text
 eval/YAM/V2/dp/spatula_handoff/data/round_0007/robot/robot_state_dict.pkl filter=lfs diff=lfs merge=lfs -text
+eval/YAM/V2/dp/bowl_handoff/data/round_0012/robot/robot_state_dict.pkl filter=lfs diff=lfs merge=lfs -text
+eval/YAM/V2/dp/bowl_handoff/data/round_0014/robot/robot_state_dict.pkl filter=lfs diff=lfs merge=lfs -text
+eval/YAM/V2/dp/banana_handoff/data/round_0012/robot/robot_state_dict.pkl filter=lfs diff=lfs merge=lfs -text
+eval/YAM/V2/dp/banana_handoff/data/round_0012/action/executed_action_dict.pkl filter=lfs diff=lfs merge=lfs -text
+eval/YAM/V2/dp/bowl_handoff/data/round_0010/robot/robot_state_dict.pkl filter=lfs diff=lfs merge=lfs -text
+eval/YAM/V2/dp/banana_handoff/data/round_0001/robot/robot_state_dict.pkl filter=lfs diff=lfs merge=lfs -text
+eval/YAM/V2/dp/bowl_handoff/data/round_0009/robot/robot_state_dict.pkl filter=lfs diff=lfs merge=lfs -text
+eval/YAM/V2/dp/banana_handoff/data/round_0005/robot/robot_state_dict.pkl filter=lfs diff=lfs merge=lfs -text
+eval/YAM/V2/dp/banana_handoff/data/round_0005/action/executed_action_dict.pkl filter=lfs diff=lfs merge=lfs -text
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0001/camera/base_0_rgb.mp4 b/eval/YAM/V2/dp/banana_handoff/data/round_0001/camera/base_0_rgb.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f20bea566fe84b1727bf9c020da259d47dfad88e
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0001/camera/base_0_rgb.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb7e0e7c46abe2e52804f6e18e9987807dd454f0f11193861972cf47d76e4f07
+size 3907631
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0001/camera/left_wrist_0_rgb.mp4 b/eval/YAM/V2/dp/banana_handoff/data/round_0001/camera/left_wrist_0_rgb.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0009b117223b95f36e475b3035faf8908ca9d053
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0001/camera/left_wrist_0_rgb.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:577a853c9b91e23b461b86e9f4062552c284b2e9cf0eaa88edd7922c7f9bcbd1
+size 4180283
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0001/camera/right_wrist_0_rgb.mp4 b/eval/YAM/V2/dp/banana_handoff/data/round_0001/camera/right_wrist_0_rgb.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b5f62f9ef7cffb088cfbb79a27b58fbd3e3bce02
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0001/camera/right_wrist_0_rgb.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7967ab234ff8e1a6da6474a1fda03ee2192770f7a4cf0b88d3999bad48780f8
+size 4784327
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/plans/async_plan_0000.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/plans/async_plan_0000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e60b09647ec06a40023a87ff099fdadcdd6847e0
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/plans/async_plan_0000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2df5f178d0f5f44302f3c1a38b945024f60f09390f8ccde684343894e9296016
+size 6068
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/plans/async_plan_0001.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/plans/async_plan_0001.npz
new file mode 100644
index 0000000000000000000000000000000000000000..53e79554568e401c4006ec07ba18b1782ac97442
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/plans/async_plan_0001.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e369af34834cd9406b47868ee04a4c0b4b46183295f4d1455f027230ea7527b
+size 5508
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/plans/async_plan_0002.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/plans/async_plan_0002.npz
new file mode 100644
index 0000000000000000000000000000000000000000..72e0d76073bd6149d0a598dc24dfb7439a601a97
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/plans/async_plan_0002.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15b7afe824e1df4880c54e88ed2c3cde6110b2104458c9a782185efd9274d47e
+size 5620
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/plans/async_plan_0003.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/plans/async_plan_0003.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c555a022c03016903751f69f2547e71f18ee99dd
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/plans/async_plan_0003.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8916f2f118778636dd8fb9c4db549070f746a1dd7f898190e5bae3c649663c9
+size 5508
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/plans/async_plan_0004.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/plans/async_plan_0004.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b67c31ea457272ef634ed11872895be54d69e320
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/plans/async_plan_0004.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8eb0c200f3016823f1b7489b256b83bb75f3c687b3951e9d749b25377f8090ca
+size 5620
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/plans/async_plan_0005.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/plans/async_plan_0005.npz
new file mode 100644
index 0000000000000000000000000000000000000000..494f5d4579c0b9b34dadc417470edb7d6f9e5a6b
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/plans/async_plan_0005.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:781494a6736d9e98c53f71e904c1189c43fe2680926a1d50590455910ffb2bf8
+size 5396
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/plans/async_plan_0006.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/plans/async_plan_0006.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5efea431182b74acdebbe0b6a4da8b0a18f6f57b
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/plans/async_plan_0006.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2d82eb5d67089582d8faf41e61a57d7260f80a33b87590c1828e0ec740bf26f
+size 5508
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/plans/async_plan_0007.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/plans/async_plan_0007.npz
new file mode 100644
index 0000000000000000000000000000000000000000..10ee349dedfe47826d3bd6130b4aa7b21d6f5bdc
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/plans/async_plan_0007.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1097e013605ec9991288c60b800ac58ea57c89d67bad1c098cec529ea478a21
+size 5396
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/plans/async_plan_0008.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/plans/async_plan_0008.npz
new file mode 100644
index 0000000000000000000000000000000000000000..79623d40cf9661ca8b618b6291a2477eb3020739
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/plans/async_plan_0008.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e94338dcbfb36c87acb16cbd91b5bd0bf82ca56968b44970b86152b91a48960
+size 5508
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/plans/async_plan_0009.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/plans/async_plan_0009.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e025fabb0ad0602487914889a572e25eb8cbd2af
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/plans/async_plan_0009.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:296bf4224b12d92c220e057629dce7ef8aceaaa91f2c6f12a1cae2f6cb651e09
+size 5396
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/plans/async_plan_0010.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/plans/async_plan_0010.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5ba89de866319afcbaf136ae3bcf362c71ce0e5e
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/plans/async_plan_0010.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e676409facd84fb5fa6f6ac911f2db25ebfa0c379b594f681ee2d87e71dee6bf
+size 5508
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/plans/async_plan_0011.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/plans/async_plan_0011.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6d0fa8921364b0811d6c3f5f5fd718c11fe9690f
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/plans/async_plan_0011.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2663a4c2771d0fc09a6c1fe13f96f708a0cddfcec7a149e17dcc554c7f918297
+size 5508
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/plans/async_plan_0012.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/plans/async_plan_0012.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3dd527d4f4c7eb1c102f0695743bf03df0814712
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/plans/async_plan_0012.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b304ed6fae2e0b6bc30a02c086e81e9d65a6523a9b9f2ae5ee24e9f101ed38b3
+size 5620
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/plans/async_plan_0013.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/plans/async_plan_0013.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8cd44c5889f6352035023fa207c546a43a4aa76e
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/plans/async_plan_0013.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44208b22d541914ef42fcc9a100fe35bc29b7c76e5f97d2b65a3298a8a5df2f7
+size 5508
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/plans/async_plan_0014.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/plans/async_plan_0014.npz
new file mode 100644
index 0000000000000000000000000000000000000000..dedec0a528adfa6cf87656797392cf91719a5bbf
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/plans/async_plan_0014.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a03eb7d36cb6a7da5c1da3505ec2b138e893444f5e167a5e3f052dd20f598e77
+size 5620
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/plans/async_plan_0015.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/plans/async_plan_0015.npz
new file mode 100644
index 0000000000000000000000000000000000000000..bcf693d1d55bfdf40f8cb3860166c21f7a35aab0
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/plans/async_plan_0015.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:464ce9f37769efbd11019d0476812767f89f5f3af7aeab4bc3caffa9be0ec2dd
+size 5508
