diff --git a/.gitattributes b/.gitattributes
index 02ff8d611da3c6045714895cb5455819bbe5dd56..d6da372ac5776c89d71ab0ec0bbd6632016fb489 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -171,3 +171,55 @@ cloth3/pi0/single/checkpoint/train_state/ocdbt.process_0/d/87f75dde874f20eb3b388
 cloth3/pi0/yawonly/checkpoint/params/ocdbt.process_0/d/0e16fb51e21bfe911acba61c800b40d6 filter=lfs diff=lfs merge=lfs -text
 cloth3/pi0/yawonly/checkpoint/train_state/ocdbt.process_0/d/17a2265ed24028b63310956fa0c850e8 filter=lfs diff=lfs merge=lfs -text
 cloth3/pi0/yawonly/checkpoint/params/ocdbt.process_0/d/5e13dfd00b2c4e963f073857c38df52e filter=lfs diff=lfs merge=lfs -text
+sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/c9142f13fdc645d6ac1c404e2c609c22 filter=lfs diff=lfs merge=lfs -text
+sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/d7a41992891a101658bd1b1f9c8c740a filter=lfs diff=lfs merge=lfs -text
+sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/6a390b0e071c8aa8865d0fa8ab4c78db filter=lfs diff=lfs merge=lfs -text
+sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/9283ae33abcd3e63683df6c3d944ce7b filter=lfs diff=lfs merge=lfs -text
+sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/9b6af95d198f8cf899c7045a0076f104 filter=lfs diff=lfs merge=lfs -text
+sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/d806c6c48b0eb19fb629f99bed156fc8 filter=lfs diff=lfs merge=lfs -text
+sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/15fe2980a6d11029a1edf9231bafd8d4 filter=lfs diff=lfs merge=lfs -text
+sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/870fd254b8e4ab9a88b689bffb44da9d filter=lfs diff=lfs merge=lfs -text
+sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/7205f69502776a7b7a13fb00ff3bc68c filter=lfs diff=lfs merge=lfs -text
+sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/d97f299cb421caf919e01031305190d4 filter=lfs diff=lfs merge=lfs -text
+sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/666319c69c88c8d47716d966bc252345 filter=lfs diff=lfs merge=lfs -text
+sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/6a3d2554114cf04220c6695f012193d6 filter=lfs diff=lfs merge=lfs -text
+sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/f16099799e34e99bcb6254760f64f46b filter=lfs diff=lfs merge=lfs -text
+sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/db3979a75d8332ddf65c89b63287715b filter=lfs diff=lfs merge=lfs -text
+sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/e6dac2cf726e57ba617744fdc3fcd2dc filter=lfs diff=lfs merge=lfs -text
+sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/a763baa5e28f30c2f03eaf56d3de750b filter=lfs diff=lfs merge=lfs -text
+sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/baac0e931ee79dfd31109fd81fb043bb filter=lfs diff=lfs merge=lfs -text
+sloth/pi0/txy/checkpoint/train_state/ocdbt.process_0/d/af3693c4b34b77e63e904b7681114224 filter=lfs diff=lfs merge=lfs -text
+sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/7cd7d80d0fdfa6f54c71d4a98bf25b26 filter=lfs diff=lfs merge=lfs -text
+sloth/pi0/txy/checkpoint/train_state/ocdbt.process_0/d/9462d1dbac48030b00755382d0354398 filter=lfs diff=lfs merge=lfs -text
+sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/c28febcb6df87d7fbe99dccc13b9cd02 filter=lfs diff=lfs merge=lfs -text
+sloth/pi0/txy/checkpoint/train_state/ocdbt.process_0/d/d9f4e7428cde3ac24af275f9816e15fa filter=lfs diff=lfs merge=lfs -text
+sloth/pi0/txy/checkpoint/train_state/ocdbt.process_0/d/8fdac0b3341132c0392c029d21e35656 filter=lfs diff=lfs merge=lfs -text
+sloth/pi0/txy/checkpoint/train_state/ocdbt.process_0/d/1c8d6a86923d22415c332b1ed8b88f19 filter=lfs diff=lfs merge=lfs -text
+sloth/pi0/txy/checkpoint/train_state/ocdbt.process_0/d/51eaaba5602b434386393f82efe86d52 filter=lfs diff=lfs merge=lfs -text
+sloth/pi0/txy/checkpoint/train_state/ocdbt.process_0/d/2a25503c707784d7d5d92ad6d75bb8f4 filter=lfs diff=lfs merge=lfs -text
+sloth/pi0/txy/checkpoint/train_state/ocdbt.process_0/d/8f37f22d946abdad44ea69a34225441d filter=lfs diff=lfs merge=lfs -text
+sloth/pi0/txy/checkpoint/train_state/ocdbt.process_0/d/fed878c2ffb282f6bdd1312c41f6acae filter=lfs diff=lfs merge=lfs -text
+sloth/pi0/txy/checkpoint/train_state/ocdbt.process_0/d/28611b83d6b543092a90a71978b0be27 filter=lfs diff=lfs merge=lfs -text
+sloth/pi0/gridrigid/checkpoint/params/ocdbt.process_0/d/00038f38f0e2d2894e2c95f7fd124ea4 filter=lfs diff=lfs merge=lfs -text
+sloth/pi0/txy/checkpoint/train_state/ocdbt.process_0/d/69d6fdbe6c1df37556381f45adec504c filter=lfs diff=lfs merge=lfs -text
+sloth/pi0/gridrigid/checkpoint/params/ocdbt.process_0/d/e839ea4e3b9db355b58e18b31d02885b filter=lfs diff=lfs merge=lfs -text
+sloth/pi0/txy/checkpoint/train_state/ocdbt.process_0/d/819548da49d82cb3ab6a073dc27452c9 filter=lfs diff=lfs merge=lfs -text
+sloth/pi0/txy/checkpoint/train_state/ocdbt.process_0/d/8bfc1cb5f52a64e5e7f36981125f02ad filter=lfs diff=lfs merge=lfs -text
+sloth/pi0/gridrigid/checkpoint/params/ocdbt.process_0/d/10eeeebbae21d0948cc141f96138c9fe filter=lfs diff=lfs merge=lfs -text
+sloth/pi0/gridrigid/checkpoint/train_state/ocdbt.process_0/d/8851b008d6c540d18d0313399015bafa filter=lfs diff=lfs merge=lfs -text
+sloth/pi0/gridrigid/checkpoint/train_state/ocdbt.process_0/d/23c0ed74895cc8e63bb67b4545795e14 filter=lfs diff=lfs merge=lfs -text
+sloth/pi0/gridrigid/checkpoint/params/ocdbt.process_0/d/89c041fbaab64d63f46b075588bc2be1 filter=lfs diff=lfs merge=lfs -text
+sloth/pi0/single/checkpoint/params/ocdbt.process_0/d/726b28a5e34e18388cdcb4ccf378b6c6 filter=lfs diff=lfs merge=lfs -text
+sloth/pi0/gridrigid/checkpoint/params/ocdbt.process_0/d/1c2f1a4296a284a9a8fbaf8dd20ada29 filter=lfs diff=lfs merge=lfs -text
+sloth/pi0/gridrigid/checkpoint/params/ocdbt.process_0/d/0f90dad55e333192a6c8eec5160da2da filter=lfs diff=lfs merge=lfs -text
+sloth/pi0/single/checkpoint/params/ocdbt.process_0/d/fe401a6b48f12af152fbbdad4abea8b4 filter=lfs diff=lfs merge=lfs -text
+sloth/pi0/gridrigid/checkpoint/train_state/ocdbt.process_0/d/c2b3b43622d8b49be9f7d71274b200da filter=lfs diff=lfs merge=lfs -text
+sloth/pi0/gridrigid/checkpoint/params/ocdbt.process_0/d/be28fb1dae0425d7b52815bfd7460dbb filter=lfs diff=lfs merge=lfs -text
+sloth/pi0/single/checkpoint/params/ocdbt.process_0/d/d18daf592d343cecd4b6777d10069863 filter=lfs diff=lfs merge=lfs -text
+sloth/pi0/single/checkpoint/params/ocdbt.process_0/d/1ae12282045fda1ac818b6bbf3ef6080 filter=lfs diff=lfs merge=lfs -text
+sloth/pi0/single/checkpoint/params/ocdbt.process_0/d/94e446abb389a56e193708ce5c8f25cf filter=lfs diff=lfs merge=lfs -text
+sloth/pi0/single/checkpoint/params/ocdbt.process_0/d/5adeee8a12aede081846bee6aec021ff filter=lfs diff=lfs merge=lfs -text
+sloth/pi0/single/checkpoint/params/ocdbt.process_0/d/9ae426c622f7859e8d547d6d8e30c5f3 filter=lfs diff=lfs merge=lfs -text
+sloth/pi0/single/checkpoint/params/ocdbt.process_0/d/62b72af775e8091064d6813787f07eac filter=lfs diff=lfs merge=lfs -text
+sloth/pi0/single/checkpoint/params/ocdbt.process_0/d/c2765ba1900347d6d9fb9d5d57432b9f filter=lfs diff=lfs merge=lfs -text
