diff --git a/.gitattributes b/.gitattributes
new file mode 100644
index 000000000..df7d2d5bc
--- /dev/null
+++ b/.gitattributes
@@ -0,0 +1 @@
+*.memmap filter=lfs diff=lfs merge=lfs -text
diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
index e5e73f1f5..f99c964b6 100644
--- a/.github/workflows/test.yml
+++ b/.github/workflows/test.yml
@@ -17,6 +17,7 @@ jobs:
     runs-on: ubuntu-latest
     env:
       POETRY_VERSION: 1.8.1
+      DATA_DIR: tests/data
     steps:
       #----------------------------------------------
       #       check-out repo and set-up python
diff --git a/.gitignore b/.gitignore
index ff3ad574d..e2d4c0ec3 100644
--- a/.gitignore
+++ b/.gitignore
@@ -54,6 +54,7 @@ pip-log.txt
 pip-delete-this-directory.txt
 
 # Unit test / coverage reports
+!tests/data
 htmlcov/
 .tox/
 .nox/
diff --git a/lerobot/common/datasets/pusht.py b/lerobot/common/datasets/pusht.py
index 5d2f5e38e..33355c702 100644
--- a/lerobot/common/datasets/pusht.py
+++ b/lerobot/common/datasets/pusht.py
@@ -125,6 +125,9 @@ class PushtExperienceReplay(AbstractExperienceReplay):
         episode_ids = torch.from_numpy(dataset_dict.get_episode_idxs())
         num_episodes = dataset_dict.meta["episode_ends"].shape[0]
         total_frames = dataset_dict["action"].shape[0]
+        # to create test artifact
+        # num_episodes = 1
+        # total_frames = 50
         assert len(
             {dataset_dict[key].shape[0] for key in dataset_dict.keys()}  # noqa: SIM118
         ), "Some data type dont have the same number of total frames."
@@ -142,6 +145,8 @@ class PushtExperienceReplay(AbstractExperienceReplay):
         idxtd = 0
         for episode_id in tqdm.tqdm(range(num_episodes)):
             idx1 = dataset_dict.meta["episode_ends"][episode_id]
+            # to create test artifact
+            # idx1 = 51
 
