diff --git a/.gitattributes b/.gitattributes
index 1ef325f1b111266a6b26e0196871bd78baa8c2f3..ed45f4e2f17fba2dd541db3d1a64f62090f27362 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -57,3 +57,65 @@ 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
+val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/close_fridge+0/data.mdb filter=lfs diff=lfs merge=lfs -text
+val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/close_jar_peract+15/data.mdb filter=lfs diff=lfs merge=lfs -text
+val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/close_jar_peract+16/data.mdb filter=lfs diff=lfs merge=lfs -text
+val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/close_laptop_lid+0/data.mdb filter=lfs diff=lfs merge=lfs -text
+val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/close_microwave+0/data.mdb filter=lfs diff=lfs merge=lfs -text
+val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/light_bulb_in_peract+17/data.mdb filter=lfs diff=lfs merge=lfs -text
+val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/light_bulb_in_peract+19/data.mdb filter=lfs diff=lfs merge=lfs -text
+val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/open_box+0/data.mdb filter=lfs diff=lfs merge=lfs -text
+val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/open_door+0/data.mdb filter=lfs diff=lfs merge=lfs -text
+val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/open_drawer+0/data.mdb filter=lfs diff=lfs merge=lfs -text
+val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/open_drawer+2/data.mdb filter=lfs diff=lfs merge=lfs -text
+val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/pick_and_lift+0/data.mdb filter=lfs diff=lfs merge=lfs -text
+val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/pick_and_lift+2/data.mdb filter=lfs diff=lfs merge=lfs -text
+val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/pick_and_lift+7/data.mdb filter=lfs diff=lfs merge=lfs -text
+val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/pick_up_cup+11/data.mdb filter=lfs diff=lfs merge=lfs -text
+val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/pick_up_cup+8/data.mdb filter=lfs diff=lfs merge=lfs -text
+val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/pick_up_cup+9/data.mdb filter=lfs diff=lfs merge=lfs -text
+val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/push_button+0/data.mdb filter=lfs diff=lfs merge=lfs -text
+val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/push_button+3/data.mdb filter=lfs diff=lfs merge=lfs -text
+val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/push_button+4/data.mdb filter=lfs diff=lfs merge=lfs -text
+val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/put_groceries_in_cupboard+0/data.mdb filter=lfs diff=lfs merge=lfs -text
+val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/put_groceries_in_cupboard+3/data.mdb filter=lfs diff=lfs merge=lfs -text
+val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/put_money_in_safe+0/data.mdb filter=lfs diff=lfs merge=lfs -text
+val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/put_money_in_safe+1/data.mdb filter=lfs diff=lfs merge=lfs -text
+val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/reach_and_drag_peract+14/data.mdb filter=lfs diff=lfs merge=lfs -text
+val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/reach_and_drag_peract+18/data.mdb filter=lfs diff=lfs merge=lfs -text
+val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/slide_block_to_color_target_peract+0/data.mdb filter=lfs diff=lfs merge=lfs -text
+val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/slide_block_to_color_target_peract+1/data.mdb filter=lfs diff=lfs merge=lfs -text
+val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/stack_blocks+30/data.mdb filter=lfs diff=lfs merge=lfs -text
+val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/stack_blocks+36/data.mdb filter=lfs diff=lfs merge=lfs -text
+val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/stack_blocks+39/data.mdb filter=lfs diff=lfs merge=lfs -text
+val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/close_fridge+0/data.mdb filter=lfs diff=lfs merge=lfs -text
+val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/close_jar_peract+15/data.mdb filter=lfs diff=lfs merge=lfs -text
+val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/close_jar_peract+16/data.mdb filter=lfs diff=lfs merge=lfs -text
+val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/close_laptop_lid+0/data.mdb filter=lfs diff=lfs merge=lfs -text
+val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/close_microwave+0/data.mdb filter=lfs diff=lfs merge=lfs -text
+val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/light_bulb_in_peract+17/data.mdb filter=lfs diff=lfs merge=lfs -text
+val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/light_bulb_in_peract+19/data.mdb filter=lfs diff=lfs merge=lfs -text
+val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/open_box+0/data.mdb filter=lfs diff=lfs merge=lfs -text
+val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/open_door+0/data.mdb filter=lfs diff=lfs merge=lfs -text
+val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/open_drawer+0/data.mdb filter=lfs diff=lfs merge=lfs -text
+val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/open_drawer+2/data.mdb filter=lfs diff=lfs merge=lfs -text
+val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/pick_and_lift+0/data.mdb filter=lfs diff=lfs merge=lfs -text
+val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/pick_and_lift+2/data.mdb filter=lfs diff=lfs merge=lfs -text
+val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/pick_and_lift+7/data.mdb filter=lfs diff=lfs merge=lfs -text
+val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/pick_up_cup+11/data.mdb filter=lfs diff=lfs merge=lfs -text
+val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/pick_up_cup+8/data.mdb filter=lfs diff=lfs merge=lfs -text
+val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/pick_up_cup+9/data.mdb filter=lfs diff=lfs merge=lfs -text
+val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/push_button+0/data.mdb filter=lfs diff=lfs merge=lfs -text
+val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/push_button+3/data.mdb filter=lfs diff=lfs merge=lfs -text
+val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/push_button+4/data.mdb filter=lfs diff=lfs merge=lfs -text
+val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/put_groceries_in_cupboard+0/data.mdb filter=lfs diff=lfs merge=lfs -text
+val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/put_groceries_in_cupboard+3/data.mdb filter=lfs diff=lfs merge=lfs -text
+val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/put_money_in_safe+0/data.mdb filter=lfs diff=lfs merge=lfs -text
+val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/put_money_in_safe+1/data.mdb filter=lfs diff=lfs merge=lfs -text
+val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/reach_and_drag_peract+14/data.mdb filter=lfs diff=lfs merge=lfs -text
+val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/reach_and_drag_peract+18/data.mdb filter=lfs diff=lfs merge=lfs -text
+val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/slide_block_to_color_target_peract+0/data.mdb filter=lfs diff=lfs merge=lfs -text
+val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/slide_block_to_color_target_peract+1/data.mdb filter=lfs diff=lfs merge=lfs -text
+val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/stack_blocks+30/data.mdb filter=lfs diff=lfs merge=lfs -text
+val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/stack_blocks+36/data.mdb filter=lfs diff=lfs merge=lfs -text
+val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/stack_blocks+39/data.mdb filter=lfs diff=lfs merge=lfs -text
diff --git a/test_dataset/microsteps.tar.gz b/test_dataset/microsteps.tar.gz
new file mode 100644
index 0000000000000000000000000000000000000000..3c3c4b95e5b10478e73a189c5017ac77c1dbdcf1
