diff --git a/.gitattributes b/.gitattributes
index b2b023fd053e611741eef3fa6db2bdd85843a7d8..78783e18c04cdd9298d8345ee6c729288c39c3ec 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2293,3 +2293,8 @@ eval/YAM/V2/dp/flip_bread/data/round_0009/action/executed_action_dict.pkl filter
 eval/YAM/V2/dp/flip_bread/data/round_0010/robot/robot_state_dict.pkl filter=lfs diff=lfs merge=lfs -text
 eval/YAM/V2/dp/banana_pick/data/round_0012/robot/robot_state_dict.pkl filter=lfs diff=lfs merge=lfs -text
 eval/YAM/V2/dp/banana_pick/data/round_0012/action/executed_action_dict.pkl filter=lfs diff=lfs merge=lfs -text
+eval/YAM/V2/dp/banana_pick/data/round_0005/robot/robot_state_dict.pkl filter=lfs diff=lfs merge=lfs -text
+eval/YAM/V2/dp/banana_pick/data/round_0005/action/executed_action_dict.pkl filter=lfs diff=lfs merge=lfs -text
+eval/YAM/V2/dp/banana_handoff/data/round_0010/robot/robot_state_dict.pkl filter=lfs diff=lfs merge=lfs -text
+eval/YAM/V2/dp/flip_bread/data/round_0012/robot/robot_state_dict.pkl filter=lfs diff=lfs merge=lfs -text
+eval/YAM/V2/dp/flip_bread/data/round_0005/robot/robot_state_dict.pkl filter=lfs diff=lfs merge=lfs -text
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0010/camera/left_wrist_0_rgb.mp4 b/eval/YAM/V2/dp/banana_handoff/data/round_0010/camera/left_wrist_0_rgb.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8ce2e3a300e134711a89b419e2515920478de7cf
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0010/camera/left_wrist_0_rgb.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:726bdb8ea1ee87e7d7895977cd5fd60c0d026292df321a75413996c09e951a57
+size 6985723
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0010/camera/right_wrist_0_rgb.mp4 b/eval/YAM/V2/dp/banana_handoff/data/round_0010/camera/right_wrist_0_rgb.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..aa747886cd8883991a7de131609d7784f9d62389
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0010/camera/right_wrist_0_rgb.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce67ec1c98cbd9e4438737d91372e38e4a2bc7c0476deb6bd748aba2d6d1544f
+size 7834859
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0010/debug/predictions/prediction_0000.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0010/debug/predictions/prediction_0000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5882f83d3126759b5cd005c171ef1e03fc3748f5
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0010/debug/predictions/prediction_0000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f904b65563862470ccdc3330bf669044907cfed1e20694112ff9541771d9243
+size 423048
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0010/debug/predictions/prediction_0001.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0010/debug/predictions/prediction_0001.npz
new file mode 100644
index 0000000000000000000000000000000000000000..dc8b04ce91835d88df763c11a289e865102628c6
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0010/debug/predictions/prediction_0001.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cdc6a72e33477faa3f7c7a31032712a8a3717225e61343df070c706cd8f0d89a
+size 427631
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0010/debug/predictions/prediction_0002.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0010/debug/predictions/prediction_0002.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b74f0267e10872ea8b17f4e231b5d51d85908eb4
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0010/debug/predictions/prediction_0002.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea5301bee70fea0793e655a034f2a89fe0105037eb952c59892f4103174405f3
+size 429376
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0010/debug/predictions/prediction_0003.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0010/debug/predictions/prediction_0003.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9f44b7c798249623ece4e929da3b10cd86e5b8a1
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0010/debug/predictions/prediction_0003.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86d9dbfd2321c757e5a798b42b5da86e0674b6d58f0135c54d41a6cc7f7152a8
+size 437415
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0010/debug/predictions/prediction_0004.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0010/debug/predictions/prediction_0004.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a7971c24c8d464a14be79f496b89c4570c1b08e8
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0010/debug/predictions/prediction_0004.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:848f25888e1929381c2aa0fe620dc7bcae19ff4ff92f591a3a2dc6b4e086a6b8
+size 449823
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0010/debug/predictions/prediction_0005.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0010/debug/predictions/prediction_0005.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7ae467f3aae55bd04336f41b1f10caa4b2d4354b
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0010/debug/predictions/prediction_0005.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae57bd35e1724d066ddeacb17fa341989cdcb2ce9cd3ed37703d71a46a790de1
+size 466078
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0010/debug/predictions/prediction_0006.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0010/debug/predictions/prediction_0006.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5e2a7564501c103328de38b8dab01a8c3df02ca1
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0010/debug/predictions/prediction_0006.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:295505ead8733a5421eaa9bdc73ba38f83901b0add596813c1e8d31b30d80176
+size 454009
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0010/debug/predictions/prediction_0007.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0010/debug/predictions/prediction_0007.npz
new file mode 100644
index 0000000000000000000000000000000000000000..df738985fdb871d87feaadd0b5a687f0275c2cc2
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0010/debug/predictions/prediction_0007.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29f8e09decaba3195ecbe238b4213a2299601423738cd3a1ee6a250fbd05ed12
+size 443240
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0010/debug/predictions/prediction_0008.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0010/debug/predictions/prediction_0008.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b40bc3dae8b1539f640b2e655ffba99ff5fdec18
