diff --git a/benchmarking/arrow.py b/benchmarking/arrow.py
index e270200..80d68e2 100644
--- a/benchmarking/arrow.py
+++ b/benchmarking/arrow.py
@@ -1,9 +1,12 @@
 import os
 import sys
 import time
+import pandas as pd
 import pyarrow as pa
 import pyarrow.parquet as pq
 import pyarrow.feather as ft
+from pyarrow import RecordBatchFileReader as Reader
+from pyarrow import RecordBatchFileWriter as Writer
 
 PATH = os.path.expanduser("~")
 sys.path.append(PATH + "/fog_x_fork")
@@ -16,15 +19,15 @@
 def convert_parquet(in_dir):
     table = pq.read_table(in_dir)
     file = in_dir.split("/")[-1].split("-")[0]
-    
-    with pa.ipc.new_file(f"{out_dir}/IPC/{file}.arrow", table.schema) as w:
-        w.write_table(table)
 
     with pa.OSFile(f"{out_dir}/REG/{file}.arrow", "wb") as sink:
-        with pa.RecordBatchFileWriter(sink, table.schema) as w:
+        with Writer(sink, table.schema) as w:
             w.write_table(table)
 
-    ft.write_feather(table, f"{out_dir}/fth/{file}.arrow", "uncompressed")
+    with pa.ipc.new_file(f"{out_dir}/IPC/{file}.arrow", table.schema) as w:
+        w.write_table(table)
+
+    ft.write_feather(table, f"{out_dir}/FTH/{file}.feather", "uncompressed")
 
 
 N = 51
@@ -34,5 +37,53 @@ def convert_parquet(in_dir):
     for i in range(N):
         convert_parquet(f"{PATH}/{NAME}/{NAME}_{i}-0.parquet")
 
+
+def measure_traj(read_func, write_func, name):
+    read_time, write_time, data_size = 0, 0, 0
+
+    for i in range(N):
+        print(f"Measuring trajectory {i}")
+
+        extn = "arrow" if (name[0] == "A") else "feather"
+        path = f"{out_dir}/{name[-3:]}/{NAME}_{i}.{extn}"
+
+        stop = time.time()
+        traj = read_func(path)
+        read_time += time.time() - stop
+
+        data_size += os.path.getsize(path)
+        path = f"{PATH}temp.{extn}"
+
+        stop = time.time()
+        write_func(path, traj)
+        write_time += time.time() - stop
+
+        os.remove(path)
+    return read_time, write_time, data_size / MB
+
+
 if __name__ == "__main__":
-    exit()
\ No newline at end of file
+
+    reg_dict = {"name": "Arrow_REG",
+           "read_func": lambda path: Reader(pa.OSFile(path, "rb")).read_all(),
+          "write_func": lambda path, data: Writer(pa.OSFile(path, "wb"), data.schema).write_table(data)
+    }
+    ipc_dict = {"name": "Arrow_IPC",
+           "read_func": lambda path: pa.ipc.open_file(path).read_all(),
+          "write_func": lambda path, data: pa.ipc.new_file(path, data.schema).write_table(data)
+    }
+    fth_dict = {"name": "Feather_FTH",
+           "read_func": lambda path: ft.read_table(path),
+          "write_func": lambda path, data: ft.write_feather(data, path)
+    }
+    pd_dict = {"name": "Pandas_FTH",
+          "read_func": lambda path: pd.read_feather(path),
+         "write_func": lambda path, data: data.to_feather(path)
+    }
+
+    for lib in [reg_dict, ipc_dict, fth_dict, pd_dict]:
+        rt, wt, mb = measure_traj(lib["read_func"], lib["write_func"], lib["name"])
+
+        print(f"\n{lib['name']}: \nData size = {mb:.4f} MB; Num. traj = {N}")
+        print(f"Read:  latency = {rt:.4f} s; throughput = {mb / rt :.4f} MB/s, {N / rt :.4f} traj/s")
+        print(f"Write: latency = {wt:.4f} s; throughput = {mb / wt :.4f} MB/s, {N / wt :.4f} traj/s")
\ No newline at end of file
diff --git a/benchmarking/hdf5.py b/benchmarking/hdf5.py
new file mode 100644
index 0000000..a4c26db
--- /dev/null
+++ b/benchmarking/hdf5.py
@@ -0,0 +1,19 @@
+import h5py
+import pyarrow.parquet as pq
+
+def parquet_to_hdf5(parquet_file, hdf5_file):
+    # Read the Parquet file
+    table = pq.read_table(parquet_file)
+    columns = table.column_names
+
+    # Create HDF5 file
+    with h5py.File(hdf5_file, 'w') as h5_file:
+        for column in columns:
+            data = table[column].to_numpy()
+            h5_file.create_dataset(column, data=data)
+        print(f"Data successfully written to {hdf5_file}")
+
+# Example usage
+parquet_file = 'input_file.parquet'
+hdf5_file = 'output_file.h5'
+parquet_to_hdf5(parquet_file, hdf5_file)
\ No newline at end of file
diff --git a/benchmarking/plotting_notes.py b/benchmarking/plotting_notes.py
index 722f1a6..71a643a 100644
--- a/benchmarking/plotting_notes.py
+++ b/benchmarking/plotting_notes.py
@@ -18,8 +18,27 @@
 # Read:  latency = 49.1056 s ; throughput = 136.5909 MB/s, 1.0386 traj/s
 # Write: latency = 103.6820 s; throughput = 64.6918 MB/s,  0.4919 traj/s
 
