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index 28df5f900b358436f0267334b3e3e9af33f917ba..39596cd966f856c9d9eda5f95d8170bf561b17fc 100644
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+  "citation": "@inproceedings{\nshah2021rapid,\ntitle={{Rapid Exploration for Open-World Navigation with Latent Goal Models}},\nauthor={Dhruv Shah and Benjamin Eysenbach and Nicholas Rhinehart and Sergey Levine},\nbooktitle={5th Annual Conference on Robot Learning },\nyear={2021},\nurl={https://openreview.net/forum?id=d_SWJhyKfVw}\n}",
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+                    "features": {
+                        "file_path": {
+                            "description": "Path to the original data file.",
+                            "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
+                            "text": {}
+                        }
+                    }
+                },
+                "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 2x position",
+                                    "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                    "tensor": {
+                                        "dtype": "float64",
+                                        "encoding": "none",
+                                        "shape": {
+                                            "dimensions": [
+                                                "2"
+                                            ]
+                                        }
+                                    }
+                                },
+                                "action_angle": {
+                                    "description": "Robot action, consists of 2x position, 1x yaw",
+                                    "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                    "tensor": {
+                                        "dtype": "float64",
+                                        "encoding": "none",
+                                        "shape": {
+                                            "dimensions": [
+                                                "3"
+                                            ]
+                                        }
+                                    }
+                                },
+                                "discount": {
+                                    "description": "Discount if provided, default to 1.",
+                                    "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
+                                    "tensor": {
+                                        "dtype": "float64",
+                                        "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": {}
+                                    }
+                                },
+                                "language_embedding": {
+                                    "description": "Kona language embedding. See https://tfhub.dev/google/universal-sentence-encoder-large/5",
+                                    "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                    "tensor": {
+                                        "dtype": "float32",
+                                        "encoding": "none",
+                                        "shape": {
+                                            "dimensions": [
+                                                "512"
+                                            ]
+                                        }
+                                    }
+                                },
+                                "language_instruction": {
+                                    "description": "Language Instruction.",
+                                    "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
+                                    "text": {}
+                                },
+                                "observation": {
+                                    "featuresDict": {
+                                        "features": {
+                                            "image": {
+                                                "description": "Main camera RGB observation.",
+                                                "image": {
+                                                    "dtype": "uint8",
+                                                    "encodingFormat": "png",
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "120",
+                                                            "160",
+                                                            "3"
+                                                        ]
+                                                    }
+                                                },
+                                                "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image"
+                                            },
+                                            "position": {
+                                                "description": "Robot position",
+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                                "tensor": {
+                                                    "dtype": "float64",
+                                                    "encoding": "none",
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "2"
+                                                        ]
+                                                    }
+                                                }
+                                            },
+                                            "state": {
+                                                "description": "Robot state, consists of [2x position, 1x yaw]",
+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                                "tensor": {
+                                                    "dtype": "float64",
+                                                    "encoding": "none",
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "3"
+                                                        ]
+                                                    }
+                                                }
+                                            },
+                                            "yaw": {
+                                                "description": "Robot yaw",
+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                                "tensor": {
+                                                    "dtype": "float64",
+                                                    "encoding": "none",
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "1"
+                                                        ]
+                                                    }
+                                                }
+                                            }
+                                        }
+                                    },
+                                    "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict"
+                                },
+                                "reward": {
+                                    "description": "Reward if provided, 1 on final step for demos.",
+                                    "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
+                                    "tensor": {
+                                        "dtype": "float64",
+                                        "encoding": "none",
+                                        "shape": {}
+                                    }
+                                }
+                            }
+                        },
+                        "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict"
+                    },
+                    "length": "-1"
+                }
+            }
+        }
+    },
+    "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict"
+}
\ No newline at end of file