diff --git a/.gitattributes b/.gitattributes
index 9d5c7f0c2ac88758edc8f52881a71866d6be314b..129d379c655c528087dcec0ba16fb633432269fc 100644
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+  "citation": "// TODO(example_dataset): BibTeX citation",
+  "description": "Formated from: vader-2:/scratch2/sudeep/aloha_pick_place/\ninst: \"place the {obj} on the {loc}.\"\n\nTODO(example_dataset): Markdown description of your dataset.\nDescription is **formatted** as markdown.\n\nIt should also contain any processing which has been applied (if any),\n(e.g. corrupted example skipped, images cropped,...):",
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+  "moduleName": "aloha_play_dataset.aloha_play_dataset",
+  "name": "aloha_play_dataset",
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+    "1.0.0": "Initial release."
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+      "name": "train",
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+}
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diff --git a/BiPlay/aloha_play_dataset/1.0.0/dataset_statistics_555f4f3ff537414090425f6a96c7bcc2c4214d0ab870a75a52ce4f6ff22319c9.json b/BiPlay/aloha_play_dataset/1.0.0/dataset_statistics_555f4f3ff537414090425f6a96c7bcc2c4214d0ab870a75a52ce4f6ff22319c9.json
new file mode 100644
index 0000000000000000000000000000000000000000..c94fcec51b5528c03ce1730b3b414f931297a92f
--- /dev/null
+++ b/BiPlay/aloha_play_dataset/1.0.0/dataset_statistics_555f4f3ff537414090425f6a96c7bcc2c4214d0ab870a75a52ce4f6ff22319c9.json
@@ -0,0 +1 @@
+{"action": {"mean": [0.026933737099170685, -0.3515561521053314, 0.9592419862747192, 0.08334390074014664, -0.1935470998287201, -0.2765442728996277, 0.6736332774162292, 0.03974433243274689, -0.1647903472185135, 0.6548391580581665, -0.5257089734077454, 0.36454513669013977, 1.0334142446517944, 0.6644070744514465], "std": [0.2470349818468094, 0.37831589579582214, 0.32250264286994934, 0.5684381723403931, 0.478147953748703, 0.637905478477478, 0.28331252932548523, 0.27505335211753845, 0.3390997052192688, 0.3726453483104706, 0.5669252276420593, 0.4489368498325348, 0.7471111416816711, 0.27450403571128845], "max": [1.1029322147369385, 0.7010292410850525, 1.5232429504394531, 3.044951915740967, 1.7886216640472412, 3.3594179153442383, 1.0749285221099854, 1.339165210723877, 1.130543828010559, 1.5861362218856812, 3.2689132690429688, 2.1506412029266357, 3.5158841609954834, 1.0713191032409668], "min": [-1.3330293893814087, -1.1489516496658325, -0.644271969795227, -3.4146413803100586, -1.6935148239135742, -3.055689811706543, -0.09811566770076752, -1.06918466091156, -1.084524393081665, -2.185922622680664, -2.4451653957366943, -1.4173983335494995, -2.7074761390686035, -0.04577984660863876], "p99": [0.6412039995193481, 0.45099037885665894, 1.402058482170105, 1.6812429428100586, 1.0860583782196045, 1.1811652183532715, 1.0334206819534302, 0.6979612708091736, 0.5675728917121887, 1.2394565343856812, 0.7869321703910828, 1.483359456062317, 2.549476146697998, 1.0406395196914673], "p01": [-0.5798447728157043, -0.9664078950881958, -0.019941750913858414, -1.4373400211334229, -1.0998642444610596, -2.1460392475128174, -0.02592841349542141, -0.6396700143814087, -0.8881748914718628, -0.4586602747440338, -1.7886216640472412, -0.6795535087585449, -0.5046796798706055, 0.011970043182373047]}, "num_transitions": 1700148, "num_trajectories": 6829, "proprio": {"mean": [0.026435798034071922, -0.34669849276542664, 0.9755219221115112, 0.0823054164648056, -0.18888241052627563, -0.2768770456314087, 0.7391897439956665, 0.041556552052497864, -0.14574594795703888, 0.6714416146278381, -0.5245215892791748, 0.36642614006996155, 1.032608985900879, 0.7574891448020935], "std": [0.24615342915058136, 0.3850862681865692, 0.32102328538894653, 0.5677328705787659, 0.47630593180656433, 0.6371527910232544, 0.2833152711391449, 0.2744690775871277, 0.34933948516845703, 0.3700495660305023, 0.5657549500465393, 0.4473094940185547, 0.746985673904419, 0.23452071845531464], "max": [1.0998642444610596, 0.7056311964988708, 1.5370488166809082, 3.0342140197753906, 1.7824857234954834, 3.1247189044952393, 0.9999999403953552, 1.3376312255859375, 1.1060001850128174, 1.5938060283660889, 3.1323888301849365, 2.152175188064575, 3.1354568004608154, 0.9999999403953552], "min": [-1.3299614191055298, -1.1535536050796509, -0.6105243563652039, -3.1323888301849365, -1.6766411066055298, -3.052621841430664, 0.11126039177179337, -1.06918466091156, -1.0906603336334229, -1.7441362142562866, -2.3408546447753906, -1.4066604375839233, -2.7044081687927246, 0.2499336153268814], "p99": [0.6412039995193481, 0.4693981409072876, 1.4173983335494995, 1.6766411066055298, 1.084524393081665, 1.179631233215332, 0.9999483823776245, 0.6979612708091736, 0.6013205051422119, 1.2517284154891968, 0.7853981852531433, 1.4818254709243774, 2.5479421615600586, 0.9999957084655762], "p01": [-0.5798447728157043, -0.9710098505020142, 0.0, -1.4373400211334229, -1.0906603336334229, -2.1460392475128174, 0.11511506885290146, -0.6366020441055298, -0.9019807577133179, -0.43411657214164734, -1.7855536937713623, -0.6749515533447266, -0.5016117095947266, 0.30620047450065613]}}
\ No newline at end of file
diff --git a/BiPlay/aloha_play_dataset/1.0.0/features.json b/BiPlay/aloha_play_dataset/1.0.0/features.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5416e1ed55add1201456ce5d29fe29eff1801e0
--- /dev/null
+++ b/BiPlay/aloha_play_dataset/1.0.0/features.json
@@ -0,0 +1,180 @@
+{
+    "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": {
+                                "clip_instruction": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
+                                    "text": {},
+                                    "description": "Language Instruction for the specific clip."
+                                },
+                                "global_instruction": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
+                                    "text": {},
+                                    "description": "Language Instruction for the whole task."
+                                },
+                                "action": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                    "tensor": {
+                                        "shape": {
+                                            "dimensions": [
+                                                "14"
+                                            ]
+                                        },
+                                        "dtype": "float32",
+                                        "encoding": "none"
+                                    },
+                                    "description": "Robot action for joints in two arms + grippers."
+                                },
+                                "discount": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
+                                    "tensor": {
