diff --git a/.gitattributes b/.gitattributes
index 1ef325f1b111266a6b26e0196871bd78baa8c2f3..b7e8be971f057f109350630b1ae42904406c5768 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -57,3 +57,216 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
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diff --git a/drawer/drawer_50_demos_2025-08-11_07-05-58.zarr/meta/.zgroup b/drawer/drawer_50_demos_2025-08-11_07-05-58.zarr/meta/.zgroup
new file mode 100644
index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1
--- /dev/null
+++ b/drawer/drawer_50_demos_2025-08-11_07-05-58.zarr/meta/.zgroup
@@ -0,0 +1,3 @@
+{
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/drawer/drawer_50_demos_2025-08-11_07-05-58.zarr/meta/episode_ends/.zarray b/drawer/drawer_50_demos_2025-08-11_07-05-58.zarr/meta/episode_ends/.zarray
new file mode 100644
index 0000000000000000000000000000000000000000..e58aa1c12f66c810a6d34d750f647441b9041d32
--- /dev/null
+++ b/drawer/drawer_50_demos_2025-08-11_07-05-58.zarr/meta/episode_ends/.zarray
@@ -0,0 +1,20 @@
+{
+    "chunks": [
+        51
+    ],
+    "compressor": {
+        "blocksize": 0,
+        "clevel": 5,
+        "cname": "lz4",
+        "id": "blosc",
+        "shuffle": 1
+    },
+    "dtype": "<i8",
+    "fill_value": 0,
+    "filters": null,
+    "order": "C",
+    "shape": [
+        51
+    ],
+    "zarr_format": 2
+}
\ No newline at end of file
diff --git a/drawer/drawer_50_demos_2025-08-11_07-05-58.zarr/meta/episode_ends/0 b/drawer/drawer_50_demos_2025-08-11_07-05-58.zarr/meta/episode_ends/0
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diff --git a/pkl/apple_50_demos_2025-08-11_09-06-10.pkl b/pkl/apple_50_demos_2025-08-11_09-06-10.pkl
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index 0000000000000000000000000000000000000000..d13f289ba09d4b6f439f4496811510a998a7a96a
--- /dev/null
+++ b/pkl/apple_50_demos_2025-08-11_09-06-10.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72a5af2f98cb2e86723674f19ed309c7c3b47251ab3c3e5718d188439fef69b3
+size 1267039259
diff --git a/pkl/drawer_50_demos_2025-08-11_07-05-58.pkl b/pkl/drawer_50_demos_2025-08-11_07-05-58.pkl
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index 0000000000000000000000000000000000000000..934f377d75c6c35600048403d9a6093c491f4fc9
--- /dev/null
+++ b/pkl/drawer_50_demos_2025-08-11_07-05-58.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7cf589aba8ccd3d4f9c99664c5a7957144477ac09600792427c511c1d376795b
+size 1199435398
diff --git a/pkl/pick_bread_50_demos_2025-08-08_02-05-49.pkl b/pkl/pick_bread_50_demos_2025-08-08_02-05-49.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..a1d4b3beb8b411d922a4a5c8158500648b44c22c
--- /dev/null
+++ b/pkl/pick_bread_50_demos_2025-08-08_02-05-49.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11cf104ff673ab7a61967822ae1b93959e9b96e1eb661d908b1febb8ad2005e6
+size 938122843
diff --git a/pkl/pkl2zarr.py b/pkl/pkl2zarr.py
new file mode 100644
index 0000000000000000000000000000000000000000..58a26509a2804a1500edfac8f5a6564abb59ce44
--- /dev/null
+++ b/pkl/pkl2zarr.py
@@ -0,0 +1,272 @@
+# import pickle
+# import zarr
+# import numpy as np
+# import os
+# from tqdm import tqdm
+
+# def detect_episode_boundaries(data):
+#     """精确检测episode边界"""
+#     boundaries = [i for i, d in enumerate(data) if d.get('dones', False)]
