$TASK_NAME/                     # e.g. robomimic__lift, robomimic__can, robomimic__square
└── demos_$DEMOS/               # e.g. demos_5, demos_10, demos_50
    └── seed_$SEED/             # e.g. seed_0
        ├── latest_base_policy.pt
        └── latest_residual_checkpoint.pt