diff --git a/pyrobolearn/storages/er.py b/pyrobolearn/storages/er.py
index 9617f82..8bbc402 100644
--- a/pyrobolearn/storages/er.py
+++ b/pyrobolearn/storages/er.py
@@ -344,6 +344,21 @@ class ExperienceReplay(DictStorage):  # ExperienceReplayStorage(DictStorage):
             self.full = True
             self.position = self.position % self.capacity
 
+    def add_trajectory(self, trajectory, **kwargs):
+        r"""
+        Add a trajectory/rollout [(s_t, a_t, s_{t+1}, r_t, d_t)]_{t=1}^T in the storage. This calls in for-loop the
+        `insert` method.
+
+        Args:
+            trajectory (list of dict): trajectory represented as a list of dictionaries where each dictionary contains
+                a transition tuple (s_t, a_t, s_{t+1}, r_t, d_t), and thus has at least the following key: `states`,
+                `actions`, `next_states`, `reward`, `mask`.
+            **kwargs (dict): kwargs
+        """
+        # insert each step in the trajectory into the storage
+        for step in trajectory:
+            self.insert(**step)
+
     def get_batch(self, indices):
         """Return a batch of the experience replay storage in the form of a `DictStorage`.
 
diff --git a/pyrobolearn/storages/storage.py b/pyrobolearn/storages/storage.py
index d6b5fd1..139da19 100644
--- a/pyrobolearn/storages/storage.py
+++ b/pyrobolearn/storages/storage.py
@@ -1002,6 +1002,25 @@ class RolloutStorage(DictStorage):  # TODO: think about when multiple policies:
         if update_step:
             self.step()
 
+    def add_trajectory(self, trajectory, rollout_idx=0):
+        r"""
+        Add a trajectory/rollout [(s_t, a_t, s_{t+1}, r_t, d_t)]_{t=1}^T in the storage. This calls in for-loop the
+        `insert` method.
+
+        Args:
+            trajectory (list of dict): trajectory represented as a list of dictionaries where each dictionary contains
+                a transition tuple (s_t, a_t, s_{t+1}, r_t, d_t), and thus has at least the following key: `states`,
+                `actions`, `next_states`, `reward`, `mask`.
+            rollout_idx (int, torch.tensor, np.array, list): trajectory/rollout index(ices). This index must be below
+                `self.num_trajectories`.
+        """
+        # insert each step in the trajectory into the storage
+        for step in trajectory:
+            self.insert(rollout_idx=rollout_idx, **step)
+
+        # fill remaining mask values to be 0 (because the episode is done)
+        self.end(rollout_idx=rollout_idx)
+
     def get_batch(self, indices):
         """Return a batch of the Rollout storage in the form of a `DictStorage`.