diff --git a/dataaug_platform/__init__.py b/dataaug_platform/__init__.py
index 52c1281..129770c 100644
--- a/dataaug_platform/__init__.py
+++ b/dataaug_platform/__init__.py
@@ -7,18 +7,24 @@
     local_aug,
     global_aug,
 )
-from .pipeline import Pipeline
+from .dataset import SparkIterableDataset
 from .ingestion import load_hdf5_group, hdf5_to_rdd, read_hdf5_metadata, write_trajectories_to_hdf5
+from .pipeline import Pipeline
 
 __all__ = [
+    # augmentation
     "Augmentation",
     "local_aug",
     "global_aug",
-    "Pipeline",
+    # dataset
+    "SparkIterableDataset",
+    # ingestion
     "load_hdf5_group",
     "hdf5_to_rdd",
     "read_hdf5_metadata",
     "write_trajectories_to_hdf5",
+    # Pipeline
+    "Pipeline",
 ]
 
 # Optional imports - only available if mimicgen dependencies are installed
diff --git a/dataaug_platform/dataset.py b/dataaug_platform/dataset.py
new file mode 100644
index 0000000..c5ccde5
--- /dev/null
+++ b/dataaug_platform/dataset.py
@@ -0,0 +1,52 @@
+import torch
+from torch.utils.data import IterableDataset
+
+from .pipeline import Pipeline
+
+class SparkIterableDataset(IterableDataset):
+    def __init__(
+        self,
+        spark_pipeline: Pipeline,
+        to_tensor: bool = True,
+        infinite: bool = False,
+    ):
+        super().__init__()
+        self.spark_pipeline = spark_pipeline
+        self.to_tensor = to_tensor
+        self.infinite = infinite
+
+    def _convert(self, item):
+        """Convert Spark output item to torch.Tensor/dict-of-tensors if needed."""
+        if not self.to_tensor:
+            return item
+
+        if isinstance(item, torch.Tensor):
+            return item
+
+        if isinstance(item, dict):
+            out = {}
+            for k, v in item.items():
+                if isinstance(v, torch.Tensor):
+                    out[k] = v
+                else:
+                    out[k] = torch.tensor(v, dtype=torch.float32)
+            return out
+
+        if isinstance(item, (list, tuple)):
+            return torch.tensor(item, dtype=torch.float32)
+
+        if isinstance(item, (int, float)):
+            return torch.tensor([item], dtype=torch.float32)
+
+        return item
+
+    def __iter__(self):
+        if self.infinite:
+            while True:
+                rdd = self.spark_pipeline.run()
+                for item in rdd.toLocalIterator():
+                    yield self._convert(item)
+        else:
+            rdd = self.spark_pipeline.run()
+            for item in rdd.toLocalIterator():
+                yield self._convert(item)
\ No newline at end of file
diff --git a/dataaug_platform/pipeline.py b/dataaug_platform/pipeline.py
index bb7f54a..cc7a9f9 100644
--- a/dataaug_platform/pipeline.py
+++ b/dataaug_platform/pipeline.py
@@ -1,30 +1,82 @@
 from abc import ABC, abstractmethod
+from typing import Optional
+
 from pyspark.sql import SparkSession
-from .augmentations.base_augmentation import Augmentation
 
+from .augmentations.base_augmentation import Augmentation
 
 class Pipeline:
     """Manages a sequence of augmentations."""
 
-    def __init__(self, spark=None):
+    def __init__(self, spark: Optional[SparkSession] = None):
         self.spark = (
             spark or SparkSession.builder.appName("TrajectoryPipeline").getOrCreate()
         )
         self.augmentations = []
+        self._base_rdd = None  # stored input RDD (for set_data-style use)
+
+    def __enter__(self):
+        return self
 
-    def add(self, aug: Augmentation):
+    def __exit__(self, exc_type, exc_val, exc_tb):
+        if self.spark is not None:
+            self.spark.stop()
+
+    def add(self, aug: "Augmentation"):
         """Add an augmentation to the pipeline."""
         self.augmentations.append(aug)
         return self  # enable chaining
 
-    def run(self, data):
-        """Run all augmentations sequentially."""
+    def set_data(self, data, cache=False):
+        """
+        Set the base data for the pipeline.
+
+        `data` can be a Python list or an existing RDD.
+        If `cache=True`, the RDD will be cached in memory.
+        """
         sc = self.spark.sparkContext
-        if not hasattr(data, "context"):  # convert list ? RDD if needed
+
+        # list / iterable -> parallelize, RDD -> keep
+        if hasattr(data, "context"):  # looks like an RDD
+            rdd = data
+        else:
             rdd = sc.parallelize(data)
+
+        if cache:
+            rdd = rdd.cache()
+
+        self._base_rdd = rdd
+        return self
+
+    def run(self, data=None, use_stored_if_no_data=True):
+        """
+        Run all augmentations sequentially.
+
+        - If `data` is provided:
+            behaves like the old version: converts list -> RDD if needed, does NOT
+            modify the stored base data.
+        - If `data` is None and `use_stored_if_no_data` is True:
+            uses the RDD set via `set_data(...)`.
+        """
+        sc = self.spark.sparkContext
+
+        if data is not None:
+            # old behavior: convert to RDD if needed
+            if hasattr(data, "context"):  # RDD
+                rdd = data
+            else:  # list / iterable
+                rdd = sc.parallelize(data)
         else:
-            rdd = data
+            if not use_stored_if_no_data:
+                raise ValueError("No data passed to run() and use_stored_if_no_data=False.")
+            if self._base_rdd is None:
+                raise ValueError(
+                    "No data passed to run() and no data set via set_data(). "
+                    "Call run(data=...) or set_data(...) first."
+                )
+            rdd = self._base_rdd
 
