diff --git a/adroit_hammer_expert.zarr/data/depth/3.0.0 b/adroit_hammer_expert.zarr/data/depth/3.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..ac8f0bd87551cb721ea41ced3f73c219f16b53a3
Binary files /dev/null and b/adroit_hammer_expert.zarr/data/depth/3.0.0 differ
diff --git a/adroit_hammer_expert.zarr/data/depth/4.0.0 b/adroit_hammer_expert.zarr/data/depth/4.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..31e56dadcfeee46b0401647527524255f0688458
Binary files /dev/null and b/adroit_hammer_expert.zarr/data/depth/4.0.0 differ
diff --git a/adroit_hammer_expert.zarr/data/depth/5.0.0 b/adroit_hammer_expert.zarr/data/depth/5.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..06da220a135aee8775c1945e75aa2f4e5f364d7b
Binary files /dev/null and b/adroit_hammer_expert.zarr/data/depth/5.0.0 differ
diff --git a/adroit_hammer_expert.zarr/data/depth/6.0.0 b/adroit_hammer_expert.zarr/data/depth/6.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..5173db2bf74c4b8ceebf4e5242003473e713c27f
Binary files /dev/null and b/adroit_hammer_expert.zarr/data/depth/6.0.0 differ
diff --git a/adroit_hammer_expert.zarr/data/depth/7.0.0 b/adroit_hammer_expert.zarr/data/depth/7.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..0a31c2d023ed5ada025595942866f11e8911f864
Binary files /dev/null and b/adroit_hammer_expert.zarr/data/depth/7.0.0 differ
diff --git a/adroit_hammer_expert.zarr/data/depth/8.0.0 b/adroit_hammer_expert.zarr/data/depth/8.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..208d547b39c082f03500431bd101caa4da80459b
Binary files /dev/null and b/adroit_hammer_expert.zarr/data/depth/8.0.0 differ
diff --git a/adroit_hammer_expert.zarr/data/img/3.0.0.0 b/adroit_hammer_expert.zarr/data/img/3.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..9361157c5c5668906391502c2ec996993214a8b4
Binary files /dev/null and b/adroit_hammer_expert.zarr/data/img/3.0.0.0 differ
diff --git a/adroit_hammer_expert.zarr/data/img/6.0.0.0 b/adroit_hammer_expert.zarr/data/img/6.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..7bfda8cf1fa981a6d1b349042c18426ef1e92eab
Binary files /dev/null and b/adroit_hammer_expert.zarr/data/img/6.0.0.0 differ
diff --git a/adroit_hammer_expert.zarr/data/img/7.0.0.0 b/adroit_hammer_expert.zarr/data/img/7.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..56190b1e4724dd64cc073f6ed67af04372e7c565
Binary files /dev/null and b/adroit_hammer_expert.zarr/data/img/7.0.0.0 differ
diff --git a/adroit_hammer_expert.zarr/data/img/9.0.0.0 b/adroit_hammer_expert.zarr/data/img/9.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..5047223a2148fda876e4a85f24ec946948537b6b
Binary files /dev/null and b/adroit_hammer_expert.zarr/data/img/9.0.0.0 differ
diff --git a/adroit_hammer_expert.zarr/data/state/.zarray b/adroit_hammer_expert.zarr/data/state/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..d48f0ae0da28f50ae3d73fa5c2852a3606b21e0c
--- /dev/null
+++ b/adroit_hammer_expert.zarr/data/state/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        100,
+        24
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 3,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 1
+    },
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1000,
+        24
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/adroit_hammer_expert.zarr/meta/.zgroup b/adroit_hammer_expert.zarr/meta/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/adroit_hammer_expert.zarr/meta/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexart_faucet_expert.zarr/.zgroup b/dexart_faucet_expert.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexart_faucet_expert.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexart_faucet_expert.zarr/data/.zgroup b/dexart_faucet_expert.zarr/data/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/dexart_faucet_expert.zarr/data/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexart_faucet_expert.zarr/data/action/.zarray b/dexart_faucet_expert.zarr/data/action/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..af068b73597bab15ac8fc78aba708845aa6ad783