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/plans/async_plan_0016.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/plans/async_plan_0016.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5d9f39a2d09c478a33d5a8cbef137830d352e64f
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/plans/async_plan_0016.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3207f17ebbf9cc50727848eba54305b57279daf1e04b00ca417c37c2115fdf20
+size 4164
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/predictions/prediction_0000.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/predictions/prediction_0000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..83dfb4c526e3f84d1c1cd16e790e2e6c5e51c050
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/predictions/prediction_0000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bda0109e02f426f46f08b1c6192376208766703f9fac21d4f589572137b4f1b0
+size 446174
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/predictions/prediction_0001.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/predictions/prediction_0001.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3ca989c2680de7e81938c52b9fe2290b0baea8c9
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/predictions/prediction_0001.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a03af2441bdb551991ea8b8c8466838668f2eb36b5407a7a22329ed35a859256
+size 448015
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/predictions/prediction_0002.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/predictions/prediction_0002.npz
new file mode 100644
index 0000000000000000000000000000000000000000..12521bc5ac2228c614bb0e3c888361b198126c9b
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/predictions/prediction_0002.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05329b2a9ebfc064a08fabbcde9433fb93391bb2e7b20a539dd70730dadb259c
+size 439009
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/predictions/prediction_0003.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/predictions/prediction_0003.npz
new file mode 100644
index 0000000000000000000000000000000000000000..aa004e296172e7db8da78709d45d7f7400f801ae
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/predictions/prediction_0003.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30b81ee009a98401590d929074d7fc7e3bff023632561ca29b5d0b993b8694fb
+size 446236
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/predictions/prediction_0004.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/predictions/prediction_0004.npz
new file mode 100644
index 0000000000000000000000000000000000000000..26d52156a2d6b6fc60ca82bce5d949571cda53ec
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/predictions/prediction_0004.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b75af60276e2ed0d992fc6bd17e4a927ebd3767cf431a2d08ddefd25b9af3c21
+size 456824
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/predictions/prediction_0005.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/predictions/prediction_0005.npz
new file mode 100644
index 0000000000000000000000000000000000000000..89c5e54a7163141860986f7a6c5326770c160ca8
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/predictions/prediction_0005.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1879ad80eef8e6e70ddd772d05cf215308e356d1645549018f071e5223d207f9
+size 462597
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/predictions/prediction_0006.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/predictions/prediction_0006.npz
new file mode 100644
index 0000000000000000000000000000000000000000..dab7b54ff313e228cadff3bcd6e7bb5f2add26f8
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/predictions/prediction_0006.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b507fd637257ac1b3450fd9f2290439a1882c652bef9d6f44a5c499caf57166e
+size 470403
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/predictions/prediction_0007.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/predictions/prediction_0007.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0761e41f374992fb561810f4a1e98a0764f64cd2
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/predictions/prediction_0007.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44f7249b3a9fc7401390d61a69160d84808250147e24aad12b6a893cebeda4ab
+size 482945
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/predictions/prediction_0008.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/predictions/prediction_0008.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cf44e67d2063dcaddc9519e24aef375530768b6c
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/predictions/prediction_0008.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eca3912f9470db43509886bca74556c91ba0f760f1e6831e06d268f24f85cb8e
+size 479041
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/predictions/prediction_0009.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/predictions/prediction_0009.npz
new file mode 100644
index 0000000000000000000000000000000000000000..94b54168634c282cb6093365fde36c3e99f0d4bf
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/predictions/prediction_0009.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9f378245d047314679d028c5ba20f2f47b78dad8e4980fcb39da9071452619a
+size 474282
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/predictions/prediction_0010.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/predictions/prediction_0010.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6a68970c7e04bd6716607d2c8731e4ce9344788b
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/predictions/prediction_0010.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5efd248400ca23a5b29cd48cc09b73431915fa4d88b4807514d4d6d2d0ad6988
+size 476818
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/predictions/prediction_0011.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/predictions/prediction_0011.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9214d460b13ba205a8ab0ab46e9644ed8e0a211b
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/predictions/prediction_0011.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f708a6518269c1445b7c7b24fd918d9fd9bf6da56b7a26edbe26d47f5a88a173
+size 473927
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/predictions/prediction_0012.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/predictions/prediction_0012.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7a5838e44186a05fc519203239d0aae4650e91d2
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/predictions/prediction_0012.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1eda25dfc23962e9aca73b712d39470513537a4502e460bd2f6b9233a331ab3
+size 469903
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/predictions/prediction_0013.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/predictions/prediction_0013.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a0f612a927ecf455cc29c63a28fa1bc3285a273c
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/predictions/prediction_0013.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4bbb0a5e85afeb45e68160f8da6f067a14a4960d3bbdbec6ee557c0954ae431e
+size 458464
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/predictions/prediction_0014.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/predictions/prediction_0014.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ac28c3d533d0dcd3552b7c9cce893075bfeb9695
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/predictions/prediction_0014.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:317c7c8ace848e33eea83ca0bc569fae80a8c8051a0674923283302fb81d0d7c
+size 460826
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/predictions/prediction_0015.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/predictions/prediction_0015.npz
new file mode 100644
index 0000000000000000000000000000000000000000..bf4c2cea155c17dd3ce394bcab3f32e92f7293da
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/predictions/prediction_0015.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b11dc96ec42e819e8197637f5e5e8c296c2b6dd68073cbd4634599f13770e4a1
+size 455576
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/predictions/prediction_0016.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/predictions/prediction_0016.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2ee32d19bcfcbe7d70cb18550f3f746a93f4f4f7
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0001/debug/predictions/prediction_0016.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06bd73f092856b1a0c4cd6da8680d0b586d40f1327b54492edd5ba74bc3957ce
+size 454967
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0001/robot/robot_state_dict.pkl b/eval/YAM/V2/dp/banana_handoff/data/round_0001/robot/robot_state_dict.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..e004828948989a42da6e3744ea903fec298fdc61
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0001/robot/robot_state_dict.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4762f32840560527d9407f8708015e35b99edf529f5ad913343e7e8a3217cdee
+size 536164
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0005/action/executed_action_dict.pkl b/eval/YAM/V2/dp/banana_handoff/data/round_0005/action/executed_action_dict.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..687eb186087f255104deabfcc0d84820ce22a9ff
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0005/action/executed_action_dict.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed02ad9241daac04b2c26786012960159cf61a3fc61ed7d192e3c0e7235f9838
+size 127773
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0005/camera/base_0_rgb.mp4 b/eval/YAM/V2/dp/banana_handoff/data/round_0005/camera/base_0_rgb.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e41102a69963c70de54be4fdda5d93f255cca24d
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0005/camera/base_0_rgb.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4d2e818aca4c447467ef74faca99c871475de1915787bf3d0218120ec606145
