diff --git a/checkpoints/.DS_Store b/checkpoints/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..dd30c8aab1212c6a3c16535f9d12d993a37ca17e
Binary files /dev/null and b/checkpoints/.DS_Store differ
diff --git a/checkpoints/ClothFold/.DS_Store b/checkpoints/ClothFold/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..3854162af47207bc4cda3952a961038f9cc5308c
Binary files /dev/null and b/checkpoints/ClothFold/.DS_Store differ
diff --git a/checkpoints/ClothFold/awac/.DS_Store b/checkpoints/ClothFold/awac/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..5008ddfcf53c02e82d7eee2e57c38e5672ef89f6
Binary files /dev/null and b/checkpoints/ClothFold/awac/.DS_Store differ
diff --git a/checkpoints/ClothFold/awac/SOTA-ClothFold_SB3_awac_baseline_02.19.16.59-STATE-11-ckpt-model3000000.pt b/checkpoints/ClothFold/awac/SOTA-ClothFold_SB3_awac_baseline_02.19.16.59-STATE-11-ckpt-model3000000.pt
new file mode 100644
index 0000000000000000000000000000000000000000..25db89ba09762974dce5f881342d4ed149ba33a0
--- /dev/null
+++ b/checkpoints/ClothFold/awac/SOTA-ClothFold_SB3_awac_baseline_02.19.16.59-STATE-11-ckpt-model3000000.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d58b0a7926db06e55d971949d731a9b217e8f28229f3aae6bc6fbc6d15202c85
+size 12944812
diff --git a/checkpoints/ClothFold/bc-image/.DS_Store b/checkpoints/ClothFold/bc-image/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..5008ddfcf53c02e82d7eee2e57c38e5672ef89f6
Binary files /dev/null and b/checkpoints/ClothFold/bc-image/.DS_Store differ
diff --git a/checkpoints/ClothFold/bc-image/SOTA-ClothFold_BC_02.22.22.33-IMAGE-ckpt-epoch_490.pth b/checkpoints/ClothFold/bc-image/SOTA-ClothFold_BC_02.22.22.33-IMAGE-ckpt-epoch_490.pth
new file mode 100644
index 0000000000000000000000000000000000000000..701a99198a327baf4a53bb06c622b78aa197d43d
--- /dev/null
+++ b/checkpoints/ClothFold/bc-image/SOTA-ClothFold_BC_02.22.22.33-IMAGE-ckpt-epoch_490.pth
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97baacc357349cfcd60b94212b9a73b8ed416a0ed06bddb9d05aaa5becac7161
+size 36341543
diff --git a/checkpoints/ClothFold/bc-state/.DS_Store b/checkpoints/ClothFold/bc-state/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..5008ddfcf53c02e82d7eee2e57c38e5672ef89f6
Binary files /dev/null and b/checkpoints/ClothFold/bc-state/.DS_Store differ
diff --git a/checkpoints/ClothFold/bc-state/SOTA-ClothFold_BC_02.22.22.29-STATE-ckpt-epoch_20.pth b/checkpoints/ClothFold/bc-state/SOTA-ClothFold_BC_02.22.22.29-STATE-ckpt-epoch_20.pth
new file mode 100644
index 0000000000000000000000000000000000000000..23032ae347adb69127cbe75480cf8be3b018388c
--- /dev/null
+++ b/checkpoints/ClothFold/bc-state/SOTA-ClothFold_BC_02.22.22.29-STATE-ckpt-epoch_20.pth
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54913e866a01ecb9eeb172a5262b4088f024dd8d0be469f2acc2fee61c812de3
+size 3374301
diff --git a/checkpoints/ClothFold/curl/.DS_Store b/checkpoints/ClothFold/curl/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..5008ddfcf53c02e82d7eee2e57c38e5672ef89f6
Binary files /dev/null and b/checkpoints/ClothFold/curl/.DS_Store differ
diff --git a/checkpoints/ClothFold/curl/SOTA_ClothFold_SACCURL_02.05.21.13_11-ckpt-actor_1000000.pt b/checkpoints/ClothFold/curl/SOTA_ClothFold_SACCURL_02.05.21.13_11-ckpt-actor_1000000.pt
new file mode 100644
index 0000000000000000000000000000000000000000..a525abd2c210ea63dab532b09c11885d3d07258e
--- /dev/null
+++ b/checkpoints/ClothFold/curl/SOTA_ClothFold_SACCURL_02.05.21.13_11-ckpt-actor_1000000.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b87df42e77e0353f77e364a3b272c81c7f27e5372007184514bf4f616d5fb3f
+size 16426991
diff --git a/checkpoints/ClothFold/drq/.DS_Store b/checkpoints/ClothFold/drq/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..5008ddfcf53c02e82d7eee2e57c38e5672ef89f6
Binary files /dev/null and b/checkpoints/ClothFold/drq/.DS_Store differ
