diff --git a/.gitattributes b/.gitattributes
index bed0738c7eeb449bca98b5d2f33c89a1ee56349a..6c84ce1d53d786129f5147cc70a1971b036d7a0c 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -58,3 +58,71 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00000-of-00064 filter=lfs diff=lfs merge=lfs -text
+rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00001-of-00064 filter=lfs diff=lfs merge=lfs -text
+rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00002-of-00064 filter=lfs diff=lfs merge=lfs -text
+rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00003-of-00064 filter=lfs diff=lfs merge=lfs -text
+rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00004-of-00064 filter=lfs diff=lfs merge=lfs -text
+rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00005-of-00064 filter=lfs diff=lfs merge=lfs -text
+rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00006-of-00064 filter=lfs diff=lfs merge=lfs -text
+rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00007-of-00064 filter=lfs diff=lfs merge=lfs -text
+rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00008-of-00064 filter=lfs diff=lfs merge=lfs -text
+rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00009-of-00064 filter=lfs diff=lfs merge=lfs -text
+rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00010-of-00064 filter=lfs diff=lfs merge=lfs -text
+rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00011-of-00064 filter=lfs diff=lfs merge=lfs -text
+rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00012-of-00064 filter=lfs diff=lfs merge=lfs -text
+rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00013-of-00064 filter=lfs diff=lfs merge=lfs -text
+rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00014-of-00064 filter=lfs diff=lfs merge=lfs -text
+rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00015-of-00064 filter=lfs diff=lfs merge=lfs -text
+rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00016-of-00064 filter=lfs diff=lfs merge=lfs -text
+rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00017-of-00064 filter=lfs diff=lfs merge=lfs -text
+rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00018-of-00064 filter=lfs diff=lfs merge=lfs -text
+rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00019-of-00064 filter=lfs diff=lfs merge=lfs -text
+rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00020-of-00064 filter=lfs diff=lfs merge=lfs -text
+rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00021-of-00064 filter=lfs diff=lfs merge=lfs -text
+rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00022-of-00064 filter=lfs diff=lfs merge=lfs -text
+rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00023-of-00064 filter=lfs diff=lfs merge=lfs -text
+rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00024-of-00064 filter=lfs diff=lfs merge=lfs -text
+rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00025-of-00064 filter=lfs diff=lfs merge=lfs -text
+rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00026-of-00064 filter=lfs diff=lfs merge=lfs -text
+rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00027-of-00064 filter=lfs diff=lfs merge=lfs -text
+rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00028-of-00064 filter=lfs diff=lfs merge=lfs -text
+rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00029-of-00064 filter=lfs diff=lfs merge=lfs -text
+rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00030-of-00064 filter=lfs diff=lfs merge=lfs -text
+rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00031-of-00064 filter=lfs diff=lfs merge=lfs -text
+rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00032-of-00064 filter=lfs diff=lfs merge=lfs -text
+rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00033-of-00064 filter=lfs diff=lfs merge=lfs -text
+rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00034-of-00064 filter=lfs diff=lfs merge=lfs -text
+rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00035-of-00064 filter=lfs diff=lfs merge=lfs -text
+rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00036-of-00064 filter=lfs diff=lfs merge=lfs -text
+rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00037-of-00064 filter=lfs diff=lfs merge=lfs -text
+rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00038-of-00064 filter=lfs diff=lfs merge=lfs -text
+rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00039-of-00064 filter=lfs diff=lfs merge=lfs -text
+rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00040-of-00064 filter=lfs diff=lfs merge=lfs -text
+rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00041-of-00064 filter=lfs diff=lfs merge=lfs -text
+rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00042-of-00064 filter=lfs diff=lfs merge=lfs -text
+rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00043-of-00064 filter=lfs diff=lfs merge=lfs -text
+rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00044-of-00064 filter=lfs diff=lfs merge=lfs -text
+rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00045-of-00064 filter=lfs diff=lfs merge=lfs -text
+rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00046-of-00064 filter=lfs diff=lfs merge=lfs -text
+rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00047-of-00064 filter=lfs diff=lfs merge=lfs -text
+rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00048-of-00064 filter=lfs diff=lfs merge=lfs -text
+rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00049-of-00064 filter=lfs diff=lfs merge=lfs -text
+rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00050-of-00064 filter=lfs diff=lfs merge=lfs -text
+rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00051-of-00064 filter=lfs diff=lfs merge=lfs -text
+rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00052-of-00064 filter=lfs diff=lfs merge=lfs -text
+rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00053-of-00064 filter=lfs diff=lfs merge=lfs -text
+rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00054-of-00064 filter=lfs diff=lfs merge=lfs -text
+rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00055-of-00064 filter=lfs diff=lfs merge=lfs -text
+rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00056-of-00064 filter=lfs diff=lfs merge=lfs -text
+rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00057-of-00064 filter=lfs diff=lfs merge=lfs -text
+rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00058-of-00064 filter=lfs diff=lfs merge=lfs -text
+rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00059-of-00064 filter=lfs diff=lfs merge=lfs -text
+rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00060-of-00064 filter=lfs diff=lfs merge=lfs -text
+rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00061-of-00064 filter=lfs diff=lfs merge=lfs -text
+rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00062-of-00064 filter=lfs diff=lfs merge=lfs -text
+rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00063-of-00064 filter=lfs diff=lfs merge=lfs -text
+rlds/1.0.0/aloha_lift_pot_builder-val.tfrecord-00000-of-00004 filter=lfs diff=lfs merge=lfs -text
+rlds/1.0.0/aloha_lift_pot_builder-val.tfrecord-00001-of-00004 filter=lfs diff=lfs merge=lfs -text
+rlds/1.0.0/aloha_lift_pot_builder-val.tfrecord-00002-of-00004 filter=lfs diff=lfs merge=lfs -text
+rlds/1.0.0/aloha_lift_pot_builder-val.tfrecord-00003-of-00004 filter=lfs diff=lfs merge=lfs -text
diff --git a/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00000-of-00064 b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00000-of-00064
new file mode 100644
index 0000000000000000000000000000000000000000..a5b7ff6ed629e8852fa4c55ebce1644a5512c101
--- /dev/null
+++ b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00000-of-00064
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a5e80892f319bbc184fb0b7a1f6ec675b6694638f5afe1f620236bd05fd64ff
+size 114444686
diff --git a/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00001-of-00064 b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00001-of-00064
new file mode 100644
index 0000000000000000000000000000000000000000..57761b586d7d234a85702b43cb340a4330ef6de0
--- /dev/null
+++ b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00001-of-00064
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:163b4d5c9103ea00d22a232b47b638f4acf4241d020ee5d76c7453f46433dc95
+size 121405762
diff --git a/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00002-of-00064 b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00002-of-00064
new file mode 100644
index 0000000000000000000000000000000000000000..0872212ba49f2c9af632c55491b6044478651c0e
--- /dev/null
+++ b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00002-of-00064
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58e0e8a5a0ca9a9516c0c23ac1476270fbd00ab96ae13d338a17c0049dc40553
+size 107113802
diff --git a/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00003-of-00064 b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00003-of-00064
new file mode 100644
index 0000000000000000000000000000000000000000..b1315af768a402cd72542470aa0b89baac67501f
--- /dev/null
+++ b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00003-of-00064
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f479e9933b1f528887492a56d718afd8cf6cb25570375d4a0e34240e9dcf07c
+size 107663331
diff --git a/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00004-of-00064 b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00004-of-00064
new file mode 100644
index 0000000000000000000000000000000000000000..ea34e79530b729121751230e1c605344053badb8
--- /dev/null
+++ b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00004-of-00064
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:efab1dc40ae14e4432d5149c1083d3273818dc94f6d3cce1f80adc7da9279f72
+size 107642392
diff --git a/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00005-of-00064 b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00005-of-00064
new file mode 100644
index 0000000000000000000000000000000000000000..35eb98824d441f76e3b6376415a257fb8a2fa9e0
--- /dev/null
+++ b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00005-of-00064
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fdd75feab43488160897b6e704588a99cc3cfb4b23a3b6f4da916cd4e2366830
+size 108669638
diff --git a/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00006-of-00064 b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00006-of-00064
new file mode 100644
index 0000000000000000000000000000000000000000..d676a28ec3b01895c5e9159d39527a70a125f751
--- /dev/null
+++ b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00006-of-00064
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94718088711c0124fb46174edb760981da1e1692ef067e49968f0a0d30d25596
+size 108324689
diff --git a/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00007-of-00064 b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00007-of-00064
new file mode 100644
index 0000000000000000000000000000000000000000..134a4a4791a699ca66c6ba70eea839c8ee7e618f
--- /dev/null
+++ b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00007-of-00064
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:095db3e5e02488848416b8da02ba812e8f7b627a1b03816e27de325329b7b599
+size 115148876
diff --git a/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00008-of-00064 b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00008-of-00064
new file mode 100644
index 0000000000000000000000000000000000000000..2bbfee2b78f79748dbaa876949ed9b8efd4f0e53
--- /dev/null
+++ b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00008-of-00064
