diff --git a/.gitattributes b/.gitattributes
index 4135de8f..f12e709c 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -1,2 +1,6 @@
 *.memmap filter=lfs diff=lfs merge=lfs -text
 *.stl filter=lfs diff=lfs merge=lfs -text
+*.safetensors filter=lfs diff=lfs merge=lfs -text
+*.mp4 filter=lfs diff=lfs merge=lfs -text
+*.arrow filter=lfs diff=lfs merge=lfs -text
+*.json filter=lfs diff=lfs merge=lfs -text
diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
index 45feabdc..a466cff7 100644
--- a/.github/workflows/test.yml
+++ b/.github/workflows/test.yml
@@ -29,6 +29,8 @@ jobs:
       MUJOCO_GL: egl
     steps:
       - uses: actions/checkout@v4
+        with:
+          lfs: true  # Ensure LFS files are pulled
 
       - name: Install EGL
         run: sudo apt-get update && sudo apt-get install -y libegl1-mesa-dev
@@ -65,6 +67,8 @@ jobs:
       MUJOCO_GL: egl
     steps:
       - uses: actions/checkout@v4
+        with:
+          lfs: true  # Ensure LFS files are pulled
 
       - name: Install poetry
         run: |
@@ -97,6 +101,8 @@ jobs:
       MUJOCO_GL: egl
     steps:
       - uses: actions/checkout@v4
+        with:
+          lfs: true  # Ensure LFS files are pulled
 
       - name: Install EGL
         run: sudo apt-get update && sudo apt-get install -y libegl1-mesa-dev
diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md
index dd8f97e2..b20dede6 100644
--- a/CONTRIBUTING.md
+++ b/CONTRIBUTING.md
@@ -195,6 +195,11 @@ Follow these steps to start contributing:
    git commit
    ```
 
+   Note, if you already commited some changes that have a wrong formatting, you can use:
+   ```bash
+   pre-commit run --all-files
+   ```
+
    Please write [good commit messages](https://chris.beams.io/posts/git-commit/).
 
    It is a good idea to sync your copy of the code with the original
diff --git a/Makefile b/Makefile
index c4140cd0..2bab6199 100644
--- a/Makefile
+++ b/Makefile
@@ -20,6 +20,8 @@ build-gpu:
 test-end-to-end:
 	${MAKE} test-act-ete-train
 	${MAKE} test-act-ete-eval
+	${MAKE} test-act-ete-train-amp
+	${MAKE} test-act-ete-eval-amp
 	${MAKE} test-diffusion-ete-train
 	${MAKE} test-diffusion-ete-eval
 	${MAKE} test-tdmpc-ete-train
@@ -30,6 +32,7 @@ test-end-to-end:
 test-act-ete-train:
 	python lerobot/scripts/train.py \
 		policy=act \
+		policy.dim_model=64 \
 		env=aloha \
 		wandb.enable=False \
 		training.offline_steps=2 \
@@ -52,9 +55,40 @@ test-act-ete-eval:
 		env.episode_length=8 \
 		device=cpu \
 
+test-act-ete-train-amp:
+	python lerobot/scripts/train.py \
+		policy=act \
+		policy.dim_model=64 \
+		env=aloha \
+		wandb.enable=False \
+		training.offline_steps=2 \
+		training.online_steps=0 \
+		eval.n_episodes=1 \
+		eval.batch_size=1 \
+		device=cpu \
+		training.save_model=true \
+		training.save_freq=2 \
+		policy.n_action_steps=20 \
+		policy.chunk_size=20 \
+		training.batch_size=2 \
+		hydra.run.dir=tests/outputs/act/ \
+		use_amp=true
+
+test-act-ete-eval-amp:
+	python lerobot/scripts/eval.py \
+		-p tests/outputs/act/checkpoints/000002 \
+		eval.n_episodes=1 \
+		eval.batch_size=1 \
+		env.episode_length=8 \
+		device=cpu \
+		use_amp=true
+
 test-diffusion-ete-train:
 	python lerobot/scripts/train.py \
 		policy=diffusion \
+		policy.down_dims=\[64,128,256\] \
+		policy.diffusion_step_embed_dim=32 \
+		policy.num_inference_steps=10 \
 		env=pusht \
 		wandb.enable=False \
 		training.offline_steps=2 \
@@ -75,6 +109,7 @@ test-diffusion-ete-eval:
 		env.episode_length=8 \
 		device=cpu \
 
+# TODO(alexander-soare): Restore online_steps to 2 when it is reinstated.
 test-tdmpc-ete-train:
 	python lerobot/scripts/train.py \
 		policy=tdmpc \
@@ -83,7 +118,7 @@ test-tdmpc-ete-train:
 		dataset_repo_id=lerobot/xarm_lift_medium \
 		wandb.enable=False \
 		training.offline_steps=2 \
-		training.online_steps=2 \
+		training.online_steps=0 \
 		eval.n_episodes=1 \
 		eval.batch_size=1 \
 		env.episode_length=2 \
@@ -101,7 +136,6 @@ test-tdmpc-ete-eval:
 		env.episode_length=8 \
 		device=cpu \
 
-
 test-default-ete-eval:
 	python lerobot/scripts/eval.py \
 		--config lerobot/configs/default.yaml \
diff --git a/README.md b/README.md
index db573121..337adb85 100644
--- a/README.md
+++ b/README.md
@@ -198,11 +198,11 @@ To add a dataset to the hub, you need to login using a write-access token, which
 huggingface-cli login --token ${HUGGINGFACE_TOKEN} --add-to-git-credential
 ```
 
-Then move your dataset folder in `data` directory (e.g. `data/aloha_ping_pong`), and push your dataset to the hub with:
+Then move your dataset folder in `data` directory (e.g. `data/aloha_static_pingpong_test`), and push your dataset to the hub with:
 ```bash
 python lerobot/scripts/push_dataset_to_hub.py \
 --data-dir data \
---dataset-id aloha_ping_ping \
+--dataset-id aloha_static_pingpong_test \
 --raw-format aloha_hdf5 \
 --community-id lerobot
 ```
diff --git a/docker/lerobot-gpu/Dockerfile b/docker/lerobot-gpu/Dockerfile
index a2823dc2..9889114a 100644
--- a/docker/lerobot-gpu/Dockerfile
+++ b/docker/lerobot-gpu/Dockerfile
@@ -8,7 +8,7 @@ ARG DEBIAN_FRONTEND=noninteractive
 RUN apt-get update && apt-get install -y --no-install-recommends \
     build-essential cmake \
     git git-lfs openssh-client \
-    nano vim \
+    nano vim ffmpeg \
     htop atop nvtop \
     sed gawk grep curl wget \
     tcpdump sysstat screen \
diff --git a/examples/4_calculate_validation_loss.py b/examples/4_calculate_validation_loss.py
new file mode 100644
index 00000000..1428014b
--- /dev/null
+++ b/examples/4_calculate_validation_loss.py
@@ -0,0 +1,90 @@
+"""This script demonstrates how to slice a dataset and calculate the loss on a subset of the data.
+
+This technique can be useful for debugging and testing purposes, as well as identifying whether a policy
+is learning effectively.
+
+Furthermore, relying on validation loss to evaluate performance is generally not considered a good practice,
+especially in the context of imitation learning. The most reliable approach is to evaluate the policy directly
+on the target environment, whether that be in simulation or the real world.
+"""
+
+import math
+from pathlib import Path
+
+import torch
+from huggingface_hub import snapshot_download
+
+from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
+from lerobot.common.policies.diffusion.modeling_diffusion import DiffusionPolicy
+
+device = torch.device("cuda")
+
+# Download the diffusion policy for pusht environment
+pretrained_policy_path = Path(snapshot_download("lerobot/diffusion_pusht"))
+# OR uncomment the following to evaluate a policy from the local outputs/train folder.
+# pretrained_policy_path = Path("outputs/train/example_pusht_diffusion")
+
+policy = DiffusionPolicy.from_pretrained(pretrained_policy_path)
+policy.eval()
+policy.to(device)
+
+# Set up the dataset.
+delta_timestamps = {
+    # Load the previous image and state at -0.1 seconds before current frame,
+    # then load current image and state corresponding to 0.0 second.
+    "observation.image": [-0.1, 0.0],
+    "observation.state": [-0.1, 0.0],
+    # Load the previous action (-0.1), the next action to be executed (0.0),
+    # and 14 future actions with a 0.1 seconds spacing. All these actions will be
+    # used to calculate the loss.
+    "action": [-0.1, 0.0, 0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 1.0, 1.1, 1.2, 1.3, 1.4],
+}
+
+# Load the last 10% of episodes of the dataset as a validation set.
+# - Load full dataset
+full_dataset = LeRobotDataset("lerobot/pusht", split="train")
+# - Calculate train and val subsets
+num_train_episodes = math.floor(full_dataset.num_episodes * 90 / 100)
+num_val_episodes = full_dataset.num_episodes - num_train_episodes
+print(f"Number of episodes in full dataset: {full_dataset.num_episodes}")
+print(f"Number of episodes in training dataset (90% subset): {num_train_episodes}")
+print(f"Number of episodes in validation dataset (10% subset): {num_val_episodes}")
+# - Get first frame index of the validation set
+first_val_frame_index = full_dataset.episode_data_index["from"][num_train_episodes].item()
+# - Load frames subset belonging to validation set using the `split` argument.
+#   It utilizes the `datasets` library's syntax for slicing datasets.
+#   For more information on the Slice API, please see:
+#   https://huggingface.co/docs/datasets/v2.19.0/loading#slice-splits
+train_dataset = LeRobotDataset(
+    "lerobot/pusht", split=f"train[:{first_val_frame_index}]", delta_timestamps=delta_timestamps
+)
+val_dataset = LeRobotDataset(
+    "lerobot/pusht", split=f"train[{first_val_frame_index}:]", delta_timestamps=delta_timestamps
+)
+print(f"Number of frames in training dataset (90% subset): {len(train_dataset)}")
+print(f"Number of frames in validation dataset (10% subset): {len(val_dataset)}")
+
+# Create dataloader for evaluation.
+val_dataloader = torch.utils.data.DataLoader(
+    val_dataset,
+    num_workers=4,
+    batch_size=64,
+    shuffle=False,
+    pin_memory=device != torch.device("cpu"),
+    drop_last=False,
+)
+
+# Run validation loop.
+loss_cumsum = 0
+n_examples_evaluated = 0
+for batch in val_dataloader:
+    batch = {k: v.to(device, non_blocking=True) for k, v in batch.items()}
+    output_dict = policy.forward(batch)
+
+    loss_cumsum += output_dict["loss"].item()
+    n_examples_evaluated += batch["index"].shape[0]
+
+# Calculate the average loss over the validation set.
+average_loss = loss_cumsum / n_examples_evaluated
+
+print(f"Average loss on validation set: {average_loss:.4f}")
diff --git a/lerobot/__init__.py b/lerobot/__init__.py
index e188bc52..e0234f29 100644
--- a/lerobot/__init__.py
+++ b/lerobot/__init__.py
@@ -61,13 +61,21 @@ available_datasets_per_env = {
         "lerobot/aloha_sim_insertion_scripted",
         "lerobot/aloha_sim_transfer_cube_human",
         "lerobot/aloha_sim_transfer_cube_scripted",
+        "lerobot/aloha_sim_insertion_human_image",
+        "lerobot/aloha_sim_insertion_scripted_image",
+        "lerobot/aloha_sim_transfer_cube_human_image",
+        "lerobot/aloha_sim_transfer_cube_scripted_image",
     ],
-    "pusht": ["lerobot/pusht"],
+    "pusht": ["lerobot/pusht", "lerobot/pusht_image"],
     "xarm": [
         "lerobot/xarm_lift_medium",
         "lerobot/xarm_lift_medium_replay",
         "lerobot/xarm_push_medium",
         "lerobot/xarm_push_medium_replay",
+        "lerobot/xarm_lift_medium_image",
+        "lerobot/xarm_lift_medium_replay_image",
+        "lerobot/xarm_push_medium_image",
+        "lerobot/xarm_push_medium_replay_image",
     ],
 }
 
diff --git a/lerobot/common/datasets/lerobot_dataset.py b/lerobot/common/datasets/lerobot_dataset.py
index 21d09879..057e4770 100644
--- a/lerobot/common/datasets/lerobot_dataset.py
+++ b/lerobot/common/datasets/lerobot_dataset.py
@@ -20,17 +20,19 @@ import datasets
 import torch
 
 from lerobot.common.datasets.utils import (
+    calculate_episode_data_index,
     load_episode_data_index,
     load_hf_dataset,
     load_info,
     load_previous_and_future_frames,
     load_stats,
     load_videos,
+    reset_episode_index,
 )
 from lerobot.common.datasets.video_utils import VideoFrame, load_from_videos
 
 DATA_DIR = Path(os.environ["DATA_DIR"]) if "DATA_DIR" in os.environ else None
-CODEBASE_VERSION = "v1.3"
+CODEBASE_VERSION = "v1.4"
 
 
 class LeRobotDataset(torch.utils.data.Dataset):
@@ -54,7 +56,11 @@ class LeRobotDataset(torch.utils.data.Dataset):
         # TODO(rcadene, aliberts): implement faster transfer
         # https://huggingface.co/docs/huggingface_hub/en/guides/download#faster-downloads
         self.hf_dataset = load_hf_dataset(repo_id, version, root, split)
-        self.episode_data_index = load_episode_data_index(repo_id, version, root)
+        if split == "train":
+            self.episode_data_index = load_episode_data_index(repo_id, version, root)
+        else:
+            self.episode_data_index = calculate_episode_data_index(self.hf_dataset)
+            self.hf_dataset = reset_episode_index(self.hf_dataset)
         self.stats = load_stats(repo_id, version, root)
         self.info = load_info(repo_id, version, root)
         if self.video:
diff --git a/lerobot/common/datasets/push_dataset_to_hub/_download_raw.py b/lerobot/common/datasets/push_dataset_to_hub/_download_raw.py
index 232fd055..7074bcba 100644
--- a/lerobot/common/datasets/push_dataset_to_hub/_download_raw.py
+++ b/lerobot/common/datasets/push_dataset_to_hub/_download_raw.py
@@ -24,17 +24,16 @@ import shutil
 from pathlib import Path
 
 import tqdm
-
-ALOHA_RAW_URLS_DIR = "lerobot/common/datasets/push_dataset_to_hub/_aloha_raw_urls"
+from huggingface_hub import snapshot_download
 
 
 def download_raw(raw_dir, dataset_id):
-    if "pusht" in dataset_id:
+    if "aloha" in dataset_id or "image" in dataset_id:
+        download_hub(raw_dir, dataset_id)
+    elif "pusht" in dataset_id:
         download_pusht(raw_dir)
     elif "xarm" in dataset_id:
         download_xarm(raw_dir)
-    elif "aloha" in dataset_id:
-        download_aloha(raw_dir, dataset_id)
     elif "umi" in dataset_id:
         download_umi(raw_dir)
     else:
@@ -103,37 +102,13 @@ def download_xarm(raw_dir: Path):
     zip_path.unlink()
 
 
-def download_aloha(raw_dir: Path, dataset_id: str):
-    import gdown
-
-    subset_id = dataset_id.replace("aloha_", "")
-    urls_path = Path(ALOHA_RAW_URLS_DIR) / f"{subset_id}.txt"
-    assert urls_path.exists(), f"{subset_id}.txt not found in '{ALOHA_RAW_URLS_DIR}' directory."
-
-    with open(urls_path) as f:
-        # strip lines and ignore empty lines
-        urls = [url.strip() for url in f if url.strip()]
-
-    # sanity check
-    for url in urls:
-        assert (
-            "drive.google.com/drive/folders" in url or "drive.google.com/file" in url
-        ), f"Wrong url provided '{url}' in file '{urls_path}'."
-
+def download_hub(raw_dir: Path, dataset_id: str):
     raw_dir = Path(raw_dir)
     raw_dir.mkdir(parents=True, exist_ok=True)
 
-    logging.info(f"Start downloading from google drive for {dataset_id}")
-    for url in urls:
-        if "drive.google.com/drive/folders" in url:
-            # when a folder url is given, download up to 50 files from the folder
-            gdown.download_folder(url, output=str(raw_dir), remaining_ok=True)
-
-        elif "drive.google.com/file" in url:
-            # because of the 50 files limit per folder, we download the remaining files (file by file)
-            gdown.download(url, output=str(raw_dir), fuzzy=True)
-
-    logging.info(f"End downloading from google drive for {dataset_id}")
+    logging.info(f"Start downloading from huggingface.co/cadene for {dataset_id}")
+    snapshot_download(f"cadene/{dataset_id}_raw", repo_type="dataset", local_dir=raw_dir)
+    logging.info(f"Finish downloading from huggingface.co/cadene for {dataset_id}")
 
 
 def download_umi(raw_dir: Path):
@@ -148,21 +123,30 @@ def download_umi(raw_dir: Path):
 if __name__ == "__main__":
     data_dir = Path("data")
     dataset_ids = [
+        "pusht_image",
+        "xarm_lift_medium_image",
+        "xarm_lift_medium_replay_image",
+        "xarm_push_medium_image",
+        "xarm_push_medium_replay_image",
+        "aloha_sim_insertion_human_image",
+        "aloha_sim_insertion_scripted_image",
+        "aloha_sim_transfer_cube_human_image",
+        "aloha_sim_transfer_cube_scripted_image",
         "pusht",
         "xarm_lift_medium",
         "xarm_lift_medium_replay",
         "xarm_push_medium",
         "xarm_push_medium_replay",
+        "aloha_sim_insertion_human",
+        "aloha_sim_insertion_scripted",
+        "aloha_sim_transfer_cube_human",
+        "aloha_sim_transfer_cube_scripted",
         "aloha_mobile_cabinet",
         "aloha_mobile_chair",
         "aloha_mobile_elevator",
         "aloha_mobile_shrimp",
         "aloha_mobile_wash_pan",
         "aloha_mobile_wipe_wine",
-        "aloha_sim_insertion_human",
-        "aloha_sim_insertion_scripted",
-        "aloha_sim_transfer_cube_human",
-        "aloha_sim_transfer_cube_scripted",
         "aloha_static_battery",
         "aloha_static_candy",
         "aloha_static_coffee",
diff --git a/lerobot/common/datasets/push_dataset_to_hub/aloha_hdf5_format.py b/lerobot/common/datasets/push_dataset_to_hub/aloha_hdf5_format.py
index 4efadc9e..1c2f066e 100644
--- a/lerobot/common/datasets/push_dataset_to_hub/aloha_hdf5_format.py
+++ b/lerobot/common/datasets/push_dataset_to_hub/aloha_hdf5_format.py
@@ -17,7 +17,7 @@
 Contains utilities to process raw data format of HDF5 files like in: https://github.com/tonyzhaozh/act
 """
 
-import re
+import gc
 import shutil
 from pathlib import Path
 
@@ -79,10 +79,8 @@ def load_from_raw(raw_dir, out_dir, fps, video, debug):
     episode_data_index = {"from": [], "to": []}
 
     id_from = 0
-
-    for ep_path in tqdm.tqdm(hdf5_files, total=len(hdf5_files)):
+    for ep_idx, ep_path in tqdm.tqdm(enumerate(hdf5_files), total=len(hdf5_files)):
         with h5py.File(ep_path, "r") as ep:
-            ep_idx = int(re.search(r"episode_(\d+)", ep_path.name).group(1))
             num_frames = ep["/action"].shape[0]
 
             # last step of demonstration is considered done
@@ -91,6 +89,10 @@ def load_from_raw(raw_dir, out_dir, fps, video, debug):
 
             state = torch.from_numpy(ep["/observations/qpos"][:])
             action = torch.from_numpy(ep["/action"][:])
+            if "/observations/qvel" in ep:
+                velocity = torch.from_numpy(ep["/observations/qvel"][:])
+            if "/observations/effort" in ep:
+                effort = torch.from_numpy(ep["/observations/effort"][:])
 
             ep_dict = {}
 
@@ -131,6 +133,10 @@ def load_from_raw(raw_dir, out_dir, fps, video, debug):
                     ep_dict[img_key] = [PILImage.fromarray(x) for x in imgs_array]
 
             ep_dict["observation.state"] = state
+            if "/observations/velocity" in ep:
+                ep_dict["observation.velocity"] = velocity
+            if "/observations/effort" in ep:
+                ep_dict["observation.effort"] = effort
             ep_dict["action"] = action
             ep_dict["episode_index"] = torch.tensor([ep_idx] * num_frames)
             ep_dict["frame_index"] = torch.arange(0, num_frames, 1)
@@ -146,6 +152,8 @@ def load_from_raw(raw_dir, out_dir, fps, video, debug):
 
         id_from += num_frames
 
+        gc.collect()
+
         # process first episode only
         if debug:
             break
@@ -167,6 +175,14 @@ def to_hf_dataset(data_dict, video) -> Dataset:
     features["observation.state"] = Sequence(
         length=data_dict["observation.state"].shape[1], feature=Value(dtype="float32", id=None)
     )
+    if "observation.velocity" in data_dict:
+        features["observation.velocity"] = Sequence(
+            length=data_dict["observation.velocity"].shape[1], feature=Value(dtype="float32", id=None)
+        )
+    if "observation.effort" in data_dict:
+        features["observation.effort"] = Sequence(
+            length=data_dict["observation.effort"].shape[1], feature=Value(dtype="float32", id=None)
+        )
     features["action"] = Sequence(
         length=data_dict["action"].shape[1], feature=Value(dtype="float32", id=None)
     )
diff --git a/lerobot/common/datasets/utils.py b/lerobot/common/datasets/utils.py
index 5cdd5f7c..86fef8d4 100644
--- a/lerobot/common/datasets/utils.py
+++ b/lerobot/common/datasets/utils.py
@@ -14,7 +14,9 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 import json
+import re
 from pathlib import Path
+from typing import Dict
 
 import datasets
 import torch
@@ -79,7 +81,23 @@ def hf_transform_to_torch(items_dict):
 def load_hf_dataset(repo_id, version, root, split) -> datasets.Dataset:
     """hf_dataset contains all the observations, states, actions, rewards, etc."""
     if root is not None:
-        hf_dataset = load_from_disk(str(Path(root) / repo_id / split))
+        hf_dataset = load_from_disk(str(Path(root) / repo_id / "train"))
+        # TODO(rcadene): clean this which enables getting a subset of dataset
+        if split != "train":
+            if "%" in split:
+                raise NotImplementedError(f"We dont support splitting based on percentage for now ({split}).")
+            match_from = re.search(r"train\[(\d+):\]", split)
+            match_to = re.search(r"train\[:(\d+)\]", split)
+            if match_from:
+                from_frame_index = int(match_from.group(1))
+                hf_dataset = hf_dataset.select(range(from_frame_index, len(hf_dataset)))
+            elif match_to:
+                to_frame_index = int(match_to.group(1))
+                hf_dataset = hf_dataset.select(range(to_frame_index))
+            else:
+                raise ValueError(
+                    f'`split` ({split}) should either be "train", "train[INT:]", or "train[:INT]"'
+                )
     else:
         hf_dataset = load_dataset(repo_id, revision=version, split=split)
     hf_dataset.set_transform(hf_transform_to_torch)
@@ -245,6 +263,84 @@ def load_previous_and_future_frames(
     return item
 
 
+def calculate_episode_data_index(hf_dataset: datasets.Dataset) -> Dict[str, torch.Tensor]:
+    """
+    Calculate episode data index for the provided HuggingFace Dataset. Relies on episode_index column of hf_dataset.
+
+    Parameters:
+    - hf_dataset (datasets.Dataset): A HuggingFace dataset containing the episode index.
+
+    Returns:
+    - episode_data_index: A dictionary containing the data index for each episode. The dictionary has two keys:
+        - "from": A tensor containing the starting index of each episode.
+        - "to": A tensor containing the ending index of each episode.
+    """
+    episode_data_index = {"from": [], "to": []}
+
+    current_episode = None
+    """
+    The episode_index is a list of integers, each representing the episode index of the corresponding example.
+    For instance, the following is a valid episode_index:
+      [0, 0, 0, 1, 1, 1, 1, 2, 2, 2, 2, 2]
+
+    Below, we iterate through the episode_index and populate the episode_data_index dictionary with the starting and
+    ending index of each episode. For the episode_index above, the episode_data_index dictionary will look like this:
+        {
+            "from": [0, 3, 7],
+            "to": [3, 7, 12]
+        }
+    """
+    if len(hf_dataset) == 0:
+        episode_data_index = {
+            "from": torch.tensor([]),
+            "to": torch.tensor([]),
+        }
+        return episode_data_index
+    for idx, episode_idx in enumerate(hf_dataset["episode_index"]):
+        if episode_idx != current_episode:
+            # We encountered a new episode, so we append its starting location to the "from" list
+            episode_data_index["from"].append(idx)
+            # If this is not the first episode, we append the ending location of the previous episode to the "to" list
+            if current_episode is not None:
+                episode_data_index["to"].append(idx)
+            # Let's keep track of the current episode index
+            current_episode = episode_idx
+        else:
+            # We are still in the same episode, so there is nothing for us to do here
+            pass
+    # We have reached the end of the dataset, so we append the ending location of the last episode to the "to" list
+    episode_data_index["to"].append(idx + 1)
+
+    for k in ["from", "to"]:
+        episode_data_index[k] = torch.tensor(episode_data_index[k])
+
+    return episode_data_index
+
+
+def reset_episode_index(hf_dataset: datasets.Dataset) -> datasets.Dataset:
+    """
+    Reset the `episode_index` of the provided HuggingFace Dataset.
+
+    `episode_data_index` (and related functionality such as `load_previous_and_future_frames`) requires the
+    `episode_index` to be sorted, continuous (1,1,1 and not 1,2,1) and start at 0.
+
+    This brings the `episode_index` to the required format.
+    """
+    if len(hf_dataset) == 0:
+        return hf_dataset
+    unique_episode_idxs = torch.stack(hf_dataset["episode_index"]).unique().tolist()
+    episode_idx_to_reset_idx_mapping = {
+        ep_id: reset_ep_id for reset_ep_id, ep_id in enumerate(unique_episode_idxs)
+    }
+
+    def modify_ep_idx_func(example):
+        example["episode_index"] = episode_idx_to_reset_idx_mapping[example["episode_index"].item()]
+        return example
+
+    hf_dataset = hf_dataset.map(modify_ep_idx_func)
+    return hf_dataset
+
+
 def cycle(iterable):
     """The equivalent of itertools.cycle, but safe for Pytorch dataloaders.
 
diff --git a/lerobot/configs/default.yaml b/lerobot/configs/default.yaml
index ae36b3e2..27329bc9 100644
--- a/lerobot/configs/default.yaml
+++ b/lerobot/configs/default.yaml
@@ -10,6 +10,9 @@ hydra:
     name: default
 
 device: cuda  # cpu
+# `use_amp` determines whether to use Automatic Mixed Precision (AMP) for training and evaluation. With AMP,
+# automatic gradient scaling is used.
+use_amp: false
 # `seed` is used for training (eg: model initialization, dataset shuffling)
 # AND for the evaluation environments.
 seed: ???
@@ -17,6 +20,7 @@ dataset_repo_id: lerobot/pusht
 
 training:
   offline_steps: ???
+  # NOTE: `online_steps` is not implemented yet. It's here as a placeholder.
   online_steps: ???
   online_steps_between_rollouts: ???
   online_sampling_ratio: 0.5
diff --git a/lerobot/configs/policy/tdmpc.yaml b/lerobot/configs/policy/tdmpc.yaml
index 7e736850..09326ab4 100644
--- a/lerobot/configs/policy/tdmpc.yaml
+++ b/lerobot/configs/policy/tdmpc.yaml
@@ -5,7 +5,8 @@ dataset_repo_id: lerobot/xarm_lift_medium
 
 training:
   offline_steps: 25000
-  online_steps: 25000
+  # TODO(alexander-soare): uncomment when online training gets reinstated
+  online_steps: 0  # 25000 not implemented yet
   eval_freq: 5000
   online_steps_between_rollouts: 1
   online_sampling_ratio: 0.5
diff --git a/lerobot/scripts/eval.py b/lerobot/scripts/eval.py
index 9c95633a..7e4690d0 100644
--- a/lerobot/scripts/eval.py
+++ b/lerobot/scripts/eval.py
@@ -46,6 +46,7 @@ import json
 import logging
 import threading
 import time
+from contextlib import nullcontext
 from copy import deepcopy
 from datetime import datetime as dt
 from pathlib import Path
@@ -520,7 +521,7 @@ def eval(
         raise NotImplementedError()
 
     # Check device is available
-    get_safe_torch_device(hydra_cfg.device, log=True)
+    device = get_safe_torch_device(hydra_cfg.device, log=True)
 
     torch.backends.cudnn.benchmark = True
     torch.backends.cuda.matmul.allow_tf32 = True
@@ -539,16 +540,17 @@ def eval(
         policy = make_policy(hydra_cfg=hydra_cfg, dataset_stats=make_dataset(hydra_cfg).stats)
     policy.eval()
 
-    info = eval_policy(
-        env,
-        policy,
-        hydra_cfg.eval.n_episodes,
-        max_episodes_rendered=10,
-        video_dir=Path(out_dir) / "eval",
-        start_seed=hydra_cfg.seed,
-        enable_progbar=True,
-        enable_inner_progbar=True,
-    )
+    with torch.no_grad(), torch.autocast(device_type=device.type) if hydra_cfg.use_amp else nullcontext():
+        info = eval_policy(
+            env,
+            policy,
+            hydra_cfg.eval.n_episodes,
+            max_episodes_rendered=10,
+            video_dir=Path(out_dir) / "eval",
+            start_seed=hydra_cfg.seed,
+            enable_progbar=True,
+            enable_inner_progbar=True,
+        )
     print(info["aggregated"])
 
     # Save info
diff --git a/lerobot/scripts/push_dataset_to_hub.py b/lerobot/scripts/push_dataset_to_hub.py
index 16d890a7..19af1cf8 100644
--- a/lerobot/scripts/push_dataset_to_hub.py
+++ b/lerobot/scripts/push_dataset_to_hub.py
@@ -25,7 +25,6 @@ python lerobot/scripts/push_dataset_to_hub.py \
 --dataset-id pusht \
 --raw-format pusht_zarr \
 --community-id lerobot \
---revision v1.2 \
 --dry-run 1 \
 --save-to-disk 1 \
 --save-tests-to-disk 0 \
@@ -36,7 +35,6 @@ python lerobot/scripts/push_dataset_to_hub.py \
 --dataset-id xarm_lift_medium \
 --raw-format xarm_pkl \
 --community-id lerobot \
---revision v1.2 \
 --dry-run 1 \
 --save-to-disk 1 \
 --save-tests-to-disk 0 \
@@ -47,7 +45,6 @@ python lerobot/scripts/push_dataset_to_hub.py \
 --dataset-id aloha_sim_insertion_scripted \
 --raw-format aloha_hdf5 \
 --community-id lerobot \
---revision v1.2 \
 --dry-run 1 \
 --save-to-disk 1 \
 --save-tests-to-disk 0 \
@@ -58,7 +55,6 @@ python lerobot/scripts/push_dataset_to_hub.py \
 --dataset-id umi_cup_in_the_wild \
 --raw-format umi_zarr \
 --community-id lerobot \
---revision v1.2 \
 --dry-run 1 \
 --save-to-disk 1 \
 --save-tests-to-disk 0 \
@@ -227,8 +223,7 @@ def push_dataset_to_hub(
         test_hf_dataset = test_hf_dataset.with_format(None)
         test_hf_dataset.save_to_disk(str(tests_out_dir / "train"))
 
-        # copy meta data to tests directory
-        shutil.copytree(meta_data_dir, tests_meta_data_dir)
+        save_meta_data(info, stats, episode_data_index, tests_meta_data_dir)
 
         # copy videos of first episode to tests directory
         episode_index = 0
@@ -237,6 +232,10 @@ def push_dataset_to_hub(
             fname = f"{key}_episode_{episode_index:06d}.mp4"
             shutil.copy(videos_dir / fname, tests_videos_dir / fname)
 
+    if not save_to_disk and out_dir.exists():
+        # remove possible temporary files remaining in the output directory
+        shutil.rmtree(out_dir)
+
 
 def main():
     parser = argparse.ArgumentParser()
@@ -314,7 +313,7 @@ def main():
     parser.add_argument(
         "--num-workers",
         type=int,
-        default=16,
+        default=8,
         help="Number of processes of Dataloader for computing the dataset statistics.",
     )
     parser.add_argument(
diff --git a/lerobot/scripts/train.py b/lerobot/scripts/train.py
index 7ca7a0b3..2b28943d 100644
--- a/lerobot/scripts/train.py
+++ b/lerobot/scripts/train.py
@@ -15,15 +15,14 @@
 # limitations under the License.
 import logging
 import time
+from contextlib import nullcontext
 from copy import deepcopy
 from pathlib import Path
 
-import datasets
 import hydra
 import torch
-from datasets import concatenate_datasets
-from datasets.utils import disable_progress_bars, enable_progress_bars
 from omegaconf import DictConfig
+from torch.cuda.amp import GradScaler
 
 from lerobot.common.datasets.factory import make_dataset
 from lerobot.common.datasets.utils import cycle
@@ -31,6 +30,7 @@ from lerobot.common.envs.factory import make_env
 from lerobot.common.logger import Logger, log_output_dir
 from lerobot.common.policies.factory import make_policy
 from lerobot.common.policies.policy_protocol import PolicyWithUpdate
+from lerobot.common.policies.utils import get_device_from_parameters
 from lerobot.common.utils.utils import (
     format_big_number,
     get_safe_torch_device,
@@ -69,7 +69,6 @@ def make_optimizer_and_scheduler(cfg, policy):
             cfg.training.adam_eps,
             cfg.training.adam_weight_decay,
         )
-        assert cfg.training.online_steps == 0, "Diffusion Policy does not handle online training."
         from diffusers.optimization import get_scheduler
 
         lr_scheduler = get_scheduler(
@@ -87,21 +86,40 @@ def make_optimizer_and_scheduler(cfg, policy):
     return optimizer, lr_scheduler
 
 
-def update_policy(policy, batch, optimizer, grad_clip_norm, lr_scheduler=None):
+def update_policy(
+    policy,
+    batch,
+    optimizer,
+    grad_clip_norm,
+    grad_scaler: GradScaler,
+    lr_scheduler=None,
+    use_amp: bool = False,
+):
     """Returns a dictionary of items for logging."""
-    start_time = time.time()
+    start_time = time.perf_counter()
+    device = get_device_from_parameters(policy)
     policy.train()
-    output_dict = policy.forward(batch)
-    # TODO(rcadene): policy.unnormalize_outputs(out_dict)
-    loss = output_dict["loss"]
-    loss.backward()
+    with torch.autocast(device_type=device.type) if use_amp else nullcontext():
+        output_dict = policy.forward(batch)
+        # TODO(rcadene): policy.unnormalize_outputs(out_dict)
+        loss = output_dict["loss"]
+    grad_scaler.scale(loss).backward()
+
+    # Unscale the graident of the optimzer's assigned params in-place **prior to gradient clipping**.
+    grad_scaler.unscale_(optimizer)
+
     grad_norm = torch.nn.utils.clip_grad_norm_(
         policy.parameters(),
         grad_clip_norm,
         error_if_nonfinite=False,
     )
 
-    optimizer.step()
+    # Optimizer's gradients are already unscaled, so scaler.step does not unscale them,
+    # although it still skips optimizer.step() if the gradients contain infs or NaNs.
+    grad_scaler.step(optimizer)
+    # Updates the scale for next iteration.
+    grad_scaler.update()
+
     optimizer.zero_grad()
 
     if lr_scheduler is not None:
@@ -115,7 +133,7 @@ def update_policy(policy, batch, optimizer, grad_clip_norm, lr_scheduler=None):
         "loss": loss.item(),
         "grad_norm": float(grad_norm),
         "lr": optimizer.param_groups[0]["lr"],
-        "update_s": time.time() - start_time,
+        "update_s": time.perf_counter() - start_time,
         **{k: v for k, v in output_dict.items() if k != "loss"},
     }
 
@@ -211,103 +229,6 @@ def log_eval_info(logger, info, step, cfg, dataset, is_offline):
     logger.log_dict(info, step, mode="eval")
 
 
-def calculate_online_sample_weight(n_off: int, n_on: int, pc_on: float):
-    """
-    Calculate the sampling weight to be assigned to samples so that a specified percentage of the batch comes from online dataset (on average).
-
-    Parameters:
-    - n_off (int): Number of offline samples, each with a sampling weight of 1.
-    - n_on (int): Number of online samples.
-    - pc_on (float): Desired percentage of online samples in decimal form (e.g., 50% as 0.5).
-
-    The total weight of offline samples is n_off * 1.0.
-    The total weight of offline samples is n_on * w.
-    The total combined weight of all samples is n_off + n_on * w.
-    The fraction of the weight that is online is n_on * w / (n_off + n_on * w).
-    We want this fraction to equal pc_on, so we set up the equation n_on * w / (n_off + n_on * w) = pc_on.
-    The solution is w = - (n_off * pc_on) / (n_on * (pc_on - 1))
-    """
-    assert 0.0 <= pc_on <= 1.0
-    return -(n_off * pc_on) / (n_on * (pc_on - 1))
-
-
-def add_episodes_inplace(
-    online_dataset: torch.utils.data.Dataset,
-    concat_dataset: torch.utils.data.ConcatDataset,
-    sampler: torch.utils.data.WeightedRandomSampler,
-    hf_dataset: datasets.Dataset,
-    episode_data_index: dict[str, torch.Tensor],
-    pc_online_samples: float,
-):
-    """
-    Modifies the online_dataset, concat_dataset, and sampler in place by integrating
-    new episodes from hf_dataset into the online_dataset, updating the concatenated
-    dataset's structure and adjusting the sampling strategy based on the specified
-    percentage of online samples.
-
-    Parameters:
-    - online_dataset (torch.utils.data.Dataset): The existing online dataset to be updated.
-    - concat_dataset (torch.utils.data.ConcatDataset): The concatenated dataset that combines
-      offline and online datasets, used for sampling purposes.
-    - sampler (torch.utils.data.WeightedRandomSampler): A sampler that will be updated to
-      reflect changes in the dataset sizes and specified sampling weights.
-    - hf_dataset (datasets.Dataset): A Hugging Face dataset containing the new episodes to be added.
-    - episode_data_index (dict): A dictionary containing two keys ("from" and "to") associated to dataset indices.
-      They indicate the start index and end index of each episode in the dataset.
-    - pc_online_samples (float): The target percentage of samples that should come from
-      the online dataset during sampling operations.