--- /dev/null
+++ b/dexart_faucet_expert.zarr/data/action/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        250,
+        22
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 3,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 1
+    },
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        7636,
+        22
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexart_faucet_expert.zarr/data/action/0.0 b/dexart_faucet_expert.zarr/data/action/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..e0c666b62af9293277d44cb491d598980a83a165
Binary files /dev/null and b/dexart_faucet_expert.zarr/data/action/0.0 differ
diff --git a/dexart_faucet_expert.zarr/data/action/10.0 b/dexart_faucet_expert.zarr/data/action/10.0
new file mode 100644
index 0000000000000000000000000000000000000000..95129a8c2ba7122fc68dd1bef07870d4e68de428
Binary files /dev/null and b/dexart_faucet_expert.zarr/data/action/10.0 differ
diff --git a/dexart_faucet_expert.zarr/data/action/13.0 b/dexart_faucet_expert.zarr/data/action/13.0
new file mode 100644
index 0000000000000000000000000000000000000000..2d1108020676613b2e47b064b17e0662fb7d51ba
Binary files /dev/null and b/dexart_faucet_expert.zarr/data/action/13.0 differ
diff --git a/dexart_faucet_expert.zarr/data/action/14.0 b/dexart_faucet_expert.zarr/data/action/14.0
new file mode 100644
index 0000000000000000000000000000000000000000..e158dee3198830b08c18e0402f348fc324574975
Binary files /dev/null and b/dexart_faucet_expert.zarr/data/action/14.0 differ
diff --git a/dexart_faucet_expert.zarr/data/action/16.0 b/dexart_faucet_expert.zarr/data/action/16.0
new file mode 100644
index 0000000000000000000000000000000000000000..6a07a42316ec0780786fbc6eebc15b15be8d4bb9
Binary files /dev/null and b/dexart_faucet_expert.zarr/data/action/16.0 differ
diff --git a/dexart_faucet_expert.zarr/data/action/17.0 b/dexart_faucet_expert.zarr/data/action/17.0
new file mode 100644
index 0000000000000000000000000000000000000000..7356036d7d3e3eb08c1c3a553988f0ba7802408a
Binary files /dev/null and b/dexart_faucet_expert.zarr/data/action/17.0 differ
diff --git a/dexart_faucet_expert.zarr/data/action/3.0 b/dexart_faucet_expert.zarr/data/action/3.0
new file mode 100644
index 0000000000000000000000000000000000000000..71d660ef2e3e0d844c8dde46e7b605c2e79cfb32
Binary files /dev/null and b/dexart_faucet_expert.zarr/data/action/3.0 differ
diff --git a/dexart_faucet_expert.zarr/data/action/8.0 b/dexart_faucet_expert.zarr/data/action/8.0
new file mode 100644
index 0000000000000000000000000000000000000000..441a28e07ec359ee731513b93f5fe7a6a3c6bb11
Binary files /dev/null and b/dexart_faucet_expert.zarr/data/action/8.0 differ
diff --git a/dexart_faucet_expert.zarr/data/depth/30.0.0 b/dexart_faucet_expert.zarr/data/depth/30.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..0c37ce55b91be0b34b43290903c6fc7042087452
Binary files /dev/null and b/dexart_faucet_expert.zarr/data/depth/30.0.0 differ
diff --git a/dexart_faucet_expert.zarr/data/imagin_robot/0.0.0 b/dexart_faucet_expert.zarr/data/imagin_robot/0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..f2b5a29059d50762338830a70085479338e3563f
Binary files /dev/null and b/dexart_faucet_expert.zarr/data/imagin_robot/0.0.0 differ
diff --git a/dexart_faucet_expert.zarr/data/imagin_robot/11.0.0 b/dexart_faucet_expert.zarr/data/imagin_robot/11.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..93a42d0c214511dc468533b5210db8eeb2c30b26
Binary files /dev/null and b/dexart_faucet_expert.zarr/data/imagin_robot/11.0.0 differ
diff --git a/dexart_faucet_expert.zarr/data/imagin_robot/18.0.0 b/dexart_faucet_expert.zarr/data/imagin_robot/18.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..23d49bbfd68d1b703d4faebeb6f8ed59bba5dbf2
Binary files /dev/null and b/dexart_faucet_expert.zarr/data/imagin_robot/18.0.0 differ
diff --git a/dexart_faucet_expert.zarr/data/imagin_robot/19.0.0 b/dexart_faucet_expert.zarr/data/imagin_robot/19.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..29873fdd6d2c4ac058f1f112767cfc278dca6aa2