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e96499fb2c24afe0cfc1c2bdc0eaf8c5b7bb8432194b10f28dc91de041383886
+size 113120153
diff --git a/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00009-of-00064 b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00009-of-00064
new file mode 100644
index 0000000000000000000000000000000000000000..1a1f919de313d0886c112c4b265392be40a957c1
--- /dev/null
+++ b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00009-of-00064
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e80312890d2c88576f6d03fccfc6afbc0569bff4036834b4cc9e24ba6703f7e9
+size 100038181
diff --git a/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00010-of-00064 b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00010-of-00064
new file mode 100644
index 0000000000000000000000000000000000000000..62429051698ce741280568326a86e5d359de89f4
--- /dev/null
+++ b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00010-of-00064
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ba38ddca7ef2e70b23327d8205fdc5415403da06870c6cf126dfece64e8ccfc
+size 120495439
diff --git a/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00011-of-00064 b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00011-of-00064
new file mode 100644
index 0000000000000000000000000000000000000000..26d5eb52dfb00fa90fad6f2ab60e940a497c1668
--- /dev/null
+++ b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00011-of-00064
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0833d6c9284183031d48a11c1143c22b74cc4d981957e8d038505df080bcdaad
+size 118646077
diff --git a/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00012-of-00064 b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00012-of-00064
new file mode 100644
index 0000000000000000000000000000000000000000..05e89d014f6ef557bc880f5dc21675bcfb04bae6
--- /dev/null
+++ b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00012-of-00064
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a9a82a02235ab234b23f1c2c250c92c71a4546ac735f15459b09935901e7b56
+size 118615088
diff --git a/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00013-of-00064 b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00013-of-00064
new file mode 100644
index 0000000000000000000000000000000000000000..8c96f7dae388976aa418dca88bf234c01e502344
--- /dev/null
+++ b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00013-of-00064
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e785cb1f54f1eacd2ff236b682f131b5558b6d6f02a3dd6bab5378b38b49fc06
+size 114607595
diff --git a/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00014-of-00064 b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00014-of-00064
new file mode 100644
index 0000000000000000000000000000000000000000..ce5969d26cfc06b7a8b559c23e67e4132a087405
--- /dev/null
+++ b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00014-of-00064
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2bb5a036d31d363e0581497fbb04178819bb2d7c9834ca6f4af7d56f4ff5bfa9
+size 114294204
diff --git a/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00015-of-00064 b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00015-of-00064
new file mode 100644
index 0000000000000000000000000000000000000000..822118bdbf6a0d5541785caf1b63287c0298d213
--- /dev/null
+++ b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00015-of-00064
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ceac20e8495deda6c51a398eda3114fa007c930780d535069f377f5e5a7e582d
+size 112733595
diff --git a/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00016-of-00064 b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00016-of-00064
new file mode 100644
index 0000000000000000000000000000000000000000..0133a891ceaca3f68e648dd8cea65dc2a1c5811e
--- /dev/null
+++ b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00016-of-00064
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8398ef2c08e3efccba0c0a4007d6eae6b139e1301fd35ead3bd8fbafb4249cf6
+size 111450021
diff --git a/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00017-of-00064 b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00017-of-00064
new file mode 100644
index 0000000000000000000000000000000000000000..bc1ad91a2c1582ef89671a92cdd4bb267f1d7b2c
--- /dev/null
+++ b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00017-of-00064
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbff08c4a6454b626e517457f101e66372454dae93c404abdd240a9509b576ca
+size 115912015
diff --git a/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00018-of-00064 b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00018-of-00064
new file mode 100644
index 0000000000000000000000000000000000000000..e063a454fa876ac5e31d785e98954e930786c456
--- /dev/null
+++ b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00018-of-00064
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95f27168fd2b09bc59dc6abffbf5a6036eeb6cbc27d5edb5d43ff87516a2b38e
+size 115077771
diff --git a/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00019-of-00064 b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00019-of-00064
new file mode 100644
index 0000000000000000000000000000000000000000..92dd48e3297cb6d72940003e23340abff3f0d430
--- /dev/null
+++ b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00019-of-00064
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:299033179b3af376729ca1dfc040f244dff1065ef425486c04fb7f253dec04f3
+size 111286931
diff --git a/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00020-of-00064 b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00020-of-00064
new file mode 100644
index 0000000000000000000000000000000000000000..978121adf4ad32b0dc5eaba06085e2d029fcafa4
--- /dev/null
+++ b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00020-of-00064