diff --git a/checkpoints/ClothFold/drq/SOTA_ClothFold_DrQ_02.04.20.41-11-ckpt-actor_990000.pt b/checkpoints/ClothFold/drq/SOTA_ClothFold_DrQ_02.04.20.41-11-ckpt-actor_990000.pt
new file mode 100644
index 0000000000000000000000000000000000000000..68cb621575f213506d069e9d3176729f04a2ade1
--- /dev/null
+++ b/checkpoints/ClothFold/drq/SOTA_ClothFold_DrQ_02.04.20.41-11-ckpt-actor_990000.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a0b0e7220d1db89a8759f188bafa4231ad7cd93b86254ca6b2908f3119bf3a5
+size 25387055
diff --git a/checkpoints/ClothFold/ours-image/.DS_Store b/checkpoints/ClothFold/ours-image/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..5008ddfcf53c02e82d7eee2e57c38e5672ef89f6
Binary files /dev/null and b/checkpoints/ClothFold/ours-image/.DS_Store differ
diff --git a/checkpoints/ClothFold/ours-image/SOTA-ClothFold_SB3_awac_02.07.12.09-IMAGE-11-ckpt-model1000000.pt b/checkpoints/ClothFold/ours-image/SOTA-ClothFold_SB3_awac_02.07.12.09-IMAGE-11-ckpt-model1000000.pt
new file mode 100644
index 0000000000000000000000000000000000000000..acc039e6fa03807306282a115400bc5595a401bb
--- /dev/null
+++ b/checkpoints/ClothFold/ours-image/SOTA-ClothFold_SB3_awac_02.07.12.09-IMAGE-11-ckpt-model1000000.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72383d52e11a666f94bcd9620ea98b4899597dea37df60b6df2300d41d632cb5
+size 15404544
diff --git a/checkpoints/ClothFold/ours-state/.DS_Store b/checkpoints/ClothFold/ours-state/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..5008ddfcf53c02e82d7eee2e57c38e5672ef89f6
Binary files /dev/null and b/checkpoints/ClothFold/ours-state/.DS_Store differ
diff --git a/checkpoints/ClothFold/ours-state/SOTA-ClothFold_SB3_awac_02.06.11.00-STATE-11-ckpt-model3000000.pt b/checkpoints/ClothFold/ours-state/SOTA-ClothFold_SB3_awac_02.06.11.00-STATE-11-ckpt-model3000000.pt
new file mode 100644
index 0000000000000000000000000000000000000000..27a30367802461dcbbba40002afba371915d4df1
--- /dev/null
+++ b/checkpoints/ClothFold/ours-state/SOTA-ClothFold_SB3_awac_02.06.11.00-STATE-11-ckpt-model3000000.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2277ac23c6bf8c4e955f70acb83b1d633ca565ba8af6756cc30c5b48cc250f3
+size 12944812
diff --git a/checkpoints/ClothFold/sac-bc-image/.DS_Store b/checkpoints/ClothFold/sac-bc-image/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..5008ddfcf53c02e82d7eee2e57c38e5672ef89f6
Binary files /dev/null and b/checkpoints/ClothFold/sac-bc-image/.DS_Store differ
diff --git a/checkpoints/ClothFold/sac-bc-image/SOTA_ClothFold_Asym_SAC_PretrainedBC_05.02.13.25_11_3000000.pt b/checkpoints/ClothFold/sac-bc-image/SOTA_ClothFold_Asym_SAC_PretrainedBC_05.02.13.25_11_3000000.pt
new file mode 100644
index 0000000000000000000000000000000000000000..66951afbe842e300dcb6e04c9964079a405997b6
--- /dev/null
+++ b/checkpoints/ClothFold/sac-bc-image/SOTA_ClothFold_Asym_SAC_PretrainedBC_05.02.13.25_11_3000000.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33860b18405f71206968307642195a403c5d34e0cb63618663d9aaa071008fca
+size 5112047
diff --git a/checkpoints/ClothFold/sac-lfd-image/.DS_Store b/checkpoints/ClothFold/sac-lfd-image/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..5008ddfcf53c02e82d7eee2e57c38e5672ef89f6
Binary files /dev/null and b/checkpoints/ClothFold/sac-lfd-image/.DS_Store differ
diff --git a/checkpoints/ClothFold/sac-lfd-image/SOTA_ClothFold_Asym_SAC_PrefilledRepBuf_04.23.08.35_11_3000000.pt b/checkpoints/ClothFold/sac-lfd-image/SOTA_ClothFold_Asym_SAC_PrefilledRepBuf_04.23.08.35_11_3000000.pt
new file mode 100644
index 0000000000000000000000000000000000000000..baadeac5fd12329de1ecc7625decd6b227ad2615
--- /dev/null
+++ b/checkpoints/ClothFold/sac-lfd-image/SOTA_ClothFold_Asym_SAC_PrefilledRepBuf_04.23.08.35_11_3000000.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5455af094dbb0fd1904155fd5fecf5a21202801e043ace1e62f62b7045a2eba3
+size 5112047
diff --git a/checkpoints/ClothFold/sac-lfd-state/.DS_Store b/checkpoints/ClothFold/sac-lfd-state/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..5008ddfcf53c02e82d7eee2e57c38e5672ef89f6
