diff --git a/.gitattributes b/.gitattributes
index f3bf7e853f44875b202d3b6254f0773fda4c40ed..7996c5e8395551adbe45b6f1304e9bf9cfa6b09b 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3546,3 +3546,4 @@ eval/YAM/V2/pi0_20eps_20000/pick_and_place_bread/data/round_0014/robot/robot_sta
 eval/YAM/V2/pi0_20eps_20000/pick_and_place_bread/data/round_0015/robot/robot_state_dict.pkl filter=lfs diff=lfs merge=lfs -text
 eval/YAM/V2/pi0_20eps_20000/pick_and_place_bread/data/round_0016/robot/robot_state_dict.pkl filter=lfs diff=lfs merge=lfs -text
 eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/robot/robot_state_dict.pkl filter=lfs diff=lfs merge=lfs -text
+eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/robot/robot_state_dict.pkl filter=lfs diff=lfs merge=lfs -text
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/plans/async_plan_0003.npz b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/plans/async_plan_0003.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f20d486a3ded89156bd0418ce270c22c720fa6fc
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/plans/async_plan_0003.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3865a99970ef0d884aba82989ca77fc6ba8d69adef30fc92f5ab88c1fbac8680
+size 5508
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/plans/async_plan_0015.npz b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/plans/async_plan_0015.npz
new file mode 100644
index 0000000000000000000000000000000000000000..407dd03519b7c2f5b49f45bdafca618d3c091db6
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/plans/async_plan_0015.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4038a306d01cff67206d38d97e73b8da8b3de45b9419807b7e062dc0f206fa4
+size 5396
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/plans/async_plan_0020.npz b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/plans/async_plan_0020.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3790097b7dd4c483224dcb6fa29255d693c654c5
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/plans/async_plan_0020.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40901bb6269b961a7109fdfc71b6e8ff2cf858fcec86c874dedd54ec9c7b71ab
+size 5284
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/plans/async_plan_0026.npz b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/plans/async_plan_0026.npz
new file mode 100644
index 0000000000000000000000000000000000000000..fb0d8bd7251a197b9665aaeaa072024d085279a3
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/plans/async_plan_0026.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a2d7ae288c59b013c5190c2b746064d610f2be9e20d5c376967462dc5db908e
+size 5396
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0000.npz b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..eccd07e134976f90578254f399db34bb97fb52e8
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69b870f9cf97d55989d5c38f25acccd9b3dd4b23ece9537d9dbd39a8b0809732
+size 163233
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0001.npz b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0001.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d7eb72f1ef480b996a66d73cd62af28b82952fed
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0001.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:769c27a9005926cf74ced6f8ae118bd44859e62a273318e1b7feca30c2307bfb
+size 163345
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0002.npz b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0002.npz
new file mode 100644
index 0000000000000000000000000000000000000000..abeac7e7bc66ad152e02e7b04a54cd8a4883412c
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0002.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c720986c2f08108d1a5afdf42f5aecc54d7724d9a240a0dde808273d87ef6c94
+size 163385
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0003.npz b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0003.npz
new file mode 100644
index 0000000000000000000000000000000000000000..df767e7b73878854728a6dcabba4dfa6c250217d
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0003.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed92e202f89206f61d90945c3d671d44da5af89f9139e5fc997c4ba4a7d389e3
+size 162193
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0004.npz b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0004.npz
new file mode 100644
index 0000000000000000000000000000000000000000..126957e9439c5fa04237f2cdf3792668212ff905
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0004.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33427843fc8d4d31ab38ac40932ac7e74fa5f4c4efd021381a553d6a0c85e5d6
+size 165292
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0005.npz b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0005.npz
new file mode 100644
index 0000000000000000000000000000000000000000..83db68ee6f3c1144949673ef1e47f8d9043648c3
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0005.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb241b5ea5e392e2169c6fec32ff5192da42f49437a85caacf2c697ff093f37d
+size 168548
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0006.npz b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0006.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d6d90e13b64bd9c54ab4e54c7304a9b6702d10ba
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0006.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c4d98f981045b14837c96e27848d3d14d69d615f36f08dd58c9427ef080beee
+size 171108
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0007.npz b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0007.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2def4bd5636a72787ff218af8134a081773abb9b