Binary files /dev/null and b/dexart_faucet_expert.zarr/data/imagin_robot/19.0.0 differ
diff --git a/dexart_faucet_expert.zarr/data/imagin_robot/21.0.0 b/dexart_faucet_expert.zarr/data/imagin_robot/21.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..22e8b4a8781574cea30bb014ddf9381bef9f4924
Binary files /dev/null and b/dexart_faucet_expert.zarr/data/imagin_robot/21.0.0 differ
diff --git a/dexart_faucet_expert.zarr/data/imagin_robot/26.0.0 b/dexart_faucet_expert.zarr/data/imagin_robot/26.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..958d35a7a1700d6ba2d91ad59c7552c985cb128f
Binary files /dev/null and b/dexart_faucet_expert.zarr/data/imagin_robot/26.0.0 differ
diff --git a/dexart_faucet_expert.zarr/data/imagin_robot/5.0.0 b/dexart_faucet_expert.zarr/data/imagin_robot/5.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..4804bffced1a4721bca93ed060feffe85ba56f42
Binary files /dev/null and b/dexart_faucet_expert.zarr/data/imagin_robot/5.0.0 differ
diff --git a/dexart_faucet_expert.zarr/data/imagin_robot/7.0.0 b/dexart_faucet_expert.zarr/data/imagin_robot/7.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..7642c6fa08b1b3cc4cc185cd891a77b09344897e
Binary files /dev/null and b/dexart_faucet_expert.zarr/data/imagin_robot/7.0.0 differ
diff --git a/dexart_faucet_expert.zarr/data/img/.zarray b/dexart_faucet_expert.zarr/data/img/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..1368d37b8b1671db742a00de5b70da8c0c1748ac
--- /dev/null
+++ b/dexart_faucet_expert.zarr/data/img/.zarray
@@ -0,0 +1,26 @@
+{
+    "chunks": [
+        250,
+        84,
+        84,
+        3
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 3,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 1
+    },
+    "dtype": "|u1",
+    "fill_value": 0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        7636,
+        84,
+        84,
+        3
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexart_faucet_expert.zarr/data/img/30.0.0.0 b/dexart_faucet_expert.zarr/data/img/30.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..e1f2902c3470c077582d5c3c9536a6cf50d99ff4
Binary files /dev/null and b/dexart_faucet_expert.zarr/data/img/30.0.0.0 differ
diff --git a/dexart_faucet_expert.zarr/data/state/28.0 b/dexart_faucet_expert.zarr/data/state/28.0
new file mode 100644
index 0000000000000000000000000000000000000000..e1e74e613ef3cf80c64c6fa2f33867cb2fcf8334
Binary files /dev/null and b/dexart_faucet_expert.zarr/data/state/28.0 differ
diff --git a/metaworld_button-press-topdown_expert.zarr/.zgroup b/metaworld_button-press-topdown_expert.zarr/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/metaworld_button-press-topdown_expert.zarr/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/metaworld_button-press-topdown_expert.zarr/data/action/0.0 b/metaworld_button-press-topdown_expert.zarr/data/action/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..0b691a8972892a9c0947cdb578661d8cfb1ae675
Binary files /dev/null and b/metaworld_button-press-topdown_expert.zarr/data/action/0.0 differ
diff --git a/metaworld_button-press-topdown_expert.zarr/data/action/12.0 b/metaworld_button-press-topdown_expert.zarr/data/action/12.0
new file mode 100644
index 0000000000000000000000000000000000000000..148017e24fba1e6af31cbbeb7df36e833a229404
Binary files /dev/null and b/metaworld_button-press-topdown_expert.zarr/data/action/12.0 differ
diff --git a/metaworld_button-press-topdown_expert.zarr/data/action/13.0 b/metaworld_button-press-topdown_expert.zarr/data/action/13.0
new file mode 100644
index 0000000000000000000000000000000000000000..8fd278fb404695bb77ab4cf24f28c8dd2d8ed800
Binary files /dev/null and b/metaworld_button-press-topdown_expert.zarr/data/action/13.0 differ
diff --git a/metaworld_button-press-topdown_expert.zarr/data/action/15.0 b/metaworld_button-press-topdown_expert.zarr/data/action/15.0
new file mode 100644
index 0000000000000000000000000000000000000000..8c3e984641694d5efe1fb6d9ece7d22a7161a51f