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0010/debug/predictions/prediction_0008.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e82b58546980ea2f9db76913d6668cf6764b68488477cf75a9cca1a04b2dcc4
+size 450223
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0010/debug/predictions/prediction_0009.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0010/debug/predictions/prediction_0009.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2772c9db72be5c94e327088cd1bd16df34aa097c
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0010/debug/predictions/prediction_0009.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31f1772ecb4a8fbf143ece362ce1a2462bfd43fc604eddcc93aa09f13012a742
+size 469119
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0010/debug/predictions/prediction_0010.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0010/debug/predictions/prediction_0010.npz
new file mode 100644
index 0000000000000000000000000000000000000000..70a4fd348c226829c9bd306194eb5091ab3f70b9
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0010/debug/predictions/prediction_0010.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67dae358a5697b88c59bb7aa34f1700a6667f1f713fa149e3a1a9fed6709d29a
+size 473321
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0010/debug/predictions/prediction_0011.npz b/eval/YAM/V2/dp/banana_handoff/data/round_0010/debug/predictions/prediction_0011.npz
new file mode 100644
index 0000000000000000000000000000000000000000..bbbd07966660a8a93e55cacc9b51d7238f967932
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0010/debug/predictions/prediction_0011.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2d67f99e518e8ebf38e7cdee4d597dcd42218aec7c69920fc938826e6cfd92f
+size 463035
diff --git a/eval/YAM/V2/dp/banana_handoff/data/round_0010/robot/robot_state_dict.pkl b/eval/YAM/V2/dp/banana_handoff/data/round_0010/robot/robot_state_dict.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..4988daaff6ae209cc6ec70292e6a11640a8d17af
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_handoff/data/round_0010/robot/robot_state_dict.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d65df602483523f2c5a825c91e5709e7f09fad3c365771382330ef6c92345774
+size 831948
diff --git a/eval/YAM/V2/dp/banana_pick/data/round_0001/debug/predictions/prediction_0003.npz b/eval/YAM/V2/dp/banana_pick/data/round_0001/debug/predictions/prediction_0003.npz
new file mode 100644
index 0000000000000000000000000000000000000000..90612eb2f4fa087ff5e64faef9df18384bdb685f
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_pick/data/round_0001/debug/predictions/prediction_0003.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5a01838044004158c63282d0c5dba4bcb3ba7d88ec2c0a148bd6170f9ef22c5
+size 282489
diff --git a/eval/YAM/V2/dp/banana_pick/data/round_0001/debug/predictions/prediction_0005.npz b/eval/YAM/V2/dp/banana_pick/data/round_0001/debug/predictions/prediction_0005.npz
new file mode 100644
index 0000000000000000000000000000000000000000..dbcbfb2cdfc890489f5939c879a36c129a3fc4fe
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_pick/data/round_0001/debug/predictions/prediction_0005.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4fd9a894c4671829ca03986c749c0134d0f249e87bd9d2677f595d6413e0dea
+size 281868
diff --git a/eval/YAM/V2/dp/banana_pick/data/round_0001/debug/predictions/prediction_0006.npz b/eval/YAM/V2/dp/banana_pick/data/round_0001/debug/predictions/prediction_0006.npz
new file mode 100644
index 0000000000000000000000000000000000000000..dbb6b5bbf70107b23aa655482606bd0f0f594195
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_pick/data/round_0001/debug/predictions/prediction_0006.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54c1f221526f9d280e7f568b260048b98765c51d50668d4c5ea65fd9bfd3a67d
+size 281440
diff --git a/eval/YAM/V2/dp/banana_pick/data/round_0001/debug/predictions/prediction_0013.npz b/eval/YAM/V2/dp/banana_pick/data/round_0001/debug/predictions/prediction_0013.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f1faebe15fa014827b8b792cde507e518c33df93
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_pick/data/round_0001/debug/predictions/prediction_0013.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d3bb7111f0e734ff86cd2dfd20fc300896c820842e24abe8d15d39bb3c91d1d
+size 291846
diff --git a/eval/YAM/V2/dp/banana_pick/data/round_0001/debug/predictions/prediction_0014.npz b/eval/YAM/V2/dp/banana_pick/data/round_0001/debug/predictions/prediction_0014.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1b8dba77e46b0c8663c87a9fe98b47d473d5a795
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_pick/data/round_0001/debug/predictions/prediction_0014.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50ad328b87f1b53036ac4cd47a4d82c5caaad100170848c5a3a29340bff27078
+size 293425
diff --git a/eval/YAM/V2/dp/banana_pick/data/round_0001/debug/predictions/prediction_0016.npz b/eval/YAM/V2/dp/banana_pick/data/round_0001/debug/predictions/prediction_0016.npz
new file mode 100644
index 0000000000000000000000000000000000000000..67741a2c16b55bde5f41c717cf29da127b077d67
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_pick/data/round_0001/debug/predictions/prediction_0016.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9fef5e43f37e13a15a77d410489a05520c995ad5e1e6e149f38eda0691c36a5c
+size 307099
diff --git a/eval/YAM/V2/dp/banana_pick/data/round_0001/debug/predictions/prediction_0019.npz b/eval/YAM/V2/dp/banana_pick/data/round_0001/debug/predictions/prediction_0019.npz
new file mode 100644
index 0000000000000000000000000000000000000000..69ec72e77f627978d79dafce20435cc952b6c4eb
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_pick/data/round_0001/debug/predictions/prediction_0019.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bef4f4efb1f34bcf4091a46be93025e7ceafab881d0d530e7859cf5bf15d2f46
+size 303814
diff --git a/eval/YAM/V2/dp/banana_pick/data/round_0001/debug/predictions/prediction_0020.npz b/eval/YAM/V2/dp/banana_pick/data/round_0001/debug/predictions/prediction_0020.npz
new file mode 100644
index 0000000000000000000000000000000000000000..639ec1ee35dda3fa1887dccbe0d387eed0be2e69
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_pick/data/round_0001/debug/predictions/prediction_0020.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6326124ff5b9da1cc58b198ad190ae54c11c7be1201e958f2bd8e43f92fa548f
+size 296550
