diff --git "a/G0Plus_3B_Base_260202/config.yaml" "b/G0Plus_3B_Base_260202/config.yaml"
new file mode 100644--- /dev/null
+++ "b/G0Plus_3B_Base_260202/config.yaml"
@@ -0,0 +1,2624 @@
+seed: 42
+resume_ckpt: runs/lx/4k_pretrain/main/checkpoints/step_90000.pt
+exp_name: main_resume
+output_dir: ${hydra:runtime.output_dir}
+checkpointing_steps: 10000
+eval_steps: 500
+logger:
+  type: wandb
+  log_steps: 10
+  task: ${hydra:runtime.choices.task}
+  project: g05
+  experiment_name: ${split:${logger.task},-1}
+  mode: online
+  workspace: Galaxea-AI
+  dir: null
+batch_size_val: 16
+eval_episodes_num: 1
+ckpt_path: null
+env: R1ProBlocksStackEasy
+target_controller_type: bimanual_relaxed_ik
+tags: null
+edp:
+  card: null
+  training_time: ${now:%Y-%m-%d}_${now:%H-%M-%S}
+  git_branch: null
+  git_commit: null
+  root: null
+  repo_ids: null
+  save_dir: ${output_dir}
+  tags: ${tags}
+  max_steps: ${model.max_steps}
+  batch_size: ${model.batch_size}
+data:
+  _target_: galaxea_fm.data.galaxea_lerobot_dataset.GalaxeaLerobotDataset
+  dataset_dirs:
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/0506open-toilet-door2_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/0611_Place_slippers_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/0611_Place_the_bottles_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/0611_switch_curtain_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/0612Picking_up_garbage_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/Adjust_The_Air_Conditioner_Temperature_20250711_006_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/Arrange_Aggs_20250711_006_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/Arrange_Aggs_20250725_010_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/Arrange_Aggs_20250730_012_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/Arrange_Aggs_20250815_011_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/Arrange_Aggs_20250823_013_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/Arrange_Flowers_In_Vase_20250924_016_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/Arrange_Fruits_20250725_010_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/Arrange_Fruits_20250819_011_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/Arrange_Fruits_20250828_013_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/Arrange_Fruits_20250923_016_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/Arrange_Mineral_Water_Bottles_On_The_Desk_20250721_008_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/Arrange_Sofa_Cushions_20250708_006_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/Arrange_Sofa_Cushions_20250724_010_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/Arrange_Sofa_Cushions_20250804_012_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/Arrange_The_Condiment_Shelf_20250726_010_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/Arrange_The_Condiment_Shelf_20250825_013_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/Arrange_The_Condiment_Shelf_20250829_013_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/Arrange_The_Condiment_Shelf_20251114_019_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/Arrange_The_Eggs_20250909_014_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/Arrange_The_Eggs_20250919_014_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/Arrange_The_Eggs_20250925_016_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/Arrange_The_Fruits_20250716_006_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/Arrange_The_Fruits_20250722_008_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/Arrange_The_Fruits_20250731_012_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/Arrange_The_Fruits_20250822_013_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/Arrange_The_Pillows_At_The_Head_Of_The_Bed_20250828_013_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/Arrange_The_Sofa_Cushions_20250722_008_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/Arrange_The_Tray_20250710_006_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/Arrange_The_Tray_20250725_010_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/Arrange_The_Tray_20250804_012_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/Arrange_The_Tray_20250814_011_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/Arrange_The_Tray_20250822_013_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/Arrange_The_Tray_20250828_013_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/Arrange_The_Tray_20250902_014_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/Arrange_The_Tray_20250909_014_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/Arrange_The_Tray_20250915_014_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/Arrange_The_Tray_20250924_016_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/Arrange_The_Tray_20251115_019_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/Arrange_The_Wall-Mounted_Clothes_Hanger_20250723_08_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/Arrange_The_Wall-Mounted_Clothes_Hanger_20250729_010_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/Arrange_Throw_Pillows_On_Living_Room_Sofa_20250624_002_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/Arrange_Toiletries_20250731_012_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Make_The_Bed_1500_20250728_007_v20260123_214454
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Make_The_Bed_20250722_007_v20260123_214454
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Make_The_Bed_20250724_007_v20260123_214454
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Make_The_Bed_20250728_007_v20260123_214454
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Make_The_Bed_20250730_007_v20260123_214454
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Make_The_Bed_VLA16_002_20250801_007_v20260123_214455
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Make_The_Bed_VLA16_20250801_007_v20260123_214455
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Make_The_Bed_VLA16_20250908_007_v20260123_214455
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Make_The_Bed_VLA16_20250909_007_v20260123_214455
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Make_The_Bed_VLA16_Round16_001_20250805_009_v20260123_214455
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Make_The_Bed_VLA16_Round17_001_20250805_009_v20260123_214455
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Make_The_Bed_VLA16_Round17_002_20250806_009_v20260123_214455
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Make_The_Bed_VLA16_Round20_20250822_007_v20260123_214456
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Make_The_Bed_VLA16_Round2_002_20250801_007_v20260123_214456
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Make_The_Bed_VLA16_Round2_20250802_007_v20260123_214456
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Make_The_Bed_VLA16_Round3_002_20250802_007_v20260123_214456
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Make_The_Bed_VLA16_Round4_001_20250803_007_v20260123_214456
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Make_The_Bed_VLA16_Round5_001_20250803_007_v20260123_214456
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Make_The_Bed_VLA16_Round6_001_20250804_009_v20260123_214456
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Make_The_Bed_VLA16_Round6_002_20250804_009_v20260123_214457
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Make_The_Bed_VLA16_Round7_002_20250803_007_v20260123_214457
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Make_The_Bed_VLA16_Round8_002_20250803_007_v20260123_214457
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Make_The_Bed_VLA17_02_20250801_007_v20260123_214457
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Make_The_Bed_VLA17_20250801_007_v20260123_214457
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Make_The_Bed_VLA17_Round10_001_20250804_007_v20260123_214457
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Make_The_Bed_VLA17_Round10_002_20250804_007_v20260123_214458
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Make_The_Bed_VLA17_Round12_002_20250804_007_v20260123_214458
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Make_The_Bed_VLA17_Round14_001_20250805_009_v20260123_214458
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Make_The_Bed_VLA17_Round2_002_20250801_007_v20260123_214458
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Make_The_Bed_VLA17_Round2_20250802_007_v20260123_214458
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Make_The_Bed_VLA17_Round3_001_20250803_007_v20260123_214458
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Make_The_Bed_VLA17_Round3_002_20250803_007_v20260123_214458
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Make_The_Bed_VLA17_Round4_001_20250804_007_v20260123_214459
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Make_The_Bed_VLA17_Round6_001_20250803_007_v20260123_214459
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Plac_Photo_Frame_Evenly_Distributed_Round_7_20250929_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items100_Evenly_Distributed_Round_13_20251027_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items100_Evenly_Distributed_Round_13_20251117_019_v20260122_224714
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items101_Evenly_Distributed_Round_13_20251118_019_v20260122_224714
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items102_Evenly_Distributed_Round_13_20251027_018_v20260122_224714
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items102_Evenly_Distributed_Round_13_20251118_019_v20260122_224714
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items103_Evenly_Distributed_Round_13_20251027_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items103_Evenly_Distributed_Round_13_20251118_019_v20260122_224715
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items104_Evenly_Distributed_Round_13_20251027_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items104_Evenly_Distributed_Round_13_20251118_019_v20260122_224715
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items105_Evenly_Distributed_Round_13_20251027_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items105_Evenly_Distributed_Round_13_20251118_019_v20260122_224715
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items106_Evenly_Distributed_Round_13_20251027_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items106_Evenly_Distributed_Round_13_20251118_019_v20260122_224715
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items107_Evenly_Distributed_Round_13_20251027_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items107_Evenly_Distributed_Round_13_20251118_019_v20260122_224715
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items108_Evenly_Distributed_Round_13_20251027_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items109_Evenly_Distributed_Round_13_20251027_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items109_Evenly_Distributed_Round_13_20251118_019_v20260122_224716
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items10_Evenly_Distributed_Round_13_20251022_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items10_Evenly_Distributed_Round_13_20251022_018_v20260122_224716
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items10_Evenly_Distributed_Round_13_20251110_019_v20260122_224716
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items10_Evenly_Distributed_Round_9_20251015_007_v20260122_224716
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items110_Evenly_Distributed_Round_13_20251027_018_v20260122_224716
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items110_Evenly_Distributed_Round_13_20251118_019_v20260122_224717
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items111_Evenly_Distributed_Round_13_20251027_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items111_Evenly_Distributed_Round_13_20251118_019_v20260122_224717
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items112_Evenly_Distributed_Round_13_20251027_018_v20260122_224717
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items113_Evenly_Distributed_Round_13_20251027_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items114_Evenly_Distributed_Round_13_20251027_018_v20260122_224717
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items114_Evenly_Distributed_Round_13_20251118_019_v20260122_224718
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items115_Evenly_Distributed_Round_13_20251027_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items115_Evenly_Distributed_Round_13_20251118_019_v20260122_224718
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items116_Evenly_Distributed_Round_13_20251027_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items116_Evenly_Distributed_Round_13_20251119_019_v20260122_224718