Binary files /dev/null and b/checkpoints/ClothFold/sac-lfd-state/.DS_Store differ
diff --git a/checkpoints/ClothFold/sac-lfd-state/SOTA_ClothFold_SAC_04.17.23.11_11_3000000.pt b/checkpoints/ClothFold/sac-lfd-state/SOTA_ClothFold_SAC_04.17.23.11_11_3000000.pt
new file mode 100644
index 0000000000000000000000000000000000000000..b3e0cb880c1cbe0e750b4dcf137e4aebcf8a361f
--- /dev/null
+++ b/checkpoints/ClothFold/sac-lfd-state/SOTA_ClothFold_SAC_04.17.23.11_11_3000000.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f81c269d5e519abda385304f273ae77ba31b1e549806a6b955b6d3821ccbc32a
+size 4343831
diff --git a/checkpoints/ClothFold/sac/.DS_Store b/checkpoints/ClothFold/sac/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..5008ddfcf53c02e82d7eee2e57c38e5672ef89f6
Binary files /dev/null and b/checkpoints/ClothFold/sac/.DS_Store differ
diff --git a/checkpoints/ClothFold/sac/SOTA_ClothFold_SAC_02.05.21.06_11-ckpt-actor_1000000.pt b/checkpoints/ClothFold/sac/SOTA_ClothFold_SAC_02.05.21.06_11-ckpt-actor_1000000.pt
new file mode 100644
index 0000000000000000000000000000000000000000..b9ad382933ee5e0b5b3becd180d8c6b42a06c60c
--- /dev/null
+++ b/checkpoints/ClothFold/sac/SOTA_ClothFold_SAC_02.05.21.06_11-ckpt-actor_1000000.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a5f8ce176f2a5f6f9a57f9f9747c92d27bd75b34003c9af7286831777448b33
+size 4343831
diff --git a/checkpoints/ClothFoldRobot/.DS_Store b/checkpoints/ClothFoldRobot/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..000a73d3431834083352538e70cb900b3c6f46bb
Binary files /dev/null and b/checkpoints/ClothFoldRobot/.DS_Store differ
diff --git a/checkpoints/ClothFoldRobot/bc-image/.DS_Store b/checkpoints/ClothFoldRobot/bc-image/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..d2a9ec49c6089c50d4dd2a2b4dac8b1ca952d4eb
Binary files /dev/null and b/checkpoints/ClothFoldRobot/bc-image/.DS_Store differ
diff --git a/checkpoints/ClothFoldRobot/bc-image/SOTA-ClothFoldRobot_BC_02.22.22.38-IMAGE-ckpt-epoch_90.pth b/checkpoints/ClothFoldRobot/bc-image/SOTA-ClothFoldRobot_BC_02.22.22.38-IMAGE-ckpt-epoch_90.pth
new file mode 100644
index 0000000000000000000000000000000000000000..f21459e2ec8a20710712bcdce8e828812acebc0e
--- /dev/null
+++ b/checkpoints/ClothFoldRobot/bc-image/SOTA-ClothFoldRobot_BC_02.22.22.38-IMAGE-ckpt-epoch_90.pth
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c5a443e758dc74859102dd69e88162ba0802f61622594c52fdf8f82cc42712e
+size 36292391
diff --git a/checkpoints/ClothFoldRobot/curl/.DS_Store b/checkpoints/ClothFoldRobot/curl/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..5008ddfcf53c02e82d7eee2e57c38e5672ef89f6
Binary files /dev/null and b/checkpoints/ClothFoldRobot/curl/.DS_Store differ
diff --git a/checkpoints/ClothFoldRobot/curl/SOTA_ClothFoldRobot_SACCURL_02.14.09.19_IMAGE11-ckpt-actor_1000000.pt b/checkpoints/ClothFoldRobot/curl/SOTA_ClothFoldRobot_SACCURL_02.14.09.19_IMAGE11-ckpt-actor_1000000.pt
new file mode 100644
index 0000000000000000000000000000000000000000..a9f0df5b40415c42afd8e06b79ac44a8ece8ad95
--- /dev/null
+++ b/checkpoints/ClothFoldRobot/curl/SOTA_ClothFoldRobot_SACCURL_02.14.09.19_IMAGE11-ckpt-actor_1000000.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c179779519b8922149ef7d1fa7b3cdda4951e67c75b85b198e1f61161e99b12
+size 16394223
diff --git a/checkpoints/ClothFoldRobot/drq/.DS_Store b/checkpoints/ClothFoldRobot/drq/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..5008ddfcf53c02e82d7eee2e57c38e5672ef89f6
Binary files /dev/null and b/checkpoints/ClothFoldRobot/drq/.DS_Store differ
diff --git a/checkpoints/ClothFoldRobot/drq/SOTA_ClothFoldRobot_SACDrQ_02.14.09.20_IMAGE11-ckpt-actor_990000.pt b/checkpoints/ClothFoldRobot/drq/SOTA_ClothFoldRobot_SACDrQ_02.14.09.20_IMAGE11-ckpt-actor_990000.pt
new file mode 100644
index 0000000000000000000000000000000000000000..c9412f3fb528d143f5d02c402941ad3c5f280ed5