+size 12501420
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0005/camera/left_wrist_0_rgb.mp4 b/eval/YAM/V2/dp/banana_handoff/data/round_0005/camera/left_wrist_0_rgb.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..aef78ffdab45e45710124cb31262e661cbff9969
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0005/camera/left_wrist_0_rgb.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b509c75cb0600925a6a533986467385b2f955e9eed04e66d25dcc11079360c2
+size 14549615
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0005/camera/right_wrist_0_rgb.mp4 b/eval/YAM/V2/dp/banana_handoff/data/round_0005/camera/right_wrist_0_rgb.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..243e6d1f29e9e2688a2689cca8e397826c4de6ed
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0005/camera/right_wrist_0_rgb.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:794003bcab69f3d71bd11c0bbacc81eb23fdfa6d05ed0a4d30e23938dfe85173
+size 16221596
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0005/debug/predictions/prediction_0001.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0005/debug/predictions/prediction_0001.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e8dc470750e665a6d7bfb572ae2ea2bf07d3bd2b
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0005/debug/predictions/prediction_0001.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7fdfdf6058a0b9ab8a59b2027ba0ec3c71c7cf91cc2d2a014f9511326c651d2
+size 434916
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0005/debug/predictions/prediction_0002.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0005/debug/predictions/prediction_0002.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a451b016e2b01d3ca979cadc9622130aca138bcd
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0005/debug/predictions/prediction_0002.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d6f4a661cbe43af18fa19db0d5b1fb710a088e21ef8f17997c66a86e7b2085e
+size 443272
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0005/debug/predictions/prediction_0004.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0005/debug/predictions/prediction_0004.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1b4bda084da2d2af33934c565e86e3f1e64dd724
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0005/debug/predictions/prediction_0004.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2fdbec8ee8abc8f8a489264d092e92eecba0e98efa0f0c37635d1e4532e9fddc
+size 450050
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0005/debug/predictions/prediction_0010.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0005/debug/predictions/prediction_0010.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1994de8d440699063e62e2f3681069392cdd32de
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0005/debug/predictions/prediction_0010.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5aa89a03240f9811ebd3d0812eb9a9ca29940bb4171731665090a525cbd861e0
+size 459575
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0005/debug/predictions/prediction_0011.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0005/debug/predictions/prediction_0011.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2927c2ac4f40cb914913a89fd73bca5f32b822b9
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0005/debug/predictions/prediction_0011.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:840f19f4915c5d750f5a23c5e9a378ebe7ce85d4bea9235753f2ecbb7e7e1bbb
+size 457797
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0005/debug/predictions/prediction_0012.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0005/debug/predictions/prediction_0012.npz
new file mode 100644
index 0000000000000000000000000000000000000000..90b22e6a272ddc656119d960aef019e0075cdd90
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0005/debug/predictions/prediction_0012.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b2e40511efc78e9a6744ab7d4c6b4144a9df2232c63a5aa4d21116d59258294
+size 456776
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0005/debug/predictions/prediction_0017.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0005/debug/predictions/prediction_0017.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b8792e46b3ee0971a192b0bff38a950a90acfcd3
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0005/debug/predictions/prediction_0017.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09ca6799f941d6787c417e77dc574de1143f36cca5f8362c9ca112d9b3a996bc
+size 478448
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0005/debug/predictions/prediction_0018.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0005/debug/predictions/prediction_0018.npz
new file mode 100644
index 0000000000000000000000000000000000000000..388b2e6970671d3af78c18c5e25774b3e84a8a90
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0005/debug/predictions/prediction_0018.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db2040b67cafad5e1eb6bdc96456ecdd017422f38689e71ab5fde4a5b3216aac
+size 474406
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0005/debug/predictions/prediction_0023.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0005/debug/predictions/prediction_0023.npz
new file mode 100644
index 0000000000000000000000000000000000000000..02a107fe59a82f52bc209368a2fd884213bae1cf
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0005/debug/predictions/prediction_0023.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8848c6d64a020a541422dc992d3a6796cda322eb81e42803db63555b7f536e63
+size 467808
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0005/debug/predictions/prediction_0024.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0005/debug/predictions/prediction_0024.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4ff77e6f8c637bb4df0de902d506d1916edd6fa7
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0005/debug/predictions/prediction_0024.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80fa878076275a03dd9be5643501a73b81f031720e509b9d67f372aa0eb1dc94
+size 469567
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0005/robot/robot_state_dict.pkl b/eval/YAM/V2/dp/banana_handoff/data/round_0005/robot/robot_state_dict.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..9b2f9f669b35145a73dd57766065c1e7b160976b
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0005/robot/robot_state_dict.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa9418e80ea6416ddc64b67c8946a4cc26f9939c4a4886b1061b55616b24598f
+size 1783723
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0012/action/executed_action_dict.pkl b/eval/YAM/V2/dp/banana_handoff/data/round_0012/action/executed_action_dict.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..779982af62d1e9491bd1d3934631fc9270440788
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0012/action/executed_action_dict.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:825106d6fe8244832accf779c16d8828084e151269f01a13973e27110f8cc581
+size 101213
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0012/camera/base_0_rgb.mp4 b/eval/YAM/V2/dp/banana_handoff/data/round_0012/camera/base_0_rgb.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5d9c114542849e3eff358eaff5df4534bec1913f
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0012/camera/base_0_rgb.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db3ec25d67cc73cdce7ff7c6dcb02e0e65d3a2173278960a2c045d176a9123c6
+size 10707181
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0012/camera/left_wrist_0_rgb.mp4 b/eval/YAM/V2/dp/banana_handoff/data/round_0012/camera/left_wrist_0_rgb.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..923cad6a49faf0687990472da4a22c80f65c3205
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0012/camera/left_wrist_0_rgb.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca57453d1b4540759bda9e1a9e7d42b025969f44174abd4245475c08806e674b
+size 11529326
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0012/camera/right_wrist_0_rgb.mp4 b/eval/YAM/V2/dp/banana_handoff/data/round_0012/camera/right_wrist_0_rgb.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2934453231ec491da921d9dc016920f2651a5a9c
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0012/camera/right_wrist_0_rgb.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e13da944ca6c264f5c7db1ef8e83730beeb9b4136d4fd0a4a3b79801e887f3d
+size 12754453
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0012/debug/predictions/prediction_0000.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0012/debug/predictions/prediction_0000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ec55f3bc431b460ed2b17ddb2b1c96aff3594e43
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0012/debug/predictions/prediction_0000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c989df1bbdd7b99d6eda521ac57713c96b2b7f80937265f907b8811ee844240e
+size 443126
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0012/debug/predictions/prediction_0001.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0012/debug/predictions/prediction_0001.npz
new file mode 100644
index 0000000000000000000000000000000000000000..43269e13373f9ffeb2107a28a16d8dab009b1544
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0012/debug/predictions/prediction_0001.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47bf52cecdb40cf1988df83e8a252474e4c3f01fabf00d68c8a0cefade026542
+size 439054
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0012/debug/predictions/prediction_0002.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0012/debug/predictions/prediction_0002.npz
new file mode 100644
index 0000000000000000000000000000000000000000..162850f6087869ea826ffc1c0d6efc59682be1b5
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0012/debug/predictions/prediction_0002.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af93bb8518506a4c56b6f0c6c0d16351b38c3598a5237211c6902d6b3040dfe6
+size 441410