diff --git a/eval/YAM/V2/dp/banana_pick/data/round_0001/debug/predictions/prediction_0021.npz b/eval/YAM/V2/dp/banana_pick/data/round_0001/debug/predictions/prediction_0021.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f5adece99dfe166809929e43e421723545a7acf1
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_pick/data/round_0001/debug/predictions/prediction_0021.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1c35c4607d160da0c9713b8bd5d9bd02199e56e1280fa473ce10e58ffcb6205
+size 274740
diff --git a/eval/YAM/V2/dp/banana_pick/data/round_0001/debug/predictions/prediction_0022.npz b/eval/YAM/V2/dp/banana_pick/data/round_0001/debug/predictions/prediction_0022.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2d541e5f82e828fd8b36e13394aad8a46d6090ee
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_pick/data/round_0001/debug/predictions/prediction_0022.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb058e04adc6696379fdb133aab794a8c69653f3ab91ab1df19bed84409d0a8f
+size 273781
diff --git a/eval/YAM/V2/dp/banana_pick/data/round_0001/debug/predictions/prediction_0025.npz b/eval/YAM/V2/dp/banana_pick/data/round_0001/debug/predictions/prediction_0025.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7f8b65f2b3c57951c91ad90075f4b72ef76e072d
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_pick/data/round_0001/debug/predictions/prediction_0025.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c39421d1841d115a9bcb3e7b6f1296a2d3cb919f73d13db79b4f0bbf953be8a3
+size 276924
diff --git a/eval/YAM/V2/dp/banana_pick/data/round_0001/debug/predictions/prediction_0029.npz b/eval/YAM/V2/dp/banana_pick/data/round_0001/debug/predictions/prediction_0029.npz
new file mode 100644
index 0000000000000000000000000000000000000000..114d094e24ffd3d933df87780845d25f0744544d
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_pick/data/round_0001/debug/predictions/prediction_0029.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:702a08b730edc67cb41a004df29a5bbd38b4a74a0fa9cc87c0fbee8ab5678aa9
+size 294066
diff --git a/eval/YAM/V2/dp/banana_pick/data/round_0005/action/executed_action_dict.pkl b/eval/YAM/V2/dp/banana_pick/data/round_0005/action/executed_action_dict.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..1c119d35efe163196d63bd4a270c4bf20da7b139
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_pick/data/round_0005/action/executed_action_dict.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8774a3dcbc05dbe35f929b4f4483b4436a0014d8122128d5e6d5c2242fd9216c
+size 102873
diff --git a/eval/YAM/V2/dp/banana_pick/data/round_0005/camera/base_0_rgb.mp4 b/eval/YAM/V2/dp/banana_pick/data/round_0005/camera/base_0_rgb.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..14ff99f10be2e9790ed868410a988439d7373e22
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_pick/data/round_0005/camera/base_0_rgb.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:047da3e7b60e24e97a7f22c3b366973c278e51d4d11595bc36d986a3b0803157
+size 9888546
diff --git a/eval/YAM/V2/dp/banana_pick/data/round_0005/camera/left_wrist_0_rgb.mp4 b/eval/YAM/V2/dp/banana_pick/data/round_0005/camera/left_wrist_0_rgb.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..883327fbae42ec94c3daf8c3208221fb55b62e33
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_pick/data/round_0005/camera/left_wrist_0_rgb.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd53a3c60395239243cab6e28f51bad81ef8c215c51069f4481556373bbd6d26
+size 10158189
diff --git a/eval/YAM/V2/dp/banana_pick/data/round_0005/camera/right_wrist_0_rgb.mp4 b/eval/YAM/V2/dp/banana_pick/data/round_0005/camera/right_wrist_0_rgb.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2d48421ed059f2d12683cf950429ab74cd837ddb
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_pick/data/round_0005/camera/right_wrist_0_rgb.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbf3b055fe091f5e3f642c0f074d0d5fcb6d2e5c6b0f5c0a19b7c07df5743345
+size 12597145
diff --git a/eval/YAM/V2/dp/banana_pick/data/round_0005/debug/predictions/prediction_0000.npz b/eval/YAM/V2/dp/banana_pick/data/round_0005/debug/predictions/prediction_0000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2e00b0172a605e772533298b66e4b7e1b926d17b
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_pick/data/round_0005/debug/predictions/prediction_0000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82c6a900d8b044e28d15e3f229dbef9cc23719b61511c01898a582994c141fc6
+size 278457
diff --git a/eval/YAM/V2/dp/banana_pick/data/round_0005/debug/predictions/prediction_0001.npz b/eval/YAM/V2/dp/banana_pick/data/round_0005/debug/predictions/prediction_0001.npz
new file mode 100644
index 0000000000000000000000000000000000000000..64e8b1eb583907b6410ba045977af0f629cf3ba6
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_pick/data/round_0005/debug/predictions/prediction_0001.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d71a4ed9380123fbee0613643b42318247959807643ee8dc3e61ef8b23de075
+size 279008
diff --git a/eval/YAM/V2/dp/banana_pick/data/round_0005/debug/predictions/prediction_0002.npz b/eval/YAM/V2/dp/banana_pick/data/round_0005/debug/predictions/prediction_0002.npz
new file mode 100644
index 0000000000000000000000000000000000000000..faaa69d84d1a97227d60af0729fe80ab9a89627f
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_pick/data/round_0005/debug/predictions/prediction_0002.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89ffaf0c2b53442e335807620c1d768cb0be6aeb3f153b920be67f6fc43d9ddb
+size 276338
diff --git a/eval/YAM/V2/dp/banana_pick/data/round_0005/debug/predictions/prediction_0003.npz b/eval/YAM/V2/dp/banana_pick/data/round_0005/debug/predictions/prediction_0003.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a453e7dc56ae551f79ad10739d18ee1848bf2271
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_pick/data/round_0005/debug/predictions/prediction_0003.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9fd33d6240f7125785a8c058bf6bdb7d3822f440d9932a36ab331aa786047247
+size 281659
diff --git a/eval/YAM/V2/dp/banana_pick/data/round_0005/debug/predictions/prediction_0004.npz b/eval/YAM/V2/dp/banana_pick/data/round_0005/debug/predictions/prediction_0004.npz
new file mode 100644
index 0000000000000000000000000000000000000000..24c27fbf8d997eb2f36b161fcfd3574f0e8f805c