Binary files /dev/null and b/metaworld_button-press-topdown_expert.zarr/data/action/15.0 differ
diff --git a/metaworld_button-press-topdown_expert.zarr/data/action/17.0 b/metaworld_button-press-topdown_expert.zarr/data/action/17.0
new file mode 100644
index 0000000000000000000000000000000000000000..997c5495231badcfbc4fb22626aced04b458c618
Binary files /dev/null and b/metaworld_button-press-topdown_expert.zarr/data/action/17.0 differ
diff --git a/metaworld_button-press-topdown_expert.zarr/data/action/18.0 b/metaworld_button-press-topdown_expert.zarr/data/action/18.0
new file mode 100644
index 0000000000000000000000000000000000000000..841d146cbd95b1f8d7253109c91cea1ef533d462
Binary files /dev/null and b/metaworld_button-press-topdown_expert.zarr/data/action/18.0 differ
diff --git a/metaworld_button-press-topdown_expert.zarr/data/action/19.0 b/metaworld_button-press-topdown_expert.zarr/data/action/19.0
new file mode 100644
index 0000000000000000000000000000000000000000..8d1864cf567797f7aa03092dbf92a0b516965160
Binary files /dev/null and b/metaworld_button-press-topdown_expert.zarr/data/action/19.0 differ
diff --git a/metaworld_button-press-topdown_expert.zarr/data/action/2.0 b/metaworld_button-press-topdown_expert.zarr/data/action/2.0
new file mode 100644
index 0000000000000000000000000000000000000000..a25929b2542adb358479de89f28d522d4beb8163
Binary files /dev/null and b/metaworld_button-press-topdown_expert.zarr/data/action/2.0 differ
diff --git a/metaworld_button-press-topdown_expert.zarr/data/action/3.0 b/metaworld_button-press-topdown_expert.zarr/data/action/3.0
new file mode 100644
index 0000000000000000000000000000000000000000..1eb30d3d7f6f879a529aaaeeab00ed3039fbc17c
Binary files /dev/null and b/metaworld_button-press-topdown_expert.zarr/data/action/3.0 differ
diff --git a/metaworld_button-press-topdown_expert.zarr/data/action/7.0 b/metaworld_button-press-topdown_expert.zarr/data/action/7.0
new file mode 100644
index 0000000000000000000000000000000000000000..f1cef7a5e3451f400253045d8e24e9d843178763
Binary files /dev/null and b/metaworld_button-press-topdown_expert.zarr/data/action/7.0 differ
diff --git a/metaworld_button-press-topdown_expert.zarr/data/full_state/11.0 b/metaworld_button-press-topdown_expert.zarr/data/full_state/11.0
new file mode 100644
index 0000000000000000000000000000000000000000..1237d05c8593b56d7c4f28a14235a5099576ebb5
Binary files /dev/null and b/metaworld_button-press-topdown_expert.zarr/data/full_state/11.0 differ
diff --git a/metaworld_button-press-topdown_expert.zarr/data/full_state/3.0 b/metaworld_button-press-topdown_expert.zarr/data/full_state/3.0
new file mode 100644
index 0000000000000000000000000000000000000000..6a7703b04d0c5fd34c2d5c495482a78bc8c35327
Binary files /dev/null and b/metaworld_button-press-topdown_expert.zarr/data/full_state/3.0 differ
diff --git a/metaworld_button-press-topdown_expert.zarr/data/full_state/5.0 b/metaworld_button-press-topdown_expert.zarr/data/full_state/5.0
new file mode 100644
index 0000000000000000000000000000000000000000..e058095ff343eccf79f05b702162d99664fdc040
Binary files /dev/null and b/metaworld_button-press-topdown_expert.zarr/data/full_state/5.0 differ
diff --git a/metaworld_button-press-topdown_expert.zarr/data/full_state/6.0 b/metaworld_button-press-topdown_expert.zarr/data/full_state/6.0
new file mode 100644
index 0000000000000000000000000000000000000000..3f4b716f0e08f5f88532dbf677d25c9b186bf3ac
Binary files /dev/null and b/metaworld_button-press-topdown_expert.zarr/data/full_state/6.0 differ
diff --git a/metaworld_button-press-topdown_expert.zarr/data/full_state/8.0 b/metaworld_button-press-topdown_expert.zarr/data/full_state/8.0
new file mode 100644
index 0000000000000000000000000000000000000000..e26f2896206446fa720df2f9ce711375d51a405f
Binary files /dev/null and b/metaworld_button-press-topdown_expert.zarr/data/full_state/8.0 differ
diff --git a/metaworld_button-press-topdown_expert.zarr/data/img/0.0.0.0 b/metaworld_button-press-topdown_expert.zarr/data/img/0.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..1e31abccb7865303ce3018a36cb75f754675402f