+#     if not boundaries or boundaries[-1] != len(data)-1:
+#         boundaries.append(len(data)-1)
+#     return boundaries
+
+# def convert_pkl_to_zarr(pkl_path, zarr_path):
+#     # 加载数据
+#     with open(pkl_path, 'rb') as f:
+#         data = pickle.load(f)
+    
+#     # 检测真实episode边界
+#     episode_ends = detect_episode_boundaries(data)
+#     episode_ends = [x + 1 for x in episode_ends]
+#     print(f"检测到 {len(episode_ends)} 个episode，边界索引: {episode_ends}")
+
+#     # 初始化zarr存储
+#     if os.path.exists(zarr_path):
+#         import shutil
+#         shutil.rmtree(zarr_path)
+#     root = zarr.open_group(zarr_path, mode='w')
+#     data_group = root.create_group('data')
+#     meta_group = root.create_group('meta')
+
+#     # 数据容器
+#     all_actions = []
+#     all_states = []
+#     all_side_image = []  # side_classifier
+#     all_wrist_image = []
+
+#     # 处理每个step（只保留next_observations的第二个视角）
+#     for step in tqdm(data, desc="Processing steps"):
+#         obs = step['observations']
+#         all_side_image.append(obs['side_policy_256'][0])  # (256,256,3)
+#         # all_wrist_image.append(obs['wrist_224'][0])   # (128,128,3)
+#         all_states.append(obs['state'][0])           # (19,)
+#         all_actions.append(step['actions'])
+        
+        
+#     # 转换为numpy数组
+#     actions = np.array(all_actions, dtype=np.float64)     
+#     states = np.array(all_states, dtype=np.float32) 
+#     side_images = np.array(all_side_image, dtype=np.uint8)         # (N,128,128,3)
+#     wrist_images = np.array(all_wrist_image, dtype=np.uint8)
+    
+#     # 存储数据（使用高效压缩）
+#     compressor = zarr.Blosc(cname='zstd', clevel=3, shuffle=1)
+#     data_group.array('action', actions, chunks=(100,7), compressor=compressor)
+#     data_group.array('state', states, chunks=(100,19), compressor=compressor)
+#     data_group.array('side_image', side_images, chunks=(100,256,256,3), compressor=compressor)
+#     # data_group.array('wrist_image', wrist_images, chunks=(100,224,224,3), compressor=compressor)
+#     meta_group.array('episode_ends', np.array(episode_ends, dtype=np.int64))
+
+#     # 验证输出
+#     print("\n转换结果验证:")
+#     print(f"- action: {actions.shape} {actions.dtype}")
+#     print(f"- state: {states.shape} {states.dtype}")
+#     print(f"- img: {side_images.shape} {side_images.dtype}")
+#     print(f"- img: {wrist_images.shape} {wrist_images.dtype}")
+#     print(f"- episode_ends: {len(episode_ends)} points")
+
+# if __name__ == '__main__':
+#     convert_pkl_to_zarr(
+#         pkl_path='/opt/ts/cfmp/data/lk_data/apple/is_random_False_apple_50_demos_2025-08-11_09-06-10.pkl',
+#         zarr_path='data/lk_data_zarr/apple/apple_50_demos_2025-08-11_09-06-10.zarr'
+#     )
+
+
+
+
+import pickle
+import zarr
+import numpy as np
+import os
+from tqdm import tqdm
+
+def detect_episode_boundaries(data):
+    """精确检测episode边界"""
+    boundaries = [i for i, d in enumerate(data) if d.get('dones', False)]
+    if not boundaries or boundaries[-1] != len(data)-1:
+        boundaries.append(len(data)-1)
+    return boundaries
+
+# def process_actions(actions, episode_ends):
+#     """
+#     处理actions：
+#     - 保留第0,1,2和第6维，删除中间3,4,5维
+#     - 对最后一维的0值，用最近一次出现的1或-1替换（每个episode开头连续0保持不变）
+#     """
+#     # 保留前三维 + 最后一维 (0,1,2,6)，丢弃中间3-5维