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0007.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90cf18e7eec880f847a840a037507a717d362b167877007eb0877861279dfb56
+size 168579
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0008.npz b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0008.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f69f4659187c1e7492f7625cb981854655217a50
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0008.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03a6fedc56873626187519e003ae547b132e2e6173c11b81ca57960021aea811
+size 168604
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0009.npz b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0009.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d725d6608a76cfa03b0c1b1bd9a459177221e20d
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0009.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4544e00a04e1ebd2ae05d92b15a1e78af4f51bb602c4621f2e57a88155ce00f
+size 167175
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0010.npz b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0010.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c8797bbf8e0d9acc328e6f1bb43bcd85c72b06d2
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0010.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ea1cef6883dfe005e07db129f8a05898f26d65150d9d3d223ee4a84dae126e9
+size 174342
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0011.npz b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0011.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0fb097a6651627be2aa6f51a539f9394d4ff5d7b
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0011.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e53c3e770af0cfee62b9bc5773d1295ec3bf3450fed76bf1683601203d8a3607
+size 179887
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0012.npz b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0012.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2d047427e718a723eb6dd27fb8d26824193b927e
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0012.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3728874c27d08a72cf755624900d1bde3794c47c7261cc1a09f116ddd49999b9
+size 181731
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0013.npz b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0013.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8c3aaa68915c49d935e005b9876442fea93a6efe
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0013.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7eb2e3939990eee97345471d3a478bb15471a590fe52c90ff8a45668fd84293a
+size 181767
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0014.npz b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0014.npz
new file mode 100644
index 0000000000000000000000000000000000000000..30e48ceb4bfaa87e403123cec7408d0d5ef8387c
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0014.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9912dd92e2297eccf0664aec7c92d9c308992f956d889dcd175ae1db98f80bc9
+size 182894
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0015.npz b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0015.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1a0e33652fab1b8ce8e283c4fbd156652a101234
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0015.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e34076e4d0bb319f46c6f7be84bf283df907cbee0a953b12376e0e839bf0eea
+size 174048
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0016.npz b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0016.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2767ca1387585000b6a9fe927f053bc81bf8807f
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0016.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90e4033b32bff5048f226672b4600cc3d36a6898f73bb80eb6740ce9b55c7591
+size 156967
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0017.npz b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0017.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0593694548cc70c630694cdfb574d6a3fd2186f5
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0017.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2df7f531ff9d7885164d09de7af2546dcf9b7360ee077efce1232e3c841b6a8
+size 157992
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0018.npz b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0018.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3dfdb116ae96e89d0285b81c06fa668638bf9bb4
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0018.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3037a2027ceece41b19c51dce93e8c6c0c9763313cfe797bbfd1ac6e4324d7d8
+size 158305
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0019.npz b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0019.npz
new file mode 100644
index 0000000000000000000000000000000000000000..88aec3d936a898f4ed296e4e28a620c31b50aa2f
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0019.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e750252626e7df5db37aa1c3efb991243d684b700026fc5ed3e2c0ee3be018f8
+size 157728
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0020.npz b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0020.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cf57e1409528e6725476f0789bf590ae4c8571b9
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0020.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f09a83c7e7013582b658e1d268061c31697e84653ecf38e4b6b44c8e999bce6
+size 157717
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0021.npz b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0021.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2ec535c8b69043d68df94e75d305e680bc5ac36e
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0021.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee65a4740a86ab44a9406916b84ab94b8a697e51b077deb978590fa1b02094a4