+sloth/pi0/single/checkpoint/params/ocdbt.process_0/d/a0a39e8819ac27e299c4ce47e5afe479 filter=lfs diff=lfs merge=lfs -text
diff --git a/cloth3/act/gridrigid/checkpoint/pretrained_model/model.safetensors b/cloth3/act/gridrigid/checkpoint/pretrained_model/model.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..188fb176c3f485697bbfd2a24ad0e567b8aa5b04
--- /dev/null
+++ b/cloth3/act/gridrigid/checkpoint/pretrained_model/model.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04352119b9e1b221a34f975d8fb37991f997ba877d414961cca3b4780f0b9b5a
+size 206512704
diff --git a/cloth3/act/gridrigid/checkpoint/training_state/optimizer_state.safetensors b/cloth3/act/gridrigid/checkpoint/training_state/optimizer_state.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..7cac9bc26a656c5ad7a816a41c057bc74c6925fd
--- /dev/null
+++ b/cloth3/act/gridrigid/checkpoint/training_state/optimizer_state.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc890435e199353dbef586074896228c8e96841424dc51544007da5eee3e9628
+size 412645636
diff --git a/cloth3/act/gridrigid/checkpoint/training_state/rng_state.safetensors b/cloth3/act/gridrigid/checkpoint/training_state/rng_state.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..c570570d95a231922e2ccf5bfa0412a997b1234a
--- /dev/null
+++ b/cloth3/act/gridrigid/checkpoint/training_state/rng_state.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66d27b63fbd681974037f8ee7e4cd786c2d0f48e8dfbd53d1980bda6ca2d8f74
+size 15708
diff --git a/cloth3/act/single/checkpoint/pretrained_model/model.safetensors b/cloth3/act/single/checkpoint/pretrained_model/model.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..ec6bbdd2291350b36dd5ba2992edc4502f3ef099
--- /dev/null
+++ b/cloth3/act/single/checkpoint/pretrained_model/model.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:023f869faec1893d5091d088059bc2bba6c24ec2d1207ba05a57349b1bb1f7ee
+size 206512704
diff --git a/cloth3/act/single/checkpoint/training_state/optimizer_state.safetensors b/cloth3/act/single/checkpoint/training_state/optimizer_state.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..86c0f73cff5cd2f234f5fdca96143b7ed4e7d8f1
--- /dev/null
+++ b/cloth3/act/single/checkpoint/training_state/optimizer_state.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f69b852a1f5cbf99153c97c52a43da819f0bb172f56358b3304a0ff8898c32c6
+size 412645636
diff --git a/cloth3/act/single/checkpoint/training_state/rng_state.safetensors b/cloth3/act/single/checkpoint/training_state/rng_state.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..fa90c7861567b40e1ba5018fc389084e4a3b9998
--- /dev/null
+++ b/cloth3/act/single/checkpoint/training_state/rng_state.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ed5f9aac354d3bcc8f7e5ee5259d56bc0cd54c9fa1927a9e4d59c4eb7cb04ba
+size 15708
diff --git a/cloth3/act/txy/checkpoint/pretrained_model/model.safetensors b/cloth3/act/txy/checkpoint/pretrained_model/model.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..f50d7135790b8d320b120cfa820202fc6d5e4e15
--- /dev/null
+++ b/cloth3/act/txy/checkpoint/pretrained_model/model.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2906cfc275e2dfa790d95a7112505b7aede6bd18ddc33fb487f59faf3d6e65d
+size 206512704
diff --git a/cloth3/act/txy/checkpoint/training_state/optimizer_state.safetensors b/cloth3/act/txy/checkpoint/training_state/optimizer_state.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..4364494ea39e3f01f50bbd53a112c5db60b50d4c
--- /dev/null
+++ b/cloth3/act/txy/checkpoint/training_state/optimizer_state.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f609aca6243e57458a87663e654e7f99f2c87612ccb3f776db8af9580308cc69
+size 412645636
diff --git a/cloth3/act/txy/checkpoint/training_state/rng_state.safetensors b/cloth3/act/txy/checkpoint/training_state/rng_state.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..1ef5a1c325fbe739f42e4186db74bcc27779ed6f
--- /dev/null
+++ b/cloth3/act/txy/checkpoint/training_state/rng_state.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58d18a166536f02beba103e98b647247415768308b34ae45f83c81f018cd98cf
+size 15708
diff --git a/cloth3/act/yawonly/checkpoint/pretrained_model/model.safetensors b/cloth3/act/yawonly/checkpoint/pretrained_model/model.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..0757a8e3fc1b79c486973058ccce86abf316b2f8
--- /dev/null
+++ b/cloth3/act/yawonly/checkpoint/pretrained_model/model.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:858a72fe9bdd589cb246e89abd226190d45e09a75af01dfc741c9080f6af1626
+size 206512704
diff --git a/cloth3/act/yawonly/checkpoint/training_state/optimizer_state.safetensors b/cloth3/act/yawonly/checkpoint/training_state/optimizer_state.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..59d0d78343984f04a40026901d70755cfb311fb9
--- /dev/null
+++ b/cloth3/act/yawonly/checkpoint/training_state/optimizer_state.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:647a478affec00caca83730cde61382b9880f500d3a609226213bd3c1690ff53
+size 412645636
diff --git a/cloth3/act/yawonly/checkpoint/training_state/rng_state.safetensors b/cloth3/act/yawonly/checkpoint/training_state/rng_state.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..1ef5a1c325fbe739f42e4186db74bcc27779ed6f
--- /dev/null
+++ b/cloth3/act/yawonly/checkpoint/training_state/rng_state.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58d18a166536f02beba103e98b647247415768308b34ae45f83c81f018cd98cf
+size 15708
diff --git a/cloth3/dp/single/checkpoint/training_state/optimizer_state.safetensors b/cloth3/dp/single/checkpoint/training_state/optimizer_state.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..ffe805bbe5c3109fcf1772c1a394ba41a6d5f905
--- /dev/null
+++ b/cloth3/dp/single/checkpoint/training_state/optimizer_state.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1cf733e2fa53d54231751ca983e12466fb9be5eb247495b80bbdff32058208d
+size 2102818808
diff --git a/cloth3/dp/yawonly/checkpoint/training_state/optimizer_state.safetensors b/cloth3/dp/yawonly/checkpoint/training_state/optimizer_state.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..1c72322a1ad55db15231915585a62d314b874d08
--- /dev/null
+++ b/cloth3/dp/yawonly/checkpoint/training_state/optimizer_state.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:409c23358440b1210d7ec3b853b3ba6827b61b3d6f38264a73efbe66fd1baf72
+size 2102818808
diff --git a/cloth3/svla/gridrigid/checkpoint/pretrained_model/model.safetensors b/cloth3/svla/gridrigid/checkpoint/pretrained_model/model.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..b3db5e62e23aab8be9cfef9dcea726ae7bfe541b
--- /dev/null
+++ b/cloth3/svla/gridrigid/checkpoint/pretrained_model/model.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed8ae227100898a132fd04c26c52be51dcaa0c91fdf7118fd4cccf8fd9e6fdad
+size 906719624
diff --git a/cloth3/svla/single/checkpoint/pretrained_model/model.safetensors b/cloth3/svla/single/checkpoint/pretrained_model/model.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..b0b045da34f625a2f30f4a70782e9b2381857a6f
--- /dev/null
+++ b/cloth3/svla/single/checkpoint/pretrained_model/model.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18dcb5e5be44baf07a6ed46a25d10a7e4019130b37fa7d9fdccaf9572bb7d4cd