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d74c6f56c1e250cecec00ee2b4ff52df96153ce941bb2eb20cc1b5682c613e2d
+size 119956537
diff --git a/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00021-of-00064 b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00021-of-00064
new file mode 100644
index 0000000000000000000000000000000000000000..4bc7deaeee5fe54c1f1ce99b27dd61f0e1139606
--- /dev/null
+++ b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00021-of-00064
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b8a7097e00931f628608edd777eb994d3f88869b15956a8563d87c024e50117
+size 110788465
diff --git a/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00022-of-00064 b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00022-of-00064
new file mode 100644
index 0000000000000000000000000000000000000000..11e6c693a15f12c6c718385b4409c5f05afe258e
--- /dev/null
+++ b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00022-of-00064
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c83988fe6a5c768f89746f29dcf082aab180951f1c7cee7af8a10eb9356e2009
+size 111808140
diff --git a/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00023-of-00064 b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00023-of-00064
new file mode 100644
index 0000000000000000000000000000000000000000..08ead76cfcdc1b4298d8d653ae8f39e64941579d
--- /dev/null
+++ b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00023-of-00064
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2eea768bf50e1f0f4965bf3cde37d5dd89cb912416aac00e559c12308941c57c
+size 120630163
diff --git a/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00024-of-00064 b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00024-of-00064
new file mode 100644
index 0000000000000000000000000000000000000000..7a67ce6ef5b25ff2595f5e2a80a093b8fa5e088d
--- /dev/null
+++ b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00024-of-00064
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c0f867067d78266c832eec82f10bc4f72f92dd1b51753dfb3e53f3f38f90686
+size 119126157
diff --git a/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00025-of-00064 b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00025-of-00064
new file mode 100644
index 0000000000000000000000000000000000000000..b1ce282dc21dd102524aa468fe36a2bc5f291856
--- /dev/null
+++ b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00025-of-00064
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ce1e1bfa4932173c937ef7b3c7e9bfec6197a4bff349d2b8ad99beec10a7b8b
+size 126111107
diff --git a/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00026-of-00064 b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00026-of-00064
new file mode 100644
index 0000000000000000000000000000000000000000..b17c7c4d50200e9538feaee74b2737f56a0ac9e2
--- /dev/null
+++ b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00026-of-00064
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10ba25bc51bb866b6e4ffb79700a06111e6b54c1277041127e63cf6a14ee6ae6
+size 116008215
diff --git a/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00027-of-00064 b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00027-of-00064
new file mode 100644
index 0000000000000000000000000000000000000000..77f2b541bbdd2462765e184d5f10f15f62b5d98f
--- /dev/null
+++ b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00027-of-00064
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7cc7f0afb619856ed93462c741c8b2bbbd94d884dec063d974fa335f26acee43
+size 109608253
diff --git a/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00028-of-00064 b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00028-of-00064
new file mode 100644
index 0000000000000000000000000000000000000000..5626375868bf3deec3dd89f570975e2671c439f2
--- /dev/null
+++ b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00028-of-00064
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c34323780c9fe3ea05d9fa1002c04dd0e9876d7223dfef4a4c39dff94dccc89f
+size 102558937
diff --git a/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00029-of-00064 b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00029-of-00064
new file mode 100644
index 0000000000000000000000000000000000000000..55bd9058e61d44bed0925d13eaabf3e6e4cf9774
--- /dev/null
+++ b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00029-of-00064
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9a7598eceeed1d4e2949562cb1eb97fccb4be3e3ad9ba5af6683625cd3e776c
+size 110858055
diff --git a/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00030-of-00064 b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00030-of-00064
new file mode 100644
index 0000000000000000000000000000000000000000..7b3160e4296ceb401ad55ace9c20e5d6453510c2
--- /dev/null
+++ b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00030-of-00064
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e60ad51e4d55b5d521d4b3e15dfb5094de13da741c97d01874b17ebcf94faaf9
+size 116108341
diff --git a/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00031-of-00064 b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00031-of-00064
new file mode 100644
index 0000000000000000000000000000000000000000..7c90e2c0692d2778ed8c7c31bbb7e91d409d615a
--- /dev/null
+++ b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00031-of-00064
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06d4bc10f1d08a04594cce180e0db60f4bdd93f20b7bbcb599f7cccdfeb049b9
+size 116646742
diff --git a/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00032-of-00064 b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00032-of-00064
new file mode 100644
index 0000000000000000000000000000000000000000..c6e21127c3e577df1c25a506a115886dd18c2fd8
--- /dev/null
+++ b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00032-of-00064