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_pick/data/round_0005/debug/predictions/prediction_0004.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe1d5fa36db3201b51f0add33532ce8f80d045aeab9410af5f7073727ea989d0
+size 290004
diff --git a/eval/YAM/V2/dp/banana_pick/data/round_0005/debug/predictions/prediction_0007.npz b/eval/YAM/V2/dp/banana_pick/data/round_0005/debug/predictions/prediction_0007.npz
new file mode 100644
index 0000000000000000000000000000000000000000..dbbf2feb0ab6529a058e7c08d4d42675944e0e0f
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_pick/data/round_0005/debug/predictions/prediction_0007.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c9ddb3bd63f2ff69af78945fc354b2824ebde99b62c228c15b6b6149395eb9b
+size 305384
diff --git a/eval/YAM/V2/dp/banana_pick/data/round_0005/debug/predictions/prediction_0008.npz b/eval/YAM/V2/dp/banana_pick/data/round_0005/debug/predictions/prediction_0008.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e0dfe1b1fcc317d53d782967ca880ca8cbec2f68
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_pick/data/round_0005/debug/predictions/prediction_0008.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:909513dd02e4545c7e5139ae80544c40f442a038c179d0fd4b8b0e9e7a84a042
+size 294723
diff --git a/eval/YAM/V2/dp/banana_pick/data/round_0005/debug/predictions/prediction_0009.npz b/eval/YAM/V2/dp/banana_pick/data/round_0005/debug/predictions/prediction_0009.npz
new file mode 100644
index 0000000000000000000000000000000000000000..92acd01b0821c0d500c7ea94eca69488a5663fa2
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_pick/data/round_0005/debug/predictions/prediction_0009.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f27893354048d5868d5dae46dde089b4234d639a2fd6fbf5903f86166766d13f
+size 310196
diff --git a/eval/YAM/V2/dp/banana_pick/data/round_0005/debug/predictions/prediction_0010.npz b/eval/YAM/V2/dp/banana_pick/data/round_0005/debug/predictions/prediction_0010.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c17b1b209bcc97cc6b6afc3e8ba9264c03528e21
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_pick/data/round_0005/debug/predictions/prediction_0010.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cde360ac9feab4882f88043bf2914fcc2e6d0dbdddc481f112025e0652cc26b4
+size 311834
diff --git a/eval/YAM/V2/dp/banana_pick/data/round_0005/debug/predictions/prediction_0011.npz b/eval/YAM/V2/dp/banana_pick/data/round_0005/debug/predictions/prediction_0011.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ea40580446feeb7c6b0dc298e2e240fa3fc8c4e0
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_pick/data/round_0005/debug/predictions/prediction_0011.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b58bebd813a976e94e2fb756eeeb8932be7c9b563e61ad4a2b90c7cffdd66d9
+size 307685
diff --git a/eval/YAM/V2/dp/banana_pick/data/round_0005/debug/predictions/prediction_0012.npz b/eval/YAM/V2/dp/banana_pick/data/round_0005/debug/predictions/prediction_0012.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c4d07ad12ca317b31d6a7ad5ff15934faf40345c
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_pick/data/round_0005/debug/predictions/prediction_0012.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0baebb6b61977cd09e1a22074c15b91cb221d939be148d12ca3f1825ca509ca9
+size 311489
diff --git a/eval/YAM/V2/dp/banana_pick/data/round_0005/debug/predictions/prediction_0013.npz b/eval/YAM/V2/dp/banana_pick/data/round_0005/debug/predictions/prediction_0013.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1098ecbab6c9050ffea9d13ce8940661870c25fd
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_pick/data/round_0005/debug/predictions/prediction_0013.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2000495b484e7516d34f68b1b670744dcfaf6870d5238a1acb15d6d58b3764c6
+size 313287
diff --git a/eval/YAM/V2/dp/banana_pick/data/round_0005/debug/predictions/prediction_0015.npz b/eval/YAM/V2/dp/banana_pick/data/round_0005/debug/predictions/prediction_0015.npz
new file mode 100644
index 0000000000000000000000000000000000000000..211113283aa77a066b786f56591b816c066890e2
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_pick/data/round_0005/debug/predictions/prediction_0015.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f28cd40738e89053cf7d29319e11b6db436bcbd5ef7cc91728fb56157ac94134
+size 281330
diff --git a/eval/YAM/V2/dp/banana_pick/data/round_0005/debug/predictions/prediction_0017.npz b/eval/YAM/V2/dp/banana_pick/data/round_0005/debug/predictions/prediction_0017.npz
new file mode 100644
index 0000000000000000000000000000000000000000..39baf84965159ede387f02bc61e78a2d4f4487cf
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_pick/data/round_0005/debug/predictions/prediction_0017.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71d3b3d130cf84c5e27bde9ba28d6304c7810e354d8ddcce70df2363f2fd499f
+size 281059
diff --git a/eval/YAM/V2/dp/banana_pick/data/round_0005/debug/predictions/prediction_0018.npz b/eval/YAM/V2/dp/banana_pick/data/round_0005/debug/predictions/prediction_0018.npz
new file mode 100644
index 0000000000000000000000000000000000000000..54fb83f5446cf70d431a48a25eb19417381b5d84
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_pick/data/round_0005/debug/predictions/prediction_0018.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1d71745bd696d659d0eb94c9aa8a3f88c9df6c48317f4c3b9c67ffd380c39c1
+size 281262
diff --git a/eval/YAM/V2/dp/banana_pick/data/round_0005/robot/robot_state_dict.pkl b/eval/YAM/V2/dp/banana_pick/data/round_0005/robot/robot_state_dict.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..7e8271a7fe055aae5c91eafb80fbbf51c03af347
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_pick/data/round_0005/robot/robot_state_dict.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5a2298db951e4de5045eee830fe6c40bac7261f06e9f2d8b23249559c160e38
+size 1391297
diff --git a/eval/YAM/V2/dp/banana_pick/data/round_0012/debug/predictions/prediction_0000.npz b/eval/YAM/V2/dp/banana_pick/data/round_0012/debug/predictions/prediction_0000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a45d8ace27e75d86fafc7f119e7b6591e41de281
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_pick/data/round_0012/debug/predictions/prediction_0000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:719c512610b1f91a31d228e4b4a0822c68d50d1e7969ebf0a720a1b28c13d619
+size 284460
diff --git a/eval/YAM/V2/dp/banana_pick/data/round_0012/debug/predictions/prediction_0001.npz b/eval/YAM/V2/dp/banana_pick/data/round_0012/debug/predictions/prediction_0001.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0db34d9f24d8a59deec8d7b057c573625c97002b