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items117_Evenly_Distributed_Round_13_20251027_018_v20260122_224718
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items117_Evenly_Distributed_Round_13_20251119_019_v20260122_224718
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items119_Evenly_Distributed_Round_13_20251027_018_v20260122_224719
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items11_Evenly_Distributed_Round_13_20251022_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items11_Evenly_Distributed_Round_13_20251022_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items11_Evenly_Distributed_Round_13_20251110_019_v20260122_224719
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items11_Evenly_Distributed_Round_14_251125_019_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items11_Evenly_Distributed_Round_9_20251015_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items120_Evenly_Distributed_Round_13_20251027_018_v20260122_224719
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items120_Evenly_Distributed_Round_13_20251119_019_v20260122_224719
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items121_Evenly_Distributed_Round_13_20251028_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items121_Evenly_Distributed_Round_13_20251119_019_v20260122_224719
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items122_Evenly_Distributed_Round_13_20251028_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items122_Evenly_Distributed_Round_13_20251119_019_v20260122_224720
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items123_Evenly_Distributed_Round_13_20251028_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items123_Evenly_Distributed_Round_13_20251119_019_v20260122_224720
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items124_Evenly_Distributed_Round_13_20251028_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items124_Evenly_Distributed_Round_13_20251119_019_v20260122_224720
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items125_Evenly_Distributed_Round_13_20251028_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items125_Evenly_Distributed_Round_13_20251119_019_v20260122_224720
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items126_Evenly_Distributed_Round_13_20251028_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items126_Evenly_Distributed_Round_13_20251119_019_v20260122_224720
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items127_Evenly_Distributed_Round_13_20251028_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items127_Evenly_Distributed_Round_13_20251119_019_v20260122_224721
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items128_Evenly_Distributed_Round_13_20251028_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items129_Evenly_Distributed_Round_13_20251028_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items129_Evenly_Distributed_Round_13_20251119_019_v20260122_224721
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items12_Evenly_Distributed_Round_13_20251022_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items12_Evenly_Distributed_Round_13_20251022_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items12_Evenly_Distributed_Round_13_20251110_019_v20260122_224721
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items12_Evenly_Distributed_Round_14_251125_019_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items12_Evenly_Distributed_Round_9_20251015_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items130_Evenly_Distributed_Round_13_20251028_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items130_Evenly_Distributed_Round_13_20251119_019_v20260122_224721
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items131_Evenly_Distributed_Round_13_20251028_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items132_Evenly_Distributed_Round_13_20251028_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items132_Evenly_Distributed_Round_13_20251120_019_v20260122_224721
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items133_Evenly_Distributed_Round_13_20251028_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items133_Evenly_Distributed_Round_13_20251120_019_v20260122_224722
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items134_Evenly_Distributed_Round_13_20251028_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items134_Evenly_Distributed_Round_13_20251120_019_v20260122_224722
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items135_Evenly_Distributed_Round_13_20251028_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items135_Evenly_Distributed_Round_13_20251120_019_v20260122_224722
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items136_Evenly_Distributed_Round_13_20251028_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items136_Evenly_Distributed_Round_13_20251120_019_v20260122_224722
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items137_Evenly_Distributed_Round_13_20251028_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items137_Evenly_Distributed_Round_13_20251120_019_v20260122_224722
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items138_Evenly_Distributed_Round_13_20251028_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items138_Evenly_Distributed_Round_13_20251120_019_v20260122_224723
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items139_Evenly_Distributed_Round_13_20251028_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items139_Evenly_Distributed_Round_13_20251120_019_v20260122_224723
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items13_Evenly_Distributed_Round_13_20251022_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items13_Evenly_Distributed_Round_13_20251022_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items13_Evenly_Distributed_Round_13_20251110_019_v20260122_224723
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items13_Evenly_Distributed_Round_14_251125_019_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items13_Evenly_Distributed_Round_9_20251015_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items140_Evenly_Distributed_Round_13_20251120_019_v20260122_224723
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items141_Evenly_Distributed_Round_13_20251028_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items141_Evenly_Distributed_Round_13_20251120_019_v20260122_224723
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items142_Evenly_Distributed_Round_13_20251028_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items142_Evenly_Distributed_Round_13_20251120_019_v20260122_224724
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items143_Evenly_Distributed_Round_13_20251028_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items143_Evenly_Distributed_Round_13_20251121_019_v20260122_224724
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items144_Evenly_Distributed_Round_13_20251028_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items144_Evenly_Distributed_Round_13_20251120_019_v20260122_224724
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items145_Evenly_Distributed_Round_13_20251029_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items145_Evenly_Distributed_Round_13_20251120_019_v20260122_224724
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items146_Evenly_Distributed_Round_13_20251029_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items146_Evenly_Distributed_Round_13_20251121_019_v20260122_224725
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items147_Evenly_Distributed_Round_13_20251029_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items147_Evenly_Distributed_Round_13_20251121_019_v20260122_224725
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items148_Evenly_Distributed_Round_13_20251029_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items149_Evenly_Distributed_Round_13_20251029_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items149_Evenly_Distributed_Round_13_20251121_019_v20260122_224725
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items14_Evenly_Distributed_Round_13_20251022_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items14_Evenly_Distributed_Round_13_20251022_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items14_Evenly_Distributed_Round_13_20251110_019_v20260122_224725
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items14_Evenly_Distributed_Round_14_251125_019_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items150_Evenly_Distributed_Round_13_20251029_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items150_Evenly_Distributed_Round_13_20251121_019_v20260122_224725
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items151_Evenly_Distributed_Round_13_20251029_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items151_Evenly_Distributed_Round_13_20251121_019_v20260122_224726
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items152_Evenly_Distributed_Round_13_20251029_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items152_Evenly_Distributed_Round_13_20251121_019_v20260122_224726
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items153_Evenly_Distributed_Round_13_20251029_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items154_Evenly_Distributed_Round_13_20251029_018_v20260122_224726
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items154_Evenly_Distributed_Round_13_20251121_019_v20260122_224726
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items155_Evenly_Distributed_Round_13_20251029_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items155_Evenly_Distributed_Round_13_20251121_019_v20260122_224726
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items156_Evenly_Distributed_Round_13_20251029_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items156_Evenly_Distributed_Round_13_20251121_019_v20260122_224726
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items157_Evenly_Distributed_Round_13_20251029_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items157_Evenly_Distributed_Round_13_20251121_019_v20260122_224727
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items158_Evenly_Distributed_Round_13_20251029_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items158_Evenly_Distributed_Round_13_20251121_019_v20260122_224727
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items159_Evenly_Distributed_Round_13_20251029_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items159_Evenly_Distributed_Round_13_20251121_019_v20260122_224727
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items15_Evenly_Distributed_Round_13_20251022_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items15_Evenly_Distributed_Round_13_20251023_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items15_Evenly_Distributed_Round_13_20251110_019_v20260122_224727
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items15_Evenly_Distributed_Round_14_251125_019_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items15_Evenly_Distributed_Round_9_20251016_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items160_Evenly_Distributed_Round_13_20251029_018_v20260122_224727
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items161_Evenly_Distributed_Round_13_20251029_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items161_Evenly_Distributed_Round_13_20251122_019_v20260122_224728
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items162_Evenly_Distributed_Round_13_20251029_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items162_Evenly_Distributed_Round_13_20251122_019_v20260122_224728
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items163_Evenly_Distributed_Round_13_20251030_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items163_Evenly_Distributed_Round_13_20251122_019_v20260122_224728
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items164_Evenly_Distributed_Round_13_20251030_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items164_Evenly_Distributed_Round_13_20251124_019_v20260122_224728
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items165_Evenly_Distributed_Round_13_20251030_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items165_Evenly_Distributed_Round_13_20251124_019_v20260122_224728
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items166_Evenly_Distributed_Round_13_20251030_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items166_Evenly_Distributed_Round_13_20251124_019_v20260122_224729
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items167_Evenly_Distributed_Round_13_20251030_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items167_Evenly_Distributed_Round_13_20251124_019_v20260122_224729