-
-    Raises:
-    - AssertionError: If the first episode_id or index in hf_dataset is not 0
-    """
-    first_episode_idx = hf_dataset.select_columns("episode_index")[0]["episode_index"].item()
-    last_episode_idx = hf_dataset.select_columns("episode_index")[-1]["episode_index"].item()
-    first_index = hf_dataset.select_columns("index")[0]["index"].item()
-    last_index = hf_dataset.select_columns("index")[-1]["index"].item()
-    # sanity check
-    assert first_episode_idx == 0, f"{first_episode_idx=} is not 0"
-    assert first_index == 0, f"{first_index=} is not 0"
-    assert first_index == episode_data_index["from"][first_episode_idx].item()
-    assert last_index == episode_data_index["to"][last_episode_idx].item() - 1
-
-    if len(online_dataset) == 0:
-        # initialize online dataset
-        online_dataset.hf_dataset = hf_dataset
-        online_dataset.episode_data_index = episode_data_index
-    else:
-        # get the starting indices of the new episodes and frames to be added
-        start_episode_idx = last_episode_idx + 1
-        start_index = last_index + 1
-
-        def shift_indices(episode_index, index):
-            # note: we dont shift "frame_index" since it represents the index of the frame in the episode it belongs to
-            example = {"episode_index": episode_index + start_episode_idx, "index": index + start_index}
-            return example
-
-        disable_progress_bars()  # map has a tqdm progress bar
-        hf_dataset = hf_dataset.map(shift_indices, input_columns=["episode_index", "index"])
-        enable_progress_bars()
-
-        episode_data_index["from"] += start_index
-        episode_data_index["to"] += start_index
-
-        # extend online dataset
-        online_dataset.hf_dataset = concatenate_datasets([online_dataset.hf_dataset, hf_dataset])
-
-    # update the concatenated dataset length used during sampling
-    concat_dataset.cumulative_sizes = concat_dataset.cumsum(concat_dataset.datasets)
-
-    # update the sampling weights for each frame so that online frames get sampled a certain percentage of times
-    len_online = len(online_dataset)
-    len_offline = len(concat_dataset) - len_online
-    weight_offline = 1.0
-    weight_online = calculate_online_sample_weight(len_offline, len_online, pc_online_samples)
-    sampler.weights = torch.tensor([weight_offline] * len_offline + [weight_online] * len(online_dataset))
-
-    # update the total number of samples used during sampling
-    sampler.num_samples = len(concat_dataset)
-
-
 def train(cfg: DictConfig, out_dir: str | None = None, job_name: str | None = None):
     if out_dir is None:
         raise NotImplementedError()
@@ -316,11 +237,11 @@ def train(cfg: DictConfig, out_dir: str | None = None, job_name: str | None = No
 
     init_logging()
 
-    if cfg.training.online_steps > 0 and cfg.eval.batch_size > 1:
-        logging.warning("eval.batch_size > 1 not supported for online training steps")
+    if cfg.training.online_steps > 0:
+        raise NotImplementedError("Online training is not implemented yet.")
 
     # Check device is available
-    get_safe_torch_device(cfg.device, log=True)
+    device = get_safe_torch_device(cfg.device, log=True)
 
     torch.backends.cudnn.benchmark = True
     torch.backends.cuda.matmul.allow_tf32 = True
@@ -338,6 +259,7 @@ def train(cfg: DictConfig, out_dir: str | None = None, job_name: str | None = No
     # Create optimizer and scheduler
     # Temporary hack to move optimizer out of policy
     optimizer, lr_scheduler = make_optimizer_and_scheduler(cfg, policy)
+    grad_scaler = GradScaler(enabled=cfg.use_amp)
 
     num_learnable_params = sum(p.numel() for p in policy.parameters() if p.requires_grad)
     num_total_params = sum(p.numel() for p in policy.parameters())
@@ -358,14 +280,15 @@ def train(cfg: DictConfig, out_dir: str | None = None, job_name: str | None = No
     def evaluate_and_checkpoint_if_needed(step):
         if step % cfg.training.eval_freq == 0:
             logging.info(f"Eval policy at step {step}")
-            eval_info = eval_policy(
-                eval_env,
-                policy,
-                cfg.eval.n_episodes,
-                video_dir=Path(out_dir) / "eval",
-                max_episodes_rendered=4,
-                start_seed=cfg.seed,
-            )
+            with torch.no_grad(), torch.autocast(device_type=device.type) if cfg.use_amp else nullcontext():
+                eval_info = eval_policy(
+                    eval_env,
+                    policy,
+                    cfg.eval.n_episodes,
+                    video_dir=Path(out_dir) / "eval",
+                    max_episodes_rendered=4,
+                    start_seed=cfg.seed,
+                )
             log_eval_info(logger, eval_info["aggregated"], step, cfg, offline_dataset, is_offline)
             if cfg.wandb.enable:
                 logger.log_video(eval_info["video_paths"][0], step, mode="eval")
@@ -389,23 +312,30 @@ def train(cfg: DictConfig, out_dir: str | None = None, job_name: str | None = No
         num_workers=4,
         batch_size=cfg.training.batch_size,
         shuffle=True,
-        pin_memory=cfg.device != "cpu",
+        pin_memory=device.type != "cpu",
         drop_last=False,
     )
     dl_iter = cycle(dataloader)
 
     policy.train()
-    step = 0  # number of policy update (forward + backward + optim)
     is_offline = True
-    for offline_step in range(cfg.training.offline_steps):
-        if offline_step == 0:
+    for step in range(cfg.training.offline_steps):
+        if step == 0:
             logging.info("Start offline training on a fixed dataset")
         batch = next(dl_iter)
 
         for key in batch:
-            batch[key] = batch[key].to(cfg.device, non_blocking=True)
+            batch[key] = batch[key].to(device, non_blocking=True)
 
-        train_info = update_policy(policy, batch, optimizer, cfg.training.grad_clip_norm, lr_scheduler)
+        train_info = update_policy(
+            policy,
+            batch,
+            optimizer,
+            cfg.training.grad_clip_norm,
+            grad_scaler=grad_scaler,
+            lr_scheduler=lr_scheduler,
+            use_amp=cfg.use_amp,
+        )
 
         # TODO(rcadene): is it ok if step_t=0 = 0 and not 1 as previously done?
         if step % cfg.training.log_freq == 0:
@@ -415,11 +345,6 @@ def train(cfg: DictConfig, out_dir: str | None = None, job_name: str | None = No
         # so we pass in step + 1.
         evaluate_and_checkpoint_if_needed(step + 1)
 
-        step += 1
-
-    # create an env dedicated to online episodes collection from policy rollout
-    online_training_env = make_env(cfg, n_envs=1)
-
     # create an empty online dataset similar to offline dataset
     online_dataset = deepcopy(offline_dataset)
     online_dataset.hf_dataset = {}
@@ -436,58 +361,11 @@ def train(cfg: DictConfig, out_dir: str | None = None, job_name: str | None = No
         num_workers=4,
         batch_size=cfg.training.batch_size,
         sampler=sampler,
-        pin_memory=cfg.device != "cpu",
+        pin_memory=device.type != "cpu",
         drop_last=False,
     )
-    dl_iter = cycle(dataloader)
-
-    online_step = 0
-    is_offline = False
-    for env_step in range(cfg.training.online_steps):
-        if env_step == 0:
-            logging.info("Start online training by interacting with environment")
-
-        policy.eval()
-        with torch.no_grad():
-            eval_info = eval_policy(
-                online_training_env,
-                policy,
-                n_episodes=1,
-                return_episode_data=True,
-                start_seed=cfg.training.online_env_seed,
-                enable_progbar=True,
-            )
-
-        add_episodes_inplace(
-            online_dataset,
-            concat_dataset,
-            sampler,
-            hf_dataset=eval_info["episodes"]["hf_dataset"],
-            episode_data_index=eval_info["episodes"]["episode_data_index"],
-            pc_online_samples=cfg.training.online_sampling_ratio,
-        )
-
-        policy.train()
-        for _ in range(cfg.training.online_steps_between_rollouts):
-            batch = next(dl_iter)
-
-            for key in batch:
-                batch[key] = batch[key].to(cfg.device, non_blocking=True)
-
-            train_info = update_policy(policy, batch, optimizer, cfg.training.grad_clip_norm, lr_scheduler)
-
-            if step % cfg.training.log_freq == 0:
-                log_train_info(logger, train_info, step, cfg, online_dataset, is_offline)
-
-            # Note: evaluate_and_checkpoint_if_needed happens **after** the `step`th training update has completed,
-            # so we pass in step + 1.
-            evaluate_and_checkpoint_if_needed(step + 1)
-
-            step += 1
-            online_step += 1
 
     eval_env.close()
-    online_training_env.close()
     logging.info("End of training")
 
 
diff --git a/poetry.lock b/poetry.lock
index e0b27f15..bde0865e 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1,4 +1,4 @@
-# This file is automatically @generated by Poetry 1.8.2 and should not be changed by hand.
+# This file is automatically @generated by Poetry 1.8.1 and should not be changed by hand.
 
 [[package]]
 name = "absl-py"
@@ -1177,6 +1177,78 @@ files = [
 [package.dependencies]
 numpy = ">=1.17.3"
 
+[[package]]
+name = "hf-transfer"
+version = "0.1.6"
+description = ""
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "hf_transfer-0.1.6-cp310-cp310-macosx_10_12_x86_64.whl", hash = "sha256:6fd3d61f9229d27def007e53540412507b74ac2fdb1a29985ae0b6a5137749a2"},
+    {file = "hf_transfer-0.1.6-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:b043bb78df1225de043eb041de9d97783fcca14a0bdc1b1d560fc172fc21b648"},
+    {file = "hf_transfer-0.1.6-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:7db60dd18eae4fa6ea157235fb82196cde5313995b396d1b591aad3b790a7f8f"},
+    {file = "hf_transfer-0.1.6-cp310-cp310-manylinux_2_17_armv7l.manylinux2014_armv7l.whl", hash = "sha256:30d31dbab9b5a558cce407b8728e39d87d7af1ef8745ddb90187e9ae0b9e1e90"},
+    {file = "hf_transfer-0.1.6-cp310-cp310-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:f6b368bddd757efc7af3126ba81f9ac8f9435e2cc00902cb3d64f2be28d8f719"},
+    {file = "hf_transfer-0.1.6-cp310-cp310-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:aa2086d8aefaaa3e144e167324574882004c0cec49bf2d0638ec4b74732d8da0"},
+    {file = "hf_transfer-0.1.6-cp310-cp310-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:45d8985a0940bfe1535cb4ca781f5c11e47c83798ef3373ee1f5d57bbe527a9c"},
+    {file = "hf_transfer-0.1.6-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:2f42b89735f1cde22f2a795d1f0915741023235666be7de45879e533c7d6010c"},
+    {file = "hf_transfer-0.1.6-cp310-none-win32.whl", hash = "sha256:2d2c4c4613f3ad45b6ce6291e347b2d3ba1b86816635681436567e461cb3c961"},
+    {file = "hf_transfer-0.1.6-cp310-none-win_amd64.whl", hash = "sha256:78b0eed8d8dce60168a46e584b9742b816af127d7e410a713e12c31249195342"},
+    {file = "hf_transfer-0.1.6-cp311-cp311-macosx_10_12_x86_64.whl", hash = "sha256:f1d8c172153f9a6cdaecf137612c42796076f61f6bea1072c90ac2e17c1ab6fa"},
+    {file = "hf_transfer-0.1.6-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:2c601996351f90c514a75a0eeb02bf700b1ad1db2d946cbfe4b60b79e29f0b2f"},
+    {file = "hf_transfer-0.1.6-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:8e585c808405557d3f5488f385706abb696997bbae262ea04520757e30836d9d"},
+    {file = "hf_transfer-0.1.6-cp311-cp311-manylinux_2_17_armv7l.manylinux2014_armv7l.whl", hash = "sha256:ec51af1e8cf4268c268bd88932ade3d7ca895a3c661b42493503f02610ae906b"},
+    {file = "hf_transfer-0.1.6-cp311-cp311-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:d106fdf996332f6df3ed3fab6d6332df82e8c1fb4b20fd81a491ca4d2ab5616a"},
+    {file = "hf_transfer-0.1.6-cp311-cp311-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:e9c2ee9e9fde5a0319cc0e8ddfea10897482bc06d5709b10a238f1bc2ebcbc0b"},
+    {file = "hf_transfer-0.1.6-cp311-cp311-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:f394ea32bc7802b061e549d3133efc523b4ae4fd19bf4b74b183ca6066eef94e"},
+    {file = "hf_transfer-0.1.6-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:4282f09902114cd67fca98a1a1bad569a44521a8395fedf327e966714f68b977"},
+    {file = "hf_transfer-0.1.6-cp311-none-win32.whl", hash = "sha256:276dbf307d5ab6f1bcbf57b5918bfcf9c59d6848ccb28242349e1bb5985f983b"},
+    {file = "hf_transfer-0.1.6-cp311-none-win_amd64.whl", hash = "sha256:fa475175c51451186bea804471995fa8e7b2a48a61dcca55534911dc25955527"},
+    {file = "hf_transfer-0.1.6-cp312-cp312-macosx_10_12_x86_64.whl", hash = "sha256:23d157a67acfa00007799323a1c441b2bbacc7dee625b016b7946fe0e25e6c89"},
+    {file = "hf_transfer-0.1.6-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:6067342a2864b988f861cd2d31bd78eb1e84d153a3f6df38485b6696d9ad3013"},
+    {file = "hf_transfer-0.1.6-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:91cfcb3070e205b58fa8dc8bcb6a62ccc40913fcdb9cd1ff7c364c8e3aa85345"},
+    {file = "hf_transfer-0.1.6-cp312-cp312-manylinux_2_17_armv7l.manylinux2014_armv7l.whl", hash = "sha256:eb76064ac5165d5eeaaf8d0903e8bf55477221ecc2a4a4d69f0baca065ab905b"},
+    {file = "hf_transfer-0.1.6-cp312-cp312-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:9dabd3a177d83028f164984cf4dd859f77ec1e20c97a6f307ff8fcada0785ef1"},
+    {file = "hf_transfer-0.1.6-cp312-cp312-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:d0bf4254e44f64a26e0a5b73b5d7e8d91bb36870718fb4f8e126ec943ff4c805"},
+    {file = "hf_transfer-0.1.6-cp312-cp312-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:5d32c1b106f38f336ceb21531f4db9b57d777b9a33017dafdb6a5316388ebe50"},
+    {file = "hf_transfer-0.1.6-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:ff05aba3c83921e5c7635ba9f07c693cc893350c447644824043aeac27b285f5"},
+    {file = "hf_transfer-0.1.6-cp312-none-win32.whl", hash = "sha256:051ef0c55607652cb5974f59638da035773254b9a07d7ee5b574fe062de4c9d1"},
+    {file = "hf_transfer-0.1.6-cp312-none-win_amd64.whl", hash = "sha256:716fb5c574fcbdd8092ce73f9b6c66f42e3544337490f77c60ec07df02bd081b"},
+    {file = "hf_transfer-0.1.6-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:6c0c981134a55965e279cb7be778c1ccaf93f902fc9ebe31da4f30caf824cc4d"},
+    {file = "hf_transfer-0.1.6-cp37-cp37m-manylinux_2_17_armv7l.manylinux2014_armv7l.whl", hash = "sha256:1ef1f145f04c5b573915bcb1eb5db4039c74f6b46fce73fc473c4287e613b623"},
+    {file = "hf_transfer-0.1.6-cp37-cp37m-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:d0a7609b004db3347dbb7796df45403eceb171238210d054d93897d6d84c63a4"},
+    {file = "hf_transfer-0.1.6-cp37-cp37m-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:60f0864bf5996773dbd5f8ae4d1649041f773fe9d5769f4c0eeb5553100acef3"},
+    {file = "hf_transfer-0.1.6-cp37-cp37m-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:5d01e55d630ffe70a4f5d0ed576a04c6a48d7c65ca9a7d18f2fca385f20685a9"},
+    {file = "hf_transfer-0.1.6-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:d855946c5062b665190de15b2bdbd4c8eddfee35350bfb7564592e23d36fbbd3"},
+    {file = "hf_transfer-0.1.6-cp37-none-win32.whl", hash = "sha256:fd40b2409cfaf3e8aba20169ee09552f69140e029adeec261b988903ff0c8f6f"},
+    {file = "hf_transfer-0.1.6-cp37-none-win_amd64.whl", hash = "sha256:0e0eba49d46d3b5481919aea0794aec625fbc6ecdf13fe7e0e9f3fc5d5ad5971"},
+    {file = "hf_transfer-0.1.6-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:7e669fecb29fc454449739f9f53ed9253197e7c19e6a6eaa0f08334207af4287"},
+    {file = "hf_transfer-0.1.6-cp38-cp38-manylinux_2_17_armv7l.manylinux2014_armv7l.whl", hash = "sha256:89f701802892e5eb84f89f402686861f87dc227d6082b05f4e9d9b4e8015a3c3"},
+    {file = "hf_transfer-0.1.6-cp38-cp38-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:b6f2b0c8b95b01409275d789a9b74d5f2e146346f985d384bf50ec727caf1ccc"},
+    {file = "hf_transfer-0.1.6-cp38-cp38-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:aa855a2fa262792a230f9efcdb5da6d431b747d1861d2a69fe7834b19aea077e"},
+    {file = "hf_transfer-0.1.6-cp38-cp38-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:4aa8ca349afb2f0713475426946261eb2035e4efb50ebd2c1d5ad04f395f4217"},
+    {file = "hf_transfer-0.1.6-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:01255f043996bc7d1bae62d8afc5033a90c7e36ce308b988eeb84afe0a69562f"},
+    {file = "hf_transfer-0.1.6-cp38-none-win32.whl", hash = "sha256:60b1db183e8a7540cd4f8b2160ff4de55f77cb0c3fc6a10be1e7c30eb1b2bdeb"},
+    {file = "hf_transfer-0.1.6-cp38-none-win_amd64.whl", hash = "sha256:fb8be3cba6aaa50ab2e9dffbd25c8eb2046785eeff642cf0cdd0dd9ae6be3539"},
+    {file = "hf_transfer-0.1.6-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:d09af35e3e3f09b664e6429e9a0dc200f29c5bdfd88bdd9666de51183b1fe202"},
+    {file = "hf_transfer-0.1.6-cp39-cp39-manylinux_2_17_armv7l.manylinux2014_armv7l.whl", hash = "sha256:a4505bd707cc14d85c800f961fad8ca76f804a8ad22fbb7b1a217d8d0c15e6a5"},
+    {file = "hf_transfer-0.1.6-cp39-cp39-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:2c453fd8b0be9740faa23cecd1f28ee9ead7d900cefa64ff836960c503a744c9"},
+    {file = "hf_transfer-0.1.6-cp39-cp39-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:13cb8884e718a78c3b81a8cdec9c7ac196dd42961fce55c3ccff3dd783e5ad7a"},
+    {file = "hf_transfer-0.1.6-cp39-cp39-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:39cd39df171a2b5404de69c4e6cd14eee47f6fe91c1692f939bfb9e59a0110d8"},
+    {file = "hf_transfer-0.1.6-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:8ff0629ee9f98df57a783599602eb498f9ec3619dc69348b12e4d9d754abf0e9"},
+    {file = "hf_transfer-0.1.6-cp39-none-win32.whl", hash = "sha256:164a6ce445eb0cc7c645f5b6e1042c003d33292520c90052b6325f30c98e4c5f"},
+    {file = "hf_transfer-0.1.6-cp39-none-win_amd64.whl", hash = "sha256:11b8b4b73bf455f13218c5f827698a30ae10998ca31b8264b51052868c7a9f11"},
+    {file = "hf_transfer-0.1.6-pp310-pypy310_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:16957ba057376a99ea361074ce1094f61b58e769defa6be2422ae59c0b6a6530"},
+    {file = "hf_transfer-0.1.6-pp310-pypy310_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:7db952112e3b8ee1a5cbf500d2443e9ce4fb893281c5310a3e31469898628005"},
+    {file = "hf_transfer-0.1.6-pp37-pypy37_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:d39d826a7344f5e39f438d62632acd00467aa54a083b66496f61ef67a9885a56"},
+    {file = "hf_transfer-0.1.6-pp37-pypy37_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:a4e2653fbfa92e7651db73d99b697c8684e7345c479bd6857da80bed6138abb2"},
+    {file = "hf_transfer-0.1.6-pp38-pypy38_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:144277e6a86add10b90ec3b583253aec777130312256bfc8d5ade5377e253807"},
+    {file = "hf_transfer-0.1.6-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:3bb53bcd16365313b2aa0dbdc28206f577d70770f31249cdabc387ac5841edcc"},
+    {file = "hf_transfer-0.1.6-pp39-pypy39_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:990d73a5a68d8261980f146c51f4c5f9995314011cb225222021ad7c39f3af2d"},
+    {file = "hf_transfer-0.1.6-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:652406037029ab9b4097b4c5f29321bad5f64c2b46fbff142509d918aec87c29"},
+    {file = "hf_transfer-0.1.6.tar.gz", hash = "sha256:deb505a7d417d7055fd7b3549eadb91dfe782941261f3344025c486c16d1d2f9"},
+]
+
 [[package]]
 name = "huggingface-hub"
 version = "0.23.0"
@@ -1191,6 +1263,7 @@ files = [
 [package.dependencies]
 filelock = "*"
 fsspec = ">=2023.5.0"
+hf-transfer = {version = ">=0.1.4", optional = true, markers = "extra == \"hf-transfer\""}
 packaging = ">=20.9"
 pyyaml = ">=5.1"
 requests = "*"
@@ -4175,4 +4248,4 @@ xarm = ["gym-xarm"]
 [metadata]
 lock-version = "2.0"
 python-versions = ">=3.10,<3.13"
-content-hash = "e3e3c306a5519e4f716a1ac086ad9b734efedcac077a0ec71e5bc16349a1e559"
+content-hash = "e4834d67df32c8c617c259b0e59bb33ddaccde08fe940d771e74046cbffe3399"
diff --git a/pyproject.toml b/pyproject.toml
index 5b80d06f..f043c9de 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -43,7 +43,7 @@ opencv-python = ">=4.9.0"
 diffusers = "^0.27.2"
 torchvision = ">=0.18.0"
 h5py = ">=3.10.0"
-huggingface-hub = ">=0.21.4"
+huggingface-hub = {extras = ["hf-transfer"], version = "^0.23.0"}
 gymnasium = ">=0.29.1"
 cmake = ">=3.29.0.1"
 gym-pusht = { version = ">=0.1.3", optional = true}
diff --git a/tests/data/lerobot/aloha_mobile_cabinet/meta_data/episode_data_index.safetensors b/tests/data/lerobot/aloha_mobile_cabinet/meta_data/episode_data_index.safetensors
new file mode 100644
index 00000000..767dadb0
--- /dev/null
+++ b/tests/data/lerobot/aloha_mobile_cabinet/meta_data/episode_data_index.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f9347c8d9ac90ee44e6dd86f65043438168df6bbe4bab2d2b875e55ef7376ef
+size 1488
diff --git a/tests/data/lerobot/aloha_mobile_cabinet/meta_data/info.json b/tests/data/lerobot/aloha_mobile_cabinet/meta_data/info.json
new file mode 100644
index 00000000..8c5c4ee8
--- /dev/null
+++ b/tests/data/lerobot/aloha_mobile_cabinet/meta_data/info.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf148247bf191c7f7e8af738a7b9e147f9ffffeec0e4b9d1c4783c4e384da7eb
+size 33
diff --git a/tests/data/lerobot/aloha_mobile_cabinet/meta_data/stats.safetensors b/tests/data/lerobot/aloha_mobile_cabinet/meta_data/stats.safetensors
new file mode 100644
index 00000000..0d260d7e
--- /dev/null
+++ b/tests/data/lerobot/aloha_mobile_cabinet/meta_data/stats.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02fc4ea25766269f65752a60b0594c43d799b0ae528cd773bf024b064b5aa329
+size 4344
diff --git a/tests/data/lerobot/aloha_mobile_cabinet/train/data-00000-of-00001.arrow b/tests/data/lerobot/aloha_mobile_cabinet/train/data-00000-of-00001.arrow
new file mode 100644
index 00000000..73f31bb5
--- /dev/null
+++ b/tests/data/lerobot/aloha_mobile_cabinet/train/data-00000-of-00001.arrow
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55d7b1a06fe3e3051482752740074348bdb5fc98fb2e305b06d6203994117b27
+size 592448
diff --git a/tests/data/lerobot/aloha_mobile_cabinet/train/dataset_info.json b/tests/data/lerobot/aloha_mobile_cabinet/train/dataset_info.json
new file mode 100644
index 00000000..55b885b6
--- /dev/null
+++ b/tests/data/lerobot/aloha_mobile_cabinet/train/dataset_info.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b7fbedfdb3d536847bc6fadf2cbabb9f2b5492edf3e2c274a3e8ffb447105e8
+size 1166
diff --git a/tests/data/lerobot/aloha_mobile_cabinet/train/state.json b/tests/data/lerobot/aloha_mobile_cabinet/train/state.json
new file mode 100644
index 00000000..393396e7
--- /dev/null
+++ b/tests/data/lerobot/aloha_mobile_cabinet/train/state.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98329e4b40e9be0d63f7d36da9d86c44bbe7eeeb1b10d3ba973c923f3be70867
+size 247
diff --git a/tests/data/lerobot/aloha_mobile_cabinet/videos/observation.images.cam_high_episode_000000.mp4 b/tests/data/lerobot/aloha_mobile_cabinet/videos/observation.images.cam_high_episode_000000.mp4
new file mode 100644
index 00000000..6b287d2c
--- /dev/null
+++ b/tests/data/lerobot/aloha_mobile_cabinet/videos/observation.images.cam_high_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54e42cdfd016a0ced2ab1fe2966a8c15a2384e0dbe1a2fe87433a2d1b8209ac0
+size 5220057
diff --git a/tests/data/lerobot/aloha_mobile_cabinet/videos/observation.images.cam_left_wrist_episode_000000.mp4 b/tests/data/lerobot/aloha_mobile_cabinet/videos/observation.images.cam_left_wrist_episode_000000.mp4
new file mode 100644
index 00000000..cbebb0ef
--- /dev/null
+++ b/tests/data/lerobot/aloha_mobile_cabinet/videos/observation.images.cam_left_wrist_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af1ded2a244cb47a96255b75f584a643edf6967e13bb5464b330ffdd9d7ad859
+size 5284692
diff --git a/tests/data/lerobot/aloha_mobile_cabinet/videos/observation.images.cam_right_wrist_episode_000000.mp4 b/tests/data/lerobot/aloha_mobile_cabinet/videos/observation.images.cam_right_wrist_episode_000000.mp4
new file mode 100644
index 00000000..c58387a0
--- /dev/null
+++ b/tests/data/lerobot/aloha_mobile_cabinet/videos/observation.images.cam_right_wrist_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13d1bebabd79984fd6715971be758ef9a354495adea5e8d33f4e7904365e112b
+size 5258380
diff --git a/tests/data/lerobot/aloha_mobile_chair/meta_data/episode_data_index.safetensors b/tests/data/lerobot/aloha_mobile_chair/meta_data/episode_data_index.safetensors
new file mode 100644
index 00000000..933c06e0
--- /dev/null
+++ b/tests/data/lerobot/aloha_mobile_chair/meta_data/episode_data_index.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f33bc6810f0b91817a42610364cb49ed1b99660f058f0f9407e6f5920d0aee02
+size 1008
diff --git a/tests/data/lerobot/aloha_mobile_chair/meta_data/info.json b/tests/data/lerobot/aloha_mobile_chair/meta_data/info.json
new file mode 100644
index 00000000..8c5c4ee8
--- /dev/null
+++ b/tests/data/lerobot/aloha_mobile_chair/meta_data/info.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf148247bf191c7f7e8af738a7b9e147f9ffffeec0e4b9d1c4783c4e384da7eb
+size 33
diff --git a/tests/data/lerobot/aloha_mobile_chair/meta_data/stats.safetensors b/tests/data/lerobot/aloha_mobile_chair/meta_data/stats.safetensors
new file mode 100644
index 00000000..0b037f94
--- /dev/null
+++ b/tests/data/lerobot/aloha_mobile_chair/meta_data/stats.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b58d6c89e936a781a307805ebecf0dd473fbc02d52a7094da62e54bffb9454a
+size 4344
diff --git a/tests/data/lerobot/aloha_mobile_chair/train/data-00000-of-00001.arrow b/tests/data/lerobot/aloha_mobile_chair/train/data-00000-of-00001.arrow
new file mode 100644
index 00000000..969fef0b
--- /dev/null
+++ b/tests/data/lerobot/aloha_mobile_chair/train/data-00000-of-00001.arrow
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a08be578285cbe2d35b78f150d464ff3e10604a9865398c976983e0d711774f9
+size 788528
diff --git a/tests/data/lerobot/aloha_mobile_chair/train/dataset_info.json b/tests/data/lerobot/aloha_mobile_chair/train/dataset_info.json
new file mode 100644
index 00000000..55b885b6
--- /dev/null
+++ b/tests/data/lerobot/aloha_mobile_chair/train/dataset_info.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b7fbedfdb3d536847bc6fadf2cbabb9f2b5492edf3e2c274a3e8ffb447105e8
+size 1166
diff --git a/tests/data/lerobot/aloha_mobile_chair/train/state.json b/tests/data/lerobot/aloha_mobile_chair/train/state.json
new file mode 100644
index 00000000..c59e8787
--- /dev/null
+++ b/tests/data/lerobot/aloha_mobile_chair/train/state.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34e36233477c8aa0b0840314ddace072062d4f486d06546bbd6550832c370065
+size 247
diff --git a/tests/data/lerobot/aloha_mobile_chair/videos/observation.images.cam_high_episode_000000.mp4 b/tests/data/lerobot/aloha_mobile_chair/videos/observation.images.cam_high_episode_000000.mp4
new file mode 100644
index 00000000..741645aa
--- /dev/null
+++ b/tests/data/lerobot/aloha_mobile_chair/videos/observation.images.cam_high_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66e7349a4a82ca6042a7189608d01eb1cfa38d100d039b5445ae1a9e65d824ab
+size 14470946
diff --git a/tests/data/lerobot/aloha_mobile_chair/videos/observation.images.cam_left_wrist_episode_000000.mp4 b/tests/data/lerobot/aloha_mobile_chair/videos/observation.images.cam_left_wrist_episode_000000.mp4
new file mode 100644
index 00000000..7f9a021c
--- /dev/null
+++ b/tests/data/lerobot/aloha_mobile_chair/videos/observation.images.cam_left_wrist_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2146f0c10c9f2611e57e617983aa4f91ad681b4fc50d91b992b97abd684f926
+size 11662185
diff --git a/tests/data/lerobot/aloha_mobile_chair/videos/observation.images.cam_right_wrist_episode_000000.mp4 b/tests/data/lerobot/aloha_mobile_chair/videos/observation.images.cam_right_wrist_episode_000000.mp4
new file mode 100644
index 00000000..68cfa02e
--- /dev/null
+++ b/tests/data/lerobot/aloha_mobile_chair/videos/observation.images.cam_right_wrist_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5affbaf1c48895ba3c626e0d8cf1309e5f4ec6bbaa135313096f52a22de66c05
+size 11410342
diff --git a/tests/data/lerobot/aloha_mobile_elevator/meta_data/episode_data_index.safetensors b/tests/data/lerobot/aloha_mobile_elevator/meta_data/episode_data_index.safetensors
new file mode 100644
index 00000000..17839482
--- /dev/null
+++ b/tests/data/lerobot/aloha_mobile_elevator/meta_data/episode_data_index.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c2b195ca91b88fd16422128d386d2cabd808a1862c6d127e6bf2e83e1fe819a
+size 448
diff --git a/tests/data/lerobot/aloha_mobile_elevator/meta_data/info.json b/tests/data/lerobot/aloha_mobile_elevator/meta_data/info.json
new file mode 100644
index 00000000..8c5c4ee8
--- /dev/null
+++ b/tests/data/lerobot/aloha_mobile_elevator/meta_data/info.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf148247bf191c7f7e8af738a7b9e147f9ffffeec0e4b9d1c4783c4e384da7eb
+size 33
diff --git a/tests/data/lerobot/aloha_mobile_elevator/meta_data/stats.safetensors b/tests/data/lerobot/aloha_mobile_elevator/meta_data/stats.safetensors
new file mode 100644
index 00000000..4f9629d1
--- /dev/null
+++ b/tests/data/lerobot/aloha_mobile_elevator/meta_data/stats.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b360b6b956d2adcb20589947c553348ef1eb6b70743c989dcbe95243d8592ce5
+size 4344
diff --git a/tests/data/lerobot/aloha_mobile_elevator/train/data-00000-of-00001.arrow b/tests/data/lerobot/aloha_mobile_elevator/train/data-00000-of-00001.arrow
new file mode 100644
index 00000000..f0ae94ac
--- /dev/null
+++ b/tests/data/lerobot/aloha_mobile_elevator/train/data-00000-of-00001.arrow
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f5c3926b4d4da9271abefcdf6a8952bb1f13258a9c39fe0fd223f548dc89dcb
+size 887728
diff --git a/tests/data/lerobot/aloha_mobile_elevator/train/dataset_info.json b/tests/data/lerobot/aloha_mobile_elevator/train/dataset_info.json
new file mode 100644
index 00000000..55b885b6
--- /dev/null
+++ b/tests/data/lerobot/aloha_mobile_elevator/train/dataset_info.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b7fbedfdb3d536847bc6fadf2cbabb9f2b5492edf3e2c274a3e8ffb447105e8
+size 1166
diff --git a/tests/data/lerobot/aloha_mobile_elevator/train/state.json b/tests/data/lerobot/aloha_mobile_elevator/train/state.json
new file mode 100644
index 00000000..d7f90b56
--- /dev/null
+++ b/tests/data/lerobot/aloha_mobile_elevator/train/state.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4993b05fb026619eec5eb70db8cadaa041ba4ab92d38b4a387167ace03b1018b
+size 247
diff --git a/tests/data/lerobot/aloha_mobile_elevator/videos/observation.images.cam_high_episode_000000.mp4 b/tests/data/lerobot/aloha_mobile_elevator/videos/observation.images.cam_high_episode_000000.mp4
new file mode 100644
index 00000000..1663f8eb
--- /dev/null
+++ b/tests/data/lerobot/aloha_mobile_elevator/videos/observation.images.cam_high_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd25d17ef5b7500386761b5e32920879bbdcafe0e17a8a8845628525d861e644
+size 10231081
diff --git a/tests/data/lerobot/aloha_mobile_elevator/videos/observation.images.cam_left_wrist_episode_000000.mp4 b/tests/data/lerobot/aloha_mobile_elevator/videos/observation.images.cam_left_wrist_episode_000000.mp4
new file mode 100644
index 00000000..974db761
--- /dev/null
+++ b/tests/data/lerobot/aloha_mobile_elevator/videos/observation.images.cam_left_wrist_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b557acbfeb0681c0a38e47263d945f6cd3a03461298d8b17209c81e3fd0aae8
+size 9701371
diff --git a/tests/data/lerobot/aloha_mobile_elevator/videos/observation.images.cam_right_wrist_episode_000000.mp4 b/tests/data/lerobot/aloha_mobile_elevator/videos/observation.images.cam_right_wrist_episode_000000.mp4
new file mode 100644
index 00000000..61085310
--- /dev/null
+++ b/tests/data/lerobot/aloha_mobile_elevator/videos/observation.images.cam_right_wrist_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da8f3b4f9f965da63819652b2c042d4cf7e07d14631113ea072087d56370310e
+size 10473741
diff --git a/tests/data/lerobot/aloha_mobile_shrimp/meta_data/episode_data_index.safetensors b/tests/data/lerobot/aloha_mobile_shrimp/meta_data/episode_data_index.safetensors
new file mode 100644
index 00000000..d0798d77
--- /dev/null
+++ b/tests/data/lerobot/aloha_mobile_shrimp/meta_data/episode_data_index.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a053506017d8a78cfd307b2912eeafa1ac1485a280cf90913985fcc40120b5ec
+size 416
diff --git a/tests/data/lerobot/aloha_mobile_shrimp/meta_data/info.json b/tests/data/lerobot/aloha_mobile_shrimp/meta_data/info.json
new file mode 100644
index 00000000..8c5c4ee8
--- /dev/null
+++ b/tests/data/lerobot/aloha_mobile_shrimp/meta_data/info.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf148247bf191c7f7e8af738a7b9e147f9ffffeec0e4b9d1c4783c4e384da7eb
+size 33
diff --git a/tests/data/lerobot/aloha_mobile_shrimp/meta_data/stats.safetensors b/tests/data/lerobot/aloha_mobile_shrimp/meta_data/stats.safetensors
new file mode 100644
index 00000000..7fcce357
--- /dev/null
+++ b/tests/data/lerobot/aloha_mobile_shrimp/meta_data/stats.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6d172d1bca02face22ceb4c21ea2b054cf3463025485dce64711b6f36b31f8a
+size 4344
diff --git a/tests/data/lerobot/aloha_mobile_shrimp/train/data-00000-of-00001.arrow b/tests/data/lerobot/aloha_mobile_shrimp/train/data-00000-of-00001.arrow
new file mode 100644
index 00000000..6b1275d9
--- /dev/null
+++ b/tests/data/lerobot/aloha_mobile_shrimp/train/data-00000-of-00001.arrow
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e5ce817a2c188041f57f8d4c465dab3b9c3e4e1aeb7a9fb270230d1b36df530
+size 1477064
diff --git a/tests/data/lerobot/aloha_mobile_shrimp/train/dataset_info.json b/tests/data/lerobot/aloha_mobile_shrimp/train/dataset_info.json
new file mode 100644
index 00000000..55b885b6
--- /dev/null
+++ b/tests/data/lerobot/aloha_mobile_shrimp/train/dataset_info.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b7fbedfdb3d536847bc6fadf2cbabb9f2b5492edf3e2c274a3e8ffb447105e8
+size 1166
diff --git a/tests/data/lerobot/aloha_mobile_shrimp/train/state.json b/tests/data/lerobot/aloha_mobile_shrimp/train/state.json
new file mode 100644
index 00000000..f9db9e15
--- /dev/null
+++ b/tests/data/lerobot/aloha_mobile_shrimp/train/state.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4eb2dc373e4ea7d474742590f9073d66a773f6ab94b9e73a8673df19f93fae6d
+size 247
diff --git a/tests/data/lerobot/aloha_mobile_shrimp/videos/observation.images.cam_high_episode_000000.mp4 b/tests/data/lerobot/aloha_mobile_shrimp/videos/observation.images.cam_high_episode_000000.mp4
new file mode 100644
index 00000000..32348f9e
--- /dev/null
+++ b/tests/data/lerobot/aloha_mobile_shrimp/videos/observation.images.cam_high_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2c55b146fabe78b18c8a28a7746ab56e1ee7a6918e9e3dad9bd196f97975895
+size 26158915
diff --git a/tests/data/lerobot/aloha_mobile_shrimp/videos/observation.images.cam_left_wrist_episode_000000.mp4 b/tests/data/lerobot/aloha_mobile_shrimp/videos/observation.images.cam_left_wrist_episode_000000.mp4
new file mode 100644
index 00000000..23bd8be1
--- /dev/null
+++ b/tests/data/lerobot/aloha_mobile_shrimp/videos/observation.images.cam_left_wrist_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71e1958d77f56843acf1ec48da4f04311a5836c87a0e77dbe26aa47c27c6347e
+size 18786848
diff --git a/tests/data/lerobot/aloha_mobile_shrimp/videos/observation.images.cam_right_wrist_episode_000000.mp4 b/tests/data/lerobot/aloha_mobile_shrimp/videos/observation.images.cam_right_wrist_episode_000000.mp4
new file mode 100644
index 00000000..6ea368c2
--- /dev/null
+++ b/tests/data/lerobot/aloha_mobile_shrimp/videos/observation.images.cam_right_wrist_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20780718399b5759ff9a3a79824986310524793066198e3b9a307222f11a93df
+size 17769988
diff --git a/tests/data/lerobot/aloha_mobile_wash_pan/meta_data/episode_data_index.safetensors b/tests/data/lerobot/aloha_mobile_wash_pan/meta_data/episode_data_index.safetensors
new file mode 100644
index 00000000..30b7978a
--- /dev/null
+++ b/tests/data/lerobot/aloha_mobile_wash_pan/meta_data/episode_data_index.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:279916f7689ae46af90e92a46eba9486a71fc762e3e2679ab5441eb37126827b
+size 928
diff --git a/tests/data/lerobot/aloha_mobile_wash_pan/meta_data/info.json b/tests/data/lerobot/aloha_mobile_wash_pan/meta_data/info.json
new file mode 100644
index 00000000..8c5c4ee8
--- /dev/null
+++ b/tests/data/lerobot/aloha_mobile_wash_pan/meta_data/info.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf148247bf191c7f7e8af738a7b9e147f9ffffeec0e4b9d1c4783c4e384da7eb
+size 33
diff --git a/tests/data/lerobot/aloha_mobile_wash_pan/meta_data/stats.safetensors b/tests/data/lerobot/aloha_mobile_wash_pan/meta_data/stats.safetensors
new file mode 100644
index 00000000..a8eb54cc
--- /dev/null
+++ b/tests/data/lerobot/aloha_mobile_wash_pan/meta_data/stats.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a7731051b521694b52b5631470720a7f05331915f4ac4e7f8cd83f9ff459bce
+size 4344
diff --git a/tests/data/lerobot/aloha_mobile_wash_pan/train/data-00000-of-00001.arrow b/tests/data/lerobot/aloha_mobile_wash_pan/train/data-00000-of-00001.arrow
new file mode 100644
index 00000000..102f0a0d
--- /dev/null
+++ b/tests/data/lerobot/aloha_mobile_wash_pan/train/data-00000-of-00001.arrow
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99608258e8c9fe5191f1a12edc29b47d307790104149dffb6d3046ddad6aeb1b
+size 435600
diff --git a/tests/data/lerobot/aloha_mobile_wash_pan/train/dataset_info.json b/tests/data/lerobot/aloha_mobile_wash_pan/train/dataset_info.json
new file mode 100644
index 00000000..55b885b6
--- /dev/null
+++ b/tests/data/lerobot/aloha_mobile_wash_pan/train/dataset_info.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b7fbedfdb3d536847bc6fadf2cbabb9f2b5492edf3e2c274a3e8ffb447105e8
+size 1166
diff --git a/tests/data/lerobot/aloha_mobile_wash_pan/train/state.json b/tests/data/lerobot/aloha_mobile_wash_pan/train/state.json
new file mode 100644
index 00000000..427a4ccd
--- /dev/null
+++ b/tests/data/lerobot/aloha_mobile_wash_pan/train/state.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae6735b7b394914824e974a7461019373a10f9e2d84ddf834bec8ea268d9ec1e
+size 247
diff --git a/tests/data/lerobot/aloha_mobile_wash_pan/videos/observation.images.cam_high_episode_000000.mp4 b/tests/data/lerobot/aloha_mobile_wash_pan/videos/observation.images.cam_high_episode_000000.mp4
new file mode 100644
index 00000000..bd734fa9
--- /dev/null
+++ b/tests/data/lerobot/aloha_mobile_wash_pan/videos/observation.images.cam_high_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:833e288c5fdacbbe10a5d048cb6f49fe1a396d91b2117b827e130ec11069256a
+size 8397615
diff --git a/tests/data/lerobot/aloha_mobile_wash_pan/videos/observation.images.cam_left_wrist_episode_000000.mp4 b/tests/data/lerobot/aloha_mobile_wash_pan/videos/observation.images.cam_left_wrist_episode_000000.mp4
new file mode 100644
index 00000000..166efdda
--- /dev/null
+++ b/tests/data/lerobot/aloha_mobile_wash_pan/videos/observation.images.cam_left_wrist_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2cb870acb4855fef70f19c5f632d94e4c25eef59eeea92f4b1167a44b1b36b33
+size 5912007
diff --git a/tests/data/lerobot/aloha_mobile_wash_pan/videos/observation.images.cam_right_wrist_episode_000000.mp4 b/tests/data/lerobot/aloha_mobile_wash_pan/videos/observation.images.cam_right_wrist_episode_000000.mp4
new file mode 100644
index 00000000..53b721ca
--- /dev/null
+++ b/tests/data/lerobot/aloha_mobile_wash_pan/videos/observation.images.cam_right_wrist_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8be36298141b455ea51d17a78e4bbc6619639302139fe2db605bdfa3ff5e91bd
+size 4794018
diff --git a/tests/data/lerobot/aloha_mobile_wipe_wine/meta_data/episode_data_index.safetensors b/tests/data/lerobot/aloha_mobile_wipe_wine/meta_data/episode_data_index.safetensors
new file mode 100644
index 00000000..32c783b1
--- /dev/null
+++ b/tests/data/lerobot/aloha_mobile_wipe_wine/meta_data/episode_data_index.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:348d0ee38a71929b2017d540de870b9dff6d79efdd0cbc5352fa9697e350134a
+size 928
diff --git a/tests/data/lerobot/aloha_mobile_wipe_wine/meta_data/info.json b/tests/data/lerobot/aloha_mobile_wipe_wine/meta_data/info.json
new file mode 100644
index 00000000..8c5c4ee8
--- /dev/null
+++ b/tests/data/lerobot/aloha_mobile_wipe_wine/meta_data/info.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf148247bf191c7f7e8af738a7b9e147f9ffffeec0e4b9d1c4783c4e384da7eb
+size 33
diff --git a/tests/data/lerobot/aloha_mobile_wipe_wine/meta_data/stats.safetensors b/tests/data/lerobot/aloha_mobile_wipe_wine/meta_data/stats.safetensors
new file mode 100644
index 00000000..afcf1857
--- /dev/null
+++ b/tests/data/lerobot/aloha_mobile_wipe_wine/meta_data/stats.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5c2996f58d5277fa19cf56ec143334fbee940d1de37530452496a6f0aa11f88
+size 4344
diff --git a/tests/data/lerobot/aloha_mobile_wipe_wine/train/data-00000-of-00001.arrow b/tests/data/lerobot/aloha_mobile_wipe_wine/train/data-00000-of-00001.arrow
new file mode 100644
index 00000000..e734adb9
--- /dev/null
+++ b/tests/data/lerobot/aloha_mobile_wipe_wine/train/data-00000-of-00001.arrow
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da3a8efea9ba60d1fdd209d45a3387df22a09f7c156904ecb03f10456736fb74
+size 514056
diff --git a/tests/data/lerobot/aloha_mobile_wipe_wine/train/dataset_info.json b/tests/data/lerobot/aloha_mobile_wipe_wine/train/dataset_info.json