+#     actions_new = np.concatenate([actions[:, :3], actions[:, 6:7]], axis=1)  # shape (N,4)
+
+#     last_dim = actions_new[:, -1]
+
+#     start_idx = 0
+#     for end_idx in episode_ends:
+#         episode_segment = last_dim[start_idx:end_idx]
+
+#         nonzero_idx = np.where(episode_segment != 0)[0]
+#         if len(nonzero_idx) == 0:
+#             # 整个episode全0，保持不变
+#             start_idx = end_idx
+#             continue
+
+#         last_val = 0
+#         for i in range(len(episode_segment)):
+#             if episode_segment[i] != 0:
+#                 last_val = episode_segment[i]
+#             else:
+#                 if i > 0:
+#                     episode_segment[i] = last_val
+
+#         last_dim[start_idx:end_idx] = episode_segment
+#         start_idx = end_idx
+
+#     actions_new[:, -1] = last_dim
+#     return actions_new
+
+# def process_actions(actions, episode_ends, threshold=0.8):
+#     """
+#     处理 actions：
+#     1. 保留第0,1,2和第6维，删除中间3,4,5维
+#     2. 对最后一维离散化：>threshold设为1，<-threshold设为-1，其余设为0
+#     3. 对最后一维的0值，用最近一次出现的1或-1替换（每个episode开头连续0保持不变）
+#     """
+#     # 保留前三维 + 最后一维 (0,1,2,6)
+#     actions_new = np.concatenate([actions[:, :3], actions[:, 6:7]], axis=1)  # shape (N,4)
+
+#     last_dim = actions_new[:, -1]
+
+#     # Step 1: 按阈值离散化
+#     last_dim[last_dim > threshold] = 1
+#     last_dim[last_dim < -threshold] = -1
+#     mask_mid = (last_dim <= threshold) & (last_dim >= -threshold)
+#     last_dim[mask_mid] = 0
+
+#     # Step 2: 按 episode 填充 0
+#     start_idx = 0
+#     for end_idx in episode_ends:
+#         episode_segment = last_dim[start_idx:end_idx]
+
+#         # 找到所有非零位置
+#         nonzero_idx = np.where(episode_segment != 0)[0]
+#         if len(nonzero_idx) == 0:
+#             # 整个 episode 全 0，直接跳过
+#             start_idx = end_idx
+#             continue
+
+#         last_val = 0
+#         for i in range(len(episode_segment)):
+#             if episode_segment[i] != 0:
+#                 last_val = episode_segment[i]
+#             else:
+#                 # if i > 0:  # 开头的连续 0 不填充
+#                 episode_segment[i] = last_val
+
+#         last_dim[start_idx:end_idx] = episode_segment
+#         start_idx = end_idx
+
+#     actions_new[:, -1] = last_dim
+#     return actions_new
+def process_actions(actions, episode_ends, threshold=0.8):
+    # 保留前三维 + 最后一维 (0,1,2,6)
+    actions_new = np.concatenate([actions[:, :3], actions[:, 6:7]], axis=1)  # shape (N,4)
+
+    last_dim = actions_new[:, -1]
+
+    # Step 1: 按阈值离散化
+    last_dim[last_dim > threshold] = 1
+    last_dim[last_dim < -threshold] = -1
+    mask_mid = (last_dim <= threshold) & (last_dim >= -threshold)
+    last_dim[mask_mid] = 0
+
+    # Step 2: 按 episode 填充 0
+    start_idx = 0
+    for end_idx in episode_ends:
+        episode_segment = last_dim[start_idx:end_idx]
+
+        # 如果全 0，就直接全部改成 1
+        if np.all(episode_segment == 0):
+            episode_segment[:] = 1
+            last_dim[start_idx:end_idx] = episode_segment
+            start_idx = end_idx
+            continue
+
+        # 开头连续 0 全部改成 1
+        first_nonzero_idx = np.argmax(episode_segment != 0) if np.any(episode_segment != 0) else len(episode_segment)
+        episode_segment[:first_nonzero_idx] = 1
+
+        # 再做正常的填充
+        last_val = episode_segment[0]