--- /dev/null
+++ b/test_dataset/microsteps.tar.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1bd0ffe5b9c454dabe8028ce602574cecdd65d598c1532e058192af7b9d1b20
+size 2293040908
diff --git a/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/close_fridge+0/data.mdb b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/close_fridge+0/data.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..1c8efdbcd9c15ad7d32195c5cf1d4fa3931588a0
--- /dev/null
+++ b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/close_fridge+0/data.mdb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b47529d4d534340a6d35bbe8be91fdefe0a089345f99db862f6aa8459088138
+size 18972672
diff --git a/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/close_fridge+0/lock.mdb b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/close_fridge+0/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..835cd10955ca0a29d97e5f439bd724a4e7f3a2d0
Binary files /dev/null and b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/close_fridge+0/lock.mdb differ
diff --git a/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/close_jar_peract+15/data.mdb b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/close_jar_peract+15/data.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..ee8d72f5893c8920cbf5e6bd03168ce630325e57
--- /dev/null
+++ b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/close_jar_peract+15/data.mdb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16bd99e9f4e1eba7d77cbf9e660de1cfa55d7e73b08294e1d755e5ea34fc05fe
+size 41410560
diff --git a/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/close_jar_peract+15/lock.mdb b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/close_jar_peract+15/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..835cd10955ca0a29d97e5f439bd724a4e7f3a2d0
Binary files /dev/null and b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/close_jar_peract+15/lock.mdb differ
diff --git a/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/close_jar_peract+16/data.mdb b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/close_jar_peract+16/data.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..486ba4be2d130ff9a4afcfd4280d58cc6803a389
--- /dev/null
+++ b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/close_jar_peract+16/data.mdb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c514b7cb74083db3f81c69be736d56237e228ef56a864533c93a12026dab8c6
+size 41320448
diff --git a/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/close_jar_peract+16/lock.mdb b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/close_jar_peract+16/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..835cd10955ca0a29d97e5f439bd724a4e7f3a2d0
Binary files /dev/null and b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/close_jar_peract+16/lock.mdb differ
diff --git a/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/close_laptop_lid+0/data.mdb b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/close_laptop_lid+0/data.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..738d3282a1c2442ad94a36030a073223943106ab
--- /dev/null
+++ b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/close_laptop_lid+0/data.mdb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf69d5c4a2e48227884c38c8e43489a6f9aabba412e38b9a4e790b4998f0eddb
+size 31354880
diff --git a/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/close_laptop_lid+0/lock.mdb b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/close_laptop_lid+0/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..835cd10955ca0a29d97e5f439bd724a4e7f3a2d0
Binary files /dev/null and b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/close_laptop_lid+0/lock.mdb differ
diff --git a/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/close_microwave+0/data.mdb b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/close_microwave+0/data.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..9041ad752f5b572a8d710a9175b781e9d0ab7721
--- /dev/null
+++ b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/close_microwave+0/data.mdb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e73336a9d619c5558f7ab30d34ecaa51dc7c63e138545eb722e2c8b84a43b0b
+size 18530304
diff --git a/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/close_microwave+0/lock.mdb b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/close_microwave+0/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..835cd10955ca0a29d97e5f439bd724a4e7f3a2d0
Binary files /dev/null and b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/close_microwave+0/lock.mdb differ
diff --git a/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/light_bulb_in_peract+17/data.mdb b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/light_bulb_in_peract+17/data.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..ef05c0fabe4d15afd33b77cdb14357ce3ddddef1
--- /dev/null
+++ b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/light_bulb_in_peract+17/data.mdb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3072176109394a8550831821009c6b38f0f08b2b7cb85f18537d3208216eebac
+size 48906240
diff --git a/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/light_bulb_in_peract+17/lock.mdb b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/light_bulb_in_peract+17/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..835cd10955ca0a29d97e5f439bd724a4e7f3a2d0
Binary files /dev/null and b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/light_bulb_in_peract+17/lock.mdb differ
diff --git a/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/light_bulb_in_peract+19/data.mdb b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/light_bulb_in_peract+19/data.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..6baef053fb6b9f17c68d18f5fc4fc2fa830f07af
--- /dev/null
+++ b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/light_bulb_in_peract+19/data.mdb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a3beb8cdc08a9358f54decf6840812cab8a6d77c6ec6ab5c28b4f26de2ebdba
+size 48910336
diff --git a/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/light_bulb_in_peract+19/lock.mdb b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/light_bulb_in_peract+19/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..835cd10955ca0a29d97e5f439bd724a4e7f3a2d0
Binary files /dev/null and b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/light_bulb_in_peract+19/lock.mdb differ
diff --git a/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/open_box+0/data.mdb b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/open_box+0/data.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..ce75cb835c0b6c0e9d66f30e61ee186bbcae6d3c
--- /dev/null
+++ b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/open_box+0/data.mdb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09151fad8ba0f3acf89f9d0388dc2f8f2f704bcf28caaf6fba00d3f0112d74e1
+size 24813568
diff --git a/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/open_box+0/lock.mdb b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/open_box+0/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..835cd10955ca0a29d97e5f439bd724a4e7f3a2d0
Binary files /dev/null and b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/open_box+0/lock.mdb differ
diff --git a/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/open_door+0/data.mdb b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/open_door+0/data.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..940006341446bc3af14ca4b757721c80af83c323
--- /dev/null
+++ b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/open_door+0/data.mdb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c9b65fa09df3ecc0fc982b1c1d2f56e0a2f235dcc4f6bda5ef8932316265230
+size 30785536
diff --git a/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/open_door+0/lock.mdb b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/open_door+0/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..835cd10955ca0a29d97e5f439bd724a4e7f3a2d0