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_pick/data/round_0012/debug/predictions/prediction_0001.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b774cbd676e7780135d91a819b76717f6e5f8ea3646b283653afbdad84e8ca4
+size 287515
diff --git a/eval/YAM/V2/dp/banana_pick/data/round_0012/debug/predictions/prediction_0002.npz b/eval/YAM/V2/dp/banana_pick/data/round_0012/debug/predictions/prediction_0002.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6ded1cc7cdfb341405493b56222c94ed70126ef0
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_pick/data/round_0012/debug/predictions/prediction_0002.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a429ffa21635b0a3f14a03c3f289475e280e82349c5687f51c2ff1682dbef2b4
+size 269460
diff --git a/eval/YAM/V2/dp/banana_pick/data/round_0012/debug/predictions/prediction_0004.npz b/eval/YAM/V2/dp/banana_pick/data/round_0012/debug/predictions/prediction_0004.npz
new file mode 100644
index 0000000000000000000000000000000000000000..503b4f489041f84bf7dabf976992f2910e7cb74d
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_pick/data/round_0012/debug/predictions/prediction_0004.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2db6d338729eefa74f5b8753663a09a2ad7435c76e1d8a940a16eef992a0edc
+size 299713
diff --git a/eval/YAM/V2/dp/banana_pick/data/round_0012/debug/predictions/prediction_0007.npz b/eval/YAM/V2/dp/banana_pick/data/round_0012/debug/predictions/prediction_0007.npz
new file mode 100644
index 0000000000000000000000000000000000000000..72ac7513724c321e7df0a6fcb22f63e78d6e15f8
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_pick/data/round_0012/debug/predictions/prediction_0007.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a5126c49fdc6506df0b37210ecfc113fbdd50dbe3ee2b320aa3856bd09cf57f
+size 302946
diff --git a/eval/YAM/V2/dp/banana_pick/data/round_0012/debug/predictions/prediction_0008.npz b/eval/YAM/V2/dp/banana_pick/data/round_0012/debug/predictions/prediction_0008.npz
new file mode 100644
index 0000000000000000000000000000000000000000..316fb2c4dd72b183e719664bdc612f15d09bf27e
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_pick/data/round_0012/debug/predictions/prediction_0008.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:654d48f56754d33594ecaeaf981003a998448e7874184fea057420dace209a12
+size 302069
diff --git a/eval/YAM/V2/dp/banana_pick/data/round_0012/debug/predictions/prediction_0009.npz b/eval/YAM/V2/dp/banana_pick/data/round_0012/debug/predictions/prediction_0009.npz
new file mode 100644
index 0000000000000000000000000000000000000000..17e92a34ec3a62d4d6fa20b9c26e1e40b09f9e75
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_pick/data/round_0012/debug/predictions/prediction_0009.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c7c20760f0f2c23f009e10fdd090459cdfb3169ea74225887b9c4d1fab93efd
+size 301033
diff --git a/eval/YAM/V2/dp/banana_pick/data/round_0012/debug/predictions/prediction_0011.npz b/eval/YAM/V2/dp/banana_pick/data/round_0012/debug/predictions/prediction_0011.npz
new file mode 100644
index 0000000000000000000000000000000000000000..bd430dcb90b7b5cffb4424fd110dc2d751f7c539
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_pick/data/round_0012/debug/predictions/prediction_0011.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56ef20109d17e5a524e8ee65e40aa5f0bb573e7f8e99f812e4825df9b4c0fc7f
+size 303674
diff --git a/eval/YAM/V2/dp/banana_pick/data/round_0012/debug/predictions/prediction_0012.npz b/eval/YAM/V2/dp/banana_pick/data/round_0012/debug/predictions/prediction_0012.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cd13055f2045dac4b9c3dc9fc56604e7eebc254e
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_pick/data/round_0012/debug/predictions/prediction_0012.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18c099a17a936b8796b16a4613693febbcbab365fdcfce10ae9443aaeda2f061
+size 302897
diff --git a/eval/YAM/V2/dp/banana_pick/data/round_0012/debug/predictions/prediction_0013.npz b/eval/YAM/V2/dp/banana_pick/data/round_0012/debug/predictions/prediction_0013.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a071e1a54df0fa263ac58dc1181be9398d6d2aed
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_pick/data/round_0012/debug/predictions/prediction_0013.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e2cc807a558daab6a5672e547ace31b12253ce1aa61228eb6b470cdd9eac5c2
+size 301948
diff --git a/eval/YAM/V2/dp/banana_pick/data/round_0012/debug/predictions/prediction_0015.npz b/eval/YAM/V2/dp/banana_pick/data/round_0012/debug/predictions/prediction_0015.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d3a76dc045edf219500ba9e9dc1a475b8083ade0
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_pick/data/round_0012/debug/predictions/prediction_0015.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:059b99519b81588261b10b6a094dd24a64eb640a70a39ea1395ec64e6c753c70
+size 280110
diff --git a/eval/YAM/V2/dp/banana_pick/data/round_0012/debug/predictions/prediction_0018.npz b/eval/YAM/V2/dp/banana_pick/data/round_0012/debug/predictions/prediction_0018.npz
new file mode 100644
index 0000000000000000000000000000000000000000..51470d4cdf588608e7ce011a5401b58dd17e2fb7
--- /dev/null
+++ b/eval/YAM/V2/dp/banana_pick/data/round_0012/debug/predictions/prediction_0018.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3f46793667cbf57f8a56c8f683fb3276bda1e1435e95ce75579a3160d7d5756
+size 286284
diff --git a/eval/YAM/V2/dp/flip_bread/data/round_0001/debug/predictions/prediction_0005.npz b/eval/YAM/V2/dp/flip_bread/data/round_0001/debug/predictions/prediction_0005.npz
new file mode 100644
index 0000000000000000000000000000000000000000..fc4c1a4583f70202b531c00ee0cbae8748c0a25d
--- /dev/null
+++ b/eval/YAM/V2/dp/flip_bread/data/round_0001/debug/predictions/prediction_0005.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99d3c43e43eb49f6d9a09597ba6ba7cca2eed204b379af16745851cfff22502f
+size 329750
diff --git a/eval/YAM/V2/dp/flip_bread/data/round_0001/debug/predictions/prediction_0006.npz b/eval/YAM/V2/dp/flip_bread/data/round_0001/debug/predictions/prediction_0006.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8dc5a80b68f3704d10a2a56af8cf89788c124573
--- /dev/null