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0012/debug/predictions/prediction_0003.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0012/debug/predictions/prediction_0003.npz
new file mode 100644
index 0000000000000000000000000000000000000000..be9813f7a25c7a1abff3796d990426fb18692be2
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0012/debug/predictions/prediction_0003.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14ad94f3aa2a3cb0f73ab1dcefec6a68991780be5d62f86e96f9314ee4bfc71e
+size 441882
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0012/debug/predictions/prediction_0004.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0012/debug/predictions/prediction_0004.npz
new file mode 100644
index 0000000000000000000000000000000000000000..56b7e368abd82d6fa5c309be28f65150801ac228
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0012/debug/predictions/prediction_0004.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74061f80ec22fd92f53c0d8fd758ac58c291544b5f3cc6122de3478639227dbf
+size 438606
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0012/debug/predictions/prediction_0005.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0012/debug/predictions/prediction_0005.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b40f429c0e30e2a3b4f456ad90f0d39c096d4f69
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0012/debug/predictions/prediction_0005.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:918cec6e679c06adbf3513128937e066731a63d1830deb9ad01a99822dc7a245
+size 446588
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0012/debug/predictions/prediction_0006.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0012/debug/predictions/prediction_0006.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d5f50ce46855b006f4311d4c3252f50e0ce9f1bb
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0012/debug/predictions/prediction_0006.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2f59b1498b8104073b16ace202e8133e1e407c322397fef7f3a6b6536025367
+size 444565
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0012/debug/predictions/prediction_0007.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0012/debug/predictions/prediction_0007.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4d96ce25ae2273526c365834a61334f664f41e49
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0012/debug/predictions/prediction_0007.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3c7e06728410aaa60fc298b24c4d167652f9b98d1986dc2804ff53e1eb80ca0
+size 448650
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0012/debug/predictions/prediction_0008.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0012/debug/predictions/prediction_0008.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a5e69b06b56cd85c69098a8a0592f3da8177f233
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0012/debug/predictions/prediction_0008.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c427ea239f41b860683d72bae9da0af75bc7a4637dd8f73dfeb996343b28309b
+size 451628
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0012/debug/predictions/prediction_0009.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0012/debug/predictions/prediction_0009.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c94bfa73faa57f95ee4f6c13830b295fbae18705
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0012/debug/predictions/prediction_0009.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5420345accc10b1a1947d6ac43f8b13c3a99df6c6cf516832648c037a0e0185c
+size 454717
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0012/debug/predictions/prediction_0010.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0012/debug/predictions/prediction_0010.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3efe78192171137d85fb371a7032468493be8191
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0012/debug/predictions/prediction_0010.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:807eed81c87ed19cf825175aebf7279734193e26c945e0543fc0e7b3ecab9394
+size 453370
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0012/debug/predictions/prediction_0011.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0012/debug/predictions/prediction_0011.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9411020e1d5a6e9ae0ba0fe2b2d3b97cabf28a81
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0012/debug/predictions/prediction_0011.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c109c3f9e839958ba26d5e56b5f48fd6e6ab495ef42e0e97e533b3a04b96ec4e
+size 453201
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0012/debug/predictions/prediction_0012.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0012/debug/predictions/prediction_0012.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2e03aa695bcff5922f0d31402830257a19c53ee0
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0012/debug/predictions/prediction_0012.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ea5302871a64b210570ddd429ab2799e996a0a842d21427d121f97790b5c529
+size 447268
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0012/debug/predictions/prediction_0013.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0012/debug/predictions/prediction_0013.npz
new file mode 100644
index 0000000000000000000000000000000000000000..434c1f40f05de8f91269bacddb49fb4eaca1b8ac
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0012/debug/predictions/prediction_0013.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b01f39f2807af5b345c91cf940e59643d29ea03fad017a993326d088e64f50f8
+size 449322
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0012/debug/predictions/prediction_0014.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0012/debug/predictions/prediction_0014.npz
new file mode 100644
index 0000000000000000000000000000000000000000..df20b76390ee2eda31943875748bc918f0a50383
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0012/debug/predictions/prediction_0014.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c70952b17ffdd1028a22ab2660f841aeba4595d83f214751fea3ab20ad39da10
+size 447997
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0012/debug/predictions/prediction_0015.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0012/debug/predictions/prediction_0015.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ad76ac3ed34159c34e57b2dc36997619aa557ee2
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0012/debug/predictions/prediction_0015.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec1f39cedc9ff25d8d81ac36b22b20f3ec18d6fc6e5958ca3d38af05108ded6e
+size 443069
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0012/debug/predictions/prediction_0016.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0012/debug/predictions/prediction_0016.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c08646974bbc3668cfb279c322c2dc83971f414d
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0012/debug/predictions/prediction_0016.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d130a54236c699f5ff8cae6b59e03101d2c32af85ca24d93d3043d32b38367c4
+size 442623
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0012/debug/predictions/prediction_0017.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0012/debug/predictions/prediction_0017.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2574c46cb3bbe5d02ba90f5e2defe233c3aa896a
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0012/debug/predictions/prediction_0017.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5facf4258803b75620c5a12b7db42ac5df40c67f36093b63b27895e9768ac6f
+size 437939
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0012/debug/predictions/prediction_0018.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0012/debug/predictions/prediction_0018.npz
new file mode 100644
index 0000000000000000000000000000000000000000..41c04c0ad74a522361ee55d36adcdf68aa256ddb
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0012/debug/predictions/prediction_0018.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9326c4e381b1e1449ac7edeba953d0bd4fd1a93a75bf64a6a53e7e3aa1139ffb
+size 430114
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0012/debug/predictions/prediction_0019.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0012/debug/predictions/prediction_0019.npz
new file mode 100644
index 0000000000000000000000000000000000000000..57ea9eacfddb96954f5e134e5f4f2555b4018140
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0012/debug/predictions/prediction_0019.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5978bf09f0c44dd5461a8a02d19c6b15c4fbdfc7f706cf9fcb515894608d0e2
+size 430527
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0012/robot/robot_state_dict.pkl b/eval/YAM/V2/dp/banana_handoff/data/round_0012/robot/robot_state_dict.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..c97c63fbb28bc66c7bb25abb7b2903e3efa7bd95
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0012/robot/robot_state_dict.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:325816e54449a86fd700c8517b31dc4023bd6aa386ceeab6e253cabbcece060e
+size 1424603
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0002/debug/predictions/prediction_0000.npz b/eval/YAM/V2/dp/bowl_handoff/data/round_0002/debug/predictions/prediction_0000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1598d82d1eaf7a42f0c21dad1eeed424c273c2f6
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0002/debug/predictions/prediction_0000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8705d7fba25c5eb960035cad2b8de8e24287d1631f2f28d3e8e0c0e5c4d43a96
+size 403272
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0002/debug/predictions/prediction_0003.npz b/eval/YAM/V2/dp/bowl_handoff/data/round_0002/debug/predictions/prediction_0003.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c737ff694e46c97ae8ee1c7a42b747a188dec3b4