Binary files /dev/null and b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/open_door+0/lock.mdb differ
diff --git a/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/open_drawer+0/data.mdb b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/open_drawer+0/data.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..aa1eff6a7f43e31bf3156c51f8b2b91a5970d805
--- /dev/null
+++ b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/open_drawer+0/data.mdb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b28f8107b086c2fa1fb1da157a75c25307db33cda7a32f686febbdc93029f241
+size 24358912
diff --git a/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/open_drawer+0/lock.mdb b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/open_drawer+0/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..835cd10955ca0a29d97e5f439bd724a4e7f3a2d0
Binary files /dev/null and b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/open_drawer+0/lock.mdb differ
diff --git a/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/open_drawer+2/data.mdb b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/open_drawer+2/data.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..bbb3a1a31c77a18ec29b42171cc6f3a02b30873f
--- /dev/null
+++ b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/open_drawer+2/data.mdb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7548a6fb61ee5d5ace80aa69e73c2f99b434f2708a6cc00e8439a16092c271d2
+size 24137728
diff --git a/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/open_drawer+2/lock.mdb b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/open_drawer+2/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..835cd10955ca0a29d97e5f439bd724a4e7f3a2d0
Binary files /dev/null and b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/open_drawer+2/lock.mdb differ
diff --git a/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/pick_and_lift+0/data.mdb b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/pick_and_lift+0/data.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..bddf6bd343947b488c7c5a6d796f15d5c369ba5d
--- /dev/null
+++ b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/pick_and_lift+0/data.mdb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26d0e7c28fceb37835a5343d3c272c5e5c751b5d5449614a3213ce88294acef0
+size 29069312
diff --git a/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/pick_and_lift+0/lock.mdb b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/pick_and_lift+0/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..835cd10955ca0a29d97e5f439bd724a4e7f3a2d0
Binary files /dev/null and b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/pick_and_lift+0/lock.mdb differ
diff --git a/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/pick_and_lift+2/data.mdb b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/pick_and_lift+2/data.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..a2ea74fee5bde9b3e4182a77cb330293aeda3b0f
--- /dev/null
+++ b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/pick_and_lift+2/data.mdb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa50bf53962d371533454acbb81763e6337ed5fc419a44b8602d1a37f784d455
+size 29065216
diff --git a/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/pick_and_lift+2/lock.mdb b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/pick_and_lift+2/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..835cd10955ca0a29d97e5f439bd724a4e7f3a2d0
Binary files /dev/null and b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/pick_and_lift+2/lock.mdb differ
diff --git a/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/pick_and_lift+7/data.mdb b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/pick_and_lift+7/data.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..c75917eded3b8af13801e022b5d5a9371d1e033c
--- /dev/null
+++ b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/pick_and_lift+7/data.mdb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5b78e69e7feabdf94a62beba4515552a67acfe86000ebc6f75c8308d4a536f9
+size 29110272
diff --git a/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/pick_and_lift+7/lock.mdb b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/pick_and_lift+7/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..835cd10955ca0a29d97e5f439bd724a4e7f3a2d0
Binary files /dev/null and b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/pick_and_lift+7/lock.mdb differ
diff --git a/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/pick_up_cup+11/data.mdb b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/pick_up_cup+11/data.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..3af2bdb050311ee5eb72eee03b3d37476915fbbe
--- /dev/null
+++ b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/pick_up_cup+11/data.mdb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77d307c45d1934c104ed04fb0d813064937966133f7702e7b76ffbee0f22a5d2
+size 23941120
diff --git a/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/pick_up_cup+11/lock.mdb b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/pick_up_cup+11/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..835cd10955ca0a29d97e5f439bd724a4e7f3a2d0
Binary files /dev/null and b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/pick_up_cup+11/lock.mdb differ
diff --git a/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/pick_up_cup+8/data.mdb b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/pick_up_cup+8/data.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..54c2bd95c4a053b6d63df1ae61b310a2b9caf012
--- /dev/null
+++ b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/pick_up_cup+8/data.mdb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4538d239a6abeb9d955ea107f1771b1d7c4057d0099d1a0489b8654b8fbc9da
+size 23822336
diff --git a/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/pick_up_cup+8/lock.mdb b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/pick_up_cup+8/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..835cd10955ca0a29d97e5f439bd724a4e7f3a2d0
Binary files /dev/null and b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/pick_up_cup+8/lock.mdb differ
diff --git a/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/pick_up_cup+9/data.mdb b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/pick_up_cup+9/data.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..7b0fbae9a972d173e3cc5ccc9b005a6a552d7353
--- /dev/null
+++ b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/pick_up_cup+9/data.mdb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e41b164d9d8754b2b945235abd7b3b8015f8c6f513d7fba02092eba31002fa1f
+size 23928832
diff --git a/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/pick_up_cup+9/lock.mdb b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/pick_up_cup+9/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..835cd10955ca0a29d97e5f439bd724a4e7f3a2d0
Binary files /dev/null and b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/pick_up_cup+9/lock.mdb differ
diff --git a/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/push_button+0/data.mdb b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/push_button+0/data.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..665d82f06f846433167dd9f674136802a4d1b1b8
--- /dev/null
+++ b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/push_button+0/data.mdb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:acccc376e7dfe52e5359eeb5433b8bb34fff57962b08ba006f4bdeb0a67f861a
+size 17211392
diff --git a/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/push_button+0/lock.mdb b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/push_button+0/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..3c1b9bf8085b1aa19f4fdc22a991607c0cf9005a
Binary files /dev/null and b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/push_button+0/lock.mdb differ