--- /dev/null
+++ b/checkpoints/ClothFoldRobot/drq/SOTA_ClothFoldRobot_SACDrQ_02.14.09.20_IMAGE11-ckpt-actor_990000.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01f8f4adbc55fb8b9c2d2a866560a87640ceb61122e729aa2a8109cfe262c067
+size 25354287
diff --git a/checkpoints/ClothFoldRobot/ours-image/.DS_Store b/checkpoints/ClothFoldRobot/ours-image/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..5008ddfcf53c02e82d7eee2e57c38e5672ef89f6
Binary files /dev/null and b/checkpoints/ClothFoldRobot/ours-image/.DS_Store differ
diff --git a/checkpoints/ClothFoldRobot/ours-image/SOTA-ClothFoldRobot_SB3_awac_02.12.11.58-IMAGE-11-ckpt-model1000000.pt b/checkpoints/ClothFoldRobot/ours-image/SOTA-ClothFoldRobot_SB3_awac_02.12.11.58-IMAGE-11-ckpt-model1000000.pt
new file mode 100644
index 0000000000000000000000000000000000000000..afbb5e7a3fa8813ba39fce4ce35d28c2653c4441
--- /dev/null
+++ b/checkpoints/ClothFoldRobot/ours-image/SOTA-ClothFoldRobot_SB3_awac_02.12.11.58-IMAGE-11-ckpt-model1000000.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77052922939f4aa63ce0e140717215755b3ca93bd707ac8ec9f08548c30023f1
+size 15330816
diff --git a/checkpoints/ClothFoldRobot/sac-bc-image/.DS_Store b/checkpoints/ClothFoldRobot/sac-bc-image/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..5008ddfcf53c02e82d7eee2e57c38e5672ef89f6
Binary files /dev/null and b/checkpoints/ClothFoldRobot/sac-bc-image/.DS_Store differ
diff --git a/checkpoints/ClothFoldRobot/sac-bc-image/SOTA_ClothFoldRobot_Asym_SAC_PretrainedBC_05.02.10.36_11_1000000.pt b/checkpoints/ClothFoldRobot/sac-bc-image/SOTA_ClothFoldRobot_Asym_SAC_PretrainedBC_05.02.10.36_11_1000000.pt
new file mode 100644
index 0000000000000000000000000000000000000000..9fb4573b783d691846eb193c5929a27c34748682
--- /dev/null
+++ b/checkpoints/ClothFoldRobot/sac-bc-image/SOTA_ClothFoldRobot_Asym_SAC_PretrainedBC_05.02.10.36_11_1000000.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca08cd7cf026cb8402d77bff933d8d648f2e051b5ed22c77d88c3eb1db654782
+size 5079279
diff --git a/checkpoints/ClothFoldRobot/sac-lfd-image/.DS_Store b/checkpoints/ClothFoldRobot/sac-lfd-image/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..5008ddfcf53c02e82d7eee2e57c38e5672ef89f6
Binary files /dev/null and b/checkpoints/ClothFoldRobot/sac-lfd-image/.DS_Store differ
diff --git a/checkpoints/ClothFoldRobot/sac-lfd-image/SOTA_ClothFoldRobot_Asym_SAC_PrefilledRepBuf_04.21.08.33_11_1000000.pt b/checkpoints/ClothFoldRobot/sac-lfd-image/SOTA_ClothFoldRobot_Asym_SAC_PrefilledRepBuf_04.21.08.33_11_1000000.pt
new file mode 100644
index 0000000000000000000000000000000000000000..ce229dc79d4cc0d4bbe8920d05b5d37409f8f99f
--- /dev/null
+++ b/checkpoints/ClothFoldRobot/sac-lfd-image/SOTA_ClothFoldRobot_Asym_SAC_PrefilledRepBuf_04.21.08.33_11_1000000.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8bee7e53c6f50eafd0ae0acd4bbeb0a9b4098422c76fc65f7189f43bd3487794
+size 5079279
diff --git a/checkpoints/ClothFoldRobotHard/.DS_Store b/checkpoints/ClothFoldRobotHard/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..31456d5af6e7776ceb8bd98f66dce7c91c6817c7
Binary files /dev/null and b/checkpoints/ClothFoldRobotHard/.DS_Store differ
diff --git a/checkpoints/ClothFoldRobotHard/bc-image/.DS_Store b/checkpoints/ClothFoldRobotHard/bc-image/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..1d33aef3ffee62519e6170600f9cf9dd595b314b
Binary files /dev/null and b/checkpoints/ClothFoldRobotHard/bc-image/.DS_Store differ
diff --git a/checkpoints/ClothFoldRobotHard/bc-image/SOTA-ClothFoldRobotHard_BC_02.22.22.40-IMAGE-ckpt-epoch_280.pth b/checkpoints/ClothFoldRobotHard/bc-image/SOTA-ClothFoldRobotHard_BC_02.22.22.40-IMAGE-ckpt-epoch_280.pth
new file mode 100644
index 0000000000000000000000000000000000000000..65e0b38922c93d349b5576840ed0c155e843104e
--- /dev/null
+++ b/checkpoints/ClothFoldRobotHard/bc-image/SOTA-ClothFoldRobotHard_BC_02.22.22.40-IMAGE-ckpt-epoch_280.pth