+size 157849
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0022.npz b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0022.npz
new file mode 100644
index 0000000000000000000000000000000000000000..646fd16068369b58ad4c43d19b2c7f15301d122c
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0022.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:587de08f324507a284af2fec62fc0ab84fa658e07856aee58ffd0f3cb51536ca
+size 157976
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0023.npz b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0023.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d197b32089ba4ca1954d82841255c44d853b48e7
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0023.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:711648863ce55bcea74d0350013d3673fc7b16e9edc77b359c8927651667c8b7
+size 157784
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0024.npz b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0024.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b938aa2a4d3ee3714956eaab9979caf995dced4b
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0024.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea5011d9bab635cf3a53b2db3b4f77327c127c54322014efc90afeff353d65ce
+size 156786
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0025.npz b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0025.npz
new file mode 100644
index 0000000000000000000000000000000000000000..50a465c30d2e95d327c8cada0c566ae8a0028592
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0025.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87ae64a17cfc7c0f4f26ac451d2180772634128939f13151b0b7ff88fa12f44b
+size 160167
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0026.npz b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0026.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a7ba6b6a5676a3c56b668d581ea5ea4824e361c7
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0026.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:704789287c82ae80c52e5d635163f75ae8cf930245d873b89117f36e8dfd8ef3
+size 160481
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0027.npz b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0027.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6eb157d72fa7a5ed648ff5267a05ed576d9e67ad
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0009/debug/predictions/prediction_0027.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd7c41c8e46e3a41cfa983ec7b39bfb76a9df0726cb2c5e98521018c9890184c
+size 155340
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/camera/base_0_rgb.mp4 b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/camera/base_0_rgb.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b97574aa6f4b7a9198d6d1e655350b7a8241f62c
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/camera/base_0_rgb.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4040996c62cf1fbbf8ef19ba5ad841029487e48a040c050bd3dd3b5c3955780a
+size 4523506
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/camera/left_wrist_0_rgb.mp4 b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/camera/left_wrist_0_rgb.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0273c31bdd884fc950ad790b24ad54d32a574914
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/camera/left_wrist_0_rgb.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8f539a7aef0e6e307310c4d3679de9b8cf93abc31b03ad48e2d842c9f934b09
+size 4780869
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/camera/right_wrist_0_rgb.mp4 b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/camera/right_wrist_0_rgb.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5756fe6004742542ad995542a9cf30ed486daa23
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/camera/right_wrist_0_rgb.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a7331cc0fcdfe414bfbe5bc86d54f66b32502987c0d38fa1c45cbbc13db10e4
+size 5712837
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/plans/async_plan_0000.npz b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/plans/async_plan_0000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..49e55b5889af6706bb218fcd7c1ec9540dca67a0
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/plans/async_plan_0000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:092633b715726f3b3fa10f6cc920fc0365c9604e985e824a6e4598744c18c917
+size 5844
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/plans/async_plan_0001.npz b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/plans/async_plan_0001.npz
new file mode 100644
index 0000000000000000000000000000000000000000..72b0af0617531a2333c6f46a89c7cc70fb916edf
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/plans/async_plan_0001.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce1b0c112e215d02a9a1be8c987d4aed5f9d3bed3f4e807325deb46ed3b97094
+size 5508
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/plans/async_plan_0002.npz b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/plans/async_plan_0002.npz
new file mode 100644
index 0000000000000000000000000000000000000000..abcb0837456d4fcbd8a21355b43018c13d8f4053
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/plans/async_plan_0002.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a79d2638f1f84261a9fc320950db2854cec1293664687a0b44102c80f12a121b
+size 5284
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/plans/async_plan_0003.npz b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/plans/async_plan_0003.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0bb54101c4960b32f0a77c2056dbbd8f0dbcf1ca
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/plans/async_plan_0003.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ea2a7820c9bc6fe492eddc0f1e1d1139d1417e2787ab90ceba6b11aaf227076