diff --git a/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/push_button+3/data.mdb b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/push_button+3/data.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..b3e34c643a2c8c51b6f366bd905e975f26113d55
--- /dev/null
+++ b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/push_button+3/data.mdb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25aedb201a7e305f5d655795f390703b0d91d2d22e973ce401ef66fbf78967cf
+size 17227776
diff --git a/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/push_button+3/lock.mdb b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/push_button+3/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..fed622d0a2302f8b571ff2ce6620f4591a03ec71
Binary files /dev/null and b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/push_button+3/lock.mdb differ
diff --git a/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/push_button+4/data.mdb b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/push_button+4/data.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..aa4635db0cba8f233ce4d992dd67b8cb08c5f153
--- /dev/null
+++ b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/push_button+4/data.mdb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcdc7a73c8eaea62edbbd21ec7095c70fe08c8d194a3fc83d0bc9d0e7f48cec3
+size 17223680
diff --git a/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/push_button+4/lock.mdb b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/push_button+4/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..fed622d0a2302f8b571ff2ce6620f4591a03ec71
Binary files /dev/null and b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/push_button+4/lock.mdb differ
diff --git a/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/put_groceries_in_cupboard+0/data.mdb b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/put_groceries_in_cupboard+0/data.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..73fc6c75b47e434a526317df415e6440b2d0301c
--- /dev/null
+++ b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/put_groceries_in_cupboard+0/data.mdb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:111db012d29f70e4aa16ba7971f586b22909300ee838d4e47d99a60d27ff5b59
+size 38436864
diff --git a/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/put_groceries_in_cupboard+0/lock.mdb b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/put_groceries_in_cupboard+0/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..835cd10955ca0a29d97e5f439bd724a4e7f3a2d0
Binary files /dev/null and b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/put_groceries_in_cupboard+0/lock.mdb differ
diff --git a/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/put_groceries_in_cupboard+3/data.mdb b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/put_groceries_in_cupboard+3/data.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..50895ac561d1e6e885c165b937574d1ea989fa88
--- /dev/null
+++ b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/put_groceries_in_cupboard+3/data.mdb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:caa25633f32c3c1b4dde1a312adffb5ea72f4b729319aa71bd20d4526cedacd6
+size 37117952
diff --git a/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/put_groceries_in_cupboard+3/lock.mdb b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/put_groceries_in_cupboard+3/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..835cd10955ca0a29d97e5f439bd724a4e7f3a2d0
Binary files /dev/null and b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/put_groceries_in_cupboard+3/lock.mdb differ
diff --git a/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/put_money_in_safe+0/data.mdb b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/put_money_in_safe+0/data.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..513fa45ba89863bc23757a8100761c5d3ded0e0e
--- /dev/null
+++ b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/put_money_in_safe+0/data.mdb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1c62f85875014a617ad04e0d597fa7273de57ea708822041f82987f993035d5
+size 41467904
diff --git a/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/put_money_in_safe+0/lock.mdb b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/put_money_in_safe+0/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..835cd10955ca0a29d97e5f439bd724a4e7f3a2d0
Binary files /dev/null and b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/put_money_in_safe+0/lock.mdb differ
diff --git a/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/put_money_in_safe+1/data.mdb b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/put_money_in_safe+1/data.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..6c09863edc1a167b50eae422e160535ef99b99a3
--- /dev/null
+++ b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/put_money_in_safe+1/data.mdb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45040e94bdd928469f8abbd625f0cde164c7399ad159ada53b5d23cbe88ecb20
+size 41603072
diff --git a/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/put_money_in_safe+1/lock.mdb b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/put_money_in_safe+1/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..835cd10955ca0a29d97e5f439bd724a4e7f3a2d0
Binary files /dev/null and b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/put_money_in_safe+1/lock.mdb differ
diff --git a/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/reach_and_drag_peract+14/data.mdb b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/reach_and_drag_peract+14/data.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..2624138f7a7ed1c5a02c93823d38139e9047410e
--- /dev/null
+++ b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/reach_and_drag_peract+14/data.mdb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a0ceda5a41c1831619ea3555e5e02b7c7b69544a51141d749654ca2e7cc64f0
+size 40767488
diff --git a/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/reach_and_drag_peract+14/lock.mdb b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/reach_and_drag_peract+14/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..835cd10955ca0a29d97e5f439bd724a4e7f3a2d0
Binary files /dev/null and b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/reach_and_drag_peract+14/lock.mdb differ
diff --git a/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/reach_and_drag_peract+18/data.mdb b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/reach_and_drag_peract+18/data.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..6178bc5f3ff925e001305e7c9d476ae2be6942b6
--- /dev/null
+++ b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/reach_and_drag_peract+18/data.mdb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e16e2847c421466078221fa310bbe7c90683cedbbc0717c3fcad8c87c5ba079d
+size 40767488
diff --git a/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/reach_and_drag_peract+18/lock.mdb b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/reach_and_drag_peract+18/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..835cd10955ca0a29d97e5f439bd724a4e7f3a2d0
Binary files /dev/null and b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/reach_and_drag_peract+18/lock.mdb differ
diff --git a/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/slide_block_to_color_target_peract+0/data.mdb b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/slide_block_to_color_target_peract+0/data.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..8c1b45f9664170146ebe777072bd10e1ffd4f914
--- /dev/null
+++ b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/slide_block_to_color_target_peract+0/data.mdb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13ac3fae0a04960230919ed3c8e823e21ec2a6394588699cad9702857b129b47
+size 17158144
diff --git a/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/slide_block_to_color_target_peract+0/lock.mdb b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/slide_block_to_color_target_peract+0/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..835cd10955ca0a29d97e5f439bd724a4e7f3a2d0