+size 906719624
diff --git a/cloth3/svla/yawonly/checkpoint/pretrained_model/model.safetensors b/cloth3/svla/yawonly/checkpoint/pretrained_model/model.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..676ddf26de814c47fee4dae7d0d25ccf7d5638be
--- /dev/null
+++ b/cloth3/svla/yawonly/checkpoint/pretrained_model/model.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67999c6829bc51499223277ed36e9eb559fb7aa001b9e0e824462fdf82f7b4b2
+size 906719624
diff --git a/cloth3/svla/yawonly/checkpoint/training_state/optimizer_state.safetensors b/cloth3/svla/yawonly/checkpoint/training_state/optimizer_state.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..2912606b2dd64f36a10c22eb54edce90ce720503
--- /dev/null
+++ b/cloth3/svla/yawonly/checkpoint/training_state/optimizer_state.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af5606fc6b7b9253e5865e0340e1e6ce4679e292617a305a3dfa573b77f5671b
+size 412659164
diff --git a/sloth/act/gridrigid/checkpoint/pretrained_model/model.safetensors b/sloth/act/gridrigid/checkpoint/pretrained_model/model.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..125a4e15ad22a7197cbe436afccd9f1b9502d930
--- /dev/null
+++ b/sloth/act/gridrigid/checkpoint/pretrained_model/model.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f79e12d10af3c30410b1afef3248706d31252be7f68ee8fac27634b79968b29
+size 206512704
diff --git a/sloth/act/gridrigid/checkpoint/training_state/optimizer_state.safetensors b/sloth/act/gridrigid/checkpoint/training_state/optimizer_state.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..5d4a777b6471f95a026c315b868cf913581163e6
--- /dev/null
+++ b/sloth/act/gridrigid/checkpoint/training_state/optimizer_state.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1951f019a0c920abd36f9bd8ce38b34642e6671a432f212cbd32d9bb6cd2a10
+size 412645636
diff --git a/sloth/act/gridrigid/checkpoint/training_state/rng_state.safetensors b/sloth/act/gridrigid/checkpoint/training_state/rng_state.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..c570570d95a231922e2ccf5bfa0412a997b1234a
--- /dev/null
+++ b/sloth/act/gridrigid/checkpoint/training_state/rng_state.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66d27b63fbd681974037f8ee7e4cd786c2d0f48e8dfbd53d1980bda6ca2d8f74
+size 15708
diff --git a/sloth/act/single/checkpoint/pretrained_model/model.safetensors b/sloth/act/single/checkpoint/pretrained_model/model.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..904cd5f203f6ad888f662f446745630b9f81d594
--- /dev/null
+++ b/sloth/act/single/checkpoint/pretrained_model/model.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:193f5e47832a360adfee238ccde252c8e233937851d0ee63738d3ee28a97c9ad
+size 206512704
diff --git a/sloth/act/single/checkpoint/training_state/optimizer_state.safetensors b/sloth/act/single/checkpoint/training_state/optimizer_state.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..66c0f1d77c961e6e09361c94812a0b1bae69dbcb
--- /dev/null
+++ b/sloth/act/single/checkpoint/training_state/optimizer_state.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3269ba684a164e3c0975b584b4de21fda59ad4d4c2e525e14f3a6a0c1f7f1ac6
+size 412645636
diff --git a/sloth/act/single/checkpoint/training_state/rng_state.safetensors b/sloth/act/single/checkpoint/training_state/rng_state.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..87bddb933ff292dc7356c41a94f5bc05e670f63e
--- /dev/null
+++ b/sloth/act/single/checkpoint/training_state/rng_state.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98e8ce86176e8d737a5944a92c47dd9b58910dcf5c7af26c30b1c0db80a88a2d
+size 15708
diff --git a/sloth/act/txy/checkpoint/pretrained_model/model.safetensors b/sloth/act/txy/checkpoint/pretrained_model/model.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..eef46cdfaaf6793614eea8b0e8f266cc5ee56776
--- /dev/null
+++ b/sloth/act/txy/checkpoint/pretrained_model/model.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef5f15f9d1d6f3e34059239442471336690aaf2e9897111b1a1db8b01c50279a
+size 206512704
diff --git a/sloth/act/txy/checkpoint/training_state/optimizer_state.safetensors b/sloth/act/txy/checkpoint/training_state/optimizer_state.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..93314e84e212ae71868334f3e850e1bf4dae275f
--- /dev/null
+++ b/sloth/act/txy/checkpoint/training_state/optimizer_state.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3885f3061c119e968c4d54833690ea3cafb31e7987a9217a016c2b052d6a225
+size 412645636
diff --git a/sloth/act/txy/checkpoint/training_state/rng_state.safetensors b/sloth/act/txy/checkpoint/training_state/rng_state.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..c570570d95a231922e2ccf5bfa0412a997b1234a
--- /dev/null
+++ b/sloth/act/txy/checkpoint/training_state/rng_state.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66d27b63fbd681974037f8ee7e4cd786c2d0f48e8dfbd53d1980bda6ca2d8f74
+size 15708
diff --git a/sloth/act/yawonly/checkpoint/pretrained_model/model.safetensors b/sloth/act/yawonly/checkpoint/pretrained_model/model.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..67fa8432ab06331c653b9c68bcee67c21aadef19
--- /dev/null
+++ b/sloth/act/yawonly/checkpoint/pretrained_model/model.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a052e3b31dabc12fecb63c2616332b7523286df17fde4c68384d2599340760d2
+size 206512704
diff --git a/sloth/act/yawonly/checkpoint/training_state/rng_state.safetensors b/sloth/act/yawonly/checkpoint/training_state/rng_state.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..c570570d95a231922e2ccf5bfa0412a997b1234a
--- /dev/null
+++ b/sloth/act/yawonly/checkpoint/training_state/rng_state.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66d27b63fbd681974037f8ee7e4cd786c2d0f48e8dfbd53d1980bda6ca2d8f74
+size 15708
diff --git a/sloth/dp/gridrigid/checkpoint/training_state/optimizer_state.safetensors b/sloth/dp/gridrigid/checkpoint/training_state/optimizer_state.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..cfbca1ea9044beeb22485a681d991b9c0f4b08e0
--- /dev/null
+++ b/sloth/dp/gridrigid/checkpoint/training_state/optimizer_state.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:786d4510e6f491a327e054aa71ff71a8f0fb2d67278aa62be6c44e75b0c42bab
+size 2102818808
diff --git a/sloth/dp/single/checkpoint/training_state/optimizer_state.safetensors b/sloth/dp/single/checkpoint/training_state/optimizer_state.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..7e84a04b54a85bc4b964a6f3a194c1ba36b4b1d6
--- /dev/null
+++ b/sloth/dp/single/checkpoint/training_state/optimizer_state.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f0527522fd7d491a19296b8b476434befff0698a68e786a38cc8a8ac1d9f0d6
+size 2102818808
diff --git a/sloth/dp/txy/checkpoint/training_state/optimizer_state.safetensors b/sloth/dp/txy/checkpoint/training_state/optimizer_state.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..f4437adeccc51de8be44afba36c350de9fe1e861
--- /dev/null
+++ b/sloth/dp/txy/checkpoint/training_state/optimizer_state.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b62f3a667c787e2fb8a7ef8ec18fe9aaaa011ba68594671ff98b0b749675557b