+size 5284
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/plans/async_plan_0004.npz b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/plans/async_plan_0004.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b8c20ea972764a68b0e5afcc3951e47823ea0067
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/plans/async_plan_0004.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7df6e98a35da56f181f02bcaf04fbaad7bd6cc7713d4a8f6550999c6e62982d
+size 5396
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/plans/async_plan_0005.npz b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/plans/async_plan_0005.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d765aef7d66a63ed6286fdbf7793f29e7fa4c71f
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/plans/async_plan_0005.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d237b92257cadb14686a1f4f77123ece47b9ee7ca2f8c286dcf3a781017fc9ea
+size 5284
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/plans/async_plan_0006.npz b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/plans/async_plan_0006.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b0bff0e7861a17a4e385ff20d7ad453ea258bcd7
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/plans/async_plan_0006.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c74d1ef8b5ee79de175dcb81fa798e76f5d546da1467de2714b8f6aee6b4e15f
+size 5396
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/plans/async_plan_0007.npz b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/plans/async_plan_0007.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d1f8d303e72ab4acb366e730f9424e6f6c5b24e4
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/plans/async_plan_0007.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80d1e7a6f361b2a7c306138b110e242ffc13a7a3435cfc4ddb901fa24ade2e5e
+size 5396
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/plans/async_plan_0008.npz b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/plans/async_plan_0008.npz
new file mode 100644
index 0000000000000000000000000000000000000000..04f18adfeb363d7808ee4260c476937f7c2ad097
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/plans/async_plan_0008.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42c5f45ed8cf03e5628f7dfc8b42849e38e69018124ed7be8025907a9f08c9d5
+size 5396
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/plans/async_plan_0009.npz b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/plans/async_plan_0009.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b26612e4aeaa46f7d4be04b911e77bd8a8f2f1d0
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/plans/async_plan_0009.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b23e2e13d84b49d739bdb84a557f198d235f54f2ad117582550ca68ac4ad26de
+size 5396
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/plans/async_plan_0010.npz b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/plans/async_plan_0010.npz
new file mode 100644
index 0000000000000000000000000000000000000000..348330118b18d86842819c1ce6905e4eb670235b
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/plans/async_plan_0010.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d95c96fc11b8821d1deeeffbb22b2e0654a2ee284a788cbc1703d5d5e1010514
+size 5396
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/plans/async_plan_0011.npz b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/plans/async_plan_0011.npz
new file mode 100644
index 0000000000000000000000000000000000000000..58661926073702a1f1b188cf693bf056886ec2e1
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/plans/async_plan_0011.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74b0cfe3078c3fb4bfea1c7030fb68257f68651e8a1190e25770fa8cfe012288
+size 5396
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/plans/async_plan_0012.npz b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/plans/async_plan_0012.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8ab3c8ca916540870becd69b5092093597f5be58
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/plans/async_plan_0012.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5d42a8c130ff94e64c78ea17a824c07f5d582eeaf1b1c026e711592fdc0d154
+size 5396
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/plans/async_plan_0013.npz b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/plans/async_plan_0013.npz
new file mode 100644
index 0000000000000000000000000000000000000000..fe194a545c172fdd16bdd6fe6ab3075ca02f6134
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/plans/async_plan_0013.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4dd1ea798a14ff44358ba66666ef0de43fcf23237079e75573810b3dcbeb2d1c
+size 5396
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/plans/async_plan_0014.npz b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/plans/async_plan_0014.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3f8f957ef41cccf46d4eab0699b22d2cd868c853
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/plans/async_plan_0014.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77836d34b7b573f6fe725576252fe7dbdaf9d460181c248a5f329d8479239d78
+size 5396
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/plans/async_plan_0015.npz b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/plans/async_plan_0015.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a00859ac918fb3db6554a631f9911084f21d0e86
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/plans/async_plan_0015.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:212763e52afc1b8756c975150563851dc51217dbca5b8d7b3c493120c1043e94
+size 5396