Binary files /dev/null and b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/slide_block_to_color_target_peract+0/lock.mdb differ
diff --git a/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/slide_block_to_color_target_peract+1/data.mdb b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/slide_block_to_color_target_peract+1/data.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..c4a29ff138931f8dd6bf0cbfce12fdd8f6a49d92
--- /dev/null
+++ b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/slide_block_to_color_target_peract+1/data.mdb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:acf2a8612a3839992560af3387860badd270b7e4cf66d70afee732a266cdc482
+size 34463744
diff --git a/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/slide_block_to_color_target_peract+1/lock.mdb b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/slide_block_to_color_target_peract+1/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..835cd10955ca0a29d97e5f439bd724a4e7f3a2d0
Binary files /dev/null and b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/slide_block_to_color_target_peract+1/lock.mdb differ
diff --git a/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/stack_blocks+30/data.mdb b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/stack_blocks+30/data.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..c263c70638c80bad5bc57aecefc4e425a907de98
--- /dev/null
+++ b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/stack_blocks+30/data.mdb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a940c8a2de651dc8854d6b0ef2e155a37c359a943a832247a88c698756d423a3
+size 71090176
diff --git a/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/stack_blocks+30/lock.mdb b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/stack_blocks+30/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..835cd10955ca0a29d97e5f439bd724a4e7f3a2d0
Binary files /dev/null and b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/stack_blocks+30/lock.mdb differ
diff --git a/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/stack_blocks+36/data.mdb b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/stack_blocks+36/data.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..71583dce8de3498749e3bb04ea034dcab5db8128
--- /dev/null
+++ b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/stack_blocks+36/data.mdb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27e56edc7e203791e41b84ad9fb47f1fdf1b0fb7d318a18f9b1bffe8f4eacce1
+size 71081984
diff --git a/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/stack_blocks+36/lock.mdb b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/stack_blocks+36/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..835cd10955ca0a29d97e5f439bd724a4e7f3a2d0
Binary files /dev/null and b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/stack_blocks+36/lock.mdb differ
diff --git a/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/stack_blocks+39/data.mdb b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/stack_blocks+39/data.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..78e78b17f005dd7010f9e40b8acfccb1cf4f3ea9
--- /dev/null
+++ b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/stack_blocks+39/data.mdb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac9161016bc74002845af0732e66b583352a1df5447e1a661ce51c715a146a02
+size 71106560
diff --git a/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/stack_blocks+39/lock.mdb b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/stack_blocks+39/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..835cd10955ca0a29d97e5f439bd724a4e7f3a2d0
Binary files /dev/null and b/val_dataset/keysteps_bbox_pcd/seed100/voxel1cm/stack_blocks+39/lock.mdb differ
diff --git a/val_dataset/microsteps.tar.gz b/val_dataset/microsteps.tar.gz
new file mode 100644
index 0000000000000000000000000000000000000000..5cb143ef6dd99e9bd86f6d5a6844f46d6024b658
--- /dev/null
+++ b/val_dataset/microsteps.tar.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14e7d11c67649af9a3533b9dd950e0ddc6a711584e74866de59bf0e5dd416715
+size 114981481
diff --git a/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/close_fridge+0/data.mdb b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/close_fridge+0/data.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..1f29e29e0784989bf656275cdf38d47b62a0cdce
--- /dev/null
+++ b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/close_fridge+0/data.mdb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0866d6f85c955ff14899d4b9d0cf871b6aeeb94b21de0afe90de43b1cecab897
+size 6684672
diff --git a/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/close_fridge+0/lock.mdb b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/close_fridge+0/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..a12a88b82694de95d877f0b2c7ff3552945d7f74
Binary files /dev/null and b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/close_fridge+0/lock.mdb differ
diff --git a/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/close_jar_peract+15/data.mdb b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/close_jar_peract+15/data.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..2d0c5b61095915cdc90afb6154e86857c2b0663b
--- /dev/null
+++ b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/close_jar_peract+15/data.mdb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eae5350275b5e011c07f40c8c0fec01aca050625e46db68555eee08aeb09c28f
+size 9179136
diff --git a/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/close_jar_peract+15/lock.mdb b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/close_jar_peract+15/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..4728d37f03b8278e56fb66591b0d23d38324aafc
Binary files /dev/null and b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/close_jar_peract+15/lock.mdb differ
diff --git a/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/close_jar_peract+16/data.mdb b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/close_jar_peract+16/data.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..064c5e5490383a8eb8c22d44c1a0795a076c6528
--- /dev/null
+++ b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/close_jar_peract+16/data.mdb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:521007d57accd01277c7f9e911029bd68fdf45c620f449292983793301a3e022
+size 9031680
diff --git a/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/close_jar_peract+16/lock.mdb b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/close_jar_peract+16/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..4728d37f03b8278e56fb66591b0d23d38324aafc
Binary files /dev/null and b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/close_jar_peract+16/lock.mdb differ
diff --git a/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/close_laptop_lid+0/data.mdb b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/close_laptop_lid+0/data.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..4e24ea4a845da81b569706c178d556221cc5c15e
--- /dev/null
+++ b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/close_laptop_lid+0/data.mdb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0038667bd1ec3a49848ba23afe78d8a204e695db343ce2b79c310d8c4393f270
+size 10362880
diff --git a/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/close_laptop_lid+0/lock.mdb b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/close_laptop_lid+0/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..4728d37f03b8278e56fb66591b0d23d38324aafc
Binary files /dev/null and b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/close_laptop_lid+0/lock.mdb differ
diff --git a/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/close_microwave+0/data.mdb b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/close_microwave+0/data.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..f6c53daa689add0a3ea72f318995a441751a189e
--- /dev/null