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items168_Evenly_Distributed_Round_13_20251030_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items168_Evenly_Distributed_Round_13_20251124_019_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items169_Evenly_Distributed_Round_13_20251030_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items169_Evenly_Distributed_Round_13_20251124_019_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items16_Evenly_Distributed_Round_13_20251022_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items16_Evenly_Distributed_Round_13_20251022_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items16_Evenly_Distributed_Round_13_20251023_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items16_Evenly_Distributed_Round_13_20251111_019_v20260122_224729
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items16_Evenly_Distributed_Round_14_251125_019_v20260122_224729
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items16_Evenly_Distributed_Round_9_20251016_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items170_Evenly_Distributed_Round_13_20251029_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items170_Evenly_Distributed_Round_13_20251124_019_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items171_Evenly_Distributed_Round_13_20251030_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items171_Evenly_Distributed_Round_13_20251124_019_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items172_Evenly_Distributed_Round_13_20251030_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items172_Evenly_Distributed_Round_13_20251124_019_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items173_Evenly_Distributed_Round_13_20251030_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items174_Evenly_Distributed_Round_13_20251030_018_v20260122_224729
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items175_Evenly_Distributed_Round_13_20251030_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items176_Evenly_Distributed_Round_13_20251030_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items177_Evenly_Distributed_Round_13_20251030_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items178_Evenly_Distributed_Round_13_20251030_018_v20260122_224730
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items179_Evenly_Distributed_Round_13_20251030_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items17_Evenly_Distributed_Round_13_20251022_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items17_Evenly_Distributed_Round_13_20251111_019_v20260122_224730
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items17_Evenly_Distributed_Round_14_251125_019_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items17_Evenly_Distributed_Round_9_20251017_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items180_Evenly_Distributed_Round_13_20251030_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items181_Evenly_Distributed_Round_13_20251030_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items182_Evenly_Distributed_Round_13_20251030_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items183_Evenly_Distributed_Round_13_20251030_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items184_Evenly_Distributed_Round_13_20251030_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items185_Evenly_Distributed_Round_13_20251030_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items186_Evenly_Distributed_Round_13_20251030_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items187_Evenly_Distributed_Round_13_20251031_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items188_Evenly_Distributed_Round_13_20251031_018_v20260122_224730
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items189_Evenly_Distributed_Round_13_20251031_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items18_Evenly_Distributed_Round_13_20251022_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items18_Evenly_Distributed_Round_13_20251023_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items18_Evenly_Distributed_Round_13_20251111_019_v20260122_224730
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items18_Evenly_Distributed_Round_14_251125_019_v20260122_224731
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items190_Evenly_Distributed_Round_13_20251031_018_v20260122_224731
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items191_Evenly_Distributed_Round_13_20251030_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items192_Evenly_Distributed_Round_13_20251030_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items193_Evenly_Distributed_Round_13_20251030_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items194_Evenly_Distributed_Round_13_20251030_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items195_Evenly_Distributed_Round_13_20251030_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items196_Evenly_Distributed_Round_13_20251030_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items197_Evenly_Distributed_Round_13_20251030_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items198_Evenly_Distributed_Round_13_20251030_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items199_Evenly_Distributed_Round_13_20251031_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items19_Evenly_Distributed_Round_13_20251022_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items19_Evenly_Distributed_Round_13_20251023_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items19_Evenly_Distributed_Round_13_20251111_019_v20260122_224731
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items19_Evenly_Distributed_Round_14_251125_019_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items1_Evenly_Distributed_Round_11_20251018_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items1_Evenly_Distributed_Round_12_20251018_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items1_Evenly_Distributed_Round_13_20251022_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items1_Evenly_Distributed_Round_13_20251110_019_v20260122_224731
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items1_Evenly_Distributed_Round_14_20251022_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items1_Evenly_Distributed_Round_14_251124_019_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items1_Evenly_Distributed_Round_9_20251014_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items200_Evenly_Distributed_Round_13_20251031_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items201_Evenly_Distributed_Round_13_20251031_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items202_Evenly_Distributed_Round_13_20251031_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items203_Evenly_Distributed_Round_13_20251031_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items204_Evenly_Distributed_Round_13_20251031_018_v20260122_224731
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items205_Evenly_Distributed_Round_13_20251031_018_v20260122_224732
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items206_Evenly_Distributed_Round_13_20251031_018_v20260122_224732
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items207_Evenly_Distributed_Round_13_20251031_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items208_Evenly_Distributed_Round_13_20251031_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items209_Evenly_Distributed_Round_13_20251031_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items20_Evenly_Distributed_Round_13_20251022_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items20_Evenly_Distributed_Round_13_20251111_019_v20260122_224732
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items20_Evenly_Distributed_Round_14_251125_019_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items210_Evenly_Distributed_Round_13_20251031_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items211_Evenly_Distributed_Round_13_20251101_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items212_Evenly_Distributed_Round_13_20251101_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items213_Evenly_Distributed_Round_13_20251101_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items214_Evenly_Distributed_Round_13_20251101_018_v20260122_224732
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items215_Evenly_Distributed_Round_13_20251031_018_v20260122_224732
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items216_Evenly_Distributed_Round_13_20251101_018_v20260122_224733
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items217_Evenly_Distributed_Round_13_20251101_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items219_Evenly_Distributed_Round_13_20251101_018_v20260122_224733
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items21_Evenly_Distributed_Round_13_20251022_018_v20260122_224733
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items21_Evenly_Distributed_Round_13_20251111_019_v20260122_224733
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items21_Evenly_Distributed_Round_14_251126_019_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items220_Evenly_Distributed_Round_13_20251101_018_v20260122_224733
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items221_Evenly_Distributed_Round_13_20251031_018_v20260122_224734
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items222_Evenly_Distributed_Round_13_20251103_018_v20260122_224734
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items223_Evenly_Distributed_Round_13_20251103_018_v20260122_224734
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items225_Evenly_Distributed_Round_13_20251103_018_v20260122_224734
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items226_Evenly_Distributed_Round_13_20251103_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items228_Evenly_Distributed_Round_13_20251103_018_v20260122_224734
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items229_Evenly_Distributed_Round_13_20251103_018_v20260122_224735
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items22_Evenly_Distributed_Round_13_20251022_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items22_Evenly_Distributed_Round_13_20251111_019_v20260122_224735
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items22_Evenly_Distributed_Round_14_251126_019_v20260122_224735
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items230_Evenly_Distributed_Round_13_20251103_018_v20260122_224735
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items231_Evenly_Distributed_Round_13_20251103_018_v20260122_224735
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items232_Evenly_Distributed_Round_13_20251103_018_v20260122_224736
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items233_Evenly_Distributed_Round_13_20251103_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items234_Evenly_Distributed_Round_13_20251103_018_v20260122_224736
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items235_Evenly_Distributed_Round_13_20251103_018_v20260122_224736
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items236_Evenly_Distributed_Round_13_20251103_018_v20260122_224736
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items237_Evenly_Distributed_Round_13_20251103_018_v20260122_224736
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items238_Evenly_Distributed_Round_13_20251103_018_v20260122_224737
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items239_Evenly_Distributed_Round_13_20251104_018_v20260122_224737
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items23_Evenly_Distributed_Round_13_20251022_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items23_Evenly_Distributed_Round_13_20251111_019_v20260122_224737
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items23_Evenly_Distributed_Round_14_251126_019_v20260122_224737
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items240_Evenly_Distributed_Round_13_20251103_018_v20260122_224737
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items241_Evenly_Distributed_Round_13_20251104_018_v20260122_224738
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items242_Evenly_Distributed_Round_13_20251103_018_v20260122_224738
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items243_Evenly_Distributed_Round_13_20251104_018_v20260122_224738
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items244_Evenly_Distributed_Round_13_20251103_018_v20260122_224738
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items245_Evenly_Distributed_Round_13_20251104_018_v20260122_224738
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items246_Evenly_Distributed_Round_13_20251104_018_v20260122_224739
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items247_Evenly_Distributed_Round_13_20251104_018_v20260122_224739
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items248_Evenly_Distributed_Round_13_20251104_018_v20260122_224739
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items249_Evenly_Distributed_Round_13_20251104_018_v20260122_224739
