diff --git a/.config/metadata.json b/.config/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..da91de1ce20a80bd2c1b4700f1b90ddce39acaa4
--- /dev/null
+++ b/.config/metadata.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/.gitattributes b/.gitattributes
index bed0738c7eeb449bca98b5d2f33c89a1ee56349a..415a15200527da83380746b1eac447f491a6f89e 100644
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diff --git a/README.md b/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..587e2a1388cf1ce92ef2e633420e6df02bd83231
--- /dev/null
+++ b/README.md
@@ -0,0 +1,143 @@
+---
+license: apache-2.0
+task_categories:
+  - robotics
+tags:
+  - RLDS
+  - Open-X-Embodiment
+  - TFDS
+  - dexbench
+  - dexterous-manipulation
+pretty_name: DexBench (RLDS)
+size_categories:
+  - 100K<n<1M
+configs:
+  - config_name: single
+    data_files: "single/1.0.0/dexbench_rlds-train.tfrecord-*"
+  - config_name: bimanual
+    data_files: "bimanual/1.0.0/dexbench_rlds-train.tfrecord-*"
+---
+
+# DexBench (RLDS)
+
+DexBench dexterous manipulation demonstrations replayed through Isaac Lab, packaged as **Open-X-Embodiment-style RLDS / TFDS** datasets. Each frame: third-person + wrist RGB at 256×256, proprioception, joint-space action, and a natural-language instruction.
+
+This repo contains **two variants** as sibling subdirectories — same source data + recording pipeline, different robot embodiments → separate TFDS configs:
+
+| variant | episodes | tasks | action / state dim | wrist cameras | TFDS name |
+|---|---|---|---|---|---|
+| **[single](./single)** | 735 | 15 | 28 | `wrist_image` | `dexbench_rlds/single` |
+| **[bimanual](./bimanual)** | 746 | 9 | 56 | `left_wrist_image` + `right_wrist_image` | `dexbench_rlds/bimanual` |
+
+Total: 1,481 episodes, ~585k frames, 30 fps, 256×256 RGB.
+
+**Per-episode visual randomization is disabled** — the HDRI background and table texture are fixed across all episodes for visually stable demonstrations.
+
+## Feature schema
+
+Both variants share the same Open-X-Embodiment step structure. Image/state/action shapes vary by variant.
+
+```
+FeaturesDict({
+    'episode_metadata': FeaturesDict({
+        'file_path': Text(),
+        'task': Text(),
+    }),
+    'steps': Dataset({
+        'observation': FeaturesDict({
+            'image':              Image((256, 256, 3), uint8),    # third-person
+            'wrist_image':        Image((256, 256, 3), uint8),    # single only
+            'left_wrist_image':   Image((256, 256, 3), uint8),    # bimanual only
+            'right_wrist_image':  Image((256, 256, 3), uint8),    # bimanual only
+            'state':              Tensor((28 | 56,), float32),
+        }),
+        'action':               Tensor((28 | 56,), float32),
+        'discount':             Scalar(float32),                  # always 1.0
+        'reward':               Scalar(float32),                  # 1.0 on terminal success step, else 0.0
+        'is_first':             Scalar(bool),
+        'is_last':              Scalar(bool),
+        'is_terminal':          Scalar(bool),
+        'language_instruction': Text(),
+    }),
+})
+```
+
+## Usage
+
+The repo layout matches the TFDS data_dir convention. Clone the full repo, then load with `tensorflow_datasets`:
+
+```bash
+mkdir -p ~/data/dexbench_rlds
+hf download dexbench/rlds --repo-type dataset --local-dir ~/data/dexbench_rlds
+# After: ~/data/dexbench_rlds/{single,bimanual}/1.0.0/*.tfrecord-NNNNN-of-NNNNN
+```
+
+```python
+import tensorflow_datasets as tfds
+
+# Single-hand variant
+ds_s = tfds.builder("dexbench_rlds/single",   data_dir="~/data").as_dataset(split="train")
+# Bimanual variant
+ds_b = tfds.builder("dexbench_rlds/bimanual", data_dir="~/data").as_dataset(split="train")
+
+for ep in ds_s.take(1):
+    print(ep["episode_metadata"]["task"].numpy().decode())
+    for step in ep["steps"].take(1):
+        img    = step["observation"]["image"]         # (256, 256, 3) uint8
+        state  = step["observation"]["state"]         # (28,) float32
+        action = step["action"]                       # (28,) float32
+        instr  = step["language_instruction"].numpy().decode()
+```
+
+## Tasks
+
+### Single-hand (15)
+
+| `task_index` | task identifier                            | language instruction                          |
+| ------------ | ------------------------------------------ | --------------------------------------------- |
+| 0            | Dexbench-OpenFaucet-v0                     | "open the faucet"                             |
+| 1            | Dexbench-FunctionalDrillApply-v0           | "operate the power drill"                     |
+| 2            | Dexbench-FunctionalHammerStrike-v0         | "strike the nail with the hammer"             |
+| 3            | Dexbench-FunctionalPourCan-v0              | "pour from the can"                           |