new file mode 100644
index 00000000..55b885b6
--- /dev/null
+++ b/tests/data/lerobot/aloha_mobile_wipe_wine/train/dataset_info.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b7fbedfdb3d536847bc6fadf2cbabb9f2b5492edf3e2c274a3e8ffb447105e8
+size 1166
diff --git a/tests/data/lerobot/aloha_mobile_wipe_wine/train/state.json b/tests/data/lerobot/aloha_mobile_wipe_wine/train/state.json
new file mode 100644
index 00000000..a10185eb
--- /dev/null
+++ b/tests/data/lerobot/aloha_mobile_wipe_wine/train/state.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b7111ff1ef5c4d6a2990f5f39f42398f061da8c4e81adf46b9d9150ec2feeaf
+size 247
diff --git a/tests/data/lerobot/aloha_mobile_wipe_wine/videos/observation.images.cam_high_episode_000000.mp4 b/tests/data/lerobot/aloha_mobile_wipe_wine/videos/observation.images.cam_high_episode_000000.mp4
new file mode 100644
index 00000000..5b98bbae
--- /dev/null
+++ b/tests/data/lerobot/aloha_mobile_wipe_wine/videos/observation.images.cam_high_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ac8c2755d940534042595ecad33ebea358974ec67bc041c8675e53b7d2272ff
+size 9182551
diff --git a/tests/data/lerobot/aloha_mobile_wipe_wine/videos/observation.images.cam_left_wrist_episode_000000.mp4 b/tests/data/lerobot/aloha_mobile_wipe_wine/videos/observation.images.cam_left_wrist_episode_000000.mp4
new file mode 100644
index 00000000..34677e98
--- /dev/null
+++ b/tests/data/lerobot/aloha_mobile_wipe_wine/videos/observation.images.cam_left_wrist_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b35aaa37e66dd5563d93e6059d5b645e112e020e03bd398f7098a5289970953a
+size 6378566
diff --git a/tests/data/lerobot/aloha_mobile_wipe_wine/videos/observation.images.cam_right_wrist_episode_000000.mp4 b/tests/data/lerobot/aloha_mobile_wipe_wine/videos/observation.images.cam_right_wrist_episode_000000.mp4
new file mode 100644
index 00000000..cee9add3
--- /dev/null
+++ b/tests/data/lerobot/aloha_mobile_wipe_wine/videos/observation.images.cam_right_wrist_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6138247ba7160a3de6c50111e6fcc5ae075044086d8527ae5d435b1f8a7c7a93
+size 6439183
diff --git a/tests/data/lerobot/aloha_sim_insertion_human/meta_data/episode_data_index.safetensors b/tests/data/lerobot/aloha_sim_insertion_human/meta_data/episode_data_index.safetensors
index 828c6720..bb503d5d 100644
Binary files a/tests/data/lerobot/aloha_sim_insertion_human/meta_data/episode_data_index.safetensors and b/tests/data/lerobot/aloha_sim_insertion_human/meta_data/episode_data_index.safetensors differ
diff --git a/tests/data/lerobot/aloha_sim_insertion_human/meta_data/info.json b/tests/data/lerobot/aloha_sim_insertion_human/meta_data/info.json
index 279cf2c2..8c5c4ee8 100644
--- a/tests/data/lerobot/aloha_sim_insertion_human/meta_data/info.json
+++ b/tests/data/lerobot/aloha_sim_insertion_human/meta_data/info.json
@@ -1,4 +1,3 @@
-{
-    "fps": 50,
-    "video": 1
-}
\ No newline at end of file
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf148247bf191c7f7e8af738a7b9e147f9ffffeec0e4b9d1c4783c4e384da7eb
+size 33
diff --git a/tests/data/lerobot/aloha_sim_insertion_human/meta_data/stats.safetensors b/tests/data/lerobot/aloha_sim_insertion_human/meta_data/stats.safetensors
index 9b6a7c83..84516142 100644
Binary files a/tests/data/lerobot/aloha_sim_insertion_human/meta_data/stats.safetensors and b/tests/data/lerobot/aloha_sim_insertion_human/meta_data/stats.safetensors differ
diff --git a/tests/data/lerobot/aloha_sim_insertion_human/train/data-00000-of-00001.arrow b/tests/data/lerobot/aloha_sim_insertion_human/train/data-00000-of-00001.arrow
index d93d0e27..13fb4452 100644
Binary files a/tests/data/lerobot/aloha_sim_insertion_human/train/data-00000-of-00001.arrow and b/tests/data/lerobot/aloha_sim_insertion_human/train/data-00000-of-00001.arrow differ
diff --git a/tests/data/lerobot/aloha_sim_insertion_human/train/dataset_info.json b/tests/data/lerobot/aloha_sim_insertion_human/train/dataset_info.json
index c6f7b938..1c9122f7 100644
--- a/tests/data/lerobot/aloha_sim_insertion_human/train/dataset_info.json
+++ b/tests/data/lerobot/aloha_sim_insertion_human/train/dataset_info.json
@@ -1,47 +1,3 @@
-{
-  "citation": "",
-  "description": "",
-  "features": {
-    "observation.images.top": {
-      "_type": "VideoFrame"
-    },
-    "observation.state": {
-      "feature": {
-        "dtype": "float32",
-        "_type": "Value"
-      },
-      "length": 14,
-      "_type": "Sequence"
-    },
-    "action": {
-      "feature": {
-        "dtype": "float32",
-        "_type": "Value"
-      },
-      "length": 14,
-      "_type": "Sequence"
-    },
-    "episode_index": {
-      "dtype": "int64",
-      "_type": "Value"
-    },
-    "frame_index": {
-      "dtype": "int64",
-      "_type": "Value"
-    },
-    "timestamp": {
-      "dtype": "float32",
-      "_type": "Value"
-    },
-    "next.done": {
-      "dtype": "bool",
-      "_type": "Value"
-    },
-    "index": {
-      "dtype": "int64",
-      "_type": "Value"
-    }
-  },
-  "homepage": "",
-  "license": ""
-}
\ No newline at end of file
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f44d13de5d5a417263bbd4984942ed42ed3fa0633405aa14d9a969a45274944
+size 842
diff --git a/tests/data/lerobot/aloha_sim_insertion_human/train/state.json b/tests/data/lerobot/aloha_sim_insertion_human/train/state.json
index 6cd9158a..aa5f34da 100644
--- a/tests/data/lerobot/aloha_sim_insertion_human/train/state.json
+++ b/tests/data/lerobot/aloha_sim_insertion_human/train/state.json
@@ -1,13 +1,3 @@
-{
-  "_data_files": [
-    {
-      "filename": "data-00000-of-00001.arrow"
-    }
-  ],
-  "_fingerprint": "eb913a2b1a68aa74",
-  "_format_columns": null,
-  "_format_kwargs": {},
-  "_format_type": null,
-  "_output_all_columns": false,
-  "_split": null
-}
\ No newline at end of file
+version https://git-lfs.github.com/spec/v1
+oid sha256:71d6ba89bee5a4ee2761220452999e415bc838a44bebf1b5a2e4ba8622369798
+size 247
diff --git a/tests/data/lerobot/aloha_sim_insertion_human/videos/observation.images.top_episode_000000.mp4 b/tests/data/lerobot/aloha_sim_insertion_human/videos/observation.images.top_episode_000000.mp4
index 56280d53..ef3660f2 100644
Binary files a/tests/data/lerobot/aloha_sim_insertion_human/videos/observation.images.top_episode_000000.mp4 and b/tests/data/lerobot/aloha_sim_insertion_human/videos/observation.images.top_episode_000000.mp4 differ
diff --git a/tests/data/lerobot/aloha_sim_insertion_human_image/meta_data/episode_data_index.safetensors b/tests/data/lerobot/aloha_sim_insertion_human_image/meta_data/episode_data_index.safetensors
new file mode 100644
index 00000000..6cd34f25
--- /dev/null
+++ b/tests/data/lerobot/aloha_sim_insertion_human_image/meta_data/episode_data_index.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7dbc214a415689ca7fb83b6f8e12ec7824dfe34a66024b0b24bfeb3aeefd0e4
+size 928
diff --git a/tests/data/lerobot/aloha_sim_insertion_human_image/meta_data/info.json b/tests/data/lerobot/aloha_sim_insertion_human_image/meta_data/info.json
new file mode 100644
index 00000000..5d86c44e
--- /dev/null
+++ b/tests/data/lerobot/aloha_sim_insertion_human_image/meta_data/info.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:083db9efc5c9e3396c5e1159d020c2a3786f1f1a4b069719d327ed7fbc65c34d
+size 33
diff --git a/tests/data/lerobot/aloha_sim_insertion_human_image/meta_data/stats.safetensors b/tests/data/lerobot/aloha_sim_insertion_human_image/meta_data/stats.safetensors
new file mode 100644
index 00000000..fa5c7586
--- /dev/null
+++ b/tests/data/lerobot/aloha_sim_insertion_human_image/meta_data/stats.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f98bd8f6347590aecdddaceed95d921f2d9f7bf35fbe742c37bdf12cba11dca6
+size 2904
diff --git a/tests/data/lerobot/aloha_sim_insertion_human_image/train/data-00000-of-00001.arrow b/tests/data/lerobot/aloha_sim_insertion_human_image/train/data-00000-of-00001.arrow
new file mode 100644
index 00000000..93a11cf8
--- /dev/null
+++ b/tests/data/lerobot/aloha_sim_insertion_human_image/train/data-00000-of-00001.arrow
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0013aea549ec290af94bddde1b559fb8d0967d4c43ef14319177c4e62ed1e91
+size 14545712
diff --git a/tests/data/lerobot/aloha_sim_insertion_human_image/train/dataset_info.json b/tests/data/lerobot/aloha_sim_insertion_human_image/train/dataset_info.json
new file mode 100644
index 00000000..cf816b66
--- /dev/null
+++ b/tests/data/lerobot/aloha_sim_insertion_human_image/train/dataset_info.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c9545525dc1f4d550591bd5efb63b55c15b983ae0510fefda5a16d77c78b6ef
+size 837
diff --git a/tests/data/lerobot/aloha_sim_insertion_human_image/train/state.json b/tests/data/lerobot/aloha_sim_insertion_human_image/train/state.json
new file mode 100644
index 00000000..42d31e8e
--- /dev/null
+++ b/tests/data/lerobot/aloha_sim_insertion_human_image/train/state.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7aa033603dc90582516dbcdf3e71e4d3113b70ad49098535def0b282135b5f3
+size 247
diff --git a/tests/data/lerobot/aloha_sim_insertion_scripted/meta_data/episode_data_index.safetensors b/tests/data/lerobot/aloha_sim_insertion_scripted/meta_data/episode_data_index.safetensors
index 1505d613..4195a89f 100644
Binary files a/tests/data/lerobot/aloha_sim_insertion_scripted/meta_data/episode_data_index.safetensors and b/tests/data/lerobot/aloha_sim_insertion_scripted/meta_data/episode_data_index.safetensors differ
diff --git a/tests/data/lerobot/aloha_sim_insertion_scripted/meta_data/info.json b/tests/data/lerobot/aloha_sim_insertion_scripted/meta_data/info.json
index 279cf2c2..8c5c4ee8 100644
--- a/tests/data/lerobot/aloha_sim_insertion_scripted/meta_data/info.json
+++ b/tests/data/lerobot/aloha_sim_insertion_scripted/meta_data/info.json
@@ -1,4 +1,3 @@
-{
-    "fps": 50,
-    "video": 1
-}
\ No newline at end of file
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf148247bf191c7f7e8af738a7b9e147f9ffffeec0e4b9d1c4783c4e384da7eb
+size 33
diff --git a/tests/data/lerobot/aloha_sim_insertion_scripted/meta_data/stats.safetensors b/tests/data/lerobot/aloha_sim_insertion_scripted/meta_data/stats.safetensors
index 6cce9ffa..e4bae4af 100644
Binary files a/tests/data/lerobot/aloha_sim_insertion_scripted/meta_data/stats.safetensors and b/tests/data/lerobot/aloha_sim_insertion_scripted/meta_data/stats.safetensors differ
diff --git a/tests/data/lerobot/aloha_sim_insertion_scripted/train/data-00000-of-00001.arrow b/tests/data/lerobot/aloha_sim_insertion_scripted/train/data-00000-of-00001.arrow
index 65a231a6..82a39801 100644
Binary files a/tests/data/lerobot/aloha_sim_insertion_scripted/train/data-00000-of-00001.arrow and b/tests/data/lerobot/aloha_sim_insertion_scripted/train/data-00000-of-00001.arrow differ
diff --git a/tests/data/lerobot/aloha_sim_insertion_scripted/train/dataset_info.json b/tests/data/lerobot/aloha_sim_insertion_scripted/train/dataset_info.json
index c6f7b938..1c9122f7 100644
--- a/tests/data/lerobot/aloha_sim_insertion_scripted/train/dataset_info.json
+++ b/tests/data/lerobot/aloha_sim_insertion_scripted/train/dataset_info.json
@@ -1,47 +1,3 @@
-{
-  "citation": "",
-  "description": "",
-  "features": {
-    "observation.images.top": {
-      "_type": "VideoFrame"
-    },
-    "observation.state": {
-      "feature": {
-        "dtype": "float32",
-        "_type": "Value"
-      },
-      "length": 14,
-      "_type": "Sequence"
-    },
-    "action": {
-      "feature": {
-        "dtype": "float32",
-        "_type": "Value"
-      },
-      "length": 14,
-      "_type": "Sequence"
-    },
-    "episode_index": {
-      "dtype": "int64",
-      "_type": "Value"
-    },
-    "frame_index": {
-      "dtype": "int64",
-      "_type": "Value"
-    },
-    "timestamp": {
-      "dtype": "float32",
-      "_type": "Value"
-    },
-    "next.done": {
-      "dtype": "bool",
-      "_type": "Value"
-    },
-    "index": {
-      "dtype": "int64",
-      "_type": "Value"
-    }
-  },
-  "homepage": "",
-  "license": ""
-}
\ No newline at end of file
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f44d13de5d5a417263bbd4984942ed42ed3fa0633405aa14d9a969a45274944
+size 842
diff --git a/tests/data/lerobot/aloha_sim_insertion_scripted/train/state.json b/tests/data/lerobot/aloha_sim_insertion_scripted/train/state.json
index b96705cb..bb533378 100644
--- a/tests/data/lerobot/aloha_sim_insertion_scripted/train/state.json
+++ b/tests/data/lerobot/aloha_sim_insertion_scripted/train/state.json
@@ -1,13 +1,3 @@
-{
-  "_data_files": [
-    {
-      "filename": "data-00000-of-00001.arrow"
-    }
-  ],
-  "_fingerprint": "d20c2acf1e107266",
-  "_format_columns": null,
-  "_format_kwargs": {},
-  "_format_type": null,
-  "_output_all_columns": false,
-  "_split": null
-}
\ No newline at end of file
+version https://git-lfs.github.com/spec/v1
+oid sha256:e48156ce4f71ac15d78732312fbc7e199f0ecdaac3604231e6be2e3e5b31a0ad
+size 247
diff --git a/tests/data/lerobot/aloha_sim_insertion_scripted/videos/observation.images.top_episode_000000.mp4 b/tests/data/lerobot/aloha_sim_insertion_scripted/videos/observation.images.top_episode_000000.mp4
index f36a0c18..07c41ce4 100644
Binary files a/tests/data/lerobot/aloha_sim_insertion_scripted/videos/observation.images.top_episode_000000.mp4 and b/tests/data/lerobot/aloha_sim_insertion_scripted/videos/observation.images.top_episode_000000.mp4 differ
diff --git a/tests/data/lerobot/aloha_sim_insertion_scripted_image/meta_data/episode_data_index.safetensors b/tests/data/lerobot/aloha_sim_insertion_scripted_image/meta_data/episode_data_index.safetensors
new file mode 100644
index 00000000..4195a89f
--- /dev/null
+++ b/tests/data/lerobot/aloha_sim_insertion_scripted_image/meta_data/episode_data_index.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4500f31e62f0928a837fa71783acacda0db516c7b00d0586a41ea5fd8fc5e772
+size 928
diff --git a/tests/data/lerobot/aloha_sim_insertion_scripted_image/meta_data/info.json b/tests/data/lerobot/aloha_sim_insertion_scripted_image/meta_data/info.json
new file mode 100644
index 00000000..5d86c44e
--- /dev/null
+++ b/tests/data/lerobot/aloha_sim_insertion_scripted_image/meta_data/info.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:083db9efc5c9e3396c5e1159d020c2a3786f1f1a4b069719d327ed7fbc65c34d
+size 33
diff --git a/tests/data/lerobot/aloha_sim_insertion_scripted_image/meta_data/stats.safetensors b/tests/data/lerobot/aloha_sim_insertion_scripted_image/meta_data/stats.safetensors
new file mode 100644
index 00000000..26f256f5
--- /dev/null
+++ b/tests/data/lerobot/aloha_sim_insertion_scripted_image/meta_data/stats.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0227d4e9e3b43a86bf33fbd68683ede537fdeab1b53f2ebf155620e10054352f
+size 2904
diff --git a/tests/data/lerobot/aloha_sim_insertion_scripted_image/train/data-00000-of-00001.arrow b/tests/data/lerobot/aloha_sim_insertion_scripted_image/train/data-00000-of-00001.arrow
new file mode 100644
index 00000000..735a420b
--- /dev/null
+++ b/tests/data/lerobot/aloha_sim_insertion_scripted_image/train/data-00000-of-00001.arrow
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1bdf02ecf7d5fc502f6dd9f520c636828a5988ad16a69a137780a824f94f8112
+size 10782640
diff --git a/tests/data/lerobot/aloha_sim_insertion_scripted_image/train/dataset_info.json b/tests/data/lerobot/aloha_sim_insertion_scripted_image/train/dataset_info.json
new file mode 100644
index 00000000..cf816b66
--- /dev/null
+++ b/tests/data/lerobot/aloha_sim_insertion_scripted_image/train/dataset_info.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c9545525dc1f4d550591bd5efb63b55c15b983ae0510fefda5a16d77c78b6ef
+size 837
diff --git a/tests/data/lerobot/aloha_sim_insertion_scripted_image/train/state.json b/tests/data/lerobot/aloha_sim_insertion_scripted_image/train/state.json
new file mode 100644
index 00000000..8c42e0b2
--- /dev/null
+++ b/tests/data/lerobot/aloha_sim_insertion_scripted_image/train/state.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:752660d8fd884b33b7302a4a42ec7c680de2a3e5022d7d007586f4c6337ce08a
+size 247
diff --git a/tests/data/lerobot/aloha_sim_transfer_cube_human/meta_data/episode_data_index.safetensors b/tests/data/lerobot/aloha_sim_transfer_cube_human/meta_data/episode_data_index.safetensors
index 1505d613..4195a89f 100644
Binary files a/tests/data/lerobot/aloha_sim_transfer_cube_human/meta_data/episode_data_index.safetensors and b/tests/data/lerobot/aloha_sim_transfer_cube_human/meta_data/episode_data_index.safetensors differ
diff --git a/tests/data/lerobot/aloha_sim_transfer_cube_human/meta_data/info.json b/tests/data/lerobot/aloha_sim_transfer_cube_human/meta_data/info.json
index 279cf2c2..8c5c4ee8 100644
--- a/tests/data/lerobot/aloha_sim_transfer_cube_human/meta_data/info.json
+++ b/tests/data/lerobot/aloha_sim_transfer_cube_human/meta_data/info.json
@@ -1,4 +1,3 @@
-{
-    "fps": 50,
-    "video": 1
-}
\ No newline at end of file
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf148247bf191c7f7e8af738a7b9e147f9ffffeec0e4b9d1c4783c4e384da7eb
+size 33
diff --git a/tests/data/lerobot/aloha_sim_transfer_cube_human/meta_data/stats.safetensors b/tests/data/lerobot/aloha_sim_transfer_cube_human/meta_data/stats.safetensors
index 2fe6aff2..aa4183d1 100644
Binary files a/tests/data/lerobot/aloha_sim_transfer_cube_human/meta_data/stats.safetensors and b/tests/data/lerobot/aloha_sim_transfer_cube_human/meta_data/stats.safetensors differ
diff --git a/tests/data/lerobot/aloha_sim_transfer_cube_human/train/data-00000-of-00001.arrow b/tests/data/lerobot/aloha_sim_transfer_cube_human/train/data-00000-of-00001.arrow
index a9f60d30..0e83c8db 100644
Binary files a/tests/data/lerobot/aloha_sim_transfer_cube_human/train/data-00000-of-00001.arrow and b/tests/data/lerobot/aloha_sim_transfer_cube_human/train/data-00000-of-00001.arrow differ
diff --git a/tests/data/lerobot/aloha_sim_transfer_cube_human/train/dataset_info.json b/tests/data/lerobot/aloha_sim_transfer_cube_human/train/dataset_info.json
index c6f7b938..1c9122f7 100644
--- a/tests/data/lerobot/aloha_sim_transfer_cube_human/train/dataset_info.json
+++ b/tests/data/lerobot/aloha_sim_transfer_cube_human/train/dataset_info.json
@@ -1,47 +1,3 @@
-{
-  "citation": "",
-  "description": "",
-  "features": {
-    "observation.images.top": {
-      "_type": "VideoFrame"
-    },
-    "observation.state": {
-      "feature": {
-        "dtype": "float32",
-        "_type": "Value"
-      },
-      "length": 14,
-      "_type": "Sequence"
-    },
-    "action": {
-      "feature": {
-        "dtype": "float32",
-        "_type": "Value"
-      },
-      "length": 14,
-      "_type": "Sequence"
-    },
-    "episode_index": {
-      "dtype": "int64",
-      "_type": "Value"
-    },
-    "frame_index": {
-      "dtype": "int64",
-      "_type": "Value"
-    },
-    "timestamp": {
-      "dtype": "float32",
-      "_type": "Value"
-    },
-    "next.done": {
-      "dtype": "bool",
-      "_type": "Value"
-    },
-    "index": {
-      "dtype": "int64",
-      "_type": "Value"
-    }
-  },
-  "homepage": "",
-  "license": ""
-}
\ No newline at end of file
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f44d13de5d5a417263bbd4984942ed42ed3fa0633405aa14d9a969a45274944
+size 842
diff --git a/tests/data/lerobot/aloha_sim_transfer_cube_human/train/state.json b/tests/data/lerobot/aloha_sim_transfer_cube_human/train/state.json
index eb74ba89..5e0a8a48 100644
--- a/tests/data/lerobot/aloha_sim_transfer_cube_human/train/state.json
+++ b/tests/data/lerobot/aloha_sim_transfer_cube_human/train/state.json
@@ -1,13 +1,3 @@
-{
-  "_data_files": [
-    {
-      "filename": "data-00000-of-00001.arrow"
-    }
-  ],
-  "_fingerprint": "243b01eb8a4b184e",
-  "_format_columns": null,
-  "_format_kwargs": {},
-  "_format_type": null,
-  "_output_all_columns": false,
-  "_split": null
-}
\ No newline at end of file
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ff72fd4f6f61309191a7f2829b73649d836c1ed10f00983093dc68599c92404
+size 247
diff --git a/tests/data/lerobot/aloha_sim_transfer_cube_human/videos/observation.images.top_episode_000000.mp4 b/tests/data/lerobot/aloha_sim_transfer_cube_human/videos/observation.images.top_episode_000000.mp4
index 12a1e5be..e31121e9 100644
Binary files a/tests/data/lerobot/aloha_sim_transfer_cube_human/videos/observation.images.top_episode_000000.mp4 and b/tests/data/lerobot/aloha_sim_transfer_cube_human/videos/observation.images.top_episode_000000.mp4 differ
diff --git a/tests/data/lerobot/aloha_sim_transfer_cube_human_image/meta_data/episode_data_index.safetensors b/tests/data/lerobot/aloha_sim_transfer_cube_human_image/meta_data/episode_data_index.safetensors
new file mode 100644
index 00000000..4195a89f
--- /dev/null
+++ b/tests/data/lerobot/aloha_sim_transfer_cube_human_image/meta_data/episode_data_index.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4500f31e62f0928a837fa71783acacda0db516c7b00d0586a41ea5fd8fc5e772
+size 928
diff --git a/tests/data/lerobot/aloha_sim_transfer_cube_human_image/meta_data/info.json b/tests/data/lerobot/aloha_sim_transfer_cube_human_image/meta_data/info.json
new file mode 100644
index 00000000..5d86c44e
--- /dev/null
+++ b/tests/data/lerobot/aloha_sim_transfer_cube_human_image/meta_data/info.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:083db9efc5c9e3396c5e1159d020c2a3786f1f1a4b069719d327ed7fbc65c34d
+size 33
diff --git a/tests/data/lerobot/aloha_sim_transfer_cube_human_image/meta_data/stats.safetensors b/tests/data/lerobot/aloha_sim_transfer_cube_human_image/meta_data/stats.safetensors
new file mode 100644
index 00000000..544874c4
--- /dev/null
+++ b/tests/data/lerobot/aloha_sim_transfer_cube_human_image/meta_data/stats.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09de36f2d6786e65e26d4602e00f9097f63a087a6a4f36e98c5367724acfc755
+size 2904
diff --git a/tests/data/lerobot/aloha_sim_transfer_cube_human_image/train/data-00000-of-00001.arrow b/tests/data/lerobot/aloha_sim_transfer_cube_human_image/train/data-00000-of-00001.arrow
new file mode 100644
index 00000000..a8ee8a54
--- /dev/null
+++ b/tests/data/lerobot/aloha_sim_transfer_cube_human_image/train/data-00000-of-00001.arrow
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f35b1ce169c6355536405718409041da7969cc351d62ef0d2c6f6351ac009e2
+size 10640376
diff --git a/tests/data/lerobot/aloha_sim_transfer_cube_human_image/train/dataset_info.json b/tests/data/lerobot/aloha_sim_transfer_cube_human_image/train/dataset_info.json
new file mode 100644
index 00000000..cf816b66
--- /dev/null
+++ b/tests/data/lerobot/aloha_sim_transfer_cube_human_image/train/dataset_info.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c9545525dc1f4d550591bd5efb63b55c15b983ae0510fefda5a16d77c78b6ef
+size 837
diff --git a/tests/data/lerobot/aloha_sim_transfer_cube_human_image/train/state.json b/tests/data/lerobot/aloha_sim_transfer_cube_human_image/train/state.json
new file mode 100644
index 00000000..35f278ca
--- /dev/null
+++ b/tests/data/lerobot/aloha_sim_transfer_cube_human_image/train/state.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec153065a4e52f7d55a7f026d804c57a3ce05dc1faa255a1947369f83c70f1e7
+size 247
diff --git a/tests/data/lerobot/aloha_sim_transfer_cube_scripted/meta_data/episode_data_index.safetensors b/tests/data/lerobot/aloha_sim_transfer_cube_scripted/meta_data/episode_data_index.safetensors
index 1505d613..4195a89f 100644
Binary files a/tests/data/lerobot/aloha_sim_transfer_cube_scripted/meta_data/episode_data_index.safetensors and b/tests/data/lerobot/aloha_sim_transfer_cube_scripted/meta_data/episode_data_index.safetensors differ
diff --git a/tests/data/lerobot/aloha_sim_transfer_cube_scripted/meta_data/info.json b/tests/data/lerobot/aloha_sim_transfer_cube_scripted/meta_data/info.json
index 279cf2c2..8c5c4ee8 100644
--- a/tests/data/lerobot/aloha_sim_transfer_cube_scripted/meta_data/info.json
+++ b/tests/data/lerobot/aloha_sim_transfer_cube_scripted/meta_data/info.json
@@ -1,4 +1,3 @@
-{
-    "fps": 50,
-    "video": 1
-}
\ No newline at end of file
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf148247bf191c7f7e8af738a7b9e147f9ffffeec0e4b9d1c4783c4e384da7eb
+size 33
diff --git a/tests/data/lerobot/aloha_sim_transfer_cube_scripted/meta_data/stats.safetensors b/tests/data/lerobot/aloha_sim_transfer_cube_scripted/meta_data/stats.safetensors
index c2ab5b21..057dceca 100644
Binary files a/tests/data/lerobot/aloha_sim_transfer_cube_scripted/meta_data/stats.safetensors and b/tests/data/lerobot/aloha_sim_transfer_cube_scripted/meta_data/stats.safetensors differ
diff --git a/tests/data/lerobot/aloha_sim_transfer_cube_scripted/train/data-00000-of-00001.arrow b/tests/data/lerobot/aloha_sim_transfer_cube_scripted/train/data-00000-of-00001.arrow
index 405509d1..8f9ae056 100644
Binary files a/tests/data/lerobot/aloha_sim_transfer_cube_scripted/train/data-00000-of-00001.arrow and b/tests/data/lerobot/aloha_sim_transfer_cube_scripted/train/data-00000-of-00001.arrow differ
diff --git a/tests/data/lerobot/aloha_sim_transfer_cube_scripted/train/dataset_info.json b/tests/data/lerobot/aloha_sim_transfer_cube_scripted/train/dataset_info.json
index c6f7b938..1c9122f7 100644
--- a/tests/data/lerobot/aloha_sim_transfer_cube_scripted/train/dataset_info.json
+++ b/tests/data/lerobot/aloha_sim_transfer_cube_scripted/train/dataset_info.json
@@ -1,47 +1,3 @@
-{
-  "citation": "",
-  "description": "",
-  "features": {
-    "observation.images.top": {
-      "_type": "VideoFrame"
-    },
-    "observation.state": {
-      "feature": {
-        "dtype": "float32",
-        "_type": "Value"
-      },
-      "length": 14,
-      "_type": "Sequence"
-    },
-    "action": {
-      "feature": {
-        "dtype": "float32",
-        "_type": "Value"
-      },
-      "length": 14,
-      "_type": "Sequence"
-    },
-    "episode_index": {
-      "dtype": "int64",
-      "_type": "Value"
-    },
-    "frame_index": {
-      "dtype": "int64",
-      "_type": "Value"
-    },
-    "timestamp": {
-      "dtype": "float32",
-      "_type": "Value"
-    },
-    "next.done": {
-      "dtype": "bool",
-      "_type": "Value"
-    },
-    "index": {
-      "dtype": "int64",
-      "_type": "Value"
-    }
-  },
-  "homepage": "",
-  "license": ""
-}
\ No newline at end of file
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f44d13de5d5a417263bbd4984942ed42ed3fa0633405aa14d9a969a45274944
+size 842
diff --git a/tests/data/lerobot/aloha_sim_transfer_cube_scripted/train/state.json b/tests/data/lerobot/aloha_sim_transfer_cube_scripted/train/state.json
index 91c46511..706e48ee 100644
--- a/tests/data/lerobot/aloha_sim_transfer_cube_scripted/train/state.json
+++ b/tests/data/lerobot/aloha_sim_transfer_cube_scripted/train/state.json
@@ -1,13 +1,3 @@
-{
-  "_data_files": [
-    {
-      "filename": "data-00000-of-00001.arrow"
-    }
-  ],
-  "_fingerprint": "eb759bbf60df7be9",
-  "_format_columns": null,
-  "_format_kwargs": {},
-  "_format_type": null,
-  "_output_all_columns": false,
-  "_split": null
-}
\ No newline at end of file
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d5bfac4bd22cab6449b24e457719c6598b367f191160335cba81c3b416b1cd5
+size 247
diff --git a/tests/data/lerobot/aloha_sim_transfer_cube_scripted/videos/observation.images.top_episode_000000.mp4 b/tests/data/lerobot/aloha_sim_transfer_cube_scripted/videos/observation.images.top_episode_000000.mp4
index 2d25242c..dbd3dfab 100644
Binary files a/tests/data/lerobot/aloha_sim_transfer_cube_scripted/videos/observation.images.top_episode_000000.mp4 and b/tests/data/lerobot/aloha_sim_transfer_cube_scripted/videos/observation.images.top_episode_000000.mp4 differ
diff --git a/tests/data/lerobot/aloha_sim_transfer_cube_scripted_image/meta_data/episode_data_index.safetensors b/tests/data/lerobot/aloha_sim_transfer_cube_scripted_image/meta_data/episode_data_index.safetensors
new file mode 100644
index 00000000..4195a89f
--- /dev/null
+++ b/tests/data/lerobot/aloha_sim_transfer_cube_scripted_image/meta_data/episode_data_index.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4500f31e62f0928a837fa71783acacda0db516c7b00d0586a41ea5fd8fc5e772
+size 928
diff --git a/tests/data/lerobot/aloha_sim_transfer_cube_scripted_image/meta_data/info.json b/tests/data/lerobot/aloha_sim_transfer_cube_scripted_image/meta_data/info.json
new file mode 100644
index 00000000..5d86c44e
--- /dev/null
+++ b/tests/data/lerobot/aloha_sim_transfer_cube_scripted_image/meta_data/info.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:083db9efc5c9e3396c5e1159d020c2a3786f1f1a4b069719d327ed7fbc65c34d
+size 33
diff --git a/tests/data/lerobot/aloha_sim_transfer_cube_scripted_image/meta_data/stats.safetensors b/tests/data/lerobot/aloha_sim_transfer_cube_scripted_image/meta_data/stats.safetensors
new file mode 100644
index 00000000..54946e8c
--- /dev/null
+++ b/tests/data/lerobot/aloha_sim_transfer_cube_scripted_image/meta_data/stats.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5dae4fa688991d97145fd975d317b24b177f674cc57e53ef4caba1413fe1aad8
+size 2904
diff --git a/tests/data/lerobot/aloha_sim_transfer_cube_scripted_image/train/data-00000-of-00001.arrow b/tests/data/lerobot/aloha_sim_transfer_cube_scripted_image/train/data-00000-of-00001.arrow
new file mode 100644
index 00000000..61979acb
--- /dev/null
+++ b/tests/data/lerobot/aloha_sim_transfer_cube_scripted_image/train/data-00000-of-00001.arrow
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3948750400c273b7e3ef2998fa84ca7a520d8972c8759c2428ff6fbdc2bd8fb7
+size 11505144
diff --git a/tests/data/lerobot/aloha_sim_transfer_cube_scripted_image/train/dataset_info.json b/tests/data/lerobot/aloha_sim_transfer_cube_scripted_image/train/dataset_info.json
new file mode 100644
index 00000000..cf816b66
--- /dev/null
+++ b/tests/data/lerobot/aloha_sim_transfer_cube_scripted_image/train/dataset_info.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c9545525dc1f4d550591bd5efb63b55c15b983ae0510fefda5a16d77c78b6ef
+size 837
diff --git a/tests/data/lerobot/aloha_sim_transfer_cube_scripted_image/train/state.json b/tests/data/lerobot/aloha_sim_transfer_cube_scripted_image/train/state.json
new file mode 100644
index 00000000..bda86ecb
--- /dev/null
+++ b/tests/data/lerobot/aloha_sim_transfer_cube_scripted_image/train/state.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fda1fe75c9f987c065d4244594e4f6456b7ac6efd7fae2a7952fb48b044dbd30
+size 247
diff --git a/tests/data/lerobot/aloha_static_battery/meta_data/episode_data_index.safetensors b/tests/data/lerobot/aloha_static_battery/meta_data/episode_data_index.safetensors
new file mode 100644
index 00000000..bcf6f38c
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_battery/meta_data/episode_data_index.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a17b1cd612f06662c14e0a74f9bd4787ab97558d57d6e150d06a401a48eccba9
+size 912
diff --git a/tests/data/lerobot/aloha_static_battery/meta_data/info.json b/tests/data/lerobot/aloha_static_battery/meta_data/info.json
new file mode 100644
index 00000000..8c5c4ee8
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_battery/meta_data/info.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf148247bf191c7f7e8af738a7b9e147f9ffffeec0e4b9d1c4783c4e384da7eb
+size 33
diff --git a/tests/data/lerobot/aloha_static_battery/meta_data/stats.safetensors b/tests/data/lerobot/aloha_static_battery/meta_data/stats.safetensors
new file mode 100644
index 00000000..59d07cc3
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_battery/meta_data/stats.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f724049d7bd23458f02c606fa59cc1d0f2a44f7fac9e5b4c4eff97c95ac132b3
+size 4208
diff --git a/tests/data/lerobot/aloha_static_battery/train/data-00000-of-00001.arrow b/tests/data/lerobot/aloha_static_battery/train/data-00000-of-00001.arrow
new file mode 100644
index 00000000..56a3e72b
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_battery/train/data-00000-of-00001.arrow
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52fb2e9785eb8d069def324272008ca829ebb32830165bdcbbfdfd3cc6bf42dd
+size 240928
diff --git a/tests/data/lerobot/aloha_static_battery/train/dataset_info.json b/tests/data/lerobot/aloha_static_battery/train/dataset_info.json
new file mode 100644
index 00000000..7fe0ac4c
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_battery/train/dataset_info.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2e066afefdee57f3bc534085ab7af54e62d3ab2736d42863a89deb743cd0d04
+size 1075
diff --git a/tests/data/lerobot/aloha_static_battery/train/state.json b/tests/data/lerobot/aloha_static_battery/train/state.json
new file mode 100644
index 00000000..04593ca1
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_battery/train/state.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e06118a224b4477c0aaf17d43930cd7f516f3de932c6d5547ee741f609a6228
+size 247
diff --git a/tests/data/lerobot/aloha_static_battery/videos/observation.images.cam_high_episode_000000.mp4 b/tests/data/lerobot/aloha_static_battery/videos/observation.images.cam_high_episode_000000.mp4
new file mode 100644
index 00000000..f1f71ae9
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_battery/videos/observation.images.cam_high_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:551bb7677b875b263df5b60d6e258e8ca825572938b65c3eacfa7ae3ea325149
+size 4246212
diff --git a/tests/data/lerobot/aloha_static_battery/videos/observation.images.cam_left_wrist_episode_000000.mp4 b/tests/data/lerobot/aloha_static_battery/videos/observation.images.cam_left_wrist_episode_000000.mp4
new file mode 100644
index 00000000..c91a7999
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_battery/videos/observation.images.cam_left_wrist_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7230024f74e30b3f0430790f95e4920968d7e1821355006b48c191487ec6ca4d
+size 3712553
diff --git a/tests/data/lerobot/aloha_static_battery/videos/observation.images.cam_low_episode_000000.mp4 b/tests/data/lerobot/aloha_static_battery/videos/observation.images.cam_low_episode_000000.mp4
new file mode 100644
index 00000000..5991d529
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_battery/videos/observation.images.cam_low_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:376486caa0033cc2b1345e0e838243c4fe09623ae6e655765f5ec92f90a70d4e
+size 3358646
diff --git a/tests/data/lerobot/aloha_static_battery/videos/observation.images.cam_right_wrist_episode_000000.mp4 b/tests/data/lerobot/aloha_static_battery/videos/observation.images.cam_right_wrist_episode_000000.mp4
new file mode 100644
index 00000000..f5343155
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_battery/videos/observation.images.cam_right_wrist_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dfed128b3afe26ad99095944023765cfbe32b35f7ddc267ed4b8c19462211e7c
+size 4183134
diff --git a/tests/data/lerobot/aloha_static_candy/meta_data/episode_data_index.safetensors b/tests/data/lerobot/aloha_static_candy/meta_data/episode_data_index.safetensors
new file mode 100644
index 00000000..c4f52e96
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_candy/meta_data/episode_data_index.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed655b17ac00510afe57cc340cc8fa3b0b7e377f9de41fa53092425174b9730d
+size 928
diff --git a/tests/data/lerobot/aloha_static_candy/meta_data/info.json b/tests/data/lerobot/aloha_static_candy/meta_data/info.json
new file mode 100644
index 00000000..8c5c4ee8
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_candy/meta_data/info.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf148247bf191c7f7e8af738a7b9e147f9ffffeec0e4b9d1c4783c4e384da7eb
+size 33
diff --git a/tests/data/lerobot/aloha_static_candy/meta_data/stats.safetensors b/tests/data/lerobot/aloha_static_candy/meta_data/stats.safetensors
new file mode 100644
index 00000000..370fc150
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_candy/meta_data/stats.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:973576883a1dedcd1d8c21a8ab2879854d7cbdeff8f40787bc654298deeeaa2f
+size 4208
diff --git a/tests/data/lerobot/aloha_static_candy/train/data-00000-of-00001.arrow b/tests/data/lerobot/aloha_static_candy/train/data-00000-of-00001.arrow
new file mode 100644
index 00000000..806e0f0a
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_candy/train/data-00000-of-00001.arrow
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b034ce6eadfd29cbc7eedc62eeb6a01c9ed7ffa411b773d4a1fe9f79bbd847d
+size 280536
diff --git a/tests/data/lerobot/aloha_static_candy/train/dataset_info.json b/tests/data/lerobot/aloha_static_candy/train/dataset_info.json
new file mode 100644
index 00000000..7fe0ac4c
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_candy/train/dataset_info.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2e066afefdee57f3bc534085ab7af54e62d3ab2736d42863a89deb743cd0d04
+size 1075
diff --git a/tests/data/lerobot/aloha_static_candy/train/state.json b/tests/data/lerobot/aloha_static_candy/train/state.json
new file mode 100644
index 00000000..171981a8
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_candy/train/state.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f94ca1a43797e9356f1d0d597557ff20f3ca23b7e1bd6a9155df65dcf9f434e2
+size 247
diff --git a/tests/data/lerobot/aloha_static_candy/videos/observation.images.cam_high_episode_000000.mp4 b/tests/data/lerobot/aloha_static_candy/videos/observation.images.cam_high_episode_000000.mp4
new file mode 100644
index 00000000..eaca1761
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_candy/videos/observation.images.cam_high_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3b0bbc457659de53ee2b8787dc4e920fbd528488514f752e636c3a9c04899df
+size 4911104
diff --git a/tests/data/lerobot/aloha_static_candy/videos/observation.images.cam_left_wrist_episode_000000.mp4 b/tests/data/lerobot/aloha_static_candy/videos/observation.images.cam_left_wrist_episode_000000.mp4
new file mode 100644
index 00000000..229ce6ba
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_candy/videos/observation.images.cam_left_wrist_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d660ec74fbf088baa8f34861f1c8fbba9f0909563e0768867daa86581502f90e
+size 3401787
diff --git a/tests/data/lerobot/aloha_static_candy/videos/observation.images.cam_low_episode_000000.mp4 b/tests/data/lerobot/aloha_static_candy/videos/observation.images.cam_low_episode_000000.mp4
new file mode 100644
index 00000000..bcf4e716
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_candy/videos/observation.images.cam_low_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ebc983ce4021a4243fd635126a520e20ef83861a586b7f0672b6b608484b93ec
+size 4035176
diff --git a/tests/data/lerobot/aloha_static_candy/videos/observation.images.cam_right_wrist_episode_000000.mp4 b/tests/data/lerobot/aloha_static_candy/videos/observation.images.cam_right_wrist_episode_000000.mp4
new file mode 100644
index 00000000..2da6290c
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_candy/videos/observation.images.cam_right_wrist_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:441479fdd37074272658400b6fb9c8e4c071e98b125320771d63cf4575aff2d2
+size 4215835
diff --git a/tests/data/lerobot/aloha_static_coffee/meta_data/episode_data_index.safetensors b/tests/data/lerobot/aloha_static_coffee/meta_data/episode_data_index.safetensors
new file mode 100644
index 00000000..30b7978a
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_coffee/meta_data/episode_data_index.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:279916f7689ae46af90e92a46eba9486a71fc762e3e2679ab5441eb37126827b
+size 928
diff --git a/tests/data/lerobot/aloha_static_coffee/meta_data/info.json b/tests/data/lerobot/aloha_static_coffee/meta_data/info.json
new file mode 100644
index 00000000..8c5c4ee8
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_coffee/meta_data/info.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf148247bf191c7f7e8af738a7b9e147f9ffffeec0e4b9d1c4783c4e384da7eb
+size 33
diff --git a/tests/data/lerobot/aloha_static_coffee/meta_data/stats.safetensors b/tests/data/lerobot/aloha_static_coffee/meta_data/stats.safetensors
new file mode 100644
index 00000000..0ca75755
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_coffee/meta_data/stats.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc624f3eb2a5b26dfe44c468a24ec1214a8816f50c08c9f946a7ea088bc43c1e
+size 4752
diff --git a/tests/data/lerobot/aloha_static_coffee/train/data-00000-of-00001.arrow b/tests/data/lerobot/aloha_static_coffee/train/data-00000-of-00001.arrow
new file mode 100644
index 00000000..4eb46312
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_coffee/train/data-00000-of-00001.arrow
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0efc7f82fb433744f77f86adabbba81df6e1d4a0f3d660725a10359549f75d62
+size 502200
diff --git a/tests/data/lerobot/aloha_static_coffee/train/dataset_info.json b/tests/data/lerobot/aloha_static_coffee/train/dataset_info.json
new file mode 100644
index 00000000..144d793b
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_coffee/train/dataset_info.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55969ea876fc62b17afca0777816d93c1c90f23207a3562c907cfbd6502858f9
+size 1237
diff --git a/tests/data/lerobot/aloha_static_coffee/train/state.json b/tests/data/lerobot/aloha_static_coffee/train/state.json
new file mode 100644
index 00000000..bfa74d36
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_coffee/train/state.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:acbefb679113a410d9b2a337d2d4b5393c60538e4bb5da97686e3abd2fa623b2
+size 247
diff --git a/tests/data/lerobot/aloha_static_coffee/videos/observation.images.cam_high_episode_000000.mp4 b/tests/data/lerobot/aloha_static_coffee/videos/observation.images.cam_high_episode_000000.mp4