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items24_Evenly_Distributed_Round_13_20251022_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items24_Evenly_Distributed_Round_13_20251111_019_v20260122_224739
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items24_Evenly_Distributed_Round_14_251126_019_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items250_Evenly_Distributed_Round_13_20251104_018_v20260122_224740
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items251_Evenly_Distributed_Round_13_20251104_018_v20260122_224740
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items252_Evenly_Distributed_Round_13_20251104_018_v20260122_224740
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items253_Evenly_Distributed_Round_13_20251104_018_v20260122_224740
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items254_Evenly_Distributed_Round_13_20251104_018_v20260122_224740
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items255_Evenly_Distributed_Round_13_20251104_018_v20260122_224741
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items256_Evenly_Distributed_Round_13_20251104_018_v20260122_224741
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items257_Evenly_Distributed_Round_13_20251104_018_v20260122_224741
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items258_Evenly_Distributed_Round_13_20251104_018_v20260122_224741
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items259_Evenly_Distributed_Round_13_20251104_018_v20260122_224741
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items25_Evenly_Distributed_Round_13_20251022_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items25_Evenly_Distributed_Round_13_20251111_019_v20260122_224742
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items25_Evenly_Distributed_Round_14_251126_019_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items260_Evenly_Distributed_Round_13_20251104_018_v20260122_224742
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items261_Evenly_Distributed_Round_13_20251104_018_v20260122_224742
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items262_Evenly_Distributed_Round_13_20251104_018_v20260122_224742
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items263_Evenly_Distributed_Round_13_20251105_018_v20260122_224743
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items264_Evenly_Distributed_Round_13_20251105_018_v20260122_224743
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items265_Evenly_Distributed_Round_13_20251105_018_v20260122_224743
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items266_Evenly_Distributed_Round_13_20251105_018_v20260122_224743
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items267_Evenly_Distributed_Round_13_20251105_018_v20260122_224743
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items268_Evenly_Distributed_Round_13_20251105_018_v20260122_224744
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items269_Evenly_Distributed_Round_13_20251105_018_v20260122_224744
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items26_Evenly_Distributed_Round_13_20251022_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items26_Evenly_Distributed_Round_13_20251111_019_v20260122_224744
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items26_Evenly_Distributed_Round_14_251126_019_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items270_Evenly_Distributed_Round_13_20251105_018_v20260122_224744
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items271_Evenly_Distributed_Round_13_20251105_018_v20260122_224744
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items272_Evenly_Distributed_Round_13_20251105_018_v20260122_224745
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items273_Evenly_Distributed_Round_13_20251105_018_v20260122_224745
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items274_Evenly_Distributed_Round_13_20251105_018_v20260122_224745
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items275_Evenly_Distributed_Round_13_20251105_018_v20260122_224745
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items276_Evenly_Distributed_Round_13_20251105_018_v20260122_224746
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items277_Evenly_Distributed_Round_13_20251105_018_v20260122_224746
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items278_Evenly_Distributed_Round_13_20251105_018_v20260122_224746
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items279_Evenly_Distributed_Round_13_20251105_018_v20260122_224746
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items27_Evenly_Distributed_Round_13_20251022_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items27_Evenly_Distributed_Round_13_20251111_019_v20260122_224746
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items27_Evenly_Distributed_Round_14_251126_019_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items280_Evenly_Distributed_Round_13_20251106_018_v20260122_224747
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items281_Evenly_Distributed_Round_13_20251106_018_v20260122_224747
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items282_Evenly_Distributed_Round_13_20251106_018_v20260122_224747
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items283_Evenly_Distributed_Round_13_20251106_018_v20260122_224747
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items284_Evenly_Distributed_Round_13_20251106_018_v20260122_224747
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items285_Evenly_Distributed_Round_13_20251106_018_v20260122_224748
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items286_Evenly_Distributed_Round_13_20251106_018_v20260122_224748
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items287_Evenly_Distributed_Round_13_20251106_018_v20260122_224748
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items288_Evenly_Distributed_Round_13_20251106_018_v20260122_224748
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items289_Evenly_Distributed_Round_13_20251106_018_v20260122_224748
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items28_Evenly_Distributed_Round_13_20251022_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items28_Evenly_Distributed_Round_13_20251111_019_v20260122_224749
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items28_Evenly_Distributed_Round_14_251126_019_v20260122_224749
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items290_Evenly_Distributed_Round_13_20251106_018_v20260122_224749
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items291_Evenly_Distributed_Round_13_20251106_018_v20260122_224749
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items292_Evenly_Distributed_Round_13_20251106_018_v20260122_224749
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items293_Evenly_Distributed_Round_13_20251106_018_v20260122_224750
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items294_Evenly_Distributed_Round_13_20251106_018_v20260122_224750
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items295_Evenly_Distributed_Round_13_20251106_018_v20260122_224750
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items296_Evenly_Distributed_Round_13_20251106_018_v20260122_224750
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items297_Evenly_Distributed_Round_13_20251106_018_v20260122_224750
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items298_Evenly_Distributed_Round_13_20251106_018_v20260122_224751
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items299_Evenly_Distributed_Round_13_20251106_018_v20260122_224751
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items29_Evenly_Distributed_Round_13_20251022_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items29_Evenly_Distributed_Round_13_20251111_019_v20260122_224751
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items29_Evenly_Distributed_Round_14_251126_019_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items2_Evenly_Distributed_Round_11_20251018_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items2_Evenly_Distributed_Round_12_20251018_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items2_Evenly_Distributed_Round_13_20251018_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items2_Evenly_Distributed_Round_13_20251110_019_v20260122_224751
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items2_Evenly_Distributed_Round_14_20251022_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items2_Evenly_Distributed_Round_14_251124_019_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items300_Evenly_Distributed_Round_13_20251107_018_v20260122_224751
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items301_Evenly_Distributed_Round_13_20251107_018_v20260122_224751
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items302_Evenly_Distributed_Round_13_20251107_018_v20260122_224752
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items303_Evenly_Distributed_Round_13_20251107_018_v20260122_224752
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items304_Evenly_Distributed_Round_13_20251107_018_v20260122_224752
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items305_Evenly_Distributed_Round_13_20251107_018_v20260122_224752
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items306_Evenly_Distributed_Round_13_20251107_018_v20260122_224753
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items307_Evenly_Distributed_Round_13_20251107_018_v20260122_224753
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items308_Evenly_Distributed_Round_13_20251107_018_v20260122_224753
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items309_Evenly_Distributed_Round_13_20251107_018_v20260122_224753
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items30_Evenly_Distributed_Round_13_20251022_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items30_Evenly_Distributed_Round_13_20251111_019_v20260122_224753
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items310_Evenly_Distributed_Round_13_20251107_018_v20260122_224753
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items311_Evenly_Distributed_Round_13_20251107_018_v20260122_224754
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items312_Evenly_Distributed_Round_13_20251107_018_v20260122_224754
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items313_Evenly_Distributed_Round_13_20251107_018_v20260122_224754
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items314_Evenly_Distributed_Round_13_20251107_018_v20260122_224754
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items315_Evenly_Distributed_Round_13_20251107_018_v20260122_224755
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items316_Evenly_Distributed_Round_13_20251107_018_v20260122_224755
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items318_Evenly_Distributed_Round_13_20251107_018_v20260122_224755
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items31_Evenly_Distributed_Round_13_20251023_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items31_Evenly_Distributed_Round_13_20251111_019_v20260122_224755
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items31_Evenly_Distributed_Round_14_251126_019_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items32_Evenly_Distributed_Round_13_20251023_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items32_Evenly_Distributed_Round_13_20251111_019_v20260122_224755
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items32_Evenly_Distributed_Round_14_251126_019_v20260122_224756
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items33_Evenly_Distributed_Round_13_20251022_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items33_Evenly_Distributed_Round_13_20251111_019_v20260122_224756
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items33_Evenly_Distributed_Round_14_251126_019_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items34_Evenly_Distributed_Round_13_20251023_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items34_Evenly_Distributed_Round_13_20251111_019_v20260122_224756
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items34_Evenly_Distributed_Round_14_251127_019_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items35_Evenly_Distributed_Round_13_20251023_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items35_Evenly_Distributed_Round_13_20251111_019_v20260122_224756
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items35_Evenly_Distributed_Round_14_251127_019_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items36_Evenly_Distributed_Round_13_20251023_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items36_Evenly_Distributed_Round_13_20251112_019_v20260122_224756
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items36_Evenly_Distributed_Round_14_251127_019_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items37_Evenly_Distributed_Round_13_20251023_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items37_Evenly_Distributed_Round_13_20251112_019_v20260122_224757