+++ b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/close_microwave+0/data.mdb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f04c202117b37a9eef6f27a0daa60aa28dfd67d7b4f6bff9998fe4925bb8f82
+size 7761920
diff --git a/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/close_microwave+0/lock.mdb b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/close_microwave+0/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..4728d37f03b8278e56fb66591b0d23d38324aafc
Binary files /dev/null and b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/close_microwave+0/lock.mdb differ
diff --git a/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/light_bulb_in_peract+17/data.mdb b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/light_bulb_in_peract+17/data.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..70b705d0f25a629604d93a30402b67f5978b8056
--- /dev/null
+++ b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/light_bulb_in_peract+17/data.mdb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff3d8853f2501960a9e5d6f84e77579f4233864a0e08752c3ea32dba87473ec8
+size 11886592
diff --git a/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/light_bulb_in_peract+17/lock.mdb b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/light_bulb_in_peract+17/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..4728d37f03b8278e56fb66591b0d23d38324aafc
Binary files /dev/null and b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/light_bulb_in_peract+17/lock.mdb differ
diff --git a/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/light_bulb_in_peract+19/data.mdb b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/light_bulb_in_peract+19/data.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..27bbfa6fdf25b718bb993d34ecdc67fe19b7665c
--- /dev/null
+++ b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/light_bulb_in_peract+19/data.mdb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5123fa9158221d9072d37e449084f34668bbfc56627dd120864f549289d8552
+size 11898880
diff --git a/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/light_bulb_in_peract+19/lock.mdb b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/light_bulb_in_peract+19/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..4728d37f03b8278e56fb66591b0d23d38324aafc
Binary files /dev/null and b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/light_bulb_in_peract+19/lock.mdb differ
diff --git a/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/open_box+0/data.mdb b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/open_box+0/data.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..5321e83ef1da3f2a3fb9c7064ad2ca5697525d1c
--- /dev/null
+++ b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/open_box+0/data.mdb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0455d8f36e4857dbc706123dbe8dfbe8cdd17ddd78d8f72f840f9b80e753dc8
+size 7659520
diff --git a/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/open_box+0/lock.mdb b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/open_box+0/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..4728d37f03b8278e56fb66591b0d23d38324aafc
Binary files /dev/null and b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/open_box+0/lock.mdb differ
diff --git a/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/open_door+0/data.mdb b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/open_door+0/data.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..7e33091cf19b6a86a1bcf3022df43e3a5ac00260
--- /dev/null
+++ b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/open_door+0/data.mdb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a117a011417ff9fd72591f86829c6adaaa1a140016673f33b7bf548476573cc3
+size 13062144
diff --git a/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/open_door+0/lock.mdb b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/open_door+0/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..4728d37f03b8278e56fb66591b0d23d38324aafc
Binary files /dev/null and b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/open_door+0/lock.mdb differ
diff --git a/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/open_drawer+0/data.mdb b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/open_drawer+0/data.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..751545f28fd67c8c0b8f0ace89d61e95bfc64fe5
--- /dev/null
+++ b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/open_drawer+0/data.mdb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:640a7b79bbc56a4ad9ae81fdfa263d1519317a3f2c447bc6529537a1da333db8
+size 10350592
diff --git a/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/open_drawer+0/lock.mdb b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/open_drawer+0/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..4728d37f03b8278e56fb66591b0d23d38324aafc
Binary files /dev/null and b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/open_drawer+0/lock.mdb differ
diff --git a/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/open_drawer+2/data.mdb b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/open_drawer+2/data.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..e9f529c1e02dec871e3ddbbe41583cfd2d5b8311
--- /dev/null
+++ b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/open_drawer+2/data.mdb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52fcc96972f4091676575d3ef86029383917f5c9d7ce0c7d5d3d9fff7d3c509f
+size 10022912
diff --git a/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/open_drawer+2/lock.mdb b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/open_drawer+2/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..4728d37f03b8278e56fb66591b0d23d38324aafc
Binary files /dev/null and b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/open_drawer+2/lock.mdb differ
diff --git a/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/pick_and_lift+0/data.mdb b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/pick_and_lift+0/data.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..488acaa0c8b66649a98c762a4ad0a8a442b490ec
--- /dev/null
+++ b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/pick_and_lift+0/data.mdb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c94fa8d60935954d5766a547de864b60504635c97fa7b18d4b42b9e086672f7
+size 5935104
diff --git a/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/pick_and_lift+0/lock.mdb b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/pick_and_lift+0/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..4728d37f03b8278e56fb66591b0d23d38324aafc
Binary files /dev/null and b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/pick_and_lift+0/lock.mdb differ
diff --git a/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/pick_and_lift+2/data.mdb b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/pick_and_lift+2/data.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..36a6e95076bda6b7003ef3462e1c5f2a2b2d2562
--- /dev/null
+++ b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/pick_and_lift+2/data.mdb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6101f7d2f8fd6a264de12fcc7569d6d30bfd500f5e98fb81cdcd7b76ef7afdc
+size 5926912
diff --git a/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/pick_and_lift+2/lock.mdb b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/pick_and_lift+2/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..4728d37f03b8278e56fb66591b0d23d38324aafc
Binary files /dev/null and b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/pick_and_lift+2/lock.mdb differ
diff --git a/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/pick_and_lift+7/data.mdb b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/pick_and_lift+7/data.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..15534e3b0e71b49202642ef42ae5070e3d34bc81
--- /dev/null
+++ b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/pick_and_lift+7/data.mdb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6ffa4a41820ec21e44fa7e31b4f8f1b5b2227b4b1a7d2743b0506b9a3053978
+size 5967872