new file mode 100644
index 00000000..80dac156
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_coffee/videos/observation.images.cam_high_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:345cc5402794b1566fae73146ac3f0b36b18d1df4badcf1897a2ae3fae3f1e99
+size 9177059
diff --git a/tests/data/lerobot/aloha_static_coffee/videos/observation.images.cam_left_wrist_episode_000000.mp4 b/tests/data/lerobot/aloha_static_coffee/videos/observation.images.cam_left_wrist_episode_000000.mp4
new file mode 100644
index 00000000..ee068c57
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_coffee/videos/observation.images.cam_left_wrist_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f30fba7ee9b10cb3f5eb50f117c742e47d5ec6c205036edfa62bec9fc8b7517c
+size 6345170
diff --git a/tests/data/lerobot/aloha_static_coffee/videos/observation.images.cam_low_episode_000000.mp4 b/tests/data/lerobot/aloha_static_coffee/videos/observation.images.cam_low_episode_000000.mp4
new file mode 100644
index 00000000..72abaad5
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_coffee/videos/observation.images.cam_low_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:494871573d44aa601d091f24a4cccd4f625c8290929575ff189636495c970684
+size 7119730
diff --git a/tests/data/lerobot/aloha_static_coffee/videos/observation.images.cam_right_wrist_episode_000000.mp4 b/tests/data/lerobot/aloha_static_coffee/videos/observation.images.cam_right_wrist_episode_000000.mp4
new file mode 100644
index 00000000..0c872310
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_coffee/videos/observation.images.cam_right_wrist_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31dc487809c370dc9e1d740826da03c108740226e19306cf755c27ea623e3e95
+size 6395729
diff --git a/tests/data/lerobot/aloha_static_coffee_new/meta_data/episode_data_index.safetensors b/tests/data/lerobot/aloha_static_coffee_new/meta_data/episode_data_index.safetensors
new file mode 100644
index 00000000..beea5395
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_coffee_new/meta_data/episode_data_index.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e2e06405e7a137c3285c74f9bae676ff935c694d446e7000772c8e10df777a8
+size 928
diff --git a/tests/data/lerobot/aloha_static_coffee_new/meta_data/info.json b/tests/data/lerobot/aloha_static_coffee_new/meta_data/info.json
new file mode 100644
index 00000000..8c5c4ee8
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_coffee_new/meta_data/info.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf148247bf191c7f7e8af738a7b9e147f9ffffeec0e4b9d1c4783c4e384da7eb
+size 33
diff --git a/tests/data/lerobot/aloha_static_coffee_new/meta_data/stats.safetensors b/tests/data/lerobot/aloha_static_coffee_new/meta_data/stats.safetensors
new file mode 100644
index 00000000..af12bb36
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_coffee_new/meta_data/stats.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b32796a498a506e7701ba91607a3dc59b9dfd8b1efde93ee423a921f05805663
+size 4752
diff --git a/tests/data/lerobot/aloha_static_coffee_new/train/data-00000-of-00001.arrow b/tests/data/lerobot/aloha_static_coffee_new/train/data-00000-of-00001.arrow
new file mode 100644
index 00000000..7e026666
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_coffee_new/train/data-00000-of-00001.arrow
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5da09bf6e21a26299eddae1cf583ab6ce627dd3b6b3cfd488da2783a04672e58
+size 683048
diff --git a/tests/data/lerobot/aloha_static_coffee_new/train/dataset_info.json b/tests/data/lerobot/aloha_static_coffee_new/train/dataset_info.json
new file mode 100644
index 00000000..144d793b
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_coffee_new/train/dataset_info.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55969ea876fc62b17afca0777816d93c1c90f23207a3562c907cfbd6502858f9
+size 1237
diff --git a/tests/data/lerobot/aloha_static_coffee_new/train/state.json b/tests/data/lerobot/aloha_static_coffee_new/train/state.json
new file mode 100644
index 00000000..76b538c6
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_coffee_new/train/state.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de36f736a398cc5f11db8f196a92d48a7cba67f19012d529bf0b69ba0e07003d
+size 247
diff --git a/tests/data/lerobot/aloha_static_coffee_new/videos/observation.images.cam_high_episode_000000.mp4 b/tests/data/lerobot/aloha_static_coffee_new/videos/observation.images.cam_high_episode_000000.mp4
new file mode 100644
index 00000000..fcd1135c
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_coffee_new/videos/observation.images.cam_high_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a5057fc6e4bd535dffdb0e6faad693a2786936ffa666a75280d0db6ae201712
+size 12232643
diff --git a/tests/data/lerobot/aloha_static_coffee_new/videos/observation.images.cam_left_wrist_episode_000000.mp4 b/tests/data/lerobot/aloha_static_coffee_new/videos/observation.images.cam_left_wrist_episode_000000.mp4
new file mode 100644
index 00000000..2677fe66
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_coffee_new/videos/observation.images.cam_left_wrist_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4928be2328d324bbb0281cc10307f8987a39a6f1b5c90d39631fdd5b5fa3fbde
+size 7717890
diff --git a/tests/data/lerobot/aloha_static_coffee_new/videos/observation.images.cam_low_episode_000000.mp4 b/tests/data/lerobot/aloha_static_coffee_new/videos/observation.images.cam_low_episode_000000.mp4
new file mode 100644
index 00000000..8f7f21a3
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_coffee_new/videos/observation.images.cam_low_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4188937513012a3de8d6778f90b968f1fface275b82ee843a59d435a21f64bd7
+size 8759488
diff --git a/tests/data/lerobot/aloha_static_coffee_new/videos/observation.images.cam_right_wrist_episode_000000.mp4 b/tests/data/lerobot/aloha_static_coffee_new/videos/observation.images.cam_right_wrist_episode_000000.mp4
new file mode 100644
index 00000000..acb5814c
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_coffee_new/videos/observation.images.cam_right_wrist_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:773337beb37a7c463a729914eed354ccf6ce649a3978e4c257be7cd4861f67a0
+size 8968282
diff --git a/tests/data/lerobot/aloha_static_cups_open/meta_data/episode_data_index.safetensors b/tests/data/lerobot/aloha_static_cups_open/meta_data/episode_data_index.safetensors
new file mode 100644
index 00000000..4195a89f
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_cups_open/meta_data/episode_data_index.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4500f31e62f0928a837fa71783acacda0db516c7b00d0586a41ea5fd8fc5e772
+size 928
diff --git a/tests/data/lerobot/aloha_static_cups_open/meta_data/info.json b/tests/data/lerobot/aloha_static_cups_open/meta_data/info.json
new file mode 100644
index 00000000..8c5c4ee8
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_cups_open/meta_data/info.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf148247bf191c7f7e8af738a7b9e147f9ffffeec0e4b9d1c4783c4e384da7eb
+size 33
diff --git a/tests/data/lerobot/aloha_static_cups_open/meta_data/stats.safetensors b/tests/data/lerobot/aloha_static_cups_open/meta_data/stats.safetensors
new file mode 100644
index 00000000..2e4012f6
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_cups_open/meta_data/stats.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2926f7125dab62160ba0c8fd19ce8586305344fc218069f45f73b6b672bfff00
+size 4208
diff --git a/tests/data/lerobot/aloha_static_cups_open/train/data-00000-of-00001.arrow b/tests/data/lerobot/aloha_static_cups_open/train/data-00000-of-00001.arrow
new file mode 100644
index 00000000..3d387b61
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_cups_open/train/data-00000-of-00001.arrow
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ac5379f3dc5151c84dc9300f9384dc09beabf2f11138797410f5a3f53440a21
+size 161640
diff --git a/tests/data/lerobot/aloha_static_cups_open/train/dataset_info.json b/tests/data/lerobot/aloha_static_cups_open/train/dataset_info.json
new file mode 100644
index 00000000..7fe0ac4c
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_cups_open/train/dataset_info.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2e066afefdee57f3bc534085ab7af54e62d3ab2736d42863a89deb743cd0d04
+size 1075
diff --git a/tests/data/lerobot/aloha_static_cups_open/train/state.json b/tests/data/lerobot/aloha_static_cups_open/train/state.json
new file mode 100644
index 00000000..ccd89115
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_cups_open/train/state.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e2a558362c1cc7842381b36550e23853cec672d20af98e97dc1fae064a758ed
+size 247
diff --git a/tests/data/lerobot/aloha_static_cups_open/videos/observation.images.cam_high_episode_000000.mp4 b/tests/data/lerobot/aloha_static_cups_open/videos/observation.images.cam_high_episode_000000.mp4
new file mode 100644
index 00000000..4621cc81
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_cups_open/videos/observation.images.cam_high_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2f3eb9c8f613dba69ed59f0d28778a04ce6f0eddbc4de86145692fe2f3bde40
+size 2787770
diff --git a/tests/data/lerobot/aloha_static_cups_open/videos/observation.images.cam_left_wrist_episode_000000.mp4 b/tests/data/lerobot/aloha_static_cups_open/videos/observation.images.cam_left_wrist_episode_000000.mp4
new file mode 100644
index 00000000..b13f506c
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_cups_open/videos/observation.images.cam_left_wrist_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:213eaa3d61b6867f86be0f580aa8860d1431ac280d0b27a794da5f49e98d97ac
+size 1881751
diff --git a/tests/data/lerobot/aloha_static_cups_open/videos/observation.images.cam_low_episode_000000.mp4 b/tests/data/lerobot/aloha_static_cups_open/videos/observation.images.cam_low_episode_000000.mp4
new file mode 100644
index 00000000..513286d7
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_cups_open/videos/observation.images.cam_low_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04ab62f752164281b398e377d9b0c6212d3dd5543459ecf9150d123def7425b7
+size 2188614
diff --git a/tests/data/lerobot/aloha_static_cups_open/videos/observation.images.cam_right_wrist_episode_000000.mp4 b/tests/data/lerobot/aloha_static_cups_open/videos/observation.images.cam_right_wrist_episode_000000.mp4
new file mode 100644
index 00000000..1b5dc13c
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_cups_open/videos/observation.images.cam_right_wrist_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:806e3eab682e7404fc5fe487ca24ad8f94b07ff161018be3944edcb6b97a6219
+size 2588560
diff --git a/tests/data/lerobot/aloha_static_fork_pick_up/meta_data/episode_data_index.safetensors b/tests/data/lerobot/aloha_static_fork_pick_up/meta_data/episode_data_index.safetensors
new file mode 100644
index 00000000..4a634f47
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_fork_pick_up/meta_data/episode_data_index.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df5cde6d9bffddea00f30b29d987c3f0dfbed30b78637d0758d8e107c438b7c1
+size 1736
diff --git a/tests/data/lerobot/aloha_static_fork_pick_up/meta_data/info.json b/tests/data/lerobot/aloha_static_fork_pick_up/meta_data/info.json
new file mode 100644
index 00000000..8c5c4ee8
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_fork_pick_up/meta_data/info.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf148247bf191c7f7e8af738a7b9e147f9ffffeec0e4b9d1c4783c4e384da7eb
+size 33
diff --git a/tests/data/lerobot/aloha_static_fork_pick_up/meta_data/stats.safetensors b/tests/data/lerobot/aloha_static_fork_pick_up/meta_data/stats.safetensors
new file mode 100644
index 00000000..3a89b9df
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_fork_pick_up/meta_data/stats.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91f7c8d82b012f8e78d5ea02360079f020337bd1c4bee2b8b500c58618f7dfa3
+size 4752
diff --git a/tests/data/lerobot/aloha_static_fork_pick_up/train/data-00000-of-00001.arrow b/tests/data/lerobot/aloha_static_fork_pick_up/train/data-00000-of-00001.arrow
new file mode 100644
index 00000000..b1ff1173
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_fork_pick_up/train/data-00000-of-00001.arrow
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:864372abf759e77b9632759455424eb753f190893db3ef301095f197f655da2f
+size 274824
diff --git a/tests/data/lerobot/aloha_static_fork_pick_up/train/dataset_info.json b/tests/data/lerobot/aloha_static_fork_pick_up/train/dataset_info.json
new file mode 100644
index 00000000..144d793b
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_fork_pick_up/train/dataset_info.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55969ea876fc62b17afca0777816d93c1c90f23207a3562c907cfbd6502858f9
+size 1237
diff --git a/tests/data/lerobot/aloha_static_fork_pick_up/train/state.json b/tests/data/lerobot/aloha_static_fork_pick_up/train/state.json
new file mode 100644
index 00000000..c0688ecc
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_fork_pick_up/train/state.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de515786e9268bce42b97ae7e8090dfdb1bf865beead255ba28f0901b0adf8d5
+size 247
diff --git a/tests/data/lerobot/aloha_static_fork_pick_up/videos/observation.images.cam_high_episode_000000.mp4 b/tests/data/lerobot/aloha_static_fork_pick_up/videos/observation.images.cam_high_episode_000000.mp4
new file mode 100644
index 00000000..faa9dfea
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_fork_pick_up/videos/observation.images.cam_high_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4274f639490f60855c4d58ccc0095839e8c6f07849ee986eeaedf90aeca5f8e
+size 3859460
diff --git a/tests/data/lerobot/aloha_static_fork_pick_up/videos/observation.images.cam_left_wrist_episode_000000.mp4 b/tests/data/lerobot/aloha_static_fork_pick_up/videos/observation.images.cam_left_wrist_episode_000000.mp4
new file mode 100644
index 00000000..d76da528
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_fork_pick_up/videos/observation.images.cam_left_wrist_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1632488aaebcf20a1f1bc4889f422c8afad605521024ae0a569f4d3cba30e24e
+size 3572791
diff --git a/tests/data/lerobot/aloha_static_fork_pick_up/videos/observation.images.cam_low_episode_000000.mp4 b/tests/data/lerobot/aloha_static_fork_pick_up/videos/observation.images.cam_low_episode_000000.mp4
new file mode 100644
index 00000000..84763450
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_fork_pick_up/videos/observation.images.cam_low_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a57d601ffd4ce86fe706d678c79ef20987d1875ba4126284b5f5dc093ce0e861
+size 2880255
diff --git a/tests/data/lerobot/aloha_static_fork_pick_up/videos/observation.images.cam_right_wrist_episode_000000.mp4 b/tests/data/lerobot/aloha_static_fork_pick_up/videos/observation.images.cam_right_wrist_episode_000000.mp4
new file mode 100644
index 00000000..992fdc9d
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_fork_pick_up/videos/observation.images.cam_right_wrist_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:409f4ce179fbba18920bf09c17bdeb11a8ed4b9fab080fd6b1d51f9c58d95c46
+size 3745968
diff --git a/tests/data/lerobot/aloha_static_pingpong_test/meta_data/episode_data_index.safetensors b/tests/data/lerobot/aloha_static_pingpong_test/meta_data/episode_data_index.safetensors
new file mode 100644
index 00000000..672d46d0
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_pingpong_test/meta_data/episode_data_index.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63985365b49c12789a9a0e3dc330cc3fd492d9e2c70af55928ebdae3b0bcca8e
+size 288
diff --git a/tests/data/lerobot/aloha_static_pingpong_test/meta_data/info.json b/tests/data/lerobot/aloha_static_pingpong_test/meta_data/info.json
new file mode 100644
index 00000000..8c5c4ee8
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_pingpong_test/meta_data/info.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf148247bf191c7f7e8af738a7b9e147f9ffffeec0e4b9d1c4783c4e384da7eb
+size 33
diff --git a/tests/data/lerobot/aloha_static_pingpong_test/meta_data/stats.safetensors b/tests/data/lerobot/aloha_static_pingpong_test/meta_data/stats.safetensors
new file mode 100644
index 00000000..72661188
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_pingpong_test/meta_data/stats.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea4df04d8c0a084209af94b60a9bed646c8fe5a6400ab22fa15661bab0fe5a89
+size 4752
diff --git a/tests/data/lerobot/aloha_static_pingpong_test/train/data-00000-of-00001.arrow b/tests/data/lerobot/aloha_static_pingpong_test/train/data-00000-of-00001.arrow
new file mode 100644
index 00000000..669d7d10
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_pingpong_test/train/data-00000-of-00001.arrow
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0045279e29d55a7d686bee2cf5cd80993229710e1ede8c750703c56dcc573d56
+size 274824
diff --git a/tests/data/lerobot/aloha_static_pingpong_test/train/dataset_info.json b/tests/data/lerobot/aloha_static_pingpong_test/train/dataset_info.json
new file mode 100644
index 00000000..144d793b
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_pingpong_test/train/dataset_info.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55969ea876fc62b17afca0777816d93c1c90f23207a3562c907cfbd6502858f9
+size 1237
diff --git a/tests/data/lerobot/aloha_static_pingpong_test/train/state.json b/tests/data/lerobot/aloha_static_pingpong_test/train/state.json
new file mode 100644
index 00000000..b9b97753
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_pingpong_test/train/state.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:240fae9fa494f7557328dd5e80c5448ceb7271084217b3bc96e123b0e7f4d7bf
+size 247
diff --git a/tests/data/lerobot/aloha_static_pingpong_test/videos/observation.images.cam_high_episode_000000.mp4 b/tests/data/lerobot/aloha_static_pingpong_test/videos/observation.images.cam_high_episode_000000.mp4
new file mode 100644
index 00000000..3bfcb67c
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_pingpong_test/videos/observation.images.cam_high_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15934e7d48d2914b1d89f262e59799175d2bb2e27a97401e51bc83d5b9fe3837
+size 4403990
diff --git a/tests/data/lerobot/aloha_static_pingpong_test/videos/observation.images.cam_left_wrist_episode_000000.mp4 b/tests/data/lerobot/aloha_static_pingpong_test/videos/observation.images.cam_left_wrist_episode_000000.mp4
new file mode 100644
index 00000000..d97364e4
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_pingpong_test/videos/observation.images.cam_left_wrist_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0bf1fbd424c53914d485472ed2bc9d3ecedc1a6f126b83c90fe951deb3a13a65
+size 4025665
diff --git a/tests/data/lerobot/aloha_static_pingpong_test/videos/observation.images.cam_low_episode_000000.mp4 b/tests/data/lerobot/aloha_static_pingpong_test/videos/observation.images.cam_low_episode_000000.mp4
new file mode 100644
index 00000000..5bcdadb6
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_pingpong_test/videos/observation.images.cam_low_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8965a19d085ffff9de779de0eba79a6a51f4bb84325a2919604498753778e1c5
+size 3271435
diff --git a/tests/data/lerobot/aloha_static_pingpong_test/videos/observation.images.cam_right_wrist_episode_000000.mp4 b/tests/data/lerobot/aloha_static_pingpong_test/videos/observation.images.cam_right_wrist_episode_000000.mp4
new file mode 100644
index 00000000..71553951
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_pingpong_test/videos/observation.images.cam_right_wrist_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:961a12feea3870f45d4ae3fb9a20b8bdb8928020d96c556c24cb48c10a3c9200
+size 3972027
diff --git a/tests/data/lerobot/aloha_static_pro_pencil/meta_data/episode_data_index.safetensors b/tests/data/lerobot/aloha_static_pro_pencil/meta_data/episode_data_index.safetensors
new file mode 100644
index 00000000..0a3e7b18
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_pro_pencil/meta_data/episode_data_index.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e36408014ca0be67de36d9d5d0910cb94734ac76421d8bdb5dbb9bd0707ef82f
+size 528
diff --git a/tests/data/lerobot/aloha_static_pro_pencil/meta_data/info.json b/tests/data/lerobot/aloha_static_pro_pencil/meta_data/info.json
new file mode 100644
index 00000000..8c5c4ee8
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_pro_pencil/meta_data/info.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf148247bf191c7f7e8af738a7b9e147f9ffffeec0e4b9d1c4783c4e384da7eb
+size 33
diff --git a/tests/data/lerobot/aloha_static_pro_pencil/meta_data/stats.safetensors b/tests/data/lerobot/aloha_static_pro_pencil/meta_data/stats.safetensors
new file mode 100644
index 00000000..6da8678b
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_pro_pencil/meta_data/stats.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a54e6fbefceec2db7c850d872ba825cbddef0ddfeb7621beca2f26705344de4
+size 4752
diff --git a/tests/data/lerobot/aloha_static_pro_pencil/train/data-00000-of-00001.arrow b/tests/data/lerobot/aloha_static_pro_pencil/train/data-00000-of-00001.arrow
new file mode 100644
index 00000000..97b16748
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_pro_pencil/train/data-00000-of-00001.arrow
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:783d2d14b19a81ded4e00226c20f1d24f6b52f0522a661d716afdb22d6346643
+size 161792
diff --git a/tests/data/lerobot/aloha_static_pro_pencil/train/dataset_info.json b/tests/data/lerobot/aloha_static_pro_pencil/train/dataset_info.json
new file mode 100644
index 00000000..144d793b
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_pro_pencil/train/dataset_info.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55969ea876fc62b17afca0777816d93c1c90f23207a3562c907cfbd6502858f9
+size 1237
diff --git a/tests/data/lerobot/aloha_static_pro_pencil/train/state.json b/tests/data/lerobot/aloha_static_pro_pencil/train/state.json
new file mode 100644
index 00000000..b2e0f18a
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_pro_pencil/train/state.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db661ba3cf29bf8e16fba3fb79041f987e4aa0f43305e4e81fe1fcc58925d5ca
+size 247
diff --git a/tests/data/lerobot/aloha_static_pro_pencil/videos/observation.images.cam_high_episode_000000.mp4 b/tests/data/lerobot/aloha_static_pro_pencil/videos/observation.images.cam_high_episode_000000.mp4
new file mode 100644
index 00000000..965bd33b
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_pro_pencil/videos/observation.images.cam_high_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72437edfae1ae4f76ee1800b77c4f31f0e60a7f49d12447a07bcae8710217f26
+size 4493363
diff --git a/tests/data/lerobot/aloha_static_pro_pencil/videos/observation.images.cam_left_wrist_episode_000000.mp4 b/tests/data/lerobot/aloha_static_pro_pencil/videos/observation.images.cam_left_wrist_episode_000000.mp4
new file mode 100644
index 00000000..9443d090
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_pro_pencil/videos/observation.images.cam_left_wrist_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1cfec31227cd9f6eec767dd14cf480da92ae17808b003531ee596ca37ae3f2c2
+size 4528034
diff --git a/tests/data/lerobot/aloha_static_pro_pencil/videos/observation.images.cam_low_episode_000000.mp4 b/tests/data/lerobot/aloha_static_pro_pencil/videos/observation.images.cam_low_episode_000000.mp4
new file mode 100644
index 00000000..6485a67a
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_pro_pencil/videos/observation.images.cam_low_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24971ddc33b11e012cf2e5d2ae89ac2f8d06f31ae82db5b8ade5583c812a96a3
+size 3243037
diff --git a/tests/data/lerobot/aloha_static_pro_pencil/videos/observation.images.cam_right_wrist_episode_000000.mp4 b/tests/data/lerobot/aloha_static_pro_pencil/videos/observation.images.cam_right_wrist_episode_000000.mp4
new file mode 100644
index 00000000..3fa03fb0
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_pro_pencil/videos/observation.images.cam_right_wrist_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f8e887ee52d8ad4125dceea04aa8db83477c924a7d8bc3cc3fbeb7085814b3b
+size 4517634
diff --git a/tests/data/lerobot/aloha_static_screw_driver/meta_data/episode_data_index.safetensors b/tests/data/lerobot/aloha_static_screw_driver/meta_data/episode_data_index.safetensors
new file mode 100644
index 00000000..4195a89f
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_screw_driver/meta_data/episode_data_index.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4500f31e62f0928a837fa71783acacda0db516c7b00d0586a41ea5fd8fc5e772
+size 928
diff --git a/tests/data/lerobot/aloha_static_screw_driver/meta_data/info.json b/tests/data/lerobot/aloha_static_screw_driver/meta_data/info.json
new file mode 100644
index 00000000..8c5c4ee8
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_screw_driver/meta_data/info.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf148247bf191c7f7e8af738a7b9e147f9ffffeec0e4b9d1c4783c4e384da7eb
+size 33
diff --git a/tests/data/lerobot/aloha_static_screw_driver/meta_data/stats.safetensors b/tests/data/lerobot/aloha_static_screw_driver/meta_data/stats.safetensors
new file mode 100644
index 00000000..092cce00
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_screw_driver/meta_data/stats.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df11137a7ff1c75eedeae7b6b15fbfbaf9d4c152583f34371b95add3a10bd2b1
+size 4752
diff --git a/tests/data/lerobot/aloha_static_screw_driver/train/data-00000-of-00001.arrow b/tests/data/lerobot/aloha_static_screw_driver/train/data-00000-of-00001.arrow
new file mode 100644
index 00000000..ecb2c3e6
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_screw_driver/train/data-00000-of-00001.arrow
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7480735fb1263858492ed6384b43606c8019f46ac06cc12b945170db72b6e487
+size 184336
diff --git a/tests/data/lerobot/aloha_static_screw_driver/train/dataset_info.json b/tests/data/lerobot/aloha_static_screw_driver/train/dataset_info.json
new file mode 100644
index 00000000..144d793b
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_screw_driver/train/dataset_info.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55969ea876fc62b17afca0777816d93c1c90f23207a3562c907cfbd6502858f9
+size 1237
diff --git a/tests/data/lerobot/aloha_static_screw_driver/train/state.json b/tests/data/lerobot/aloha_static_screw_driver/train/state.json
new file mode 100644
index 00000000..176af15f
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_screw_driver/train/state.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d842fe613f4f21d84bbf3e233ea637bce2b20e4145cc23f964a5b7a18f002051
+size 247
diff --git a/tests/data/lerobot/aloha_static_screw_driver/videos/observation.images.cam_high_episode_000000.mp4 b/tests/data/lerobot/aloha_static_screw_driver/videos/observation.images.cam_high_episode_000000.mp4
new file mode 100644
index 00000000..c35e8b8f
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_screw_driver/videos/observation.images.cam_high_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b184062800c884b7f75d57d69619dc9a85fe2320acc0d6591f76cbab1924bbaf
+size 2918070
diff --git a/tests/data/lerobot/aloha_static_screw_driver/videos/observation.images.cam_left_wrist_episode_000000.mp4 b/tests/data/lerobot/aloha_static_screw_driver/videos/observation.images.cam_left_wrist_episode_000000.mp4
new file mode 100644
index 00000000..e85a8339
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_screw_driver/videos/observation.images.cam_left_wrist_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7fb27591eb299d2a452dca6dd56154149629597d9acb0f40b98b78794758f064
+size 2084920
diff --git a/tests/data/lerobot/aloha_static_screw_driver/videos/observation.images.cam_low_episode_000000.mp4 b/tests/data/lerobot/aloha_static_screw_driver/videos/observation.images.cam_low_episode_000000.mp4
new file mode 100644
index 00000000..7cb600d0
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_screw_driver/videos/observation.images.cam_low_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a49ab61d1c17bc3f69a157e292625885342b3f324b1b84c79d843572ce03c17e
+size 2194056
diff --git a/tests/data/lerobot/aloha_static_screw_driver/videos/observation.images.cam_right_wrist_episode_000000.mp4 b/tests/data/lerobot/aloha_static_screw_driver/videos/observation.images.cam_right_wrist_episode_000000.mp4
new file mode 100644
index 00000000..1fc81239
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_screw_driver/videos/observation.images.cam_right_wrist_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79765f8cb272841bed0992d15ba47622d73bb0c22970f8cd53382f178081d7cf
+size 2364180
diff --git a/tests/data/lerobot/aloha_static_tape/meta_data/episode_data_index.safetensors b/tests/data/lerobot/aloha_static_tape/meta_data/episode_data_index.safetensors
new file mode 100644
index 00000000..c4f52e96
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_tape/meta_data/episode_data_index.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed655b17ac00510afe57cc340cc8fa3b0b7e377f9de41fa53092425174b9730d
+size 928
diff --git a/tests/data/lerobot/aloha_static_tape/meta_data/info.json b/tests/data/lerobot/aloha_static_tape/meta_data/info.json
new file mode 100644
index 00000000..8c5c4ee8
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_tape/meta_data/info.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf148247bf191c7f7e8af738a7b9e147f9ffffeec0e4b9d1c4783c4e384da7eb
+size 33
diff --git a/tests/data/lerobot/aloha_static_tape/meta_data/stats.safetensors b/tests/data/lerobot/aloha_static_tape/meta_data/stats.safetensors
new file mode 100644
index 00000000..edaeec16
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_tape/meta_data/stats.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c7e81c07331d8caea03629ea375b2c5340a743df7d9eeafa09b91a8caa5a91d
+size 4208
diff --git a/tests/data/lerobot/aloha_static_tape/train/data-00000-of-00001.arrow b/tests/data/lerobot/aloha_static_tape/train/data-00000-of-00001.arrow
new file mode 100644
index 00000000..e0d1657e
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_tape/train/data-00000-of-00001.arrow
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e93500bcef4b6e05090336376677e8448b360313cc64103d671efe56e0a1762c
+size 280536
diff --git a/tests/data/lerobot/aloha_static_tape/train/dataset_info.json b/tests/data/lerobot/aloha_static_tape/train/dataset_info.json
new file mode 100644
index 00000000..7fe0ac4c
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_tape/train/dataset_info.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2e066afefdee57f3bc534085ab7af54e62d3ab2736d42863a89deb743cd0d04
+size 1075
diff --git a/tests/data/lerobot/aloha_static_tape/train/state.json b/tests/data/lerobot/aloha_static_tape/train/state.json
new file mode 100644
index 00000000..c4f01bcc
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_tape/train/state.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:592c54d3d35819519fab84710b9065fa4fec379fb5f6f0fcc16204bc8342afbc
+size 247
diff --git a/tests/data/lerobot/aloha_static_tape/videos/observation.images.cam_high_episode_000000.mp4 b/tests/data/lerobot/aloha_static_tape/videos/observation.images.cam_high_episode_000000.mp4
new file mode 100644
index 00000000..7023e6ef
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_tape/videos/observation.images.cam_high_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:609ae43ed4cdbace153441f7b5c242a05a6d77b03bf95a54085d9d516f99177d
+size 4952309
diff --git a/tests/data/lerobot/aloha_static_tape/videos/observation.images.cam_left_wrist_episode_000000.mp4 b/tests/data/lerobot/aloha_static_tape/videos/observation.images.cam_left_wrist_episode_000000.mp4
new file mode 100644
index 00000000..d327ad86
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_tape/videos/observation.images.cam_left_wrist_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4fc833e1230e3bd76bebe05b8140cf8b7ddedcd9f92ecada24cf18797b1122a
+size 3595177
diff --git a/tests/data/lerobot/aloha_static_tape/videos/observation.images.cam_low_episode_000000.mp4 b/tests/data/lerobot/aloha_static_tape/videos/observation.images.cam_low_episode_000000.mp4
new file mode 100644
index 00000000..41c475c3
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_tape/videos/observation.images.cam_low_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b6ba12e71d62e794ada84ce6ed60d7d95b1966a019e08461935382869a934a0
+size 4198952
diff --git a/tests/data/lerobot/aloha_static_tape/videos/observation.images.cam_right_wrist_episode_000000.mp4 b/tests/data/lerobot/aloha_static_tape/videos/observation.images.cam_right_wrist_episode_000000.mp4
new file mode 100644
index 00000000..11fa8895
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_tape/videos/observation.images.cam_right_wrist_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0cc38c231137681dfbbc881545f022cbe8eaab31e0daa172c3cc0ce59b4a747e
+size 3352048
diff --git a/tests/data/lerobot/aloha_static_thread_velcro/meta_data/episode_data_index.safetensors b/tests/data/lerobot/aloha_static_thread_velcro/meta_data/episode_data_index.safetensors
new file mode 100644
index 00000000..18fe71f2
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_thread_velcro/meta_data/episode_data_index.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e035ea351dc5a5456bd43d75acbe292ca27e03d340ab7fbb325a42abe4f7cacf
+size 672
diff --git a/tests/data/lerobot/aloha_static_thread_velcro/meta_data/info.json b/tests/data/lerobot/aloha_static_thread_velcro/meta_data/info.json
new file mode 100644
index 00000000..8c5c4ee8
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_thread_velcro/meta_data/info.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf148247bf191c7f7e8af738a7b9e147f9ffffeec0e4b9d1c4783c4e384da7eb
+size 33
diff --git a/tests/data/lerobot/aloha_static_thread_velcro/meta_data/stats.safetensors b/tests/data/lerobot/aloha_static_thread_velcro/meta_data/stats.safetensors
new file mode 100644
index 00000000..88472415
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_thread_velcro/meta_data/stats.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61d5deeefd272040d74b61ce07a08fd04ca9e2edd6c80f8a6b3e3e4eff91bfa8
+size 4208
diff --git a/tests/data/lerobot/aloha_static_thread_velcro/train/data-00000-of-00001.arrow b/tests/data/lerobot/aloha_static_thread_velcro/train/data-00000-of-00001.arrow
new file mode 100644
index 00000000..a77c1adf
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_thread_velcro/train/data-00000-of-00001.arrow
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e11a8bd12e572d46f68bd5705822f659f3933009dba93beb15623c4433a12420
+size 240928
diff --git a/tests/data/lerobot/aloha_static_thread_velcro/train/dataset_info.json b/tests/data/lerobot/aloha_static_thread_velcro/train/dataset_info.json
new file mode 100644
index 00000000..7fe0ac4c
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_thread_velcro/train/dataset_info.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2e066afefdee57f3bc534085ab7af54e62d3ab2736d42863a89deb743cd0d04
+size 1075
diff --git a/tests/data/lerobot/aloha_static_thread_velcro/train/state.json b/tests/data/lerobot/aloha_static_thread_velcro/train/state.json
new file mode 100644
index 00000000..fcd38aa8
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_thread_velcro/train/state.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d1ab3212e4f5b5d9873f466c99c37078651d54f087758d8c5cee452701bbcbc
+size 247
diff --git a/tests/data/lerobot/aloha_static_thread_velcro/videos/observation.images.cam_high_episode_000000.mp4 b/tests/data/lerobot/aloha_static_thread_velcro/videos/observation.images.cam_high_episode_000000.mp4
new file mode 100644
index 00000000..6f078a3a
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_thread_velcro/videos/observation.images.cam_high_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ebafc3dd30d15fcbf474269ede2f55f120bdf73c16e20e98504b5bbda3a57149
+size 4385458
diff --git a/tests/data/lerobot/aloha_static_thread_velcro/videos/observation.images.cam_left_wrist_episode_000000.mp4 b/tests/data/lerobot/aloha_static_thread_velcro/videos/observation.images.cam_left_wrist_episode_000000.mp4
new file mode 100644
index 00000000..b859b63b
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_thread_velcro/videos/observation.images.cam_left_wrist_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa07ba8bc6a4d4bed7681b7ce3298ccdcd519f0697f6435a59b7b7b7f3502234
+size 3215036
diff --git a/tests/data/lerobot/aloha_static_thread_velcro/videos/observation.images.cam_low_episode_000000.mp4 b/tests/data/lerobot/aloha_static_thread_velcro/videos/observation.images.cam_low_episode_000000.mp4
new file mode 100644
index 00000000..796250b6
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_thread_velcro/videos/observation.images.cam_low_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca347f88364e5e9437f35213d7704629f4a327419bf9edaf0d2747536a254743
+size 3101902
diff --git a/tests/data/lerobot/aloha_static_thread_velcro/videos/observation.images.cam_right_wrist_episode_000000.mp4 b/tests/data/lerobot/aloha_static_thread_velcro/videos/observation.images.cam_right_wrist_episode_000000.mp4
new file mode 100644
index 00000000..10613bce
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_thread_velcro/videos/observation.images.cam_right_wrist_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e9336bba763a7ba923c1440e1c99a7e10bbcec9da514dd7426ba31057496d1b
+size 3517470
diff --git a/tests/data/lerobot/aloha_static_towel/meta_data/episode_data_index.safetensors b/tests/data/lerobot/aloha_static_towel/meta_data/episode_data_index.safetensors
new file mode 100644
index 00000000..6cd34f25
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_towel/meta_data/episode_data_index.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7dbc214a415689ca7fb83b6f8e12ec7824dfe34a66024b0b24bfeb3aeefd0e4
+size 928
diff --git a/tests/data/lerobot/aloha_static_towel/meta_data/info.json b/tests/data/lerobot/aloha_static_towel/meta_data/info.json
new file mode 100644
index 00000000..8c5c4ee8
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_towel/meta_data/info.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf148247bf191c7f7e8af738a7b9e147f9ffffeec0e4b9d1c4783c4e384da7eb
+size 33
diff --git a/tests/data/lerobot/aloha_static_towel/meta_data/stats.safetensors b/tests/data/lerobot/aloha_static_towel/meta_data/stats.safetensors
new file mode 100644
index 00000000..12f74dd1
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_towel/meta_data/stats.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e409aa663d47e19875b2c20a6360f71b335285fa4f091471cb0fa07f82f0801
+size 4752
diff --git a/tests/data/lerobot/aloha_static_towel/train/data-00000-of-00001.arrow b/tests/data/lerobot/aloha_static_towel/train/data-00000-of-00001.arrow
new file mode 100644
index 00000000..50829c6f
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_towel/train/data-00000-of-00001.arrow
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e98de2ea8c8c838600b3bb8407c3eeeab3ab78e6632c49c7377b0491fdd0640
+size 229608
diff --git a/tests/data/lerobot/aloha_static_towel/train/dataset_info.json b/tests/data/lerobot/aloha_static_towel/train/dataset_info.json
new file mode 100644
index 00000000..144d793b
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_towel/train/dataset_info.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55969ea876fc62b17afca0777816d93c1c90f23207a3562c907cfbd6502858f9
+size 1237
diff --git a/tests/data/lerobot/aloha_static_towel/train/state.json b/tests/data/lerobot/aloha_static_towel/train/state.json
new file mode 100644
index 00000000..6b123113
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_towel/train/state.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbc5bf36c81ecd2f8acceaec82826ab1be434e79ca721e5b026841a8af66ea77
+size 247
diff --git a/tests/data/lerobot/aloha_static_towel/videos/observation.images.cam_high_episode_000000.mp4 b/tests/data/lerobot/aloha_static_towel/videos/observation.images.cam_high_episode_000000.mp4
new file mode 100644
index 00000000..f49c3c07
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_towel/videos/observation.images.cam_high_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e68d65e88e8374d3d274e1dc53e4e033de4cd9edcd92c91b6389491a59de3f2d
+size 3405972
diff --git a/tests/data/lerobot/aloha_static_towel/videos/observation.images.cam_left_wrist_episode_000000.mp4 b/tests/data/lerobot/aloha_static_towel/videos/observation.images.cam_left_wrist_episode_000000.mp4
new file mode 100644
index 00000000..4e9fa0d7
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_towel/videos/observation.images.cam_left_wrist_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7fcdeacda3ab3818eb7ef0a965bca879b5e7546c70cf567e61137e1d4d0b1939
+size 2846253
diff --git a/tests/data/lerobot/aloha_static_towel/videos/observation.images.cam_low_episode_000000.mp4 b/tests/data/lerobot/aloha_static_towel/videos/observation.images.cam_low_episode_000000.mp4
new file mode 100644
index 00000000..0ba050a0
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_towel/videos/observation.images.cam_low_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7f8b2fe954a90cdaccf69ca1e4650fc351a02113e6ad8fa4ff23814e24db7df
+size 2933255
diff --git a/tests/data/lerobot/aloha_static_towel/videos/observation.images.cam_right_wrist_episode_000000.mp4 b/tests/data/lerobot/aloha_static_towel/videos/observation.images.cam_right_wrist_episode_000000.mp4
