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@@ -58,3 +58,43 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+processed/single_cube/oracle_grasp.zarr/data/state_cube/c/0/0 filter=lfs diff=lfs merge=lfs -text
+processed/single_cube/oracle_grasp.zarr/data/state_cube/c/1/0 filter=lfs diff=lfs merge=lfs -text
+processed/single_cube/oracle_grasp.zarr/data/state_ee_xyz/c/0/0 filter=lfs diff=lfs merge=lfs -text
+processed/single_cube/oracle_grasp.zarr/data/state_joints/c/0/0 filter=lfs diff=lfs merge=lfs -text
+processed/single_cube/oracle_grasp.zarr/data/state_joints/c/1/0 filter=lfs diff=lfs merge=lfs -text
+processed/single_cube/processed_ee_xyz.zarr/data/action_ee_xyz/c/0/0 filter=lfs diff=lfs merge=lfs -text
+processed/single_cube/processed_ee_xyz.zarr/data/state_cube/c/0/0 filter=lfs diff=lfs merge=lfs -text
+processed/single_cube/processed_ee_xyz.zarr/data/state_cube/c/1/0 filter=lfs diff=lfs merge=lfs -text
+processed/single_cube/processed_ee_xyz.zarr/data/state_ee_full/c/0/0 filter=lfs diff=lfs merge=lfs -text
+processed/single_cube/processed_ee_xyz.zarr/data/state_ee_full/c/1/0 filter=lfs diff=lfs merge=lfs -text
+processed/single_cube/processed_ee_xyz.zarr/data/state_ee_xyz/c/0/0 filter=lfs diff=lfs merge=lfs -text
+processed/single_cube/processed_ee_xyz.zarr/data/state_joints/c/0/0 filter=lfs diff=lfs merge=lfs -text
+processed/single_cube/processed_ee_xyz.zarr/data/state_joints/c/1/0 filter=lfs diff=lfs merge=lfs -text
+processed/single_cube/processed_ee_xyz_2026-03-20_21-33-00.zarr/data/state_cube/c/0/0 filter=lfs diff=lfs merge=lfs -text
+processed/single_cube/processed_ee_xyz_2026-03-20_21-33-00.zarr/data/state_ee_full/c/0/0 filter=lfs diff=lfs merge=lfs -text
+processed/single_cube/processed_ee_xyz_2026-03-20_21-33-00.zarr/data/state_joints/c/0/0 filter=lfs diff=lfs merge=lfs -text
+processed/single_cube/processed_ee_xyz_all2.zarr/data/state_cube/c/0/0 filter=lfs diff=lfs merge=lfs -text
+processed/single_cube/processed_ee_xyz_all2.zarr/data/state_cube/c/1/0 filter=lfs diff=lfs merge=lfs -text
+processed/single_cube/processed_ee_xyz_all2.zarr/data/state_ee_full/c/0/0 filter=lfs diff=lfs merge=lfs -text
+processed/single_cube/processed_ee_xyz_all2.zarr/data/state_ee_full/c/1/0 filter=lfs diff=lfs merge=lfs -text
+processed/single_cube/processed_ee_xyz_all2.zarr/data/state_ee_xyz/c/0/0 filter=lfs diff=lfs merge=lfs -text
+processed/single_cube/processed_ee_xyz_all2.zarr/data/state_joints/c/0/0 filter=lfs diff=lfs merge=lfs -text
+processed/single_cube/processed_ee_xyz_all2.zarr/data/state_joints/c/1/0 filter=lfs diff=lfs merge=lfs -text
+processed/single_cube/processed_ee_xyz_dagger.zarr/data/action_ee_xyz/c/0/0 filter=lfs diff=lfs merge=lfs -text
+processed/single_cube/processed_ee_xyz_dagger.zarr/data/state_cube/c/0/0 filter=lfs diff=lfs merge=lfs -text
+processed/single_cube/processed_ee_xyz_dagger.zarr/data/state_cube/c/1/0 filter=lfs diff=lfs merge=lfs -text
+processed/single_cube/processed_ee_xyz_dagger.zarr/data/state_ee_full/c/0/0 filter=lfs diff=lfs merge=lfs -text
+processed/single_cube/processed_ee_xyz_dagger.zarr/data/state_ee_full/c/1/0 filter=lfs diff=lfs merge=lfs -text
+processed/single_cube/processed_ee_xyz_dagger.zarr/data/state_ee_xyz/c/0/0 filter=lfs diff=lfs merge=lfs -text
+processed/single_cube/processed_ee_xyz_dagger.zarr/data/state_joints/c/0/0 filter=lfs diff=lfs merge=lfs -text
+processed/single_cube/processed_ee_xyz_dagger.zarr/data/state_joints/c/1/0 filter=lfs diff=lfs merge=lfs -text
+processed/single_cube/processed_ee_xyz_newest.zarr/data/state_cube/c/0/0 filter=lfs diff=lfs merge=lfs -text
+processed/single_cube/processed_ee_xyz_newest.zarr/data/state_ee_full/c/0/0 filter=lfs diff=lfs merge=lfs -text
+processed/single_cube/processed_ee_xyz_newest.zarr/data/state_joints/c/0/0 filter=lfs diff=lfs merge=lfs -text
+processed/single_cube/processed_joints_all2.zarr/data/state_cube/c/0/0 filter=lfs diff=lfs merge=lfs -text
+processed/single_cube/processed_joints_all2.zarr/data/state_cube/c/1/0 filter=lfs diff=lfs merge=lfs -text
+processed/single_cube/processed_joints_all2.zarr/data/state_ee_full/c/0/0 filter=lfs diff=lfs merge=lfs -text
+processed/single_cube/processed_joints_all2.zarr/data/state_ee_full/c/1/0 filter=lfs diff=lfs merge=lfs -text
+processed/single_cube/processed_joints_all2.zarr/data/state_joints/c/0/0 filter=lfs diff=lfs merge=lfs -text
+processed/single_cube/processed_joints_all2.zarr/data/state_joints/c/1/0 filter=lfs diff=lfs merge=lfs -text