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0002/debug/predictions/prediction_0003.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1028748bcd1fc98523c5f3ec01372d87631b6e0bc681833bb87780656df69428
+size 410458
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0002/debug/predictions/prediction_0005.npz b/eval/YAM/V2/dp/bowl_handoff/data/round_0002/debug/predictions/prediction_0005.npz
new file mode 100644
index 0000000000000000000000000000000000000000..28eeb14469ed883f18b21a0ee94640d2eaaadf52
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0002/debug/predictions/prediction_0005.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc30b5734f1b2c5068cd4d8eeeb5f79518f35bc873a3af03c0a93990381a31ea
+size 431405
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0002/debug/predictions/prediction_0006.npz b/eval/YAM/V2/dp/bowl_handoff/data/round_0002/debug/predictions/prediction_0006.npz
new file mode 100644
index 0000000000000000000000000000000000000000..91a459cf482c5254815a72eb896470af9c64be15
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0002/debug/predictions/prediction_0006.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b7c0bfca3007d95096b0b15f86a2f30b34bdcb3f5045b5d9c1be0f2e4bcd751
+size 432193
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0002/debug/predictions/prediction_0007.npz b/eval/YAM/V2/dp/bowl_handoff/data/round_0002/debug/predictions/prediction_0007.npz
new file mode 100644
index 0000000000000000000000000000000000000000..721967b21ddbfcbbf79aabe538ff4ff4d8735d48
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0002/debug/predictions/prediction_0007.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ac5a85350241493e2e036f21a44048edb731a0f3fbce5afe1fd71cb55084524
+size 438952
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0002/debug/predictions/prediction_0008.npz b/eval/YAM/V2/dp/bowl_handoff/data/round_0002/debug/predictions/prediction_0008.npz
new file mode 100644
index 0000000000000000000000000000000000000000..bac926780c1009e7bfb03305bcb4392ecf060fc9
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0002/debug/predictions/prediction_0008.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5c9d0fde1a55dd815c77e11ffae312723581312dcc4e2c5743f750380500625
+size 435221
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0002/debug/predictions/prediction_0013.npz b/eval/YAM/V2/dp/bowl_handoff/data/round_0002/debug/predictions/prediction_0013.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2ec7e158e4d729f8fd0d7438947bf01962ba97c5
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0002/debug/predictions/prediction_0013.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4759f342078829da2657633a4e8efaeca74224fb85186c1bf02091fbe4da8274
+size 403484
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0002/debug/predictions/prediction_0014.npz b/eval/YAM/V2/dp/bowl_handoff/data/round_0002/debug/predictions/prediction_0014.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0fa4e0df634c4a2054919bfbc9892f6334c01e76
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0002/debug/predictions/prediction_0014.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:603dc84ec2bc643c379f04adeee28848449da293317ae488b9cd9263784e3502
+size 415664
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0005/debug/predictions/prediction_0003.npz b/eval/YAM/V2/dp/bowl_handoff/data/round_0005/debug/predictions/prediction_0003.npz
new file mode 100644
index 0000000000000000000000000000000000000000..bacbc2af2bce143c9d43bd603f18b77384b57948
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0005/debug/predictions/prediction_0003.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e026d4ab207c120da4db9a858cc14919e50a4d5242f70f275b35cc9c53691eb3
+size 401390
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0005/debug/predictions/prediction_0005.npz b/eval/YAM/V2/dp/bowl_handoff/data/round_0005/debug/predictions/prediction_0005.npz
new file mode 100644
index 0000000000000000000000000000000000000000..02c41c93455e409c05124a0e7d22a2ad34f1e4e2
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0005/debug/predictions/prediction_0005.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80eff34fa60b50f383768ed0657fcc3a311f4a89beb87728e796d72f24e6eec7
+size 426635
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0005/debug/predictions/prediction_0006.npz b/eval/YAM/V2/dp/bowl_handoff/data/round_0005/debug/predictions/prediction_0006.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a1c34014aae4fed472dcd4256ec53f41a329b711
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0005/debug/predictions/prediction_0006.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70ed5b88ea2eb1f42e188c3a9454afd0756f4b3b9ce047be01e8e01e8b1c0abf
+size 430049
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0005/debug/predictions/prediction_0014.npz b/eval/YAM/V2/dp/bowl_handoff/data/round_0005/debug/predictions/prediction_0014.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f097c1a922fe04a9ff5c8ecb2db56191a700afb5
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0005/debug/predictions/prediction_0014.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9be071fcfac4a6ae2c8684cfafc8d92cfbaaa23ac713f1227d007d3a566500e9
+size 430314
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0005/debug/predictions/prediction_0016.npz b/eval/YAM/V2/dp/bowl_handoff/data/round_0005/debug/predictions/prediction_0016.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4c285682ed8e13b2cc48a1ba2159364077b1dbc3
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0005/debug/predictions/prediction_0016.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fcedd95c72cf832c9430b3ed616b8748063537f441034eef927963235e78dfa2
+size 408291
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0005/debug/predictions/prediction_0019.npz b/eval/YAM/V2/dp/bowl_handoff/data/round_0005/debug/predictions/prediction_0019.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6772ac68c41c3c0605c6c267c23f0d3f27587f1c
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0005/debug/predictions/prediction_0019.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:441e05e6e1633d9ed0fcf20d17466bfd158018629ec62506a4a06b8a2f029a9e
+size 418926
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0005/debug/predictions/prediction_0020.npz b/eval/YAM/V2/dp/bowl_handoff/data/round_0005/debug/predictions/prediction_0020.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f99350a674cd6dd5f9ad08aaeaf433abb195e986
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0005/debug/predictions/prediction_0020.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:756b342740f8122e78184f79bcec1a7352855e288d7a48952263820a2ad83102
+size 409856
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0009/camera/base_0_rgb.mp4 b/eval/YAM/V2/dp/bowl_handoff/data/round_0009/camera/base_0_rgb.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..661cd64a34dc8f4b9ea77286e4c4e907533ea171
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0009/camera/base_0_rgb.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1efccf63628cee2ba8f7c775ec1e143a59cb4e6382148d785e528d09a6a1dc2
+size 10487005
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0009/camera/left_wrist_0_rgb.mp4 b/eval/YAM/V2/dp/bowl_handoff/data/round_0009/camera/left_wrist_0_rgb.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6135819bbdf7ec892968032a7377d80f67eccdbd
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0009/camera/left_wrist_0_rgb.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d91d7508e4015fad06f983421e6298ba47b82edd68d097f4e701a48eea3af4db
+size 11390103
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0009/camera/right_wrist_0_rgb.mp4 b/eval/YAM/V2/dp/bowl_handoff/data/round_0009/camera/right_wrist_0_rgb.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b654f71ab0074b5376f81e52f59deab993ba52eb
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0009/camera/right_wrist_0_rgb.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89b403195077cf3bd9553739a73bfb5577b5f9cf74d4ac2f31a1e1137087ded2
+size 12618091
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0009/debug/predictions/prediction_0000.npz b/eval/YAM/V2/dp/bowl_handoff/data/round_0009/debug/predictions/prediction_0000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5136f9a1d43b2e7b92ce1c54498ed2480714300d
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0009/debug/predictions/prediction_0000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:251f22510c3bb1f7879ea0ab9ea26fdc05074eef6a376ba7766c97d43b82aee2
+size 412143
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0009/debug/predictions/prediction_0001.npz b/eval/YAM/V2/dp/bowl_handoff/data/round_0009/debug/predictions/prediction_0001.npz
new file mode 100644
index 0000000000000000000000000000000000000000..df3fb0e0335743771e2422513576239245630a06
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0009/debug/predictions/prediction_0001.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b42d1bd35ef87d2aebd5f8361ef3d3c403b95d3464ed2e649e542ddefdb0028
+size 410616
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0009/debug/predictions/prediction_0002.npz b/eval/YAM/V2/dp/bowl_handoff/data/round_0009/debug/predictions/prediction_0002.npz
new file mode 100644
index 0000000000000000000000000000000000000000..88b7a4ec37f0dfe41fb2c50e851f9d5bd2e76856
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0009/debug/predictions/prediction_0002.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ea57e39d168a1681f1d34478614630109ab1399bb8497bb5017c3fba73aea49
+size 408616
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0009/debug/predictions/prediction_0003.npz b/eval/YAM/V2/dp/bowl_handoff/data/round_0009/debug/predictions/prediction_0003.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2b41696ffee6b9645195dcdeb5c2be1789099809