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/plans/async_plan_0016.npz b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/plans/async_plan_0016.npz
new file mode 100644
index 0000000000000000000000000000000000000000..dea287e8c36b18f98043da627f64b903a6711b25
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/plans/async_plan_0016.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a959915481ec425f986a0be66ba8d855b3f5f6c040f0eefbf383e51a41b05790
+size 5396
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/plans/async_plan_0017.npz b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/plans/async_plan_0017.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cfcedcfd2b7e2595b736e4890a92b52a0c7760f4
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/plans/async_plan_0017.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93e7545a8f67155a58824a3ad2d9f4ab8ed4696a07b76a979ab85522ad87d04c
+size 5396
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/plans/async_plan_0018.npz b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/plans/async_plan_0018.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a6d8a8239f48a73490bd9a7189ef106d261c911c
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/plans/async_plan_0018.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0afcc717b476d9e22a2201673121a7ef00f97b7a54aa40a8aeb41a26bb0157b0
+size 5284
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/plans/async_plan_0019.npz b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/plans/async_plan_0019.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a03c7316c710bb4fdcaa6c63a5b2e457b8a65b8b
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/plans/async_plan_0019.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b8e8629d198bb55991d1897e9ef62b67a93eb027e0bf573dac711120277e7c1
+size 5284
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/plans/async_plan_0020.npz b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/plans/async_plan_0020.npz
new file mode 100644
index 0000000000000000000000000000000000000000..616d0027b91680b2fa53b9f4ea19f8c99eccf3e0
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/plans/async_plan_0020.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4e4f0f8921125a1a361160e096b00933c7a0ba1bb98c0ec4d6293fbc30fb58d
+size 5508
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/plans/async_plan_0021.npz b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/plans/async_plan_0021.npz
new file mode 100644
index 0000000000000000000000000000000000000000..68ff9809144a27558d873b942fd5126861550fab
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/plans/async_plan_0021.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23a53522e232f85d7f422b7fdc550e1522d231b808601542f46c8eeffdffcaa7
+size 5284
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/plans/async_plan_0022.npz b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/plans/async_plan_0022.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4a9dc23140d0ad215a09d7f5289e9fb79e3bea90
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/plans/async_plan_0022.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:663ef39d09fcd20d7d9127d5bc42b63fcadb51a3b80b1c5397e37425637bfbde
+size 5396
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/plans/async_plan_0023.npz b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/plans/async_plan_0023.npz
new file mode 100644
index 0000000000000000000000000000000000000000..95010a586012806531f2d0fe072246f91327fc15
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/plans/async_plan_0023.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf9f3d8dd393d4454b91272fb0ef2edb3851dfbed70430409d1f4963dcebb593
+size 5396
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/plans/async_plan_0024.npz b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/plans/async_plan_0024.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5b8688d19b69ce4a4d4f00a4a0971c3529560020
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/plans/async_plan_0024.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:844e259a3deb9a424ac5532cac666229e37270a2d5bf9d72f0383b7ac6fe458a
+size 5284
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/predictions/prediction_0001.npz b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/predictions/prediction_0001.npz
new file mode 100644
index 0000000000000000000000000000000000000000..dc2c6401824c105290b67dfbef6580425f60c052
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/predictions/prediction_0001.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:958f66d72f18293ff18373fec1311c920ac130db423ec6e177146a1169925a8d
+size 161019
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/predictions/prediction_0002.npz b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/predictions/prediction_0002.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cd55bfbd5410e4090149b73bcb176bb7587b677b
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/predictions/prediction_0002.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c4c534b7969e8ccfc5803f9d00d71f824175dc4749ed7cbf955a3666c7e064a
+size 163038
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/predictions/prediction_0004.npz b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/predictions/prediction_0004.npz
new file mode 100644
index 0000000000000000000000000000000000000000..81c7077d31977d3ac00d0a828093641fafe10083
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/predictions/prediction_0004.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d94d7b5ebe03c1f180beb25141bb4c6307c7a005a4613749087316c35943723
+size 170558
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/predictions/prediction_0007.npz b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/predictions/prediction_0007.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6069c0b3aa166378a7f3ecedda78338dd271ad3e
