diff --git a/.gitattributes b/.gitattributes
index 28df5f900b358436f0267334b3e3e9af33f917ba..41780d4347ebc0aadef89a3b934c2eed162b3599 100644
--- a/.gitattributes
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diff --git a/CC-BY-4.0 b/CC-BY-4.0
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index 0000000000000000000000000000000000000000..2f244ac814036ecd9ba9f69782e89ce6b1dca9eb
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diff --git a/dataset_info.json b/dataset_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8961445f53ef3035e78b04326594ee04eecc70e
--- /dev/null
+++ b/dataset_info.json
@@ -0,0 +1,2066 @@
+{
+  "fileFormat": "tfrecord",
+  "moduleName": "__main__",
+  "name": "r2d2_faceblur",
+  "releaseNotes": {
+    "0.0.1": "Initial release."
+  },
+  "splits": [
+    {
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+  "version": "1.4.0"
+}
\ No newline at end of file
diff --git a/features.json b/features.json
new file mode 100644
index 0000000000000000000000000000000000000000..35d8fb0893a4bb360b90c8914617eb4c1a3dc399
--- /dev/null
+++ b/features.json
@@ -0,0 +1,303 @@
+{
+    "featuresDict": {
+        "features": {
+            "episode_metadata": {
+                "featuresDict": {
+                    "features": {
+                        "file_path": {
+                            "description": "Path to the original data file.",
+                            "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                            "tensor": {
+                                "dtype": "string",
+                                "encoding": "none",
+                                "shape": {}
+                            }
+                        },
+                        "recording_folderpath": {
+                            "description": "Path to the folder of recordings.",
+                            "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                            "tensor": {
+                                "dtype": "string",
+                                "encoding": "none",
+                                "shape": {}
+                            }
+                        }
+                    }
+                },
+                "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict"
+            },
+            "steps": {
+                "pythonClassName": "tensorflow_datasets.core.features.dataset_feature.Dataset",
+                "sequence": {
+                    "feature": {
+                        "featuresDict": {
+                            "features": {
+                                "action": {
+                                    "description": "Robot action, consists of [6x joint velocities, 1x gripper position].",
+                                    "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                    "tensor": {
+                                        "dtype": "float64",
+                                        "encoding": "none",
+                                        "shape": {
+                                            "dimensions": [
+                                                "7"
+                                            ]
+                                        }
+                                    }
+                                },
+                                "action_dict": {
+                                    "featuresDict": {
+                                        "features": {
+                                            "cartesian_position": {
+                                                "description": "Commanded Cartesian position",
+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                                "tensor": {
+                                                    "dtype": "float64",
+                                                    "encoding": "none",
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "6"
+                                                        ]
+                                                    }
+                                                }
+                                            },
+                                            "cartesian_velocity": {
+                                                "description": "Commanded Cartesian velocity",
+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                                "tensor": {
+                                                    "dtype": "float64",
+                                                    "encoding": "none",
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "6"
+                                                        ]
+                                                    }
+                                                }
+                                            },
+                                            "gripper_position": {
+                                                "description": "Commanded gripper position",
+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                                "tensor": {
+                                                    "dtype": "float64",
+                                                    "encoding": "none",
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "1"
+                                                        ]
+                                                    }
+                                                }
+                                            },
+                                            "gripper_velocity": {
+                                                "description": "Commanded gripper velocity",
+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                                "tensor": {
+                                                    "dtype": "float64",
+                                                    "encoding": "none",
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "1"
+                                                        ]
+                                                    }
+                                                }
+                                            },
+                                            "joint_position": {
+                                                "description": "Commanded joint position",
+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                                "tensor": {
+                                                    "dtype": "float64",
+                                                    "encoding": "none",
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "7"
+                                                        ]
+                                                    }
+                                                }
+                                            },
+                                            "joint_velocity": {
+                                                "description": "Commanded joint velocity",
+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                                "tensor": {
+                                                    "dtype": "float64",
+                                                    "encoding": "none",
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "7"
+                                                        ]
+                                                    }
+                                                }
+                                            }
+                                        }
+                                    },
+                                    "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict"
+                                },
+                                "discount": {
+                                    "description": "Discount if provided, default to 1.",
+                                    "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
+                                    "tensor": {
+                                        "dtype": "float32",
+                                        "encoding": "none",
+                                        "shape": {}
+                                    }
+                                },
+                                "is_first": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                    "tensor": {
+                                        "dtype": "bool",
+                                        "encoding": "none",
+                                        "shape": {}
+                                    }
+                                },
+                                "is_last": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                    "tensor": {
+                                        "dtype": "bool",
+                                        "encoding": "none",
+                                        "shape": {}
+                                    }
+                                },
+                                "is_terminal": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                    "tensor": {
+                                        "dtype": "bool",
+                                        "encoding": "none",
+                                        "shape": {}
+                                    }
+                                },
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+                                        "dtype": "string",
+                                        "encoding": "none",
+                                        "shape": {}
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+                                },
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+                                    "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                    "tensor": {
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+                                        "encoding": "none",
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+                                },
+                                "language_instruction_3": {
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+                                    "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                    "tensor": {
+                                        "dtype": "string",
+                                        "encoding": "none",
+                                        "shape": {}
+                                    }
+                                },
+                                "observation": {
+                                    "featuresDict": {
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+                                            "cartesian_position": {
+                                                "description": "Robot Cartesian state",
+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                                "tensor": {
+                                                    "dtype": "float64",
+                                                    "encoding": "none",
+                                                    "shape": {
+                                                        "dimensions": [
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+                                                        ]
+                                                    }
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+                                            },
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+                                                "description": "Exterior camera 1 left viewpoint",
+                                                "image": {
+                                                    "dtype": "uint8",
+                                                    "encodingFormat": "jpeg",
+                                                    "shape": {
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+                                                            "180",
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+                                                        ]
+                                                    }
+                                                },
+                                                "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image"
+                                            },
+                                            "exterior_image_2_left": {
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+                                                    "dtype": "uint8",
+                                                    "encodingFormat": "jpeg",
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+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                                "tensor": {
+                                                    "dtype": "float64",
+                                                    "encoding": "none",
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "1"
+                                                        ]
+                                                    }
+                                                }
+                                            },
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+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                                "tensor": {
+                                                    "dtype": "float64",
+                                                    "encoding": "none",
+                                                    "shape": {
+                                                        "dimensions": [
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+                                                        ]
+                                                    }
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+                                },
+                                "reward": {
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+                                        "dtype": "float32",
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+                                    }
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+                    "length": "-1"
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+}
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