diff --git a/.gitattributes b/.gitattributes
index 28df5f900b358436f0267334b3e3e9af33f917ba..4f42eabb3068ef9ca70f9e4189626892c896490f 100644
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diff --git a/dataset_info.json b/dataset_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..60a2b70bc0eacbb03d53605f9ed366aa9aaa6173
--- /dev/null
+++ b/dataset_info.json
@@ -0,0 +1,1049 @@
+{
+  "citation": "@article{kalashnikov2018qt,\n  title={Qt-opt: Scalable deep reinforcement learning for vision-based robotic manipulation},\n  author={Kalashnikov, Dmitry and Irpan, Alex and Pastor, Peter and Ibarz, Julian and Herzog, Alexander and Jang, Eric and Quillen, Deirdre and Holly, Ethan and Kalakrishnan, Mrinal and Vanhoucke, Vincent and others},\n  journal={arXiv preprint arXiv:1806.10293},\n  year={2018}\n}",
+  "description": "Bin picking and rearrangement tasks",
+  "fileFormat": "tfrecord",
+  "location": {
+    "urls": [
+      "https://arxiv.org/abs/1806.10293"
+    ]
+  },
+  "moduleName": "tensorflow_datasets.robotics.rtx.rtx",
+  "name": "kuka",
+  "releaseNotes": {
+    "0.1.0": "Initial release."
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diff --git a/features.json b/features.json
new file mode 100644
index 0000000000000000000000000000000000000000..ebdf29846b50564e38492f95a2e51652b3585298
--- /dev/null
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+    "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": {
+                                "is_last": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                    "tensor": {
+                                        "shape": {},
+                                        "dtype": "bool",
+                                        "encoding": "none"
+                                    }
+                                },
+                                "action": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
+                                    "featuresDict": {
+                                        "features": {
+                                            "base_displacement_vertical_rotation": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                                "tensor": {
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "1"
+                                                        ]
+                                                    },
+                                                    "dtype": "float32",
+                                                    "encoding": "none"
+                                                }
+                                            },
+                                            "rotation_delta": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                                "tensor": {
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "3"
+                                                        ]
+                                                    },
+                                                    "dtype": "float32",
+                                                    "encoding": "none"
+                                                }
+                                            },
+                                            "base_displacement_vector": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                                "tensor": {
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "2"
+                                                        ]
+                                                    },
+                                                    "dtype": "float32",
+                                                    "encoding": "none"
+                                                }
+                                            },
+                                            "terminate_episode": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                                "tensor": {
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "3"
+                                                        ]
+                                                    },
+                                                    "dtype": "int32",
+                                                    "encoding": "none"
+                                                }
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+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                                "tensor": {
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "1"
+                                                        ]
+                                                    },
+                                                    "dtype": "float32",
+                                                    "encoding": "none"
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+                                            "world_vector": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "3"
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+                                                    },
+                                                    "dtype": "float32",
+                                                    "encoding": "none"
+                                                }
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+                                        }
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+                                },
+                                "is_terminal": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                    "tensor": {
+                                        "shape": {},
+                                        "dtype": "bool",
+                                        "encoding": "none"
+                                    }
+                                },
+                                "reward": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
+                                    "tensor": {
+                                        "shape": {},
+                                        "dtype": "float32",
+                                        "encoding": "none"
+                                    }
+                                },
+                                "observation": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
+                                    "featuresDict": {
+                                        "features": {
+                                            "clip_function_input/base_pose_tool_reached": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                                "tensor": {
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "7"
+                                                        ]
+                                                    },
+                                                    "dtype": "float32",
+                                                    "encoding": "zlib"
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+                                            },
+                                            "natural_language_embedding": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                                "tensor": {
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "512"
+                                                        ]
+                                                    },
+                                                    "dtype": "float32",
+                                                    "encoding": "none"
+                                                }
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+                                            "gripper_closed": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                                "tensor": {
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+                                                            "1"
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+                                                    "dtype": "float32",
+                                                    "encoding": "zlib"
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+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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+                                                    "encoding": "zlib"
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+                                            "image": {
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+                                                            "640",
+                                                            "3"
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+                                                    "dtype": "uint8",
+                                                    "encodingFormat": "jpeg"
+                                                }
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+                                            "natural_language_instruction": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                                "tensor": {
+                                                    "shape": {},
+                                                    "dtype": "string",
+                                                    "encoding": "none"
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+                                            "clip_function_input/workspace_bounds": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                                "tensor": {
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "3",
+                                                            "3"
+                                                        ]
+                                                    },
+                                                    "dtype": "float32",
+                                                    "encoding": "zlib"
+                                                }
+                                            },
+                                            "height_to_bottom": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                                "tensor": {
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "1"
+                                                        ]
+                                                    },
+                                                    "dtype": "float32",
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+                                                }
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+}
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