+size 2102818808
diff --git a/sloth/dp/yawonly/checkpoint/pretrained_model/model.safetensors b/sloth/dp/yawonly/checkpoint/pretrained_model/model.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..778d0f18cefe60346743cffcba49fcc0f6cae572
--- /dev/null
+++ b/sloth/dp/yawonly/checkpoint/pretrained_model/model.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a527a283c5ad59494329e43d01e8b7e8dbbedc0be54a35ccca85d2468f201360
+size 1051408080
diff --git a/sloth/dp/yawonly/checkpoint/training_state/optimizer_state.safetensors b/sloth/dp/yawonly/checkpoint/training_state/optimizer_state.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..51266455d9100ae4f192cedce07974197d81acc2
--- /dev/null
+++ b/sloth/dp/yawonly/checkpoint/training_state/optimizer_state.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e5105239ff7317dd4f961d903e443a191ab7e47168fb3474012d5e65257fe4d
+size 2102818808
diff --git a/sloth/pi0/gridrigid/checkpoint/params/ocdbt.process_0/d/00038f38f0e2d2894e2c95f7fd124ea4 b/sloth/pi0/gridrigid/checkpoint/params/ocdbt.process_0/d/00038f38f0e2d2894e2c95f7fd124ea4
new file mode 100644
index 0000000000000000000000000000000000000000..d1ee0f46c61336f50428a9b975f17da1801833db
--- /dev/null
+++ b/sloth/pi0/gridrigid/checkpoint/params/ocdbt.process_0/d/00038f38f0e2d2894e2c95f7fd124ea4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e6168aeb9ae9cc1fcea0989ca217a9751cc35469b2fb8ba48c41b99d96f7b86
+size 93977375
diff --git a/sloth/pi0/gridrigid/checkpoint/params/ocdbt.process_0/d/0f90dad55e333192a6c8eec5160da2da b/sloth/pi0/gridrigid/checkpoint/params/ocdbt.process_0/d/0f90dad55e333192a6c8eec5160da2da
new file mode 100644
index 0000000000000000000000000000000000000000..e5deb1a1b947d004124f32b13c7f8953b4b6a67b
--- /dev/null
+++ b/sloth/pi0/gridrigid/checkpoint/params/ocdbt.process_0/d/0f90dad55e333192a6c8eec5160da2da
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42e6e8685a61e4c93c77dc114fdab530f8f7eefd8e095733213ba11168d80ab6
+size 752936523
diff --git a/sloth/pi0/gridrigid/checkpoint/params/ocdbt.process_0/d/10eeeebbae21d0948cc141f96138c9fe b/sloth/pi0/gridrigid/checkpoint/params/ocdbt.process_0/d/10eeeebbae21d0948cc141f96138c9fe
new file mode 100644
index 0000000000000000000000000000000000000000..4382122e25aa3684680b5ea14d8f27f4c945462c
--- /dev/null
+++ b/sloth/pi0/gridrigid/checkpoint/params/ocdbt.process_0/d/10eeeebbae21d0948cc141f96138c9fe
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50e4a99832485f846a3f70de13eb325f36baefb7d2e9d2dc0a38db9394117bac
+size 57830006
diff --git a/sloth/pi0/gridrigid/checkpoint/params/ocdbt.process_0/d/1c2f1a4296a284a9a8fbaf8dd20ada29 b/sloth/pi0/gridrigid/checkpoint/params/ocdbt.process_0/d/1c2f1a4296a284a9a8fbaf8dd20ada29
new file mode 100644
index 0000000000000000000000000000000000000000..00a28ecf9306d1d5732f0eed2c100f70de10ce53
--- /dev/null
+++ b/sloth/pi0/gridrigid/checkpoint/params/ocdbt.process_0/d/1c2f1a4296a284a9a8fbaf8dd20ada29
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:edee857caa0edbbf0802107637da6cb01ae045c2233efe567b7822a03effafc5
+size 946032254
diff --git a/sloth/pi0/gridrigid/checkpoint/params/ocdbt.process_0/d/89c041fbaab64d63f46b075588bc2be1 b/sloth/pi0/gridrigid/checkpoint/params/ocdbt.process_0/d/89c041fbaab64d63f46b075588bc2be1
new file mode 100644
index 0000000000000000000000000000000000000000..a17af69b6f8429762be654c9399f61b19d24c6ac
--- /dev/null
+++ b/sloth/pi0/gridrigid/checkpoint/params/ocdbt.process_0/d/89c041fbaab64d63f46b075588bc2be1
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c0a5343066a5861a4c22cac52e454880fcadd1449eb53d2174d535ab305109d
+size 220193729
diff --git a/sloth/pi0/gridrigid/checkpoint/params/ocdbt.process_0/d/be28fb1dae0425d7b52815bfd7460dbb b/sloth/pi0/gridrigid/checkpoint/params/ocdbt.process_0/d/be28fb1dae0425d7b52815bfd7460dbb
new file mode 100644
index 0000000000000000000000000000000000000000..d12ccf0a420f707564fd71927aef673d990b1885
--- /dev/null
+++ b/sloth/pi0/gridrigid/checkpoint/params/ocdbt.process_0/d/be28fb1dae0425d7b52815bfd7460dbb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:852e27577d57698229ea6e02c62e9a69e04f6039386dfeb83e1e8b46888470eb
+size 1362886963
diff --git a/sloth/pi0/gridrigid/checkpoint/params/ocdbt.process_0/d/e839ea4e3b9db355b58e18b31d02885b b/sloth/pi0/gridrigid/checkpoint/params/ocdbt.process_0/d/e839ea4e3b9db355b58e18b31d02885b
new file mode 100644
index 0000000000000000000000000000000000000000..a41f77434895a5bd5386a98100b465b2519f42f2
--- /dev/null
+++ b/sloth/pi0/gridrigid/checkpoint/params/ocdbt.process_0/d/e839ea4e3b9db355b58e18b31d02885b
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e51ee7e5b89dada8492dc6544cc9279bae5458f247618cda6131f8368b5444d
+size 1467431
diff --git a/sloth/pi0/gridrigid/checkpoint/train_state/ocdbt.process_0/d/23c0ed74895cc8e63bb67b4545795e14 b/sloth/pi0/gridrigid/checkpoint/train_state/ocdbt.process_0/d/23c0ed74895cc8e63bb67b4545795e14
new file mode 100644
index 0000000000000000000000000000000000000000..e9c0308b9858a1ff1746107a0862df27ebba49a9
--- /dev/null
+++ b/sloth/pi0/gridrigid/checkpoint/train_state/ocdbt.process_0/d/23c0ed74895cc8e63bb67b4545795e14
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:619d2f17c468a51dc87dd8cba114ef70b2a015dff463b600d4208aef2d1c644d
+size 122533
diff --git a/sloth/pi0/gridrigid/checkpoint/train_state/ocdbt.process_0/d/8851b008d6c540d18d0313399015bafa b/sloth/pi0/gridrigid/checkpoint/train_state/ocdbt.process_0/d/8851b008d6c540d18d0313399015bafa
new file mode 100644
index 0000000000000000000000000000000000000000..2c3646bb94372c90656b27ade7db308d0c3ffae5
--- /dev/null
+++ b/sloth/pi0/gridrigid/checkpoint/train_state/ocdbt.process_0/d/8851b008d6c540d18d0313399015bafa
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aabecb2d012c9f06f281825d9549b81e1db6a8250a7e303547ed9f92aeedd2ec
+size 148637
diff --git a/sloth/pi0/gridrigid/checkpoint/train_state/ocdbt.process_0/d/c2b3b43622d8b49be9f7d71274b200da b/sloth/pi0/gridrigid/checkpoint/train_state/ocdbt.process_0/d/c2b3b43622d8b49be9f7d71274b200da
new file mode 100644
index 0000000000000000000000000000000000000000..2f3e37db8f5f003299446167fdbf9564ba27e6b3
--- /dev/null
+++ b/sloth/pi0/gridrigid/checkpoint/train_state/ocdbt.process_0/d/c2b3b43622d8b49be9f7d71274b200da
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35e1ab25fad726ad86ce5ff4e96fde02adfbbf2845f95822ef54427bf0d6c99d
+size 977789326
diff --git a/sloth/pi0/single/checkpoint/params/ocdbt.process_0/d/1ae12282045fda1ac818b6bbf3ef6080 b/sloth/pi0/single/checkpoint/params/ocdbt.process_0/d/1ae12282045fda1ac818b6bbf3ef6080
new file mode 100644
index 0000000000000000000000000000000000000000..417e417357c5a684887a5bfe1bf2fe6c9ccda5dd
--- /dev/null
+++ b/sloth/pi0/single/checkpoint/params/ocdbt.process_0/d/1ae12282045fda1ac818b6bbf3ef6080
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:524dd4c325d24bbd23abbc0bf30e947576eb67a2e59a63708cd2b2d4299d645e
+size 71020265
diff --git a/sloth/pi0/single/checkpoint/params/ocdbt.process_0/d/5adeee8a12aede081846bee6aec021ff b/sloth/pi0/single/checkpoint/params/ocdbt.process_0/d/5adeee8a12aede081846bee6aec021ff
