diff --git a/.gitattributes b/.gitattributes
index 1ef325f1b111266a6b26e0196871bd78baa8c2f3..3091f2e27e8a3056c66791469fea4285f28b4e7f 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -57,3 +57,67 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+overall_sim_v1-train.tfrecord-00000-of-00064 filter=lfs diff=lfs merge=lfs -text
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diff --git a/dataset_info.json b/dataset_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..806d8a90775e0d5c3556590ff3a43bbc1a2672da
--- /dev/null
+++ b/dataset_info.json
@@ -0,0 +1,84 @@
+{
+  "citation": "// Dataset Citation: WIP",
+  "description": "Dataset Description: WIP",
+  "fileFormat": "tfrecord",
+  "moduleName": "overall_sim_v1.overall_sim_v1_dataset_builder",
+  "name": "overall_sim_v1",
+  "releaseNotes": {
+    "1.0.0": "assembly(base:88, color1:15, color2:15, shadow:20, obj1:30, obj2:29, obj3:30, tot_assembly:227), polish(base:100, color1:15, color2:15, obj1:30, obj2:30, obj3:30, obj4:30, tot_polish:250)"
+  },
+  "splits": [
+    {
+      "filepathTemplate": "{DATASET}-{SPLIT}.{FILEFORMAT}-{SHARD_X_OF_Y}",
+      "name": "train",
+      "numBytes": "8192778267",
+      "shardLengths": [
+        "7",
+        "8",
+        "7",
+        "8",
+        "7",
+        "8",
+        "7",
+        "8",
+        "7",
+        "8",
+        "7",
+        "7",
+        "8",
+        "7",
+        "8",
+        "7",
+        "8",
+        "7",
+        "8",
+        "7",
+        "8",
+        "7",
+        "7",
+        "8",
+        "7",
+        "8",
+        "7",
+        "8",
+        "7",
+        "8",
+        "7",
+        "7",
+        "8",
+        "7",
+        "8",
+        "7",
+        "8",
+        "7",
+        "8",
+        "7",
+        "8",
+        "7",
+        "7",
+        "8",
+        "7",
+        "8",
+        "7",
+        "8",
+        "7",
+        "8",
+        "7",
+        "8",
+        "7",
+        "7",
+        "8",
+        "7",
+        "8",
+        "7",
+        "8",
+        "7",
+        "8",
+        "7",
+        "8",
+        "7"
+      ]
+    }
+  ],
+  "version": "1.0.0"
+}
\ No newline at end of file
diff --git a/features.json b/features.json
new file mode 100644
index 0000000000000000000000000000000000000000..b753d1e678ffdbf61049e3bd4a852ab402329679
--- /dev/null
+++ b/features.json
@@ -0,0 +1,143 @@
+{
+    "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": {
+                                "action": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                    "tensor": {
+                                        "shape": {
+                                            "dimensions": [
+                                                "7"
+                                            ]
+                                        },
+                                        "dtype": "float32",
+                                        "encoding": "none"
+                                    },
+                                    "description": "Action consists of [3x robot delta displacements, 3x delta rotations, and gripper closedness action]."
+                                },
+                                "natural_language_instruction": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
+                                    "text": {},
+                                    "description": "Language Instruction."
+                                },
+                                "is_terminal": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
+                                    "tensor": {
+                                        "shape": {},
+                                        "dtype": "bool",
+                                        "encoding": "none"
+                                    },
+                                    "description": "True on the last step of the episode if it is a terminal step, True for demos."
+                                },
+                                "is_last": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
+                                    "tensor": {
+                                        "shape": {},
+                                        "dtype": "bool",
+                                        "encoding": "none"
+                                    },
+                                    "description": "True on the last step of the episode."
+                                },
+                                "natural_language_embedding": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                    "tensor": {
+                                        "shape": {
+                                            "dimensions": [
+                                                "512"
+                                            ]
+                                        },
+                                        "dtype": "float32",
+                                        "encoding": "none"
+                                    },
+                                    "description": "Kona language embedding. See https://tfhub.dev/google/universal-sentence-encoder-large/5"
+                                },
+                                "observation": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
+                                    "featuresDict": {
+                                        "features": {
+                                            "image_front": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image",
+                                                "image": {
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "224",
+                                                            "224",
+                                                            "3"
+                                                        ]
+                                                    },
+                                                    "dtype": "uint8",
+                                                    "encodingFormat": "png"
+                                                },
+                                                "description": "Main camera RGB observation."
+                                            },
+                                            "state": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                                "tensor": {
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "8"
+                                                        ]
+                                                    },
+                                                    "dtype": "float32",
+                                                    "encoding": "none"
+                                                },
+                                                "description": "Robot state, consists of [3x position, 4x quaternion, and gripper closedness]."
+                                            }
+                                        }
+                                    }
+                                },
+                                "is_first": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
+                                    "tensor": {
+                                        "shape": {},
+                                        "dtype": "bool",
+                                        "encoding": "none"
+                                    },
+                                    "description": "True on the first step of the episode."
+                                },
+                                "discount": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
+                                    "tensor": {
+                                        "shape": {},
+                                        "dtype": "float32",
+                                        "encoding": "none"
+                                    },
+                                    "description": "Discount if provided, default to 1."
+                                },
+                                "reward": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
+                                    "tensor": {
+                                        "shape": {},
+                                        "dtype": "float32",
+                                        "encoding": "none"
+                                    },
+                                    "description": "Reward if provided, 1 on final step for demos."
+                                }
+                            }
+                        }
+                    },
+                    "length": "-1"
+                }
+            },
+            "episode_metadata": {
+                "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
+                "featuresDict": {
+                    "features": {
+                        "file_path": {
+                            "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
+                            "text": {},
+                            "description": "Path to the original data file."
+                        }
+                    }
+                }
+            }
+        }
+    }
+}
\ No newline at end of file
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new file mode 100644
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