+        # apply augmentations
         for aug in self.augmentations:
             rdd = aug._apply_rdd(rdd)
 
diff --git a/examples/explore_pytorch.py b/examples/explore_pytorch.py
new file mode 100644
index 0000000..889067c
--- /dev/null
+++ b/examples/explore_pytorch.py
@@ -0,0 +1,137 @@
+"""
+Example demonstrating how to use user-defined augmentation classes.
+
+This shows how to define augmentation classes with @local_aug and @global_aug decorators.
+"""
+
+from torch.utils.data import DataLoader
+
+from pyspark.sql import SparkSession
+from dataaug_platform import Augmentation, local_aug, global_aug, Pipeline, SparkIterableDataset
+
+
+# ============================================================================
+# Example 1: User-defined local augmentation class
+# ============================================================================
+
+class AddOffsetAugmentation(Augmentation):
+    """Add a constant offset to all numeric values."""
+    
+    def __init__(self, offset=1.0):
+        self.offset = offset
+    
+    @local_aug
+    def apply(self, traj):
+        """Process one trajectory at a time."""
+        import numpy as np
+        
+        modified = traj.copy()
+        for key, value in modified.items():
+            if isinstance(value, np.ndarray):
+                modified[key] = value + self.offset
+        return modified
+
+
+# ============================================================================
+# Example 2: User-defined global augmentation class
+# ============================================================================
+
+class AverageTrajectoriesAugmentation(Augmentation):
+    """Create a new trajectory by averaging all trajectories."""
+    
+    def __init__(self, times=1, keep_original=True):
+        """
+        Initialize the augmentation.
+        
+        Args:
+            times: Number of times to run this augmentation (default: 1).
+                   Each run processes the whole dataset and produces new trajectories.
+                   Multiple runs are parallelized using Spark.
+            keep_original: Whether to keep original trajectories in output (default: True).
+                          If False, output contains only augmented trajectories.
+        """
+        super().__init__(times=times, keep_original=keep_original)
+    
+    @global_aug
+    def apply(self, trajs):
+        """Process all trajectories together."""
+        import numpy as np
+        
+        if not trajs:
+            return []
+        
+        # Average all trajectories
+        avg_traj = {}
+        for key in trajs[0].keys():
+            values = [traj[key] for traj in trajs if key in traj]
+            if values and isinstance(values[0], np.ndarray):
+                avg_traj[key] = np.mean(values, axis=0)
+            else:
+                avg_traj[key] = values[0] if values else None
+        
+        return [avg_traj]
+
+# ============================================================================
+# Example: Using the pipeline with class-based augmentations
+# ============================================================================
+
+def example():
+    """Demonstrates the class-based augmentation style."""
+    
+    spark = SparkSession.builder.appName("AugmentationExample").getOrCreate()
+    pipeline = Pipeline(spark)
+    
+    # Add user-defined augmentation classes
+    pipeline.add(AddOffsetAugmentation(offset=2.0))
+    # Run global augmentation 3 times in parallel using Spark
+    # keep_original=True (default): output has 5 (original) + 3 (augmented) = 8 trajectories
+    pipeline.add(AverageTrajectoriesAugmentation(times=3))
+    
+    # Example with keep_original=False: output has only 5 augmented trajectories
+    # pipeline.add(AverageTrajectoriesAugmentation(times=3, keep_original=False))
+    
+    # Sample data: list of trajectory dictionaries
+    sample_data = [
+        {"x": [1, 2, 3], "y": [4, 5, 6]},
+        {"x": [2, 3, 4], "y": [5, 6, 7]},
+        {"x": [3, 4, 5], "y": [6, 7, 8]},
+        {"x": [7, 8, 9], "y": [10, 11, 12]},
+        {"x": [11, 12, 13], "y": [14, 15, 16]},
+    ]
+    
+    pipeline.set_data(sample_data)
+    
+    print("===== Finite Dataset =====")
+    spark_dataset = SparkIterableDataset(pipeline)
+
+    spark_dataloader = DataLoader(spark_dataset, batch_size=6, num_workers=1)
+
+    for i, data in enumerate(spark_dataloader):
+        print(f'[{i}] {data=}')
+
+    print("===== Infinite Dataset =====")
+    num_batches = 4
+    batch_count = 0
+
+    print(f"Iteration count {num_batches}")
+
+    spark_dataset = SparkIterableDataset(pipeline, infinite=True)
+
+    spark_dataloader = DataLoader(spark_dataset, batch_size=6, num_workers=1)
+
+    for i, data in enumerate(spark_dataloader):
+        if batch_count == num_batches:
+            print("Iteration count reached")
+            break
+
+        print(f'[{i}] {data=}')
+        batch_count += 1
+    
+    spark.stop()
+
+
+if __name__ == "__main__":
+    print("=" * 60)
+    print("Example: Class-based augmentation style")
+    print("=" * 60)
+    example()