new file mode 100644
index 00000000..916a8999
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_towel/videos/observation.images.cam_right_wrist_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63dc60583af5e6187c5edc947eafa1cc7b005585f4e4e3f70fd2d17ba3011e21
+size 2208369
diff --git a/tests/data/lerobot/aloha_static_vinh_cup/meta_data/episode_data_index.safetensors b/tests/data/lerobot/aloha_static_vinh_cup/meta_data/episode_data_index.safetensors
new file mode 100644
index 00000000..ab81e5db
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_vinh_cup/meta_data/episode_data_index.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3fca9067e7bae957ed575e036a22570e352148c56c41827e289d66dd18b3edf
+size 1752
diff --git a/tests/data/lerobot/aloha_static_vinh_cup/meta_data/info.json b/tests/data/lerobot/aloha_static_vinh_cup/meta_data/info.json
new file mode 100644
index 00000000..8c5c4ee8
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_vinh_cup/meta_data/info.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf148247bf191c7f7e8af738a7b9e147f9ffffeec0e4b9d1c4783c4e384da7eb
+size 33
diff --git a/tests/data/lerobot/aloha_static_vinh_cup/meta_data/stats.safetensors b/tests/data/lerobot/aloha_static_vinh_cup/meta_data/stats.safetensors
new file mode 100644
index 00000000..a2ffb946
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_vinh_cup/meta_data/stats.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e82e25831f4e1576bf7e1ae54edb1a4557b69012fb7cfca790b38d5f86d1f541
+size 4752
diff --git a/tests/data/lerobot/aloha_static_vinh_cup/train/data-00000-of-00001.arrow b/tests/data/lerobot/aloha_static_vinh_cup/train/data-00000-of-00001.arrow
new file mode 100644
index 00000000..3c92756b
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_vinh_cup/train/data-00000-of-00001.arrow
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:327b9895d3bcedba90ccf93608cfc02258ed0fe37453cc3d8e129a882b7cce21
+size 229608
diff --git a/tests/data/lerobot/aloha_static_vinh_cup/train/dataset_info.json b/tests/data/lerobot/aloha_static_vinh_cup/train/dataset_info.json
new file mode 100644
index 00000000..144d793b
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_vinh_cup/train/dataset_info.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55969ea876fc62b17afca0777816d93c1c90f23207a3562c907cfbd6502858f9
+size 1237
diff --git a/tests/data/lerobot/aloha_static_vinh_cup/train/state.json b/tests/data/lerobot/aloha_static_vinh_cup/train/state.json
new file mode 100644
index 00000000..07581a05
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_vinh_cup/train/state.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f2bd3596d09a26ef6b3ec93bd2640a3aae8b4e57662a46641335c2f538e0d42
+size 247
diff --git a/tests/data/lerobot/aloha_static_vinh_cup/videos/observation.images.cam_high_episode_000000.mp4 b/tests/data/lerobot/aloha_static_vinh_cup/videos/observation.images.cam_high_episode_000000.mp4
new file mode 100644
index 00000000..6351f498
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_vinh_cup/videos/observation.images.cam_high_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b08ab3633d1b4f72f05b1606420454d10a0f5e54dc9e8862ccd7236383c521e
+size 3117796
diff --git a/tests/data/lerobot/aloha_static_vinh_cup/videos/observation.images.cam_left_wrist_episode_000000.mp4 b/tests/data/lerobot/aloha_static_vinh_cup/videos/observation.images.cam_left_wrist_episode_000000.mp4
new file mode 100644
index 00000000..3f02b5d8
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_vinh_cup/videos/observation.images.cam_left_wrist_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5079b973b7a0741423071fa0270127267424339be87ea03f629a92add56f7e5e
+size 2444814
diff --git a/tests/data/lerobot/aloha_static_vinh_cup/videos/observation.images.cam_low_episode_000000.mp4 b/tests/data/lerobot/aloha_static_vinh_cup/videos/observation.images.cam_low_episode_000000.mp4
new file mode 100644
index 00000000..c599e415
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_vinh_cup/videos/observation.images.cam_low_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de35095f8a76f9fc4993322546b6308c8816b3bdbb1ba690f8c0ce71e24237c8
+size 2523272
diff --git a/tests/data/lerobot/aloha_static_vinh_cup/videos/observation.images.cam_right_wrist_episode_000000.mp4 b/tests/data/lerobot/aloha_static_vinh_cup/videos/observation.images.cam_right_wrist_episode_000000.mp4
new file mode 100644
index 00000000..2b262701
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_vinh_cup/videos/observation.images.cam_right_wrist_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc9652e2d4c95d45bead8bb79049b1bf36c8c7e177d2bcf906ee0eee0f8b47c7
+size 3278890
diff --git a/tests/data/lerobot/aloha_static_vinh_cup_left/meta_data/episode_data_index.safetensors b/tests/data/lerobot/aloha_static_vinh_cup_left/meta_data/episode_data_index.safetensors
new file mode 100644
index 00000000..4496bc5c
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_vinh_cup_left/meta_data/episode_data_index.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f447f38b8e6ae16234359701bf3463c0e8a732f332b1ee98fd7838f70030f0cb
+size 1736
diff --git a/tests/data/lerobot/aloha_static_vinh_cup_left/meta_data/info.json b/tests/data/lerobot/aloha_static_vinh_cup_left/meta_data/info.json
new file mode 100644
index 00000000..8c5c4ee8
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_vinh_cup_left/meta_data/info.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf148247bf191c7f7e8af738a7b9e147f9ffffeec0e4b9d1c4783c4e384da7eb
+size 33
diff --git a/tests/data/lerobot/aloha_static_vinh_cup_left/meta_data/stats.safetensors b/tests/data/lerobot/aloha_static_vinh_cup_left/meta_data/stats.safetensors
new file mode 100644
index 00000000..526e9a3a
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_vinh_cup_left/meta_data/stats.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06288d8c4353940ffe283330ae99cdbb7f0513396983ee518470a2523203c442
+size 4752
diff --git a/tests/data/lerobot/aloha_static_vinh_cup_left/train/data-00000-of-00001.arrow b/tests/data/lerobot/aloha_static_vinh_cup_left/train/data-00000-of-00001.arrow
new file mode 100644
index 00000000..0433fbd5
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_vinh_cup_left/train/data-00000-of-00001.arrow
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:433a22f0e6aea55befe841737eeb2f719fbdc769f1bd6cb8831182b3f09606df
+size 229608
diff --git a/tests/data/lerobot/aloha_static_vinh_cup_left/train/dataset_info.json b/tests/data/lerobot/aloha_static_vinh_cup_left/train/dataset_info.json
new file mode 100644
index 00000000..144d793b
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_vinh_cup_left/train/dataset_info.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55969ea876fc62b17afca0777816d93c1c90f23207a3562c907cfbd6502858f9
+size 1237
diff --git a/tests/data/lerobot/aloha_static_vinh_cup_left/train/state.json b/tests/data/lerobot/aloha_static_vinh_cup_left/train/state.json
new file mode 100644
index 00000000..7320e0c4
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_vinh_cup_left/train/state.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0f697e633fcb09ac7384c27132ca9a6637782ab7e832de0dc8dcdc036a13e62
+size 247
diff --git a/tests/data/lerobot/aloha_static_vinh_cup_left/videos/observation.images.cam_high_episode_000000.mp4 b/tests/data/lerobot/aloha_static_vinh_cup_left/videos/observation.images.cam_high_episode_000000.mp4
new file mode 100644
index 00000000..9b92e67b
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_vinh_cup_left/videos/observation.images.cam_high_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e447647fe72ee8d8fc3e16669c468217660557cee92579c1bc72be43fe7308d
+size 3157366
diff --git a/tests/data/lerobot/aloha_static_vinh_cup_left/videos/observation.images.cam_left_wrist_episode_000000.mp4 b/tests/data/lerobot/aloha_static_vinh_cup_left/videos/observation.images.cam_left_wrist_episode_000000.mp4
new file mode 100644
index 00000000..4288c349
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_vinh_cup_left/videos/observation.images.cam_left_wrist_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:243268ba041e1cefe2118a0a996e99a986e59e44e19a1cd8787c5af24b777839
+size 3427057
diff --git a/tests/data/lerobot/aloha_static_vinh_cup_left/videos/observation.images.cam_low_episode_000000.mp4 b/tests/data/lerobot/aloha_static_vinh_cup_left/videos/observation.images.cam_low_episode_000000.mp4
new file mode 100644
index 00000000..4901a8ac
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_vinh_cup_left/videos/observation.images.cam_low_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86e7dca367bb1fc7ce4ab0e34d568d9e6fcd186c8a48f56fb8ccb814e0c0ac18
+size 2479380
diff --git a/tests/data/lerobot/aloha_static_vinh_cup_left/videos/observation.images.cam_right_wrist_episode_000000.mp4 b/tests/data/lerobot/aloha_static_vinh_cup_left/videos/observation.images.cam_right_wrist_episode_000000.mp4
new file mode 100644
index 00000000..b3538b3d
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_vinh_cup_left/videos/observation.images.cam_right_wrist_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87f1915600f6ffb86273f3c3d33406650f68bd563fe2fadb12827cf86a108b05
+size 3431257
diff --git a/tests/data/lerobot/aloha_static_ziploc_slide/meta_data/episode_data_index.safetensors b/tests/data/lerobot/aloha_static_ziploc_slide/meta_data/episode_data_index.safetensors
new file mode 100644
index 00000000..31f6d028
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_ziploc_slide/meta_data/episode_data_index.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88e43cf494635aa058483f6cc9953a11ab8269f78849c66f53dfccb3d0a7521b
+size 1024
diff --git a/tests/data/lerobot/aloha_static_ziploc_slide/meta_data/info.json b/tests/data/lerobot/aloha_static_ziploc_slide/meta_data/info.json
new file mode 100644
index 00000000..8c5c4ee8
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_ziploc_slide/meta_data/info.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf148247bf191c7f7e8af738a7b9e147f9ffffeec0e4b9d1c4783c4e384da7eb
+size 33
diff --git a/tests/data/lerobot/aloha_static_ziploc_slide/meta_data/stats.safetensors b/tests/data/lerobot/aloha_static_ziploc_slide/meta_data/stats.safetensors
new file mode 100644
index 00000000..fac49b2b
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_ziploc_slide/meta_data/stats.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f103a4914944258a996601d94515516691749772ff51e227a00b044b9352479b
+size 4208
diff --git a/tests/data/lerobot/aloha_static_ziploc_slide/train/data-00000-of-00001.arrow b/tests/data/lerobot/aloha_static_ziploc_slide/train/data-00000-of-00001.arrow
new file mode 100644
index 00000000..c0ba4810
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_ziploc_slide/train/data-00000-of-00001.arrow
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de3f86519175aba9a03308e16f92b101c669c1c38d8ffb0703baf7ee0c70a2bc
+size 122088
diff --git a/tests/data/lerobot/aloha_static_ziploc_slide/train/dataset_info.json b/tests/data/lerobot/aloha_static_ziploc_slide/train/dataset_info.json
new file mode 100644
index 00000000..7fe0ac4c
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_ziploc_slide/train/dataset_info.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2e066afefdee57f3bc534085ab7af54e62d3ab2736d42863a89deb743cd0d04
+size 1075
diff --git a/tests/data/lerobot/aloha_static_ziploc_slide/train/state.json b/tests/data/lerobot/aloha_static_ziploc_slide/train/state.json
new file mode 100644
index 00000000..75907f4d
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_ziploc_slide/train/state.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2bb2830cf2074a67f74027da45417c6e78c1a6476e4d6311ac245ad56a9aeb7a
+size 247
diff --git a/tests/data/lerobot/aloha_static_ziploc_slide/videos/observation.images.cam_high_episode_000000.mp4 b/tests/data/lerobot/aloha_static_ziploc_slide/videos/observation.images.cam_high_episode_000000.mp4
new file mode 100644
index 00000000..9d4b355e
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_ziploc_slide/videos/observation.images.cam_high_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f829ea261a361c974db69b358f4bff54aabe1ab7290499dc1cd10dab07f8759
+size 2054720
diff --git a/tests/data/lerobot/aloha_static_ziploc_slide/videos/observation.images.cam_left_wrist_episode_000000.mp4 b/tests/data/lerobot/aloha_static_ziploc_slide/videos/observation.images.cam_left_wrist_episode_000000.mp4
new file mode 100644
index 00000000..47d2a043
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_ziploc_slide/videos/observation.images.cam_left_wrist_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2598c5ae7ba614e2eb729dc12220aa3618b60cbb1d69736d4d1b7e53ca548c2c
+size 1422844
diff --git a/tests/data/lerobot/aloha_static_ziploc_slide/videos/observation.images.cam_low_episode_000000.mp4 b/tests/data/lerobot/aloha_static_ziploc_slide/videos/observation.images.cam_low_episode_000000.mp4
new file mode 100644
index 00000000..82a07ab2
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_ziploc_slide/videos/observation.images.cam_low_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36f59dd411e43e34629e6191d2d7d96eedd9ec5225ee1f66ac99d413a2a08639
+size 2649400
diff --git a/tests/data/lerobot/aloha_static_ziploc_slide/videos/observation.images.cam_right_wrist_episode_000000.mp4 b/tests/data/lerobot/aloha_static_ziploc_slide/videos/observation.images.cam_right_wrist_episode_000000.mp4
new file mode 100644
index 00000000..989ab175
--- /dev/null
+++ b/tests/data/lerobot/aloha_static_ziploc_slide/videos/observation.images.cam_right_wrist_episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6a99787d215fb56532b542efae97f6cd04046e8bdc8df3baab2542de48a6c83
+size 1543621
diff --git a/tests/data/lerobot/pusht/meta_data/episode_data_index.safetensors b/tests/data/lerobot/pusht/meta_data/episode_data_index.safetensors
index 3511c266..600f8e0f 100644
Binary files a/tests/data/lerobot/pusht/meta_data/episode_data_index.safetensors and b/tests/data/lerobot/pusht/meta_data/episode_data_index.safetensors differ
diff --git a/tests/data/lerobot/pusht/meta_data/info.json b/tests/data/lerobot/pusht/meta_data/info.json
index b7f39715..1df647c6 100644
--- a/tests/data/lerobot/pusht/meta_data/info.json
+++ b/tests/data/lerobot/pusht/meta_data/info.json
@@ -1,4 +1,3 @@
-{
-    "fps": 10,
-    "video": 1
-}
\ No newline at end of file
+version https://git-lfs.github.com/spec/v1
+oid sha256:c306c34ef0ae885bb607026a819b0eeddbc664cba1254f67d0615f90675ca485
+size 33
diff --git a/tests/data/lerobot/pusht/meta_data/stats.safetensors b/tests/data/lerobot/pusht/meta_data/stats.safetensors
index e4ebbefe..6202887c 100644
Binary files a/tests/data/lerobot/pusht/meta_data/stats.safetensors and b/tests/data/lerobot/pusht/meta_data/stats.safetensors differ
diff --git a/tests/data/lerobot/pusht/train/data-00000-of-00001.arrow b/tests/data/lerobot/pusht/train/data-00000-of-00001.arrow
index b99aa290..c46989b3 100644
Binary files a/tests/data/lerobot/pusht/train/data-00000-of-00001.arrow and b/tests/data/lerobot/pusht/train/data-00000-of-00001.arrow differ
diff --git a/tests/data/lerobot/pusht/train/dataset_info.json b/tests/data/lerobot/pusht/train/dataset_info.json
index a0db336b..e6cac4dc 100644
--- a/tests/data/lerobot/pusht/train/dataset_info.json
+++ b/tests/data/lerobot/pusht/train/dataset_info.json
@@ -1,55 +1,3 @@
-{
-  "citation": "",
-  "description": "",
-  "features": {
-    "observation.image": {
-      "_type": "VideoFrame"
-    },
-    "observation.state": {
-      "feature": {
-        "dtype": "float32",
-        "_type": "Value"
-      },
-      "length": 2,
-      "_type": "Sequence"
-    },
-    "action": {
-      "feature": {
-        "dtype": "float32",
-        "_type": "Value"
-      },
-      "length": 2,
-      "_type": "Sequence"
-    },
-    "episode_index": {
-      "dtype": "int64",
-      "_type": "Value"
-    },
-    "frame_index": {
-      "dtype": "int64",
-      "_type": "Value"
-    },
-    "timestamp": {
-      "dtype": "float32",
-      "_type": "Value"
-    },
-    "next.reward": {
-      "dtype": "float32",
-      "_type": "Value"
-    },
-    "next.done": {
-      "dtype": "bool",
-      "_type": "Value"
-    },
-    "next.success": {
-      "dtype": "bool",
-      "_type": "Value"
-    },
-    "index": {
-      "dtype": "int64",
-      "_type": "Value"
-    }
-  },
-  "homepage": "",
-  "license": ""
-}
\ No newline at end of file
+version https://git-lfs.github.com/spec/v1
+oid sha256:30d9830b3ef9fc452a1988cd8bcc9ccac35cf8a8081e2a33049369224053cc1b
+size 987
diff --git a/tests/data/lerobot/pusht/train/state.json b/tests/data/lerobot/pusht/train/state.json
index 776f29ff..a37ac848 100644
--- a/tests/data/lerobot/pusht/train/state.json
+++ b/tests/data/lerobot/pusht/train/state.json
@@ -1,13 +1,3 @@
-{
-  "_data_files": [
-    {
-      "filename": "data-00000-of-00001.arrow"
-    }
-  ],
-  "_fingerprint": "3e02d7879f423c56",
-  "_format_columns": null,
-  "_format_kwargs": {},
-  "_format_type": null,
-  "_output_all_columns": false,
-  "_split": null
-}
\ No newline at end of file
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c1a72239bb56a6c5714f18d849557c89feb858840e8f86689d017bb49551379
+size 247
diff --git a/tests/data/lerobot/pusht/videos/observation.image_episode_000000.mp4 b/tests/data/lerobot/pusht/videos/observation.image_episode_000000.mp4
index b2040bdd..f6cfaadc 100644
Binary files a/tests/data/lerobot/pusht/videos/observation.image_episode_000000.mp4 and b/tests/data/lerobot/pusht/videos/observation.image_episode_000000.mp4 differ
diff --git a/tests/data/lerobot/pusht_image/meta_data/episode_data_index.safetensors b/tests/data/lerobot/pusht_image/meta_data/episode_data_index.safetensors
new file mode 100644
index 00000000..529898ff
--- /dev/null
+++ b/tests/data/lerobot/pusht_image/meta_data/episode_data_index.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ab094bd9de1a90273cefa1e02a84b3c3916e7812b9c73932f8f92ab2f1b9ba9
+size 3432
diff --git a/tests/data/lerobot/pusht_image/meta_data/info.json b/tests/data/lerobot/pusht_image/meta_data/info.json
new file mode 100644
index 00000000..1c234978
--- /dev/null
+++ b/tests/data/lerobot/pusht_image/meta_data/info.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbf25de102227dd2d8c3b6c61e1fc25a026d44f151161b88bc9a9eb101e942e4
+size 33
diff --git a/tests/data/lerobot/pusht_image/meta_data/stats.safetensors b/tests/data/lerobot/pusht_image/meta_data/stats.safetensors
new file mode 100644
index 00000000..d788079d
--- /dev/null
+++ b/tests/data/lerobot/pusht_image/meta_data/stats.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65ceff2650ebbba2ee024be9ec083b7f8f20a69cd2c5bd6624382fe5fb974697
+size 3056
diff --git a/tests/data/lerobot/pusht_image/train/data-00000-of-00001.arrow b/tests/data/lerobot/pusht_image/train/data-00000-of-00001.arrow
new file mode 100644
index 00000000..01a08dad
--- /dev/null
+++ b/tests/data/lerobot/pusht_image/train/data-00000-of-00001.arrow
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c453a47e3852f3ca09eedfa0f47fabacccff676809678fc3bded273d51ff25e3
+size 197792
diff --git a/tests/data/lerobot/pusht_image/train/dataset_info.json b/tests/data/lerobot/pusht_image/train/dataset_info.json
new file mode 100644
index 00000000..7d38d37b
--- /dev/null
+++ b/tests/data/lerobot/pusht_image/train/dataset_info.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af0c9dfe9d1e8caa0f9b85ea64895ac7898d6a39414b00b6ced19955e8eceef6
+size 982
diff --git a/tests/data/lerobot/pusht_image/train/state.json b/tests/data/lerobot/pusht_image/train/state.json
new file mode 100644
index 00000000..5c5e609a
--- /dev/null
+++ b/tests/data/lerobot/pusht_image/train/state.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87d7942da6c4fe7c7a6caefa9a170c0929ac1c57a08889dec8edfe1904e85d42
+size 247
diff --git a/tests/data/lerobot/umi_cup_in_the_wild/meta_data/episode_data_index.safetensors b/tests/data/lerobot/umi_cup_in_the_wild/meta_data/episode_data_index.safetensors
index 1505d613..7359c867 100644
Binary files a/tests/data/lerobot/umi_cup_in_the_wild/meta_data/episode_data_index.safetensors and b/tests/data/lerobot/umi_cup_in_the_wild/meta_data/episode_data_index.safetensors differ
diff --git a/tests/data/lerobot/umi_cup_in_the_wild/meta_data/info.json b/tests/data/lerobot/umi_cup_in_the_wild/meta_data/info.json
index b7f39715..1df647c6 100644
--- a/tests/data/lerobot/umi_cup_in_the_wild/meta_data/info.json
+++ b/tests/data/lerobot/umi_cup_in_the_wild/meta_data/info.json
@@ -1,4 +1,3 @@
-{
-    "fps": 10,
-    "video": 1
-}
\ No newline at end of file
+version https://git-lfs.github.com/spec/v1
+oid sha256:c306c34ef0ae885bb607026a819b0eeddbc664cba1254f67d0615f90675ca485
+size 33
diff --git a/tests/data/lerobot/umi_cup_in_the_wild/meta_data/stats.safetensors b/tests/data/lerobot/umi_cup_in_the_wild/meta_data/stats.safetensors
index d936f449..9519460e 100644
Binary files a/tests/data/lerobot/umi_cup_in_the_wild/meta_data/stats.safetensors and b/tests/data/lerobot/umi_cup_in_the_wild/meta_data/stats.safetensors differ
diff --git a/tests/data/lerobot/umi_cup_in_the_wild/train/data-00000-of-00001.arrow b/tests/data/lerobot/umi_cup_in_the_wild/train/data-00000-of-00001.arrow
index 11f45a5d..ab8c75f1 100644
Binary files a/tests/data/lerobot/umi_cup_in_the_wild/train/data-00000-of-00001.arrow and b/tests/data/lerobot/umi_cup_in_the_wild/train/data-00000-of-00001.arrow differ
diff --git a/tests/data/lerobot/umi_cup_in_the_wild/train/dataset_info.json b/tests/data/lerobot/umi_cup_in_the_wild/train/dataset_info.json
index f590f3e4..822a028e 100644
--- a/tests/data/lerobot/umi_cup_in_the_wild/train/dataset_info.json
+++ b/tests/data/lerobot/umi_cup_in_the_wild/train/dataset_info.json
@@ -1,67 +1,3 @@
-{
-  "citation": "",
-  "description": "",
-  "features": {
-    "observation.image": {
-      "_type": "VideoFrame"
-    },
-    "observation.state": {
-      "feature": {
-        "dtype": "float32",
-        "_type": "Value"
-      },
-      "length": 7,
-      "_type": "Sequence"
-    },
-    "episode_index": {
-      "dtype": "int64",
-      "_type": "Value"
-    },
-    "frame_index": {
-      "dtype": "int64",
-      "_type": "Value"
-    },
-    "timestamp": {
-      "dtype": "float32",
-      "_type": "Value"
-    },
-    "episode_data_index_from": {
-      "dtype": "int64",
-      "_type": "Value"
-    },
-    "episode_data_index_to": {
-      "dtype": "int64",
-      "_type": "Value"
-    },
-    "end_pose": {
-      "feature": {
-        "dtype": "float32",
-        "_type": "Value"
-      },
-      "length": 6,
-      "_type": "Sequence"
-    },
-    "start_pos": {
-      "feature": {
-        "dtype": "float32",
-        "_type": "Value"
-      },
-      "length": 6,
-      "_type": "Sequence"
-    },
-    "gripper_width": {
-      "feature": {
-        "dtype": "float32",
-        "_type": "Value"
-      },
-      "length": 1,
-      "_type": "Sequence"
-    },
-    "index": {
-      "dtype": "int64",
-      "_type": "Value"
-    }
-  },
-  "homepage": "",
-  "license": ""
-}
\ No newline at end of file
+version https://git-lfs.github.com/spec/v1
+oid sha256:ffb9f0f0c5001460cfe1d49ba84ad2722be5ee7885de97dd733cf9b36104a702
+size 1245
diff --git a/tests/data/lerobot/umi_cup_in_the_wild/train/state.json b/tests/data/lerobot/umi_cup_in_the_wild/train/state.json
index 80e610ba..ec2c1c94 100644
--- a/tests/data/lerobot/umi_cup_in_the_wild/train/state.json
+++ b/tests/data/lerobot/umi_cup_in_the_wild/train/state.json
@@ -1,13 +1,3 @@
-{
-  "_data_files": [
-    {
-      "filename": "data-00000-of-00001.arrow"
-    }
-  ],
-  "_fingerprint": "c8b78ec1bbf7a579",
-  "_format_columns": null,
-  "_format_kwargs": {},
-  "_format_type": null,
-  "_output_all_columns": false,
-  "_split": null
-}
\ No newline at end of file
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d810eb9bdf2f3d2529a17d1a07d7437780383792747299a5d256fc67f991450
+size 247
diff --git a/tests/data/lerobot/umi_cup_in_the_wild/videos/observation.image_episode_000000.mp4 b/tests/data/lerobot/umi_cup_in_the_wild/videos/observation.image_episode_000000.mp4
index 3266cf76..3bf18f72 100644
Binary files a/tests/data/lerobot/umi_cup_in_the_wild/videos/observation.image_episode_000000.mp4 and b/tests/data/lerobot/umi_cup_in_the_wild/videos/observation.image_episode_000000.mp4 differ
diff --git a/tests/data/lerobot/xarm_lift_medium/meta_data/episode_data_index.safetensors b/tests/data/lerobot/xarm_lift_medium/meta_data/episode_data_index.safetensors
index f5e09ec5..3cf01178 100644
Binary files a/tests/data/lerobot/xarm_lift_medium/meta_data/episode_data_index.safetensors and b/tests/data/lerobot/xarm_lift_medium/meta_data/episode_data_index.safetensors differ
diff --git a/tests/data/lerobot/xarm_lift_medium/meta_data/info.json b/tests/data/lerobot/xarm_lift_medium/meta_data/info.json
index d73052c5..f161e07e 100644
--- a/tests/data/lerobot/xarm_lift_medium/meta_data/info.json
+++ b/tests/data/lerobot/xarm_lift_medium/meta_data/info.json
@@ -1,4 +1,3 @@
-{
-    "fps": 15,
-    "video": 1
-}
\ No newline at end of file
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c6e3c50bb65c5e47ac24bc32e53ab533c78b82c6debab45da6ecea4ce067e37
+size 33
diff --git a/tests/data/lerobot/xarm_lift_medium/meta_data/stats.safetensors b/tests/data/lerobot/xarm_lift_medium/meta_data/stats.safetensors
index 712c6252..3687f501 100644
Binary files a/tests/data/lerobot/xarm_lift_medium/meta_data/stats.safetensors and b/tests/data/lerobot/xarm_lift_medium/meta_data/stats.safetensors differ
diff --git a/tests/data/lerobot/xarm_lift_medium/train/data-00000-of-00001.arrow b/tests/data/lerobot/xarm_lift_medium/train/data-00000-of-00001.arrow
index 9625a747..6976bc35 100644
Binary files a/tests/data/lerobot/xarm_lift_medium/train/data-00000-of-00001.arrow and b/tests/data/lerobot/xarm_lift_medium/train/data-00000-of-00001.arrow differ
diff --git a/tests/data/lerobot/xarm_lift_medium/train/dataset_info.json b/tests/data/lerobot/xarm_lift_medium/train/dataset_info.json
index 3791deef..979b529c 100644
--- a/tests/data/lerobot/xarm_lift_medium/train/dataset_info.json
+++ b/tests/data/lerobot/xarm_lift_medium/train/dataset_info.json
@@ -1,51 +1,3 @@
-{
-  "citation": "",
-  "description": "",
-  "features": {
-    "observation.image": {
-      "_type": "VideoFrame"
-    },
-    "observation.state": {
-      "feature": {
-        "dtype": "float32",
-        "_type": "Value"
-      },
-      "length": 4,
-      "_type": "Sequence"
-    },
-    "action": {
-      "feature": {
-        "dtype": "float32",
-        "_type": "Value"
-      },
-      "length": 4,
-      "_type": "Sequence"
-    },
-    "episode_index": {
-      "dtype": "int64",
-      "_type": "Value"
-    },
-    "frame_index": {
-      "dtype": "int64",
-      "_type": "Value"
-    },
-    "timestamp": {
-      "dtype": "float32",
-      "_type": "Value"
-    },
-    "next.reward": {
-      "dtype": "float32",
-      "_type": "Value"
-    },
-    "next.done": {
-      "dtype": "bool",
-      "_type": "Value"
-    },
-    "index": {
-      "dtype": "int64",
-      "_type": "Value"
-    }
-  },
-  "homepage": "",
-  "license": ""
-}
\ No newline at end of file
+version https://git-lfs.github.com/spec/v1
+oid sha256:a219f973d6535f40737265fd15d81944aabf8eb7527384d28c507926bfa89f25
+size 912
diff --git a/tests/data/lerobot/xarm_lift_medium/train/state.json b/tests/data/lerobot/xarm_lift_medium/train/state.json
index 3989b594..c476db98 100644
--- a/tests/data/lerobot/xarm_lift_medium/train/state.json
+++ b/tests/data/lerobot/xarm_lift_medium/train/state.json
@@ -1,13 +1,3 @@
-{
-  "_data_files": [
-    {
-      "filename": "data-00000-of-00001.arrow"
-    }
-  ],
-  "_fingerprint": "720072274a55db4d",
-  "_format_columns": null,
-  "_format_kwargs": {},
-  "_format_type": null,
-  "_output_all_columns": false,
-  "_split": null
-}
\ No newline at end of file
+version https://git-lfs.github.com/spec/v1
+oid sha256:814a0694efe765a72beb63e3d21af715835e085cbbda768955c5c204502a7607
+size 247
diff --git a/tests/data/lerobot/xarm_lift_medium/videos/observation.image_episode_000000.mp4 b/tests/data/lerobot/xarm_lift_medium/videos/observation.image_episode_000000.mp4
index 618b888d..2ede48f4 100644
Binary files a/tests/data/lerobot/xarm_lift_medium/videos/observation.image_episode_000000.mp4 and b/tests/data/lerobot/xarm_lift_medium/videos/observation.image_episode_000000.mp4 differ
diff --git a/tests/data/lerobot/xarm_lift_medium_image/meta_data/episode_data_index.safetensors b/tests/data/lerobot/xarm_lift_medium_image/meta_data/episode_data_index.safetensors
new file mode 100644
index 00000000..e7e90dc3
--- /dev/null
+++ b/tests/data/lerobot/xarm_lift_medium_image/meta_data/episode_data_index.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ddb52e362094cc1469f34f7d723e235abccd24713b962f9765b4f910e85cebd
+size 12936
diff --git a/tests/data/lerobot/xarm_lift_medium_image/meta_data/info.json b/tests/data/lerobot/xarm_lift_medium_image/meta_data/info.json
new file mode 100644
index 00000000..f3b70e14
--- /dev/null
+++ b/tests/data/lerobot/xarm_lift_medium_image/meta_data/info.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1cdc5343e413f5cc546079201b1cfb3f49a46e2bfcee67912f9eb5420c00ce6
+size 33
diff --git a/tests/data/lerobot/xarm_lift_medium_image/meta_data/stats.safetensors b/tests/data/lerobot/xarm_lift_medium_image/meta_data/stats.safetensors
new file mode 100644
index 00000000..c5e2b21b
--- /dev/null
+++ b/tests/data/lerobot/xarm_lift_medium_image/meta_data/stats.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:625213579edb7c82580ded28b3bb3dd6894bf27502b401a98de2908a65a2a15d
+size 2808
diff --git a/tests/data/lerobot/xarm_lift_medium_image/train/data-00000-of-00001.arrow b/tests/data/lerobot/xarm_lift_medium_image/train/data-00000-of-00001.arrow
new file mode 100644
index 00000000..53cd0088
--- /dev/null
+++ b/tests/data/lerobot/xarm_lift_medium_image/train/data-00000-of-00001.arrow
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c5814b892ceeb0869ec2f1821ab2c5040cbc0f1351a89f5369c67bd137cfe48
+size 105064
diff --git a/tests/data/lerobot/xarm_lift_medium_image/train/dataset_info.json b/tests/data/lerobot/xarm_lift_medium_image/train/dataset_info.json
new file mode 100644
index 00000000..e4b66000
--- /dev/null
+++ b/tests/data/lerobot/xarm_lift_medium_image/train/dataset_info.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba5e9fec857b85adfa021d06c8679f6f7e030c2bfc5d3be3f6590fb250a17d7c
+size 907
diff --git a/tests/data/lerobot/xarm_lift_medium_image/train/state.json b/tests/data/lerobot/xarm_lift_medium_image/train/state.json
new file mode 100644
index 00000000..401c77f8
--- /dev/null
+++ b/tests/data/lerobot/xarm_lift_medium_image/train/state.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:939e376b61bed55ef489fdb209444bc22e7e220a3390faa5415b2b39a2612cb5
+size 247
diff --git a/tests/data/lerobot/xarm_lift_medium_replay/meta_data/episode_data_index.safetensors b/tests/data/lerobot/xarm_lift_medium_replay/meta_data/episode_data_index.safetensors
index f5e09ec5..3cf01178 100644
Binary files a/tests/data/lerobot/xarm_lift_medium_replay/meta_data/episode_data_index.safetensors and b/tests/data/lerobot/xarm_lift_medium_replay/meta_data/episode_data_index.safetensors differ
diff --git a/tests/data/lerobot/xarm_lift_medium_replay/meta_data/info.json b/tests/data/lerobot/xarm_lift_medium_replay/meta_data/info.json
index d73052c5..f161e07e 100644
--- a/tests/data/lerobot/xarm_lift_medium_replay/meta_data/info.json
+++ b/tests/data/lerobot/xarm_lift_medium_replay/meta_data/info.json
@@ -1,4 +1,3 @@
-{
-    "fps": 15,
-    "video": 1
-}
\ No newline at end of file
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c6e3c50bb65c5e47ac24bc32e53ab533c78b82c6debab45da6ecea4ce067e37
+size 33
diff --git a/tests/data/lerobot/xarm_lift_medium_replay/meta_data/stats.safetensors b/tests/data/lerobot/xarm_lift_medium_replay/meta_data/stats.safetensors
index a7548bad..9e4aed95 100644
Binary files a/tests/data/lerobot/xarm_lift_medium_replay/meta_data/stats.safetensors and b/tests/data/lerobot/xarm_lift_medium_replay/meta_data/stats.safetensors differ
diff --git a/tests/data/lerobot/xarm_lift_medium_replay/train/data-00000-of-00001.arrow b/tests/data/lerobot/xarm_lift_medium_replay/train/data-00000-of-00001.arrow
index 102a6154..27899ba9 100644
Binary files a/tests/data/lerobot/xarm_lift_medium_replay/train/data-00000-of-00001.arrow and b/tests/data/lerobot/xarm_lift_medium_replay/train/data-00000-of-00001.arrow differ
diff --git a/tests/data/lerobot/xarm_lift_medium_replay/train/dataset_info.json b/tests/data/lerobot/xarm_lift_medium_replay/train/dataset_info.json
index 69bf84eb..bd1e76b9 100644
--- a/tests/data/lerobot/xarm_lift_medium_replay/train/dataset_info.json
+++ b/tests/data/lerobot/xarm_lift_medium_replay/train/dataset_info.json
@@ -1,51 +1,3 @@
-{
-  "citation": "",
-  "description": "",
-  "features": {
-    "observation.image": {
-      "_type": "VideoFrame"
-    },
-    "observation.state": {
-      "feature": {
-        "dtype": "float32",
-        "_type": "Value"
-      },
-      "length": 4,
-      "_type": "Sequence"
-    },
-    "action": {
-      "feature": {
-        "dtype": "float32",
-        "_type": "Value"
-      },
-      "length": 3,
-      "_type": "Sequence"
-    },
-    "episode_index": {
-      "dtype": "int64",
-      "_type": "Value"
-    },
-    "frame_index": {
-      "dtype": "int64",
-      "_type": "Value"
-    },
-    "timestamp": {
-      "dtype": "float32",
-      "_type": "Value"
-    },
-    "next.reward": {
-      "dtype": "float32",
-      "_type": "Value"
-    },
-    "next.done": {
-      "dtype": "bool",
-      "_type": "Value"
-    },
-    "index": {
-      "dtype": "int64",
-      "_type": "Value"
-    }
-  },
-  "homepage": "",
-  "license": ""
-}
\ No newline at end of file
+version https://git-lfs.github.com/spec/v1
+oid sha256:8133fe105b6e35182c4e24d8ac092730cb8f684f6591e4f1b3a4a2adaf224c46
+size 912
diff --git a/tests/data/lerobot/xarm_lift_medium_replay/train/state.json b/tests/data/lerobot/xarm_lift_medium_replay/train/state.json
index 6522dcbd..8436b889 100644
--- a/tests/data/lerobot/xarm_lift_medium_replay/train/state.json
+++ b/tests/data/lerobot/xarm_lift_medium_replay/train/state.json
@@ -1,13 +1,3 @@
-{
-  "_data_files": [
-    {
-      "filename": "data-00000-of-00001.arrow"
-    }
-  ],
-  "_fingerprint": "9f3d8cbb0b2e74a2",
-  "_format_columns": null,
-  "_format_kwargs": {},
-  "_format_type": null,
-  "_output_all_columns": false,
-  "_split": null
-}
\ No newline at end of file
+version https://git-lfs.github.com/spec/v1
+oid sha256:71f84c95ef32e00060d1658cb601be1bc640a85b9e7200a3af481ba93c145de0
+size 247
diff --git a/tests/data/lerobot/xarm_lift_medium_replay/videos/observation.image_episode_000000.mp4 b/tests/data/lerobot/xarm_lift_medium_replay/videos/observation.image_episode_000000.mp4
index f1089c15..e0dc68fa 100644
Binary files a/tests/data/lerobot/xarm_lift_medium_replay/videos/observation.image_episode_000000.mp4 and b/tests/data/lerobot/xarm_lift_medium_replay/videos/observation.image_episode_000000.mp4 differ
diff --git a/tests/data/lerobot/xarm_lift_medium_replay_image/meta_data/episode_data_index.safetensors b/tests/data/lerobot/xarm_lift_medium_replay_image/meta_data/episode_data_index.safetensors
new file mode 100644
index 00000000..e7e90dc3
--- /dev/null
+++ b/tests/data/lerobot/xarm_lift_medium_replay_image/meta_data/episode_data_index.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ddb52e362094cc1469f34f7d723e235abccd24713b962f9765b4f910e85cebd
+size 12936
diff --git a/tests/data/lerobot/xarm_lift_medium_replay_image/meta_data/info.json b/tests/data/lerobot/xarm_lift_medium_replay_image/meta_data/info.json
new file mode 100644
index 00000000..f3b70e14
--- /dev/null
+++ b/tests/data/lerobot/xarm_lift_medium_replay_image/meta_data/info.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1cdc5343e413f5cc546079201b1cfb3f49a46e2bfcee67912f9eb5420c00ce6
+size 33
diff --git a/tests/data/lerobot/xarm_lift_medium_replay_image/meta_data/stats.safetensors b/tests/data/lerobot/xarm_lift_medium_replay_image/meta_data/stats.safetensors
new file mode 100644
index 00000000..c5e2b21b
--- /dev/null
+++ b/tests/data/lerobot/xarm_lift_medium_replay_image/meta_data/stats.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:625213579edb7c82580ded28b3bb3dd6894bf27502b401a98de2908a65a2a15d
+size 2808
diff --git a/tests/data/lerobot/xarm_lift_medium_replay_image/train/data-00000-of-00001.arrow b/tests/data/lerobot/xarm_lift_medium_replay_image/train/data-00000-of-00001.arrow
new file mode 100644
index 00000000..53cd0088
--- /dev/null
+++ b/tests/data/lerobot/xarm_lift_medium_replay_image/train/data-00000-of-00001.arrow
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c5814b892ceeb0869ec2f1821ab2c5040cbc0f1351a89f5369c67bd137cfe48
+size 105064
diff --git a/tests/data/lerobot/xarm_lift_medium_replay_image/train/dataset_info.json b/tests/data/lerobot/xarm_lift_medium_replay_image/train/dataset_info.json
new file mode 100644
index 00000000..e4b66000
--- /dev/null
+++ b/tests/data/lerobot/xarm_lift_medium_replay_image/train/dataset_info.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba5e9fec857b85adfa021d06c8679f6f7e030c2bfc5d3be3f6590fb250a17d7c
+size 907
diff --git a/tests/data/lerobot/xarm_lift_medium_replay_image/train/state.json b/tests/data/lerobot/xarm_lift_medium_replay_image/train/state.json
new file mode 100644
index 00000000..401c77f8
--- /dev/null
+++ b/tests/data/lerobot/xarm_lift_medium_replay_image/train/state.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:939e376b61bed55ef489fdb209444bc22e7e220a3390faa5415b2b39a2612cb5
+size 247
diff --git a/tests/data/lerobot/xarm_push_medium/meta_data/episode_data_index.safetensors b/tests/data/lerobot/xarm_push_medium/meta_data/episode_data_index.safetensors
index f5e09ec5..3cf01178 100644
Binary files a/tests/data/lerobot/xarm_push_medium/meta_data/episode_data_index.safetensors and b/tests/data/lerobot/xarm_push_medium/meta_data/episode_data_index.safetensors differ
diff --git a/tests/data/lerobot/xarm_push_medium/meta_data/info.json b/tests/data/lerobot/xarm_push_medium/meta_data/info.json
index d73052c5..f161e07e 100644
--- a/tests/data/lerobot/xarm_push_medium/meta_data/info.json
+++ b/tests/data/lerobot/xarm_push_medium/meta_data/info.json
@@ -1,4 +1,3 @@
-{
-    "fps": 15,
-    "video": 1
-}
\ No newline at end of file
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c6e3c50bb65c5e47ac24bc32e53ab533c78b82c6debab45da6ecea4ce067e37
+size 33
diff --git a/tests/data/lerobot/xarm_push_medium/meta_data/stats.safetensors b/tests/data/lerobot/xarm_push_medium/meta_data/stats.safetensors
index a7548bad..9e4aed95 100644
Binary files a/tests/data/lerobot/xarm_push_medium/meta_data/stats.safetensors and b/tests/data/lerobot/xarm_push_medium/meta_data/stats.safetensors differ
diff --git a/tests/data/lerobot/xarm_push_medium/train/data-00000-of-00001.arrow b/tests/data/lerobot/xarm_push_medium/train/data-00000-of-00001.arrow
index 102a6154..27899ba9 100644
Binary files a/tests/data/lerobot/xarm_push_medium/train/data-00000-of-00001.arrow and b/tests/data/lerobot/xarm_push_medium/train/data-00000-of-00001.arrow differ
diff --git a/tests/data/lerobot/xarm_push_medium/train/dataset_info.json b/tests/data/lerobot/xarm_push_medium/train/dataset_info.json
index 69bf84eb..bd1e76b9 100644
--- a/tests/data/lerobot/xarm_push_medium/train/dataset_info.json
+++ b/tests/data/lerobot/xarm_push_medium/train/dataset_info.json
@@ -1,51 +1,3 @@
-{
-  "citation": "",
-  "description": "",
-  "features": {
-    "observation.image": {
-      "_type": "VideoFrame"
-    },
-    "observation.state": {
-      "feature": {
-        "dtype": "float32",
-        "_type": "Value"
-      },
-      "length": 4,
-      "_type": "Sequence"
-    },
-    "action": {
-      "feature": {
-        "dtype": "float32",
-        "_type": "Value"
-      },
-      "length": 3,
-      "_type": "Sequence"
-    },
-    "episode_index": {
-      "dtype": "int64",
-      "_type": "Value"
-    },
-    "frame_index": {
-      "dtype": "int64",
-      "_type": "Value"
-    },
-    "timestamp": {
-      "dtype": "float32",
-      "_type": "Value"
-    },
-    "next.reward": {
-      "dtype": "float32",
-      "_type": "Value"
-    },
-    "next.done": {
-      "dtype": "bool",
-      "_type": "Value"
-    },
-    "index": {
-      "dtype": "int64",
-      "_type": "Value"
-    }
-  },
-  "homepage": "",
-  "license": ""
-}
\ No newline at end of file
+version https://git-lfs.github.com/spec/v1
+oid sha256:8133fe105b6e35182c4e24d8ac092730cb8f684f6591e4f1b3a4a2adaf224c46
+size 912
diff --git a/tests/data/lerobot/xarm_push_medium/train/state.json b/tests/data/lerobot/xarm_push_medium/train/state.json
index 6522dcbd..8436b889 100644
--- a/tests/data/lerobot/xarm_push_medium/train/state.json
+++ b/tests/data/lerobot/xarm_push_medium/train/state.json
@@ -1,13 +1,3 @@
-{
-  "_data_files": [
-    {
-      "filename": "data-00000-of-00001.arrow"
-    }
-  ],
-  "_fingerprint": "9f3d8cbb0b2e74a2",
-  "_format_columns": null,
-  "_format_kwargs": {},
-  "_format_type": null,
-  "_output_all_columns": false,
-  "_split": null
-}
\ No newline at end of file
+version https://git-lfs.github.com/spec/v1
+oid sha256:71f84c95ef32e00060d1658cb601be1bc640a85b9e7200a3af481ba93c145de0
