diff --git a/pressbutton/preprocess/norm_stats.json b/pressbutton/preprocess/norm_stats.json
deleted file mode 100644
index 9d37c620a1cf67be5be8b7eae8a63b2f4fea4271..0000000000000000000000000000000000000000
--- a/pressbutton/preprocess/norm_stats.json
+++ /dev/null
@@ -1,477 +0,0 @@
-{
-  "count": 2714,
-  "target_image_size": [
-    192,
-    256
-  ],
-  "cameras": [
-    "front_camera",
-    "left_camera",
-    "top_camera",
-    "robot_camera_0",
-    "robot_camera_1"
-  ],
-  "camera_rotations": {
-    "front_camera": "none",
-    "left_camera": "none",
-    "top_camera": "none",
-    "robot_camera_0": "none",
-    "robot_camera_1": "none"
-  },
-  "state_dim": 100,
-  "action_dim": 44,
-  "state_mean": [
-    -0.8149529971352552,
-    -0.02241526064384891,
-    0.20617153859294415,
-    -2.464321621042363,
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-    2.1523646370575724,
-    0.47350217649052934,
-    0.1690003633356393,
-    0.2366452394279822,
-    0.2160390677835103,
-    0.22405673815493382,
-    -0.08811548554840207,
-    0.11494472645931411,
-    0.07901139675681434,
-    0.03801361917241496,
-    0.12114888869978176,
-    0.030049026489406053,
-    0.2300036688696925,
-    0.3730086027455839,
-    0.4366440500682474,
-    1.6083347379238886,
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-    -0.006622472243300042,
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-    0.003020801078867141,
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-    -0.028038524549126982,
-    -0.02770878588214076,
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-    -0.00011317033825710485,
-    6.104114840403778e-05,
-    7.19893937115129e-05,
-    -2.3759572665519108e-05,
-    -1.3972408259047255e-05,
-    8.884748604544922e-06,
-    1.4388117830685584e-05,
-    -0.0024247163760776178,
-    1.031802610560698e-05,
-    6.58414383632844e-06,
-    4.36163826428224e-06,
-    -0.001036739464103002,
-    0.00012094842037591003,
-    -2.1339827491058956e-08,
-    -1.1682800365823007e-08,
-    -0.501388531523364,
-    -0.14270074969046073,
-    0.2845417084471985,
-    -2.5876262130856773,
-    2.769323161092855,
-    2.2465791887629094,
-    0.18469581799172005,
-    0.17988434845723028,
-    0.2264691898043356,
-    0.21373517241386603,
-    0.2239405270240372,
-    -0.07396605442289754,
-    0.10427706227167705,
-    0.07950105677875598,
-    0.038001184330466654,
-    0.1268670799412443,
-    0.03517374634336442,
-    0.22910510672307136,
-    0.37302967199922576,
-    0.43895309641902386,
-    1.623600578562864,
-    0.038916735225628205,
-    -0.989999932142945,
-    0.08309364193326625,
-    0.0200111657756141,
-    -0.031508146977737725,
-    -0.0166123625043256,
-    0.05845224982895481,
-    -0.017414739814832225,
-    -0.09867060911363383,
-    5.986678655466417e-06,
-    -0.0035828649721384646,
-    -0.0007749704023955003,
-    -5.1858328142944536e-05,
-    0.0009236977842360771,
-    -0.0007941322695726415,
-    0.0001333166622894493,
-    -2.1481963025948944e-07,
-    -1.6102892440949505e-05,
-    0.0014433406400287357,
-    -0.0002921397023877093,
-    2.5082584504126077e-05,
-    -4.9179226547491026e-06,
-    0.004789561947261383,
-    4.6356142992169374e-06,
-    4.9541228372710855e-08,
-    0.0,
