diff --git a/.gitattributes b/.gitattributes
index aaaca278439f7308c15ba816091809240ab5d4b1..b122516e31f5eb9510f00e861925a42e3eda90bd 100644
--- a/.gitattributes
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diff --git a/taco_play/0.1.0/dataset_info.json b/taco_play/0.1.0/dataset_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a265a7ec2a6345b3aa089dd94347a5f17b340948
--- /dev/null
+++ b/taco_play/0.1.0/dataset_info.json
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+{
+  "citation": "@inproceedings{rosete2022tacorl,\nauthor = {Erick Rosete-Beas and Oier Mees and Gabriel Kalweit and Joschka Boedecker and Wolfram Burgard},\ntitle = {Latent Plans for Task Agnostic Offline Reinforcement Learning},\njournal = {Proceedings of the 6th Conference on Robot Learning (CoRL)},\nyear = {2022}\n}\n@inproceedings{mees23hulc2,\ntitle={Grounding  Language  with  Visual  Affordances  over  Unstructured  Data},\nauthor={Oier Mees and Jessica Borja-Diaz and Wolfram Burgard},\nbooktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},\nyear={2023},\naddress = {London, UK}\n}",
+  "description": "Franka arm interacting with kitchen",
+  "fileFormat": "tfrecord",
+  "location": {
+    "urls": [
+      "https://www.kaggle.com/datasets/oiermees/taco-robot"
+    ]
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+  "moduleName": "rlds_dataset_mod.multithreaded_adhoc_tfds_builder",
+  "name": "taco_play",
+  "releaseNotes": {
+    "0.1.0": "Initial release."
+  },
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+    {
+      "filepathTemplate": "{DATASET}-{SPLIT}.{FILEFORMAT}-{SHARD_X_OF_Y}",
+      "name": "test",
+      "numBytes": "13500648633",
+      "shardLengths": [
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diff --git a/taco_play/0.1.0/features.json b/taco_play/0.1.0/features.json
new file mode 100644
index 0000000000000000000000000000000000000000..de54e318dc67c556f5de605cba13e9bc9921ec95
--- /dev/null
+++ b/taco_play/0.1.0/features.json
@@ -0,0 +1,211 @@
+{
+    "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
+    "featuresDict": {
+        "features": {
+            "steps": {
+                "pythonClassName": "tensorflow_datasets.core.features.dataset_feature.Dataset",
+                "sequence": {
+                    "feature": {
+                        "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
+                        "featuresDict": {
+                            "features": {
+                                "observation": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
+                                    "featuresDict": {
+                                        "features": {
+                                            "robot_obs": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                                "tensor": {
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "15"
+                                                        ]
+                                                    },
+                                                    "dtype": "float32",
+                                                    "encoding": "none"
+                                                },
+                                                "description": "EE position (3), EE orientation in euler angles (3), gripper width (1), joint positions (7), gripper action (1)"
+                                            },
+                                            "structured_language_instruction": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                                "tensor": {
+                                                    "shape": {},
+                                                    "dtype": "string",
+                                                    "encoding": "none"
+                                                },
+                                                "description": "One of 25 possible structured language instructions, see list in https://arxiv.org/pdf/2210.01911.pdf Table 2."
+                                            },
+                                            "natural_language_instruction": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                                "tensor": {
+                                                    "shape": {},
+                                                    "dtype": "string",
+                                                    "encoding": "none"
+                                                },
+                                                "description": "Natural language instruction is a natural language instruction randomly sampled based on potential task synonyms derived from the structured language task. For example, 'turn blue light off' may map to 'switch the blue color light to off'."
+                                            },
+                                            "rgb_static": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image",
+                                                "image": {
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "256",
+                                                            "256",
+                                                            "3"
+                                                        ]
+                                                    },
+                                                    "dtype": "uint8",
+                                                    "encodingFormat": "jpeg"
+                                                },
+                                                "description": "RGB static image of shape. (150, 200, 3). Subsampled from (200,200, 3) image."
+                                            },
+                                            "natural_language_embedding": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                                "tensor": {
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "512"
+                                                        ]
+                                                    },
+                                                    "dtype": "float32",
+                                                    "encoding": "none"
+                                                }
+                                            },
+                                            "rgb_gripper": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image",
+                                                "image": {
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "256",
+                                                            "256",
+                                                            "3"
+                                                        ]
+                                                    },
+                                                    "dtype": "uint8",
+                                                    "encodingFormat": "jpeg"
+                                                }
+                                            },
+                                            "depth_static": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                                "tensor": {
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "256",
+                                                            "256"
+                                                        ]
+                                                    },
+                                                    "dtype": "float32",
+                                                    "encoding": "none"
+                                                }
+                                            },
+                                            "depth_gripper": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                                "tensor": {
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "256",
+                                                            "256"
+                                                        ]
+                                                    },
+                                                    "dtype": "float32",
+                                                    "encoding": "none"
+                                                }
+                                            }
+                                        }
+                                    }
+                                },
+                                "is_first": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                    "tensor": {
+                                        "shape": {},
+                                        "dtype": "bool",
+                                        "encoding": "none"
+                                    }
+                                },
+                                "reward": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
+                                    "tensor": {
+                                        "shape": {},
+                                        "dtype": "float32",
+                                        "encoding": "none"
+                                    }
+                                },
+                                "is_terminal": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                    "tensor": {
+                                        "shape": {},
+                                        "dtype": "bool",
+                                        "encoding": "none"
+                                    }
+                                },
+                                "is_last": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                    "tensor": {
+                                        "shape": {},
+                                        "dtype": "bool",
+                                        "encoding": "none"
+                                    }
+                                },
+                                "action": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
+                                    "featuresDict": {
+                                        "features": {
+                                            "actions": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                                "tensor": {
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "7"
+                                                        ]
+                                                    },
+                                                    "dtype": "float32",
+                                                    "encoding": "none"
+                                                },
+                                                "description": "absolute desired values for gripper pose (first 6 dimensions are x, y, z, yaw, pitch, roll), last dimension is open_gripper (-1 is open gripper, 1 is close)"
+                                            },
+                                            "rel_actions_world": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                                "tensor": {
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "7"
+                                                        ]
+                                                    },
+                                                    "dtype": "float32",
+                                                    "encoding": "none"
+                                                },
+                                                "description": "relative actions for gripper pose in the robot base frame (first 6 dimensions are x, y, z, yaw, pitch, roll), last dimension is open_gripper (-1 is open gripper, 1 is close)"
+                                            },
+                                            "rel_actions_gripper": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                                "tensor": {
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "7"
+                                                        ]
+                                                    },
+                                                    "dtype": "float32",
+                                                    "encoding": "none"
+                                                },
+                                                "description": "relative actions for gripper pose in the gripper camera frame (first 6 dimensions are x, y, z, yaw, pitch, roll), last dimension is open_gripper (-1 is open gripper, 1 is close)"
+                                            },
+                                            "terminate_episode": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                                "tensor": {
+                                                    "shape": {},
+                                                    "dtype": "float32",
+                                                    "encoding": "none"
+                                                }
+                                            }
+                                        }
+                                    }
+                                }
+                            }
+                        }
+                    },
+                    "length": "-1"
+                }
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/taco_play/0.1.0/taco_play-test.tfrecord-00000-of-00128 b/taco_play/0.1.0/taco_play-test.tfrecord-00000-of-00128
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