+                                        "shape": {},
+                                        "dtype": "float32",
+                                        "encoding": "none"
+                                    },
+                                    "description": "Discount if provided, default to 1."
+                                },
+                                "is_last": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
+                                    "tensor": {
+                                        "shape": {},
+                                        "dtype": "bool",
+                                        "encoding": "none"
+                                    },
+                                    "description": "True on last step of the episode."
+                                },
+                                "is_first": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
+                                    "tensor": {
+                                        "shape": {},
+                                        "dtype": "bool",
+                                        "encoding": "none"
+                                    },
+                                    "description": "True on first step of the episode."
+                                },
+                                "observation": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
+                                    "featuresDict": {
+                                        "features": {
+                                            "cam_right_wrist": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image",
+                                                "image": {
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "256",
+                                                            "256",
+                                                            "3"
+                                                        ]
+                                                    },
+                                                    "dtype": "uint8",
+                                                    "encodingFormat": "jpeg"
+                                                },
+                                                "description": "RGB camera observation."
+                                            },
+                                            "state": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                                "tensor": {
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "14"
+                                                        ]
+                                                    },
+                                                    "dtype": "float32",
+                                                    "encoding": "none"
+                                                },
+                                                "description": "Robot joint pos (two arms + grippers)."
+                                            },
+                                            "cam_low": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image",
+                                                "image": {
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "256",
+                                                            "256",
+                                                            "3"
+                                                        ]
+                                                    },
+                                                    "dtype": "uint8",
+                                                    "encodingFormat": "jpeg"
+                                                },
+                                                "description": "RGB camera observation."
+                                            },
+                                            "cam_high": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image",
+                                                "image": {
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "256",
+                                                            "256",
+                                                            "3"
+                                                        ]
+                                                    },
+                                                    "dtype": "uint8",
+                                                    "encodingFormat": "jpeg"
+                                                },
+                                                "description": "RGB camera observation."
+                                            },
+                                            "cam_left_wrist": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image",
+                                                "image": {
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "256",
+                                                            "256",
+                                                            "3"
+                                                        ]
+                                                    },
+                                                    "dtype": "uint8",
+                                                    "encodingFormat": "jpeg"
+                                                },
+                                                "description": "RGB camera observation."
+                                            }
+                                        }
+                                    }
+                                },
+                                "is_terminal": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
+                                    "tensor": {
+                                        "shape": {},
+                                        "dtype": "bool",
+                                        "encoding": "none"
+                                    },
+                                    "description": "True on last step of the episode if it is a terminal step, True for demos."
+                                },
+                                "reward": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
+                                    "tensor": {
+                                        "shape": {},
+                                        "dtype": "float32",
+                                        "encoding": "none"
+                                    },
+                                    "description": "Reward if provided, 1 on final step for demos."
+                                }
+                            }
+                        }
+                    },
+                    "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."
+                        }
+                    }
+                }
+            }
+        }
+    }
+}
\ No newline at end of file