-    24.38172439204127,
-    0.001575681744666464,
-    31.234340456890205,
-    0.0035390591486860598,
-    0.0,
-    0.0,
-    0.0
-  ],
-  "state_std": [
-    0.06597875875436512,
-    0.16461336359330525,
-    0.07383411854807578,
-    0.14638331643280833,
-    0.15025182713431437,
-    0.08750530854567705,
-    0.0920876761514506,
-    0.026760855173747333,
-    0.002613932707167237,
-    0.00010399032028985236,
-    0.00010648849104497798,
-    0.0005107264870985256,
-    0.0004469322597448771,
-    0.00010196721969311039,
-    0.00010067128384562264,
-    0.014202985211655288,
-    0.0003069473328004674,
-    0.00010006523072902734,
-    0.00010199994561749698,
-    0.005691482170441199,
-    0.002208135074877279,
-    0.00010000000017850861,
-    0.00010000000338150918,
-    0.01831293375054263,
-    0.0564540472317413,
-    0.020406256051462398,
-    0.044348956832189416,
-    0.04217347984945413,
-    0.03658289503300486,
-    0.04430188401913162,
-    0.01736575206100394,
-    0.002883944212335109,
-    0.00014203502878658324,
-    0.00014907660080193085,
-    0.0008958492607030785,
-    0.0003921193618593789,
-    0.0001046214427523237,
-    0.00010317808419386953,
-    0.009380716842571862,
-    0.0003531020945747627,
-    0.00010074419595038692,
-    0.0001066236388087541,
-    0.004001530783626863,
-    0.002048994596600059,
-    0.00010000002113858178,
-    0.00010000014491269651,
-    0.4741022651095366,
-    0.11498314215567076,
-    0.46301324349857004,
-    0.08943713879684125,
-    0.15739497741840622,
-    0.06714810648772652,
-    0.3310526928930184,
-    0.0006640675865452015,
-    0.020848522920513084,
-    0.010732139416452168,
-    0.00010603332863967926,
-    0.0016636562029851887,
-    0.0037267088491504423,
-    0.0033649268589735115,
-    0.00010044354143966062,
-    0.0003129601621853334,
-    0.008963338314544605,
-    0.004198681410325905,
-    0.00010186379859073838,
-    0.0001134385537280458,
-    0.02749458480063336,
-    0.0004476333269625355,
-    0.00010000015961184089,
-    0.6127296309681731,
-    0.21809653904519272,
-    0.6750259089128826,
-    0.03910048855729634,
-    0.0692888956153683,
-    0.07359254178798638,
-    0.19840203469755413,
-    0.0023580226701051415,
-    0.025091127555429193,
-    0.017239161513213405,
-    0.0004796256780426729,
-    0.010781531014249142,
-    0.013315200397057993,
-    0.008961511824422846,
-    0.0001447612450041876,
-    0.0010743613112511481,
-    0.017543964101722594,
-    0.0062775243178523005,
-    0.000141511324814584,
-    0.0002157565822076468,
-    0.043334193407376376,
-    0.0009286659250752244,
-    0.0001000319683865907,
-    1.0,
-    46.044292113579054,
-    0.00218492417835489,
-    43.81330122907587,
-    0.005126758007853088,
-    1.0,
-    1.0,
-    1.0
-  ],
-  "action_mean": [
-    -0.0013888983965996181,
-    -0.006407443952678745,
-    -0.023047393466522348,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.002193307417582833,
-    0.03905478176539359,
-    -0.025155621525188448,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0,
-    0.0
-  ],
-  "action_std": [
-    0.01494218497117206,
-    0.026834868629770105,
-    0.027722534661077373,
-    0.0001,
-    0.0001,
-    0.0001,
-    0.0001,
-    0.0001,
-    0.0001,