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0bf7fe0693608a8d8057281209cd589bc06281b1058aaa3e48c9de63ca7fd37c
+size 109849224
diff --git a/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00033-of-00064 b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00033-of-00064
new file mode 100644
index 0000000000000000000000000000000000000000..eb8ba49fd36017cb7cefaa8d325308ffe45e3632
--- /dev/null
+++ b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00033-of-00064
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc749908cbef7e1b10633a0ad2c2429fafcb399997fb140fa81a043cbff3a793
+size 113592616
diff --git a/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00034-of-00064 b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00034-of-00064
new file mode 100644
index 0000000000000000000000000000000000000000..33757b6519dff67f79c9f87bcaaa43e6c3cd89c8
--- /dev/null
+++ b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00034-of-00064
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe90c31b501655feef57beea2b614af0c61f92c914a5821cc826a5fbd7af2436
+size 119820611
diff --git a/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00035-of-00064 b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00035-of-00064
new file mode 100644
index 0000000000000000000000000000000000000000..64c8bc0937f8be0ccd7799ebb60332cfda01709d
--- /dev/null
+++ b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00035-of-00064
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:863639dec393c954e04b0b58a1e653c3090584a1ed53bb02887c7cce59ee3bde
+size 107496589
diff --git a/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00036-of-00064 b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00036-of-00064
new file mode 100644
index 0000000000000000000000000000000000000000..63cb3de72369c712dc5352f7d48f95d46b5adfa7
--- /dev/null
+++ b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00036-of-00064
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:778a7f07800a3f85b0fa552c40a9463ba9377cf573b5819552d29340229997ba
+size 120961062
diff --git a/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00037-of-00064 b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00037-of-00064
new file mode 100644
index 0000000000000000000000000000000000000000..59c6751c7719815cfedde5096a413652a81f274e
--- /dev/null
+++ b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00037-of-00064
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23d0a7c566f3b8ca0ebadcb99066a8f15b01eebe87a1d2c2b522d6311005affd
+size 111377340
diff --git a/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00038-of-00064 b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00038-of-00064
new file mode 100644
index 0000000000000000000000000000000000000000..f7daa27b311fb9f23aa75e3d3de789fffd242969
--- /dev/null
+++ b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00038-of-00064
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3d293e46f6fd23f3d329ad4487a2bbaf1e471bcde2e93e9af2ccb4897f8c1a5
+size 115036758
diff --git a/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00039-of-00064 b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00039-of-00064
new file mode 100644
index 0000000000000000000000000000000000000000..9b31d10f17740054b69a022af51909b23b547172
--- /dev/null
+++ b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00039-of-00064
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0c785b59667a2835ddda0b32bdc4da59b2da20ef60c733489d00da63dcf9eda
+size 115331653
diff --git a/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00040-of-00064 b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00040-of-00064
new file mode 100644
index 0000000000000000000000000000000000000000..82d62b64247f60ad59bcf3386990feb01b698040
--- /dev/null
+++ b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00040-of-00064
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94744bdbfbb00a183a7174a7851298635bc63a91ee30e2f46a9858ca7eaaa036
+size 113597732
diff --git a/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00041-of-00064 b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00041-of-00064
new file mode 100644
index 0000000000000000000000000000000000000000..842b215c3d64037f4ef3722dffa4d180faa496a6
--- /dev/null
+++ b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00041-of-00064
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a1531846be04e60c67eaef35bbab6eaf8445e9981859612fe2234f60cf61f9e
+size 105184479
diff --git a/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00042-of-00064 b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00042-of-00064
new file mode 100644
index 0000000000000000000000000000000000000000..00dff00cde89f91265c38960c63491efbe97142b
--- /dev/null
+++ b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00042-of-00064
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:acf586886e42814cfb27185907f298fba8b056bbaacf4aac72f9cd0412cb32ca
+size 115394230
diff --git a/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00043-of-00064 b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00043-of-00064
new file mode 100644
index 0000000000000000000000000000000000000000..83b25a89848a565252105fecf90b6ff1ac9f87b2
--- /dev/null
+++ b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00043-of-00064
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92f873637b6b2a662d420b335113de569ecea444829ff52dc0203e803a175f20
+size 118497841
diff --git a/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00044-of-00064 b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00044-of-00064
new file mode 100644
index 0000000000000000000000000000000000000000..b4b260161d28faf0b804a02edc869858a75c520b
--- /dev/null
+++ b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00044-of-00064