+| 4            | Dexbench-FunctionalPourMug-v0              | "pour from the mug"                           |
+| 5            | Dexbench-PivotLargeCuboidAgainstWall-v0    | "pivot the large cuboid against the wall"     |
+| 6            | Dexbench-TakeBookOffShelf-v0               | "take the book off the shelf"                 |
+| 7            | Dexbench-GraspBleach-v0                    | "grasp the bleach bottle"                     |
+| 8            | Dexbench-GraspCup-v0                       | "grasp the cup"                               |
+| 9            | Dexbench-GraspKettle-v0                    | "grasp the kettle"                            |
+| 10           | Dexbench-GraspPan-v0                       | "grasp the pan"                               |
+| 11           | Dexbench-PickThinObjectFromContainer-v0    | "pick the thin object out of the container"   |
+| 12           | Dexbench-GearMesh-v0                       | "mesh the gears together"                     |
+| 13           | Dexbench-InsertPeg-v0                      | "insert the peg into the hole"                |
+| 14           | Dexbench-PlugCharger-v0                    | "plug the charger into the receptacle"        |
+
+### Bimanual (9)
+
+| `task_index` | task identifier                                    | language instruction                |
+| ------------ | -------------------------------------------------- | ----------------------------------- |
+| 0            | Dexbench-FixateThenManipulate-LiftBasketHandle-v0  | "lift the basket by its handle"     |
+| 1            | Dexbench-FixateThenManipulate-OpenFlatFolder-v0    | "open the flat folder"              |
+| 2            | Dexbench-FixateThenManipulate-OpenHuaweiPhone-v0   | "open the phone case"               |
+| 3            | Dexbench-FixateThenManipulate-OpenLaptop-v0        | "open the laptop"                   |
+| 4            | Dexbench-FixateThenManipulate-OpenStapler-v0       | "open the stapler"                  |
+| 5            | Dexbench-FixateThenManipulate-SlideUtilityKnife-v0 | "slide out the utility knife blade" |
+| 6            | Dexbench-FixateThenManipulate-SqueezeScissors-v0   | "squeeze the scissors"              |
+| 7            | Dexbench-BimanualLiftBasket-v0                     | "lift the basket with both hands"   |
+| 8            | Dexbench-BimanualLiftTray-v0                       | "lift the tray with both hands"     |
+
+Some bimanual tasks have condition variants (`_lose_startup`, `_onthetable`) merged under the base task id.
+
+## LeRobot mirror
+
+The same source data is also released as LeRobot v2.1 datasets, useful if you prefer that loader:
+
+- **[dexbench/single-lerobot](https://huggingface.co/datasets/dexbench/single-lerobot)** — single-hand
+- **[dexbench/bimanual-lerobot](https://huggingface.co/datasets/dexbench/bimanual-lerobot)** — bimanual
+
+## Source
+
+Replayed from teleop trajectory pickles in the gated [`dexbench/DexBench_dataset`](https://huggingface.co/datasets/dexbench/DexBench_dataset) repo using DexBench's `scripts/create_demo_files_sequential.py` (one Isaac Sim env per task, episodes replayed serially within the env, per-episode HDRI / table-texture randomizers disabled). Then converted with `scripts/convert_to_rlds.py` (jpeg-in-tfrecord).
+
+## License
+
+Apache-2.0. Defers to upstream DexBench terms for the underlying assets and teleop data.
diff --git a/bimanual/1.0.0/dataset_info.json b/bimanual/1.0.0/dataset_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..3038bef958e7403d583485a489e4b097148bba72
--- /dev/null
+++ b/bimanual/1.0.0/dataset_info.json
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+{
+  "configDescription": "Bimanual subset (56d action/state, third_person + left/right wrist).",
+  "configName": "bimanual",
+  "description": "DexBench dexterous manipulation demonstrations replayed through Isaac Lab. Open-X-Embodiment-style RLDS. Each frame: third-person RGB + wrist RGB(s) at 256x256 @ 30 fps, proprioceptive joint state, joint-space action, and a natural-language task instruction.",
+  "fileFormat": "tfrecord",
+  "location": {
+    "urls": [
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+    ]
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+  "moduleName": "__main__",
+  "name": "dexbench_rlds",
+  "releaseNotes": {
+    "1.0.0": "Initial release."
+  },
+  "splits": [
+    {
+      "filepathTemplate": "{DATASET}-{SPLIT}.{FILEFORMAT}-{SHARD_X_OF_Y}",
+      "name": "train",
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+  "description": "DexBench dexterous manipulation demonstrations replayed through Isaac Lab. Open-X-Embodiment-style RLDS. Each frame: third-person RGB + wrist RGB(s) at 256x256 @ 30 fps, proprioceptive joint state, joint-space action, and a natural-language task instruction.",
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