Binary files /dev/null and b/metaworld_button-press-topdown_expert.zarr/data/img/0.0.0.0 differ
diff --git a/metaworld_button-press-topdown_expert.zarr/data/img/1.0.0.0 b/metaworld_button-press-topdown_expert.zarr/data/img/1.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..584d9eceda7333c54dbd3695b2882dd1a13b5acc
Binary files /dev/null and b/metaworld_button-press-topdown_expert.zarr/data/img/1.0.0.0 differ
diff --git a/metaworld_button-press-topdown_expert.zarr/data/img/13.0.0.0 b/metaworld_button-press-topdown_expert.zarr/data/img/13.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..5a19e799eb219347acf1ad2d23d23d264b94d9c5
Binary files /dev/null and b/metaworld_button-press-topdown_expert.zarr/data/img/13.0.0.0 differ
diff --git a/metaworld_button-press-topdown_expert.zarr/data/img/15.0.0.0 b/metaworld_button-press-topdown_expert.zarr/data/img/15.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..ed9f0668733dd10caf5b81e7c1c06570ec795c16
Binary files /dev/null and b/metaworld_button-press-topdown_expert.zarr/data/img/15.0.0.0 differ
diff --git a/metaworld_button-press-topdown_expert.zarr/data/img/19.0.0.0 b/metaworld_button-press-topdown_expert.zarr/data/img/19.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..8189f3528fde62edba434fc680ee92f9b8218def
Binary files /dev/null and b/metaworld_button-press-topdown_expert.zarr/data/img/19.0.0.0 differ
diff --git a/metaworld_button-press-topdown_expert.zarr/data/img/2.0.0.0 b/metaworld_button-press-topdown_expert.zarr/data/img/2.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..01a580faf48aa64a6b12186a9e6f634c0662fa7e
Binary files /dev/null and b/metaworld_button-press-topdown_expert.zarr/data/img/2.0.0.0 differ
diff --git a/metaworld_button-press-topdown_expert.zarr/data/img/3.0.0.0 b/metaworld_button-press-topdown_expert.zarr/data/img/3.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..e7ae9a52691f186074d5ea2565ce43ae3ef59df8
Binary files /dev/null and b/metaworld_button-press-topdown_expert.zarr/data/img/3.0.0.0 differ
diff --git a/metaworld_button-press-topdown_expert.zarr/data/img/4.0.0.0 b/metaworld_button-press-topdown_expert.zarr/data/img/4.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..60accd4d98329fd6e779b536130308c1dc71ca4d
Binary files /dev/null and b/metaworld_button-press-topdown_expert.zarr/data/img/4.0.0.0 differ
diff --git a/metaworld_button-press-topdown_expert.zarr/data/img/5.0.0.0 b/metaworld_button-press-topdown_expert.zarr/data/img/5.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..50d454cca87eae96075c1344aa2a0ea842e8ebdc
Binary files /dev/null and b/metaworld_button-press-topdown_expert.zarr/data/img/5.0.0.0 differ
diff --git a/metaworld_button-press-topdown_expert.zarr/data/img/6.0.0.0 b/metaworld_button-press-topdown_expert.zarr/data/img/6.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..32c13a6d094bd52f954072b43f94863698d3d91b
Binary files /dev/null and b/metaworld_button-press-topdown_expert.zarr/data/img/6.0.0.0 differ
diff --git a/metaworld_button-press-topdown_expert.zarr/data/img/7.0.0.0 b/metaworld_button-press-topdown_expert.zarr/data/img/7.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..d597697b92e47a6f2ff3357da9bbfcb4c4cc6051
Binary files /dev/null and b/metaworld_button-press-topdown_expert.zarr/data/img/7.0.0.0 differ
diff --git a/metaworld_button-press-topdown_expert.zarr/data/img/8.0.0.0 b/metaworld_button-press-topdown_expert.zarr/data/img/8.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..4a2c5e899cefddaa03e0c796dd9e8ce5468659c6
Binary files /dev/null and b/metaworld_button-press-topdown_expert.zarr/data/img/8.0.0.0 differ
diff --git a/metaworld_button-press-topdown_expert.zarr/data/img/9.0.0.0 b/metaworld_button-press-topdown_expert.zarr/data/img/9.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..ca4ba48abb26f571ed1c6f247a439ba89bde6f0e
Binary files /dev/null and b/metaworld_button-press-topdown_expert.zarr/data/img/9.0.0.0 differ