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de462191586a50be39e55195eb75a1dff8d346a4e83db023fcc2c1f308f56435
+size 111519984
diff --git a/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00045-of-00064 b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00045-of-00064
new file mode 100644
index 0000000000000000000000000000000000000000..3efe3c04313d87b47f84088a21f8c309f4e7b047
--- /dev/null
+++ b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00045-of-00064
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3c515a761bf665146fbc20acade3b233ba7766069f0fb7a4705d37e8b0a77e8
+size 119642665
diff --git a/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00046-of-00064 b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00046-of-00064
new file mode 100644
index 0000000000000000000000000000000000000000..6a374f54f8987782ab5898ba1f27be07a52d047a
--- /dev/null
+++ b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00046-of-00064
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b5570445b5de4a53fe1afb5196d60b78ba357698506d424647c095911b27396
+size 117184180
diff --git a/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00047-of-00064 b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00047-of-00064
new file mode 100644
index 0000000000000000000000000000000000000000..df4e8dd3d866bcecc15c4dca775206879e440da8
--- /dev/null
+++ b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00047-of-00064
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc8081ec3b682cd8345c6052b47a2d6c4f551ae2035bb651f01d1752a60bde80
+size 111580719
diff --git a/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00048-of-00064 b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00048-of-00064
new file mode 100644
index 0000000000000000000000000000000000000000..2c9e56857b6ff254481efcc779a98cb088fd06f0
--- /dev/null
+++ b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00048-of-00064
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b4ebbd586b1012fe228578296d4060410401a2640589fb35224ca8ceb2d869b
+size 114526431
diff --git a/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00049-of-00064 b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00049-of-00064
new file mode 100644
index 0000000000000000000000000000000000000000..e45f3bb49da0c5faffec8aacfaaa7b0355f1eb67
--- /dev/null
+++ b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00049-of-00064
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04142dad84879b5d3a96a1041e424671d007366ecae57634edbbef74ec84ee9b
+size 122171611
diff --git a/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00050-of-00064 b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00050-of-00064
new file mode 100644
index 0000000000000000000000000000000000000000..762bbca4b8e75792db09cf05817dd1b0b2d8176e
--- /dev/null
+++ b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00050-of-00064
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4da640773851753bb595fa0485cae0d1a3a6a4b57f7f57b39b41faefa4682838
+size 112458357
diff --git a/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00051-of-00064 b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00051-of-00064
new file mode 100644
index 0000000000000000000000000000000000000000..b245d12dd318f06ad2fb560cde6d7115e032a2ff
--- /dev/null
+++ b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00051-of-00064
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fef137cd079ca6efd39ee6671bc4956cdad44393f710dd12ed4058e24f9285f2
+size 117735004
diff --git a/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00052-of-00064 b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00052-of-00064
new file mode 100644
index 0000000000000000000000000000000000000000..40dfed56855119258d92db91c98482d76f61479f
--- /dev/null
+++ b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00052-of-00064
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c095311cdfad838af714fbc2d6f214e54a8779ffa6c255edc9df40a09ca5bb7
+size 117891167
diff --git a/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00053-of-00064 b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00053-of-00064
new file mode 100644
index 0000000000000000000000000000000000000000..b98ec5a1f9781df0d5de42498fe4bdec0c42ecd8
--- /dev/null
+++ b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00053-of-00064
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:909628032686e15a962ae8af71446a233320b187b9553170b958aba6f5e3904f
+size 116980611
diff --git a/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00054-of-00064 b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00054-of-00064
new file mode 100644
index 0000000000000000000000000000000000000000..f16f2a08718da505c74ad8ce2f904713f0a0db87
--- /dev/null
+++ b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00054-of-00064
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7f84ba9663ed69efd7985852199ff84254b13ce2089f520d6039a1e41a73a4c
+size 109818476
diff --git a/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00055-of-00064 b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00055-of-00064
new file mode 100644
index 0000000000000000000000000000000000000000..0339f5b40741d0721bf46b4dc8aa298560e95282
--- /dev/null
+++ b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00055-of-00064
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc01cafa53b0d75c72e8693d331530b53e5d5dbc8602a7d704586f72f22e97b2
+size 116855872
diff --git a/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00056-of-00064 b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00056-of-00064
new file mode 100644
index 0000000000000000000000000000000000000000..e2fcc5e9e642db8734b7439e3f837665df40577a
--- /dev/null
+++ b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00056-of-00064