-# plotting + code
-# temporary plots:
+"""###"""
+
+# Arrow_REG: 
+# Data size = 14651.9697 MB ; Num. traj = 51
+# Read:  latency = 39.5354 s; throughput = 370.6041 MB/s, 1.2900 traj/s
+# Write: latency = 26.4765 s; throughput = 553.3952 MB/s, 1.9262 traj/s
+
+# Arrow_IPC: 
+# Data size = 14651.9697 MB ; Num. traj = 51
+# Read:  latency = 44.0609 s; throughput = 332.5391 MB/s, 1.1575 traj/s
+# Write: latency = 25.1574 s; throughput = 582.4108 MB/s, 2.0272 traj/s
+
+# Feather_FTH: 
+# Data size = 14651.9697 MB; Num. traj = 51
+# Read:  latency = 47.5646 s; throughput = 308.0433 MB/s, 1.0722 traj/s
+# Write: latency = 35.4595 s; throughput = 413.2030 MB/s, 1.4383 traj/s
+
+# Pandas_FTH: 
+# Data size = 14651.9697 MB; Num. traj = 51
+# Read:  latency = 26.6213 s; throughput = 550.3844 MB/s, 1.9158 traj/s
+# Write: latency = 45.9015 s; throughput = 319.2046 MB/s, 1.1111 traj/s
 
 import matplotlib.pyplot as plt
 
diff --git a/benchmarking/convert_tf_hdf5.py b/benchmarking/tf_to_hdf5.py
similarity index 96%
rename from benchmarking/convert_tf_hdf5.py
rename to benchmarking/tf_to_hdf5.py
index 747b757..b6755e8 100644
--- a/benchmarking/convert_tf_hdf5.py
+++ b/benchmarking/tf_to_hdf5.py
@@ -5,7 +5,7 @@
 import pyarrow as pa
 import pyarrow.parquet as pq
 
-# NOTE: this code assumes you have the path: home/username/datasets/berkeley_autolab_ur5/TRAIN.tfrecord
+# NOTE: this code assumes you have the paths: home/username/datasets/berkeley_autolab_ur5/TRAIN.tfrecord
 
 def parse_tfrecord(raw_record):
     FLF = tf.io.FixedLenFeature