+++ b/eval/YAM/V2/dp/flip_bread/data/round_0001/debug/predictions/prediction_0006.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da65e9879461173d64ee9ba448d01a5368bb76d8b72d3e438bd9311550aed8df
+size 323863
diff --git a/eval/YAM/V2/dp/flip_bread/data/round_0001/debug/predictions/prediction_0016.npz b/eval/YAM/V2/dp/flip_bread/data/round_0001/debug/predictions/prediction_0016.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1e5d78928ecd11668ef4a0645af89fc6e05aaf79
--- /dev/null
+++ b/eval/YAM/V2/dp/flip_bread/data/round_0001/debug/predictions/prediction_0016.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7bc320fc7477bc61acd8e3bbed1b4bf9a42a3a93d4c0184d4357686621c00f4b
+size 278199
diff --git a/eval/YAM/V2/dp/flip_bread/data/round_0001/debug/predictions/prediction_0019.npz b/eval/YAM/V2/dp/flip_bread/data/round_0001/debug/predictions/prediction_0019.npz
new file mode 100644
index 0000000000000000000000000000000000000000..792b6957c448d51bb2ecc3b468496e9a8d21bfea
--- /dev/null
+++ b/eval/YAM/V2/dp/flip_bread/data/round_0001/debug/predictions/prediction_0019.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96899736e2149df3960c7d711b3a9ae9c28cb8d2f516663645ba537a72164832
+size 277265
diff --git a/eval/YAM/V2/dp/flip_bread/data/round_0001/debug/predictions/prediction_0020.npz b/eval/YAM/V2/dp/flip_bread/data/round_0001/debug/predictions/prediction_0020.npz
new file mode 100644
index 0000000000000000000000000000000000000000..fd174363430db4cc2398d512042300aaf91e783d
--- /dev/null
+++ b/eval/YAM/V2/dp/flip_bread/data/round_0001/debug/predictions/prediction_0020.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ac279b64f4e3ed5ecc472324f6d68eb9714dda08ce586e295845008bfdf11c1
+size 277169
diff --git a/eval/YAM/V2/dp/flip_bread/data/round_0001/debug/predictions/prediction_0021.npz b/eval/YAM/V2/dp/flip_bread/data/round_0001/debug/predictions/prediction_0021.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e2de933e601305b003bcafb989258ded259a96c2
--- /dev/null
+++ b/eval/YAM/V2/dp/flip_bread/data/round_0001/debug/predictions/prediction_0021.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c72f0ea9e18e46cb8825d3ebb24a5cc6cc8f2a7a58d8e4180126b2e226114d4
+size 277998
diff --git a/eval/YAM/V2/dp/flip_bread/data/round_0001/debug/predictions/prediction_0022.npz b/eval/YAM/V2/dp/flip_bread/data/round_0001/debug/predictions/prediction_0022.npz
new file mode 100644
index 0000000000000000000000000000000000000000..426e04bb2e1e08f4b5818986012a662d3e5b0805
--- /dev/null
+++ b/eval/YAM/V2/dp/flip_bread/data/round_0001/debug/predictions/prediction_0022.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42b28c8c39349383f6e90d46215a288af6006545afa9a1b9c6b38916f958dd1e
+size 278573
diff --git a/eval/YAM/V2/dp/flip_bread/data/round_0001/debug/predictions/prediction_0025.npz b/eval/YAM/V2/dp/flip_bread/data/round_0001/debug/predictions/prediction_0025.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8106112313c2d8ba4875da667967a7da5a424bda
--- /dev/null
+++ b/eval/YAM/V2/dp/flip_bread/data/round_0001/debug/predictions/prediction_0025.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a78fd054e3e1bab9797595ac976e1e0367e149c44f2668785494d83e171bab40
+size 278071
diff --git a/eval/YAM/V2/dp/flip_bread/data/round_0001/debug/predictions/prediction_0029.npz b/eval/YAM/V2/dp/flip_bread/data/round_0001/debug/predictions/prediction_0029.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0aafda28fb598774e225b8bf8d8dddf226bbcf01
--- /dev/null
+++ b/eval/YAM/V2/dp/flip_bread/data/round_0001/debug/predictions/prediction_0029.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cfa2749961774e2b7062c1792073cf66f98b57b1bd6aaf13328360f26a6a6fd2
+size 276101
diff --git a/eval/YAM/V2/dp/flip_bread/data/round_0005/camera/base_0_rgb.mp4 b/eval/YAM/V2/dp/flip_bread/data/round_0005/camera/base_0_rgb.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7e5c2cac5eb82089903016ad78508fab31adc880
--- /dev/null
+++ b/eval/YAM/V2/dp/flip_bread/data/round_0005/camera/base_0_rgb.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef3b97e980682b3c20a51e9da06fadbb4edf10ab4c660589785ca5b727ef8132
+size 7877253
diff --git a/eval/YAM/V2/dp/flip_bread/data/round_0005/camera/left_wrist_0_rgb.mp4 b/eval/YAM/V2/dp/flip_bread/data/round_0005/camera/left_wrist_0_rgb.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..121c4b46ba535b10eaaf364d6c36acd9c1f53c11
--- /dev/null
+++ b/eval/YAM/V2/dp/flip_bread/data/round_0005/camera/left_wrist_0_rgb.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:884fc5abb4fb06d11b4d0e72e86220e997e2cb17f85d3252d5783227c7c3154f
+size 8163348
diff --git a/eval/YAM/V2/dp/flip_bread/data/round_0005/camera/right_wrist_0_rgb.mp4 b/eval/YAM/V2/dp/flip_bread/data/round_0005/camera/right_wrist_0_rgb.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1d7df0983b8e191025e4a470a5eefad1d07c4ff9
--- /dev/null
+++ b/eval/YAM/V2/dp/flip_bread/data/round_0005/camera/right_wrist_0_rgb.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de5fb2f4bd7fc508efd163ccd35d8deb3ab1623dc5b3225293108bb9d233c420
+size 8976325
diff --git a/eval/YAM/V2/dp/flip_bread/data/round_0005/debug/predictions/prediction_0000.npz b/eval/YAM/V2/dp/flip_bread/data/round_0005/debug/predictions/prediction_0000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..bce217b15855e8abb3543642466cc01518d4ef0c
--- /dev/null
+++ b/eval/YAM/V2/dp/flip_bread/data/round_0005/debug/predictions/prediction_0000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15909a5d48b016d0a0fbe568721f5dfda3bf0bdc4a52650786fe45899df2a88b
+size 282822
diff --git a/eval/YAM/V2/dp/flip_bread/data/round_0005/debug/predictions/prediction_0001.npz b/eval/YAM/V2/dp/flip_bread/data/round_0005/debug/predictions/prediction_0001.npz
new file mode 100644
index 0000000000000000000000000000000000000000..69acf0d56d85c2ec47d04c244c10fc1d4c333a6e
--- /dev/null
+++ b/eval/YAM/V2/dp/flip_bread/data/round_0005/debug/predictions/prediction_0001.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae7349792dbe28dece4ea0d5ed192c7518643f8ade9fdfd529e24c8f8d158738
+size 287879
diff --git a/eval/YAM/V2/dp/flip_bread/data/round_0005/debug/predictions/prediction_0002.npz b/eval/YAM/V2/dp/flip_bread/data/round_0005/debug/predictions/prediction_0002.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e7833f8d56a572a278fb7e2b75f5ceb2df707d61
--- /dev/null
+++ b/eval/YAM/V2/dp/flip_bread/data/round_0005/debug/predictions/prediction_0002.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de801bd85ffd998b121a83d77e049fed18afe425e55b3d012d8bdc547190f5f0