             num_frames = idx1 - idx0
 
diff --git a/tests/data/action.memmap b/tests/data/action.memmap
new file mode 100644
index 000000000..f4127fb1c
--- /dev/null
+++ b/tests/data/action.memmap
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba17d8e5c30151ea5f7f6fc31f19e12a68ce2113774b74c8aca0c7ef962a75f4
+size 400
diff --git a/tests/data/episode.memmap b/tests/data/episode.memmap
new file mode 100644
index 000000000..af9fb07fd
--- /dev/null
+++ b/tests/data/episode.memmap
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a12e561363385e9dfeeab326368731c030ed4b374e7f5897ac819159d2884c5
+size 400
diff --git a/tests/data/frame_id.memmap b/tests/data/frame_id.memmap
new file mode 100644
index 000000000..dc2f585cf
--- /dev/null
+++ b/tests/data/frame_id.memmap
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c202d9cfc7858fd49d522047e16948359bbbb2eda2d3825d552e45a78d5f8585
+size 400
diff --git a/tests/data/meta.json b/tests/data/meta.json
new file mode 100644
index 000000000..6f7c42184
--- /dev/null
+++ b/tests/data/meta.json
@@ -0,0 +1 @@
+{"action": {"device": "cpu", "shape": [50, 2], "dtype": "torch.float32"}, "episode": {"device": "cpu", "shape": [50], "dtype": "torch.int64"}, "frame_id": {"device": "cpu", "shape": [50], "dtype": "torch.int64"}, "shape": [50], "device": "cpu", "_type": "<class 'tensordict._td.TensorDict'>"}
\ No newline at end of file
diff --git a/tests/data/next/done.memmap b/tests/data/next/done.memmap
new file mode 100644
index 000000000..3c77d33bb
--- /dev/null
+++ b/tests/data/next/done.memmap
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1a8f20ab8c1dead0f61b7b38de300b0ebd0df1d870babfbbe03ce9d2b81e36a
+size 50
diff --git a/tests/data/next/meta.json b/tests/data/next/meta.json
new file mode 100644
index 000000000..b29a9ff74
--- /dev/null
+++ b/tests/data/next/meta.json
@@ -0,0 +1 @@
+{"reward": {"device": "cpu", "shape": [50, 1], "dtype": "torch.float32"}, "done": {"device": "cpu", "shape": [50, 1], "dtype": "torch.bool"}, "success": {"device": "cpu", "shape": [50, 1], "dtype": "torch.bool"}, "shape": [50], "device": "cpu", "_type": "<class 'tensordict._td.TensorDict'>"}
\ No newline at end of file
diff --git a/tests/data/next/observation/image.memmap b/tests/data/next/observation/image.memmap
new file mode 100644
index 000000000..686343788
--- /dev/null
+++ b/tests/data/next/observation/image.memmap
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff6a3748c8223a82e54c61442df7b8baf478a20497ee2353645a1e9ccd765162
+size 5529600
diff --git a/tests/data/next/observation/meta.json b/tests/data/next/observation/meta.json
new file mode 100644
index 000000000..57e0edea7
--- /dev/null
+++ b/tests/data/next/observation/meta.json
@@ -0,0 +1 @@
+{"image": {"device": "cpu", "shape": [50, 3, 96, 96], "dtype": "torch.float32"}, "state": {"device": "cpu", "shape": [50, 2], "dtype": "torch.float32"}, "shape": [50], "device": "cpu", "_type": "<class 'tensordict._td.TensorDict'>"}
\ No newline at end of file
diff --git a/tests/data/next/observation/state.memmap b/tests/data/next/observation/state.memmap
new file mode 100644
index 000000000..8dd28f2af
--- /dev/null
+++ b/tests/data/next/observation/state.memmap
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fad4ece6d5fd66bbafa34f6ff383c483410082b8d7d4f4616808c3c458ce1d43
+size 400
diff --git a/tests/data/next/reward.memmap b/tests/data/next/reward.memmap
new file mode 100644
index 000000000..109ed5ad5
--- /dev/null
+++ b/tests/data/next/reward.memmap
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d9c54dee5660c46886f32d80e57e9dd0ffa57ee0cd2a762b036d9c8e0c3a33a
+size 200
diff --git a/tests/data/next/success.memmap b/tests/data/next/success.memmap
new file mode 100644
index 000000000..44fd709f9
--- /dev/null
+++ b/tests/data/next/success.memmap
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc2786e1f9910a9d811400edcddaf7075195f7a16b216dcbefba3bc7c4f2ae51
+size 50
diff --git a/tests/data/observation/image.memmap b/tests/data/observation/image.memmap
new file mode 100644
index 000000000..42c86ef0f
--- /dev/null
+++ b/tests/data/observation/image.memmap
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4bbde5cfd8cff9fd9fc6c9a57177f6fd31c8a03cf853b7d2234312f38380b0ba
+size 5529600
diff --git a/tests/data/observation/meta.json b/tests/data/observation/meta.json
new file mode 100644
index 000000000..57e0edea7
--- /dev/null
+++ b/tests/data/observation/meta.json
@@ -0,0 +1 @@
+{"image": {"device": "cpu", "shape": [50, 3, 96, 96], "dtype": "torch.float32"}, "state": {"device": "cpu", "shape": [50, 2], "dtype": "torch.float32"}, "shape": [50], "device": "cpu", "_type": "<class 'tensordict._td.TensorDict'>"}
\ No newline at end of file
diff --git a/tests/data/observation/state.memmap b/tests/data/observation/state.memmap
new file mode 100644
index 000000000..3ac8e4ab7
--- /dev/null
+++ b/tests/data/observation/state.memmap
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67c7e39090a16546fb1eade833d704f26464d574d7e431415f828159a154d2bf
+size 400
diff --git a/tests/data/stats.pth b/tests/data/stats.pth
new file mode 100644
index 000000000..329cb35f7
Binary files /dev/null and b/tests/data/stats.pth differ