diff --git a/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/pick_and_lift+7/lock.mdb b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/pick_and_lift+7/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..4728d37f03b8278e56fb66591b0d23d38324aafc
Binary files /dev/null and b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/pick_and_lift+7/lock.mdb differ
diff --git a/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/pick_up_cup+11/data.mdb b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/pick_up_cup+11/data.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..d3e188452aa441dd9d88f8c9067ab4936b66cccc
--- /dev/null
+++ b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/pick_up_cup+11/data.mdb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:807bb30d1b7f8df14b1c5d4a1fc69a8cfd5d65520b7fff539040bdaa22967ae8
+size 5214208
diff --git a/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/pick_up_cup+11/lock.mdb b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/pick_up_cup+11/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..4728d37f03b8278e56fb66591b0d23d38324aafc
Binary files /dev/null and b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/pick_up_cup+11/lock.mdb differ
diff --git a/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/pick_up_cup+8/data.mdb b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/pick_up_cup+8/data.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..2f2f4391f954d2b615946ba65d5b14fe896af5b7
--- /dev/null
+++ b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/pick_up_cup+8/data.mdb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20dba042dbd28ae7bb940501c85ee3d2c1eead1fe979b443fe47afbff8926da9
+size 5029888
diff --git a/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/pick_up_cup+8/lock.mdb b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/pick_up_cup+8/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..4728d37f03b8278e56fb66591b0d23d38324aafc
Binary files /dev/null and b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/pick_up_cup+8/lock.mdb differ
diff --git a/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/pick_up_cup+9/data.mdb b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/pick_up_cup+9/data.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..29256759432f2fdcbce1d873c293d31220a467ff
--- /dev/null
+++ b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/pick_up_cup+9/data.mdb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24b2a5997493756ca43b73c4185547eeddcff32c1e64f034aefd122c319e9cb3
+size 5210112
diff --git a/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/pick_up_cup+9/lock.mdb b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/pick_up_cup+9/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..4728d37f03b8278e56fb66591b0d23d38324aafc
Binary files /dev/null and b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/pick_up_cup+9/lock.mdb differ
diff --git a/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/push_button+0/data.mdb b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/push_button+0/data.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..e66581ebfcb5c6baf537b64469579f504783d95d
--- /dev/null
+++ b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/push_button+0/data.mdb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c28c3148c8bdfc8f0c46d94073a4963072d619ed5f1f3c3bb29848d65132e73e
+size 3252224
diff --git a/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/push_button+0/lock.mdb b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/push_button+0/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..4728d37f03b8278e56fb66591b0d23d38324aafc
Binary files /dev/null and b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/push_button+0/lock.mdb differ
diff --git a/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/push_button+3/data.mdb b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/push_button+3/data.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..7e17c8cfdf8eb293395b6d849836bb2970524eb9
--- /dev/null
+++ b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/push_button+3/data.mdb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8f7337f19e43062c3942b31736c6ad07ae994b6193d69323268e0f02ac55c8d
+size 3264512
diff --git a/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/push_button+3/lock.mdb b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/push_button+3/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..4728d37f03b8278e56fb66591b0d23d38324aafc
Binary files /dev/null and b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/push_button+3/lock.mdb differ
diff --git a/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/push_button+4/data.mdb b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/push_button+4/data.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..03fa7fac184db77020196acf49429e89edb12c9b
--- /dev/null
+++ b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/push_button+4/data.mdb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88e33ef60fa27ae2da8505d3a86f7bb41d02dfdb79ceb8e60c1623b3bfb6c001
+size 3264512
diff --git a/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/push_button+4/lock.mdb b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/push_button+4/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..4728d37f03b8278e56fb66591b0d23d38324aafc
Binary files /dev/null and b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/push_button+4/lock.mdb differ
diff --git a/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/put_groceries_in_cupboard+0/data.mdb b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/put_groceries_in_cupboard+0/data.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..c3ec2020b66dcef0bcb3b1d0f7e593f9808c7dab
--- /dev/null
+++ b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/put_groceries_in_cupboard+0/data.mdb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9f31719f7205c9917331befb993877478a52dda62cf922ff4795227bc9a2e54
+size 13262848
diff --git a/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/put_groceries_in_cupboard+0/lock.mdb b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/put_groceries_in_cupboard+0/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..4728d37f03b8278e56fb66591b0d23d38324aafc
Binary files /dev/null and b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/put_groceries_in_cupboard+0/lock.mdb differ
diff --git a/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/put_groceries_in_cupboard+3/data.mdb b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/put_groceries_in_cupboard+3/data.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..4bc9fcb36ba9f0c47d27fe0fbd03d5bf564edef3
--- /dev/null
+++ b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/put_groceries_in_cupboard+3/data.mdb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ba7f29fc4b40b1b0018fd812957d2a04a4a57f35ffec55417122a5a9f319895
+size 13160448
diff --git a/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/put_groceries_in_cupboard+3/lock.mdb b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/put_groceries_in_cupboard+3/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..4728d37f03b8278e56fb66591b0d23d38324aafc
Binary files /dev/null and b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/put_groceries_in_cupboard+3/lock.mdb differ
diff --git a/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/put_money_in_safe+0/data.mdb b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/put_money_in_safe+0/data.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..16f10f7f8957aa0a0a0b4d0e0a2ab30d62a69f16
--- /dev/null
+++ b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/put_money_in_safe+0/data.mdb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbef1c256243598ad7b6b0c6abd129aaebcbc615bdd21568a922e216ab0ded1b
+size 18296832
