diff --git a/adroit_door_expert.zarr/data/action/.zarray b/adroit_door_expert.zarr/data/action/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..9f9677c300987f700553fa6047010dc31d8e9213
--- /dev/null
+++ b/adroit_door_expert.zarr/data/action/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        100,
+        28
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 3,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 1
+    },
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1000,
+        28
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/adroit_door_expert.zarr/data/action/0.0 b/adroit_door_expert.zarr/data/action/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..3155a5bf2fd636b822549f6039a6179976eec594
Binary files /dev/null and b/adroit_door_expert.zarr/data/action/0.0 differ
diff --git a/adroit_door_expert.zarr/data/action/2.0 b/adroit_door_expert.zarr/data/action/2.0
new file mode 100644
index 0000000000000000000000000000000000000000..b880056d80f78251376a58cbe634cd46fecff6a7
Binary files /dev/null and b/adroit_door_expert.zarr/data/action/2.0 differ
diff --git a/adroit_door_expert.zarr/data/action/3.0 b/adroit_door_expert.zarr/data/action/3.0
new file mode 100644
index 0000000000000000000000000000000000000000..c51ed0216112f3cedeb4a72a8e335c004b9220eb
Binary files /dev/null and b/adroit_door_expert.zarr/data/action/3.0 differ
diff --git a/adroit_door_expert.zarr/data/action/5.0 b/adroit_door_expert.zarr/data/action/5.0
new file mode 100644
index 0000000000000000000000000000000000000000..1beed78aa7581e4677b685480416382d0b4b61cf
Binary files /dev/null and b/adroit_door_expert.zarr/data/action/5.0 differ
diff --git a/adroit_door_expert.zarr/data/action/6.0 b/adroit_door_expert.zarr/data/action/6.0
new file mode 100644
index 0000000000000000000000000000000000000000..0e4897abcadf72abb84221301ae558a6c868cee2
Binary files /dev/null and b/adroit_door_expert.zarr/data/action/6.0 differ
diff --git a/adroit_door_expert.zarr/data/action/7.0 b/adroit_door_expert.zarr/data/action/7.0
new file mode 100644
index 0000000000000000000000000000000000000000..8692533e8bec377319821564d66b29964774aaea
Binary files /dev/null and b/adroit_door_expert.zarr/data/action/7.0 differ
diff --git a/adroit_door_expert.zarr/data/action/9.0 b/adroit_door_expert.zarr/data/action/9.0
new file mode 100644
index 0000000000000000000000000000000000000000..354ee97e1adce373d24faf3abdc91859b51bbfd3
Binary files /dev/null and b/adroit_door_expert.zarr/data/action/9.0 differ
diff --git a/adroit_door_expert.zarr/data/depth/.zarray b/adroit_door_expert.zarr/data/depth/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..ed2742792d75e52c884adf0eb452d77fa5d28007
--- /dev/null
+++ b/adroit_door_expert.zarr/data/depth/.zarray
@@ -0,0 +1,24 @@
+{
+    "chunks": [
+        100,
+        84,
+        84
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 3,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 1
+    },
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1000,
+        84,
+        84
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/adroit_door_expert.zarr/data/depth/0.0.0 b/adroit_door_expert.zarr/data/depth/0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..01fa226f583ca09e1a0c11cd33783ef48185ec94
Binary files /dev/null and b/adroit_door_expert.zarr/data/depth/0.0.0 differ
diff --git a/adroit_door_expert.zarr/data/depth/5.0.0 b/adroit_door_expert.zarr/data/depth/5.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..59ca2a77fd77bac4b12ed0cd3df33ceaa34f3672
Binary files /dev/null and b/adroit_door_expert.zarr/data/depth/5.0.0 differ
diff --git a/adroit_door_expert.zarr/data/depth/9.0.0 b/adroit_door_expert.zarr/data/depth/9.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..f4ba8434b004bf00a5c69c916edfe53007e695e9
Binary files /dev/null and b/adroit_door_expert.zarr/data/depth/9.0.0 differ