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f9a09776e698bbbd32c60ca7f100aee079e5d24fceac4a6f4301becb3283f45
+size 108420507
diff --git a/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00057-of-00064 b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00057-of-00064
new file mode 100644
index 0000000000000000000000000000000000000000..e0d0c1ce82f464630950ca47b5aea17bc5a855fd
--- /dev/null
+++ b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00057-of-00064
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5ce920107457d9e48c16b1da3d6e9de48a89a8bb1f753e675ff13831eef5685
+size 122725660
diff --git a/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00058-of-00064 b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00058-of-00064
new file mode 100644
index 0000000000000000000000000000000000000000..803e69a4949e2c6f47efd9374770fc540b64f5d8
--- /dev/null
+++ b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00058-of-00064
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9de2531dce05591463f5ea3e3473cea46985ffc755bb6dad8c448f150dc9052
+size 115315280
diff --git a/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00059-of-00064 b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00059-of-00064
new file mode 100644
index 0000000000000000000000000000000000000000..61e26cb7f4dac92b4395bcedae8389136f30f0ed
--- /dev/null
+++ b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00059-of-00064
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34d850d14c8e9d9c377d20eac0384e9446dc4a1f9b986aed39bce5e0a774bd1b
+size 115448665
diff --git a/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00060-of-00064 b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00060-of-00064
new file mode 100644
index 0000000000000000000000000000000000000000..a4c069f0a9f9e6df8aeff11eb0170ecc356abdfa
--- /dev/null
+++ b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00060-of-00064
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f60df5feda8f6eaa460d25a031d138513d83e69d50ee19ba32c94f0f3b8ebb8
+size 113743541
diff --git a/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00061-of-00064 b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00061-of-00064
new file mode 100644
index 0000000000000000000000000000000000000000..b8e0b98424418d0c4241d7f209af9f3956f96f65
--- /dev/null
+++ b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00061-of-00064
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4bfe907f8b60ab92fad546d2b89249b9c2143f9a179b67ba2a21b17fa8eab986
+size 121170683
diff --git a/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00062-of-00064 b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00062-of-00064
new file mode 100644
index 0000000000000000000000000000000000000000..fa4e3d83fa90d1fad03d1b0e20d48bfc0b1644ed
--- /dev/null
+++ b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00062-of-00064
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92daea680f71cb8e79bf39c18a7ddf252474ae3637f8cb307cfb213c8b9f21b0
+size 124952845
diff --git a/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00063-of-00064 b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00063-of-00064
new file mode 100644
index 0000000000000000000000000000000000000000..587874362985fc9fcfca3967196cc7c789f07a9f
--- /dev/null
+++ b/rlds/1.0.0/aloha_lift_pot_builder-train.tfrecord-00063-of-00064
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02e8d18e02f56656a17789aff00e4a4a0a7ab60abea7da3ca87d9499662384fb
+size 108564649
diff --git a/rlds/1.0.0/aloha_lift_pot_builder-val.tfrecord-00000-of-00004 b/rlds/1.0.0/aloha_lift_pot_builder-val.tfrecord-00000-of-00004
new file mode 100644
index 0000000000000000000000000000000000000000..2e82ce49a637f161b4e5b1849ada85f1b0c0a1a1
--- /dev/null
+++ b/rlds/1.0.0/aloha_lift_pot_builder-val.tfrecord-00000-of-00004
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e171a17669daaa49ec9328e8cc2334a3db227849d91ba93b0aa95f29b1b8f57
+size 91372024
diff --git a/rlds/1.0.0/aloha_lift_pot_builder-val.tfrecord-00001-of-00004 b/rlds/1.0.0/aloha_lift_pot_builder-val.tfrecord-00001-of-00004
new file mode 100644
index 0000000000000000000000000000000000000000..b36f5a07bf0b8b6d651b27e4be2b1da65bf30be9
--- /dev/null
+++ b/rlds/1.0.0/aloha_lift_pot_builder-val.tfrecord-00001-of-00004
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c055fc231c0b86b067af2120469ca3cd4ea238804d5587048eaba5d554619c2
+size 97744920
diff --git a/rlds/1.0.0/aloha_lift_pot_builder-val.tfrecord-00002-of-00004 b/rlds/1.0.0/aloha_lift_pot_builder-val.tfrecord-00002-of-00004
new file mode 100644
index 0000000000000000000000000000000000000000..599b6050f9fafb6d2c705f4dcf9973bcdb19b235
--- /dev/null
+++ b/rlds/1.0.0/aloha_lift_pot_builder-val.tfrecord-00002-of-00004
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb85d9089ff9d80a8136ce34f43ff8bef14324d94f5f983a35e1e55bbba06be9
+size 99048829
diff --git a/rlds/1.0.0/aloha_lift_pot_builder-val.tfrecord-00003-of-00004 b/rlds/1.0.0/aloha_lift_pot_builder-val.tfrecord-00003-of-00004
new file mode 100644
index 0000000000000000000000000000000000000000..7f50def46853a3f3f1892f72dfb8cb81059fe7b4
--- /dev/null
+++ b/rlds/1.0.0/aloha_lift_pot_builder-val.tfrecord-00003-of-00004
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:daf800353eef6caa013df0b1f30235b85aaa962de220aff3d03dba1541f99d8f
+size 98051036
diff --git a/rlds/1.0.0/dataset_info.json b/rlds/1.0.0/dataset_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ea8085a828b72d3cef4f780a1977007a0713458
--- /dev/null
+++ b/rlds/1.0.0/dataset_info.json
@@ -0,0 +1,93 @@
+{
+  "fileFormat": "tfrecord",
+  "moduleName": "__main__",
+  "name": "aloha_lift_pot_builder",
+  "releaseNotes": {
+    "1.0.0": "Initial release for aloha lift_pot dataset."