+size 247
diff --git a/tests/data/lerobot/xarm_push_medium/videos/observation.image_episode_000000.mp4 b/tests/data/lerobot/xarm_push_medium/videos/observation.image_episode_000000.mp4
index f1089c15..e0dc68fa 100644
Binary files a/tests/data/lerobot/xarm_push_medium/videos/observation.image_episode_000000.mp4 and b/tests/data/lerobot/xarm_push_medium/videos/observation.image_episode_000000.mp4 differ
diff --git a/tests/data/lerobot/xarm_push_medium_image/meta_data/episode_data_index.safetensors b/tests/data/lerobot/xarm_push_medium_image/meta_data/episode_data_index.safetensors
new file mode 100644
index 00000000..e7e90dc3
--- /dev/null
+++ b/tests/data/lerobot/xarm_push_medium_image/meta_data/episode_data_index.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ddb52e362094cc1469f34f7d723e235abccd24713b962f9765b4f910e85cebd
+size 12936
diff --git a/tests/data/lerobot/xarm_push_medium_image/meta_data/info.json b/tests/data/lerobot/xarm_push_medium_image/meta_data/info.json
new file mode 100644
index 00000000..f3b70e14
--- /dev/null
+++ b/tests/data/lerobot/xarm_push_medium_image/meta_data/info.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1cdc5343e413f5cc546079201b1cfb3f49a46e2bfcee67912f9eb5420c00ce6
+size 33
diff --git a/tests/data/lerobot/xarm_push_medium_image/meta_data/stats.safetensors b/tests/data/lerobot/xarm_push_medium_image/meta_data/stats.safetensors
new file mode 100644
index 00000000..c5e2b21b
--- /dev/null
+++ b/tests/data/lerobot/xarm_push_medium_image/meta_data/stats.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:625213579edb7c82580ded28b3bb3dd6894bf27502b401a98de2908a65a2a15d
+size 2808
diff --git a/tests/data/lerobot/xarm_push_medium_image/train/data-00000-of-00001.arrow b/tests/data/lerobot/xarm_push_medium_image/train/data-00000-of-00001.arrow
new file mode 100644
index 00000000..53cd0088
--- /dev/null
+++ b/tests/data/lerobot/xarm_push_medium_image/train/data-00000-of-00001.arrow
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c5814b892ceeb0869ec2f1821ab2c5040cbc0f1351a89f5369c67bd137cfe48
+size 105064
diff --git a/tests/data/lerobot/xarm_push_medium_image/train/dataset_info.json b/tests/data/lerobot/xarm_push_medium_image/train/dataset_info.json
new file mode 100644
index 00000000..e4b66000
--- /dev/null
+++ b/tests/data/lerobot/xarm_push_medium_image/train/dataset_info.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba5e9fec857b85adfa021d06c8679f6f7e030c2bfc5d3be3f6590fb250a17d7c
+size 907
diff --git a/tests/data/lerobot/xarm_push_medium_image/train/state.json b/tests/data/lerobot/xarm_push_medium_image/train/state.json
new file mode 100644
index 00000000..401c77f8
--- /dev/null
+++ b/tests/data/lerobot/xarm_push_medium_image/train/state.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:939e376b61bed55ef489fdb209444bc22e7e220a3390faa5415b2b39a2612cb5
+size 247
diff --git a/tests/data/lerobot/xarm_push_medium_replay/meta_data/episode_data_index.safetensors b/tests/data/lerobot/xarm_push_medium_replay/meta_data/episode_data_index.safetensors
index f5e09ec5..3cf01178 100644
Binary files a/tests/data/lerobot/xarm_push_medium_replay/meta_data/episode_data_index.safetensors and b/tests/data/lerobot/xarm_push_medium_replay/meta_data/episode_data_index.safetensors differ
diff --git a/tests/data/lerobot/xarm_push_medium_replay/meta_data/info.json b/tests/data/lerobot/xarm_push_medium_replay/meta_data/info.json
index d73052c5..f161e07e 100644
--- a/tests/data/lerobot/xarm_push_medium_replay/meta_data/info.json
+++ b/tests/data/lerobot/xarm_push_medium_replay/meta_data/info.json
@@ -1,4 +1,3 @@
-{
-    "fps": 15,
-    "video": 1
-}
\ No newline at end of file
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c6e3c50bb65c5e47ac24bc32e53ab533c78b82c6debab45da6ecea4ce067e37
+size 33
diff --git a/tests/data/lerobot/xarm_push_medium_replay/meta_data/stats.safetensors b/tests/data/lerobot/xarm_push_medium_replay/meta_data/stats.safetensors
index a7548bad..9e4aed95 100644
Binary files a/tests/data/lerobot/xarm_push_medium_replay/meta_data/stats.safetensors and b/tests/data/lerobot/xarm_push_medium_replay/meta_data/stats.safetensors differ
diff --git a/tests/data/lerobot/xarm_push_medium_replay/train/data-00000-of-00001.arrow b/tests/data/lerobot/xarm_push_medium_replay/train/data-00000-of-00001.arrow
index 102a6154..27899ba9 100644
Binary files a/tests/data/lerobot/xarm_push_medium_replay/train/data-00000-of-00001.arrow and b/tests/data/lerobot/xarm_push_medium_replay/train/data-00000-of-00001.arrow differ
diff --git a/tests/data/lerobot/xarm_push_medium_replay/train/dataset_info.json b/tests/data/lerobot/xarm_push_medium_replay/train/dataset_info.json
index 69bf84eb..bd1e76b9 100644
--- a/tests/data/lerobot/xarm_push_medium_replay/train/dataset_info.json
+++ b/tests/data/lerobot/xarm_push_medium_replay/train/dataset_info.json
@@ -1,51 +1,3 @@
-{
-  "citation": "",
-  "description": "",
-  "features": {
-    "observation.image": {
-      "_type": "VideoFrame"
-    },
-    "observation.state": {
-      "feature": {
-        "dtype": "float32",
-        "_type": "Value"
-      },
-      "length": 4,
-      "_type": "Sequence"
-    },
-    "action": {
-      "feature": {
-        "dtype": "float32",
-        "_type": "Value"
-      },
-      "length": 3,
-      "_type": "Sequence"
-    },
-    "episode_index": {
-      "dtype": "int64",
-      "_type": "Value"
-    },
-    "frame_index": {
-      "dtype": "int64",
-      "_type": "Value"
-    },
-    "timestamp": {
-      "dtype": "float32",
-      "_type": "Value"
-    },
-    "next.reward": {
-      "dtype": "float32",
-      "_type": "Value"
-    },
-    "next.done": {
-      "dtype": "bool",
-      "_type": "Value"
-    },
-    "index": {
-      "dtype": "int64",
-      "_type": "Value"
-    }
-  },
-  "homepage": "",
-  "license": ""
-}
\ No newline at end of file
+version https://git-lfs.github.com/spec/v1
+oid sha256:8133fe105b6e35182c4e24d8ac092730cb8f684f6591e4f1b3a4a2adaf224c46
+size 912
diff --git a/tests/data/lerobot/xarm_push_medium_replay/train/state.json b/tests/data/lerobot/xarm_push_medium_replay/train/state.json
index 6522dcbd..8436b889 100644
--- a/tests/data/lerobot/xarm_push_medium_replay/train/state.json
+++ b/tests/data/lerobot/xarm_push_medium_replay/train/state.json
@@ -1,13 +1,3 @@
-{
-  "_data_files": [
-    {
-      "filename": "data-00000-of-00001.arrow"
-    }
-  ],
-  "_fingerprint": "9f3d8cbb0b2e74a2",
-  "_format_columns": null,
-  "_format_kwargs": {},
-  "_format_type": null,
-  "_output_all_columns": false,
-  "_split": null
-}
\ No newline at end of file
+version https://git-lfs.github.com/spec/v1
+oid sha256:71f84c95ef32e00060d1658cb601be1bc640a85b9e7200a3af481ba93c145de0
+size 247
diff --git a/tests/data/lerobot/xarm_push_medium_replay/videos/observation.image_episode_000000.mp4 b/tests/data/lerobot/xarm_push_medium_replay/videos/observation.image_episode_000000.mp4
index f1089c15..e0dc68fa 100644
Binary files a/tests/data/lerobot/xarm_push_medium_replay/videos/observation.image_episode_000000.mp4 and b/tests/data/lerobot/xarm_push_medium_replay/videos/observation.image_episode_000000.mp4 differ
diff --git a/tests/data/lerobot/xarm_push_medium_replay_image/meta_data/episode_data_index.safetensors b/tests/data/lerobot/xarm_push_medium_replay_image/meta_data/episode_data_index.safetensors
new file mode 100644
index 00000000..e7e90dc3
--- /dev/null
+++ b/tests/data/lerobot/xarm_push_medium_replay_image/meta_data/episode_data_index.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ddb52e362094cc1469f34f7d723e235abccd24713b962f9765b4f910e85cebd
+size 12936
diff --git a/tests/data/lerobot/xarm_push_medium_replay_image/meta_data/info.json b/tests/data/lerobot/xarm_push_medium_replay_image/meta_data/info.json
new file mode 100644
index 00000000..f3b70e14
--- /dev/null
+++ b/tests/data/lerobot/xarm_push_medium_replay_image/meta_data/info.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1cdc5343e413f5cc546079201b1cfb3f49a46e2bfcee67912f9eb5420c00ce6
+size 33
diff --git a/tests/data/lerobot/xarm_push_medium_replay_image/meta_data/stats.safetensors b/tests/data/lerobot/xarm_push_medium_replay_image/meta_data/stats.safetensors
new file mode 100644
index 00000000..c5e2b21b
--- /dev/null
+++ b/tests/data/lerobot/xarm_push_medium_replay_image/meta_data/stats.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:625213579edb7c82580ded28b3bb3dd6894bf27502b401a98de2908a65a2a15d
+size 2808
diff --git a/tests/data/lerobot/xarm_push_medium_replay_image/train/data-00000-of-00001.arrow b/tests/data/lerobot/xarm_push_medium_replay_image/train/data-00000-of-00001.arrow
new file mode 100644
index 00000000..53cd0088
--- /dev/null
+++ b/tests/data/lerobot/xarm_push_medium_replay_image/train/data-00000-of-00001.arrow
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c5814b892ceeb0869ec2f1821ab2c5040cbc0f1351a89f5369c67bd137cfe48
+size 105064
diff --git a/tests/data/lerobot/xarm_push_medium_replay_image/train/dataset_info.json b/tests/data/lerobot/xarm_push_medium_replay_image/train/dataset_info.json
new file mode 100644
index 00000000..e4b66000
--- /dev/null
+++ b/tests/data/lerobot/xarm_push_medium_replay_image/train/dataset_info.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba5e9fec857b85adfa021d06c8679f6f7e030c2bfc5d3be3f6590fb250a17d7c
+size 907
diff --git a/tests/data/lerobot/xarm_push_medium_replay_image/train/state.json b/tests/data/lerobot/xarm_push_medium_replay_image/train/state.json
new file mode 100644
index 00000000..401c77f8
--- /dev/null
+++ b/tests/data/lerobot/xarm_push_medium_replay_image/train/state.json
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:939e376b61bed55ef489fdb209444bc22e7e220a3390faa5415b2b39a2612cb5
+size 247
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_cabinet/frame_0.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_cabinet/frame_0.safetensors
new file mode 100644
index 00000000..0b3f80c6
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_cabinet/frame_0.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32a3b53455e9364264dce5ee98eacefcd32624fbeb0c1ee7c951a45dafe6590e
+size 11060269
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_cabinet/frame_1.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_cabinet/frame_1.safetensors
new file mode 100644
index 00000000..350e36f0
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_cabinet/frame_1.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4808cc1a1af8b5ebe8fbabbd6d7be70cd9378321062045f359f14547c71973f1
+size 11060269
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_cabinet/frame_1498.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_cabinet/frame_1498.safetensors
new file mode 100644
index 00000000..b638bda9
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_cabinet/frame_1498.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c73ae67e3c0858679efc3c83b63a2d8971fd370d57d7880262186848565b7ac9
+size 11060269
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_cabinet/frame_1499.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_cabinet/frame_1499.safetensors
new file mode 100644
index 00000000..8bdd6de6
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_cabinet/frame_1499.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0a32a9adea43ad5f117cd0a9d9079c8e12df7ae608edd16356e82b0067e2d5a
+size 11060269
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_cabinet/frame_750.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_cabinet/frame_750.safetensors
new file mode 100644
index 00000000..69d53e5c
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_cabinet/frame_750.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17696b496824421cf2d260a302750ee00fae0ce9b6cf6820f84f211d52ac6c92
+size 11060269
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_cabinet/frame_751.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_cabinet/frame_751.safetensors
new file mode 100644
index 00000000..7702715f
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_cabinet/frame_751.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91fb996ff9935cbd3e1d06d72eae719411551863520f98381b269b7754c83c9f
+size 11060269
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_chair/frame_0.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_chair/frame_0.safetensors
new file mode 100644
index 00000000..911996d2
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_chair/frame_0.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d6a3c984ac0777ed7d6b7db277a1623c19affbe7365a104d90f6fc59f39927f
+size 11060269
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_chair/frame_1.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_chair/frame_1.safetensors
new file mode 100644
index 00000000..59975441
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_chair/frame_1.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a03cf3bd6d225129b81167f3f671a0034f52646ce2cd6f97fdd4c1ba7aa16e14
+size 11060269
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_chair/frame_1000.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_chair/frame_1000.safetensors
new file mode 100644
index 00000000..f3615c6b
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_chair/frame_1000.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d1616690cc28bbb635b503e156d488d2eeb20333b2c8a2cd848eaea98f835a9
+size 11060269
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_chair/frame_1001.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_chair/frame_1001.safetensors
new file mode 100644
index 00000000..79fd57a1
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_chair/frame_1001.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:746e739e50d0e29c6f37b62f030aa849568b36a72dec60b8dc537d13d640679b
+size 11060269
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_chair/frame_1998.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_chair/frame_1998.safetensors
new file mode 100644
index 00000000..92a2c420
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_chair/frame_1998.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7be1b4a25c29d39fe4d0503000b66d164e73c33e4adbe054e202896c17a17525
+size 11060269
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_chair/frame_1999.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_chair/frame_1999.safetensors
new file mode 100644
index 00000000..fa1453c0
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_chair/frame_1999.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:129ba85086c93df80be8166390d0364ce93a485ed0831d2581619194d2b500e5
+size 11060269
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_elevator/frame_0.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_elevator/frame_0.safetensors
new file mode 100644
index 00000000..8c66eac6
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_elevator/frame_0.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f989c9938006e36b65793cf81504e62b665a73926e8d5bdcd675bdd23a6b9f9
+size 11060269
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_elevator/frame_1.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_elevator/frame_1.safetensors
new file mode 100644
index 00000000..586b5634
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_elevator/frame_1.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:661cf3f5bfa068c6e5318eab8abe943d1674a7d2e738759a8f0dc64f99d3ec38
+size 11060269
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_elevator/frame_1125.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_elevator/frame_1125.safetensors
new file mode 100644
index 00000000..faca3291
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_elevator/frame_1125.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c8b10705606794fbccd986db80584f8aff9e0aa0b94a93a676765198a6ec941
+size 11060269
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_elevator/frame_1126.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_elevator/frame_1126.safetensors
new file mode 100644
index 00000000..cd9033ed
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_elevator/frame_1126.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:037ca2aa98af6c16acc1ee53342038783d9f6f12e6d5dca8538baede4a7cac3c
+size 11060269
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_elevator/frame_2248.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_elevator/frame_2248.safetensors
new file mode 100644
index 00000000..a7e42cbb
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_elevator/frame_2248.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04084eafdde395698b6413506c5bb97b703afca8ffbebf985562531caafb69aa
+size 11060269
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_elevator/frame_2249.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_elevator/frame_2249.safetensors
new file mode 100644
index 00000000..ec6f9c69
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_elevator/frame_2249.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18abee589c474bd628896e89c1c950d4e49f2098039cc7c7399a03eef97e9a30
+size 11060269
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_shrimp/frame_0.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_shrimp/frame_0.safetensors
new file mode 100644
index 00000000..b716bcc2
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_shrimp/frame_0.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d213757efff680cbeec99e112913804f0d6a006681b52333175e53d69bc35b49
+size 11060269
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_shrimp/frame_1.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_shrimp/frame_1.safetensors
new file mode 100644
index 00000000..fed98889
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_shrimp/frame_1.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29f66531c8d9ed4f0d96f48b700c459e11eba22ae143cb3aa91fcf4efcb37116
+size 11060269
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_shrimp/frame_1875.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_shrimp/frame_1875.safetensors
new file mode 100644
index 00000000..769a9e2d
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_shrimp/frame_1875.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc913ed5a8a0fae6cd77dee1d8ed2eb0d2d405e3a390561d5eb78343f19131a1
+size 11060269
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_shrimp/frame_1876.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_shrimp/frame_1876.safetensors
new file mode 100644
index 00000000..ad24ed8d
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_shrimp/frame_1876.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87fe3188e72c2cb7f1378a828454d3979ec290f257608a19d81301adc3686ca4
+size 11060269
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_shrimp/frame_3748.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_shrimp/frame_3748.safetensors
new file mode 100644
index 00000000..ebd4f3de
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_shrimp/frame_3748.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a46d04275eec0a121288b5d4a0473a42157ab8a804ff304c21405af388f2e6a
+size 11060269
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_shrimp/frame_3749.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_shrimp/frame_3749.safetensors
new file mode 100644
index 00000000..eb2290f0
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_shrimp/frame_3749.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ff968d0cbff4bb271ddb45f90094ba37041536d3f29d0a2a94ec31760532b05
+size 11060269
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_wash_pan/frame_0.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_wash_pan/frame_0.safetensors
new file mode 100644
index 00000000..5099bcbe
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_wash_pan/frame_0.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a82151149bd9b0049cc798c3157e778318207e714b2d7161c7740da99aefdfc3
+size 11060269
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_wash_pan/frame_1.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_wash_pan/frame_1.safetensors
new file mode 100644
index 00000000..7bc05d1d
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_wash_pan/frame_1.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6bcd8dce72039bc4863ec26c194f508a12b82ce09ed1bc9fcee09b937c93591e
+size 11060269
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_wash_pan/frame_1098.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_wash_pan/frame_1098.safetensors
new file mode 100644
index 00000000..c5fe4e44
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_wash_pan/frame_1098.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:933dbe688cb9e5286c1b451f2835fe8b9056453d36757c4284f9dc1c9e583131
+size 11060269
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_wash_pan/frame_1099.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_wash_pan/frame_1099.safetensors
new file mode 100644
index 00000000..a0824577
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_wash_pan/frame_1099.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3720e6b410e637992fb3ec6ffbc915a262a2b4c728aff258daa523e338479ecd
+size 11060269
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_wash_pan/frame_550.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_wash_pan/frame_550.safetensors
new file mode 100644
index 00000000..6f9c5756
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_wash_pan/frame_550.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef6a3fd3d4120bf757f6249ff5ecda07a45b3e90f4ea348d9885eedd871eabdf
+size 11060269
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_wash_pan/frame_551.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_wash_pan/frame_551.safetensors
new file mode 100644
index 00000000..fad4b28b
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_wash_pan/frame_551.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:400455865132b2ac1b14b41418867d2c0b93e7e300605e122b161cac3a714e81
+size 11060269
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_wipe_wine/frame_0.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_wipe_wine/frame_0.safetensors
new file mode 100644
index 00000000..f5eee1f2
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_wipe_wine/frame_0.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dcb1c2338a29918e824d261ecb0816a7752459e733f03042bc4c6e161911d818
+size 11060269
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_wipe_wine/frame_1.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_wipe_wine/frame_1.safetensors
new file mode 100644
index 00000000..36bf9969
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_wipe_wine/frame_1.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de1dcead740d6767926f80037ee117ba3184d28058c52e92a172feb6e4a0a38f
+size 11060269
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_wipe_wine/frame_1298.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_wipe_wine/frame_1298.safetensors
new file mode 100644
index 00000000..d9f2277a
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_wipe_wine/frame_1298.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e84653faf1326fa0eb79379b7bce982f7bd59662d7855a9fc6212e502f345a5
+size 11060269
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_wipe_wine/frame_1299.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_wipe_wine/frame_1299.safetensors
new file mode 100644
index 00000000..4c150d35
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_wipe_wine/frame_1299.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:952e1a841dcdac4aed009cdaf65c7cc9eb2bf77746579e04656433d820e3b735
+size 11060269
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_wipe_wine/frame_650.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_wipe_wine/frame_650.safetensors
new file mode 100644
index 00000000..a5fd854d
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_wipe_wine/frame_650.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:011b6e2846cc3a66f7b6d38d7046bfb6f9c5a58889d6f552ddf843c70e07baa9
+size 11060269
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_wipe_wine/frame_651.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_wipe_wine/frame_651.safetensors
new file mode 100644
index 00000000..a1b211c3
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_mobile_wipe_wine/frame_651.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8940f9734ee2c1058394b44db84e327647d9b8205e4b9f1c9c671f5fa001db3a
+size 11060269
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_human/frame_0.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_human/frame_0.safetensors
index 2a896887..6f46ec88 100644
Binary files a/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_human/frame_0.safetensors and b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_human/frame_0.safetensors differ
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_human/frame_1.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_human/frame_1.safetensors
index b144d764..df6c16e4 100644
Binary files a/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_human/frame_1.safetensors and b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_human/frame_1.safetensors differ
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_human/frame_250.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_human/frame_250.safetensors
index 9c1ab2f3..4d3add53 100644
Binary files a/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_human/frame_250.safetensors and b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_human/frame_250.safetensors differ
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_human/frame_251.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_human/frame_251.safetensors
index b631637b..413d370a 100644
Binary files a/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_human/frame_251.safetensors and b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_human/frame_251.safetensors differ
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_human/frame_498.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_human/frame_498.safetensors
index f61e9d20..2df39dbb 100644
Binary files a/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_human/frame_498.safetensors and b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_human/frame_498.safetensors differ
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_human/frame_499.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_human/frame_499.safetensors
index 80a3642c..866b1f32 100644
Binary files a/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_human/frame_499.safetensors and b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_human/frame_499.safetensors differ
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_human_image/frame_0.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_human_image/frame_0.safetensors
new file mode 100644
index 00000000..b07da829
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_human_image/frame_0.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2af6d705aa80d5f2c6c31908caaf0fdb0ebceb8fbf36346b71413e81a481e87d
+size 3687117
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_human_image/frame_1.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_human_image/frame_1.safetensors
new file mode 100644
index 00000000..17ec5399
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_human_image/frame_1.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ffd2b58881159b00fc3cf34d5bf1d410c1c1f233eb9a5b47e3bbeff3eff23e91
+size 3687117
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_human_image/frame_250.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_human_image/frame_250.safetensors
new file mode 100644
index 00000000..ee25fa75
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_human_image/frame_250.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93c3b99038aa736f627726002ab86f08becf17d947636144c430e37150007036
+size 3687117
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_human_image/frame_251.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_human_image/frame_251.safetensors
new file mode 100644
index 00000000..2d61a88f
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_human_image/frame_251.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d918a8acd304895d6c94a871cf8653992265147b49b84f39d217a7f3123fe559
+size 3687117
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_human_image/frame_498.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_human_image/frame_498.safetensors
new file mode 100644
index 00000000..b188b710
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_human_image/frame_498.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4067ddb4a061b4cbdd8a30432edd9d99821c9e765e2aa8c47e123a859836d15c
+size 3687117
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_human_image/frame_499.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_human_image/frame_499.safetensors
new file mode 100644
index 00000000..4c5aa1cb
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_human_image/frame_499.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d24f81c1c6e9addaea10474804080bdeed09fde586281dd6394cba1a17496ac
+size 3687117
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_scripted/frame_0.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_scripted/frame_0.safetensors
new file mode 100644
index 00000000..47a1382b
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_scripted/frame_0.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b505e6ce5e901d29f45959788c4b73b12aff600dd417df25e61bd11a8ad39ca1
+size 3687117
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_scripted/frame_1.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_scripted/frame_1.safetensors
new file mode 100644
index 00000000..ee124112
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_scripted/frame_1.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c2f7a1d9331716395acd62cce6a012dbf70a7cdea02fb8bd7cbce288ce08f2c
+size 3687117
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_scripted/frame_200.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_scripted/frame_200.safetensors
new file mode 100644
index 00000000..4f7548f8
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_scripted/frame_200.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d224db93c92cc1f77cd05cef1b29cbe6bea9686c69753ce53afabdd426a6d01
+size 3687117
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_scripted/frame_201.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_scripted/frame_201.safetensors
new file mode 100644
index 00000000..ff708af0
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_scripted/frame_201.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96f7529aeff338e33108b805d2fe45c04fa8900b21d445e12e42bd5b505b9d85
+size 3687117
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_scripted/frame_398.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_scripted/frame_398.safetensors
new file mode 100644
index 00000000..82e13902
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_scripted/frame_398.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ea66e7d84c7a55c2bec476265f9e46c3f04bed749deb21c525fcf1495d25026
+size 3687117
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_scripted/frame_399.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_scripted/frame_399.safetensors
new file mode 100644
index 00000000..ef623676
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_scripted/frame_399.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7abc89987da95800f162b7932f4cab48a91ef7cd9c3fc2d65e57319e9613791
+size 3687117
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_scripted_image/frame_0.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_scripted_image/frame_0.safetensors
new file mode 100644
index 00000000..11574835
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_scripted_image/frame_0.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12b287bd4e15918ceccbdbf3bfdb8790504daa9cc1edcefb8c371b124931dab3
+size 3687117
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_scripted_image/frame_1.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_scripted_image/frame_1.safetensors
new file mode 100644
index 00000000..5493531c
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_scripted_image/frame_1.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f50e076fd71eceec087c8d94ceaf26a33e7f0a9578a6955693549f44a4699585
+size 3687117
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_scripted_image/frame_200.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_scripted_image/frame_200.safetensors
new file mode 100644
index 00000000..7e1652b4
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_scripted_image/frame_200.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09007af2e8b05545b366df5c1d9e628fc5ca311b6ecd2859994239d69d0feac6
+size 3687117
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_scripted_image/frame_201.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_scripted_image/frame_201.safetensors
new file mode 100644
index 00000000..c7a6d8df
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_scripted_image/frame_201.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bffaa9e7e4c75c770a09a068110dd8c3d6f6f547bf90aae4a268deb0817b32a0
+size 3687117
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_scripted_image/frame_398.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_scripted_image/frame_398.safetensors
new file mode 100644
index 00000000..a83fa3a6
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_scripted_image/frame_398.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4328b4c2cd212828344368de7147b0ce4e59f69a3908ff3aa7982ccafdd254d
+size 3687117
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_scripted_image/frame_399.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_scripted_image/frame_399.safetensors
new file mode 100644
index 00000000..d6f18b75
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_scripted_image/frame_399.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91bf8d4aad329d4e39b534ebb86ae2b8785af57279e539fc44be17ba89d21f17
+size 3687117
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_transfer_cube_human/frame_0.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_transfer_cube_human/frame_0.safetensors
new file mode 100644
index 00000000..036582db
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_transfer_cube_human/frame_0.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4da8e6125f4e59ab3bd7462e5f0a56da927577c3f0d7aef31d89d54def347b44
+size 3687117
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_transfer_cube_human/frame_1.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_transfer_cube_human/frame_1.safetensors
new file mode 100644
index 00000000..a47e1ccd
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_transfer_cube_human/frame_1.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9713af3b6c3af368b605c9b9d7f3c4d37ff071c06aa703c795a37d2a9760697
+size 3687117
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_transfer_cube_human/frame_200.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_transfer_cube_human/frame_200.safetensors
new file mode 100644
index 00000000..cc04ab7a
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_transfer_cube_human/frame_200.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:692e0c6559658c42bb279ab366111d3ad2e1d0c8a78e57ebc2ca71fbc5fc98e5
+size 3687117
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_transfer_cube_human/frame_201.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_transfer_cube_human/frame_201.safetensors
new file mode 100644
index 00000000..9fe62316
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_transfer_cube_human/frame_201.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c99ce2d4e089f75e5ae94a0e40037b94ef6afd252967070b1d8b36762eb2bef
+size 3687117
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_transfer_cube_human/frame_398.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_transfer_cube_human/frame_398.safetensors
new file mode 100644
index 00000000..5d1bb8ee
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_transfer_cube_human/frame_398.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6c2575e1dd0d1dc5c4fee10156c6cdcff2a03a77d66780d0013902ae139246d
+size 3687117
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_transfer_cube_human/frame_399.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_transfer_cube_human/frame_399.safetensors
new file mode 100644
index 00000000..d96099aa
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_transfer_cube_human/frame_399.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1172add204cc5996d7ec364dbb571dfa455c0bc3d53bb4ba582b1ed85bf20b21
+size 3687117
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_transfer_cube_human_image/frame_0.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_transfer_cube_human_image/frame_0.safetensors
new file mode 100644
index 00000000..98d61908
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_transfer_cube_human_image/frame_0.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:695c6351107b8fdd0b5773653a8f033a9e63991e0234260ca9b859c3ca669e43
+size 3687117
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_transfer_cube_human_image/frame_1.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_transfer_cube_human_image/frame_1.safetensors
new file mode 100644
index 00000000..d5459df0
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_transfer_cube_human_image/frame_1.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6315b8a699e72dac4104f1410a48041469804c8b8d24501b1bfd6bf95ea0be4
+size 3687117
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_transfer_cube_human_image/frame_200.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_transfer_cube_human_image/frame_200.safetensors
new file mode 100644
index 00000000..68231cbf
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_transfer_cube_human_image/frame_200.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:445e8afca0b92f7b084e41df803aa1bf2c0783040fbc810df48bc6d9d57675ac
+size 3687117
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_transfer_cube_human_image/frame_201.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_transfer_cube_human_image/frame_201.safetensors
new file mode 100644
index 00000000..cc5c7be4
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_transfer_cube_human_image/frame_201.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0e25939a57ce02b4fadc4f2b982936ecc420e40c85f460015d4ea707f9ce04f
+size 3687117
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_transfer_cube_human_image/frame_398.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_transfer_cube_human_image/frame_398.safetensors
new file mode 100644
index 00000000..bcec5334
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_transfer_cube_human_image/frame_398.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da0c3e8bc471310a6426b6e459a07fa44c7776ad9209a78963f401e33db1bfed
+size 3687117
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_transfer_cube_human_image/frame_399.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_transfer_cube_human_image/frame_399.safetensors
new file mode 100644
index 00000000..64dccd29
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_transfer_cube_human_image/frame_399.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:158257d4890ed2d633ebb66c0a1fd9dafc58565b5b04ff75717b97ffddf13972
+size 3687117
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_transfer_cube_scripted/frame_0.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_transfer_cube_scripted/frame_0.safetensors
new file mode 100644
index 00000000..4cc74d4f
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_transfer_cube_scripted/frame_0.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7fb4aa159232636e8b6fa2eb0572be11293609e8e9c4ddf28f2cd5e4b7e969af
+size 3687117
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_transfer_cube_scripted/frame_1.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_transfer_cube_scripted/frame_1.safetensors
new file mode 100644
index 00000000..eb2c94ce
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_transfer_cube_scripted/frame_1.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51421e68efd2503f08eead4cb20088260f041bb481fb6e42ddd016ece40bde0d
+size 3687117
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_transfer_cube_scripted/frame_200.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_transfer_cube_scripted/frame_200.safetensors
new file mode 100644
index 00000000..8798afab
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_transfer_cube_scripted/frame_200.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0595d669fd9a8cf6917583e295a8d72a8c620d10a7fac0ed17bc7fdbd0e1f08
+size 3687117
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_transfer_cube_scripted/frame_201.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_transfer_cube_scripted/frame_201.safetensors
new file mode 100644
index 00000000..f3a845ab
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_transfer_cube_scripted/frame_201.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ed7e661e6c852c8dde6c2a9dafac523440aa89d84ddec1a74de2a48a90a30b8
+size 3687117
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_transfer_cube_scripted/frame_398.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_transfer_cube_scripted/frame_398.safetensors
new file mode 100644
index 00000000..5017e228