processed/multi_cube/processed_ee_xyz.zarr/data/action_ee_xyz/zarr.json

@@ -0,0 +1,43 @@
+{
+  "shape": [
+    3415,
+    3
+  ],
+  "data_type": "float32",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        3415,
+        3
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
+    {
+      "name": "bytes",
+      "configuration": {
+        "endian": "little"
+      }
+    },
+    {
+      "name": "numcodecs.blosc",
+      "configuration": {
+        "cname": "zstd",
+        "clevel": 3,
+        "shuffle": 2
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}

processed/multi_cube/processed_ee_xyz.zarr/data/action_gripper/zarr.json

@@ -0,0 +1,43 @@
+{
+  "shape": [
+    3415,
+    1
+  ],
+  "data_type": "float32",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        3415,
+        1
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
+    {
+      "name": "bytes",
+      "configuration": {
+        "endian": "little"
+      }
+    },
+    {
+      "name": "numcodecs.blosc",
+      "configuration": {
+        "cname": "zstd",
+        "clevel": 3,
+        "shuffle": 2
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}

processed/multi_cube/processed_ee_xyz.zarr/data/goal_pos/zarr.json

@@ -0,0 +1,43 @@
+{
+  "shape": [
+    3415,
+    3
+  ],
+  "data_type": "float32",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        3415,
+        3
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
+    {
+      "name": "bytes",
+      "configuration": {
+        "endian": "little"
+      }
+    },
+    {
+      "name": "numcodecs.blosc",
+      "configuration": {
+        "cname": "zstd",
+        "clevel": 3,
+        "shuffle": 2
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}

processed/multi_cube/processed_ee_xyz.zarr/data/original_pos_cube_blue/zarr.json

@@ -0,0 +1,43 @@
+{
+  "shape": [
+    3415,
+    7
+  ],
+  "data_type": "float32",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        3415,
+        7
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
+    {
+      "name": "bytes",
+      "configuration": {
+        "endian": "little"
+      }
+    },
+    {
+      "name": "numcodecs.blosc",
+      "configuration": {
+        "cname": "zstd",
+        "clevel": 3,
+        "shuffle": 2
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}

processed/multi_cube/processed_ee_xyz.zarr/data/original_pos_cube_green/zarr.json

@@ -0,0 +1,43 @@
+{
+  "shape": [
+    3415,
+    7
+  ],
+  "data_type": "float32",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        3415,
+        7
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
+    {
+      "name": "bytes",
+      "configuration": {
+        "endian": "little"
+      }
+    },
+    {
+      "name": "numcodecs.blosc",
+      "configuration": {
+        "cname": "zstd",
+        "clevel": 3,
+        "shuffle": 2
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}

processed/multi_cube/processed_ee_xyz.zarr/data/original_pos_cube_red/zarr.json

@@ -0,0 +1,43 @@
+{
+  "shape": [
+    3415,
+    7
+  ],
+  "data_type": "float32",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        3415,
+        7
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
+    {
+      "name": "bytes",
+      "configuration": {
+        "endian": "little"
+      }
+    },
+    {
+      "name": "numcodecs.blosc",
+      "configuration": {
+        "cname": "zstd",
+        "clevel": 3,
+        "shuffle": 2
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}

processed/multi_cube/processed_ee_xyz.zarr/data/state_ee_full/zarr.json

@@ -0,0 +1,43 @@
+{
+  "shape": [
+    3415,
+    7
+  ],
+  "data_type": "float32",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        3415,
+        7
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
+    {
+      "name": "bytes",
+      "configuration": {
+        "endian": "little"
+      }
+    },
+    {
+      "name": "numcodecs.blosc",
+      "configuration": {
+        "cname": "zstd",
+        "clevel": 3,
+        "shuffle": 2
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}

