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index 28df5f900b358436f0267334b3e3e9af33f917ba..a604b7eae420b159c7269a0d23acc2185ba20289 100644
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new file mode 100644
index 0000000000000000000000000000000000000000..d7c8ff296c51eba048dd24a28b59c9e4a8e107ff
--- /dev/null
+++ b/dataset_info.json
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diff --git a/features.json b/features.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b70b4d35e85f106bfe02e184f2bc502fb584fbe
--- /dev/null
+++ b/features.json
@@ -0,0 +1,287 @@
+{
+    "featuresDict": {
+        "features": {
+            "episode_metadata": {
+                "featuresDict": {
+                    "features": {
+                        "file_path": {
+                            "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                            "tensor": {
+                                "dtype": "string",
+                                "encoding": "none",
+                                "shape": {}
+                            }
+                        }
+                    }
+                },
+                "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict"
+            },
+            "steps": {
+                "pythonClassName": "tensorflow_datasets.core.features.dataset_feature.Dataset",
+                "sequence": {
+                    "feature": {
+                        "featuresDict": {
+                            "features": {
+                                "action": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                    "tensor": {
+                                        "dtype": "float32",
+                                        "encoding": "none",
+                                        "shape": {
+                                            "dimensions": [
+                                                "7"
+                                            ]
+                                        }
+                                    }
+                                },
+                                "discount": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
+                                    "tensor": {
+                                        "dtype": "float32",
+                                        "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": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                    "tensor": {
+                                        "dtype": "float32",
+                                        "encoding": "none",
+                                        "shape": {
+                                            "dimensions": [
+                                                "512"
+                                            ]
+                                        }
+                                    }
+                                },
+                                "language_instruction": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                    "tensor": {
+                                        "dtype": "string",
+                                        "encoding": "none",
+                                        "shape": {}
+                                    }
+                                },
+                                "observation": {
+                                    "featuresDict": {
+                                        "features": {
+                                            "depth": {
+                                                "image": {
+                                                    "dtype": "uint8",
+                                                    "encodingFormat": "jpeg",
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "720",
+                                                            "1280",
+                                                            "1"
+                                                        ]
+                                                    }
+                                                },
+                                                "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image"
+                                            },
+                                            "fisheye_camera_extrinsic": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                                "tensor": {
+                                                    "dtype": "float32",
+                                                    "encoding": "none",
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "4",
+                                                            "4"
+                                                        ]
+                                                    }
+                                                }
+                                            },
+                                            "fisheye_camera_intrinsic": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                                "tensor": {
+                                                    "dtype": "float32",
+                                                    "encoding": "none",
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "3",
+                                                            "3"
+                                                        ]
+                                                    }
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+                                                            "360",
+                                                            "640",
+                                                            "3"
+                                                        ]
+                                                    }
+                                                },
+                                                "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image"
+                                            },
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+                                                    "shape": {
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+                                                            "640",
+                                                            "800",
+                                                            "3"
+                                                        ]
+                                                    }
+                                                },
+                                                "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image"
+                                            },
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+                                                            "360",
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+                                                "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image"
+                                            },
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+                                                            "360",
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+                                                            "3"
+                                                        ]
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+                                                "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image"
+                                            },
+                                            "left_camera_extrinsic": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                                "tensor": {
+                                                    "dtype": "float32",
+                                                    "encoding": "none",
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "4",
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+                                                        ]
+                                                    }
+                                                }
+                                            },
+                                            "left_camera_intrinsic": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                                "tensor": {
+                                                    "dtype": "float32",
+                                                    "encoding": "none",
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "3",
+                                                            "3"
+                                                        ]
+                                                    }
+                                                }
+                                            },
+                                            "main_camera_intrinsic": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                                "tensor": {
+                                                    "dtype": "float32",
+                                                    "encoding": "none",
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "3",
+                                                            "3"
+                                                        ]
+                                                    }
+                                                }
+                                            },
+                                            "right_camera_extrinsic": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                                "tensor": {
+                                                    "dtype": "float32",
+                                                    "encoding": "none",
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "4",
+                                                            "4"
+                                                        ]
+                                                    }
+                                                }
+                                            },
+                                            "right_camera_intrinsic": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                                "tensor": {
+                                                    "dtype": "float32",
+                                                    "encoding": "none",
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "3",
+                                                            "3"
+                                                        ]
+                                                    }
+                                                }
+                                            },
+                                            "state": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                                "tensor": {
+                                                    "dtype": "float32",
+                                                    "encoding": "none",
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "8"
+                                                        ]
+                                                    }
+                                                }
+                                            }
+                                        }
+                                    },
+                                    "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict"
+                                },
+                                "reward": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
+                                    "tensor": {
+                                        "dtype": "float32",
+                                        "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
diff --git a/io_ai_tech-train.split_info.json.~1711060140640405~ b/io_ai_tech-train.split_info.json.~1711060140640405~
new file mode 100644
index 0000000000000000000000000000000000000000..a929129044ec91906ffd9e6fa370eb9b73d72e59
--- /dev/null
+++ b/io_ai_tech-train.split_info.json.~1711060140640405~
@@ -0,0 +1 @@
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