+size 310976
diff --git a/eval/YAM/V2/dp/flip_bread/data/round_0005/debug/predictions/prediction_0004.npz b/eval/YAM/V2/dp/flip_bread/data/round_0005/debug/predictions/prediction_0004.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2bf836a5d4920e2a065407b6559d08eb76849677
--- /dev/null
+++ b/eval/YAM/V2/dp/flip_bread/data/round_0005/debug/predictions/prediction_0004.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3a2731e82913f4ff17c9f2b8837f13f52e3fccdc24fe820ff5dba718ec18084
+size 332768
diff --git a/eval/YAM/V2/dp/flip_bread/data/round_0005/debug/predictions/prediction_0007.npz b/eval/YAM/V2/dp/flip_bread/data/round_0005/debug/predictions/prediction_0007.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b71be006f6725f7aee921ca3705034e7b1ac3b32
--- /dev/null
+++ b/eval/YAM/V2/dp/flip_bread/data/round_0005/debug/predictions/prediction_0007.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2749f1e0298f9555c8d761a6e62810260966d803fdd834b4b185f6dd032de1ad
+size 323170
diff --git a/eval/YAM/V2/dp/flip_bread/data/round_0005/debug/predictions/prediction_0008.npz b/eval/YAM/V2/dp/flip_bread/data/round_0005/debug/predictions/prediction_0008.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1fae22aa70459f47ff9e679c84b7ebc1fa208f24
--- /dev/null
+++ b/eval/YAM/V2/dp/flip_bread/data/round_0005/debug/predictions/prediction_0008.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06721d8997ecf2779b00b20aa2cf1a40bc52af0dff20cfffc43d61e2cf314d45
+size 316951
diff --git a/eval/YAM/V2/dp/flip_bread/data/round_0005/debug/predictions/prediction_0009.npz b/eval/YAM/V2/dp/flip_bread/data/round_0005/debug/predictions/prediction_0009.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c26f581cee5e1a24ed0d1210787205a37ee1d53d
--- /dev/null
+++ b/eval/YAM/V2/dp/flip_bread/data/round_0005/debug/predictions/prediction_0009.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a79bf974a9d8519d8e2fc8cce3c9193fc5e98655cca862a4cf11166ab37f282
+size 322667
diff --git a/eval/YAM/V2/dp/flip_bread/data/round_0005/debug/predictions/prediction_0010.npz b/eval/YAM/V2/dp/flip_bread/data/round_0005/debug/predictions/prediction_0010.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5dac24e43bad42e5e6653cd23a21694e1fd76e96
--- /dev/null
+++ b/eval/YAM/V2/dp/flip_bread/data/round_0005/debug/predictions/prediction_0010.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42f91d303032399deaf11f1be0d180fef180e99b5dea777442a69c0ce248bc50
+size 326756
diff --git a/eval/YAM/V2/dp/flip_bread/data/round_0005/debug/predictions/prediction_0011.npz b/eval/YAM/V2/dp/flip_bread/data/round_0005/debug/predictions/prediction_0011.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c26ab50852e7bbddc6f7c1b5d34cf67c5e2cd077
--- /dev/null
+++ b/eval/YAM/V2/dp/flip_bread/data/round_0005/debug/predictions/prediction_0011.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2d0a93d6a44f955643182c4ef6afbc3c74cfc4f44b0916f5214f2d02ecb5a68
+size 327977
diff --git a/eval/YAM/V2/dp/flip_bread/data/round_0005/debug/predictions/prediction_0012.npz b/eval/YAM/V2/dp/flip_bread/data/round_0005/debug/predictions/prediction_0012.npz
new file mode 100644
index 0000000000000000000000000000000000000000..84cc7ed4fdb6af6886e004974e42f34667ee7fa4
--- /dev/null
+++ b/eval/YAM/V2/dp/flip_bread/data/round_0005/debug/predictions/prediction_0012.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bea45932e46086542b53a5e34f686b0e813bd7aa5c373e4a46ed046b7869fe78
+size 304009
diff --git a/eval/YAM/V2/dp/flip_bread/data/round_0005/debug/predictions/prediction_0013.npz b/eval/YAM/V2/dp/flip_bread/data/round_0005/debug/predictions/prediction_0013.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a65e1da406b62171c259d2a4d3cb0c145fd9a6af
--- /dev/null
+++ b/eval/YAM/V2/dp/flip_bread/data/round_0005/debug/predictions/prediction_0013.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02a8861f704d9be14e5594357b891045afcb4537e72ed6e184c0ab24f89700cc
+size 281640
diff --git a/eval/YAM/V2/dp/flip_bread/data/round_0005/robot/robot_state_dict.pkl b/eval/YAM/V2/dp/flip_bread/data/round_0005/robot/robot_state_dict.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..6b31de7571841867abce2bee03fcc58e4c5117b7
--- /dev/null
+++ b/eval/YAM/V2/dp/flip_bread/data/round_0005/robot/robot_state_dict.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba5e836d52581efa23b6892ea1aea099654de21720867f482f12ebc72b826cf7
+size 1096968
diff --git a/eval/YAM/V2/dp/flip_bread/data/round_0012/camera/base_0_rgb.mp4 b/eval/YAM/V2/dp/flip_bread/data/round_0012/camera/base_0_rgb.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..86820a910ef68364cd3bafc5f15d8a19679bfd47
--- /dev/null
+++ b/eval/YAM/V2/dp/flip_bread/data/round_0012/camera/base_0_rgb.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ad29964b4d97aa22936f3572334796eb1598dc9826fca3d14751d049ceaeaa8
+size 10002419
diff --git a/eval/YAM/V2/dp/flip_bread/data/round_0012/camera/left_wrist_0_rgb.mp4 b/eval/YAM/V2/dp/flip_bread/data/round_0012/camera/left_wrist_0_rgb.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0960c531150e922b7898d83007051114ad455666
--- /dev/null
+++ b/eval/YAM/V2/dp/flip_bread/data/round_0012/camera/left_wrist_0_rgb.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb72b1c163daceb67e9af338d4d148841484c2c2abbd9e90829d169e2beea208
+size 10324003
diff --git a/eval/YAM/V2/dp/flip_bread/data/round_0012/camera/right_wrist_0_rgb.mp4 b/eval/YAM/V2/dp/flip_bread/data/round_0012/camera/right_wrist_0_rgb.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..33085a705506c5deafe51a50bc514342da6a2b74
--- /dev/null
+++ b/eval/YAM/V2/dp/flip_bread/data/round_0012/camera/right_wrist_0_rgb.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e2404b4d39c12cd47f9866e1d5111f23effc13b4288f83ce2343f21503585f8
+size 11786139
diff --git a/eval/YAM/V2/dp/flip_bread/data/round_0012/debug/predictions/prediction_0000.npz b/eval/YAM/V2/dp/flip_bread/data/round_0012/debug/predictions/prediction_0000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b8c55ebd5fbf77b699f167c8c2b68ed028cd06d6
--- /dev/null
+++ b/eval/YAM/V2/dp/flip_bread/data/round_0012/debug/predictions/prediction_0000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2d29c8c52db8336b601f6c641674474f653b825f277ac13c1dedbf9982730a9
+size 285998