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0009/debug/predictions/prediction_0003.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec5819d73d0f1859a7416db76c6b739cf134869fbea405a0519d45dfa1cc678e
+size 417993
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0009/debug/predictions/prediction_0004.npz b/eval/YAM/V2/dp/bowl_handoff/data/round_0009/debug/predictions/prediction_0004.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1e3638a5a5237f761808339c3337521255adf808
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0009/debug/predictions/prediction_0004.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ade7fff578c968817129b52295c03acbaba8e08ab288b19052796c37554fb852
+size 419402
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0009/debug/predictions/prediction_0005.npz b/eval/YAM/V2/dp/bowl_handoff/data/round_0009/debug/predictions/prediction_0005.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b9b69aa8ff5289e8e64b9f89f1135168d81b5cc5
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0009/debug/predictions/prediction_0005.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:776a07c9c49c755edad1301572c4f4695ae8ef394404d40e1f1c51fb1b265465
+size 428946
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0009/debug/predictions/prediction_0006.npz b/eval/YAM/V2/dp/bowl_handoff/data/round_0009/debug/predictions/prediction_0006.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3530aa705ce330ca21b122216a37c6d563014c93
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0009/debug/predictions/prediction_0006.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36ed246ba4851e93393dcb223aac323db94d2696d490a9b4a362a1a30ac94a7d
+size 423960
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0009/debug/predictions/prediction_0007.npz b/eval/YAM/V2/dp/bowl_handoff/data/round_0009/debug/predictions/prediction_0007.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c8dba5f6c5369a0a9bee216a9cff7124b0b5cc4c
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0009/debug/predictions/prediction_0007.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0212ecee170e2fc1ad57a64435a4d4ab3c8a9b151ba11b424d89d8e188a2799a
+size 426371
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0009/debug/predictions/prediction_0008.npz b/eval/YAM/V2/dp/bowl_handoff/data/round_0009/debug/predictions/prediction_0008.npz
new file mode 100644
index 0000000000000000000000000000000000000000..502a220c8c3732e67327f62c4a63ff61f264d3b3
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0009/debug/predictions/prediction_0008.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d02316476e554154237d3cc9db51eb8bfbdcb6ce24577ca05902bf352d6556ad
+size 433925
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0009/debug/predictions/prediction_0009.npz b/eval/YAM/V2/dp/bowl_handoff/data/round_0009/debug/predictions/prediction_0009.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e9087cab8f5a6ddda96920f841669e47b171709c
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0009/debug/predictions/prediction_0009.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79c4b669ea92635e34d30bd7626f0b7455f70bb68583932a880fa63d84a14f8f
+size 447505
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0009/debug/predictions/prediction_0010.npz b/eval/YAM/V2/dp/bowl_handoff/data/round_0009/debug/predictions/prediction_0010.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1744e8dfbfbd74b9da828c6ddb7616be3295037d
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0009/debug/predictions/prediction_0010.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2e66c6a16f521e6eb05fc297bad9d4596a5eaacaebdd3f12e19e05bc66714c9
+size 441942
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0009/debug/predictions/prediction_0011.npz b/eval/YAM/V2/dp/bowl_handoff/data/round_0009/debug/predictions/prediction_0011.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c6586e0010274aa46537e5b698983b4ae00c96de
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0009/debug/predictions/prediction_0011.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18d3ecb5b947e2dbbe6759087d2431c0b36a32ab82c0de39cb9229585c8782a2
+size 440554
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0009/debug/predictions/prediction_0012.npz b/eval/YAM/V2/dp/bowl_handoff/data/round_0009/debug/predictions/prediction_0012.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b7ff7e98e90b76df667ce8aafe0670c4d91f7520
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0009/debug/predictions/prediction_0012.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33ab2125d37827bda7aa3e5dcb5b62bf0daa390da293d682f8298c6274a889f3
+size 438196
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0009/debug/predictions/prediction_0013.npz b/eval/YAM/V2/dp/bowl_handoff/data/round_0009/debug/predictions/prediction_0013.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1c6f02c4f418c471dff3869296378790fd0503b7
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0009/debug/predictions/prediction_0013.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e73786df6974364f53a671bb290d6dadc0e6a7ae23ff3532045a25758967af3
+size 410461
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0009/debug/predictions/prediction_0014.npz b/eval/YAM/V2/dp/bowl_handoff/data/round_0009/debug/predictions/prediction_0014.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8f251a21117f1978c24d00074eac64c14a71cb55
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0009/debug/predictions/prediction_0014.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:245fb63c82475c9af616626c5ab67238b2904e17b3776749c2a5a40de170e5bd
+size 407193
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0009/debug/predictions/prediction_0015.npz b/eval/YAM/V2/dp/bowl_handoff/data/round_0009/debug/predictions/prediction_0015.npz
new file mode 100644
index 0000000000000000000000000000000000000000..750a5aaaecbab3527dc6bd5cf71b379d76f53ded
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0009/debug/predictions/prediction_0015.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:675dc11684da717ab3e378f4227906d089d0d1dbf0cb8931d83bcf2156b22db6
+size 418154
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0009/debug/predictions/prediction_0016.npz b/eval/YAM/V2/dp/bowl_handoff/data/round_0009/debug/predictions/prediction_0016.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5ec09720fcd6ca6bc4190bfcb44674b3e61c71a8
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0009/debug/predictions/prediction_0016.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15586554e6b0a6ce8008847d5538d1eae79be7371073812a1a1164a28182ccdc
+size 407744
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0009/debug/predictions/prediction_0017.npz b/eval/YAM/V2/dp/bowl_handoff/data/round_0009/debug/predictions/prediction_0017.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2e1660cfce8b34e6a926961a22a2d74e24f850a0
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0009/debug/predictions/prediction_0017.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1daa925893218a9b5efe97dc6b96828dda8352995a9332c91d7a8dc9d1f8de0
+size 405319
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0009/robot/robot_state_dict.pkl b/eval/YAM/V2/dp/bowl_handoff/data/round_0009/robot/robot_state_dict.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..79a099f8ca2aaaf6d21b9b19bb2f99b26c136f8d
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0009/robot/robot_state_dict.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:958173517095db39d0710499df9862411f9cc08914a933a38ecb13ce7badfdce
+size 1366766
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0010/camera/base_0_rgb.mp4 b/eval/YAM/V2/dp/bowl_handoff/data/round_0010/camera/base_0_rgb.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..af0ac1fefd928896cc9ef144b9c102bf0c16f11d
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0010/camera/base_0_rgb.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64f92b9c25b2fb4144ced17a896f5b00fc0712a76a87248bcbedd76041a3e8e7
+size 6805198
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0010/camera/left_wrist_0_rgb.mp4 b/eval/YAM/V2/dp/bowl_handoff/data/round_0010/camera/left_wrist_0_rgb.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..86dccb977b3c855ca103089c714efef1356b62e2
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0010/camera/left_wrist_0_rgb.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b7ab81f3685cf064725ffb9b5408598a2b4ffd22c9829f7ae7ee740d8bfdd55
+size 7539926
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0010/camera/right_wrist_0_rgb.mp4 b/eval/YAM/V2/dp/bowl_handoff/data/round_0010/camera/right_wrist_0_rgb.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a397abc18e450059c7b8d519ec2d314d2f8b9934
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0010/camera/right_wrist_0_rgb.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8677d2d90bec23689c683bf40705c8536b7ebb7bf874bb605a5f8500d4cf35e4
+size 8601854
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0010/debug/predictions/prediction_0000.npz b/eval/YAM/V2/dp/bowl_handoff/data/round_0010/debug/predictions/prediction_0000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3e98d081d0ff617a6cc068cfe0c3c9a02afce60b
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0010/debug/predictions/prediction_0000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0585acfb413787063b3938c471aabda658986b56065923b57d5067d03f0ea4d8
+size 406360
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0010/debug/predictions/prediction_0001.npz b/eval/YAM/V2/dp/bowl_handoff/data/round_0010/debug/predictions/prediction_0001.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ad02bd5281c9c10e6d2cfdb27d51879f9d4d6ae7
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0010/debug/predictions/prediction_0001.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce3f8e6840e6233d41ceb0beb1ece7622a42c561d92b1114cbe58bea79b6adad