diff --git a/adroit_door_expert.zarr/data/img/.zarray b/adroit_door_expert.zarr/data/img/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..4f526f399c2679d4a9ea45635cef60e063ae5fa9
--- /dev/null
+++ b/adroit_door_expert.zarr/data/img/.zarray
@@ -0,0 +1,26 @@
+{
+    "chunks": [
+        100,
+        84,
+        84,
+        3
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 3,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 1
+    },
+    "dtype": "|u1",
+    "fill_value": 0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1000,
+        84,
+        84,
+        3
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/adroit_door_expert.zarr/data/img/2.0.0.0 b/adroit_door_expert.zarr/data/img/2.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..606dd54ffa20957da14d662da0a3ace697bd50e7
Binary files /dev/null and b/adroit_door_expert.zarr/data/img/2.0.0.0 differ
diff --git a/adroit_door_expert.zarr/data/img/9.0.0.0 b/adroit_door_expert.zarr/data/img/9.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..e75f646fa01676a57374bf1652ca80367d94e405
Binary files /dev/null and b/adroit_door_expert.zarr/data/img/9.0.0.0 differ
diff --git a/adroit_door_expert.zarr/data/point_cloud/.zarray b/adroit_door_expert.zarr/data/point_cloud/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..a563c761c38793f2598b0869675fed8a91f91ace
--- /dev/null
+++ b/adroit_door_expert.zarr/data/point_cloud/.zarray
@@ -0,0 +1,24 @@
+{
+    "chunks": [
+        100,
+        512,
+        6
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 3,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 1
+    },
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        1000,
+        512,
+        6
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/adroit_door_expert.zarr/data/point_cloud/0.0.0 b/adroit_door_expert.zarr/data/point_cloud/0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..c5d97134296c26fae0e6581b762a6d2ba6b877f8
Binary files /dev/null and b/adroit_door_expert.zarr/data/point_cloud/0.0.0 differ
diff --git a/adroit_door_expert.zarr/data/point_cloud/1.0.0 b/adroit_door_expert.zarr/data/point_cloud/1.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..e3b97a4494798a516addf42b6a86ff96dae50a86
Binary files /dev/null and b/adroit_door_expert.zarr/data/point_cloud/1.0.0 differ
diff --git a/adroit_door_expert.zarr/data/point_cloud/2.0.0 b/adroit_door_expert.zarr/data/point_cloud/2.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..4595af0978b06b46f4ef116b0743ea37a00b556f
Binary files /dev/null and b/adroit_door_expert.zarr/data/point_cloud/2.0.0 differ
diff --git a/adroit_door_expert.zarr/data/point_cloud/3.0.0 b/adroit_door_expert.zarr/data/point_cloud/3.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..22d6a3d52538b846fe10d9493963ede83e7715f5
Binary files /dev/null and b/adroit_door_expert.zarr/data/point_cloud/3.0.0 differ
diff --git a/adroit_door_expert.zarr/data/point_cloud/8.0.0 b/adroit_door_expert.zarr/data/point_cloud/8.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..5403819b3ccdfe611f9f9fc50cf137ab8fc6f6c6
Binary files /dev/null and b/adroit_door_expert.zarr/data/point_cloud/8.0.0 differ
diff --git a/adroit_door_expert.zarr/data/state/3.0 b/adroit_door_expert.zarr/data/state/3.0
new file mode 100644
index 0000000000000000000000000000000000000000..5d9dc75502fce5f697e45a769551f7e7e41ed1cf
Binary files /dev/null and b/adroit_door_expert.zarr/data/state/3.0 differ
diff --git a/adroit_door_expert.zarr/data/state/7.0 b/adroit_door_expert.zarr/data/state/7.0
new file mode 100644
index 0000000000000000000000000000000000000000..d63e15c2edd4c5761a63b55cff76717c50470883
Binary files /dev/null and b/adroit_door_expert.zarr/data/state/7.0 differ
diff --git a/adroit_door_expert.zarr/data/state/8.0 b/adroit_door_expert.zarr/data/state/8.0
new file mode 100644
index 0000000000000000000000000000000000000000..0cafc613eb63ee6fe5bcc47bc781c2138a857531
Binary files /dev/null and b/adroit_door_expert.zarr/data/state/8.0 differ
