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diff --git a/toto/0.1.0/dataset_info.json b/toto/0.1.0/dataset_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..2199cf149a1aa29f9bb824bfb97f0e6e55b3a709
--- /dev/null
+++ b/toto/0.1.0/dataset_info.json
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+{
+  "description": "Franka scooping and pouring tasks",
+  "fileFormat": "tfrecord",
+  "moduleName": "rlds_dataset_mod.multithreaded_adhoc_tfds_builder",
+  "name": "toto",
+  "splits": [
+    {
+      "filepathTemplate": "{DATASET}-{SPLIT}.{FILEFORMAT}-{SHARD_X_OF_Y}",
+      "name": "train",
+      "numBytes": "9989492225",
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+    {
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+      "name": "test",
+      "numBytes": "1064163402",
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diff --git a/toto/0.1.0/features.json b/toto/0.1.0/features.json
new file mode 100644
index 0000000000000000000000000000000000000000..20003185ac1a4310a4ec4880bca0346b1e673ea6
--- /dev/null
+++ b/toto/0.1.0/features.json
@@ -0,0 +1,153 @@
+{
+    "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
+    "featuresDict": {
+        "features": {
+            "steps": {
+                "pythonClassName": "tensorflow_datasets.core.features.dataset_feature.Dataset",
+                "sequence": {
+                    "feature": {
+                        "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
+                        "featuresDict": {
+                            "features": {
+                                "observation": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
+                                    "featuresDict": {
+                                        "features": {
+                                            "image": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image",
+                                                "image": {
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "256",
+                                                            "256",
+                                                            "3"
+                                                        ]
+                                                    },
+                                                    "dtype": "uint8",
+                                                    "encodingFormat": "jpeg"
+                                                }
+                                            },
+                                            "state": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                                "tensor": {
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "7"
+                                                        ]
+                                                    },
+                                                    "dtype": "float32",
+                                                    "encoding": "none"
+                                                },
+                                                "description": "numpy array of shape (7,). Contains the robot joint states (as absolute joint angles) at each timestep"
+                                            },
+                                            "natural_language_instruction": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                                "tensor": {
+                                                    "shape": {},
+                                                    "dtype": "string",
+                                                    "encoding": "none"
+                                                }
+                                            },
+                                            "natural_language_embedding": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                                "tensor": {
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "512"
+                                                        ]
+                                                    },
+                                                    "dtype": "float32",
+                                                    "encoding": "none"
+                                                }
+                                            }
+                                        }
+                                    }
+                                },
+                                "reward": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
+                                    "tensor": {
+                                        "shape": {},
+                                        "dtype": "float32",
+                                        "encoding": "none"
+                                    }
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