+size 409157
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0010/debug/predictions/prediction_0002.npz b/eval/YAM/V2/dp/bowl_handoff/data/round_0010/debug/predictions/prediction_0002.npz
new file mode 100644
index 0000000000000000000000000000000000000000..711cb2c78ed5f78acb2c3635e1f7f47c3d41273e
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0010/debug/predictions/prediction_0002.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c23d4fe9eb2502e96e5b161f4ec84178268a49d562ee15bd5aede13d5a1bf899
+size 412546
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0010/debug/predictions/prediction_0003.npz b/eval/YAM/V2/dp/bowl_handoff/data/round_0010/debug/predictions/prediction_0003.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b4336fe104870799346c4b8ed0cbbf29165da1e2
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0010/debug/predictions/prediction_0003.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71181ef9f282ac873337d47f64487597ccfc70e189bf1ee0b1d49f98db03b452
+size 411866
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0010/debug/predictions/prediction_0004.npz b/eval/YAM/V2/dp/bowl_handoff/data/round_0010/debug/predictions/prediction_0004.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a45414470494e8ac9d91b8788fab770c235af232
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0010/debug/predictions/prediction_0004.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1860babde36642a41cfac8baa3b2e7c33fac981c10d976577d21e80917a595c
+size 421310
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0010/debug/predictions/prediction_0005.npz b/eval/YAM/V2/dp/bowl_handoff/data/round_0010/debug/predictions/prediction_0005.npz
new file mode 100644
index 0000000000000000000000000000000000000000..281bf54e1304b75232b1b92048e058c055dbf7ba
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0010/debug/predictions/prediction_0005.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f07d162b3e6e8733c306e6ee0486c6e8526a4302a2901b1530f2609bb9c785dc
+size 442042
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0010/debug/predictions/prediction_0006.npz b/eval/YAM/V2/dp/bowl_handoff/data/round_0010/debug/predictions/prediction_0006.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4ea17ed905d55db2d58f5473c9b136dd676e73fc
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0010/debug/predictions/prediction_0006.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:234fc12753562dcfc7f7ac635520e6036233499c44b5b41ebe7538ad6c2d33f4
+size 441854
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0010/debug/predictions/prediction_0007.npz b/eval/YAM/V2/dp/bowl_handoff/data/round_0010/debug/predictions/prediction_0007.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5c22f9e86efb293376cd99112253614bc6a428c9
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0010/debug/predictions/prediction_0007.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b47793d3b9cf9458c1acf3687a65e7a52e6bf283e8d97e5b74c0e0baa63e104
+size 414008
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0010/debug/predictions/prediction_0008.npz b/eval/YAM/V2/dp/bowl_handoff/data/round_0010/debug/predictions/prediction_0008.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b5f2fd7d1c4f6dbe82ff106534a729abd7293c5a
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0010/debug/predictions/prediction_0008.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08ddc7aa55707bfde129fa7bc68af32cdbcae9f8165f2c12fda15084059c8515
+size 406040
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0010/debug/predictions/prediction_0009.npz b/eval/YAM/V2/dp/bowl_handoff/data/round_0010/debug/predictions/prediction_0009.npz
new file mode 100644
index 0000000000000000000000000000000000000000..24d53fe57df9afe5c1d81cdca40ef7c0d8c6c7e5
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0010/debug/predictions/prediction_0009.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96fbdea4f6a0a7fb35a06c3b54e303f06d1a68a4ec9d70fc76664e8b355b78c3
+size 416884
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0010/debug/predictions/prediction_0010.npz b/eval/YAM/V2/dp/bowl_handoff/data/round_0010/debug/predictions/prediction_0010.npz
new file mode 100644
index 0000000000000000000000000000000000000000..704b5995d2fa6102a9e859ea5464d3b00b66c4d2
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0010/debug/predictions/prediction_0010.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a6354f88020d4db36523e3afc3f6a112291b7aeba42e4f6adf0972b8c7d9c0f
+size 417041
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0010/debug/predictions/prediction_0011.npz b/eval/YAM/V2/dp/bowl_handoff/data/round_0010/debug/predictions/prediction_0011.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d1ff2ae41def8177a292a73aae4188859a0f3f5d
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0010/debug/predictions/prediction_0011.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ab7b2d37d3a20a73b3dc3a15790fd4a81de2b8a57caff9425f7a6d1f9965eb9
+size 400269
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0010/robot/robot_state_dict.pkl b/eval/YAM/V2/dp/bowl_handoff/data/round_0010/robot/robot_state_dict.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..ccfde35bbc13f90b1e158239ddcd9e30d78cee4b
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0010/robot/robot_state_dict.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c057728c6b92744bbb0e0206f9491dfb86023f8f09156c1b72cb1f3632355231
+size 879537
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0012/camera/base_0_rgb.mp4 b/eval/YAM/V2/dp/bowl_handoff/data/round_0012/camera/base_0_rgb.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c3a697f598b7c75a38f04cb8df93d7bfbc0c21be
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0012/camera/base_0_rgb.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5719dfd0dbf5d1069b2c9de2c73a88de7f457809bbb5b4c19f0bbbe0b0b970dd
+size 9421476
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0012/camera/left_wrist_0_rgb.mp4 b/eval/YAM/V2/dp/bowl_handoff/data/round_0012/camera/left_wrist_0_rgb.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bf410771d8c79f6cb73437b1a86747dea4681f48
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0012/camera/left_wrist_0_rgb.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4f77980b10dda48a009da7d4d71855d1a90f6cdb6880ee92df7e4d513a30455
+size 10014302
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0012/camera/right_wrist_0_rgb.mp4 b/eval/YAM/V2/dp/bowl_handoff/data/round_0012/camera/right_wrist_0_rgb.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9547e4be50c7f69f2285fbbfa1f0fc525a7a9364
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0012/camera/right_wrist_0_rgb.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2af41876ceae797f2a891a1dbde6d603ef30ea6d7e29795bd8b18af9167900a
+size 11152775
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0012/debug/predictions/prediction_0010.npz b/eval/YAM/V2/dp/bowl_handoff/data/round_0012/debug/predictions/prediction_0010.npz
new file mode 100644
index 0000000000000000000000000000000000000000..aa197099c23b48f83f9c71bf16c19e63e36cb35c
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0012/debug/predictions/prediction_0010.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9445d5144c1e12f127e861c7800f7acc3dc7aac9ba477819f2a458758c61d93
+size 430264
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0012/debug/predictions/prediction_0012.npz b/eval/YAM/V2/dp/bowl_handoff/data/round_0012/debug/predictions/prediction_0012.npz
new file mode 100644
index 0000000000000000000000000000000000000000..dae376e13337b2bcb6c8963b0a71f3337d865b71
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0012/debug/predictions/prediction_0012.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca800673e1cadc3621695ed4c7a2bfe408a1ae3bd410261134521ef92b790a8c
+size 419694
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0012/robot/robot_state_dict.pkl b/eval/YAM/V2/dp/bowl_handoff/data/round_0012/robot/robot_state_dict.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..634ce67c883c5bf36cc7e311af3140e54aa0b8df
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0012/robot/robot_state_dict.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:602a53bbcdf8638227cb57272faf01dea109725bfe4f1fd001a07d1a6271370d
+size 1227668
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0014/camera/base_0_rgb.mp4 b/eval/YAM/V2/dp/bowl_handoff/data/round_0014/camera/base_0_rgb.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..65789a019a4dd3ca481ee900f34b9517a902da78
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0014/camera/base_0_rgb.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c78affa0160821bf66352464ed762de1287cc8eceac7182429f2a76e317c332e
+size 8237976
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0014/camera/left_wrist_0_rgb.mp4 b/eval/YAM/V2/dp/bowl_handoff/data/round_0014/camera/left_wrist_0_rgb.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cd8feabc0335dba86ea19990b794202f90f1c780
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0014/camera/left_wrist_0_rgb.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd04d003a36d77bf02ec503e4da920ec8710607a826ed6e31215ea8e7ecd62b5
+size 9232750
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0014/camera/right_wrist_0_rgb.mp4 b/eval/YAM/V2/dp/bowl_handoff/data/round_0014/camera/right_wrist_0_rgb.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3d30b064ecf99a9689dd8c9139aa4cb83a0b44f5
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0014/camera/right_wrist_0_rgb.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85070abbd7d9a29dbe2a2251694d19f35357b7e068c21f971b41167dd05c1a12
+size 10171703
