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+{
+  "citation": "@inproceedings{\nsaxena2023multiresolution,\ntitle={Multi-Resolution Sensing for Real-Time Control with Vision-Language Models},\nauthor={Saumya Saxena and Mohit Sharma and Oliver Kroemer},\nbooktitle={7th Annual Conference on Robot Learning},\nyear={2023},\nurl={https://openreview.net/forum?id=WuBv9-IGDUA}\n}",
+  "description": "Franka picking objects and insertion tasks",
+  "fileFormat": "tfrecord",
+  "location": {
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+    ]
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+  "name": "iamlab_cmu_pickup_insert_converted_externally_to_rlds",
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+{
+    "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": {
+                                "is_last": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                    "tensor": {
+                                        "shape": {},
+                                        "dtype": "bool",
+                                        "encoding": "none"
+                                    }
+                                },
+                                "observation": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
+                                    "featuresDict": {
+                                        "features": {
+                                            "state": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                                "tensor": {
+                                                    "shape": {
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+                                                            "20"
+                                                        ]
+                                                    },
+                                                    "dtype": "float32",
+                                                    "encoding": "none"
+                                                },
+                                                "description": "Robot state, consists of [7x robot joint angles, 1x gripper status, 6x joint torques, 6x end-effector force]."
+                                            },
+                                            "wrist_image": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image",
+                                                "image": {
+                                                    "shape": {
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+                                                            "3"
+                                                        ]
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+                                                    "dtype": "uint8",
+                                                    "encodingFormat": "png"
+                                                },
+                                                "description": "Wrist camera RGB observation."
+                                            },
+                                            "image": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image",
+                                                "image": {
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "360",
+                                                            "640",
+                                                            "3"
+                                                        ]
+                                                    },
+                                                    "dtype": "uint8",
+                                                    "encodingFormat": "png"
+                                                },
+                                                "description": "Main camera RGB observation."
+                                            }
+                                        }
+                                    }
+                                },
+                                "is_first": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                    "tensor": {
+                                        "shape": {},
+                                        "dtype": "bool",
+                                        "encoding": "none"
+                                    }
+                                },
+                                "discount": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
+                                    "tensor": {
+                                        "shape": {},
+                                        "dtype": "float32",
+                                        "encoding": "none"
+                                    },
+                                    "description": "Discount if provided, default to 1."
+                                },
+                                "language_instruction": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
+                                    "text": {},
+                                    "description": "Language Instruction."
+                                },
+                                "language_embedding": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                    "tensor": {
+                                        "shape": {
+                                            "dimensions": [
+                                                "512"
+                                            ]
+                                        },
+                                        "dtype": "float32",
+                                        "encoding": "none"
+                                    },
+                                    "description": "Kona language embedding. See https://tfhub.dev/google/universal-sentence-encoder-large/5"
+                                },
+                                "is_terminal": {
+                                    "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"
+                                    },
+                                    "description": "Reward if provided, 1 on final step for demos."
+                                },
+                                "action": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                    "tensor": {
+                                        "shape": {
+                                            "dimensions": [
+                                                "8"
+                                            ]
+                                        },
+                                        "dtype": "float32",
+                                        "encoding": "none"
+                                    },
+                                    "description": "Robot action, consists of [3x end-effector position, 4x end-effector quaternion, 1x gripper open/close]."
+                                }
+                            }
+                        }
+                    },
+                    "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."
+                        }
+                    }
+                }
+            }
+        }
+    }
+}

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