diff --git a/scripts/batch_images_to_video.py b/scripts/batch_images_to_video.py
new file mode 100644
index 0000000..da77e69
--- /dev/null
+++ b/scripts/batch_images_to_video.py
@@ -0,0 +1,196 @@
+# SPDX-FileCopyrightText: Copyright (c) 2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+
+import cv2
+from pathlib import Path
+import argparse
+from typing import List, Tuple
+
+
+def convert_images_to_video(image_dir: Path, output_path: Path, fps: int = 30, format: str = 'jpg') -> bool:
+    """
+    Convert a directory of images to a video file.
+    
+    Args:
+        image_dir: Directory containing image files
+        output_path: Path where the output video will be saved
+        fps: Frames per second for the output video
+        format: Image format to process ('png' or 'jpg')
+    
+    Returns:
+        True if successful, False otherwise
+    """
+    # Get sorted list of image files
+    if format.lower() == 'jpg':
+        image_files = sorted(list(image_dir.glob('*.jpg')))
+    else:
+        image_files = sorted(list(image_dir.glob('*.png')))
+    
+    if not image_files:
+        print(f"  Warning: No {format.upper()} files found in {image_dir}")
+        return False
+
+    try:
+        # Read first image to get dimensions
+        first_img = cv2.imread(str(image_files[0]))
+        if first_img is None:
+            print(f"  Error: Could not read first image {image_files[0]}")
+            return False
+            
+        height, width = first_img.shape[:2]
+
+        # Initialize video writer
+        fourcc = cv2.VideoWriter_fourcc(*'mp4v')
+        out = cv2.VideoWriter(str(output_path), fourcc, fps, (width, height))
+
+        if not out.isOpened():
+            print(f"  Error: Could not open video writer for {output_path}")
+            return False
+
+        # Process each frame
+        for image_file in image_files:
+            frame = cv2.imread(str(image_file))
+            if frame is None:
+                print(f"  Warning: Could not read {image_file}, skipping")
+                continue
+            out.write(frame)
+
+        # Release video writer
+        out.release()
+        print(f"  ✓ Video saved to {output_path} ({len(image_files)} frames)")
+        return True
+        
+    except Exception as e:
+        print(f"  Error: Failed to create video - {str(e)}")
+        return False
+
+
+def process_replay_folder(replay_folder: Path, output_dir: Path, fps: int = 30, 
+                          depth_format: str = 'png', rgb_format: str = 'jpg') -> List[Tuple[str, bool]]:
+    """
+    Process a single replay folder to generate videos for depth and rgb images.
+    
+    Args:
+        replay_folder: Path to the replay folder
+        output_dir: Directory where output videos will be saved
+        fps: Frames per second for output videos
+        depth_format: Image format for depth images
+        rgb_format: Image format for RGB images
+    
+    Returns:
+        List of tuples containing (video_name, success_status)
+    """
+    results = []
+    folder_name = replay_folder.name
+    
+    # Define the image directories to process with their respective formats
+    image_dirs = [
+        ('state/depth/robot.front_camera.left.depth_image', f'{folder_name}_depth.mp4', depth_format),
+        ('state/rgb/robot.front_camera.left.rgb_image', f'{folder_name}_rgb.mp4', rgb_format),
+    ]
+    
+    for relative_path, output_filename, img_format in image_dirs:
+        image_dir = replay_folder / relative_path
+        
+        if not image_dir.exists():
+            print(f"  Warning: Directory not found: {image_dir}")
+            results.append((output_filename, False))
+            continue
+        
+        output_path = output_dir / output_filename
+        print(f"  Processing: {relative_path}")
+        success = convert_images_to_video(image_dir, output_path, fps, img_format)
+        results.append((output_filename, success))
+    
+    return results
+
+
+def main():
+    parser = argparse.ArgumentParser(
+        description='Batch convert image sequences to videos from replay folders',
+        formatter_class=argparse.RawDescriptionHelpFormatter,
+        epilog="""
+Example usage:
+  python3 batch_images_to_video.py ~/MobilityGenData/replays
+  python3 batch_images_to_video.py ~/MobilityGenData/replays --output-dir /path/to/videos
+  python3 batch_images_to_video.py ~/MobilityGenData/replays --fps 60
+  python3 batch_images_to_video.py ~/MobilityGenData/replays --depth-format png --rgb-format jpg
+        """
+    )
+    parser.add_argument('replays_dir', type=str, 
+                       help='Base directory containing replay folders')
+    parser.add_argument('--output-dir', type=str, default=None,
+                       help='Directory where output videos will be saved (default: replays_dir/videos)')
+    parser.add_argument('--fps', type=int, default=30, 
+                       help='Frames per second for output videos (default: 30)')
+    parser.add_argument('--depth-format', type=str, default='png', choices=['png', 'jpg'],
+                       help='Image format for depth images (default: png)')
+    parser.add_argument('--rgb-format', type=str, default='jpg', choices=['png', 'jpg'],
+                       help='Image format for RGB images (default: jpg)')
+    args = parser.parse_args()
+
+    replays_dir = Path(args.replays_dir)
+    
+    if not replays_dir.exists():
+        raise ValueError(f"Replays directory not found: {replays_dir}")
+    
+    # Set output directory
+    if args.output_dir:
+        output_dir = Path(args.output_dir)
+    else:
+        output_dir = replays_dir / 'videos'
+    
+    output_dir.mkdir(parents=True, exist_ok=True)
+    print(f"Output directory: {output_dir}")
+    print(f"FPS: {args.fps}")
+    print(f"Depth format: {args.depth_format.upper()}, RGB format: {args.rgb_format.upper()}\n")
+    
+    # Get all subdirectories in the replays directory
+    replay_folders = sorted([d for d in replays_dir.iterdir() if d.is_dir() and d.name != 'videos'])
+    
+    if not replay_folders:
+        print(f"No subdirectories found in {replays_dir}")
+        return
+    
+    print(f"Found {len(replay_folders)} replay folder(s) to process\n")
+    
+    # Process each replay folder
+    all_results = []
+    for i, replay_folder in enumerate(replay_folders, 1):
+        print(f"[{i}/{len(replay_folders)}] Processing: {replay_folder.name}")
+        results = process_replay_folder(replay_folder, output_dir, args.fps, args.depth_format, args.rgb_format)
+        all_results.extend(results)
+        print()
+    
+    # Print summary
+    print("=" * 60)
+    print("SUMMARY")
+    print("=" * 60)
+    successful = sum(1 for _, success in all_results if success)
+    total = len(all_results)
+    print(f"Successfully created: {successful}/{total} videos")
+    print(f"Output directory: {output_dir}")
+    
+    if successful < total:
+        print("\nFailed conversions:")
+        for video_name, success in all_results:
+            if not success:
+                print(f"  - {video_name}")
+
+
+if __name__ == "__main__":
+    main()
+