diff --git a/.gitattributes b/.gitattributes
index 1fdb41b1dd4f6f563ecaea280cd0cf0e4b869217..58040586b38971b144b308086f623c5bc23f69da 100644
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diff --git a/fmb/0.0.1/dataset_info.json b/fmb/0.0.1/dataset_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..60966db68ac6f2e516cae402030a3312fd2ac521
--- /dev/null
+++ b/fmb/0.0.1/dataset_info.json
@@ -0,0 +1,2064 @@
+{
+  "description": "Our dataset consists of objects in diverse appearance and geometry. It requires multi-stage and multi-modal fine motor skills to successfully assemble the pegs onto a unfixed board in a randomized scene. We collected a total of 22,550 trajectories across two different tasks on a Franka Panda arm. We record the trajectories from 2 global views and 2 wrist views. Each view contains both RGB and depth map.",
+  "fileFormat": "tfrecord",
+  "moduleName": "rlds_dataset_mod.multithreaded_adhoc_tfds_builder",
+  "name": "fmb",
+  "splits": [
+    {
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+      "name": "train",
+      "numBytes": "1285871549865",
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diff --git a/fmb/0.0.1/features.json b/fmb/0.0.1/features.json
new file mode 100644
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+{
+    "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
+    "featuresDict": {
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+                "sequence": {
+                    "feature": {
+                        "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
+                        "featuresDict": {
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+                                    "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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+                                        "encoding": "none"
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+                                                "512"
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+                                        },
+                                        "dtype": "float32",
+                                        "encoding": "none"
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+                                },
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+                                    "tensor": {
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+                                        "dtype": "float32",
+                                        "encoding": "none"
+                                    }
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+                                        "encoding": "none"
+                                    }
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+                                                "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
+                                                "tensor": {
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+                                                    "dtype": "uint8",
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+                                                    "shape": {},
+                                                    "dtype": "string",
+                                                    "encoding": "none"
+                                                }
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+                                                        ]
+                                                    },
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+                                                    "encoding": "none"
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+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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+                                                    "shape": {
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+                                                            "256",
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+                                                        ]
+                                                    },
+                                                    "dtype": "float32",
+                                                    "encoding": "none"
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+                                                        ]
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+                                                    "encoding": "none"
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+                                                "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
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+            "episode_metadata": {
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+                            "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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+                                "dtype": "string",
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+                        "episode_language_instruction": {
+                            "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                            "tensor": {
+                                "shape": {},
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+                        "episode_language_embedding": {
+                            "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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+                            }
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+                }
+            }
+        }
+    }
+}
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