diff --git a/.gitattributes b/.gitattributes
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index 0000000000000000000000000000000000000000..daaceee960f7a88c77af2ba58d27f6982f90fd96
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diff --git a/README.md b/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..a7f165a7bfbc6c4614b4631f357b78bd13257801
--- /dev/null
+++ b/README.md
@@ -0,0 +1,23 @@
+---
+task_categories:
+- robotics
+license: mit
+tags:
+- robotics
+- multimodal
+---
+The FuSe dataset contains 26,866 trajectories collected on a WidowX robot at the RAIL lab @ UC Berkeley, USA. It contains visual, tactile, sound and action data collected across several environments, annotated with natural language.
+
+Paper: https://huggingface.co/papers/2501.04693
+Code: https://github.com/oier-mees/FuSe
+
+If you use the dataset please cite:
+```bibtex
+@inproceedings{jones25fuse,
+  title={Beyond Sight: Finetuning Generalist Robot Policies with Heterogeneous Sensors via Language Grounding},
+  author={Joshua Jones and Oier Mees and Carmelo Sferrazza and Kyle Stachowicz and Pieter Abbeel and Sergey Levine},
+  booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
+  year={2025},
+  address = {Atlanta, USA}
+}
+```
\ No newline at end of file
diff --git a/dataset_info.json b/dataset_info.json
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+{
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diff --git a/dataset_statistics_9f1e9b6648a9934de052df49c61d3b91ec93147f3bf9093260204a5c4496a480.json b/dataset_statistics_9f1e9b6648a9934de052df49c61d3b91ec93147f3bf9093260204a5c4496a480.json
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diff --git a/dataset_statistics_bbc8ca54f5336f86554baad10d3fdbbef3bd3993f8eedda2eb3d0e20ccb532cd.json b/dataset_statistics_bbc8ca54f5336f86554baad10d3fdbbef3bd3993f8eedda2eb3d0e20ccb532cd.json
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+                                    "text": {},
+                                    "description": "6th rephrased annotation of form rephrased_8"
+                                },
+                                "rephrased_5_4": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
+                                    "text": {},
+                                    "description": "4th rephrased annotation of form rephrased_5"
+                                },
+                                "rephrased_2_13": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
+                                    "text": {},
+                                    "description": "13th rephrased annotation of form rephrased_2"
+                                },
+                                "rephrased_0_14": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
+                                    "text": {},
+                                    "description": "14th rephrased annotation of form rephrased_0"
+                                },
+                                "rephrased_4_7": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
+                                    "text": {},
+                                    "description": "7th rephrased annotation of form rephrased_4"
+                                },
+                                "rephrased_7_14": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
+                                    "text": {},
+                                    "description": "14th rephrased annotation of form rephrased_7"
+                                },
+                                "rephrased_2_17": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
+                                    "text": {},
+                                    "description": "17th rephrased annotation of form rephrased_2"
+                                },
+                                "rephrased_0_15": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
+                                    "text": {},
+                                    "description": "15th rephrased annotation of form rephrased_0"
+                                },
+                                "rephrased_7_0": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
+                                    "text": {},
+                                    "description": "0th rephrased annotation of form rephrased_7"
+                                },
+                                "rephrased_6_12": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
+                                    "text": {},
+                                    "description": "12th rephrased annotation of form rephrased_6"
+                                },
+                                "rephrased_2_2": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
+                                    "text": {},
+                                    "description": "2th rephrased annotation of form rephrased_2"
+                                },
+                                "rephrased_6_13": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
+                                    "text": {},
+                                    "description": "13th rephrased annotation of form rephrased_6"
+                                },
+                                "rephrased_8_10": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
+                                    "text": {},
+                                    "description": "10th rephrased annotation of form rephrased_8"
+                                },
+                                "rephrased_6_9": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
+                                    "text": {},
+                                    "description": "9th rephrased annotation of form rephrased_6"
+                                },
+                                "rephrased_3_5": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
+                                    "text": {},
+                                    "description": "5th rephrased annotation of form rephrased_3"
+                                },
+                                "rephrased_7_9": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
+                                    "text": {},
+                                    "description": "9th rephrased annotation of form rephrased_7"
+                                },
+                                "rephrased_4_0": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
+                                    "text": {},
+                                    "description": "0th rephrased annotation of form rephrased_4"
+                                },
+                                "rephrased_2_14": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
+                                    "text": {},
+                                    "description": "14th rephrased annotation of form rephrased_2"
+                                },
+                                "rephrased_6_18": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
+                                    "text": {},
+                                    "description": "18th rephrased annotation of form rephrased_6"
+                                },
+                                "rephrased_5_1": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
+                                    "text": {},
+                                    "description": "1th rephrased annotation of form rephrased_5"
+                                },
+                                "rephrased_3_11": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
+                                    "text": {},
+                                    "description": "11th rephrased annotation of form rephrased_3"
+                                },
+                                "rephrased_2_7": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
+                                    "text": {},
+                                    "description": "7th rephrased annotation of form rephrased_2"
+                                },
+                                "rephrased_7_15": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
+                                    "text": {},
+                                    "description": "15th rephrased annotation of form rephrased_7"
+                                },
+                                "is_first": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
+                                    "tensor": {
+                                        "shape": {},
+                                        "dtype": "bool",
+                                        "encoding": "none"
+                                    },
+                                    "description": "True on first step of the episode."