diff --git a/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/put_money_in_safe+0/lock.mdb b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/put_money_in_safe+0/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..4728d37f03b8278e56fb66591b0d23d38324aafc
Binary files /dev/null and b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/put_money_in_safe+0/lock.mdb differ
diff --git a/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/put_money_in_safe+1/data.mdb b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/put_money_in_safe+1/data.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..7eb2aefbfb29343a3fe3c1198737f2ef1ac60e64
--- /dev/null
+++ b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/put_money_in_safe+1/data.mdb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f94d436eb3dfa35f18d92bb42bb40e451b70c8e450ce6aca155d0180f89c65ba
+size 18386944
diff --git a/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/put_money_in_safe+1/lock.mdb b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/put_money_in_safe+1/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..4728d37f03b8278e56fb66591b0d23d38324aafc
Binary files /dev/null and b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/put_money_in_safe+1/lock.mdb differ
diff --git a/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/reach_and_drag_peract+14/data.mdb b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/reach_and_drag_peract+14/data.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..de8c7224952e67a856e7a1f717d2a9926f5db954
--- /dev/null
+++ b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/reach_and_drag_peract+14/data.mdb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:554bb60c9c1de7a73cb01366d9c4d618a62dfb15f9b5dfa8c33449e17ccc6785
+size 9236480
diff --git a/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/reach_and_drag_peract+14/lock.mdb b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/reach_and_drag_peract+14/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..4728d37f03b8278e56fb66591b0d23d38324aafc
Binary files /dev/null and b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/reach_and_drag_peract+14/lock.mdb differ
diff --git a/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/reach_and_drag_peract+18/data.mdb b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/reach_and_drag_peract+18/data.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..72b39edec9cbf80fe2a4cd9ad491f6cf0390d102
--- /dev/null
+++ b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/reach_and_drag_peract+18/data.mdb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b6cb19e5a547f37b5cdd5ccc2490b99028037361066a132d89cadd615691537
+size 9236480
diff --git a/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/reach_and_drag_peract+18/lock.mdb b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/reach_and_drag_peract+18/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..4728d37f03b8278e56fb66591b0d23d38324aafc
Binary files /dev/null and b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/reach_and_drag_peract+18/lock.mdb differ
diff --git a/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/slide_block_to_color_target_peract+0/data.mdb b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/slide_block_to_color_target_peract+0/data.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..bc764e8a6d15424b258aa165affbf6be2206954d
--- /dev/null
+++ b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/slide_block_to_color_target_peract+0/data.mdb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d02bb3174eea1fb619c506a67c84b66627f18fc432402abd7bd8e108657e479a
+size 3477504
diff --git a/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/slide_block_to_color_target_peract+0/lock.mdb b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/slide_block_to_color_target_peract+0/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..4728d37f03b8278e56fb66591b0d23d38324aafc
Binary files /dev/null and b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/slide_block_to_color_target_peract+0/lock.mdb differ
diff --git a/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/slide_block_to_color_target_peract+1/data.mdb b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/slide_block_to_color_target_peract+1/data.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..587287725f4bdc5eaf1854c248d2c56c63854958
--- /dev/null
+++ b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/slide_block_to_color_target_peract+1/data.mdb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10c20d087e1e30585a8f08d691fdd421ffb65dbcd34765c59b63db365bf55758
+size 7225344
diff --git a/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/slide_block_to_color_target_peract+1/lock.mdb b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/slide_block_to_color_target_peract+1/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..4728d37f03b8278e56fb66591b0d23d38324aafc
Binary files /dev/null and b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/slide_block_to_color_target_peract+1/lock.mdb differ
diff --git a/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/stack_blocks+30/data.mdb b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/stack_blocks+30/data.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..913995db174d2361ea24e7aba709cc923155db08
--- /dev/null
+++ b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/stack_blocks+30/data.mdb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1fece55105e98215229fc56f01c77f57329a7b5b8c20fe53f3d432176cae76bc
+size 15892480
diff --git a/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/stack_blocks+30/lock.mdb b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/stack_blocks+30/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..4728d37f03b8278e56fb66591b0d23d38324aafc
Binary files /dev/null and b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/stack_blocks+30/lock.mdb differ
diff --git a/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/stack_blocks+36/data.mdb b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/stack_blocks+36/data.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..78f81144dfebcb30ea2acafba8d97e5fa38e9316
--- /dev/null
+++ b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/stack_blocks+36/data.mdb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c561e148b1e89ba22c3b8c8bbf5fcce54a86d4e2d630db867c6df9313b3a1904
+size 15863808
diff --git a/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/stack_blocks+36/lock.mdb b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/stack_blocks+36/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..4728d37f03b8278e56fb66591b0d23d38324aafc
Binary files /dev/null and b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/stack_blocks+36/lock.mdb differ
diff --git a/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/stack_blocks+39/data.mdb b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/stack_blocks+39/data.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..c8da16a9fa66515ad2e0e3f505cb505a56e6c010
--- /dev/null
+++ b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/stack_blocks+39/data.mdb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e67e738bd6fc132fc66be510e84b3bc65bc0628d5914d8e8d4675419e09d52a4
+size 15892480
diff --git a/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/stack_blocks+39/lock.mdb b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/stack_blocks+39/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..4728d37f03b8278e56fb66591b0d23d38324aafc
Binary files /dev/null and b/val_dataset/motion_keysteps_bbox_pcd/seed100/voxel1cm/stack_blocks+39/lock.mdb differ
diff --git a/val_dataset/val_dataset.zip b/val_dataset/val_dataset.zip
new file mode 100644
index 0000000000000000000000000000000000000000..820d3a850ca615c758bb28fe04db6d88130d52bd
--- /dev/null
+++ b/val_dataset/val_dataset.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28c52e0a9c06bb3adfaa849722f75a82b2dc6ee17fb446ecb5963876f99662c0
+size 1475593863