-    0.0001,
-    0.0001,
-    0.0001,
-    0.0001,
-    0.0001,
-    0.0001,
-    0.0001,
-    0.0001,
-    0.0001,
-    0.0001,
-    0.0001,
-    0.0001,
-    0.0001,
-    0.017692861560328333,
-    0.02962562429708555,
-    0.030377312887739892,
-    0.0001,
-    0.0001,
-    0.0001,
-    0.0001,
-    0.0001,
-    0.0001,
-    0.0001,
-    0.0001,
-    0.0001,
-    0.0001,
-    0.0001,
-    0.0001,
-    0.0001,
-    0.0001,
-    0.0001,
-    0.0001,
-    0.0001,
-    0.0001,
-    0.0001
-  ],
-  "state_norm_policy": "continuous_only",
-  "state_fields": [
-    {
-      "path": "obs/agent/panda_leaphand-1/qpos",
-      "dtype": "float32",
-      "kind": "continuous",
-      "dim": 23,
-      "slice": [
-        0,
-        23
-      ]
-    },
-    {
-      "path": "obs/agent/panda_leaphand-1/qvel",
-      "dtype": "float32",
-      "kind": "continuous",
-      "dim": 23,
-      "slice": [
-        23,
-        46
-      ]
-    },
-    {
-      "path": "obs/agent/panda_leaphand_left-0/qpos",
-      "dtype": "float32",
-      "kind": "continuous",
-      "dim": 23,
-      "slice": [
-        46,
-        69
-      ]
-    },
-    {
-      "path": "obs/agent/panda_leaphand_left-0/qvel",
-      "dtype": "float32",
-      "kind": "continuous",
-      "dim": 23,
-      "slice": [
-        69,
-        92
-      ]
-    },
-    {
-      "path": "obs/extra/both_pressed",
-      "dtype": "bool",
-      "kind": "bool",
-      "dim": 1,
-      "slice": [
-        92,
-        93
-      ]
-    },
-    {
-      "path": "obs/extra/button1_press_step",
-      "dtype": "float32",
-      "kind": "continuous",
-      "dim": 1,
-      "slice": [
-        93,
-        94
-      ]
-    },
-    {
-      "path": "obs/extra/button1_qpos",
-      "dtype": "float32",
-      "kind": "continuous",
-      "dim": 1,
-      "slice": [
-        94,
-        95
-      ]
-    },
-    {
-      "path": "obs/extra/button2_press_step",
-      "dtype": "float32",
-      "kind": "continuous",
-      "dim": 1,
-      "slice": [
-        95,
-        96
-      ]
-    },
-    {
-      "path": "obs/extra/button2_qpos",
-      "dtype": "float32",
-      "kind": "continuous",
-      "dim": 1,
-      "slice": [
-        96,
-        97
-      ]
-    },
-    {
-      "path": "obs/extra/is_button1_pressed",
-      "dtype": "bool",
-      "kind": "bool",
-      "dim": 1,
-      "slice": [
-        97,
-        98
-      ]
-    },
-    {
-      "path": "obs/extra/is_button2_pressed",
-      "dtype": "bool",
-      "kind": "bool",
-      "dim": 1,
-      "slice": [
-        98,
-        99
-      ]
-    },
-    {
-      "path": "obs/extra/simultaneous_press",
-      "dtype": "bool",
-      "kind": "bool",
-      "dim": 1,
-      "slice": [
-        99,
-        100
-      ]
-    }
-  ],
-  "state_norm_slices": [
-    [
-      0,
-      23
-    ],
-    [
-      23,
-      46
-    ],
-    [
-      46,
-      69
-    ],
-    [
-      69,
-      92
-    ],
-    [
-      93,
-      94
-    ],
-    [
-      94,
-      95
-    ],
-    [
-      95,
-      96
-    ],
-    [
-      96,
-      97
-    ]
-  ],
-  "notes": "State stats computed ONLY on continuous dims; discrete/bool dims keep raw (mean=0,std=1). All stats computed over aligned length T (drop last obs to align with actions)."