new file mode 100644
index 0000000000000000000000000000000000000000..c88ac308cd0a8e8be8c2d8c0c089d5d0ea609b71
--- /dev/null
+++ b/sloth/pi0/single/checkpoint/params/ocdbt.process_0/d/5adeee8a12aede081846bee6aec021ff
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a559d97a14075fc2eb85a713a4d96cccf4a7940bdfae010dfdbc96dc1970e703
+size 236114310
diff --git a/sloth/pi0/single/checkpoint/params/ocdbt.process_0/d/62b72af775e8091064d6813787f07eac b/sloth/pi0/single/checkpoint/params/ocdbt.process_0/d/62b72af775e8091064d6813787f07eac
new file mode 100644
index 0000000000000000000000000000000000000000..9107f965be3dbf35788c7d9e9b5e80cd6eb44717
--- /dev/null
+++ b/sloth/pi0/single/checkpoint/params/ocdbt.process_0/d/62b72af775e8091064d6813787f07eac
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24ded75d3496fd1c0c9b4cad6106665c5d154d4acfa342e51ea8ee642d4bbd01
+size 88655638
diff --git a/sloth/pi0/single/checkpoint/params/ocdbt.process_0/d/726b28a5e34e18388cdcb4ccf378b6c6 b/sloth/pi0/single/checkpoint/params/ocdbt.process_0/d/726b28a5e34e18388cdcb4ccf378b6c6
new file mode 100644
index 0000000000000000000000000000000000000000..967d15bb8c971778bb25a9d8471a44a9aa17245b
--- /dev/null
+++ b/sloth/pi0/single/checkpoint/params/ocdbt.process_0/d/726b28a5e34e18388cdcb4ccf378b6c6
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05950665b39faab339f0b2e0a23d97048bdfcb5745d2820370fa7f8854fa1700
+size 118440382
diff --git a/sloth/pi0/single/checkpoint/params/ocdbt.process_0/d/94e446abb389a56e193708ce5c8f25cf b/sloth/pi0/single/checkpoint/params/ocdbt.process_0/d/94e446abb389a56e193708ce5c8f25cf
new file mode 100644
index 0000000000000000000000000000000000000000..b1436134db2b6ab682fa97091ca24b91536c5aee
--- /dev/null
+++ b/sloth/pi0/single/checkpoint/params/ocdbt.process_0/d/94e446abb389a56e193708ce5c8f25cf
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a00d408bdaec924b78ce825107127440f253d935f130d549efd31be9414920f1
+size 501560696
diff --git a/sloth/pi0/single/checkpoint/params/ocdbt.process_0/d/9ae426c622f7859e8d547d6d8e30c5f3 b/sloth/pi0/single/checkpoint/params/ocdbt.process_0/d/9ae426c622f7859e8d547d6d8e30c5f3
new file mode 100644
index 0000000000000000000000000000000000000000..f7aba051afe90ba1af7b590c27af444654f142b2
--- /dev/null
+++ b/sloth/pi0/single/checkpoint/params/ocdbt.process_0/d/9ae426c622f7859e8d547d6d8e30c5f3
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2e738c974b91519a616357286a113fcb92dfe28aabb689cd82111ff4662b90d
+size 946037349
diff --git a/sloth/pi0/single/checkpoint/params/ocdbt.process_0/d/a0a39e8819ac27e299c4ce47e5afe479 b/sloth/pi0/single/checkpoint/params/ocdbt.process_0/d/a0a39e8819ac27e299c4ce47e5afe479
new file mode 100644
index 0000000000000000000000000000000000000000..1aef5f6ae9719b6e2503561ee65a5edaf08b00ef
--- /dev/null
+++ b/sloth/pi0/single/checkpoint/params/ocdbt.process_0/d/a0a39e8819ac27e299c4ce47e5afe479
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85f91bab1d441d8f2ed9eee825373cbbb0d10a65b3add5e667b389f5605c3681
+size 154496427
diff --git a/sloth/pi0/single/checkpoint/params/ocdbt.process_0/d/c2765ba1900347d6d9fb9d5d57432b9f b/sloth/pi0/single/checkpoint/params/ocdbt.process_0/d/c2765ba1900347d6d9fb9d5d57432b9f
new file mode 100644
index 0000000000000000000000000000000000000000..50e637bf924c34dcf146d8c444f0f2c9f7b73138
--- /dev/null
+++ b/sloth/pi0/single/checkpoint/params/ocdbt.process_0/d/c2765ba1900347d6d9fb9d5d57432b9f
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf2597e22eccfeeb1a389154ddf9273d733968a971921bb1a74d61f16cbb7d2b
+size 496769825
diff --git a/sloth/pi0/single/checkpoint/params/ocdbt.process_0/d/d18daf592d343cecd4b6777d10069863 b/sloth/pi0/single/checkpoint/params/ocdbt.process_0/d/d18daf592d343cecd4b6777d10069863
new file mode 100644
index 0000000000000000000000000000000000000000..b6b589dfd573350c6186c5ac2127cb80963b15c1
--- /dev/null
+++ b/sloth/pi0/single/checkpoint/params/ocdbt.process_0/d/d18daf592d343cecd4b6777d10069863
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f87e70bf74a2f8c752a41de60f700c61579d626920ac0e9afc0195fe762ed0fd
+size 347425
diff --git a/sloth/pi0/single/checkpoint/params/ocdbt.process_0/d/fe401a6b48f12af152fbbdad4abea8b4 b/sloth/pi0/single/checkpoint/params/ocdbt.process_0/d/fe401a6b48f12af152fbbdad4abea8b4
new file mode 100644
index 0000000000000000000000000000000000000000..7f9fae399cfc4c85593028cae76eec6a7eada2c3
--- /dev/null
+++ b/sloth/pi0/single/checkpoint/params/ocdbt.process_0/d/fe401a6b48f12af152fbbdad4abea8b4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8aa57a74076bb62820d5fdfa742fb123616d39a50bb50d352d659b566296012
+size 59053722
diff --git a/sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/15fe2980a6d11029a1edf9231bafd8d4 b/sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/15fe2980a6d11029a1edf9231bafd8d4
new file mode 100644
index 0000000000000000000000000000000000000000..5b19575c2b51a3a697692f2bef98eff84046eb2d
--- /dev/null
+++ b/sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/15fe2980a6d11029a1edf9231bafd8d4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c28b9cb271ac6e7aa30bec116c90ef1eabcf21fc4693e88bb90e9ea1d4b9203
+size 118272718
diff --git a/sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/666319c69c88c8d47716d966bc252345 b/sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/666319c69c88c8d47716d966bc252345
new file mode 100644
index 0000000000000000000000000000000000000000..f05c4f25100cc044743972f9a2cf547d4f3c0d5f
--- /dev/null
+++ b/sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/666319c69c88c8d47716d966bc252345
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68576c9eea9a271d6ce04faca5aa3bcfec61f4e680542463d334ae41f6537087
+size 58395905
diff --git a/sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/6a390b0e071c8aa8865d0fa8ab4c78db b/sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/6a390b0e071c8aa8865d0fa8ab4c78db
new file mode 100644
index 0000000000000000000000000000000000000000..2d62da5369ce69a00914626a198eb7afce2c863b
--- /dev/null
+++ b/sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/6a390b0e071c8aa8865d0fa8ab4c78db
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:827a795f1275532442008d43f7786ffb5c69b37389afa335bfeef0592687c9fa
+size 38786695
diff --git a/sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/6a3d2554114cf04220c6695f012193d6 b/sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/6a3d2554114cf04220c6695f012193d6
new file mode 100644
index 0000000000000000000000000000000000000000..d275ac62c2267e766924fd3821bfd7898b3c42c5
--- /dev/null
+++ b/sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/6a3d2554114cf04220c6695f012193d6
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3eb27742fd2f2317ad43a652ca7371901b52f7047f382e2fa564a505b50561ec
+size 117479574
diff --git a/sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/7205f69502776a7b7a13fb00ff3bc68c b/sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/7205f69502776a7b7a13fb00ff3bc68c