diff --git a/adroit_door_expert.zarr/data/state/9.0 b/adroit_door_expert.zarr/data/state/9.0
new file mode 100644
index 0000000000000000000000000000000000000000..8609e2a45620ffdf3610740312f8040bb875512a
Binary files /dev/null and b/adroit_door_expert.zarr/data/state/9.0 differ
diff --git a/adroit_door_expert.zarr/meta/.zgroup b/adroit_door_expert.zarr/meta/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/adroit_door_expert.zarr/meta/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/adroit_pen_expert.zarr/data/action/2.0 b/adroit_pen_expert.zarr/data/action/2.0
new file mode 100644
index 0000000000000000000000000000000000000000..2eea831bb647f4f0386963f3e92a548bfb233704
Binary files /dev/null and b/adroit_pen_expert.zarr/data/action/2.0 differ
diff --git a/adroit_pen_expert.zarr/data/state/.zarray b/adroit_pen_expert.zarr/data/state/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..d48f0ae0da28f50ae3d73fa5c2852a3606b21e0c
--- /dev/null
+++ b/adroit_pen_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_pen_expert.zarr/data/state/6.0 b/adroit_pen_expert.zarr/data/state/6.0
new file mode 100644
index 0000000000000000000000000000000000000000..3d599d11bcdf17a3e370cdf8fc1652b7401f2683
Binary files /dev/null and b/adroit_pen_expert.zarr/data/state/6.0 differ
diff --git a/adroit_pen_expert.zarr/data/state/8.0 b/adroit_pen_expert.zarr/data/state/8.0
new file mode 100644
index 0000000000000000000000000000000000000000..b9fa6ebce0c975a35220c2d001c229dd9877b992
Binary files /dev/null and b/adroit_pen_expert.zarr/data/state/8.0 differ
diff --git a/dexart_toilet_expert.zarr/data/action/1.0 b/dexart_toilet_expert.zarr/data/action/1.0
new file mode 100644
index 0000000000000000000000000000000000000000..49d22a0e7ac47a73fb968180970cb3052499a671
Binary files /dev/null and b/dexart_toilet_expert.zarr/data/action/1.0 differ
diff --git a/dexart_toilet_expert.zarr/data/action/8.0 b/dexart_toilet_expert.zarr/data/action/8.0
new file mode 100644
index 0000000000000000000000000000000000000000..37aba808eadbe87776944b7e1335ba30bab66824
Binary files /dev/null and b/dexart_toilet_expert.zarr/data/action/8.0 differ
diff --git a/dexart_toilet_expert.zarr/data/depth/.zarray b/dexart_toilet_expert.zarr/data/depth/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..04b508c48d4e45c57a8c5cff01407284ae72d4e5
--- /dev/null
+++ b/dexart_toilet_expert.zarr/data/depth/.zarray
@@ -0,0 +1,24 @@
+{
+    "chunks": [
+        250,
+        84,
+        84
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 3,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 1
+    },
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        3462,
+        84,
+        84
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/dexart_toilet_expert.zarr/data/depth/13.0.0 b/dexart_toilet_expert.zarr/data/depth/13.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..e20328762bfd858032aed91f4a345c02502db7b9
Binary files /dev/null and b/dexart_toilet_expert.zarr/data/depth/13.0.0 differ
diff --git a/dexart_toilet_expert.zarr/data/depth/7.0.0 b/dexart_toilet_expert.zarr/data/depth/7.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..9fc93830e264ab5488f6b92ce6c7800cf148cb4c
Binary files /dev/null and b/dexart_toilet_expert.zarr/data/depth/7.0.0 differ
diff --git a/dexart_toilet_expert.zarr/data/depth/8.0.0 b/dexart_toilet_expert.zarr/data/depth/8.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..34148bf05e4f4cbf70041bdb2ee9f1f34a5ac36c
Binary files /dev/null and b/dexart_toilet_expert.zarr/data/depth/8.0.0 differ
diff --git a/dexart_toilet_expert.zarr/data/depth/9.0.0 b/dexart_toilet_expert.zarr/data/depth/9.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..6ccf9ccf21048f56306734a456c0d0a301b5237c
Binary files /dev/null and b/dexart_toilet_expert.zarr/data/depth/9.0.0 differ
diff --git a/metaworld_bin-picking_expert.zarr/data/full_state/.zarray b/metaworld_bin-picking_expert.zarr/data/full_state/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..eaf649916e85393eb516477b73da093067487d61