+  },
+  "splits": [
+    {
+      "filepathTemplate": "{DATASET}-{SPLIT}.{FILEFORMAT}-{SHARD_X_OF_Y}",
+      "name": "train",
+      "numBytes": "7321731200",
+      "shardLengths": [
+        "15",
+        "15",
+        "15",
+        "14",
+        "15",
+        "15",
+        "15",
+        "15",
+        "15",
+        "14",
+        "15",
+        "15",
+        "15",
+        "15",
+        "15",
+        "15",
+        "14",
+        "15",
+        "15",
+        "15",
+        "15",
+        "15",
+        "14",
+        "15",
+        "15",
+        "15",
+        "15",
+        "15",
+        "14",
+        "15",
+        "15",
+        "15",
+        "15",
+        "15",
+        "15",
+        "14",
+        "15",
+        "15",
+        "15",
+        "15",
+        "15",
+        "14",
+        "15",
+        "15",
+        "15",
+        "15",
+        "15",
+        "14",
+        "15",
+        "15",
+        "15",
+        "15",
+        "15",
+        "15",
+        "14",
+        "15",
+        "15",
+        "15",
+        "15",
+        "15",
+        "14",
+        "15",
+        "15",
+        "15"
+      ]
+    },
+    {
+      "filepathTemplate": "{DATASET}-{SPLIT}.{FILEFORMAT}-{SHARD_X_OF_Y}",
+      "name": "val",
+      "numBytes": "386216009",
+      "shardLengths": [
+        "12",
+        "13",
+        "13",
+        "12"
+      ]
+    }
+  ],
+  "version": "1.0.0"
+}
\ No newline at end of file
diff --git a/rlds/1.0.0/features.json b/rlds/1.0.0/features.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1fae78020850f248cd49e8dc7aeda2f54fa46cb
--- /dev/null
+++ b/rlds/1.0.0/features.json
@@ -0,0 +1,162 @@
+{
+    "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": {
+                                "reward": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
+                                    "tensor": {
+                                        "shape": {},
+                                        "dtype": "float32",
+                                        "encoding": "none"
+                                    }
+                                },
+                                "discount": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
+                                    "tensor": {
+                                        "shape": {},
+                                        "dtype": "float32",
+                                        "encoding": "none"
+                                    }
+                                },
+                                "is_last": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
+                                    "tensor": {
+                                        "shape": {},
+                                        "dtype": "bool",
+                                        "encoding": "none"
+                                    }
+                                },
+                                "is_first": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
+                                    "tensor": {
+                                        "shape": {},
+                                        "dtype": "bool",
+                                        "encoding": "none"
+                                    }
+                                },
+                                "observation": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
+                                    "featuresDict": {
+                                        "features": {
+                                            "image": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image",
+                                                "image": {
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "256",
+                                                            "256",
+                                                            "3"
+                                                        ]
+                                                    },
+                                                    "dtype": "uint8",
+                                                    "encodingFormat": "jpeg"
+                                                }
+                                            },
+                                            "state": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                                "tensor": {
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "14"
+                                                        ]
+                                                    },
+                                                    "dtype": "float32",
+                                                    "encoding": "none"
+                                                }
+                                            },
+                                            "low_cam_image": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image",
+                                                "image": {
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "256",
+                                                            "256",
+                                                            "3"
+                                                        ]
+                                                    },
+                                                    "dtype": "uint8",
+                                                    "encodingFormat": "jpeg"
+                                                }
+                                            },
+                                            "right_wrist_image": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image",
+                                                "image": {
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "256",
+                                                            "256",
+                                                            "3"
+                                                        ]
+                                                    },
+                                                    "dtype": "uint8",
+                                                    "encodingFormat": "jpeg"
+                                                }
+                                            },
+                                            "left_wrist_image": {
+                                                "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image",
+                                                "image": {
+                                                    "shape": {
+                                                        "dimensions": [
+                                                            "256",
+                                                            "256",
+                                                            "3"
+                                                        ]
+                                                    },
+                                                    "dtype": "uint8",
+                                                    "encodingFormat": "jpeg"
+                                                }
+                                            }
+                                        }
+                                    }
+                                },
+                                "language_instruction": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
+                                    "text": {}
+                                },
+                                "is_terminal": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
+                                    "tensor": {
+                                        "shape": {},
+                                        "dtype": "bool",
+                                        "encoding": "none"
+                                    }
+                                },
+                                "action": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                    "tensor": {
+                                        "shape": {
+                                            "dimensions": [
+                                                "14"
+                                            ]
+                                        },
+                                        "dtype": "float32",
+                                        "encoding": "none"
+                                    }
+                                }
+                            }
+                        }
+                    },
+                    "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": {}
+                        }
+                    }
+                }
+            }
+        }
+    }
+}
\ No newline at end of file