new file mode 100644
index 0000000000000000000000000000000000000000..0eea90ce1375c97eb226772f3c4df94b85add625
--- /dev/null
+++ b/sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/7205f69502776a7b7a13fb00ff3bc68c
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd3475af6778b3518aa15a1da4cd5fa3a6cb4d3ef7a48063e397cbb958a696cf
+size 132970661
diff --git a/sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/7cd7d80d0fdfa6f54c71d4a98bf25b26 b/sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/7cd7d80d0fdfa6f54c71d4a98bf25b26
new file mode 100644
index 0000000000000000000000000000000000000000..2705131109579221a73093ea1cc482575ffd72f9
--- /dev/null
+++ b/sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/7cd7d80d0fdfa6f54c71d4a98bf25b26
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e6f5dfc8e38f24c662145a09eb792d6160cd29cee67fbb142a9c93dec823f98
+size 497039922
diff --git a/sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/870fd254b8e4ab9a88b689bffb44da9d b/sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/870fd254b8e4ab9a88b689bffb44da9d
new file mode 100644
index 0000000000000000000000000000000000000000..8cdb0839b46c6462f98e121ff2b5a0c987d38935
--- /dev/null
+++ b/sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/870fd254b8e4ab9a88b689bffb44da9d
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83964ffe3faedb3ec060394992e3738a156aaaabda3887b993bcecb1fe5ab132
+size 265781979
diff --git a/sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/9283ae33abcd3e63683df6c3d944ce7b b/sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/9283ae33abcd3e63683df6c3d944ce7b
new file mode 100644
index 0000000000000000000000000000000000000000..230e1dfbca0acf865911059a72c82cbc1941d245
--- /dev/null
+++ b/sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/9283ae33abcd3e63683df6c3d944ce7b
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9e27b07a862e60218e0a7e22fe2ac4115e55f2388a9d7be2e3462342e5c196f
+size 236114459
diff --git a/sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/9b6af95d198f8cf899c7045a0076f104 b/sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/9b6af95d198f8cf899c7045a0076f104
new file mode 100644
index 0000000000000000000000000000000000000000..b69c86313325451c5924f2b6725970e50fcee68d
--- /dev/null
+++ b/sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/9b6af95d198f8cf899c7045a0076f104
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f97f4420a85ba67833c069efe143a06362c9ece842b0ae8bdf1fef3073417802
+size 59004807
diff --git a/sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/a763baa5e28f30c2f03eaf56d3de750b b/sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/a763baa5e28f30c2f03eaf56d3de750b
new file mode 100644
index 0000000000000000000000000000000000000000..ac16340804c21778fe59e3bb35ace6677157064c
--- /dev/null
+++ b/sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/a763baa5e28f30c2f03eaf56d3de750b
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e2a04c7a5c4aa520b7d1068684c1319b6dcdc330065678fef4978395434aed1
+size 946032487
diff --git a/sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/baac0e931ee79dfd31109fd81fb043bb b/sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/baac0e931ee79dfd31109fd81fb043bb
new file mode 100644
index 0000000000000000000000000000000000000000..9f83cfa1d837db0f257b09c3923639d9453c0f5a
--- /dev/null
+++ b/sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/baac0e931ee79dfd31109fd81fb043bb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22a7d6d5fe8ef1e6692ad603c683bb2648f69a2ac58a0d7af1377b92a72c2434
+size 946037473
diff --git a/sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/c28febcb6df87d7fbe99dccc13b9cd02 b/sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/c28febcb6df87d7fbe99dccc13b9cd02
new file mode 100644
index 0000000000000000000000000000000000000000..cf4339d1fdaf5e4ecbb4a4704d1a1d640e87a330
--- /dev/null
+++ b/sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/c28febcb6df87d7fbe99dccc13b9cd02
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7dae18c59d6df0dc526a80a77755a399d6ad907d70caacb16cc9ca09d812d388
+size 829842508
diff --git a/sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/c9142f13fdc645d6ac1c404e2c609c22 b/sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/c9142f13fdc645d6ac1c404e2c609c22
new file mode 100644
index 0000000000000000000000000000000000000000..6d112aa28858a5665b332a3aa39538912e620ade
--- /dev/null
+++ b/sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/c9142f13fdc645d6ac1c404e2c609c22
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47adc07348f8713d666013e187127ba61e95567baccdfa40d6b92949816180ce
+size 2530734
diff --git a/sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/d7a41992891a101658bd1b1f9c8c740a b/sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/d7a41992891a101658bd1b1f9c8c740a
new file mode 100644
index 0000000000000000000000000000000000000000..70a301fd5aca3b56a9e89146a2c4ee36383383dd
--- /dev/null
+++ b/sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/d7a41992891a101658bd1b1f9c8c740a
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ea24818531d3ca0e41e87610fce20289016086e1ded1a04fa9a311aa3317484
+size 99503038
diff --git a/sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/d806c6c48b0eb19fb629f99bed156fc8 b/sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/d806c6c48b0eb19fb629f99bed156fc8
new file mode 100644
index 0000000000000000000000000000000000000000..3d6a1da06f8f0d0f715b98631bafd47482866671
--- /dev/null
+++ b/sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/d806c6c48b0eb19fb629f99bed156fc8
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c76e085fd549017a8e3387dbfa3cf506f077d3660cbc84033a7a26c8325f0746
+size 56221193
diff --git a/sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/d97f299cb421caf919e01031305190d4 b/sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/d97f299cb421caf919e01031305190d4
new file mode 100644
index 0000000000000000000000000000000000000000..6ecd7fef625a87b593441c45f205e92de86766ed
--- /dev/null
+++ b/sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/d97f299cb421caf919e01031305190d4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9acae0e1a0ccb3cabb1da884cd255976cb89a567b8e97fcedc2f717c31208be3
+size 251405149
diff --git a/sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/db3979a75d8332ddf65c89b63287715b b/sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/db3979a75d8332ddf65c89b63287715b
new file mode 100644
index 0000000000000000000000000000000000000000..e4a528bba9737bead14158fa3a880ecfe397914e
--- /dev/null
+++ b/sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/db3979a75d8332ddf65c89b63287715b
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9d4755b879b5138cf8ee61b3f5af79ce81202b72f4c2723e7443ac03ce61b7e
+size 59053825
diff --git a/sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/e6dac2cf726e57ba617744fdc3fcd2dc b/sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/e6dac2cf726e57ba617744fdc3fcd2dc
new file mode 100644