--- /dev/null
+++ b/metaworld_bin-picking_expert.zarr/data/full_state/.zarray
@@ -0,0 +1,22 @@
+{
+    "chunks": [
+        100,
+        39
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 3,
+        "cname": "zstd",
+        "id": "blosc",
+        "shuffle": 1
+    },
+    "dtype": "<f4",
+    "fill_value": 0.0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        2000,
+        39
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/metaworld_bin-picking_expert.zarr/data/full_state/1.0 b/metaworld_bin-picking_expert.zarr/data/full_state/1.0
new file mode 100644
index 0000000000000000000000000000000000000000..a3ff31f6e8c05e800fba167b33747d336ac280c9
Binary files /dev/null and b/metaworld_bin-picking_expert.zarr/data/full_state/1.0 differ
diff --git a/metaworld_bin-picking_expert.zarr/data/full_state/16.0 b/metaworld_bin-picking_expert.zarr/data/full_state/16.0
new file mode 100644
index 0000000000000000000000000000000000000000..584e224dcf2ef25b7ba95c01f1353bb4267c273b
Binary files /dev/null and b/metaworld_bin-picking_expert.zarr/data/full_state/16.0 differ
diff --git a/metaworld_bin-picking_expert.zarr/data/full_state/18.0 b/metaworld_bin-picking_expert.zarr/data/full_state/18.0
new file mode 100644
index 0000000000000000000000000000000000000000..4c2a0d5c13058db28ccba1e8fc20d1a80e248a40
Binary files /dev/null and b/metaworld_bin-picking_expert.zarr/data/full_state/18.0 differ
diff --git a/metaworld_bin-picking_expert.zarr/data/full_state/19.0 b/metaworld_bin-picking_expert.zarr/data/full_state/19.0
new file mode 100644
index 0000000000000000000000000000000000000000..63c9aea24cd992dcc42f64f5c1b64f74e0a12723
Binary files /dev/null and b/metaworld_bin-picking_expert.zarr/data/full_state/19.0 differ
diff --git a/metaworld_bin-picking_expert.zarr/data/full_state/5.0 b/metaworld_bin-picking_expert.zarr/data/full_state/5.0
new file mode 100644
index 0000000000000000000000000000000000000000..050ca1a5bf2c9313446920aaaeef58cd58925043
Binary files /dev/null and b/metaworld_bin-picking_expert.zarr/data/full_state/5.0 differ
diff --git a/metaworld_bin-picking_expert.zarr/data/img/13.0.0.0 b/metaworld_bin-picking_expert.zarr/data/img/13.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..20a450ff5283fe7f1922ff0d70f95225cc6845d6
Binary files /dev/null and b/metaworld_bin-picking_expert.zarr/data/img/13.0.0.0 differ
diff --git a/metaworld_bin-picking_expert.zarr/data/img/17.0.0.0 b/metaworld_bin-picking_expert.zarr/data/img/17.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..3a51acfde7c324e822d48899775d71994975869f
Binary files /dev/null and b/metaworld_bin-picking_expert.zarr/data/img/17.0.0.0 differ
diff --git a/metaworld_bin-picking_expert.zarr/data/img/3.0.0.0 b/metaworld_bin-picking_expert.zarr/data/img/3.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..02b52ab3b853c89102d885c146aab65d836d96cf
Binary files /dev/null and b/metaworld_bin-picking_expert.zarr/data/img/3.0.0.0 differ
diff --git a/metaworld_bin-picking_expert.zarr/data/img/6.0.0.0 b/metaworld_bin-picking_expert.zarr/data/img/6.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..a15ed7edf8f42d633af25737147ea4c57e2e3593
Binary files /dev/null and b/metaworld_bin-picking_expert.zarr/data/img/6.0.0.0 differ
diff --git a/metaworld_bin-picking_expert.zarr/meta/episode_ends/0 b/metaworld_bin-picking_expert.zarr/meta/episode_ends/0
new file mode 100644
index 0000000000000000000000000000000000000000..e242873752168b238a2521f6d5d2b29f1a9edc81
Binary files /dev/null and b/metaworld_bin-picking_expert.zarr/meta/episode_ends/0 differ
diff --git a/metaworld_coffee-button_expert.zarr/data/full_state/13.0 b/metaworld_coffee-button_expert.zarr/data/full_state/13.0
new file mode 100644
index 0000000000000000000000000000000000000000..50129d5dff1ec4b9e01686919bb6b66607d0114b
Binary files /dev/null and b/metaworld_coffee-button_expert.zarr/data/full_state/13.0 differ
