diff --git a/.gitattributes b/.gitattributes
index 28df5f900b358436f0267334b3e3e9af33f917ba..2346a29f463c14bb5600dbf83f434db4b34aa203 100644
--- a/.gitattributes
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diff --git a/dataset_info.json b/dataset_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..7268e4b7ed8d7e6da8f6c16087ce7cf414044e20
--- /dev/null
+++ b/dataset_info.json
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+{
+  "citation": "@inproceedings{\n    shah2023mutex,\n    title={{MUTEX}: Learning Unified Policies from Multimodal Task Specifications},\n    author={Rutav Shah and Roberto Mart{\\'\\i}n-Mart{\\'\\i}n and Yuke Zhu},\n    booktitle={7th Annual Conference on Robot Learning},\n    year={2023},\n    url={https://openreview.net/forum?id=PwqiqaaEzJ}\n}",
+  "description": "Diverse household manipulation tasks",
+  "fileFormat": "tfrecord",
+  "location": {
+    "urls": [
+      "https://ut-austin-rpl.github.io/MUTEX/"
+    ]
+  },
+  "moduleName": "tensorflow_datasets.robotics.rtx.rtx",
+  "name": "utaustin_mutex",
+  "releaseNotes": {
+    "0.1.0": "Initial release."
+  },
+  "splits": [
+    {
+      "filepathTemplate": "{DATASET}-{SPLIT}.{FILEFORMAT}-{SHARD_X_OF_Y}",
+      "name": "train",
+      "numBytes": "22326254215",
+      "shardLengths": [
+        "6",
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diff --git a/features.json b/features.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f67022b6c54ad74a64c30190505dd611e896b8e
--- /dev/null
+++ b/features.json
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+{
+    "featuresDict": {
+        "features": {
+            "episode_metadata": {
+                "featuresDict": {
+                    "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 [6x end effector delta pose, 1x gripper position]",
+                                    "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                    "tensor": {
+                                        "dtype": "float32",
+                                        "encoding": "none",
+                                        "shape": {
+                                            "dimensions": [
+                                                "7"
+                                            ]
+                                        }
+                                    }
+                                },
+                                "discount": {
+                                    "description": "Discount if provided, default to 1.",
+                                    "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": {
+                                    "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": "Detailed Language Instructions for each task.",
+                                    "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": [
+                                                            "128",
+                                                            "128",
+                                                            "3"
+                                                        ]
+                                                    }
+                                                },
+                                                "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image"
+                                            },
+                                            "state": {
+                                                "description": "Robot state, consists of [7x robot joint angles, 1x gripper position, 16x robot end-effector homogeneous matrix].",
+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                                "tensor": {
+                                                    "dtype": "float32",
+                                                    "encoding": "none",
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "24"
+                                                        ]
+                                                    }
+                                                }
+                                            },
+                                            "wrist_image": {
+                                                "description": "Wrist camera RGB observation.",
+                                                "image": {
+                                                    "dtype": "uint8",
+                                                    "encodingFormat": "png",
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "128",
+                                                            "128",
+                                                            "3"
+                                                        ]
+                                                    }
+                                                },
+                                                "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image"
+                                            }
+                                        }
+                                    },
+                                    "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": "float32",
+                                        "encoding": "none",
+                                        "shape": {}
+                                    }
+                                }
+                            }
+                        },
+                        "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict"
+                    },
+                    "length": "-1"
+                }
+            }
+        }
+    },
+    "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict"
+}
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