index 0000000000000000000000000000000000000000..24cb33971cfe32e16863b59b5b2f152449233942
--- /dev/null
+++ b/sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/e6dac2cf726e57ba617744fdc3fcd2dc
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb5ac403dce0675fc1160b73c67f1ed1e4b7b6fe84ec7144f725bca5cfce6dce
+size 946090978
diff --git a/sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/f16099799e34e99bcb6254760f64f46b b/sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/f16099799e34e99bcb6254760f64f46b
new file mode 100644
index 0000000000000000000000000000000000000000..d727d165536fdd5beb0c325615b0e648d8cfd7d2
--- /dev/null
+++ b/sloth/pi0/txy/checkpoint/params/ocdbt.process_0/d/f16099799e34e99bcb6254760f64f46b
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9729424558a9629ab9b3689eb0c420f2b3f5162483200d0327008bacdb5ecdc5
+size 496777746
diff --git a/sloth/pi0/txy/checkpoint/train_state/ocdbt.process_0/d/1c8d6a86923d22415c332b1ed8b88f19 b/sloth/pi0/txy/checkpoint/train_state/ocdbt.process_0/d/1c8d6a86923d22415c332b1ed8b88f19
new file mode 100644
index 0000000000000000000000000000000000000000..e37c1e1ca20743feeedf58ee308d889da8f346ec
--- /dev/null
+++ b/sloth/pi0/txy/checkpoint/train_state/ocdbt.process_0/d/1c8d6a86923d22415c332b1ed8b88f19
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e241a99fb7ec646d3b6e9f3e93c4c255a9dd1c242cce0e290493656784e6a4e9
+size 163677604
diff --git a/sloth/pi0/txy/checkpoint/train_state/ocdbt.process_0/d/28611b83d6b543092a90a71978b0be27 b/sloth/pi0/txy/checkpoint/train_state/ocdbt.process_0/d/28611b83d6b543092a90a71978b0be27
new file mode 100644
index 0000000000000000000000000000000000000000..a2535a585e497ca532d6ad85f5ccd103bcc3ced4
--- /dev/null
+++ b/sloth/pi0/txy/checkpoint/train_state/ocdbt.process_0/d/28611b83d6b543092a90a71978b0be27
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81ccc9eb5ec5cfe1108be0038a6afa3909f8b0b1874f5a24869c462c3d5f5bd2
+size 467518559
diff --git a/sloth/pi0/txy/checkpoint/train_state/ocdbt.process_0/d/2a25503c707784d7d5d92ad6d75bb8f4 b/sloth/pi0/txy/checkpoint/train_state/ocdbt.process_0/d/2a25503c707784d7d5d92ad6d75bb8f4
new file mode 100644
index 0000000000000000000000000000000000000000..ec46214c4aa8f31479c78ed8728f52670fa48f64
--- /dev/null
+++ b/sloth/pi0/txy/checkpoint/train_state/ocdbt.process_0/d/2a25503c707784d7d5d92ad6d75bb8f4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5e432437867da0fb5ae3e9ce180d8e7171647ef69a46b503b4aca8a42425ebb
+size 100733068
diff --git a/sloth/pi0/txy/checkpoint/train_state/ocdbt.process_0/d/51eaaba5602b434386393f82efe86d52 b/sloth/pi0/txy/checkpoint/train_state/ocdbt.process_0/d/51eaaba5602b434386393f82efe86d52
new file mode 100644
index 0000000000000000000000000000000000000000..08fff282f603488a3c7aea8a4bad4f854b979c54
--- /dev/null
+++ b/sloth/pi0/txy/checkpoint/train_state/ocdbt.process_0/d/51eaaba5602b434386393f82efe86d52
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8cb85fe88cfcb8d1b69778012bc2223c35befdd5d884b7c0caaae227bbcf49db
+size 140039906
diff --git a/sloth/pi0/txy/checkpoint/train_state/ocdbt.process_0/d/69d6fdbe6c1df37556381f45adec504c b/sloth/pi0/txy/checkpoint/train_state/ocdbt.process_0/d/69d6fdbe6c1df37556381f45adec504c
new file mode 100644
index 0000000000000000000000000000000000000000..6260472edc0db68f7a01d33455ce5dc3b35a0ec8
--- /dev/null
+++ b/sloth/pi0/txy/checkpoint/train_state/ocdbt.process_0/d/69d6fdbe6c1df37556381f45adec504c
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4dd89dfe07692b7b6e1eee799419f4cc94af3a4f5aa7aa842cb5240170a36c8c
+size 474437873
diff --git a/sloth/pi0/txy/checkpoint/train_state/ocdbt.process_0/d/819548da49d82cb3ab6a073dc27452c9 b/sloth/pi0/txy/checkpoint/train_state/ocdbt.process_0/d/819548da49d82cb3ab6a073dc27452c9
new file mode 100644
index 0000000000000000000000000000000000000000..a0a9bbb6148a6a8e09c7ba051b7d8453b0d46940
--- /dev/null
+++ b/sloth/pi0/txy/checkpoint/train_state/ocdbt.process_0/d/819548da49d82cb3ab6a073dc27452c9
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc8b8aa6688168e26eef41bc349a84c69ab4f9c81ec99185a8090e678810608b
+size 396463979
diff --git a/sloth/pi0/txy/checkpoint/train_state/ocdbt.process_0/d/8bfc1cb5f52a64e5e7f36981125f02ad b/sloth/pi0/txy/checkpoint/train_state/ocdbt.process_0/d/8bfc1cb5f52a64e5e7f36981125f02ad
new file mode 100644
index 0000000000000000000000000000000000000000..7bb5fcd32d1d7e16a9864b401b5ecf69a2fc95ed
--- /dev/null
+++ b/sloth/pi0/txy/checkpoint/train_state/ocdbt.process_0/d/8bfc1cb5f52a64e5e7f36981125f02ad
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4be934b1af3995190355e5200dd015664771d4af1a53635e4bb4ca9d0d873a4e
+size 489218742
diff --git a/sloth/pi0/txy/checkpoint/train_state/ocdbt.process_0/d/8f37f22d946abdad44ea69a34225441d b/sloth/pi0/txy/checkpoint/train_state/ocdbt.process_0/d/8f37f22d946abdad44ea69a34225441d
new file mode 100644
index 0000000000000000000000000000000000000000..63f85341fd63e87ccf81a6cfa935b3774e3cbe22
--- /dev/null
+++ b/sloth/pi0/txy/checkpoint/train_state/ocdbt.process_0/d/8f37f22d946abdad44ea69a34225441d
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae8c0c1afe415ae494f66969151383e13793c996d3d9b029a12a981ffc5b88cd
+size 75396650
diff --git a/sloth/pi0/txy/checkpoint/train_state/ocdbt.process_0/d/8fdac0b3341132c0392c029d21e35656 b/sloth/pi0/txy/checkpoint/train_state/ocdbt.process_0/d/8fdac0b3341132c0392c029d21e35656
new file mode 100644
index 0000000000000000000000000000000000000000..57bbc550a057a66db14af90b981826afff366cad
--- /dev/null
+++ b/sloth/pi0/txy/checkpoint/train_state/ocdbt.process_0/d/8fdac0b3341132c0392c029d21e35656
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6b175e7a446dec44929c54e40817ca056254e02999c1aa9fb6632ea4f697630
+size 477611852
diff --git a/sloth/pi0/txy/checkpoint/train_state/ocdbt.process_0/d/9462d1dbac48030b00755382d0354398 b/sloth/pi0/txy/checkpoint/train_state/ocdbt.process_0/d/9462d1dbac48030b00755382d0354398
new file mode 100644
index 0000000000000000000000000000000000000000..a4064e223616cd078ee1bd015715f50ff84d9c49
--- /dev/null
+++ b/sloth/pi0/txy/checkpoint/train_state/ocdbt.process_0/d/9462d1dbac48030b00755382d0354398
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81fb4f26ac653e9d331c5a42a03d68b16bbd017a05fd7838d98fd908fb83c6d6
+size 128728864
diff --git a/sloth/pi0/txy/checkpoint/train_state/ocdbt.process_0/d/af3693c4b34b77e63e904b7681114224 b/sloth/pi0/txy/checkpoint/train_state/ocdbt.process_0/d/af3693c4b34b77e63e904b7681114224
new file mode 100644
index 0000000000000000000000000000000000000000..d8ee253aa4ef201fdad2d3fd19515cebdbf4608a
--- /dev/null
+++ b/sloth/pi0/txy/checkpoint/train_state/ocdbt.process_0/d/af3693c4b34b77e63e904b7681114224
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd50c2b692bcde9de9e62493c429185b183c58d924e79a48ed9d43d3653b35a7
+size 133488988
diff --git a/sloth/pi0/txy/checkpoint/train_state/ocdbt.process_0/d/d9f4e7428cde3ac24af275f9816e15fa b/sloth/pi0/txy/checkpoint/train_state/ocdbt.process_0/d/d9f4e7428cde3ac24af275f9816e15fa
new file mode 100644
index 0000000000000000000000000000000000000000..ee726e1150092014532f618da0b1489e81d8469b