diff --git a/metaworld_coffee-button_expert.zarr/data/full_state/6.0 b/metaworld_coffee-button_expert.zarr/data/full_state/6.0
new file mode 100644
index 0000000000000000000000000000000000000000..1c736e3f442e405a90037090966f213d0a89757f
Binary files /dev/null and b/metaworld_coffee-button_expert.zarr/data/full_state/6.0 differ
diff --git a/metaworld_coffee-button_expert.zarr/data/full_state/7.0 b/metaworld_coffee-button_expert.zarr/data/full_state/7.0
new file mode 100644
index 0000000000000000000000000000000000000000..adb0420eece853ef73173a26e8db2496cac09ee2
Binary files /dev/null and b/metaworld_coffee-button_expert.zarr/data/full_state/7.0 differ
diff --git a/metaworld_coffee-button_expert.zarr/data/full_state/9.0 b/metaworld_coffee-button_expert.zarr/data/full_state/9.0
new file mode 100644
index 0000000000000000000000000000000000000000..208e0101b1fdaacf765bb3c431be4c0697068a69
Binary files /dev/null and b/metaworld_coffee-button_expert.zarr/data/full_state/9.0 differ
diff --git a/metaworld_coffee-button_expert.zarr/data/img/17.0.0.0 b/metaworld_coffee-button_expert.zarr/data/img/17.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..4d67a8b8166220931fb80851b43f3f8d2da07c5c
Binary files /dev/null and b/metaworld_coffee-button_expert.zarr/data/img/17.0.0.0 differ
diff --git a/metaworld_coffee-button_expert.zarr/data/img/18.0.0.0 b/metaworld_coffee-button_expert.zarr/data/img/18.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..b6db3a4b1e533da208cae77c417727e205cc9ccd
Binary files /dev/null and b/metaworld_coffee-button_expert.zarr/data/img/18.0.0.0 differ
diff --git a/metaworld_coffee-button_expert.zarr/data/img/3.0.0.0 b/metaworld_coffee-button_expert.zarr/data/img/3.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..61e4415f4b5247d2856b96ee975ed3a8a3eb9fef
Binary files /dev/null and b/metaworld_coffee-button_expert.zarr/data/img/3.0.0.0 differ
diff --git a/metaworld_coffee-button_expert.zarr/data/img/8.0.0.0 b/metaworld_coffee-button_expert.zarr/data/img/8.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..7e745d9786089af8c21582cd860ae8c769fa881b
Binary files /dev/null and b/metaworld_coffee-button_expert.zarr/data/img/8.0.0.0 differ
diff --git a/metaworld_dial-turn_expert.zarr/data/action/15.0 b/metaworld_dial-turn_expert.zarr/data/action/15.0
new file mode 100644
index 0000000000000000000000000000000000000000..5df3beb6abac86d3c9ee73aba4778cb36daee48f
Binary files /dev/null and b/metaworld_dial-turn_expert.zarr/data/action/15.0 differ
diff --git a/metaworld_dial-turn_expert.zarr/data/action/2.0 b/metaworld_dial-turn_expert.zarr/data/action/2.0
new file mode 100644
index 0000000000000000000000000000000000000000..adb3df338eb183d88a8e61d228850fc185906bc0
Binary files /dev/null and b/metaworld_dial-turn_expert.zarr/data/action/2.0 differ
diff --git a/metaworld_dial-turn_expert.zarr/data/full_state/1.0 b/metaworld_dial-turn_expert.zarr/data/full_state/1.0
new file mode 100644
index 0000000000000000000000000000000000000000..5f83f6c39b0f5b3b86bdeabc2b26c1387ced72c0
Binary files /dev/null and b/metaworld_dial-turn_expert.zarr/data/full_state/1.0 differ
diff --git a/metaworld_dial-turn_expert.zarr/data/full_state/14.0 b/metaworld_dial-turn_expert.zarr/data/full_state/14.0
new file mode 100644
index 0000000000000000000000000000000000000000..9f2b5ee72152245c4bb39cc9e151e077c4920890
Binary files /dev/null and b/metaworld_dial-turn_expert.zarr/data/full_state/14.0 differ
diff --git a/metaworld_dial-turn_expert.zarr/data/full_state/15.0 b/metaworld_dial-turn_expert.zarr/data/full_state/15.0
new file mode 100644
index 0000000000000000000000000000000000000000..3f49de2eca1ba23c786f3ecddc8ea87fd48b3808
Binary files /dev/null and b/metaworld_dial-turn_expert.zarr/data/full_state/15.0 differ
diff --git a/metaworld_dial-turn_expert.zarr/data/full_state/19.0 b/metaworld_dial-turn_expert.zarr/data/full_state/19.0
new file mode 100644
index 0000000000000000000000000000000000000000..9e1a582a4258bc4ffce1516ae778cc039b5d884a