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_transfer_cube_scripted/frame_398.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a01e4c8ac11c1d279e76cda7ec5d555301b7d6069a2fbfc0ab97aa6bba0991e9
+size 3687117
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_transfer_cube_scripted/frame_399.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_transfer_cube_scripted/frame_399.safetensors
new file mode 100644
index 00000000..768a09e2
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_transfer_cube_scripted/frame_399.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb5d1c5fed18ba2df5cfb64febc1ea0e567878fc6bb881da179693c02843941f
+size 3687117
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_transfer_cube_scripted_image/frame_0.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_transfer_cube_scripted_image/frame_0.safetensors
new file mode 100644
index 00000000..4c2d6857
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_transfer_cube_scripted_image/frame_0.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d80263ab4343c9e7974e537563992b0dc56d618a751877f62e2fea4cc57befad
+size 3687117
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_transfer_cube_scripted_image/frame_1.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_transfer_cube_scripted_image/frame_1.safetensors
new file mode 100644
index 00000000..0c4beef8
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_transfer_cube_scripted_image/frame_1.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb7fc4b1ced815abb3bbb32664914c3f4840ace37deabcfaec436615fcd19bf1
+size 3687117
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_transfer_cube_scripted_image/frame_200.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_transfer_cube_scripted_image/frame_200.safetensors
new file mode 100644
index 00000000..d335f0da
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_transfer_cube_scripted_image/frame_200.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1340061f2747abb10c4bc76c5ff7bf0f214f5bf7e61c18660b29f377a6167247
+size 3687117
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_transfer_cube_scripted_image/frame_201.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_transfer_cube_scripted_image/frame_201.safetensors
new file mode 100644
index 00000000..9f0b1f1c
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_transfer_cube_scripted_image/frame_201.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c6e4aaedd3011ef5482e1f37f0019faf60080f4dbf722ee5d3446204eb70a76
+size 3687117
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_transfer_cube_scripted_image/frame_398.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_transfer_cube_scripted_image/frame_398.safetensors
new file mode 100644
index 00000000..167dce76
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_transfer_cube_scripted_image/frame_398.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4847a373c47f2f7385f1e08dcd6eb36fc9d2322cdb6a04051aad6fcb4f593497
+size 3687117
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_transfer_cube_scripted_image/frame_399.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_transfer_cube_scripted_image/frame_399.safetensors
new file mode 100644
index 00000000..0c45ff90
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_transfer_cube_scripted_image/frame_399.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71a92b3ed9ebc4c914911ae21e6fd653fe926e8d834f48e6d522e47fd8d710cb
+size 3687117
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_battery/frame_0.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_battery/frame_0.safetensors
new file mode 100644
index 00000000..c94599ab
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_battery/frame_0.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d1910016a994ff85c17ebf000037e22e526d5dd0ba64bbafc87962e86dd2b2e
+size 14746637
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_battery/frame_1.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_battery/frame_1.safetensors
new file mode 100644
index 00000000..8918b76f
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_battery/frame_1.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b596e0196ad9fcb144e32e59b28f18f9825b220737ed49aa725b19fa74b9b625
+size 14746637
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_battery/frame_300.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_battery/frame_300.safetensors
new file mode 100644
index 00000000..a04b3cbd
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_battery/frame_300.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52cc6e8d8893f291f6659f05effc2dd416bb971b702d27afab05e1480746ba87
+size 14746637
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_battery/frame_301.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_battery/frame_301.safetensors
new file mode 100644
index 00000000..ad31ce2a
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_battery/frame_301.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95c2ae9651355de406bd43ad537164783b650bbfc5230793aad7caae87ac0196
+size 14746637
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_battery/frame_598.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_battery/frame_598.safetensors
new file mode 100644
index 00000000..688c23eb
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_battery/frame_598.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f4ca6734fdd442e75b01fd5d2ea322f9e3bc1f9c37b11092c39bb8789fbe0af
+size 14746637
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_battery/frame_599.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_battery/frame_599.safetensors
new file mode 100644
index 00000000..8004e64c
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_battery/frame_599.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:925eba693dda7469f79af510d3cff17e24bbf65f75cc4ca1ed745469fe41860a
+size 14746637
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_candy/frame_0.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_candy/frame_0.safetensors
new file mode 100644
index 00000000..6ac1c693
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_candy/frame_0.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9a5423a2e6ae916616b9777bc688f9c2eee2fffd376a84eddfe8614d00daf55
+size 14746637
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_candy/frame_1.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_candy/frame_1.safetensors
new file mode 100644
index 00000000..7054ee47
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_candy/frame_1.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c9ea83939b17228347bf8a8cfbe9d94499936668bc8252f0b6643a6918f9cd3
+size 14746637
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_candy/frame_350.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_candy/frame_350.safetensors
new file mode 100644
index 00000000..17df84f9
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_candy/frame_350.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee0dc1da74261be897ab51dab269d60b90b40796caf6b2d6217994d54b1d2a9a
+size 14746637
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_candy/frame_351.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_candy/frame_351.safetensors
new file mode 100644
index 00000000..511a7021
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_candy/frame_351.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c64df28a98d92348eb5f4d0f7ddcb900cc8541a83ef8b1dcbab84259927df3e
+size 14746637
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_candy/frame_698.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_candy/frame_698.safetensors
new file mode 100644
index 00000000..e4debd2a
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_candy/frame_698.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ea4f809dbd9d063d3067b5a58934fc26dc7a7e111a8bfb3d71970cb0f0801d6
+size 14746637
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_candy/frame_699.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_candy/frame_699.safetensors
new file mode 100644
index 00000000..641c9cd4
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_candy/frame_699.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e78227acd8bbb7c5cafb39681cc1b815135ac5eb72bf47c074caf882855cccc
+size 14746637
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_coffee/frame_0.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_coffee/frame_0.safetensors
new file mode 100644
index 00000000..4ea9921f
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_coffee/frame_0.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2af3c8de0b648af094dced6a8e33294371554ba632913823cd03b711bc45ec7
+size 14746773
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_coffee/frame_1.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_coffee/frame_1.safetensors
new file mode 100644
index 00000000..5cb0ec61
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_coffee/frame_1.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:787b0630cfa91de73c5c8b6954c5ce83978e0f0144a0905bb996eab276a48edc
+size 14746773
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_coffee/frame_1098.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_coffee/frame_1098.safetensors
new file mode 100644
index 00000000..4f0d0d8d
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_coffee/frame_1098.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50c38571b46a10d7401267b9a1d3ca51d3f694f5611581d67b4db8b2990507d9
+size 14746773
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_coffee/frame_1099.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_coffee/frame_1099.safetensors
new file mode 100644
index 00000000..6f358a26
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_coffee/frame_1099.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6498ff75f3cf6dca41757f65ae59d5f692dd4a35c649cb160dfc23f88923c69d
+size 14746773
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_coffee/frame_550.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_coffee/frame_550.safetensors
new file mode 100644
index 00000000..55480a69
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_coffee/frame_550.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ac3083e8c3f7258e7e846907c34f631fa0d9a39548c4addd26bceb26765d859
+size 14746773
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_coffee/frame_551.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_coffee/frame_551.safetensors
new file mode 100644
index 00000000..4677aeac
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_coffee/frame_551.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a75d71cb4a1dbc79b67c9d2c70e40a03983788ce5e829e7c8bd23c12fdc81a56
+size 14746773
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_coffee_new/frame_0.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_coffee_new/frame_0.safetensors
new file mode 100644
index 00000000..bbd2e786
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_coffee_new/frame_0.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61c977c9b0250ad9072c10eb103797d16820e6594b9fc85d1ff4af751fc967b4
+size 14746773
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_coffee_new/frame_1.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_coffee_new/frame_1.safetensors
new file mode 100644
index 00000000..dce2c769
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_coffee_new/frame_1.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c79db975e6a0a3b7fedadb6a752e009dd174dc218651234ec1b9bdcfdf160326
+size 14746773
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_coffee_new/frame_1498.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_coffee_new/frame_1498.safetensors
new file mode 100644
index 00000000..622a4c68
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_coffee_new/frame_1498.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55016a32eb8bcd248bf48cb8b77094c2ba328a7854be69687225b520ceb7df34
+size 14746773
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_coffee_new/frame_1499.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_coffee_new/frame_1499.safetensors
new file mode 100644
index 00000000..a398a705
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_coffee_new/frame_1499.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd287bf2e4453f31569f38a1e4708c9b833e27483079e7ee380003c89eb540f4
+size 14746773
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_coffee_new/frame_750.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_coffee_new/frame_750.safetensors
new file mode 100644
index 00000000..e2934d74
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_coffee_new/frame_750.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f5bfe4dba4ecf566b1f31fb7d0fff906e15b809a9a707eebec2c4782cab5fd8
+size 14746773
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_coffee_new/frame_751.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_coffee_new/frame_751.safetensors
new file mode 100644
index 00000000..18da5226
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_coffee_new/frame_751.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a2e14c339168deb3c06ac5a39514031de0f1c4bc2b7f40a470a8a0585e8ba71
+size 14746773
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_cups_open/frame_0.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_cups_open/frame_0.safetensors
new file mode 100644
index 00000000..dfce98fc
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_cups_open/frame_0.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b42a23eee3fb1fd9eb80c742c2ce48036a08080cbe8bb0dd59e0aa8cfc3f2735
+size 14746637
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_cups_open/frame_1.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_cups_open/frame_1.safetensors
new file mode 100644
index 00000000..3c6f2e34
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_cups_open/frame_1.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9492c14c40845dbcf0e94f2631c52c074b2fb3264c7ef6db45015298dc921ec
+size 14746637
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_cups_open/frame_200.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_cups_open/frame_200.safetensors
new file mode 100644
index 00000000..6e41b200
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_cups_open/frame_200.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c6f6ff40fdf3121e57088ae8c5be91666354e140eaa003b8fb4ef7c806dd77a
+size 14746637
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_cups_open/frame_201.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_cups_open/frame_201.safetensors
new file mode 100644
index 00000000..e52ebe25
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_cups_open/frame_201.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01b43229fb0eb11f4a3e9a4e9854eec7addbb371c9a3f305979513593751dfa4
+size 14746637
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_cups_open/frame_398.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_cups_open/frame_398.safetensors
new file mode 100644
index 00000000..63bd9df1
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_cups_open/frame_398.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7ecb2c7db34b1d91f35c50383e44327c7922c0067af85962e69bbc72ca2d5fe
+size 14746637
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_cups_open/frame_399.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_cups_open/frame_399.safetensors
new file mode 100644
index 00000000..1e206ab6
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_cups_open/frame_399.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:460c1229d0fc8b302758e26316e66f7e2533aed1c0ab027179e14afd1184ab87
+size 14746637
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_fork_pick_up/frame_0.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_fork_pick_up/frame_0.safetensors
new file mode 100644
index 00000000..7ebdff9c
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_fork_pick_up/frame_0.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a18c1dd56cb3eb5af665b42043fa376943f0334c4d3a95eb2b342ab1881b91e
+size 14746773
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_fork_pick_up/frame_1.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_fork_pick_up/frame_1.safetensors
new file mode 100644
index 00000000..5b153487
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_fork_pick_up/frame_1.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f79ebaeb70ec5ac28fa01705ec7c4652d4423b75900f79919a863456cfd34c54
+size 14746773
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_fork_pick_up/frame_300.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_fork_pick_up/frame_300.safetensors
new file mode 100644
index 00000000..d5af77b8
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_fork_pick_up/frame_300.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1df0f8d4ad74137fd4f1af54fe84d7711a3dc70d22a0afce9a81fb93db45fb01
+size 14746773
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_fork_pick_up/frame_301.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_fork_pick_up/frame_301.safetensors
new file mode 100644
index 00000000..89f07ac6
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_fork_pick_up/frame_301.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a15c3351341aeee097e29e55b795e767cafcf0eb0d360188417825340cefc5d
+size 14746773
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_fork_pick_up/frame_598.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_fork_pick_up/frame_598.safetensors
new file mode 100644
index 00000000..66177b87
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_fork_pick_up/frame_598.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d4576e7d2897a51a6d52e3b8447f62d105e6c3fe6c15e0ec1ce19a6ea3a30d3
+size 14746773
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_fork_pick_up/frame_599.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_fork_pick_up/frame_599.safetensors
new file mode 100644
index 00000000..22b4746e
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_fork_pick_up/frame_599.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b86f3dcb0279f869cd9ffbeb94c16c98ae78b8474e399494d904293b83cde15
+size 14746773
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_pingpong_test/frame_0.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_pingpong_test/frame_0.safetensors
new file mode 100644
index 00000000..0c9ea184
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_pingpong_test/frame_0.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:705661cf02ce74899a6198eda019331ad9c45f9f996388e1b22acc9170c29a92
+size 14746773
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_pingpong_test/frame_1.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_pingpong_test/frame_1.safetensors
new file mode 100644
index 00000000..f70515e6
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_pingpong_test/frame_1.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d71a11ae3c076bfec917cc9c352017084274680de457bdc11030b427f0ad078
+size 14746773
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_pingpong_test/frame_300.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_pingpong_test/frame_300.safetensors
new file mode 100644
index 00000000..7ba68a27
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_pingpong_test/frame_300.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d03cb79bd2b7ddb2cd2897776a0389ad19ee5d1b4fdd97d85645b9748a5ea645
+size 14746773
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_pingpong_test/frame_301.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_pingpong_test/frame_301.safetensors
new file mode 100644
index 00000000..19c70fa9
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_pingpong_test/frame_301.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5229c4d1eb9507d16b265601f7222cadb82aece19893f85a70635a0d59d1d858
+size 14746773
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_pingpong_test/frame_598.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_pingpong_test/frame_598.safetensors
new file mode 100644
index 00000000..cbfa8510
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_pingpong_test/frame_598.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5fdfa27751cbd0ecb220af5d66c6641113f16d1505bbdcafedc4824e71fa4c5f
+size 14746773
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_pingpong_test/frame_599.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_pingpong_test/frame_599.safetensors
new file mode 100644
index 00000000..266f44ef
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_pingpong_test/frame_599.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56141ee6728ca9629b48ff6d41ca5fa0ef998b216455413ebb4a11354db30607
+size 14746773
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_pro_pencil/frame_0.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_pro_pencil/frame_0.safetensors
new file mode 100644
index 00000000..5a6351af
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_pro_pencil/frame_0.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:538268195367087cd2c608b94214555c65ff8123dfefe3299836e30c6f3fcbc1
+size 14746773
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_pro_pencil/frame_1.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_pro_pencil/frame_1.safetensors
new file mode 100644
index 00000000..799e98ba
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_pro_pencil/frame_1.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3415761128e633d112738489841613811f91020757f9276fc475c6526ed279f
+size 14746773
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_pro_pencil/frame_175.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_pro_pencil/frame_175.safetensors
new file mode 100644
index 00000000..cfe4472c
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_pro_pencil/frame_175.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14edcf4dde7404e03802bae4003fdc0baa2b77ebbfe5f443474cad3e9b8cbe03
+size 14746773
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_pro_pencil/frame_176.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_pro_pencil/frame_176.safetensors
new file mode 100644
index 00000000..9a19b01c
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_pro_pencil/frame_176.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:233063f6b91e2bcbd81f5d52a1a28c8e13be9665f363783ce769c4042bbb148d
+size 14746773
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_pro_pencil/frame_348.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_pro_pencil/frame_348.safetensors
new file mode 100644
index 00000000..226288b4
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_pro_pencil/frame_348.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:996379c7d90070cd840ed73a9858948860d3e714b41a4f04b2d71ebd59854e53
+size 14746773
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_pro_pencil/frame_349.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_pro_pencil/frame_349.safetensors
new file mode 100644
index 00000000..1035b29c
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_pro_pencil/frame_349.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae0c867e3fe842bc8280ef8a30631b2c382933d4814ab056f8badc2c22f66e64
+size 14746773
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_screw_driver/frame_0.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_screw_driver/frame_0.safetensors
new file mode 100644
index 00000000..7723d800
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_screw_driver/frame_0.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4999aa699ab2a4f94d407b1a875836e7c87c188ae7aedc960df4b5855ac054a
+size 14746773
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_screw_driver/frame_1.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_screw_driver/frame_1.safetensors
new file mode 100644
index 00000000..37233acd
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_screw_driver/frame_1.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:801f252ffb4e994976806c88c9b4c3da5558cc3f5f15cc216755cd6345dbc3e0
+size 14746773
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_screw_driver/frame_200.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_screw_driver/frame_200.safetensors
new file mode 100644
index 00000000..c5c6aab0
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_screw_driver/frame_200.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d218fee28c33b2e44085826eb46316e18480cc9d0d653936b0b000cd7119d4d
+size 14746773
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_screw_driver/frame_201.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_screw_driver/frame_201.safetensors
new file mode 100644
index 00000000..75d10e48
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_screw_driver/frame_201.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14973b0ca734e585ecc43a955eb2a977ce6fc71e0a5dc2032146bac13faf64e9
+size 14746773
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_screw_driver/frame_398.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_screw_driver/frame_398.safetensors
new file mode 100644
index 00000000..59a8517e
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_screw_driver/frame_398.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfe8fc36006d7a01506cd5d92f5427da872c5b962596af15a0c699781b0c2d5e
+size 14746773
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_screw_driver/frame_399.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_screw_driver/frame_399.safetensors
new file mode 100644
index 00000000..dcaa7b8a
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_screw_driver/frame_399.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f92e973197fc8f1aac048ebceef32ca0f70989412121dce3984f5088fe9c477e
+size 14746773
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_tape/frame_0.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_tape/frame_0.safetensors
new file mode 100644
index 00000000..3b5dd212
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_tape/frame_0.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:803d805ba87c055d46652b20120514ae1d29d5d46fe3b89f4ceb3f4c44dcd565
+size 14746637
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_tape/frame_1.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_tape/frame_1.safetensors
new file mode 100644
index 00000000..a5bb5938
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_tape/frame_1.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:209c369f461123105eb57c2f5531816401e5e61f894ef3c8e15f085ee33d2b3d
+size 14746637
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_tape/frame_350.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_tape/frame_350.safetensors
new file mode 100644
index 00000000..f6b81841
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_tape/frame_350.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:038888662ad22df8a86887d7d42fb06cfe262b5e133647d258ed63c76594f839
+size 14746637
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_tape/frame_351.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_tape/frame_351.safetensors
new file mode 100644
index 00000000..aab2f3f7
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_tape/frame_351.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:048f8e0ea4b4bb39509dd373f7fc88e5f817180bf0eb6c61c77a861e4a2d0b25
+size 14746637
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_tape/frame_698.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_tape/frame_698.safetensors
new file mode 100644
index 00000000..2a6aac2b
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_tape/frame_698.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c52973799fb2ad23d851abfc766c82b87a090104cb168dc39804ab38ae1d355d
+size 14746637
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_tape/frame_699.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_tape/frame_699.safetensors
new file mode 100644
index 00000000..ecc44a8d
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_tape/frame_699.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d5fa86fa4414b996f6a7c43539dd53cf998176ccbb43f5bfc7db6954de8cf7e
+size 14746637
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_thread_velcro/frame_0.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_thread_velcro/frame_0.safetensors
new file mode 100644
index 00000000..0212d8d1
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_thread_velcro/frame_0.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd7ff1e0a15e03a57817f7ce85b7f0621ae448be289b1123a9f594fe9b724968
+size 14746637
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_thread_velcro/frame_1.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_thread_velcro/frame_1.safetensors
new file mode 100644
index 00000000..ee446c83
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_thread_velcro/frame_1.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9690de98f24d445fbd355b6ed1a78438c631ef83cab470ded3b37801fa4a1cbd
+size 14746637
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_thread_velcro/frame_300.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_thread_velcro/frame_300.safetensors
new file mode 100644
index 00000000..0683ed0c
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_thread_velcro/frame_300.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71509a6d4ff3296fdd5d28be4fb385fb7c3d2e4f1fdd4beeb1cc05643804240f
+size 14746637
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_thread_velcro/frame_301.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_thread_velcro/frame_301.safetensors
new file mode 100644
index 00000000..da64bdc7
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_thread_velcro/frame_301.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8ff39601b5d1394b5d706945a23ddb1bd10c179503b37e5907305adc1f9b55b
+size 14746637
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_thread_velcro/frame_598.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_thread_velcro/frame_598.safetensors
new file mode 100644
index 00000000..74dce7e5
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_thread_velcro/frame_598.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d7883ea5f9661a58dbdcf585d01eba301bb53d79a62fe36132cfae74d89d52f
+size 14746637
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_thread_velcro/frame_599.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_thread_velcro/frame_599.safetensors
new file mode 100644
index 00000000..64deeb2b
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_thread_velcro/frame_599.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28903f7bea923a0577b37af20eea359d7b7237f0680c8c73150ed6f769a297f8
+size 14746637
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_towel/frame_0.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_towel/frame_0.safetensors
new file mode 100644
index 00000000..36d8212d
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_towel/frame_0.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bccbbf15d20c5f9643eb2e2286f1ddcd4a08297d7f3b7829f7e9c32fe2ef2a46
+size 14746773
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_towel/frame_1.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_towel/frame_1.safetensors
new file mode 100644
index 00000000..5d9d4572
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_towel/frame_1.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2679c48910bfcf9e29571690dbc355ce65ad4ae7d35ee6ab9ee35f48c00aa04
+size 14746773
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_towel/frame_250.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_towel/frame_250.safetensors
new file mode 100644
index 00000000..27e4dbef
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_towel/frame_250.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16074bdca2bac28982f3823c7e9ccaeeaaae0c2676baee952ac22a2bb0bcf535
+size 14746773
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_towel/frame_251.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_towel/frame_251.safetensors
new file mode 100644
index 00000000..db2f009f
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_towel/frame_251.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6e1ff5fe6690bf20c59bb802383881665def949912d224fc7dd4ef1686bcc81
+size 14746773
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_towel/frame_498.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_towel/frame_498.safetensors
new file mode 100644
index 00000000..d77a0295
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_towel/frame_498.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7deab7a2f918721a92881ea9e338b7ca093209c40a42a0ebadf47cda0c5c534
+size 14746773
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_towel/frame_499.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_towel/frame_499.safetensors
new file mode 100644
index 00000000..36efd61c
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_towel/frame_499.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d7f1cf5764b5d1b7ae6784fecf8372eba3a6e3f08b39e2731874ca26459ca8c
+size 14746773
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_vinh_cup/frame_0.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_vinh_cup/frame_0.safetensors
new file mode 100644
index 00000000..206e6874
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_vinh_cup/frame_0.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:092dbf1d1a7b576ff491aef010cc06daea435813f42a87668334b05b0ecd9c8e
+size 14746773
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_vinh_cup/frame_1.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_vinh_cup/frame_1.safetensors
new file mode 100644
index 00000000..d778fc1d
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_vinh_cup/frame_1.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1504807c8df2f255f06250c43d98cd057d0486946629f441d64a979e5181046
+size 14746773
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_vinh_cup/frame_250.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_vinh_cup/frame_250.safetensors
new file mode 100644
index 00000000..3ba20828
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_vinh_cup/frame_250.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a0bb3e21109bdaf2ee7f10fa19df8b168dc470d574d105e58caaf662d851680
+size 14746773
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_vinh_cup/frame_251.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_vinh_cup/frame_251.safetensors
new file mode 100644
index 00000000..55a95ac3
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_vinh_cup/frame_251.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2fcf3cda237cec2f9599b0866b0c1e9cb5054a2426e5cd39273b7310d8e03a44
+size 14746773
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_vinh_cup/frame_498.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_vinh_cup/frame_498.safetensors
new file mode 100644
index 00000000..a4f3a365
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_vinh_cup/frame_498.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f25504ce7ff734bb9fbf786de06bc3dc939ba176fb5c94e9475ad1d895c2d35
+size 14746773
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_vinh_cup/frame_499.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_vinh_cup/frame_499.safetensors
new file mode 100644
index 00000000..ead2aa7b
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_vinh_cup/frame_499.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83f268f1f69ec78f1ad23dd5db67bad32c6b6f58f9609378054a1e25b21185e0
+size 14746773
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_vinh_cup_left/frame_0.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_vinh_cup_left/frame_0.safetensors
new file mode 100644
index 00000000..790e8df4
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_vinh_cup_left/frame_0.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc73ba199acc90e43493768864749fdf834deb4690b102ab47ec262e70fa0f74
+size 14746773
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_vinh_cup_left/frame_1.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_vinh_cup_left/frame_1.safetensors
new file mode 100644
index 00000000..e8e70c32
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_vinh_cup_left/frame_1.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:559f400e967d153286698f2cdd37b6e5cf60f27af46720584bbfffe1188bc9ae
+size 14746773
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_vinh_cup_left/frame_250.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_vinh_cup_left/frame_250.safetensors
new file mode 100644
index 00000000..7ef4384e
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_vinh_cup_left/frame_250.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:266aa2de91c860bc5de71b8439fb371b72d2a96e103eb47203437274e9508cfb
+size 14746773
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_vinh_cup_left/frame_251.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_vinh_cup_left/frame_251.safetensors
new file mode 100644
index 00000000..bb527db3
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_vinh_cup_left/frame_251.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3ca2a8f76f97bf02540ebfaac9775fe2aa17f890f94e24b3827f233e813f794
+size 14746773
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_vinh_cup_left/frame_498.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_vinh_cup_left/frame_498.safetensors
new file mode 100644
index 00000000..4fd98837
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_vinh_cup_left/frame_498.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c455abecfbada4b98ad32197abb030cbab158d2d6ad247c6f24022b39318546
+size 14746773
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_vinh_cup_left/frame_499.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_vinh_cup_left/frame_499.safetensors
new file mode 100644
index 00000000..837609fe
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_vinh_cup_left/frame_499.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa9ee297d7557f5cce6030277b230e95248ddcfdc53dc76787470ffa5b9342a1
+size 14746773
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_ziploc_slide/frame_0.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_ziploc_slide/frame_0.safetensors
new file mode 100644
index 00000000..3c0f704f
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_ziploc_slide/frame_0.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f48e8d0c3c0e243918f11440e102d88dbfbba9a5b03f4f9bcdcd1ee93ec18759
+size 14746637
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_ziploc_slide/frame_1.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_ziploc_slide/frame_1.safetensors
new file mode 100644
index 00000000..4056b339
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_ziploc_slide/frame_1.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e306f7d873028a2a547806e5da39b111ade93e3fda51b9dec9d8c47f197bff9b
+size 14746637
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_ziploc_slide/frame_150.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_ziploc_slide/frame_150.safetensors
new file mode 100644
index 00000000..b40a52c3
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_ziploc_slide/frame_150.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c96e924cc3447a11bb19677c771f64750bca1221df77994ffba028ce8470967a
+size 14746637
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_ziploc_slide/frame_151.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_ziploc_slide/frame_151.safetensors
new file mode 100644
index 00000000..6f65d342
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_ziploc_slide/frame_151.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58dbfcdd88e8ef0e84ae74e6dfcc5ec5d3f7ce7196ddc178562fbfb179b4da3f
+size 14746637
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_ziploc_slide/frame_298.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_ziploc_slide/frame_298.safetensors
new file mode 100644
index 00000000..4815ae90
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_ziploc_slide/frame_298.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0b6d115b33462877d29f67d71fe8ac7a793c37b0c6c622206b3c087ddf8ccb4
+size 14746637
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_ziploc_slide/frame_299.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_ziploc_slide/frame_299.safetensors
new file mode 100644
index 00000000..35caadf6
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/aloha_static_ziploc_slide/frame_299.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46d63645910b87e19cb843232adde7632669a2e3764503a8325d70cdd5f81e37
+size 14746637
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/pusht/frame_0.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/pusht/frame_0.safetensors
index 6a3f3e5e..2f690b32 100644
Binary files a/tests/data/save_dataset_to_safetensors/lerobot/pusht/frame_0.safetensors and b/tests/data/save_dataset_to_safetensors/lerobot/pusht/frame_0.safetensors differ
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/pusht/frame_1.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/pusht/frame_1.safetensors
index 69c89958..761b2f07 100644
Binary files a/tests/data/save_dataset_to_safetensors/lerobot/pusht/frame_1.safetensors and b/tests/data/save_dataset_to_safetensors/lerobot/pusht/frame_1.safetensors differ
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/pusht/frame_159.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/pusht/frame_159.safetensors
index cbf1f1fa..d411d8e3 100644
Binary files a/tests/data/save_dataset_to_safetensors/lerobot/pusht/frame_159.safetensors and b/tests/data/save_dataset_to_safetensors/lerobot/pusht/frame_159.safetensors differ
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/pusht/frame_160.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/pusht/frame_160.safetensors