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/predictions/prediction_0007.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77a535e14ca67150ddcb86531f1d8613fe39b2d04d169d8b10de5a9cf3a16411
+size 167945
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/predictions/prediction_0008.npz b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/predictions/prediction_0008.npz
new file mode 100644
index 0000000000000000000000000000000000000000..548be687039a887ac2166e5a01827750ad1db8cb
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/predictions/prediction_0008.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83987770c4543984cdddc05fb337c2a4c11a58386201db5971d914ed265026e1
+size 167249
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/predictions/prediction_0009.npz b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/predictions/prediction_0009.npz
new file mode 100644
index 0000000000000000000000000000000000000000..35e704ecbeb5471d59fab402dd4810e7ebc84ade
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/predictions/prediction_0009.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96c8a2fba9ff8dc62e521837e0d25884d35c6cb7b8f6c095ba4a6922abd3b890
+size 166505
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/predictions/prediction_0010.npz b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/predictions/prediction_0010.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d3c469a4fd7e3d2e1bd7327abbf323059e6134ac
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/predictions/prediction_0010.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3048a10503ea5eadc2336b73da5868499b942499a1359628fdb322c4d3cf6e5
+size 166045
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/predictions/prediction_0011.npz b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/predictions/prediction_0011.npz
new file mode 100644
index 0000000000000000000000000000000000000000..05aaca86a64da5c0f0e5a748d3173a51e2e117f3
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/predictions/prediction_0011.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe16886c6e7e57813cbb8ae8391517577c4fc2b57e5f498fe2c1d2f7a829ac29
+size 165593
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/predictions/prediction_0012.npz b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/predictions/prediction_0012.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0134a40fee1bee1fbfb815875c8fe183c64d8794
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/predictions/prediction_0012.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac17d4d478b58617354536fe4790273561e0fad8dc409d96e22eb1db49a7d66c
+size 165693
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/predictions/prediction_0015.npz b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/predictions/prediction_0015.npz
new file mode 100644
index 0000000000000000000000000000000000000000..195734b2f079039d43399035be61ee887b454d22
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/predictions/prediction_0015.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:149ef61853f24ee7a71fe267a4035a2cb3ea060f3a130db5b7dbb78873357442
+size 167202
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/predictions/prediction_0017.npz b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/predictions/prediction_0017.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6722e15d95cf1e832bd07c9b6cbcbc5122da85f0
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/predictions/prediction_0017.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05b52fab046f3796b69eeae7d8282f80ea164cbf73ba98aaaa46ebba8fc57f58
+size 168911
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/predictions/prediction_0018.npz b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/predictions/prediction_0018.npz
new file mode 100644
index 0000000000000000000000000000000000000000..714c510fa29adb6af8f11d9306da5cbcbda62ac7
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/predictions/prediction_0018.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb6f40e36aac94004ef74c15cb4bfe8ded5dfb1e99742881afe86fdbeaa89f04
+size 167977
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/predictions/prediction_0023.npz b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/predictions/prediction_0023.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6b2bff1134fa23da6634ad8540f22e5dd17b7596
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/predictions/prediction_0023.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:384af8bf83bf102f7b201acedad45b114b1267f4e4e2546448b1f32ac7280813
+size 168942
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/predictions/prediction_0024.npz b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/predictions/prediction_0024.npz
new file mode 100644
index 0000000000000000000000000000000000000000..63ddda43fdd45ab0452a8b4aee1639cb89cba702
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/debug/predictions/prediction_0024.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ad3cb5b338d52fe2e06e1562265874b5c278ed9c665b29ec80ff9af922c93cf
+size 170319
diff --git a/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/robot/robot_state_dict.pkl b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/robot/robot_state_dict.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..8a241d439933d5512b6034b794f1ebf29340c68e
--- /dev/null
+++ b/eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0010/robot/robot_state_dict.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f66d297ec57afc33c03413980ac9d0a0c027acfb4c093f5610128eade368bba7
+size 621451