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items37_Evenly_Distributed_Round_14_251127_019_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items38_Evenly_Distributed_Round_13_20251023_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items38_Evenly_Distributed_Round_13_20251112_019_v20260122_224757
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items39_Evenly_Distributed_Round_13_20251023_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items39_Evenly_Distributed_Round_13_20251112_019_v20260122_224757
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items39_Evenly_Distributed_Round_14_251127_019_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items3_Evenly_Distributed_Round_11_20251018_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items3_Evenly_Distributed_Round_12_20251018_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items3_Evenly_Distributed_Round_12_20251020_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items3_Evenly_Distributed_Round_13_20251022_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items3_Evenly_Distributed_Round_13_20251110_019_v20260122_224757
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items3_Evenly_Distributed_Round_14_20251022_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items3_Evenly_Distributed_Round_14_251124_019_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items3_Evenly_Distributed_Round_9_20251014_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items40_Evenly_Distributed_Round_13_20251023_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items40_Evenly_Distributed_Round_13_20251112_019_v20260122_224757
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items40_Evenly_Distributed_Round_14_251127_019_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items41_Evenly_Distributed_Round_13_20251023_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items41_Evenly_Distributed_Round_13_20251112_019_v20260122_224758
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items41_Evenly_Distributed_Round_14_251127_019_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items42_Evenly_Distributed_Round_13_20251023_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items42_Evenly_Distributed_Round_13_20251112_019_v20260122_224758
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items42_Evenly_Distributed_Round_14_251127_019_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items43_Evenly_Distributed_Round_13_20251023_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items43_Evenly_Distributed_Round_13_20251112_019_v20260122_224758
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items44_Evenly_Distributed_Round_13_20251023_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items44_Evenly_Distributed_Round_13_20251112_019_v20260122_224758
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items44_Evenly_Distributed_Round_14_251127_019_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items45_Evenly_Distributed_Round_13_20251023_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items45_Evenly_Distributed_Round_13_20251112_019_v20260122_224758
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items45_Evenly_Distributed_Round_14_251127_019_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items46_Evenly_Distributed_Round_13_20251023_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items46_Evenly_Distributed_Round_13_20251113_019_v20260122_224759
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items46_Evenly_Distributed_Round_14_251127_019_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items47_Evenly_Distributed_Round_13_20251023_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items47_Evenly_Distributed_Round_13_20251031_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items47_Evenly_Distributed_Round_13_20251113_019_v20260122_224759
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items47_Evenly_Distributed_Round_14_251127_019_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items48_Evenly_Distributed_Round_13_20251023_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items48_Evenly_Distributed_Round_13_20251031_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items48_Evenly_Distributed_Round_13_20251113_019_v20260122_224759
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items48_Evenly_Distributed_Round_14_251127_019_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items49_Evenly_Distributed_Round_13_20251023_018_v20260122_224759
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items49_Evenly_Distributed_Round_13_20251031_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items49_Evenly_Distributed_Round_13_20251113_019_v20260122_224759
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items49_Evenly_Distributed_Round_14_251127_019_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items4_Evenly_Distributed_Round_13_20251022_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items4_Evenly_Distributed_Round_13_20251110_019_v20260122_224800
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items4_Evenly_Distributed_Round_14_20251022_007_v20260122_224800
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items4_Evenly_Distributed_Round_14_251124_019_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items4_Evenly_Distributed_Round_9_20251014_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items50_Evenly_Distributed_Round_13_20251023_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items50_Evenly_Distributed_Round_13_20251031_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items50_Evenly_Distributed_Round_13_20251113_019_v20260122_224800
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items50_Evenly_Distributed_Round_14_251128_019_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items51_Evenly_Distributed_Round_13_20251023_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items51_Evenly_Distributed_Round_13_20251031_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items51_Evenly_Distributed_Round_13_20251113_019_v20260122_224800
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items52_Evenly_Distributed_Round_13_20251023_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items52_Evenly_Distributed_Round_13_20251101_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items52_Evenly_Distributed_Round_13_20251113_019_v20260122_224801
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items52_Evenly_Distributed_Round_14_251128_019_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items53_Evenly_Distributed_Round_13_20251023_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items53_Evenly_Distributed_Round_13_20251101_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items53_Evenly_Distributed_Round_13_20251113_019_v20260122_224801
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items53_Evenly_Distributed_Round_14_251128_019_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items54_Evenly_Distributed_Round_13_20251023_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items54_Evenly_Distributed_Round_13_20251101_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items54_Evenly_Distributed_Round_13_20251113_019_v20260122_224801
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items54_Evenly_Distributed_Round_14_251128_019_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items55_Evenly_Distributed_Round_13_20251024_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items55_Evenly_Distributed_Round_13_20251101_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items55_Evenly_Distributed_Round_13_20251113_019_v20260122_224802
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items55_Evenly_Distributed_Round_14_251128_019_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items56_Evenly_Distributed_Round_13_20251024_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items56_Evenly_Distributed_Round_13_20251103_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items56_Evenly_Distributed_Round_13_20251113_019_v20260122_224802
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items56_Evenly_Distributed_Round_14_251128_019_v20260122_224802
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items57_Evenly_Distributed_Round_13_20251024_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items57_Evenly_Distributed_Round_13_20251103_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items57_Evenly_Distributed_Round_13_20251113_019_v20260122_224802
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items57_Evenly_Distributed_Round_14_251128_019_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items58_Evenly_Distributed_Round_13_20251024_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items58_Evenly_Distributed_Round_13_20251103_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items58_Evenly_Distributed_Round_13_20251113_019_v20260122_224803
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items59_Evenly_Distributed_Round_13_20251023_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items59_Evenly_Distributed_Round_13_20251103_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items59_Evenly_Distributed_Round_13_20251113_019_v20260122_224803
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items59_Evenly_Distributed_Round_14_251128_019_v20260122_224803
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items5_Evenly_Distributed_Round_12_20251020_007_v20260122_224803
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items5_Evenly_Distributed_Round_13_20251022_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items5_Evenly_Distributed_Round_13_20251110_019_v20260122_224803
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items5_Evenly_Distributed_Round_14_20251022_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items5_Evenly_Distributed_Round_9_20251014_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items60_Evenly_Distributed_Round_13_20251024_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items60_Evenly_Distributed_Round_13_20251103_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items60_Evenly_Distributed_Round_13_20251113_019_v20260122_224804
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items60_Evenly_Distributed_Round_14_251128_019_v20260122_224804
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items61_Evenly_Distributed_Round_13_20251024_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items61_Evenly_Distributed_Round_14_251128_019_v20260122_224804
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items62_Evenly_Distributed_Round_13_20251024_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items62_Evenly_Distributed_Round_14_251128_019_v20260122_224805
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items63_Evenly_Distributed_Round_13_20251024_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items63_Evenly_Distributed_Round_14_251128_019_v20260122_224805
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items64_Evenly_Distributed_Round_13_20251024_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items64_Evenly_Distributed_Round_13_20251114_019_v20260122_224805
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items64_Evenly_Distributed_Round_14_251128_019_v20260122_224805
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items65_Evenly_Distributed_Round_13_20251024_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items65_Evenly_Distributed_Round_14_251128_019_v20260122_224805
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items66_Evenly_Distributed_Round_13_20251024_018_v20260122_224806
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items66_Evenly_Distributed_Round_13_20251114_019_v20260122_224806
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items67_Evenly_Distributed_Round_13_20251024_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items67_Evenly_Distributed_Round_13_20251114_019_v20260122_224806
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items67_Evenly_Distributed_Round_14_251129_019_v20260122_224806
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items68_Evenly_Distributed_Round_13_20251024_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items68_Evenly_Distributed_Round_13_20251114_019_v20260122_224806
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items69_Evenly_Distributed_Round_13_20251024_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items69_Evenly_Distributed_Round_13_20251114_019_v20260122_224807
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items6_Evenly_Distributed_Round_13_20251022_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items6_Evenly_Distributed_Round_13_20251110_019_v20260122_224807