+        for i in range(1, len(episode_segment)):
+            if episode_segment[i] != 0:
+                last_val = episode_segment[i]
+            else:
+                episode_segment[i] = last_val
+
+        last_dim[start_idx:end_idx] = episode_segment
+        start_idx = end_idx
+
+    actions_new[:, -1] = last_dim
+    return actions_new
+
+
+def convert_pkl_to_zarr(pkl_path, zarr_path):
+    # 加载数据
+    with open(pkl_path, 'rb') as f:
+        data = pickle.load(f)
+
+    # 检测真实episode边界
+    episode_ends = detect_episode_boundaries(data)
+    episode_ends = [x + 1 for x in episode_ends]
+    print(f"检测到 {len(episode_ends)} 个episode，边界索引: {episode_ends}")
+
+    # 初始化zarr存储
+    if os.path.exists(zarr_path):
+        import shutil
+        shutil.rmtree(zarr_path)
+    root = zarr.open_group(zarr_path, mode='w')
+    data_group = root.create_group('data')
+    meta_group = root.create_group('meta')
+
+    all_actions = []
+    all_states = []
+    all_side_image = []  # side_classifier
+    all_wrist_image = []
+
+    # 处理每个step（只保留next_observations的第二个视角）
+    for step in tqdm(data, desc="Processing steps"):
+        obs = step['observations']
+        all_side_image.append(obs['side_policy_256'][0])  # (256,256,3)
+        # all_wrist_image.append(obs['wrist_224'][0])   # (128,128,3)
+        all_states.append(obs['state'][0])           # (19,)
+        all_actions.append(step['actions'])
+
+    # 转换为numpy数组
+    actions = np.array(all_actions, dtype=np.float64)     
+    states = np.array(all_states, dtype=np.float32) 
+    side_images = np.array(all_side_image, dtype=np.uint8)         # (N,256,256,3)
+    wrist_images = np.array(all_wrist_image, dtype=np.uint8)
+
+    # 处理actions
+    actions_processed = process_actions(actions, episode_ends)
+
+    # 存储数据（使用高效压缩）
+    compressor = zarr.Blosc(cname='zstd', clevel=3, shuffle=1)
+    data_group.array('action', actions_processed, chunks=(100,4), compressor=compressor)
+    data_group.array('state', states, chunks=(100,19), compressor=compressor)
+    data_group.array('side_image', side_images, chunks=(100,256,256,3), compressor=compressor)
+    # data_group.array('wrist_image', wrist_images, chunks=(100,224,224,3), compressor=compressor)
+    meta_group.array('episode_ends', np.array(episode_ends, dtype=np.int64))
+
+    # 验证输出
+    print("\n转换结果验证:")
+    print(f"- action: {actions_processed.shape} {actions_processed.dtype}")
+    print(f"- state: {states.shape} {states.dtype}")
+    print(f"- side_image: {side_images.shape} {side_images.dtype}")
+    print(f"- wrist_image: {wrist_images.shape} {wrist_images.dtype}")
+    print(f"- episode_ends: {len(episode_ends)} points")
+
+if __name__ == '__main__':
+    convert_pkl_to_zarr(
+        pkl_path='/opt/ts/cfmp/data/lk_data/apple/is_random_False_pick_apple_50_demos_2025-08-14_09-55-57.pkl',
+        zarr_path='data/lk_data-1/apple/apple_50_demos_2025-08-14_09-55-57.zarr'
+    )
diff --git a/pkl/press_button_50_demos_2025-08-08_12-33-02.pkl b/pkl/press_button_50_demos_2025-08-08_12-33-02.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..90583cb58c34990a11bc162eee58586e5430b30f
--- /dev/null
+++ b/pkl/press_button_50_demos_2025-08-08_12-33-02.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e70b58ac6ac29ea3ec6a4c23c80b39358697135d2cc3e14181b62557da89c98
+size 762449356