+                                },
+                                "rephrased_5_12": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
+                                    "text": {},
+                                    "description": "12th rephrased annotation of form rephrased_5"
+                                },
+                                "rephrased_7_12": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
+                                    "text": {},
+                                    "description": "12th rephrased annotation of form rephrased_7"
+                                },
+                                "rephrased_7_1": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
+                                    "text": {},
+                                    "description": "1th rephrased annotation of form rephrased_7"
+                                },
+                                "rephrased_6_7": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
+                                    "text": {},
+                                    "description": "7th rephrased annotation of form rephrased_6"
+                                },
+                                "rephrased_7_7": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
+                                    "text": {},
+                                    "description": "7th rephrased annotation of form rephrased_7"
+                                },
+                                "rephrased_0_2": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
+                                    "text": {},
+                                    "description": "2th rephrased annotation of form rephrased_0"
+                                },
+                                "rephrased_4_17": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
+                                    "text": {},
+                                    "description": "17th rephrased annotation of form rephrased_4"
+                                },
+                                "rephrased_6_11": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
+                                    "text": {},
+                                    "description": "11th rephrased annotation of form rephrased_6"
+                                },
+                                "rephrased_6_17": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
+                                    "text": {},
+                                    "description": "17th rephrased annotation of form rephrased_6"
+                                }
+                            }
+                        }
+                    },
+                    "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."
+                        },
+                        "has_state": {
+                            "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
+                            "tensor": {
+                                "shape": {},
+                                "dtype": "bool",
+                                "encoding": "none"
+                            },
+                            "description": "True if proprio in observation, otherwise dummy value."
+                        },
+                        "has_image_1": {
+                            "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
+                            "tensor": {
+                                "shape": {},
+                                "dtype": "bool",
+                                "encoding": "none"
+                            },
+                            "description": "True if image1 exists in observation, otherwise dummy value."
+                        },
+                        "has_digit_0_background": {
+                            "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
+                            "tensor": {
+                                "shape": {},
+                                "dtype": "bool",
+                                "encoding": "none"
+                            },
+                            "description": "True if digit0 background exists in observation, otherwise dummy value."
+                        },
+                        "has_all_lang": {
+                            "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
+                            "tensor": {
+                                "shape": {},
+                                "dtype": "bool",
+                                "encoding": "none"
+                            },
+                            "description": "Whether has keys 'all_lang_0'..., described by all_lang_info metadata"
+                        },
+                        "has_digit_1_background": {
+                            "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
+                            "tensor": {
+                                "shape": {},
+                                "dtype": "bool",
+                                "encoding": "none"
+                            },
+                            "description": "True if digit1 background exists in observation, otherwise dummy value."
+                        },
+                        "all_lang_info": {
+                            "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
+                            "text": {},
+                            "description": "Info string with lang name mappings."
+                        },
+                        "has_mel_spectro": {
+                            "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
+                            "tensor": {
+                                "shape": {},
+                                "dtype": "bool",
+                                "encoding": "none"
+                            },
+                            "description": "True if mel-spectrogram exists in observation, otherwise empty string."
+                        },
+                        "has_digit_1": {
+                            "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
+                            "tensor": {
+                                "shape": {},
+                                "dtype": "bool",
+                                "encoding": "none"
+                            },
+                            "description": "True if digit1 exists in observation, otherwise dummy value."
+                        },
+                        "has_imu": {
+                            "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
+                            "tensor": {
+                                "shape": {},
+                                "dtype": "bool",
+                                "encoding": "none"
+                            },
+                            "description": "True if imu exists in observation, otherwise empty string."
+                        },
+                        "has_rephrased_lang": {
+                            "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
+                            "tensor": {
+                                "shape": {},
+                                "dtype": "bool",
+                                "encoding": "none"
+                            },
+                            "description": "Whether has keys 'rephrased_0_0'..., described by all_lang_info metadata"
+                        },
+                        "has_mic": {
+                            "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
+                            "tensor": {
+                                "shape": {},
+                                "dtype": "bool",
+                                "encoding": "none"
+                            },
+                            "description": "True if mic exists in observation, otherwise empty string."
+                        },
+                        "has_language": {
+                            "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
+                            "tensor": {
+                                "shape": {},
+                                "dtype": "bool",
+                                "encoding": "none"
+                            },
+                            "description": "True if language exists in observation, otherwise empty string."
+                        },
+                        "has_digit_0": {
+                            "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
+                            "tensor": {
+                                "shape": {},
+                                "dtype": "bool",
+                                "encoding": "none"
+                            },
+                            "description": "True if digit0 exists in observation, otherwise dummy value."
+                        },
+                        "has_mae": {
+                            "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
+                            "tensor": {
+                                "shape": {},
+                                "dtype": "bool",
+                                "encoding": "none"
+                            },
+                            "description": "True if MAE exist in observation, otherwise empty string."
+                        },
+                        "has_image_0": {
+                            "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
+                            "tensor": {
+                                "shape": {},
+                                "dtype": "bool",
+                                "encoding": "none"
+                            },
+                            "description": "True if image0 exists in observation, otherwise dummy value."
+                        }
+                    }
+                }
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/metadata.json b/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..2aae79143b4c96bb74aeb109f8a61086f0899b0e
--- /dev/null
+++ b/metadata.json
@@ -0,0 +1 @@
+{"all_lang_info": "simple||visual|tactile|audio|visual,tactile|visual,audio|tactile,audio|visual,tactile,audio", "rephrased_lang_info": "simple||visual|tactile|audio|visual,tactile|visual,audio|tactile,audio|visual,tactile,audio", "num_annotations_per_modality": 20, "rephrase_keys": ["rephrased_2", "rephrased_3", "rephrased_4", "rephrased_5", "rephrased_6", "rephrased_7", "rephrased_8", "rephrased_0"]}
\ No newline at end of file