diff --git a/metaworld_button-press-topdown_expert.zarr/data/point_cloud/.zarray b/metaworld_button-press-topdown_expert.zarr/data/point_cloud/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..8369a4d15f2993e1ea345f4ba0a01bced0d7cfec
--- /dev/null
+++ b/metaworld_button-press-topdown_expert.zarr/data/point_cloud/.zarray
@@ -0,0 +1,24 @@
+{
+    "chunks": [
+        100,
+        1024,
+        6
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 3,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 1
+    },
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        2000,
+        1024,
+        6
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/metaworld_button-press-topdown_expert.zarr/data/state/0.0 b/metaworld_button-press-topdown_expert.zarr/data/state/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..cc703aae3ee9a4ac29a53e6a07e38faba9c2a60e
Binary files /dev/null and b/metaworld_button-press-topdown_expert.zarr/data/state/0.0 differ
diff --git a/metaworld_button-press-topdown_expert.zarr/data/state/11.0 b/metaworld_button-press-topdown_expert.zarr/data/state/11.0
new file mode 100644
index 0000000000000000000000000000000000000000..6e5e839f069d296d2bba8251ddd97385608a346c
Binary files /dev/null and b/metaworld_button-press-topdown_expert.zarr/data/state/11.0 differ
diff --git a/metaworld_button-press-topdown_expert.zarr/data/state/12.0 b/metaworld_button-press-topdown_expert.zarr/data/state/12.0
new file mode 100644
index 0000000000000000000000000000000000000000..30a55a368d90b5e3e0641d543062ed59381f9f89
Binary files /dev/null and b/metaworld_button-press-topdown_expert.zarr/data/state/12.0 differ
diff --git a/metaworld_button-press-topdown_expert.zarr/data/state/14.0 b/metaworld_button-press-topdown_expert.zarr/data/state/14.0
new file mode 100644
index 0000000000000000000000000000000000000000..3e5498d8a0cd0344f538d3d353e47b12850e610b
Binary files /dev/null and b/metaworld_button-press-topdown_expert.zarr/data/state/14.0 differ
diff --git a/metaworld_button-press-topdown_expert.zarr/data/state/17.0 b/metaworld_button-press-topdown_expert.zarr/data/state/17.0
new file mode 100644
index 0000000000000000000000000000000000000000..7b536e06f30eb5b3239fed6c96710bbffa0bfde0
Binary files /dev/null and b/metaworld_button-press-topdown_expert.zarr/data/state/17.0 differ
diff --git a/metaworld_button-press-topdown_expert.zarr/data/state/18.0 b/metaworld_button-press-topdown_expert.zarr/data/state/18.0
new file mode 100644
index 0000000000000000000000000000000000000000..95cea26c97767e0405c0b9901d1c6ce5e703d614
Binary files /dev/null and b/metaworld_button-press-topdown_expert.zarr/data/state/18.0 differ
diff --git a/metaworld_button-press-topdown_expert.zarr/data/state/5.0 b/metaworld_button-press-topdown_expert.zarr/data/state/5.0
new file mode 100644
index 0000000000000000000000000000000000000000..7d91a56943e1784084dded454fed9f94f667e983
Binary files /dev/null and b/metaworld_button-press-topdown_expert.zarr/data/state/5.0 differ
diff --git a/metaworld_button-press-topdown_expert.zarr/data/state/6.0 b/metaworld_button-press-topdown_expert.zarr/data/state/6.0
new file mode 100644
index 0000000000000000000000000000000000000000..9e7f58d3f692775313c3b50a3c81389a95091416
Binary files /dev/null and b/metaworld_button-press-topdown_expert.zarr/data/state/6.0 differ
diff --git a/metaworld_button-press-topdown_expert.zarr/data/state/7.0 b/metaworld_button-press-topdown_expert.zarr/data/state/7.0
new file mode 100644
index 0000000000000000000000000000000000000000..63cb1ddbaac7e059307e2b18e0c67ed219da7a4a
Binary files /dev/null and b/metaworld_button-press-topdown_expert.zarr/data/state/7.0 differ
diff --git a/metaworld_button-press-topdown_expert.zarr/data/state/8.0 b/metaworld_button-press-topdown_expert.zarr/data/state/8.0
new file mode 100644
index 0000000000000000000000000000000000000000..37081d2e191539f20aa944c14b0dbb86441beb02
Binary files /dev/null and b/metaworld_button-press-topdown_expert.zarr/data/state/8.0 differ