-}
\ No newline at end of file
diff --git a/pressbutton/preprocess/traj_0.h5 b/pressbutton/preprocess/traj_0.h5
deleted file mode 100644
index 10d5bcf2f6da1c759e9f6e3fd3c07f86fb7de106..0000000000000000000000000000000000000000
--- a/pressbutton/preprocess/traj_0.h5
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:e2fe8f40716d650ada6dc47485530982251411d8b26f0e1fd977695a02195d93
-size 470227302
diff --git a/pressbutton/preprocess/traj_0_front_camera.mp4 b/pressbutton/preprocess/traj_0_front_camera.mp4
deleted file mode 100644
index d86383b9a88f671a0b06e7d7d451b0054b38b78b..0000000000000000000000000000000000000000
--- a/pressbutton/preprocess/traj_0_front_camera.mp4
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:5433d8d1a1f3d5ea3981680c246376bc267d36d8079d88191b8c08da6a33471c
-size 129436
diff --git a/pressbutton/preprocess/traj_0_left_camera.mp4 b/pressbutton/preprocess/traj_0_left_camera.mp4
deleted file mode 100644
index f0dc7a242da73b2188fdb71ad952a492c3c81d5b..0000000000000000000000000000000000000000
--- a/pressbutton/preprocess/traj_0_left_camera.mp4
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:47a5e866f3b513aedbbd28d3640ecb862dab84a961803da39b2308cca27a8fdd
-size 149936
diff --git a/pressbutton/preprocess/traj_0_robot_camera_0.mp4 b/pressbutton/preprocess/traj_0_robot_camera_0.mp4
deleted file mode 100644
index 35632ac8594ab835ee0946a1042dffe786968fa9..0000000000000000000000000000000000000000
--- a/pressbutton/preprocess/traj_0_robot_camera_0.mp4
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:c68c1820a240f89bc83ee2225ef62bbaa0137b3438bc9794c30b0ac46ded9bcd
-size 165577
diff --git a/pressbutton/preprocess/traj_0_robot_camera_1.mp4 b/pressbutton/preprocess/traj_0_robot_camera_1.mp4
deleted file mode 100644
index fda7ee16ef686a07b32116c6abae54d43152e85f..0000000000000000000000000000000000000000
--- a/pressbutton/preprocess/traj_0_robot_camera_1.mp4
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:6ef7ffd9485de0e32dcc0a6b7897a7b91b03c43e4d283a94905d77ea8f9f1f34
-size 139854
diff --git a/pressbutton/preprocess/traj_0_top_camera.mp4 b/pressbutton/preprocess/traj_0_top_camera.mp4
deleted file mode 100644
index e46d152106ce7723e4b405356ecec1ff20aa4065..0000000000000000000000000000000000000000
--- a/pressbutton/preprocess/traj_0_top_camera.mp4
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:bebe71478754e68dfb8ce599efb36c8d35f9cbe3af85068cf36a735584ef5ee3
-size 204114
diff --git a/pressbutton/preprocess/traj_1.h5 b/pressbutton/preprocess/traj_1.h5
deleted file mode 100644
index 3afa7fa99fdd251fa6fa9bcaa5a7537daf1d6674..0000000000000000000000000000000000000000
--- a/pressbutton/preprocess/traj_1.h5
+++ /dev/null
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-version https://git-lfs.github.com/spec/v1
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-size 338117292
diff --git a/pressbutton/preprocess/traj_10.h5 b/pressbutton/preprocess/traj_10.h5
deleted file mode 100644
index cc189a9956fc1ceba7089dd20bd01fbff2b4cf39..0000000000000000000000000000000000000000
--- a/pressbutton/preprocess/traj_10.h5
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
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diff --git a/pressbutton/preprocess/traj_10_front_camera.mp4 b/pressbutton/preprocess/traj_10_front_camera.mp4
deleted file mode 100644
index c1a688a1352d88e887888fb03686510d14ff388a..0000000000000000000000000000000000000000
--- a/pressbutton/preprocess/traj_10_front_camera.mp4
+++ /dev/null
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-version https://git-lfs.github.com/spec/v1
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-size 141237
diff --git a/pressbutton/preprocess/traj_10_left_camera.mp4 b/pressbutton/preprocess/traj_10_left_camera.mp4
deleted file mode 100644
index f89adb5ae0a193f3fbef43e3d5f3af58422e9aef..0000000000000000000000000000000000000000
--- a/pressbutton/preprocess/traj_10_left_camera.mp4
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-version https://git-lfs.github.com/spec/v1