processed/multi_cube/processed_ee_xyz.zarr/data/state_ee_xyz/zarr.json

@@ -0,0 +1,43 @@
+{
+  "shape": [
+    3415,
+    3
+  ],
+  "data_type": "float32",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        3415,
+        3
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
+    {
+      "name": "bytes",
+      "configuration": {
+        "endian": "little"
+      }
+    },
+    {
+      "name": "numcodecs.blosc",
+      "configuration": {
+        "cname": "zstd",
+        "clevel": 3,
+        "shuffle": 2
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}

processed/multi_cube/processed_ee_xyz.zarr/data/state_goal/zarr.json

@@ -0,0 +1,43 @@
+{
+  "shape": [
+    3415,
+    3
+  ],
+  "data_type": "float32",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        3415,
+        3
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
+    {
+      "name": "bytes",
+      "configuration": {
+        "endian": "little"
+      }
+    },
+    {
+      "name": "numcodecs.blosc",
+      "configuration": {
+        "cname": "zstd",
+        "clevel": 3,
+        "shuffle": 2
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}

processed/multi_cube/processed_ee_xyz.zarr/data/state_gripper/zarr.json

@@ -0,0 +1,43 @@
+{
+  "shape": [
+    3415,
+    1
+  ],
+  "data_type": "float32",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        3415,
+        1
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
+    {
+      "name": "bytes",
+      "configuration": {
+        "endian": "little"
+      }
+    },
+    {
+      "name": "numcodecs.blosc",
+      "configuration": {
+        "cname": "zstd",
+        "clevel": 3,
+        "shuffle": 2
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}

processed/multi_cube/processed_ee_xyz.zarr/data/state_joints/zarr.json

@@ -0,0 +1,43 @@
+{
+  "shape": [
+    3415,
+    6
+  ],
+  "data_type": "float32",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        3415,
+        6
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
+    {
+      "name": "bytes",
+      "configuration": {
+        "endian": "little"
+      }
+    },
+    {
+      "name": "numcodecs.blosc",
+      "configuration": {
+        "cname": "zstd",
+        "clevel": 3,
+        "shuffle": 2
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}

processed/multi_cube/processed_ee_xyz.zarr/data/state_obstacle/zarr.json

@@ -0,0 +1,43 @@
+{
+  "shape": [
+    3415,
+    3
+  ],
+  "data_type": "float32",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        3415,
+        3
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
+    {
+      "name": "bytes",
+      "configuration": {
+        "endian": "little"
+      }
+    },
+    {
+      "name": "numcodecs.blosc",
+      "configuration": {
+        "cname": "zstd",
+        "clevel": 3,
+        "shuffle": 2
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}

processed/multi_cube/processed_ee_xyz.zarr/data/zarr.json

@@ -0,0 +1,5 @@
+{
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "group"
+}

processed/multi_cube/processed_ee_xyz.zarr/meta/episode_ends/zarr.json

@@ -0,0 +1,41 @@
+{
+  "shape": [
+    19
+  ],
+  "data_type": "int64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        19
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0,
+  "codecs": [
+    {
+      "name": "bytes",
+      "configuration": {
+        "endian": "little"
+      }
+    },
+    {
+      "name": "numcodecs.blosc",
+      "configuration": {
+        "cname": "zstd",
+        "clevel": 3,
+        "shuffle": 2
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}

processed/multi_cube/processed_ee_xyz.zarr/meta/zarr.json

@@ -0,0 +1,5 @@
+{
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "group"
+}

processed/multi_cube/processed_ee_xyz.zarr/zarr.json

@@ -0,0 +1,18 @@
+{
+  "attributes": {
+    "action_space": "ee",
+    "action_dim": 3,
+    "action_spec": "ee_pos_xyz(3)",
+    "state_spec": "ee_pos_xyz(3)",
+    "state_key": "state_ee_xyz",
+    "action_key": "action_ee_xyz",
+    "num_episodes": 19,
+    "num_dagger_episodes": 0,
+    "num_transitions": 3415,
+    "source_zarrs": [
+      "datasets/raw/multi_cube/teleop/2026-03-23_10-56-33/so100_multicube_teleop.zarr"
+    ]
+  },
+  "zarr_format": 3,
+  "node_type": "group"
+}

processed/single_cube/oracle_grasp.zarr/data/action_ee_xyz/zarr.json

@@ -0,0 +1,42 @@
+{
+  "shape": [
+    19552,
+    3
+  ],
+  "data_type": "float32",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        19552,
+        3
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
+    {
+      "name": "bytes",
+      "configuration": {
+        "endian": "little"
+      }
+    },
+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}

processed/single_cube/oracle_grasp.zarr/data/action_gripper/zarr.json

@@ -0,0 +1,42 @@
+{
+  "shape": [
+    19552,
+    1
+  ],
+  "data_type": "float32",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        19552,
+        1
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
+    {
+      "name": "bytes",
+      "configuration": {
+        "endian": "little"
+      }
+    },
+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}

processed/single_cube/oracle_grasp.zarr/data/state_cube/c/0/0

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