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items6_Evenly_Distributed_Round_14_20251022_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items6_Evenly_Distributed_Round_14_251125_019_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items6_Evenly_Distributed_Round_9_20251014_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items70_Evenly_Distributed_Round_13_20251024_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items70_Evenly_Distributed_Round_13_20251114_019_v20260122_224807
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items71_Evenly_Distributed_Round_13_20251024_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items71_Evenly_Distributed_Round_13_20251114_019_v20260122_224807
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items72_Evenly_Distributed_Round_13_20251024_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items72_Evenly_Distributed_Round_13_20251114_019_v20260122_224807
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items73_Evenly_Distributed_Round_13_20251024_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items73_Evenly_Distributed_Round_13_20251114_019_v20260122_224808
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items74_Evenly_Distributed_Round_13_20251024_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items74_Evenly_Distributed_Round_13_20251114_019_v20260122_224808
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items75_Evenly_Distributed_Round_13_20251024_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items75_Evenly_Distributed_Round_13_20251114_019_v20260122_224808
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items76_Evenly_Distributed_Round_13_20251024_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items76_Evenly_Distributed_Round_13_20251114_019_v20260122_224808
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items77_Evenly_Distributed_Round_13_20251024_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items77_Evenly_Distributed_Round_13_20251114_019_v20260122_224808
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items78_Evenly_Distributed_Round_13_20251024_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items78_Evenly_Distributed_Round_13_20251114_019_v20260122_224809
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items79_Evenly_Distributed_Round_13_20251024_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items79_Evenly_Distributed_Round_13_20251114_019_v20260122_224809
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items7_Evenly_Distributed_Round_13_20251022_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items7_Evenly_Distributed_Round_13_20251022_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items7_Evenly_Distributed_Round_13_20251110_019_v20260122_224809
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items7_Evenly_Distributed_Round_14_251125_019_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items7_Evenly_Distributed_Round_9_20251014_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items80_Evenly_Distributed_Round_13_20251024_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items80_Evenly_Distributed_Round_13_20251114_019_v20260122_224809
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items81_Evenly_Distributed_Round_13_20251024_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items81_Evenly_Distributed_Round_13_20251115_019_v20260122_224810
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items82_Evenly_Distributed_Round_13_20251024_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items82_Evenly_Distributed_Round_13_20251115_019_v20260122_224810
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items83_Evenly_Distributed_Round_13_20251024_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items83_Evenly_Distributed_Round_13_20251115_019_v20260122_224810
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items84_Evenly_Distributed_Round_13_20251024_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items85_Evenly_Distributed_Round_13_20251025_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items85_Evenly_Distributed_Round_13_20251115_019_v20260122_224810
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items86_Evenly_Distributed_Round_13_20251025_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items86_Evenly_Distributed_Round_13_20251117_019_v20260122_224810
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items87_Evenly_Distributed_Round_13_20251025_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items87_Evenly_Distributed_Round_13_20251117_019_v20260122_224811
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items88_Evenly_Distributed_Round_13_20251025_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items88_Evenly_Distributed_Round_13_20251117_019_v20260122_224811
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items89_Evenly_Distributed_Round_13_20251025_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items89_Evenly_Distributed_Round_13_20251117_019_v20260122_224811
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items8_Evenly_Distributed_Round_13_20251022_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items8_Evenly_Distributed_Round_13_20251022_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items8_Evenly_Distributed_Round_13_20251110_019_v20260122_224811
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items8_Evenly_Distributed_Round_14_251125_019_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items8_Evenly_Distributed_Round_9_20251015_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items90_Evenly_Distributed_Round_13_20251025_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items90_Evenly_Distributed_Round_13_20251117_019_v20260122_224811
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items91_Evenly_Distributed_Round_13_20251027_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items91_Evenly_Distributed_Round_13_20251117_019_v20260122_224812
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items92_Evenly_Distributed_Round_13_20251027_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items92_Evenly_Distributed_Round_13_20251117_019_v20260122_224812
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items93_Evenly_Distributed_Round_13_20251027_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items93_Evenly_Distributed_Round_13_20251117_019_v20260122_224812
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items94_Evenly_Distributed_Round_13_20251027_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items94_Evenly_Distributed_Round_13_20251117_019_v20260122_224812
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items95_Evenly_Distributed_Round_13_20251025_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items95_Evenly_Distributed_Round_13_20251117_019_v20260122_224812
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items96_Evenly_Distributed_Round_13_20251025_018_v20260122_224813
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items96_Evenly_Distributed_Round_13_20251117_019_v20260122_224813
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items97_Evenly_Distributed_Round_13_20251027_018_v20260122_224813
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items97_Evenly_Distributed_Round_13_20251117_019_v20260122_224813
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items98_Evenly_Distributed_Round_13_20251027_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items98_Evenly_Distributed_Round_13_20251117_019_v20260122_224813
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items99_Evenly_Distributed_Round_13_20251027_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items99_Evenly_Distributed_Round_13_20251117_019_v20260122_224814
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items9_Evenly_Distributed_Round_13_20251022_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items9_Evenly_Distributed_Round_13_20251022_018_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items9_Evenly_Distributed_Round_13_20251110_019_v20260122_224814
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items9_Evenly_Distributed_Round_14_251125_019_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_20_Items9_Evenly_Distributed_Round_9_20251015_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Air_Pump_Evenly_Distributed_Round_7_20250926_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Battery_Charger_Evenly_Distributed_Round_7_20250924_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Battery_Evenly_Distributed_Round_7_20250924_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Bearing_Evenly_Distributed_Round_8_20251010_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Beef_Snacks_Evenly_Distributed_Round_8_20251017_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Bell_Pepper_Evenly_Distributed_Round_7_20250924_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Biscuit_Evenly_Distributed_Round_8_20251015_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Blade_Evenly_Distributed_Round_8_20251017_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Bottle_Cap_Evenly_Distributed_Round_8_20251017_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Bottles_And_Cups_20250903_007_v20260122_224814
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Bottles_And_Cups_20250906_007_v20260122_224814
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Bottles_And_Cups_20250909_007_v20260122_224814
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Bottles_And_Cups_20250912_007_v20260122_224815
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Bottles_And_Cups_Evenly_Distributed_20250916_007_v20260122_224815
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Bowl_Evenly_Distributed_Round_8_20251010_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Bread_20250908_007_v20260122_224815
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Bread_20250909_007_v20260122_224815
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Button_Evenly_Distributed_Round_7_20250929_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Candle_Evenly_Distributed_Round_7_20250930_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Candy_Evenly_Distributed_Round_7_20250927_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Canning_Beer_Evenly_Distributed_Round_7_20250925_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Carbon_Bag_Evenly_Distributed_Round_8_20251015_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Carrot_Evenly_Distributed_Round_7_20250922_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Celery_Evenly_Distributed_Round_7_20250923_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Charging_Cabel_Evenly_Distributed_Round_7_20250927_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Chewing_Gum_Box_Evenly_Distributed_Round_8_20251016_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Chopsticks_Evenly_Distributed_Round_7_20250930_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Circular_Box_Evenly_Distributed_Round_8_20251017_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Claw_Hammer_Evenly_Distributed_Round_8_20251011_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Clockwork_Rooster_Evenly_Distributed_Round_8_20251015_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Clothesline_Clip_Evenly_Distributed_Round_7_20250926_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Coke_Wahaha_Evenly_Distributed_Round_7_20250920_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Cold_Cup_Big_Evenly_Distributed_Round_7_20250922_007_v20260122_224815
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Cold_Cup_Big_Evenly_Distributed_Round_7_20250926_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Cold_Cup_Little_Evenly_Distributed_Round_7_20250922_007_v20260122_224816
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Cold_Cup_Little_Evenly_Distributed_Round_7_20250926_007_v20260122_224816
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Croissant_Bun_Evenly_Distributed_Round_7_20250925_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Data_Cable_Evenly_Distributed_Round_8_20251015_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Desiccant_Evenly_Distributed_Round_8_20251010_007_v20260122_224816
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Desktop_Audio_Evenly_Distributed_Round_8_20251011_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Detector_Evenly_Distributed_Round_8_20251017_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Disinfectant_Evenly_Distributed_Round_8_20251017_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Door_Handle_Evenly_Distributed_Round_8_20251013_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Duck_Toy_Evenly_Distributed_Round_7_20250927_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Dustpan_Evenly_Distributed_Round_7_20250930_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Earphone_Case_Evenly_Distributed_Round_7_20250929_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Electric_Drill_Evenly_Distributed_Round_8_20251011_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Employ_Id_Card_Evenly_Distributed_Round_8_20251016_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Eraser_Evenly_Distributed_Round_8_20251010_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Eraser_Tool_Evenly_Distributed_Round_7_20250930_007_v20260122_224816