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-size 179058
diff --git a/pressbutton/preprocess/traj_10_robot_camera_0.mp4 b/pressbutton/preprocess/traj_10_robot_camera_0.mp4
deleted file mode 100644
index 0d845c0df4ceb30abe178f2677a6f6362042bb11..0000000000000000000000000000000000000000
--- a/pressbutton/preprocess/traj_10_robot_camera_0.mp4
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-version https://git-lfs.github.com/spec/v1
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-size 162282
diff --git a/pressbutton/preprocess/traj_10_robot_camera_1.mp4 b/pressbutton/preprocess/traj_10_robot_camera_1.mp4
deleted file mode 100644
index e2ea186fee170c46a9e669da57bc27f62ad820c0..0000000000000000000000000000000000000000
--- a/pressbutton/preprocess/traj_10_robot_camera_1.mp4
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:7e6cff3bd177d97488c248737760415f14d7468b12f1a264a80a40613000ca6d
-size 137651
diff --git a/pressbutton/preprocess/traj_10_top_camera.mp4 b/pressbutton/preprocess/traj_10_top_camera.mp4
deleted file mode 100644
index 423e74f346304745983ec44932503f3e4b558516..0000000000000000000000000000000000000000
--- a/pressbutton/preprocess/traj_10_top_camera.mp4
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:36d7a9fcb6a0220a779877354b0809bdeceb6f3991a1ab3e2991fce7f9c4193d
-size 236884
diff --git a/pressbutton/preprocess/traj_11.h5 b/pressbutton/preprocess/traj_11.h5
deleted file mode 100644
index b6adceda8bbac74bd939fb8d7e27ec643ac37ff2..0000000000000000000000000000000000000000
--- a/pressbutton/preprocess/traj_11.h5
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
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-size 589892038
diff --git a/pressbutton/preprocess/traj_11_front_camera.mp4 b/pressbutton/preprocess/traj_11_front_camera.mp4
deleted file mode 100644
index 88215a0a806cb4de22487cb4669c10505a12c87e..0000000000000000000000000000000000000000
--- a/pressbutton/preprocess/traj_11_front_camera.mp4
+++ /dev/null
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-{
-    "env_info": {
-        "env_id": "DualArmPressButton-v1",
-        "env_kwargs": {
-            "num_envs": 1,
-            "obs_mode": "rgbd",
-            "reward_mode": "dense",
-            "control_mode": "pd_ee_delta_pose",
-            "enable_shadow": true,
-            "show_world_frame": false,
-            "show_fps": false,
-            "show_viewer": false,
-            "device": "cuda:0",
-            "front_camera": true,
-            "back_camera": false,
-            "left_camera": true,
-            "right_camera": false,
-            "top_camera": true,
-            "robot_camera": true,
-            "custome_viewer_res": true,
-            "viewer_res": [
-                320,
-                240
-            ]
-        }
-    },
-    "episodes": [
-        {
-            "episode_id": "traj_0",
-            "elapsed_steps": 135
-        },
-        {
-            "episode_id": "traj_1",
-            "elapsed_steps": 99
-        },
-        {
-            "episode_id": "traj_2",
-            "elapsed_steps": 126
-        },
-        {
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-            "elapsed_steps": 166
-        },
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-        },
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-        },
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-        },
-        {
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-        },
-        {
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-        },
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-            "elapsed_steps": 168
-        },
-        {
-            "episode_id": "traj_10",
-            "elapsed_steps": 137
-        },
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-            "elapsed_steps": 156
-        },
-        {
-            "episode_id": "traj_19",
-            "elapsed_steps": 90
-        }
-    ]
-}
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