index 2107611b..6eda2231 100644
Binary files a/tests/data/save_dataset_to_safetensors/lerobot/pusht/frame_160.safetensors and b/tests/data/save_dataset_to_safetensors/lerobot/pusht/frame_160.safetensors differ
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/pusht/frame_80.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/pusht/frame_80.safetensors
index 94c55feb..574d0ef7 100644
Binary files a/tests/data/save_dataset_to_safetensors/lerobot/pusht/frame_80.safetensors and b/tests/data/save_dataset_to_safetensors/lerobot/pusht/frame_80.safetensors differ
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/pusht/frame_81.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/pusht/frame_81.safetensors
index 7f63f83f..1c3dc8e4 100644
Binary files a/tests/data/save_dataset_to_safetensors/lerobot/pusht/frame_81.safetensors and b/tests/data/save_dataset_to_safetensors/lerobot/pusht/frame_81.safetensors differ
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/pusht_image/frame_0.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/pusht_image/frame_0.safetensors
new file mode 100644
index 00000000..955f1461
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/pusht_image/frame_0.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15a7bd80a58044ce91bbc17859b6ee59677782223dfef55cfd34a6f9a3d8f253
+size 111338
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/pusht_image/frame_1.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/pusht_image/frame_1.safetensors
new file mode 100644
index 00000000..b83e75fa
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/pusht_image/frame_1.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08ffcac00f0b03ecbc28ee7112fedb6a7a9379a7c6066bc9af7509ac49247284
+size 111338
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/pusht_image/frame_159.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/pusht_image/frame_159.safetensors
new file mode 100644
index 00000000..0a0ecf9e
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/pusht_image/frame_159.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74956a949d34ef4d40d547a520271488540153d0f107dcc89025baefd59ab46b
+size 111338
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/pusht_image/frame_160.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/pusht_image/frame_160.safetensors
new file mode 100644
index 00000000..56e0715e
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/pusht_image/frame_160.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:555215357be71d2cecf7f7cb2837a155af7c7d797a74eb5f73313297706d1cdd
+size 111338
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/pusht_image/frame_80.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/pusht_image/frame_80.safetensors
new file mode 100644
index 00000000..12aaaa49
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/pusht_image/frame_80.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c87df1a1e7d793fcb3b89343257e107fff855109ad2894cb53c24aba5d9f37fb
+size 111338
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/pusht_image/frame_81.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/pusht_image/frame_81.safetensors
new file mode 100644
index 00000000..4bf026fc
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/pusht_image/frame_81.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:550aa1a6b32c21f711430c4ce677a3fdb64e0312cd909ecc094a96593d6d25b9
+size 111338
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/umi_cup_in_the_wild/frame_0.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/umi_cup_in_the_wild/frame_0.safetensors
new file mode 100644
index 00000000..bea1ca1e
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/umi_cup_in_the_wild/frame_0.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d0a7f85da5e523fdfc6176aee32933f18c2273435f97c9f0068611a3e04058f
+size 603012
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/umi_cup_in_the_wild/frame_1.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/umi_cup_in_the_wild/frame_1.safetensors
new file mode 100644
index 00000000..95b1cb4e
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/umi_cup_in_the_wild/frame_1.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3dfa76aa9e2f06074f142f1da95d3c993f44af9129b6e416f23d2dc7b89b384
+size 603012
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/umi_cup_in_the_wild/frame_200.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/umi_cup_in_the_wild/frame_200.safetensors
new file mode 100644
index 00000000..7630b216
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/umi_cup_in_the_wild/frame_200.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b18700564cfcae431d1a7272deedca34793cd4c52b98c2c1a3ebfecca3fd8834
+size 603012
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/umi_cup_in_the_wild/frame_201.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/umi_cup_in_the_wild/frame_201.safetensors
new file mode 100644
index 00000000..da361d3a
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/umi_cup_in_the_wild/frame_201.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60b735c470e3ab4404bd008d1ce2f9cb5d2b9878bedbd5070e3e6c5210dac446
+size 603012
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/umi_cup_in_the_wild/frame_398.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/umi_cup_in_the_wild/frame_398.safetensors
new file mode 100644
index 00000000..6fc2a9f1
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/umi_cup_in_the_wild/frame_398.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbca24ea09aa2d9ce08d826f0365349890fcc2ff26d25a0de7de501f77b25730
+size 603012
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/umi_cup_in_the_wild/frame_399.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/umi_cup_in_the_wild/frame_399.safetensors
new file mode 100644
index 00000000..bdd1408b
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/umi_cup_in_the_wild/frame_399.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77c138571a4c07ac244f50d6c1d8a6c93a75eaee434185b5e3561ba27fdd7727
+size 603012
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium/frame_0.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium/frame_0.safetensors
index d256267b..3b4a15ca 100644
Binary files a/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium/frame_0.safetensors and b/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium/frame_0.safetensors differ
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium/frame_1.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium/frame_1.safetensors
index 5d0e8001..95cdbb2f 100644
Binary files a/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium/frame_1.safetensors and b/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium/frame_1.safetensors differ
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium/frame_12.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium/frame_12.safetensors
index 4c3be9fc..0ffb01d8 100644
Binary files a/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium/frame_12.safetensors and b/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium/frame_12.safetensors differ
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium/frame_13.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium/frame_13.safetensors
index bc3f3a35..04fe6479 100644
Binary files a/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium/frame_13.safetensors and b/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium/frame_13.safetensors differ
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium/frame_23.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium/frame_23.safetensors
index 9683bb8e..6b5b7836 100644
Binary files a/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium/frame_23.safetensors and b/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium/frame_23.safetensors differ
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium/frame_24.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium/frame_24.safetensors
index 0777e9ad..4ef5f6a2 100644
Binary files a/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium/frame_24.safetensors and b/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium/frame_24.safetensors differ
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium_image/frame_0.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium_image/frame_0.safetensors
new file mode 100644
index 00000000..83eb81ae
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium_image/frame_0.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c64420d96e2aff6e34075174dd17a190e3a9b5b69d1efb03ec34d2e4a6a2a9e6
+size 85349
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium_image/frame_1.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium_image/frame_1.safetensors
new file mode 100644
index 00000000..3e5f163e
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium_image/frame_1.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee543bd812f134438bd9051eb243263dcb47782b849498fbb42bdbb9c8fe58f5
+size 85349
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium_image/frame_12.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium_image/frame_12.safetensors
new file mode 100644
index 00000000..70cc3ecc
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium_image/frame_12.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83458a1aaa5ce7bf3eb99fccbebac10661e18c008de4cc1c0b6b4fc52b3f07ef
+size 85349
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium_image/frame_13.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium_image/frame_13.safetensors
new file mode 100644
index 00000000..3efd7c0f
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium_image/frame_13.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65ad2bff1fb6d4a580228c08375d01d0987c376b9c7bedc1b591588e3b72ad14
+size 85349
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium_image/frame_23.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium_image/frame_23.safetensors
new file mode 100644
index 00000000..0b8f00d5
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium_image/frame_23.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9daa07f20f117452d95a4d1ae646037184e92a1eba7a065076ab31001fccfb07
+size 85349
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium_image/frame_24.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium_image/frame_24.safetensors
new file mode 100644
index 00000000..8ca052c6
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium_image/frame_24.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f059ca9dd4eec03cebc728726f51fe2e174a520d4ebb5c9fbc2c6564998b73e
+size 85349
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium_replay/frame_0.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium_replay/frame_0.safetensors
new file mode 100644
index 00000000..f04f8190
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium_replay/frame_0.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9de0a9b57bdf8789dfe18ad4232025c1531774d2a1da2606fd1b10f313120b19
+size 85349
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium_replay/frame_1.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium_replay/frame_1.safetensors
new file mode 100644
index 00000000..64e56e52
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium_replay/frame_1.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a0989c5cee82141bdb8c878661d43e82e40d8bc8a860588ee869db15e628a71
+size 85349
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium_replay/frame_12.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium_replay/frame_12.safetensors
new file mode 100644
index 00000000..d6d98f8a
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium_replay/frame_12.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27f5fcf7e2c4b9d201a5f07d30eaed6047c7e48b17ee9c7dd89ed19ebcc098f8
+size 85349
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium_replay/frame_13.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium_replay/frame_13.safetensors
new file mode 100644
index 00000000..fac57a56
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium_replay/frame_13.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd04d30f3b234a022cb157e301443bedec553824ba720b6965c38fed263b0e70
+size 85349
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium_replay/frame_23.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium_replay/frame_23.safetensors
new file mode 100644
index 00000000..ea384b10
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium_replay/frame_23.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9b15ad185fcd060fc3941c56b662001fcb945588f4819d6ae001b002d969fd3
+size 85349
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium_replay/frame_24.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium_replay/frame_24.safetensors
new file mode 100644
index 00000000..5e50bf50
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium_replay/frame_24.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef8af5274142f5606e04df0fa228bcf60181810c3c31e1de147d24097a599497
+size 85349
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium_replay_image/frame_0.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium_replay_image/frame_0.safetensors
new file mode 100644
index 00000000..83eb81ae
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium_replay_image/frame_0.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c64420d96e2aff6e34075174dd17a190e3a9b5b69d1efb03ec34d2e4a6a2a9e6
+size 85349
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium_replay_image/frame_1.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium_replay_image/frame_1.safetensors
new file mode 100644
index 00000000..3e5f163e
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium_replay_image/frame_1.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee543bd812f134438bd9051eb243263dcb47782b849498fbb42bdbb9c8fe58f5
+size 85349
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium_replay_image/frame_12.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium_replay_image/frame_12.safetensors
new file mode 100644
index 00000000..70cc3ecc
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium_replay_image/frame_12.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83458a1aaa5ce7bf3eb99fccbebac10661e18c008de4cc1c0b6b4fc52b3f07ef
+size 85349
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium_replay_image/frame_13.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium_replay_image/frame_13.safetensors
new file mode 100644
index 00000000..3efd7c0f
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium_replay_image/frame_13.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65ad2bff1fb6d4a580228c08375d01d0987c376b9c7bedc1b591588e3b72ad14
+size 85349
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium_replay_image/frame_23.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium_replay_image/frame_23.safetensors
new file mode 100644
index 00000000..0b8f00d5
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium_replay_image/frame_23.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9daa07f20f117452d95a4d1ae646037184e92a1eba7a065076ab31001fccfb07
+size 85349
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium_replay_image/frame_24.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium_replay_image/frame_24.safetensors
new file mode 100644
index 00000000..8ca052c6
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/xarm_lift_medium_replay_image/frame_24.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f059ca9dd4eec03cebc728726f51fe2e174a520d4ebb5c9fbc2c6564998b73e
+size 85349
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/xarm_push_medium/frame_0.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/xarm_push_medium/frame_0.safetensors
new file mode 100644
index 00000000..f04f8190
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/xarm_push_medium/frame_0.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9de0a9b57bdf8789dfe18ad4232025c1531774d2a1da2606fd1b10f313120b19
+size 85349
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/xarm_push_medium/frame_1.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/xarm_push_medium/frame_1.safetensors
new file mode 100644
index 00000000..64e56e52
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/xarm_push_medium/frame_1.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a0989c5cee82141bdb8c878661d43e82e40d8bc8a860588ee869db15e628a71
+size 85349
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/xarm_push_medium/frame_12.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/xarm_push_medium/frame_12.safetensors
new file mode 100644
index 00000000..d6d98f8a
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/xarm_push_medium/frame_12.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27f5fcf7e2c4b9d201a5f07d30eaed6047c7e48b17ee9c7dd89ed19ebcc098f8
+size 85349
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/xarm_push_medium/frame_13.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/xarm_push_medium/frame_13.safetensors
new file mode 100644
index 00000000..fac57a56
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/xarm_push_medium/frame_13.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd04d30f3b234a022cb157e301443bedec553824ba720b6965c38fed263b0e70
+size 85349
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/xarm_push_medium/frame_23.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/xarm_push_medium/frame_23.safetensors
new file mode 100644
index 00000000..ea384b10
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/xarm_push_medium/frame_23.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9b15ad185fcd060fc3941c56b662001fcb945588f4819d6ae001b002d969fd3
+size 85349
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/xarm_push_medium/frame_24.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/xarm_push_medium/frame_24.safetensors
new file mode 100644
index 00000000..5e50bf50
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/xarm_push_medium/frame_24.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef8af5274142f5606e04df0fa228bcf60181810c3c31e1de147d24097a599497
+size 85349
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/xarm_push_medium_image/frame_0.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/xarm_push_medium_image/frame_0.safetensors
new file mode 100644
index 00000000..83eb81ae
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/xarm_push_medium_image/frame_0.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c64420d96e2aff6e34075174dd17a190e3a9b5b69d1efb03ec34d2e4a6a2a9e6
+size 85349
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/xarm_push_medium_image/frame_1.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/xarm_push_medium_image/frame_1.safetensors
new file mode 100644
index 00000000..3e5f163e
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/xarm_push_medium_image/frame_1.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee543bd812f134438bd9051eb243263dcb47782b849498fbb42bdbb9c8fe58f5
+size 85349
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/xarm_push_medium_image/frame_12.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/xarm_push_medium_image/frame_12.safetensors
new file mode 100644
index 00000000..70cc3ecc
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/xarm_push_medium_image/frame_12.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83458a1aaa5ce7bf3eb99fccbebac10661e18c008de4cc1c0b6b4fc52b3f07ef
+size 85349
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/xarm_push_medium_image/frame_13.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/xarm_push_medium_image/frame_13.safetensors
new file mode 100644
index 00000000..3efd7c0f
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/xarm_push_medium_image/frame_13.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65ad2bff1fb6d4a580228c08375d01d0987c376b9c7bedc1b591588e3b72ad14
+size 85349
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/xarm_push_medium_image/frame_23.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/xarm_push_medium_image/frame_23.safetensors
new file mode 100644
index 00000000..0b8f00d5
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/xarm_push_medium_image/frame_23.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9daa07f20f117452d95a4d1ae646037184e92a1eba7a065076ab31001fccfb07
+size 85349
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/xarm_push_medium_image/frame_24.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/xarm_push_medium_image/frame_24.safetensors
new file mode 100644
index 00000000..8ca052c6
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/xarm_push_medium_image/frame_24.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f059ca9dd4eec03cebc728726f51fe2e174a520d4ebb5c9fbc2c6564998b73e
+size 85349
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/xarm_push_medium_replay/frame_0.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/xarm_push_medium_replay/frame_0.safetensors
new file mode 100644
index 00000000..f04f8190
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/xarm_push_medium_replay/frame_0.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9de0a9b57bdf8789dfe18ad4232025c1531774d2a1da2606fd1b10f313120b19
+size 85349
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/xarm_push_medium_replay/frame_1.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/xarm_push_medium_replay/frame_1.safetensors
new file mode 100644
index 00000000..64e56e52
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/xarm_push_medium_replay/frame_1.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a0989c5cee82141bdb8c878661d43e82e40d8bc8a860588ee869db15e628a71
+size 85349
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/xarm_push_medium_replay/frame_12.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/xarm_push_medium_replay/frame_12.safetensors
new file mode 100644
index 00000000..d6d98f8a
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/xarm_push_medium_replay/frame_12.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27f5fcf7e2c4b9d201a5f07d30eaed6047c7e48b17ee9c7dd89ed19ebcc098f8
+size 85349
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/xarm_push_medium_replay/frame_13.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/xarm_push_medium_replay/frame_13.safetensors
new file mode 100644
index 00000000..fac57a56
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/xarm_push_medium_replay/frame_13.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd04d30f3b234a022cb157e301443bedec553824ba720b6965c38fed263b0e70
+size 85349
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/xarm_push_medium_replay/frame_23.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/xarm_push_medium_replay/frame_23.safetensors
new file mode 100644
index 00000000..ea384b10
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/xarm_push_medium_replay/frame_23.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9b15ad185fcd060fc3941c56b662001fcb945588f4819d6ae001b002d969fd3
+size 85349
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/xarm_push_medium_replay/frame_24.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/xarm_push_medium_replay/frame_24.safetensors
new file mode 100644
index 00000000..5e50bf50
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/xarm_push_medium_replay/frame_24.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef8af5274142f5606e04df0fa228bcf60181810c3c31e1de147d24097a599497
+size 85349
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/xarm_push_medium_replay_image/frame_0.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/xarm_push_medium_replay_image/frame_0.safetensors
new file mode 100644
index 00000000..83eb81ae
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/xarm_push_medium_replay_image/frame_0.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c64420d96e2aff6e34075174dd17a190e3a9b5b69d1efb03ec34d2e4a6a2a9e6
+size 85349
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/xarm_push_medium_replay_image/frame_1.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/xarm_push_medium_replay_image/frame_1.safetensors
new file mode 100644
index 00000000..3e5f163e
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/xarm_push_medium_replay_image/frame_1.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee543bd812f134438bd9051eb243263dcb47782b849498fbb42bdbb9c8fe58f5
+size 85349
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/xarm_push_medium_replay_image/frame_12.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/xarm_push_medium_replay_image/frame_12.safetensors
new file mode 100644
index 00000000..70cc3ecc
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/xarm_push_medium_replay_image/frame_12.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83458a1aaa5ce7bf3eb99fccbebac10661e18c008de4cc1c0b6b4fc52b3f07ef
+size 85349
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/xarm_push_medium_replay_image/frame_13.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/xarm_push_medium_replay_image/frame_13.safetensors
new file mode 100644
index 00000000..3efd7c0f
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/xarm_push_medium_replay_image/frame_13.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65ad2bff1fb6d4a580228c08375d01d0987c376b9c7bedc1b591588e3b72ad14
+size 85349
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/xarm_push_medium_replay_image/frame_23.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/xarm_push_medium_replay_image/frame_23.safetensors
new file mode 100644
index 00000000..0b8f00d5
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/xarm_push_medium_replay_image/frame_23.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9daa07f20f117452d95a4d1ae646037184e92a1eba7a065076ab31001fccfb07
+size 85349
diff --git a/tests/data/save_dataset_to_safetensors/lerobot/xarm_push_medium_replay_image/frame_24.safetensors b/tests/data/save_dataset_to_safetensors/lerobot/xarm_push_medium_replay_image/frame_24.safetensors
new file mode 100644
index 00000000..8ca052c6
--- /dev/null
+++ b/tests/data/save_dataset_to_safetensors/lerobot/xarm_push_medium_replay_image/frame_24.safetensors
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f059ca9dd4eec03cebc728726f51fe2e174a520d4ebb5c9fbc2c6564998b73e
+size 85349
diff --git a/tests/data/save_policy_to_safetensors/aloha_act/actions.safetensors b/tests/data/save_policy_to_safetensors/aloha_act/actions.safetensors
index 3c9447d7..c5176423 100644
Binary files a/tests/data/save_policy_to_safetensors/aloha_act/actions.safetensors and b/tests/data/save_policy_to_safetensors/aloha_act/actions.safetensors differ
diff --git a/tests/data/save_policy_to_safetensors/aloha_act/grad_stats.safetensors b/tests/data/save_policy_to_safetensors/aloha_act/grad_stats.safetensors
index 7dfbc3b3..bdecb18b 100644
Binary files a/tests/data/save_policy_to_safetensors/aloha_act/grad_stats.safetensors and b/tests/data/save_policy_to_safetensors/aloha_act/grad_stats.safetensors differ
diff --git a/tests/data/save_policy_to_safetensors/aloha_act/output_dict.safetensors b/tests/data/save_policy_to_safetensors/aloha_act/output_dict.safetensors
index 4c738f39..641771c6 100644
Binary files a/tests/data/save_policy_to_safetensors/aloha_act/output_dict.safetensors and b/tests/data/save_policy_to_safetensors/aloha_act/output_dict.safetensors differ
diff --git a/tests/data/save_policy_to_safetensors/aloha_act/param_stats.safetensors b/tests/data/save_policy_to_safetensors/aloha_act/param_stats.safetensors
index 7a2e0e70..26d91924 100644
Binary files a/tests/data/save_policy_to_safetensors/aloha_act/param_stats.safetensors and b/tests/data/save_policy_to_safetensors/aloha_act/param_stats.safetensors differ
diff --git a/tests/data/save_policy_to_safetensors/pusht_diffusion/actions.safetensors b/tests/data/save_policy_to_safetensors/pusht_diffusion/actions.safetensors
index 8f039903..538a06a5 100644
Binary files a/tests/data/save_policy_to_safetensors/pusht_diffusion/actions.safetensors and b/tests/data/save_policy_to_safetensors/pusht_diffusion/actions.safetensors differ
diff --git a/tests/data/save_policy_to_safetensors/pusht_diffusion/grad_stats.safetensors b/tests/data/save_policy_to_safetensors/pusht_diffusion/grad_stats.safetensors
index 2b659396..74bcbd39 100644
Binary files a/tests/data/save_policy_to_safetensors/pusht_diffusion/grad_stats.safetensors and b/tests/data/save_policy_to_safetensors/pusht_diffusion/grad_stats.safetensors differ
diff --git a/tests/data/save_policy_to_safetensors/pusht_diffusion/output_dict.safetensors b/tests/data/save_policy_to_safetensors/pusht_diffusion/output_dict.safetensors
index a9f61b36..37125b65 100644
Binary files a/tests/data/save_policy_to_safetensors/pusht_diffusion/output_dict.safetensors and b/tests/data/save_policy_to_safetensors/pusht_diffusion/output_dict.safetensors differ
diff --git a/tests/data/save_policy_to_safetensors/pusht_diffusion/param_stats.safetensors b/tests/data/save_policy_to_safetensors/pusht_diffusion/param_stats.safetensors
index a9f4608f..45efd3eb 100644
Binary files a/tests/data/save_policy_to_safetensors/pusht_diffusion/param_stats.safetensors and b/tests/data/save_policy_to_safetensors/pusht_diffusion/param_stats.safetensors differ
diff --git a/tests/data/save_policy_to_safetensors/xarm_tdmpc/actions.safetensors b/tests/data/save_policy_to_safetensors/xarm_tdmpc/actions.safetensors
index 0339ca0e..49179928 100644
Binary files a/tests/data/save_policy_to_safetensors/xarm_tdmpc/actions.safetensors and b/tests/data/save_policy_to_safetensors/xarm_tdmpc/actions.safetensors differ
diff --git a/tests/data/save_policy_to_safetensors/xarm_tdmpc/grad_stats.safetensors b/tests/data/save_policy_to_safetensors/xarm_tdmpc/grad_stats.safetensors
index 5520c643..a9320466 100644
Binary files a/tests/data/save_policy_to_safetensors/xarm_tdmpc/grad_stats.safetensors and b/tests/data/save_policy_to_safetensors/xarm_tdmpc/grad_stats.safetensors differ
diff --git a/tests/data/save_policy_to_safetensors/xarm_tdmpc/output_dict.safetensors b/tests/data/save_policy_to_safetensors/xarm_tdmpc/output_dict.safetensors
index 2321f31c..ef49ce97 100644
Binary files a/tests/data/save_policy_to_safetensors/xarm_tdmpc/output_dict.safetensors and b/tests/data/save_policy_to_safetensors/xarm_tdmpc/output_dict.safetensors differ
diff --git a/tests/data/save_policy_to_safetensors/xarm_tdmpc/param_stats.safetensors b/tests/data/save_policy_to_safetensors/xarm_tdmpc/param_stats.safetensors
index 5e8a6947..9b399a4c 100644
Binary files a/tests/data/save_policy_to_safetensors/xarm_tdmpc/param_stats.safetensors and b/tests/data/save_policy_to_safetensors/xarm_tdmpc/param_stats.safetensors differ
diff --git a/tests/scripts/save_dataset_to_safetensors.py b/tests/scripts/save_dataset_to_safetensors.py
index 554efe75..4aa8131f 100644
--- a/tests/scripts/save_dataset_to_safetensors.py
+++ b/tests/scripts/save_dataset_to_safetensors.py
@@ -81,11 +81,5 @@ def save_dataset_to_safetensors(output_dir, repo_id="lerobot/pusht"):
 
 
 if __name__ == "__main__":
-    available_datasets = [
-        "lerobot/pusht",
-        "lerobot/xarm_lift_medium",
-        "lerobot/aloha_sim_insertion_human",
-        # "lerobot/umi_cup_in_the_wild",
-    ]
     for dataset in available_datasets:
         save_dataset_to_safetensors("tests/data/save_dataset_to_safetensors", repo_id=dataset)
diff --git a/tests/scripts/save_policy_to_safetensor.py b/tests/scripts/save_policy_to_safetensor.py
index e79a94ff..89f33374 100644
--- a/tests/scripts/save_policy_to_safetensor.py
+++ b/tests/scripts/save_policy_to_safetensor.py
@@ -26,7 +26,7 @@ from lerobot.scripts.train import make_optimizer_and_scheduler
 from tests.utils import DEFAULT_CONFIG_PATH
 
 
-def get_policy_stats(env_name, policy_name, extra_overrides=None):
+def get_policy_stats(env_name, policy_name, extra_overrides):
     cfg = init_hydra_config(
         DEFAULT_CONFIG_PATH,
         overrides=[
@@ -92,6 +92,9 @@ def save_policy_to_safetensors(output_dir, env_name, policy_name, extra_override
     env_policy_dir = Path(output_dir) / f"{env_name}_{policy_name}"
 
     if env_policy_dir.exists():
+        print(f"Overwrite existing safetensors in '{env_policy_dir}':")
+        print(f" - Validate with: `git add {env_policy_dir}`")
+        print(f" - Revert with: `git checkout -- {env_policy_dir}`")
         shutil.rmtree(env_policy_dir)
 
     env_policy_dir.mkdir(parents=True, exist_ok=True)
@@ -103,8 +106,14 @@ def save_policy_to_safetensors(output_dir, env_name, policy_name, extra_override
 
 
 if __name__ == "__main__":
-    # Instructions: include the policies that you want to save artifacts for here. Please make sure to revert
-    # your changes when you are done.
-    env_policies = []
+    env_policies = [
+        ("xarm", "tdmpc", []),
+        (
+            "pusht",
+            "diffusion",
+            ["policy.n_action_steps=8", "policy.num_inference_steps=10", "policy.down_dims=[128, 256, 512]"],
+        ),
+        ("aloha", "act", ["policy.n_action_steps=10"]),
+    ]
     for env, policy, extra_overrides in env_policies:
         save_policy_to_safetensors("tests/data/save_policy_to_safetensors", env, policy, extra_overrides)
diff --git a/tests/test_examples.py b/tests/test_examples.py
index de95a991..a0c60b7e 100644
--- a/tests/test_examples.py
+++ b/tests/test_examples.py
@@ -14,6 +14,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 # TODO(aliberts): Mute logging for these tests
+import io
 import subprocess
 import sys
 from pathlib import Path
@@ -32,6 +33,11 @@ def _run_script(path):
     subprocess.run([sys.executable, path], check=True)
 
 
+def _read_file(path):
+    with open(path) as file:
+        return file.read()
+
+
 def test_example_1():
     path = "examples/1_load_lerobot_dataset.py"
     _run_script(path)
@@ -39,18 +45,17 @@ def test_example_1():
 
 
 @require_package("gym_pusht")
-def test_examples_3_and_2():
+def test_examples_2_through_4():
     """
     Train a model with example 3, check the outputs.
     Evaluate the trained model with example 2, check the outputs.
+    Calculate the validation loss with example 4, check the outputs.
     """
 
-    path = "examples/3_train_policy.py"
+    ### Test example 3
+    file_contents = _read_file("examples/3_train_policy.py")
 
-    with open(path) as file:
-        file_contents = file.read()
-
-    # Do less steps, use smaller batch, use CPU, and don't complicate things with dataloader workers.
+    # Do fewer steps, use smaller batch, use CPU, and don't complicate things with dataloader workers.
     file_contents = _find_and_replace(
         file_contents,
         [
@@ -67,16 +72,17 @@ def test_examples_3_and_2():
     for file_name in ["model.safetensors", "config.json"]:
         assert Path(f"outputs/train/example_pusht_diffusion/{file_name}").exists()
 
-    path = "examples/2_evaluate_pretrained_policy.py"
+    ### Test example 2
+    file_contents = _read_file("examples/2_evaluate_pretrained_policy.py")
 
-    with open(path) as file:
-        file_contents = file.read()
-
-    # Do less evals, use CPU, and use the local model.
+    # Do fewer evals, use CPU, and use the local model.
     file_contents = _find_and_replace(
         file_contents,
         [
-            ('pretrained_policy_path = Path(snapshot_download("lerobot/diffusion_pusht"))', ""),
+            (
+                'pretrained_policy_path = Path(snapshot_download("lerobot/diffusion_pusht"))',
+                "",
+            ),
             (
                 '# pretrained_policy_path = Path("outputs/train/example_pusht_diffusion")',
                 'pretrained_policy_path = Path("outputs/train/example_pusht_diffusion")',
@@ -89,3 +95,34 @@ def test_examples_3_and_2():
     exec(file_contents, {})
 
     assert Path("outputs/eval/example_pusht_diffusion/rollout.mp4").exists()
+
+    ## Test example 4
+    file_contents = _read_file("examples/4_calculate_validation_loss.py")
+
+    # Run on a single example from the last episode, use CPU, and use the local model.
+    file_contents = _find_and_replace(
+        file_contents,
+        [
+            (
+                'pretrained_policy_path = Path(snapshot_download("lerobot/diffusion_pusht"))',
+                "",
+            ),
+            (
+                '# pretrained_policy_path = Path("outputs/train/example_pusht_diffusion")',
+                'pretrained_policy_path = Path("outputs/train/example_pusht_diffusion")',
+            ),
+            ('split=f"train[{first_val_frame_index}:]"', 'split="train[30:]"'),
+            ("num_workers=4", "num_workers=0"),
+            ('device = torch.device("cuda")', 'device = torch.device("cpu")'),
+            ("batch_size=64", "batch_size=1"),
+        ],
+    )
+
+    # Capture the output of the script
+    output_buffer = io.StringIO()
+    sys.stdout = output_buffer
+    exec(file_contents, {})
+    printed_output = output_buffer.getvalue()
+    # Restore stdout to its original state
+    sys.stdout = sys.__stdout__
+    assert "Average loss on validation set" in printed_output
diff --git a/tests/test_policies.py b/tests/test_policies.py
index 75633fe6..bb0c7b80 100644
--- a/tests/test_policies.py
+++ b/tests/test_policies.py
@@ -31,7 +31,7 @@ from lerobot.common.policies.normalize import Normalize, Unnormalize
 from lerobot.common.policies.policy_protocol import Policy
 from lerobot.common.utils.utils import init_hydra_config
 from tests.scripts.save_policy_to_safetensor import get_policy_stats
-from tests.utils import DEFAULT_CONFIG_PATH, DEVICE, require_env, require_x86_64_kernel
+from tests.utils import DEFAULT_CONFIG_PATH, DEVICE, require_cpu, require_env, require_x86_64_kernel
 
 
 @pytest.mark.parametrize("policy_name", available_policies)
@@ -296,16 +296,17 @@ def test_normalize(insert_temporal_dim):
 # As artifacts have been generated on an x86_64 kernel, this test won't
 # pass if it's run on another platform due to floating point errors
 @require_x86_64_kernel
+@require_cpu
 def test_backward_compatibility(env_name, policy_name, extra_overrides):
     """
     NOTE: If this test does not pass, and you have intentionally changed something in the policy:
         1. Inspect the differences in policy outputs and make sure you can account for them. Your PR should
            include a report on what changed and how that affected the outputs.
-        2. Go to the `if __name__ == "__main__"` block of `test/scripts/save_policy_to_safetensors.py` and
+        2. Go to the `if __name__ == "__main__"` block of `tests/scripts/save_policy_to_safetensors.py` and
            add the policies you want to update the test artifacts for.
-        3. Run `python test/scripts/save_policy_to_safetensors.py`. The test artifact should be updated.
+        3. Run `python tests/scripts/save_policy_to_safetensors.py`. The test artifact should be updated.
         4. Check that this test now passes.
-        5. Remember to restore `test/scripts/save_policy_to_safetensors.py` to its original state.
+        5. Remember to restore `tests/scripts/save_policy_to_safetensors.py` to its original state.
         6. Remember to stage and commit the resulting changes to `tests/data`.
     """
     env_policy_dir = Path("tests/data/save_policy_to_safetensors") / f"{env_name}_{policy_name}"
diff --git a/tests/test_utils.py b/tests/test_utils.py
index bcdd95b4..a7f770fb 100644
--- a/tests/test_utils.py
+++ b/tests/test_utils.py
@@ -4,20 +4,28 @@ from typing import Callable
 import numpy as np
 import pytest
 import torch
+from datasets import Dataset
 
+from lerobot.common.datasets.utils import (
+    calculate_episode_data_index,
+    hf_transform_to_torch,
+    reset_episode_index,
+)
 from lerobot.common.utils.utils import seeded_context, set_global_seed
 
 
 @pytest.mark.parametrize(
     "rand_fn",
-    [
-        random.random,
-        np.random.random,
-        lambda: torch.rand(1).item(),
-    ]
-    + [lambda: torch.rand(1, device="cuda")]
-    if torch.cuda.is_available()
-    else [],
+    (
+        [
+            random.random,
+            np.random.random,
+            lambda: torch.rand(1).item(),
+        ]
+        + [lambda: torch.rand(1, device="cuda")]
+        if torch.cuda.is_available()
+        else []
+    ),
 )
 def test_seeding(rand_fn: Callable[[], int]):
     set_global_seed(0)
@@ -36,3 +44,31 @@ def test_seeding(rand_fn: Callable[[], int]):
     c_ = rand_fn()
     # Check that `seeded_context` and `global_seed` give the same reproducibility.
     assert c_ == c
+
+
+def test_calculate_episode_data_index():
+    dataset = Dataset.from_dict(
+        {
+            "timestamp": [0.1, 0.2, 0.3, 0.4, 0.5, 0.6],
+            "index": [0, 1, 2, 3, 4, 5],
+            "episode_index": [0, 0, 1, 2, 2, 2],
+        },
+    )
+    dataset.set_transform(hf_transform_to_torch)
+    episode_data_index = calculate_episode_data_index(dataset)
+    assert torch.equal(episode_data_index["from"], torch.tensor([0, 2, 3]))
+    assert torch.equal(episode_data_index["to"], torch.tensor([2, 3, 6]))
+
+
+def test_reset_episode_index():
+    dataset = Dataset.from_dict(
+        {
+            "timestamp": [0.1, 0.2, 0.3, 0.4, 0.5, 0.6],
+            "index": [0, 1, 2, 3, 4, 5],
+            "episode_index": [10, 10, 11, 12, 12, 12],
+        },
+    )
+    dataset.set_transform(hf_transform_to_torch)
+    correct_episode_index = [0, 0, 1, 2, 2, 2]
+    dataset = reset_episode_index(dataset)
+    assert dataset["episode_index"] == correct_episode_index