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57ef5ba0eaea60540a19f7b307440655b61265633d8d0ad4bc5578315a7e5d72
+size 36292391
diff --git a/checkpoints/ClothFoldRobotHard/curl/.DS_Store b/checkpoints/ClothFoldRobotHard/curl/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..5008ddfcf53c02e82d7eee2e57c38e5672ef89f6
Binary files /dev/null and b/checkpoints/ClothFoldRobotHard/curl/.DS_Store differ
diff --git a/checkpoints/ClothFoldRobotHard/curl/SOTA_ClothFoldRobotHard_SACCURL_02.19.13.04_IMAGE11-ckpt-actor_1000000.pt b/checkpoints/ClothFoldRobotHard/curl/SOTA_ClothFoldRobotHard_SACCURL_02.19.13.04_IMAGE11-ckpt-actor_1000000.pt
new file mode 100644
index 0000000000000000000000000000000000000000..7e2dd8ed34bdf479176a08218efccb4d8f2ff738
--- /dev/null
+++ b/checkpoints/ClothFoldRobotHard/curl/SOTA_ClothFoldRobotHard_SACCURL_02.19.13.04_IMAGE11-ckpt-actor_1000000.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93c4ab704419352deb079491fec2ad2a31e694ff6a4529dc2fb9d34a940d1aaf
+size 16394223
diff --git a/checkpoints/ClothFoldRobotHard/drq/.DS_Store b/checkpoints/ClothFoldRobotHard/drq/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..5008ddfcf53c02e82d7eee2e57c38e5672ef89f6
Binary files /dev/null and b/checkpoints/ClothFoldRobotHard/drq/.DS_Store differ
diff --git a/checkpoints/ClothFoldRobotHard/drq/SOTA_ClothFoldRobotHard_SACDrQ_02.21.14.52_IMAGE44-ckpt-actor_990000.pt b/checkpoints/ClothFoldRobotHard/drq/SOTA_ClothFoldRobotHard_SACDrQ_02.21.14.52_IMAGE44-ckpt-actor_990000.pt
new file mode 100644
index 0000000000000000000000000000000000000000..ad94b56c533fcb48f74466f7de3f91779daeb48c
--- /dev/null
+++ b/checkpoints/ClothFoldRobotHard/drq/SOTA_ClothFoldRobotHard_SACDrQ_02.21.14.52_IMAGE44-ckpt-actor_990000.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ae1ed720d8ed402f6b1654f8be443a23f7caa1ef3617f82beb58f482a97d969
+size 25354287
diff --git a/checkpoints/ClothFoldRobotHard/ours-image/.DS_Store b/checkpoints/ClothFoldRobotHard/ours-image/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..5008ddfcf53c02e82d7eee2e57c38e5672ef89f6
Binary files /dev/null and b/checkpoints/ClothFoldRobotHard/ours-image/.DS_Store differ
diff --git a/checkpoints/ClothFoldRobotHard/ours-image/SOTA-ClothFoldRobotHard_AWAC_02.22.08.48_IMAGE55-ckpt-model1000000.pt b/checkpoints/ClothFoldRobotHard/ours-image/SOTA-ClothFoldRobotHard_AWAC_02.22.08.48_IMAGE55-ckpt-model1000000.pt
new file mode 100644
index 0000000000000000000000000000000000000000..8cb03a5fb932b7fd4308d5b3688c233a8ee6ab88
--- /dev/null
+++ b/checkpoints/ClothFoldRobotHard/ours-image/SOTA-ClothFoldRobotHard_AWAC_02.22.08.48_IMAGE55-ckpt-model1000000.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4addf46986a3d0aadc46db67054c2a544f88aff90ae6ad37f8d090133ca41ee5
+size 15330816
diff --git a/checkpoints/ClothFoldRobotHard/sac-bc-image/.DS_Store b/checkpoints/ClothFoldRobotHard/sac-bc-image/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..5008ddfcf53c02e82d7eee2e57c38e5672ef89f6
Binary files /dev/null and b/checkpoints/ClothFoldRobotHard/sac-bc-image/.DS_Store differ
diff --git a/checkpoints/ClothFoldRobotHard/sac-bc-image/SOTA_ClothFoldRobotHard_Asym_SAC_PretrainedBC_05.01.19.16_11_1000000.pt b/checkpoints/ClothFoldRobotHard/sac-bc-image/SOTA_ClothFoldRobotHard_Asym_SAC_PretrainedBC_05.01.19.16_11_1000000.pt
new file mode 100644
index 0000000000000000000000000000000000000000..df483fbee28f685444b2816a446846f9bfd8f680
--- /dev/null
+++ b/checkpoints/ClothFoldRobotHard/sac-bc-image/SOTA_ClothFoldRobotHard_Asym_SAC_PretrainedBC_05.01.19.16_11_1000000.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75157a8d8e1aa5cf5edfce026d1214060ba088d5691aa3c3a5b0b72ce869d04f
+size 5079279
diff --git a/checkpoints/ClothFoldRobotHard/sac-lfd-image/.DS_Store b/checkpoints/ClothFoldRobotHard/sac-lfd-image/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..5008ddfcf53c02e82d7eee2e57c38e5672ef89f6