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0014/debug/predictions/prediction_0000.npz b/eval/YAM/V2/dp/bowl_handoff/data/round_0014/debug/predictions/prediction_0000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..150b29c66a5697986fe89fc0a315b0edcb49b0da
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0014/debug/predictions/prediction_0000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1275729ce42c6618d0945c827d6d24390fbb14f408af457b9039df1ee53762c
+size 402610
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0014/debug/predictions/prediction_0001.npz b/eval/YAM/V2/dp/bowl_handoff/data/round_0014/debug/predictions/prediction_0001.npz
new file mode 100644
index 0000000000000000000000000000000000000000..57071347153454b049bf071ba0cd4f781fb8d0ab
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0014/debug/predictions/prediction_0001.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f0dd088301286fb1defb6b9093f604a5a58f3ce584243c11d40605a22bbd26e
+size 412884
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0014/debug/predictions/prediction_0002.npz b/eval/YAM/V2/dp/bowl_handoff/data/round_0014/debug/predictions/prediction_0002.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4e4f883910dcea2b50dfd08e94f83a77a1239bf0
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0014/debug/predictions/prediction_0002.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0341e259feaa26bc23799a3b686056b2f0006656873b2c093f1d0c7bce342f25
+size 429612
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0014/debug/predictions/prediction_0003.npz b/eval/YAM/V2/dp/bowl_handoff/data/round_0014/debug/predictions/prediction_0003.npz
new file mode 100644
index 0000000000000000000000000000000000000000..dc593a2ed0bb5dd774fdb93e2a611d037badb199
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0014/debug/predictions/prediction_0003.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b77aae93e478e3684669a1a52634a19b9731222ee92a288132bc9b75e0eca070
+size 428677
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0014/debug/predictions/prediction_0004.npz b/eval/YAM/V2/dp/bowl_handoff/data/round_0014/debug/predictions/prediction_0004.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b27ad6f1bd38526fbb793d50272582292100e3cd
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0014/debug/predictions/prediction_0004.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59bf78267d8dd2a017e635eddeb153765c3cb77504deeb3000b1f0886fed437b
+size 438591
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0014/debug/predictions/prediction_0005.npz b/eval/YAM/V2/dp/bowl_handoff/data/round_0014/debug/predictions/prediction_0005.npz
new file mode 100644
index 0000000000000000000000000000000000000000..02b69c513443f8b3c5bd847b4f22e86a7dfdc264
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0014/debug/predictions/prediction_0005.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eac4a15be4ee2c2e9f429056b0e4fe26b1a9fcf5dae42747b90d27a8885f069e
+size 450886
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0014/debug/predictions/prediction_0007.npz b/eval/YAM/V2/dp/bowl_handoff/data/round_0014/debug/predictions/prediction_0007.npz
new file mode 100644
index 0000000000000000000000000000000000000000..73f3c1815bce4cc2c104402aae0d28619c388786
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0014/debug/predictions/prediction_0007.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eab2f3e69fc348412396d2dd14f494f104cd4df282cc22296c49b78d7e90cb97
+size 434315
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0014/debug/predictions/prediction_0008.npz b/eval/YAM/V2/dp/bowl_handoff/data/round_0014/debug/predictions/prediction_0008.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2ccd863445267b88c1ac1e1417014d039217ed00
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0014/debug/predictions/prediction_0008.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79c96708c2a578cc385fbb64f04673a11ad709c8ae6ec238366f22024fb06fee
+size 422084
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0014/debug/predictions/prediction_0009.npz b/eval/YAM/V2/dp/bowl_handoff/data/round_0014/debug/predictions/prediction_0009.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cd9514fe1945749cedd838de886f88048ed23a7e
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0014/debug/predictions/prediction_0009.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b36d0ef270d4bf76f0d1c97e4f035a22dd490fd3f65a9467580c0e3e8881340
+size 410044
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0014/debug/predictions/prediction_0010.npz b/eval/YAM/V2/dp/bowl_handoff/data/round_0014/debug/predictions/prediction_0010.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5e8633c7c532d31ffb80e4463a5497c2a61a4a40
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0014/debug/predictions/prediction_0010.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46bc8d1e4a0acdd13056068dea581e573d059f7bcaf62b867a8f439db2def315
+size 411736
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0014/debug/predictions/prediction_0011.npz b/eval/YAM/V2/dp/bowl_handoff/data/round_0014/debug/predictions/prediction_0011.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7dc652727f95d40e0abdd3b1c997219509109d00
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0014/debug/predictions/prediction_0011.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72102dda60feffbe988ec22ce1e1c5cba2a50f3fe5785b7e8d7d84d81f5adebf
+size 409749
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0014/debug/predictions/prediction_0012.npz b/eval/YAM/V2/dp/bowl_handoff/data/round_0014/debug/predictions/prediction_0012.npz
new file mode 100644
index 0000000000000000000000000000000000000000..bc55cb0b6d7f7642140fb37298a7a51a9d7e3ce2
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0014/debug/predictions/prediction_0012.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c22e004f1f2a5a5c015d259dfcbb2d5d0ef5eec1e4ff457df233f466ef16ed1
+size 425921
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0014/debug/predictions/prediction_0013.npz b/eval/YAM/V2/dp/bowl_handoff/data/round_0014/debug/predictions/prediction_0013.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1b7ce60fb221276fc9fea2ae317c0ad3fdd1a324
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0014/debug/predictions/prediction_0013.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb309dc18ac52a3fdd9bb85fc26b877c55852680925e4813e2adb771a1716b87
+size 402923
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0014/debug/predictions/prediction_0014.npz b/eval/YAM/V2/dp/bowl_handoff/data/round_0014/debug/predictions/prediction_0014.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7b45f47a56debd00ea72f0a979ff1d995acc57e0
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0014/debug/predictions/prediction_0014.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b3ff965fb509b6258101c027996f409101c1561ede81527f686213bf652ceed
+size 407827
diff --git a/eval/YAM/V2/dp/bowl_handoff/data/round_0014/robot/robot_state_dict.pkl b/eval/YAM/V2/dp/bowl_handoff/data/round_0014/robot/robot_state_dict.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..360bcbeef6b6c5984b75050390d7e974e93d2c37
--- /dev/null
+++ b/eval/YAM/V2/dp/bowl_handoff/data/round_0014/robot/robot_state_dict.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e92d1ec3b279210a371c38134ee86b0d4b533d6c037571cbbc6893481a8b3b4
+size 1088916
diff --git a/eval/YAM/V2/dp/spatula_handoff/data/round_0007/debug/predictions/prediction_0005.npz b/eval/YAM/V2/dp/spatula_handoff/data/round_0007/debug/predictions/prediction_0005.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8dfb618d266a66bb12df02117b2b1cdff2275a02
--- /dev/null
+++ b/eval/YAM/V2/dp/spatula_handoff/data/round_0007/debug/predictions/prediction_0005.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51259de215f69fad9f045ec24b6837a2b799eaff84fbcdbabc26ca55186f27a5
+size 411277
diff --git a/eval/YAM/V2/dp/spatula_handoff/data/round_0007/debug/predictions/prediction_0006.npz b/eval/YAM/V2/dp/spatula_handoff/data/round_0007/debug/predictions/prediction_0006.npz
new file mode 100644
index 0000000000000000000000000000000000000000..880b94110577565631f7305520087abdfd36653c
--- /dev/null
+++ b/eval/YAM/V2/dp/spatula_handoff/data/round_0007/debug/predictions/prediction_0006.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d2864f96fa472138a78f699f1d01506ae2c8dfb3f5a55d7e05c7b06143f5cd5
+size 415300
diff --git a/eval/YAM/V2/dp/spatula_handoff/data/round_0007/debug/predictions/prediction_0014.npz b/eval/YAM/V2/dp/spatula_handoff/data/round_0007/debug/predictions/prediction_0014.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b30350bd785feb31915e297b009cabd0e544ddfb
--- /dev/null
+++ b/eval/YAM/V2/dp/spatula_handoff/data/round_0007/debug/predictions/prediction_0014.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:537e1b418143852ba24a942583ebdd54b29e2f5b7555688be5345b7e741f7fce
+size 429002
diff --git a/eval/YAM/V2/dp/spatula_handoff/data/round_0007/debug/predictions/prediction_0016.npz b/eval/YAM/V2/dp/spatula_handoff/data/round_0007/debug/predictions/prediction_0016.npz
new file mode 100644
index 0000000000000000000000000000000000000000..22020ae7bd16a0d18da0edad48bf31a60fce8547
--- /dev/null
+++ b/eval/YAM/V2/dp/spatula_handoff/data/round_0007/debug/predictions/prediction_0016.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7f798145ef21e18c756790299ab7ca4214a2cc146e9b01aac09c8e42ead64a4
+size 424892
diff --git a/eval/YAM/V2/dp/spatula_handoff/data/round_0010/debug/predictions/prediction_0006.npz b/eval/YAM/V2/dp/spatula_handoff/data/round_0010/debug/predictions/prediction_0006.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cc18f8f21d377fad36420c9de7ecb78a4e3a7d34
--- /dev/null
+++ b/eval/YAM/V2/dp/spatula_handoff/data/round_0010/debug/predictions/prediction_0006.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:648e125ccf7cac67af1a41638ef7a47d3702f0c24680777e06648c769eb25fb9
+size 418769