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Flower_Cake_Evenly_Distributed_Round_8_20251017_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Frog_Toy_Evenly_Distributed_Round_7_20250926_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Fruit_Tea_Can_Evenly_Distributed_Round_8_20251010_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Glue_Evenly_Distributed_Round_7_20250927_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Glue_Stick_Evenly_Distributed_Round_8_20251017_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Graduated_Cylinder_Evenly_Distributed_Round_8_20251013_007_v20260122_224816
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Graduated_Cylinder_Evenly_Distributed_Round_8_20251015_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Hand_Crank_Handle_Evenly_Distributed_Round_8_20251016_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Hand_Gripper_Evenly_Distributed_Round_8_20251011_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Handle_Evenly_Distributed_Round_8_20251010_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Hexagonal_Wrench_Set_Evenly_Distributed_Round_7_20250925_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_High_Glass_Cup_Evenly_Distributed_Round_7_20250922_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Hoisting_Scale_Evenly_Distributed_Round_8_20251015_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Hot_Dog_Evenly_Distributed_Round_7_20250924_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Hot_Glue_Gun_Evenly_Distributed_Round_8_20251013_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Ink_Evenly_Distributed_Round_7_20250927_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Junk_Food_Evenly_Distributed_Round_6_20250919_007_v20260122_224817
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Ketchup_Evenly_Distributed_Round_7_20250929_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Keychain_Evenly_Distributed_Round_7_20251009_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Lamp_Evenly_Distributed_Round_8_20251016_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Leaf_Lettuce_Evenly_Distributed_Round_7_20250922_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Low_Glass_Cup_Evenly_Distributed_Round_7_20250922_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Lube_Evenly_Distributed_Round_8_20251011_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Magnifying_Glass_Evenly_Distributed_Round_8_20251010_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Marker_Evenly_Distributed_Round_7_20250927_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Massage_Stick_Evenly_Distributed_Round_8_20251015_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Match_Evenly_Distributed_Round_7_20250930_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Milk_Powder_Spoon_Evenly_Distributed_Round_8_20251016_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Mini_Fan_Evenly_Distributed_Round_7_20250930_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Mini_Tin_Evenly_Distributed_Round_8_20251014_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Mouse_Evenly_Distributed_Round_7_20250922_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Mouse_Toy_Evenly_Distributed_Round_7_20250926_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Nail_Glue_Evenly_Distributed_Round_8_20251017_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_NetWork_Cable_Evenly_Distributed_Round_7_20250925_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Orange_Evenly_Distributed_Round_7_20250920_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Over_Ear_Headphones_Evenly_Distributed_Round_7_20250927_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Paper_Clip_Box_Evenly_Distributed_Round_8_20251010_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Paper_cup_Evenly_Distributed_Round_7_20250925_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Pendant_Evenly_Distributed_Round_7_20251009_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Pepper_Evenly_Distributed_Round_7_20250922_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Phone_Case_Evenly_Distributed_Round_7_20250929_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Pineapple_Bun_Evenly_Distributed_Round_7_20250925_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Plastic_Pipe_Evenly_Distributed_Round_8_20251016_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Pliers_Evenly_Distributed_Round_8_20251022_007_v20260122_224817
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Pomegranate_Evenly_Distributed_Round_7_20250920_007_v20260122_224817
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Pompon_Evenly_Distributed_Round_8_20251010_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Post_It_Note_Evenly_Distributed_Round_7_20250929_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Power_Adapter_Evenly_Distributed_Round_8_20251013_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Rag_Evenly_Distributed_Round_8_20251017_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Razor_Evenly_Distributed_Round_8_20251011_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Remote_Control_Back_Cover_Evenly_Distributed_Round_8_20251017_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Remote_Control_Evenly_Distributed_Round_8_20251011_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Rice_Shovel_Evenly_Distributed_Round_7_20250926_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Rope_Evenly_Distributed_Round_7_20250929_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Rubber_Gloves_Evenly_Distributed_Round_8_20251017_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Ruler_Box_Evenly_Distributed_Round_8_20251015_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Salt_Evenly_Distributed_Round_7_20250929_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Scissors_Evenly_Distributed_Round_7_20251009_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Scissors_Little_Evenly_Distributed_Round_7_20250927_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Scooter_Toy_Evenly_Distributed_Round_8_20251016_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Screw_Extractor_Evenly_Distributed_Round_8_20251014_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Screwdriver_Evenly_Distributed_Round_7_20250922_007_v20260122_224817
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Sewing_thread_Evenly_Distributed_Round_8_20251015_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Small_Yellow_Tape_Evenly_Distributed_Round_7_20250920_007_v20260122_224817
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Socket_Evenly_Distributed_Round_7_20251009_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Soldering_Tin_Evenly_Distributed_Round_7_20250922_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Soup_Spoon_Evenly_Distributed_Round_8_20251016_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Sour_Sauce_Evenly_Distributed_Round_7_20251009_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Spice_Bottle_Evenly_Distributed_Round_8_20251022_007_v20260122_224818
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Spice_Jar_Evenly_Distributed_Round_7_20250930_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Stapler_Evenly_Distributed_Round_7_20250922_007_v20260122_224818
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Stapler_Evenly_Distributed_Round_7_20251010_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Star_Fruit_Evenly_Distributed_Round_7_20250920_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Stationary_And_Tableware_20250904_007_v20260122_224818
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Stationary_And_Tableware_20250908_007_v20260122_224818
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Stationary_And_Tableware_20250909_007_v20260122_224818
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Stationary_And_Tableware_20250915_007_v20260122_224819
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Stationary_And_Tableware_Evenly_Distributed_20250918_007_v20260122_224819
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Sundries_202509015_007_v20260122_224819
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Sundries_20250904_007_v20260122_224819
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Sundries_20250908_007_v20260122_224819
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Sundries_20250909_007_v20260122_224820
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Sundries_Evenly_Distributed_202509019_007_v20260122_224820
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Sunglasses_Evenly_Distributed_Round_8_20251013_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Supplement_Screwdriver_Evenly_Distributed_Round_7_20250926_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Tangle_Of_Wires_Evenly_Distributed_Round_8_20251014_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Tape_Measure_Evenly_Distributed_Round_7_20250920_007_v20260122_224820
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Tea_Pot_Evenly_Distributed_Round_7_20250925_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Tea_Strainer_Evenly_Distributed_Round_8_20251010_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Teapot_Evenly_Distributed_Round_7_20250923_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Teapot__Evenly_Distributed_Round_8_20251015_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Tissue_Paper_Evenly_Distributed_Round_7_20250927_007_v20260122_224820
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Tools_20250903_002_007_v20260122_224820
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Tools_20250906_007_v20260122_224821
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Tools_20250909_007_v20260122_224821
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Tools_20250912_007_v20260122_224821
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Tools_Evenly_Distributed_20250917_007_v20260122_224821
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Tools_Evenly_Distributed_Round_6_20250919_007_v20260122_224821
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Toothpaste_Evenly_Distributed_Round_7_20250930_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Toothpick_Jar_Evenly_Distributed_Round_7_20250927_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Toys_20250904_007_v20260122_224822
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Toys_20250908_007_v20260122_224822
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Toys_20250909_007_v20260122_224822
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Toys_20250915_007_v20260122_224822
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Toys_Evenly_Distributed_20250918_007_v20260122_224823
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Toys_Evenly_Distributed_Round_6_20250919_007_v20260122_224823
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Tripod_Evenly_Distributed_Round_8_20251017_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Tweezers_Evenly_Distributed_Round_8_20251017_007_v20260122_224823
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_USB_Concentrator_Evenly_Distributed_Round_8_20251016_007_v00000000_000000
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/BENCH_Pick_And_Place_Umbrella_Evenly_Distributed_Round_7_20250927_007_v00000000_000000
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+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/Fold_F1_lite002_20251107duikang_v20260125_134954
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/Fold_F1_lite002_20251112_Grasp_Corner_Fold_v20260125_134955
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/Fold_F1_lite002_20251114_Grasp_Corner_Fold_v20260125_134955
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/Fold_F1_lite003_20251107jiaqiu_v20260125_134955
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/Fold_F1_lite003_20251109__v20260125_134955
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/Fold_F1_lite003_20251109_v20260125_134955
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/Fold_F1_lite003_20251112_Grasp_Corner_Fold_v20260125_134955
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/Fold_F1_lite003_20251113_Grasp_Corner_Fold_v20260125_134955
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/Fold_F1_lite003_20251114_Grasp_Corner_Fold_v20260125_134955
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/Fold_F1_lite_001_20251104_confront_v20260125_134955
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/Fold_F1_lite_001_20251105_pupingzhuanxiang_v20260125_134955