Binary files /dev/null and b/checkpoints/ClothFoldRobotHard/sac-lfd-image/.DS_Store differ
diff --git a/checkpoints/ClothFoldRobotHard/sac-lfd-image/SOTA_ClothFoldRobotHard_Asym_SAC_PrefilledRepBuf_04.22.08.26_11_1000000.pt b/checkpoints/ClothFoldRobotHard/sac-lfd-image/SOTA_ClothFoldRobotHard_Asym_SAC_PrefilledRepBuf_04.22.08.26_11_1000000.pt
new file mode 100644
index 0000000000000000000000000000000000000000..899f7b1bea60efe5e0e3abeea26f3ac506d32a94
--- /dev/null
+++ b/checkpoints/ClothFoldRobotHard/sac-lfd-image/SOTA_ClothFoldRobotHard_Asym_SAC_PrefilledRepBuf_04.22.08.26_11_1000000.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0239acc6e5ce5572a51af5cea18377677b019c517938e39d9610a6cad84d56e3
+size 5079279
diff --git a/checkpoints/ClothFoldRobotHard_BC_05.01.13.35/epoch_240.pth b/checkpoints/ClothFoldRobotHard_BC_05.01.13.35/epoch_240.pth
new file mode 100644
index 0000000000000000000000000000000000000000..50823510e21f44dee4be6345eedb75dc4fb494ad
--- /dev/null
+++ b/checkpoints/ClothFoldRobotHard_BC_05.01.13.35/epoch_240.pth
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:132c8027490cb01ff255c0f1a415bbfe016bed348537a7a1208f8407616615e5
+size 15237187
diff --git a/checkpoints/ClothFoldRobot_BC_05.01.13.35/epoch_270.pth b/checkpoints/ClothFoldRobot_BC_05.01.13.35/epoch_270.pth
new file mode 100644
index 0000000000000000000000000000000000000000..dfee7d9b5bd6ee391820da115ca537b7f9963bb6
--- /dev/null
+++ b/checkpoints/ClothFoldRobot_BC_05.01.13.35/epoch_270.pth
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:081b5f8899864f2c68e7a90ec5e5088d0db8c8573d5c6e000fc45d4a3c1434f6
+size 15237187
diff --git a/checkpoints/ClothFold_BC_05.01.13.34/epoch_890.pth b/checkpoints/ClothFold_BC_05.01.13.34/epoch_890.pth
new file mode 100644
index 0000000000000000000000000000000000000000..bda5b39ed150fec6ef5b94f1c05bd4a45e4e78f9
--- /dev/null
+++ b/checkpoints/ClothFold_BC_05.01.13.34/epoch_890.pth
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:011fa6d59930b9c63a681b6a73937ce4f7596092558728cc5053688858c02cab
+size 15335683
diff --git a/checkpoints/RopeFlatten/.DS_Store b/checkpoints/RopeFlatten/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..9af45062ef93975eb5cd8e09764e6b175aa4d0a7
Binary files /dev/null and b/checkpoints/RopeFlatten/.DS_Store differ
diff --git a/checkpoints/RopeFlatten/awac/.DS_Store b/checkpoints/RopeFlatten/awac/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..5008ddfcf53c02e82d7eee2e57c38e5672ef89f6
Binary files /dev/null and b/checkpoints/RopeFlatten/awac/.DS_Store differ
diff --git a/checkpoints/RopeFlatten/awac/ABL-RopeFlatten_SB3_awac_02.05.14.21-STATE-Baseline-11-ckpt-model3000000.pt b/checkpoints/RopeFlatten/awac/ABL-RopeFlatten_SB3_awac_02.05.14.21-STATE-Baseline-11-ckpt-model3000000.pt
new file mode 100644
index 0000000000000000000000000000000000000000..334e2a082cc26ded8fb126cfe85f5bd179a66e6f
--- /dev/null
+++ b/checkpoints/RopeFlatten/awac/ABL-RopeFlatten_SB3_awac_02.05.14.21-STATE-Baseline-11-ckpt-model3000000.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c651f6d35d3bd61537271cd75c1f4a42951b32a81748804c273e1ec53837b39
+size 13165996
diff --git a/checkpoints/RopeFlatten/bc-image/.DS_Store b/checkpoints/RopeFlatten/bc-image/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..5008ddfcf53c02e82d7eee2e57c38e5672ef89f6
Binary files /dev/null and b/checkpoints/RopeFlatten/bc-image/.DS_Store differ
diff --git a/checkpoints/RopeFlatten/bc-image/SOTA-RopeFlatten_BC_02.22.22.24-IMAGE-ckpt-epoch_560.pth b/checkpoints/RopeFlatten/bc-image/SOTA-RopeFlatten_BC_02.22.22.24-IMAGE-ckpt-epoch_560.pth
new file mode 100644
index 0000000000000000000000000000000000000000..101d95ec1034e49fd1d44c89e031f2edceb677f1
--- /dev/null
+++ b/checkpoints/RopeFlatten/bc-image/SOTA-RopeFlatten_BC_02.22.22.24-IMAGE-ckpt-epoch_560.pth
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94a0a4bf5d073f2e9f4d0e05680a2aa26fa6661dda0746b713621d41f7c88f0e
+size 36341543