--- /dev/null
+++ b/sloth/pi0/txy/checkpoint/train_state/ocdbt.process_0/d/d9f4e7428cde3ac24af275f9816e15fa
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbbdd51de585706f66fb715c841a1389a1111e8d0ea9add54d0031decd4ec04f
+size 133687384
diff --git a/sloth/pi0/txy/checkpoint/train_state/ocdbt.process_0/d/fed878c2ffb282f6bdd1312c41f6acae b/sloth/pi0/txy/checkpoint/train_state/ocdbt.process_0/d/fed878c2ffb282f6bdd1312c41f6acae
new file mode 100644
index 0000000000000000000000000000000000000000..a18410f821eeccf3e4b449b91bb97745f9bea437
--- /dev/null
+++ b/sloth/pi0/txy/checkpoint/train_state/ocdbt.process_0/d/fed878c2ffb282f6bdd1312c41f6acae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9045d1aff560ae4bbcfb0309b4c5b814d21767b1d5be5f101dd8d478abdae094
+size 130843184
diff --git a/sloth/svla/gridrigid/checkpoint/assets/relative_action_stats.pt b/sloth/svla/gridrigid/checkpoint/assets/relative_action_stats.pt
new file mode 100644
index 0000000000000000000000000000000000000000..25d169096d4cb65a44f61a6c1abc2db9dc358372
--- /dev/null
+++ b/sloth/svla/gridrigid/checkpoint/assets/relative_action_stats.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6465fbb545135b689bfcdf649b37f11bd828992d6218d9aaf1a1a5ef120c37e
+size 5309
diff --git a/sloth/svla/gridrigid/checkpoint/pretrained_model/model.safetensors b/sloth/svla/gridrigid/checkpoint/pretrained_model/model.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..3f499f033c16c627a6307a039c27113949c67442
--- /dev/null
+++ b/sloth/svla/gridrigid/checkpoint/pretrained_model/model.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1faf68376a9d88b89b66382c5cf89231631378be2f646806dcfce0467ee9b0e9
+size 906719624
diff --git a/sloth/svla/gridrigid/checkpoint/training_state/optimizer_state.safetensors b/sloth/svla/gridrigid/checkpoint/training_state/optimizer_state.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..e96c3bee5d82795bcd8515d7c029bf3ae682b13c
--- /dev/null
+++ b/sloth/svla/gridrigid/checkpoint/training_state/optimizer_state.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59e08e3a70c27933e0c0c50249619ce29e30f82093b18189947e11cb8deea0e5
+size 412659164
diff --git a/sloth/svla/gridrigid/checkpoint/training_state/rng_state.safetensors b/sloth/svla/gridrigid/checkpoint/training_state/rng_state.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..bcd4456d5d6778cba96caf81aae3db3aa2e74e7e
--- /dev/null
+++ b/sloth/svla/gridrigid/checkpoint/training_state/rng_state.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a6cca4f9bc23a6c6fab702823bf3aa5d151c9de214a10892ddf4eec4d724123
+size 15708
diff --git a/sloth/svla/single/checkpoint/assets/relative_action_stats.pt b/sloth/svla/single/checkpoint/assets/relative_action_stats.pt
new file mode 100644
index 0000000000000000000000000000000000000000..f2f6dcb4f3b6955230d43082183dd9fd90060903
--- /dev/null
+++ b/sloth/svla/single/checkpoint/assets/relative_action_stats.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25bd486890bbaea9e86075242e75ef4ef00b0b4c4acf35cd3d7ef3a1acca0897
+size 5309
diff --git a/sloth/svla/single/checkpoint/pretrained_model/model.safetensors b/sloth/svla/single/checkpoint/pretrained_model/model.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..4b3c87db5c8ec4d2546da05ebc000e5cd831d6f1
--- /dev/null
+++ b/sloth/svla/single/checkpoint/pretrained_model/model.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c9094d470455b586fea20cbd8966991e3134c1071fdbd8d4728207aa2c9ea8a
+size 906719624
diff --git a/sloth/svla/single/checkpoint/training_state/optimizer_state.safetensors b/sloth/svla/single/checkpoint/training_state/optimizer_state.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..46d63ba4b5e0945d65554f381ca094fca8a548ae
--- /dev/null
+++ b/sloth/svla/single/checkpoint/training_state/optimizer_state.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7316cc20f6674a107c79dbf9e753a75fb155762ef97606b40fab2e6c4264dc2
+size 412659164
diff --git a/sloth/svla/single/checkpoint/training_state/rng_state.safetensors b/sloth/svla/single/checkpoint/training_state/rng_state.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..fc4cc0d0928c4b0eb70b4442a368c7ceea596a8e
--- /dev/null
+++ b/sloth/svla/single/checkpoint/training_state/rng_state.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a1ef09fe2efb2dc6c75cdb8e935ddab27c9d56dd0259e14975cbeb3b07b53f5
+size 15708
diff --git a/sloth/svla/txy/checkpoint/assets/relative_action_stats.pt b/sloth/svla/txy/checkpoint/assets/relative_action_stats.pt
new file mode 100644
index 0000000000000000000000000000000000000000..25d169096d4cb65a44f61a6c1abc2db9dc358372
--- /dev/null
+++ b/sloth/svla/txy/checkpoint/assets/relative_action_stats.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6465fbb545135b689bfcdf649b37f11bd828992d6218d9aaf1a1a5ef120c37e
+size 5309
diff --git a/sloth/svla/txy/checkpoint/pretrained_model/model.safetensors b/sloth/svla/txy/checkpoint/pretrained_model/model.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..b7ff7b7570ebedf1975976cba1e8e271b92f8558
--- /dev/null
+++ b/sloth/svla/txy/checkpoint/pretrained_model/model.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c19158aa160377a27652077b65a94a87caa898b958326bb0c947db2ffe4a4ee
+size 906719624
diff --git a/sloth/svla/txy/checkpoint/training_state/optimizer_state.safetensors b/sloth/svla/txy/checkpoint/training_state/optimizer_state.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..7bbe6205928dda1626ff77e1befd79e2f8a3f9fb
--- /dev/null
+++ b/sloth/svla/txy/checkpoint/training_state/optimizer_state.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3287b8d8c13b2ca5b4f1cb31db68f64e7a2a5e886acc5b5421930e037c2b0ec
+size 412659164
diff --git a/sloth/svla/yawonly/checkpoint/assets/relative_action_stats.pt b/sloth/svla/yawonly/checkpoint/assets/relative_action_stats.pt
new file mode 100644
index 0000000000000000000000000000000000000000..46a36bffa7f87220be866bb899e4a527aa33c4aa
--- /dev/null
+++ b/sloth/svla/yawonly/checkpoint/assets/relative_action_stats.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1c4e19e58266ab1126d3f2efbd5746dcdba27b39fdb97527ac4231e66798ab6
+size 5309
diff --git a/sloth/svla/yawonly/checkpoint/training_state/optimizer_state.safetensors b/sloth/svla/yawonly/checkpoint/training_state/optimizer_state.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..4b848d120c33f960ea68e22d42c196caae8b15b7
--- /dev/null
+++ b/sloth/svla/yawonly/checkpoint/training_state/optimizer_state.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c59e0ec1c6717b13c42bf67eb6a0eb4e9bd2361c75e1c7069fd51a3fd33300be
+size 412659164
diff --git a/sloth/svla/yawonly/checkpoint/training_state/rng_state.safetensors b/sloth/svla/yawonly/checkpoint/training_state/rng_state.safetensors
new file mode 100644
index 0000000000000000000000000000000000000000..d93d5db3b59c81094efcfc3877c6e2646c1378fc
--- /dev/null
+++ b/sloth/svla/yawonly/checkpoint/training_state/rng_state.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4471de38603ca3a539af7d78ad94af64fb924f1ffdc04e2f1347ff62bfa5020c
+size 15708