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-{
-  "citation": "@inproceedings{\nsaxena2023multiresolution,\ntitle={Multi-Resolution Sensing for Real-Time Control with Vision-Language Models},\nauthor={Saumya Saxena and Mohit Sharma and Oliver Kroemer},\nbooktitle={7th Annual Conference on Robot Learning},\nyear={2023},\nurl={https://openreview.net/forum?id=WuBv9-IGDUA}\n}",
-  "description": "Franka picking objects and insertion tasks",
-  "fileFormat": "tfrecord",
-  "location": {
-    "urls": [
-      "https://openreview.net/forum?id=WuBv9-IGDUA"
-    ]
-  },
-  "moduleName": "rlds_dataset_mod.multithreaded_adhoc_tfds_builder",
-  "name": "iamlab_cmu_pickup_insert_converted_externally_to_rlds",
-  "releaseNotes": {
-    "0.1.0": "Initial release."
-  },
-  "splits": [
-    {
-      "filepathTemplate": "{DATASET}-{SPLIT}.{FILEFORMAT}-{SHARD_X_OF_Y}",
-      "name": "train",
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-      "shardLengths": [
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oxe/iamlab_cmu_pickup_insert_converted_externally_to_rlds/0.1.0/features.json

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-{
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-                                    "tensor": {
-                                        "shape": {},
-                                        "dtype": "float32",
-                                        "encoding": "none"
-                                    },
-                                    "description": "Reward if provided, 1 on final step for demos."
-                                },
-                                "language_embedding": {
-                                    "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
-                                    "tensor": {
-                                        "shape": {
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-                                        "dtype": "float32",
-                                        "encoding": "none"
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-                                    "description": "Kona language embedding. See https://tfhub.dev/google/universal-sentence-encoder-large/5"
-                                },
-                                "is_terminal": {
-                                    "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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-                                "is_first": {
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-                                                "description": "Robot state, consists of [7x robot joint angles, 1x gripper status, 6x joint torques, 6x end-effector force]."
-                                            }
-                                        }
-                                    }
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-                                    "tensor": {
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-                            "text": {},
-                            "description": "Path to the original data file."
-                        }
-                    }
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-        }
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-}

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