diff --git a/checkpoints/RopeFlatten/bc-state/.DS_Store b/checkpoints/RopeFlatten/bc-state/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..5008ddfcf53c02e82d7eee2e57c38e5672ef89f6
Binary files /dev/null and b/checkpoints/RopeFlatten/bc-state/.DS_Store differ
diff --git a/checkpoints/RopeFlatten/bc-state/SOTA-RopeFlatten_BC_02.22.21.26-STATE-ckpt-epoch_730.pth b/checkpoints/RopeFlatten/bc-state/SOTA-RopeFlatten_BC_02.22.21.26-STATE-ckpt-epoch_730.pth
new file mode 100644
index 0000000000000000000000000000000000000000..600d63d77536f4dc1245f659d250c95b4a8bae5b
--- /dev/null
+++ b/checkpoints/RopeFlatten/bc-state/SOTA-RopeFlatten_BC_02.22.21.26-STATE-ckpt-epoch_730.pth
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:000c562f8042d8ef9b1299568489c908fcab7543b7592ad8b49b0404d0b1864c
+size 3484893
diff --git a/checkpoints/RopeFlatten/curl/.DS_Store b/checkpoints/RopeFlatten/curl/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..5008ddfcf53c02e82d7eee2e57c38e5672ef89f6
Binary files /dev/null and b/checkpoints/RopeFlatten/curl/.DS_Store differ
diff --git a/checkpoints/RopeFlatten/curl/SOTA_RopeFlatten_SACCURL_02.03.19.30_22-ckpt-actor_1000000.pt b/checkpoints/RopeFlatten/curl/SOTA_RopeFlatten_SACCURL_02.03.19.30_22-ckpt-actor_1000000.pt
new file mode 100644
index 0000000000000000000000000000000000000000..6d42a4b4122236be4b21898b27ba7cf432d6e119
--- /dev/null
+++ b/checkpoints/RopeFlatten/curl/SOTA_RopeFlatten_SACCURL_02.03.19.30_22-ckpt-actor_1000000.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72c4a05831d07f08978a9324be313c715d001dc9c223213a68fb55576615310b
+size 16426991
diff --git a/checkpoints/RopeFlatten/drq/.DS_Store b/checkpoints/RopeFlatten/drq/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..5008ddfcf53c02e82d7eee2e57c38e5672ef89f6
Binary files /dev/null and b/checkpoints/RopeFlatten/drq/.DS_Store differ
diff --git a/checkpoints/RopeFlatten/drq/SOTA_RFlat_SACDrQ_02.03.19.01_33-ckpt-actor_990000.pt b/checkpoints/RopeFlatten/drq/SOTA_RFlat_SACDrQ_02.03.19.01_33-ckpt-actor_990000.pt
new file mode 100644
index 0000000000000000000000000000000000000000..acf500adfc71905a92801b271029364f29a16dc9
--- /dev/null
+++ b/checkpoints/RopeFlatten/drq/SOTA_RFlat_SACDrQ_02.03.19.01_33-ckpt-actor_990000.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e783d92c406348700eaf3a9307fbb891376f0325373a69934b287daf5b8a220
+size 25387055
diff --git a/checkpoints/RopeFlatten/ours-image/.DS_Store b/checkpoints/RopeFlatten/ours-image/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..5008ddfcf53c02e82d7eee2e57c38e5672ef89f6
Binary files /dev/null and b/checkpoints/RopeFlatten/ours-image/.DS_Store differ
diff --git a/checkpoints/RopeFlatten/ours-image/SOTA-RopeFlatten_SB3_awac_02.05.13.28-IMAGE-11-ckpt-model1000000.pt b/checkpoints/RopeFlatten/ours-image/SOTA-RopeFlatten_SB3_awac_02.05.13.28-IMAGE-11-ckpt-model1000000.pt
new file mode 100644
index 0000000000000000000000000000000000000000..d3510f673892af162b0e9130211be4bdc7d5165e
--- /dev/null
+++ b/checkpoints/RopeFlatten/ours-image/SOTA-RopeFlatten_SB3_awac_02.05.13.28-IMAGE-11-ckpt-model1000000.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b3ba9355cc9b07ad615a8d0cedfa7fb1927079b37b7ada2411ff5337b84fc52
+size 15552000
diff --git a/checkpoints/RopeFlatten/ours-state/.DS_Store b/checkpoints/RopeFlatten/ours-state/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..5008ddfcf53c02e82d7eee2e57c38e5672ef89f6
Binary files /dev/null and b/checkpoints/RopeFlatten/ours-state/.DS_Store differ
diff --git a/checkpoints/RopeFlatten/ours-state/SOTA-RopeFlatten_SB3_awac_02.06.12.24-STATE-BiggerNet-11-ckpt-model3000000.pt b/checkpoints/RopeFlatten/ours-state/SOTA-RopeFlatten_SB3_awac_02.06.12.24-STATE-BiggerNet-11-ckpt-model3000000.pt
new file mode 100644
index 0000000000000000000000000000000000000000..9dd5d423acf1b4d738e1d3a5de71a8ebbe9aafa8
--- /dev/null