Binary files /dev/null and b/metaworld_dial-turn_expert.zarr/data/full_state/19.0 differ
diff --git a/metaworld_dial-turn_expert.zarr/data/full_state/2.0 b/metaworld_dial-turn_expert.zarr/data/full_state/2.0
new file mode 100644
index 0000000000000000000000000000000000000000..0ef648b62445c3344c62fd71c91f60f0c3d431b2
Binary files /dev/null and b/metaworld_dial-turn_expert.zarr/data/full_state/2.0 differ
diff --git a/metaworld_dial-turn_expert.zarr/data/full_state/6.0 b/metaworld_dial-turn_expert.zarr/data/full_state/6.0
new file mode 100644
index 0000000000000000000000000000000000000000..c47b138ee2fe041d17901133593d26a0c3bfdd0f
Binary files /dev/null and b/metaworld_dial-turn_expert.zarr/data/full_state/6.0 differ
diff --git a/metaworld_dial-turn_expert.zarr/data/img/0.0.0.0 b/metaworld_dial-turn_expert.zarr/data/img/0.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..dec4ec6f059baca9fbb7af8b330cbfb8d4015a92
Binary files /dev/null and b/metaworld_dial-turn_expert.zarr/data/img/0.0.0.0 differ
diff --git a/metaworld_dial-turn_expert.zarr/data/img/15.0.0.0 b/metaworld_dial-turn_expert.zarr/data/img/15.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..c01216435b45999e856cab730303c935f30b3a90
Binary files /dev/null and b/metaworld_dial-turn_expert.zarr/data/img/15.0.0.0 differ
diff --git a/metaworld_dial-turn_expert.zarr/data/img/16.0.0.0 b/metaworld_dial-turn_expert.zarr/data/img/16.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..99854acacbd7a9575beec7c8fe6485d7b1821d3f
Binary files /dev/null and b/metaworld_dial-turn_expert.zarr/data/img/16.0.0.0 differ
diff --git a/metaworld_dial-turn_expert.zarr/data/img/7.0.0.0 b/metaworld_dial-turn_expert.zarr/data/img/7.0.0.0
new file mode 100644
index 0000000000000000000000000000000000000000..522a85d95dbbff626042086d13ca189f0ce5351f
Binary files /dev/null and b/metaworld_dial-turn_expert.zarr/data/img/7.0.0.0 differ
diff --git a/metaworld_dial-turn_expert.zarr/data/point_cloud/.zarray b/metaworld_dial-turn_expert.zarr/data/point_cloud/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..8369a4d15f2993e1ea345f4ba0a01bced0d7cfec
--- /dev/null
+++ b/metaworld_dial-turn_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_dial-turn_expert.zarr/data/state/0.0 b/metaworld_dial-turn_expert.zarr/data/state/0.0
new file mode 100644
index 0000000000000000000000000000000000000000..75f7bc2d0e59f3c3c294f0c5482dc236fef8ad18
Binary files /dev/null and b/metaworld_dial-turn_expert.zarr/data/state/0.0 differ
diff --git a/metaworld_dial-turn_expert.zarr/data/state/16.0 b/metaworld_dial-turn_expert.zarr/data/state/16.0
new file mode 100644
index 0000000000000000000000000000000000000000..09ec6291e40c2491d1688dfcfa23b4a2c6997f34
Binary files /dev/null and b/metaworld_dial-turn_expert.zarr/data/state/16.0 differ
diff --git a/metaworld_dial-turn_expert.zarr/data/state/4.0 b/metaworld_dial-turn_expert.zarr/data/state/4.0
new file mode 100644
index 0000000000000000000000000000000000000000..1f9bdb025f7d02e07863580f93f8cc951def9f00
Binary files /dev/null and b/metaworld_dial-turn_expert.zarr/data/state/4.0 differ
diff --git a/metaworld_dial-turn_expert.zarr/data/state/7.0 b/metaworld_dial-turn_expert.zarr/data/state/7.0
new file mode 100644
index 0000000000000000000000000000000000000000..ef98422e9c42cfe61396a062bae39d9927c1a1f5
Binary files /dev/null and b/metaworld_dial-turn_expert.zarr/data/state/7.0 differ
diff --git a/metaworld_dial-turn_expert.zarr/data/state/8.0 b/metaworld_dial-turn_expert.zarr/data/state/8.0
new file mode 100644
index 0000000000000000000000000000000000000000..9248521fe71d344aa42957ff33783331462ae429
Binary files /dev/null and b/metaworld_dial-turn_expert.zarr/data/state/8.0 differ
diff --git a/metaworld_dial-turn_expert.zarr/meta/.zgroup b/metaworld_dial-turn_expert.zarr/meta/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/metaworld_dial-turn_expert.zarr/meta/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file