diff --git a/eval/YAM/V2/dp/flip_bread/data/round_0012/debug/predictions/prediction_0001.npz b/eval/YAM/V2/dp/flip_bread/data/round_0012/debug/predictions/prediction_0001.npz
new file mode 100644
index 0000000000000000000000000000000000000000..75032d5623a4d41fbc85d906e92b2c826b8bbcab
--- /dev/null
+++ b/eval/YAM/V2/dp/flip_bread/data/round_0012/debug/predictions/prediction_0001.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ac7136548b267223d65bd9bfdd1ede582c21c51ba578b6aea72a26c59fa6273
+size 297907
diff --git a/eval/YAM/V2/dp/flip_bread/data/round_0012/debug/predictions/prediction_0002.npz b/eval/YAM/V2/dp/flip_bread/data/round_0012/debug/predictions/prediction_0002.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6b99cc888f1941ad33c460d86d7a4da21ecfe878
--- /dev/null
+++ b/eval/YAM/V2/dp/flip_bread/data/round_0012/debug/predictions/prediction_0002.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f4d6923155836de9fd88138b61803d3a7d57db47bc7075671699f52cb3df588
+size 312114
diff --git a/eval/YAM/V2/dp/flip_bread/data/round_0012/debug/predictions/prediction_0004.npz b/eval/YAM/V2/dp/flip_bread/data/round_0012/debug/predictions/prediction_0004.npz
new file mode 100644
index 0000000000000000000000000000000000000000..948629c8fe0b2a9b5ad747022bec52dcd5fe55e3
--- /dev/null
+++ b/eval/YAM/V2/dp/flip_bread/data/round_0012/debug/predictions/prediction_0004.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce517863a7038433ab1ede4a10c051b6c1bd30588f8e875a98fe3c14217ad130
+size 325533
diff --git a/eval/YAM/V2/dp/flip_bread/data/round_0012/debug/predictions/prediction_0007.npz b/eval/YAM/V2/dp/flip_bread/data/round_0012/debug/predictions/prediction_0007.npz
new file mode 100644
index 0000000000000000000000000000000000000000..fc85fcac049a6d662c17e6693c2c0e712a242663
--- /dev/null
+++ b/eval/YAM/V2/dp/flip_bread/data/round_0012/debug/predictions/prediction_0007.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:182876c4d4cdc5b4bdad0a48747550d57f3f732375a146d2d76d9a0341598ce2
+size 324703
diff --git a/eval/YAM/V2/dp/flip_bread/data/round_0012/debug/predictions/prediction_0008.npz b/eval/YAM/V2/dp/flip_bread/data/round_0012/debug/predictions/prediction_0008.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5eef6c7902576b971692f1ef50b13b080d3c137f
--- /dev/null
+++ b/eval/YAM/V2/dp/flip_bread/data/round_0012/debug/predictions/prediction_0008.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c76fc107204e5a3add13862193dca89c11bc490ff1b8508faca4f123fb40359c
+size 314433
diff --git a/eval/YAM/V2/dp/flip_bread/data/round_0012/debug/predictions/prediction_0009.npz b/eval/YAM/V2/dp/flip_bread/data/round_0012/debug/predictions/prediction_0009.npz
new file mode 100644
index 0000000000000000000000000000000000000000..72b143ffe3aa2671accf193328d6b5ff8b0e0df1
--- /dev/null
+++ b/eval/YAM/V2/dp/flip_bread/data/round_0012/debug/predictions/prediction_0009.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d12cebfc686a8c09fd532e5dbdb87cf2b8f839d4e6c9d66fd0f3b0e1c1e6a013
+size 296125
diff --git a/eval/YAM/V2/dp/flip_bread/data/round_0012/debug/predictions/prediction_0010.npz b/eval/YAM/V2/dp/flip_bread/data/round_0012/debug/predictions/prediction_0010.npz
new file mode 100644
index 0000000000000000000000000000000000000000..03708d366d2fea3ffcb1c0334aafc48ba6f996b2
--- /dev/null
+++ b/eval/YAM/V2/dp/flip_bread/data/round_0012/debug/predictions/prediction_0010.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08873836ac14cba5d4de45dd2179141812f40518a8157fcddb2ba6565838900c
+size 316638
diff --git a/eval/YAM/V2/dp/flip_bread/data/round_0012/debug/predictions/prediction_0011.npz b/eval/YAM/V2/dp/flip_bread/data/round_0012/debug/predictions/prediction_0011.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d42d2575cb4b7b7cc965dcad14bca33c583f1f27
--- /dev/null
+++ b/eval/YAM/V2/dp/flip_bread/data/round_0012/debug/predictions/prediction_0011.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5903100d104d15e2fb0710e515b04e3f5cf2c7213cbd565db7c766396513f5a2
+size 331302
diff --git a/eval/YAM/V2/dp/flip_bread/data/round_0012/debug/predictions/prediction_0012.npz b/eval/YAM/V2/dp/flip_bread/data/round_0012/debug/predictions/prediction_0012.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2252b1305a1e11996cb7dbef8e445e4a4bf089d2
--- /dev/null
+++ b/eval/YAM/V2/dp/flip_bread/data/round_0012/debug/predictions/prediction_0012.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6948c6b840d94d36f9e4844a42e7ae00bc05952a11b57207e42e2741733c2084
+size 334424
diff --git a/eval/YAM/V2/dp/flip_bread/data/round_0012/debug/predictions/prediction_0015.npz b/eval/YAM/V2/dp/flip_bread/data/round_0012/debug/predictions/prediction_0015.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0dbcfca51795922e1f6472f7d2efa6fe36a3f613
--- /dev/null
+++ b/eval/YAM/V2/dp/flip_bread/data/round_0012/debug/predictions/prediction_0015.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c92a49bb589f87e4c3d3274cb0aa3780e76f084687ff674ac73fa5aace3912f0
+size 349896
diff --git a/eval/YAM/V2/dp/flip_bread/data/round_0012/debug/predictions/prediction_0017.npz b/eval/YAM/V2/dp/flip_bread/data/round_0012/debug/predictions/prediction_0017.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e189f32480c82419573b5369045402ce75604c90
--- /dev/null
+++ b/eval/YAM/V2/dp/flip_bread/data/round_0012/debug/predictions/prediction_0017.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ecd667afa6fafb257ebed548aa460fa184a5dfcaff50c8e4229d4959081c484
+size 336821
diff --git a/eval/YAM/V2/dp/flip_bread/data/round_0012/debug/predictions/prediction_0018.npz b/eval/YAM/V2/dp/flip_bread/data/round_0012/debug/predictions/prediction_0018.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1aa101592564eb8fbbb95f8db29a047af63f8d5d
--- /dev/null
+++ b/eval/YAM/V2/dp/flip_bread/data/round_0012/debug/predictions/prediction_0018.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8c19fad060d3a7826b2ff7823e60a043b4f3cc6a0cd825ee3a6acc64bd785a3
+size 337182
diff --git a/eval/YAM/V2/dp/flip_bread/data/round_0012/robot/robot_state_dict.pkl b/eval/YAM/V2/dp/flip_bread/data/round_0012/robot/robot_state_dict.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..99ea3823639a65a7ed55c23711b272adffa806a3
--- /dev/null
+++ b/eval/YAM/V2/dp/flip_bread/data/round_0012/robot/robot_state_dict.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38e8492427706c955bc7801b5174200b7a47de66b68e046fa3a13aa584daffa1
+size 1382879