+++ b/checkpoints/RopeFlatten/ours-state/SOTA-RopeFlatten_SB3_awac_02.06.12.24-STATE-BiggerNet-11-ckpt-model3000000.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7b6090cf4215d5c0594542e102241bbd342c1895b505110d0a77b85772b066f
+size 13165996
diff --git a/checkpoints/RopeFlatten/sac-bc-image/.DS_Store b/checkpoints/RopeFlatten/sac-bc-image/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..5008ddfcf53c02e82d7eee2e57c38e5672ef89f6
Binary files /dev/null and b/checkpoints/RopeFlatten/sac-bc-image/.DS_Store differ
diff --git a/checkpoints/RopeFlatten/sac-bc-image/SOTA_RopeFlatten_Asym_SAC_PretrainedBC_05.01.17.21_11_1000000.pt b/checkpoints/RopeFlatten/sac-bc-image/SOTA_RopeFlatten_Asym_SAC_PretrainedBC_05.01.17.21_11_1000000.pt
new file mode 100644
index 0000000000000000000000000000000000000000..95f08153f3bcb0a4d206898141c6ac8a73c54e32
--- /dev/null
+++ b/checkpoints/RopeFlatten/sac-bc-image/SOTA_RopeFlatten_Asym_SAC_PretrainedBC_05.01.17.21_11_1000000.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:404341a1956338f5a94908c7ac026c71e77cc49716ac0107a9cb76c5eca34a84
+size 5112047
diff --git a/checkpoints/RopeFlatten/sac-lfd-image/.DS_Store b/checkpoints/RopeFlatten/sac-lfd-image/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..5008ddfcf53c02e82d7eee2e57c38e5672ef89f6
Binary files /dev/null and b/checkpoints/RopeFlatten/sac-lfd-image/.DS_Store differ
diff --git a/checkpoints/RopeFlatten/sac-lfd-image/SOTA_RopeFlatten_Asym_SAC_PrefilledRepBuf_04.20.21.37_11_1000000.pt b/checkpoints/RopeFlatten/sac-lfd-image/SOTA_RopeFlatten_Asym_SAC_PrefilledRepBuf_04.20.21.37_11_1000000.pt
new file mode 100644
index 0000000000000000000000000000000000000000..1d79ea5eb4a45d94030f51ec12e726fa7bd20a44
--- /dev/null
+++ b/checkpoints/RopeFlatten/sac-lfd-image/SOTA_RopeFlatten_Asym_SAC_PrefilledRepBuf_04.20.21.37_11_1000000.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5ac09629c7449057ae057d98d0ea9aa59eb7d2f1c27f6b7ad79bef157b82c36
+size 5112047
diff --git a/checkpoints/RopeFlatten/sac-lfd-state/.DS_Store b/checkpoints/RopeFlatten/sac-lfd-state/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..5008ddfcf53c02e82d7eee2e57c38e5672ef89f6
Binary files /dev/null and b/checkpoints/RopeFlatten/sac-lfd-state/.DS_Store differ
diff --git a/checkpoints/RopeFlatten/sac-lfd-state/SOTA_RopeFlatten_SAC_04.16.15.10_11_3000000.pt b/checkpoints/RopeFlatten/sac-lfd-state/SOTA_RopeFlatten_SAC_04.16.15.10_11_3000000.pt
new file mode 100644
index 0000000000000000000000000000000000000000..97380a83c75aecac8066e76e0f4d5d98dcac78e6
--- /dev/null
+++ b/checkpoints/RopeFlatten/sac-lfd-state/SOTA_RopeFlatten_SAC_04.16.15.10_11_3000000.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b422835ee4c2d285875f5862115a4ebc698c80ee4bb534cc95d52d53f5e57f3
+size 4417559
diff --git a/checkpoints/RopeFlatten/sac/.DS_Store b/checkpoints/RopeFlatten/sac/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..5008ddfcf53c02e82d7eee2e57c38e5672ef89f6
Binary files /dev/null and b/checkpoints/RopeFlatten/sac/.DS_Store differ
diff --git a/checkpoints/RopeFlatten/sac/SOTA_RopeFlatten_SAC_02.11.21.07_44-ckpt-actor_3000000.pt b/checkpoints/RopeFlatten/sac/SOTA_RopeFlatten_SAC_02.11.21.07_44-ckpt-actor_3000000.pt
new file mode 100644
index 0000000000000000000000000000000000000000..2d90f81e9ceef21d4023ef7b6c7ea3dcda5cc7c3
--- /dev/null
+++ b/checkpoints/RopeFlatten/sac/SOTA_RopeFlatten_SAC_02.11.21.07_44-ckpt-actor_3000000.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aaa6152067c83bb8189531e9fd3ef6db2062346cafcafb80476ac453a9797455
+size 4417559
diff --git a/checkpoints/RopeFlatten_BC_05.01.13.26/epoch_960.pth b/checkpoints/RopeFlatten_BC_05.01.13.26/epoch_960.pth
new file mode 100644
index 0000000000000000000000000000000000000000..a167577c16a541aeb9ac139d31a995611f8a3f80
--- /dev/null
+++ b/checkpoints/RopeFlatten_BC_05.01.13.26/epoch_960.pth
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6a0f48c8e49ab754e892bedc1939b53c7f8865367b7200f19859a4eff79736d
+size 15335683