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/Fold_F1_lite_001_20251106_confront_v20260125_134956
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/Fold_F1_lite_001_20251106_pupingzhuanxiang2_v20260125_134956
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/Fold_F1_lite_001_20251106_pupingzhuanxiang_v20260125_134956
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/Fold_F1_lite_003_20251104_v20260125_134956
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/Fold_F1_lite_003_20251105_Place_v20260125_134956
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/Fold_F1_lite_003_20251105_v20260125_134956
+  - /efm-nas/efm-nas/efm-shared/datasets/pretrain_limited/R1_Lite/v2_4kh/Fold_F1_lite_004_20251107_zhuazhumaojinweiqishi_v20260125_134956
+  shape_meta:
+    action:
+    - key: left_arm
+      raw_shape: 6
+      shape: 6
+    - key: left_gripper
+      raw_shape: 1
+      shape: 1
+    - key: right_arm
+      raw_shape: 6
+      shape: 6
+    - key: right_gripper
+      raw_shape: 1
+      shape: 1
+    - key: torso.velocities
+      raw_shape: 6
+      shape: 6
+    - key: chassis.velocities
+      raw_shape: 6
+      shape: 6
+    state:
+    - key: left_arm
+      raw_shape: 6
+      shape: 6
+    - key: left_gripper
+      raw_shape: 1
+      shape: 1
+    - key: right_arm
+      raw_shape: 6
+      shape: 6
+    - key: right_gripper
+      raw_shape: 1
+      shape: 1
+    - key: torso
+      raw_shape: 4
+      shape: 4
+    - key: chassis
+      raw_shape: 3
+      shape: 3
+    images:
+    - key: head_rgb
+      raw_shape:
+      - 3
+      - 720
+      - 1280
+      shape:
+      - 3
+      - 224
+      - 224
+    - key: left_wrist_rgb
+      raw_shape:
+      - 3
+      - 720
+      - 1280
+      shape:
+      - 3
+      - 224
+      - 224
+    - key: right_wrist_rgb
+      raw_shape:
+      - 3
+      - 720
+      - 1280
+      shape:
+      - 3
+      - 224
+      - 224
+  action_size: 32
+  past_action_size: 0
+  obs_size: 1
+  ee_start_moving_thresh: 0.0
+  val_set_proportion: 0.001
+model:
+  pretrained_ckpt: false
+  use_pretrained_norm_stats: false
+  model_weights_to_bf16: false
+  enable_bf16_training: true
+  use_torch_compile: false
+  find_unused_parameters: true
+  batch_size: 8
+  num_workers: 8
+  pin_memory: true
+  persistent_workers: true
+  max_epochs: 4
+  max_steps: null
+  grad_accumulation_steps: 1
+  use_8bit_optimizer: true
+  learning_rate: 5.0e-05
+  weight_decay: 0.01
+  betas:
+  - 0.9
+  - 0.95
+  lr_scheduler_type: cosine
+  warmup_steps: 1000
+  max_grad_norm: 1.0
+  use_ema: false
+  ema:
+    update_after_step: 0
+    power: 0.67
+  use_sync_bn: false
+  collate_fn: identity
+  processor:
+    action_filter:
+      _target_: galaxea_fm.transforms.action_filter.BaseActionFilter
+    _target_: galaxea_fm.processors.galaxea_cot_processor.GalaxeaCoTProcessor
+    cot_steps: null
+    shape_meta: ${data.shape_meta}
+    num_obs_steps: ${data.obs_size}
+    action_state_transforms:
+    - _target_: galaxea_fm.transforms.relative_action.RelativeJointTransform
+      keys:
+      - left_arm
+      - right_arm
+    - _target_: galaxea_fm.transforms.misc.WrapStateAngle
+      keys:
+      - chassis
+    use_stepwise_action_norm: true
+    norm_default_mode: z-score
+    norm_exception_mode:
+      action:
+        left_gripper: 0/100
+        right_gripper: 0/100
+    action_state_merger:
+      _target_: galaxea_fm.transforms.action_state_merger.ConcatLeftAlign
+    train_transforms:
+      head_rgb:
+      - _target_: torchvision.transforms.Resize
+        size:
+        - 224
+        - 224
+      - _target_: galaxea_fm.transforms.image.ToTensor
+      - _target_: torchvision.transforms.Normalize
+        mean:
+        - 0.5
+        - 0.5
+        - 0.5
+        std:
+        - 0.5
+        - 0.5
+        - 0.5
+      - _target_: torchvision.transforms.ColorJitter
+        _convert_: all
+        brightness: 0.2
+        contrast:
+        - 0.8
+        - 1.2
+        saturation:
+        - 0.8
+        - 1.2
+        hue: 0.05
+      left_wrist_rgb:
+      - _target_: torchvision.transforms.Resize
+        size:
+        - 224
+        - 224
+      - _target_: galaxea_fm.transforms.image.ToTensor
+      - _target_: torchvision.transforms.Normalize
+        mean:
+        - 0.5
+        - 0.5
+        - 0.5
+        std:
+        - 0.5
+        - 0.5
+        - 0.5
+      - _target_: torchvision.transforms.ColorJitter
+        _convert_: all
+        brightness: 0.2
+        contrast:
+        - 0.8
+        - 1.2
+        saturation:
+        - 0.8
+        - 1.2
+        hue: 0.05
+      - _target_: galaxea_fm.utils.data_utils.RandomDropImage
+        drop_prob: 0.3
+      right_wrist_rgb:
+      - _target_: torchvision.transforms.Resize
+        size:
+        - 224
+        - 224
+      - _target_: galaxea_fm.transforms.image.ToTensor
+      - _target_: torchvision.transforms.Normalize
+        mean:
+        - 0.5
+        - 0.5
+        - 0.5
+        std:
+        - 0.5
+        - 0.5
+        - 0.5
+      - _target_: torchvision.transforms.ColorJitter
+        _convert_: all
+        brightness: 0.2
+        contrast:
+        - 0.8
+        - 1.2
+        saturation:
+        - 0.8
+        - 1.2
+        hue: 0.05
+      - _target_: galaxea_fm.utils.data_utils.RandomDropImage
+        drop_prob: 0.3
+    val_transforms:
+      head_rgb:
+      - _target_: torchvision.transforms.Resize
+        size:
+        - 224
+        - 224
+      - _target_: galaxea_fm.transforms.image.ToTensor
+      - _target_: torchvision.transforms.Normalize
+        mean:
+        - 0.5
+        - 0.5
+        - 0.5
+        std:
+        - 0.5
+        - 0.5
+        - 0.5
+      left_wrist_rgb:
+      - _target_: torchvision.transforms.Resize
+        size:
+        - 224
+        - 224
+      - _target_: galaxea_fm.transforms.image.ToTensor
+      - _target_: torchvision.transforms.Normalize
+        mean:
+        - 0.5
+        - 0.5
+        - 0.5
+        std:
+        - 0.5
+        - 0.5
+        - 0.5
+      right_wrist_rgb:
+      - _target_: torchvision.transforms.Resize
+        size:
+        - 224
+        - 224
+      - _target_: galaxea_fm.transforms.image.ToTensor
+      - _target_: torchvision.transforms.Normalize
+        mean:
+        - 0.5
+        - 0.5
+        - 0.5
+        std:
+        - 0.5
+        - 0.5
+        - 0.5
+    num_output_cameras: 3
+    use_zh_instruction: false
+    drop_high_level_prob: 1.0
+    pad_token_id: ${model.model_arch.pad_token_id}
+    image_token_index: ${model.model_arch.image_token_index}
+    tokenizer_params:
+      pretrained_model_name_or_path: google/paligemma-3b-pt-224
+      local_files_only: true
+      token: null
+    max_text_tokens: ${model.model_arch.max_text_tokens}
+    max_image_text_tokens: ${model.model_arch.max_image_text_tokens}
+    num_input_cameras: ${model.model_arch.num_input_images}
+    num_image_tokens_per_camera: ${model.model_arch.vision.num_image_tokens}
+  model_arch:
+    _target_: galaxea_fm.models.galaxea_zero.galaxea_joint_policy.GalaxeaJointPolicy
+    model_name: galaxea_fm.models.galaxea_zero.model.galaxea_joint.GalaxeaJoint
+    action_tokenizer: ${model.tokenizer._target_}
+    AT_CONFIG: ${model.tokenizer.vq_config}
+    pretrained_model_path: /efm-nas/efm-nas/group-jt/mnt/pretrained_models/google/paligemma-3b-pt-224
+    vla_training_strategy: vla-full-train
+    backbone_lr_multiplier: 1.0
+    image_token_index: 257152
+    pad_token_id: 0
+    vocab_size: 257216
+    cond_steps: ${data.obs_size}
+    horizon_steps: ${data.action_size}
+    max_text_tokens: 160
+    max_image_text_tokens: ${eval:'${model.model_arch.num_input_images} * ${model.model_arch.vision.num_image_tokens}
+      + ${model.model_arch.max_text_tokens}'}
+    num_input_images: ${eval:'${model.model_arch.cond_steps} * ${model.model_arch.vision.num_channels}'}
+    num_extra_image_tokens_per_camera: 0
+    final_action_clip_value: null
+    action_dim: ${sum_shapes:${data.shape_meta.action}}
+    proprio_dim: ${sum_shapes:${data.shape_meta.state}}
+    action_decoder_layers: 2
+    action_expert_adaptive_mode: null
+    flow_sampling: beta
+    num_inference_steps: 10
+    use_fp32_eval: true
+    use_lm_head: true
+    discrete_action: true
+    continuous_action: true
+    continuous_action_only: true
+    joint_training: false
+    fm_weight: 1.0
+    ce_weight: 1.0
+    return_continuous_action: true
+    action_attend_cot: false
+    predict_cot: false
+    vision:
+      name: galaxea_fm.models.galaxea_zero.paligemma.siglip.SiglipVisionModel
+      hidden_size: 1152
+      intermediate_size: 4304
+      num_hidden_layers: 27
+      num_attention_heads: 16
+      num_channels: 3
+      image_size: 224
+      patch_size: 14
+      layer_norm_eps: 1.0e-06
+      attention_dropout: 0.0
+      num_image_tokens: 256
+    vision_projector:
+      name: galaxea_fm.models.galaxea_zero.paligemma.siglip.PaliGemmaMultiModalProjector
+      vision_config:
+        hidden_size: 1152
+        projection_dim: 2048
+    joint:
+      name: galaxea_fm.models.galaxea_zero.model.joint_model.JointModel
+      action_expert_adaptive_mode: null
+      mixture:
+        vlm:
+          hidden_size: 2048
+          intermediate_size: 16384
+          use_final_norm: true
+          cache: true
+        proprio:
+          hidden_size: 8
+          intermediate_size: 32
+          use_final_norm: true
+          cache: true
+          adaptive_mode: null
+        action:
+          hidden_size: 1024
+          intermediate_size: 4096
+          use_final_norm: true
+          cache: false
+          adaptive_mode: null
+      time_hidden_size: 256
+      num_hidden_layers: 18
+      num_attention_heads: 8
+      num_key_value_heads: 1
+      head_dim: 256
+      max_position_embeddings: 8192
+      rms_norm_eps: 1.0e-06
+      rope_theta: 10000.0
+      attention_bias: false
+      attention_dropout: 0.0
+    position_ids_type: pi0fast
+    pred_eov: false
+  tokenizer:
+    _target_: galaxea_fm.vla.tokenizer.tokenizer_interface.FAST.FASTActionTokenizer
+    vq_config:
+      use_extra_tokens: false
+      block_wise_autoregressive: false
+      action_template: '{action}'
+datastatics_path: /efm-nas/efm-nas/group-jt/xiao.liu/runs/lx/4k_pretrain_1/2026-01-25_11-13-24/dataset_stats.json
+vlm:
+  cotrain: true
+  data:
+    _target_: galaxea_fm.data.vlm.mixture_vlm_dataset.VQAMixtureDataset
+    data_json_paths:
+    - /galaxea_dataset/opensource/LLaVa_NeXT_Data/llava_next_raw_format/llava_next_raw_format_processed.json
+    - /galaxea_dataset/opensource/RoboPoint/robopoint_1432k.json
+    - /galaxea_dataset/opensource/InternSpatial/converted_dataset/internspatial_instruct.json
+    image_folders:
+    - /galaxea_dataset/opensource/LLaVa_NeXT_Data/llava_next_raw_format/
+    - /galaxea_dataset/opensource/RoboPoint/images/
+    - /galaxea_dataset/opensource/InternSpatial/converted_dataset/
+    sample_weights:
+    - 1.0
+    - 1.0
+    - 0.5
+    image_transforms:
+    - _target_: torchvision.transforms.Resize
+      size:
+      - 224
+      - 224
+    - _target_: torchvision.transforms.ToTensor
+    - _target_: torchvision.transforms.Normalize
+      mean:
+      - 0.5
+      - 0.5
+      - 0.5
+      std:
+      - 0.5
+      - 0.5
+      - 0.5
+    - _target_: torchvision.transforms.ColorJitter
+      _convert_: all
+      brightness: 0.2
+      contrast:
+      - 0.8
+      - 1.2
+      saturation:
+      - 0.8
+      - 1.2
+      hue: 0.05
+  batch_size: 8
+  num_workers: 8
+  vlm_batch_ratio: 0.1
+  loss_weight: 1.0
+eval:
+  sampling_params:
+    num_tokens_to_generate: 64
+    top_k: 64
+    top_p: 0.9
+    temperature: 0.2
+    repetition_penalty: 1.2
+    no_repeat_ngram_size: 3
+  ckpt_path: null
+  image_size:
+  - 224
+  - 224
+  image_transforms:
+  - _target_: torchvision.transforms.Resize
+    size:
+    - 224
+    - 224
+  - _target_: torchvision.transforms.ToTensor
+  - _target_: torchvision.transforms.Normalize
+    mean:
+    - 0.5
+    - 0.5
+    - 0.5
+    std:
+    - 0.5
+    - 0.5
+    - 0.5
+  benchmarks:
+  - _target_: galaxea_fm.benchmarks.erqa.ERQABenchmark
+    name: ERQA
+    data_path: /efm-nas/efm-nas/group-jt/opensource/ERQA/erqa.npy
+    sampling_params: ${eval.sampling_params}
+  - _target_: galaxea_fm.benchmarks.sibench.SIBenchmark
+    name: SIBenchmark
+    data_root: /efm-nas/efm-nas/group-jt/opensource/SIBench/data
+    dataset_names: all
+    dataset_version: mini
+    sampling_params: ${eval.sampling_params}
+  - _target_: galaxea_fm.benchmarks.vlmevalkit.VLMEvalKitBenchmark
+    name: VLMEvalKitBenchmark
+    data_root: /efm-nas/efm-nas/group-jt/opensource/VLMEvalKit/
+    dataset_names:
+    - RealWorldQA
+    - MME
+    sampling_params: ${eval.sampling_params}